A double-station ceramic wafer warpage detection and bundling device and implementation method thereof

Abstract

The application discloses a double-station ceramic wafer warping degree detection and bundling device, which comprises a workbench, a motor rotating platform is installed above the workbench, a warping NG product discharging mechanism, a right box OK product discharging mechanism, a discharging belt, a left box OK product discharging mechanism, a to-be-detected product feeding mechanism, a height measuring mechanism and a defect NG product discharging mechanism are sequentially installed above the workbench and surround the circumferential side of the motor rotating platform, empty-box to-be-fed storage bins and full-box to-be-detected product feeding storage bins are arranged on the two sides of the to-be-detected product feeding mechanism, and an implementation method of the double-station ceramic wafer warping degree detection and bundling device is also disclosed. The to-be-detected product feeding mechanism, the height measuring mechanism, the defect NG product discharging mechanism and the warping NG product discharging mechanism are arranged in double stations, so that two ceramic wafers can be simultaneously detected and arranged, the working efficiency of the ceramic wafer warping detection is improved, and the labor intensity of employees is reduced.

Description

Technical Field

[0001] This invention belongs to the field of ceramic sheet production technology, specifically relating to a dual-station ceramic sheet warpage detection and bundling device and its implementation method. Background Technology

[0002] Ceramic substrates refer to special process boards where copper foil is directly bonded to the surface (single-sided or double-sided) of an alumina or aluminum nitride ceramic substrate at high temperatures. The resulting ultra-thin composite substrates possess excellent electrical insulation properties, high thermal conductivity, excellent solderability, and high adhesion strength. They can also be etched with various patterns like PCB boards and have a large current-carrying capacity.

[0003] Therefore, ceramic substrates have become a fundamental material for high-power power electronic circuit structure and interconnection technologies. However, ceramic sheets are relatively thin, making them prone to defects such as thickness defects and warping during production. Conventional contact measurement techniques can only measure a few points, resulting in poor measurement efficiency.

[0004] Therefore, there is an urgent need for a dual-station ceramic sheet warpage detection and bundling device to detect the warpage and thickness of each point on the ceramic sheet surface. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-station ceramic sheet warpage detection and bundling device to solve the problems mentioned in the background art. The dual-station ceramic sheet warpage detection and bundling device provided by this invention has the characteristic of being able to detect the warpage and thickness of each point on the surface of the ceramic sheet.

[0006] Another objective of this invention is to provide a method for implementing a dual-station ceramic sheet warpage detection and bundling device.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a dual-station ceramic sheet warpage detection and bundling device, comprising a worktable, a motor rotating platform mounted above the worktable, and, in sequence, a warpage NG (non-compliant) product unloading mechanism, a right box OK product unloading mechanism, a feeding belt, a left box OK product unloading mechanism, a test product loading mechanism, a height measuring mechanism, and a defective NG product unloading mechanism, all arranged around the circumference of the motor rotating platform. Above the motor rotating platform, there are transfer mechanisms corresponding to the warpage NG product unloading mechanism, the right box OK product unloading mechanism, the left box OK product unloading mechanism, the test product loading mechanism, and the defective NG product unloading mechanism, respectively. On both sides of the test product loading mechanism are empty box loading hoppers and full box test product loading hoppers, respectively. On the outer side of the warpage NG product unloading mechanism is a bundled sheet transfer mechanism. On the side of the warpage NG product unloading mechanism, there are, in sequence, a precision positioning mechanism, a tape feeding mechanism, and a warpage NG product bundled sheet discharge belt. Above the worktable, there is also a five-axis loading and unloading mechanism for the material boxes.

[0008] To separately handle NG (Not Good) products, OK (Good) products, and empty boxes, the feeding belt further includes a conveyor belt, wherein four spacers are installed above the conveyor belt, dividing the upper part of the conveyor belt into NG product feeding positions, OK product full box feeding positions, and empty box feeding positions.

[0009] For feeding and receiving materials, the right box OK product unloading mechanism further includes a mounting base plate. A slider guide rail is mounted above the mounting base plate, and a transverse plate is mounted on the slider of the slider guide rail. A transverse cylinder is mounted above the mounting base plate, and the output end of the transverse cylinder is connected to the transverse plate. A reducer is mounted on the transverse plate, and a servo motor is mounted on the input end of the reducer. A rotating plate is connected to the output end of the reducer. Several material boxes / hoppers are mounted above the rotating plate. A screw lifting module is mounted at the bottom of one end of the mounting base plate, and a lifting rod is connected to the output end of the screw lifting module. A lifting block is connected to the upper end of the lifting rod. The structures of the left box OK product unloading mechanism, the test product loading mechanism, and the defective NG product unloading mechanism are the same as those of the right box OK product unloading mechanism.

[0010] To provide binding tape for warped defective products, the tape feeding mechanism further includes a tape feeding mechanism mounting base. A tape mounting component is installed at the middle position of the side of the tape feeding mechanism mounting base. A tape cutting cylinder is also installed on the side of the tape feeding mechanism mounting base. A rotating base plate is hinged to the upper end of the tape feeding mechanism mounting base. The output end of the tape cutting cylinder is hinged to the rotating base plate. Several guide rollers are installed on both the tape feeding mechanism mounting base and the rotating base plate. A cutting block is connected to the end of the rotating base plate. A spring mounting block located below the cutting block is connected to the rotating base plate. A roller connecting block is connected to the spring mounting block via a spring. A flattening roller is installed on the roller connecting block.

[0011] To achieve precise positioning of warped defective products, the precision positioning mechanism further includes a precision positioning mechanism base. Precision positioning slider guides, parallel to its four sides, are mounted on the top of the base. The sliders of these guides are mounted on the top of the base. A positioning block is connected to one end of each guide rail, and a guide bearing is connected to the other end. A support shaft is mounted in the middle of the top of the base, and a cross-shaped rotating plate rotates on the shaft. The end of the cross-shaped rotating plate has a slotted hole that fits outside the guide bearing. A precision positioning cylinder is mounted on the side of the base, and its output end is connected to one of the positioning blocks via a positioning connector. A hopper connector is also mounted on the side of the base, and a precision positioning hopper is mounted on the hopper connector.

[0012] To achieve the unloading and coarse positioning of warped defective products, the unloading mechanism further includes a base for the unloading mechanism. An upper slider guide rail is installed at the upper end of the base, and a transverse block is connected to the slider of the upper slider guide rail. A unloading hopper is installed above the transverse block. A rodless cylinder is installed on the side of the base, and the output end of the rodless cylinder is connected to the transverse block. A lower slider guide rail is installed at the bottom inside the base, and a coarse positioning cylinder is installed on the slider of the lower slider guide rail. A coarse positioning block is installed on the output end of the coarse positioning cylinder. A synchronous belt module is also installed inside the base, and the sliders of both the upper and lower slider guide rails are connected to the synchronous belt of the synchronous belt module.

[0013] To cooperate with the tape feeding mechanism and achieve the bundling of warped defective products, the bundling and transfer mechanism further includes a Y-axis transverse module, wherein an X-axis transverse module is installed on the output end of the Y-axis transverse module, a Z-axis lifting module is installed on the output end of the X-axis transverse module, a gripper mounting plate is installed on the output end of the Z-axis lifting module, a gripper rotating synchronous belt module is installed on the gripper mounting plate, the gripper is connected to the output end of the gripper rotating synchronous belt module, and a gripper stepper screw motor for controlling the gripper's movement is also installed on the gripper mounting plate.

[0014] For the purpose of picking up and placing ceramic sheets, the transplanting mechanism further includes a transplanting mechanism base, wherein a track plate is mounted on the side of the transplanting mechanism base, a swing block rotates on the track plate, a transplanting servo motor is mounted on the back of the transplanting mechanism base, the output end of the transplanting servo motor is connected to the swing block, a transplanting transverse slider guide rail located below the track plate is mounted on the transplanting mechanism base, a transplanting lifting slider guide rail is mounted on the slider of the transplanting transverse slider guide rail, the slider of the transplanting lifting slider guide rail is connected to the slider of the transplanting transverse slider guide rail, a transplanting lifting plate is mounted on the guide rail of the transplanting lifting slider guide rail, the transplanting lifting plate, the swing block and the track plate are connected by a cam bearing, and a suction cup is mounted on the end of the transplanting lifting plate.

[0015] For handling the material boxes, the five-axis loading and unloading mechanism further includes a support frame. A Y-axis transverse module of the five-axis loading and unloading mechanism is mounted on the top of the support frame. An X-axis transverse module of the five-axis loading and unloading mechanism is mounted on the output end of the Y-axis transverse module. A Z-axis lifting module of the five-axis loading and unloading mechanism is mounted on the output end of the X-axis transverse module. A rotary servo motor is mounted on the output end of the Z-axis lifting module. A gripper cylinder is mounted on the output end of the rotary servo motor. A material box gripper is mounted on the output end of the gripper cylinder.

[0016] Furthermore, in this invention, the method for implementing a dual-station ceramic sheet warpage detection and bundling device includes the following steps:

[0017] (I) Loading Section: The operator manually places three empty boxes on the empty box loading hopper and three full boxes on the full box testing hopper, arranging the necessary boxes for each station. The five-axis loading / unloading mechanism moves to the top of the full box testing hopper, sequentially picking up two full boxes and placing them into the outer box hopper of the testing hopper. When the ceramic pieces in the two full boxes pre-loaded by the testing hopper are fully loaded, the transverse cylinder of the testing hopper retracts, and the servo motor rotates, causing the full boxes originally on the outer side to turn inward, and the empty boxes originally on the inner side to turn outward. Then the transverse cylinder pushes out, completing one box conversion process. After conversion, the transfer mechanism of the corresponding testing hopper continues to pick up ceramic pieces and load them onto the motor rotating platform. The five-axis loading / unloading mechanism moves to the top of the outer empty box of the testing hopper and picks up the empty box onto the empty box unloading position.

[0018] (II) Inspection Section: The ceramic sheet moves one station on the motor rotating platform and passes through the height measuring mechanism. Two height measuring heads perform 3D height measurement on the two ceramic sheets respectively, completing the 3D height measurement process of the ceramic sheet.

[0019] (III) Defective NG product removal: After the ceramic sheet with measured height moves two stations on the motor rotating platform, it arrives below the transfer mechanism of the corresponding defective NG product unloading mechanism. Based on the height measurement result, the transfer mechanism of the corresponding defective NG product unloading mechanism picks up and places the ceramic sheet with NG thickness and NG defects into the material box of the defective NG product unloading mechanism. When the material box is full of products, the transverse cylinder of the defective NG product unloading mechanism retracts, and then the servo motor rotates, causing the empty material box that was originally on the outer side to turn inward, and the full material box that was originally on the inner side to turn outward. Then the transverse cylinder pushes out, completing a material box conversion process. The five-axis loading and unloading mechanism of the material box moves to the outer full material box of the defective NG product unloading mechanism and grabs the full NG product material box to the NG product unloading position.

[0020] (iv) Defective NG removal section: After the defective NG ceramic sheet is removed, it continues to move one station on the motor rotating platform and arrives below the transfer mechanism of the corresponding warped NG product unloading mechanism. When there is a warped NG ceramic sheet, the transfer mechanism of the warped NG product unloading mechanism transfers the NG product to the unloading bin of the warped NG product unloading mechanism. When the unloading bin is full, the rodless cylinder is pushed out, causing the full unloading bin of warped NG to move to the outside. The gripper of the bundled sheet transfer mechanism picks up the ceramic sheet in the unloading bin. The Z-axis lifting module drives the ceramic sheet to rise. At this time, the rodless cylinder retracts, causing the coarse positioning cylinder to move to the outside. The coarse positioning cylinder drives the coarse positioning block to lift up. The gripper rotation synchronous belt module drives the ceramic sheet to rotate 90 degrees. Then the Z-axis lifting module drives the ceramic sheet to descend, so that the bottom of the ceramic sheet contacts the coarse positioning block. The gripper slightly loosens, so that the entire stack of ceramic sheets is brought together vertically, completing the coarse positioning of the warped NG ceramic sheet.

[0021] (V) Bundling of Warped NG Products: After coarse positioning, the grippers clamp the stack of ceramic pieces again, and then the bundle transfer mechanism moves it above the fine positioning mechanism, rotates the ceramic pieces 90 degrees, and places them in the fine positioning hopper. The fine positioning cylinder retracts, causing the four positioning blocks to retract inwards simultaneously, completing the fine positioning of the warped NG products. The grippers then pick up the finely positioned ceramic pieces again, and move them above the tape of the tape feeding mechanism, allowing the bottom of the ceramic pieces to contact and adhere to the tape. Then, the grippers rise, and the grippers rotate... The synchronous belt module drives the ceramic sheet to rotate three times at the origin, so that the tape binds the ceramic sheet three times. Then, the binding and transfer mechanism moves the ceramic sheet to the tape cutting position. The Z-axis lifting module moves the ceramic sheet down, and the cutting block cuts the tape. The Z-axis lifting module continues to descend, so that the small section of tape that was cut off and suspended at the ceramic sheet end comes into contact with the floating flattening roller, thereby flattening the tape and completing the binding process of the warped NG product. Then, the binding and transfer mechanism places the bound warped NG product onto the warped NG product binding and output belt.

[0022] (VI) OK Product Unloading Section: OK products continue to be conveyed backward via the motor rotating platform. The OK products at the two workstations correspond to the left box OK product unloading mechanism and the right box OK product unloading mechanism, respectively. The transfer mechanism corresponding to the left box OK product unloading mechanism and the right box OK product unloading mechanism will transport the corresponding OK products into the material box. When the material boxes of the left box OK product unloading mechanism and the right box OK product unloading mechanism are full, the material box switching action is completed in the same way. The five-axis loading and unloading mechanism of the material box will sequentially transport the full OK product box to the OK product full box unloading position to complete the unloading of OK products.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] 1. This invention is equipped with a dual-station test product loading mechanism, a height measuring mechanism, a defective NG product unloading mechanism, and a warped NG product unloading mechanism, which can simultaneously inspect two ceramic sheets and remove defects, thereby improving the efficiency of ceramic sheet warping inspection and reducing the labor intensity of employees.

[0025] 2. The present invention is provided with a right box OK product unloading mechanism and a left box OK product unloading mechanism. The two OK product unloading mechanisms can work independently, taking into account the situation that the products at the two workstations may be OK on one side and NG on the other side, so as to meet the simultaneous operation of each workstation of the system.

[0026] 3. The present invention also includes a strip bundling and transplanting mechanism and a tape feeding mechanism, which can use tape to bundle warped ceramic strips, thereby improving work efficiency;

[0027] 4. This invention uses a servo motor to drive the rotating plate, which enables the switching of material boxes, thereby achieving long-term continuous production;

[0028] 5. The height measuring mechanism of the present invention measures the height of each cross section of the ceramic sheet by line scanning and summarizes it into a model and transmits it to the system. It can measure the thickness of each point on the surface of the ceramic sheet. When the data is summarized, the warpage of the current ceramic sheet can be calculated.

[0029] 6. The warped NG product unloading mechanism of the present invention can perform coarse positioning while unloading warped NG products, and then perform fine positioning of warped NG products through a fine positioning mechanism. Attached Figure Description

[0030] Figure 1 This is a top view of the structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the structure of the present invention;

[0032] Figure 3 This is a schematic diagram of the feeding belt structure of the present invention;

[0033] Figure 4 This is a schematic diagram of the structure of the right box OK product feeding mechanism of the present invention;

[0034] Figure 5 This is a schematic diagram of the tape feeding mechanism of the present invention;

[0035] Figure 6 This is a schematic diagram of the structure of the precision positioning mechanism of the present invention after the precision positioning hopper is removed;

[0036] Figure 7 This is a schematic diagram of the precision positioning mechanism of the present invention;

[0037] Figure 8This is a schematic diagram of the structure of the warped NG product feeding mechanism of the present invention;

[0038] Figure 9 This is a schematic diagram of the structure of the bundled sheet transplanting mechanism of the present invention;

[0039] Figure 10 This is a schematic diagram of the transplanting mechanism of the present invention;

[0040] Figure 11 This is a schematic diagram of the height measuring mechanism of the present invention;

[0041] Figure 12 This is a schematic diagram of the five-axis loading and unloading mechanism for the material box of the present invention;

[0042] In the diagram: 1. Workbench; 2. Warped NG (Not Good) Product Unloading Mechanism; 21. Base of Warped NG Product Unloading Mechanism; 22. Transverse Block; 23. Rodless Cylinder; 24. Synchronous Belt Module; 25. Coarse Positioning Cylinder; 26. Coarse Positioning Block; 27. Upper Slider Guide Rail; 28. Unloading Hopper; 29. ​​Lower Slider Guide Rail; 3. Bundling and Transfer Mechanism; 31. Y-axis Transverse Module; 32. X-axis Transverse Module; 33. Z-axis Lifting Module; 34. Gripper; 35. Gripper Rotating Synchronous Belt Module; 36. Gripper Mounting Plate; 37. Gripper Stepper Screw Motor; 4. Precision Positioning Mechanism; 41. Base of Precision Positioning Mechanism; 42. Precision Positioning Slider Guide Rail; 43. Guide bearing; 44. Positioning block; 45. Cross rotating plate; 46. Positioning connector; 47. Support shaft; 48. Precision positioning cylinder; 49. Hopper connector; 410. Precision positioning hopper; 5. Belt feeding mechanism; 51. Belt feeding mechanism mounting base; 52. Guide roller; 53. Rotating base plate; 54. Cutting block; 55. Flattening roller; 56. Roller connecting block; 57. Spring; 58. Spring mounting block; 59. Belt cutting cylinder; 510. Belt mounting component; 6. Warped NG product bundle discharge belt; 7. Right box OK product unloading mechanism; 71. Mounting base plate; 72. Lateral movement cylinder; 73. Slider guide rail; 74. Reducer; 75. Horizontal transfer plate; 76. Screw lifting module; 77. Lifting rod; 78. Lifting block; 79. Material box / hopper; 710. Rotary plate; 8. Feeding belt; 81. Conveyor belt; 82. Spacer bar; 83. NG product feeding position; 84. OK product full box feeding position; 85. Empty box feeding position; 9. Left box OK product feeding mechanism; 10. Empty box waiting to be loaded hopper; 11. Transplanting mechanism; 111. Transplanting mechanism base; 112. Track plate; 113. Transplanting servo motor; 114. Swing block; 115. Transplanting horizontal sliding slider guide rail; 116. Suction cup; 117. Transplanting lifting plate; 118. Transplanting lifting... 119. Sliding slider guide rail; 12. Cam bearing; 13. Test product loading mechanism; 14. Full box test product loading hopper; 15. Height measuring mechanism; 16. Height measuring mechanism base; 17. Horizontal adjustment seat; 18. Vertical adjustment seat; 19. Height measuring head; 10. Motor rotating platform; 111. Defective / NG product unloading mechanism; 12. Five-axis loading / unloading mechanism for material box; 13. Support frame; 142. Y-axis transverse movement module of five-axis loading / unloading mechanism; 15. Material box gripper; 16. Gripper cylinder; 177. Rotary servo motor; 18. Z-axis lifting module of five-axis loading / unloading mechanism; 19. X-axis transverse movement module of five-axis loading / unloading mechanism. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example 1

[0045] Please see Figure 1-12 The present invention provides the following technical solution: a dual-station ceramic sheet warpage detection and bundling device, comprising a workbench 1, a motor rotating platform 15 mounted above the workbench 1, and, sequentially mounted above the workbench 1, a warpage NG product unloading mechanism 2, a right box OK product unloading mechanism 7, a unloading belt 8, a left box OK product unloading mechanism 9, a test product loading mechanism 12, a height measuring mechanism 14, and a defective NG product unloading mechanism 16, wherein the motor rotating platform 15 is respectively provided with a warpage NG product unloading mechanism 2 The right box OK product unloading mechanism 7, the left box OK product unloading mechanism 9, the test product loading mechanism 12, and the defective NG product unloading mechanism 16 are respectively equipped with a transfer mechanism 11. The test product loading mechanism 12 is equipped with an empty box loading hopper 10 and a full box test product loading hopper 13 on both sides. The outer side of the warped NG product unloading mechanism 2 is equipped with a strapping transfer mechanism 3. The side of the warped NG product unloading mechanism 2 is equipped with a precision positioning mechanism 4, a tape feeding mechanism 5, and a warped NG product strapping discharge belt 6. A five-axis loading and unloading mechanism 17 for the material box is also installed above the workbench 1.

[0046] By adopting the above technical solutions, this invention sets up a dual-station test product loading mechanism 12, a height measuring mechanism 14, a defective NG product unloading mechanism 16, and a warped NG product unloading mechanism 2, which can simultaneously inspect two ceramic pieces and remove defects, improving the efficiency of ceramic piece warping inspection and reducing the labor intensity of employees; this invention also sets up a right box OK product unloading mechanism 7 and a left box OK product unloading mechanism 9, which can work independently, taking into account the situation that products at the two stations may be OK on one side and NG on the other, and meeting the requirement of simultaneous operation of each station in the system; this invention also sets up a piece bundling and transfer mechanism 3 and a tape feeding mechanism 5, which can use tape to bundle warped NG ceramic pieces, improving work efficiency.

[0047] Specifically, the feeding belt 8 includes a conveyor belt 81, wherein four spacer bars 82 are installed above the conveyor belt 81, and the four spacer bars 82 divide the upper part of the conveyor belt 81 into an NG product feeding position 83, an OK product full box feeding position 84, and an empty box feeding position 85.

[0048] The above technical solutions are used for feeding NG products, OK products, and empty boxes.

[0049] Specifically, the right-box OK product unloading mechanism 7 includes a mounting base plate 71, above which a slider guide rail 73 is mounted. A transverse plate 75 is mounted on the slider of the slider guide rail 73. A transverse cylinder 72 is mounted above the mounting base plate 71, and the output end of the transverse cylinder 72 is connected to the transverse plate 75. A reducer 74 is mounted on the transverse plate 75, and a servo motor is mounted on the input end of the reducer 74. A rotary plate 710 is connected to the output end of the reducer 74. Several material box hoppers 79 are mounted above the rotary plate 710. The bottom of one end of the mounting base plate 71 is equipped with... There is a lead screw lifting module 76, and a lifting rod 77 is connected to the output end of the lead screw lifting module 76. A lifting block 78 is connected to the upper end of the lifting rod 77. The structure of the left box OK product unloading mechanism 9, the test product loading mechanism 12, and the defective NG product unloading mechanism 16 is the same as that of the right box OK product unloading mechanism 7. Two material box hoppers 79 are installed above the rotating plate 710 of the left box OK product unloading mechanism 9 and the right box OK product unloading mechanism 7. Four material box hoppers 79 are installed above the rotating plate 710 of the test product loading mechanism 12 and the defective NG product unloading mechanism 16.

[0050] By adopting the above technical solution, material feeding and receiving are achieved; the rotating plate 710 is driven by a servo motor to rotate, which enables the switching of material boxes, thereby realizing long-term continuous production.

[0051] Specifically, the warped NG product unloading mechanism 2 includes a warped NG product unloading mechanism base 21. An upper slider guide rail 27 is installed on the upper end of the warped NG product unloading mechanism base 21. A transverse block 22 is connected to the slider of the upper slider guide rail 27. A unloading hopper 28 is installed above the transverse block 22. A rodless cylinder 23 is installed on the side of the warped NG product unloading mechanism base 21. The output end of the rodless cylinder 23 is connected to the transverse block 22. A lower slider guide rail 29 is installed at the bottom inside the warped NG product unloading mechanism base 21. A coarse positioning cylinder 25 is installed on the slider of the lower slider guide rail 29. A coarse positioning block 26 is installed on the output end of the coarse positioning cylinder 25. A synchronous belt module 24 is also installed on the inner side of the warped NG product unloading mechanism base 21. The sliders of the upper slider guide rail 27 and the lower slider guide rail 29 are all connected to the synchronous belt of the synchronous belt module 24.

[0052] By adopting the above technical solution, the unloading and coarse positioning of warped NG products can be achieved.

[0053] Specifically, the transplanting mechanism 11 includes a transplanting mechanism base 111, wherein a track plate 112 is mounted on the side of the transplanting mechanism base 111, a swing block 114 rotates on the track plate 112, a transplanting servo motor 113 is mounted on the back of the transplanting mechanism base 111, the output end of the transplanting servo motor 113 is connected to the swing block 114, a transplanting horizontal sliding slider guide rail 115 located below the track plate 112 is mounted on the transplanting mechanism base 111, a transplanting lifting slider guide rail 118 is mounted on the slider of the transplanting horizontal sliding slider guide rail 115, the slider of the transplanting lifting slider guide rail 118 is connected to the slider of the transplanting horizontal sliding slider guide rail 115, a transplanting lifting plate 117 is mounted on the guide rail of the transplanting lifting slider guide rail 118, the transplanting lifting plate 117, the swing block 114 and the track plate 112 are connected by a cam bearing 119, and a suction cup 116 is mounted on the end of the transplanting lifting plate 117.

[0054] The above technical solution is used for picking up and placing ceramic pieces.

[0055] Specifically, the height measuring mechanism 14 includes a height measuring mechanism base 141, a horizontal adjustment seat 142 is installed above the height measuring mechanism base 141, a vertical adjustment seat 143 is installed on the horizontal adjustment seat 142, and a height measuring head 144 is installed on the vertical adjustment seat 143.

[0056] By adopting the above technical solution, the height of each cross section of the ceramic sheet is measured by line scanning and summarized into a model and transmitted to the system. The thickness of each point on the surface of the ceramic sheet can be measured, and when summarized, the warpage of the current ceramic sheet can be calculated.

[0057] Specifically, the five-axis loading and unloading mechanism 17 includes a support frame 171. A Y-axis transverse module 172 of the five-axis loading and unloading mechanism is installed above the support frame 171. An X-axis transverse module 177 of the five-axis loading and unloading mechanism is installed on the output end of the Y-axis transverse module 172. A Z-axis lifting module 176 of the five-axis loading and unloading mechanism is installed on the output end of the X-axis transverse module 177. A rotary servo motor 175 is installed on the output end of the rotary servo motor 175. A gripper cylinder 174 is installed on the output end of the gripper cylinder 174. A material box gripper 173 is installed on the output end of the gripper cylinder 174.

[0058] The above technical solution is used for handling the material box.

[0059] Example 2

[0060] The difference between this embodiment and embodiment 1 is as follows: Specifically, the tape feeding mechanism 5 includes a tape feeding mechanism mounting base 51, a tape mounting component 510 is mounted at the middle position of the side of the tape feeding mechanism mounting base 51, a tape cutting cylinder 59 is also mounted on the side of the tape feeding mechanism mounting base 51, a rotating base plate 53 is hinged to the upper end of the tape feeding mechanism mounting base 51, the output end of the tape cutting cylinder 59 is hinged to the rotating base plate 53, a number of guide rollers 52 are mounted on both the tape feeding mechanism mounting base 51 and the rotating base plate 53, a cutting block 54 is connected to the end of the rotating base plate 53, a spring mounting block 58 located below the cutting block 54 is connected to the rotating base plate 53, a roller connecting block 56 is connected to the spring mounting block 58 through a spring 57, and a flattening roller 55 is mounted on the roller connecting block 56.

[0061] By adopting the above technical solution, we can provide binding tape for warped NG products.

[0062] Specifically, the bundled sheet transplanting mechanism 3 includes a Y-axis transverse module 31, wherein an X-axis transverse module 32 is installed on the output end of the Y-axis transverse module 31, a Z-axis lifting module 33 is installed on the output end of the X-axis transverse module 32, a gripper mounting plate 36 is installed on the output end of the Z-axis lifting module 33, a gripper rotating synchronous belt module 35 is installed on the gripper mounting plate 36, a gripper 34 is connected to the output end of the gripper rotating synchronous belt module 35, and a gripper stepper screw motor 37 for controlling the movement of the gripper 34 is also installed on the gripper mounting plate 36.

[0063] By adopting the above technical solution and cooperating with the tape feeding mechanism 5, the warped NG products can be bundled.

[0064] Example 3

[0065] The difference between this embodiment and embodiment 1 is as follows: Specifically, the precision positioning mechanism 4 includes a precision positioning mechanism base 41, wherein precision positioning slider guide rails 42 parallel to its four sides are respectively installed on the top of the precision positioning mechanism base 41, the sliders of the precision positioning slider guide rails 42 are installed on the top of the precision positioning mechanism base 41, a positioning block 44 is connected to one end of the guide rail of the precision positioning slider guide rail 42, and a guide bearing 43 is connected to the other end of the guide rail of the precision positioning slider guide rail 42. A support shaft 47 is installed at the middle position above the precision positioning mechanism base 41, and a cross rotating plate 45 rotates on the support shaft 47. The end of the cross rotating plate 45 is provided with a waist hole, which is sleeved on the outside of the guide bearing 43. A precision positioning cylinder 48 is installed on the side of the precision positioning mechanism base 41, and the output end of the precision positioning cylinder 48 is connected to one of the positioning blocks 44 through a positioning connector 46. A hopper connector 49 is also installed on the side of the precision positioning mechanism base 41, and a precision positioning hopper 410 is installed on the hopper connector 49.

[0066] By adopting the above technical solution, precise positioning of warped NG products can be achieved.

[0067] Example 4

[0068] Furthermore, the implementation method of the dual-station ceramic sheet warpage detection and bundling device of the present invention includes the following steps:

[0069] (I) Loading Section: Three empty material boxes are manually placed on the empty material box loading hopper 10, and three full material boxes are placed on the full material box testing hopper 13. The necessary material boxes for each workstation are then arranged. The five-axis loading / unloading mechanism 17 moves above the full material box testing hopper 13 and sequentially picks up two full material boxes, placing them into the outer material box hopper of the testing material loading mechanism 12. When the ceramic pieces in the two pre-set full material boxes of the testing material loading mechanism 12 are fully loaded, the testing material loading begins. The transverse cylinder of mechanism 12 retracts, and then the servo motor rotates, causing the full material box that was originally on the outer side to turn inward, and the empty material box that was originally on the inner side to turn outward. Then the transverse cylinder pushes out, completing a material box conversion process. After the conversion is completed, the transfer mechanism of the corresponding test product loading mechanism 12 continues to pick up ceramic sheets and load them onto the motor rotating platform 15. The five-axis loading and unloading mechanism 17 moves to the outer empty material box of the test product loading mechanism 12 and grabs the empty material box onto the empty box unloading position 85.

[0070] (II) Inspection section: The ceramic sheet moves one station on the motor rotating platform 15 and passes through the height measuring mechanism 14. The two height measuring heads 144 respectively perform 3D height measurement on the two ceramic sheets to complete the 3D height measurement process of the ceramic sheet.

[0071] (III) Defective NG product removal: After the ceramic sheet with measured height moves two stations on the motor rotating platform 15, it arrives below the transfer mechanism of the corresponding defective NG product unloading mechanism 16. According to the height measurement result, the transfer mechanism of the corresponding defective NG product unloading mechanism 16 picks up the ceramic sheet with thickness NG and defective NG and places it into the material box of the defective NG product unloading mechanism 16. When the material box is full of products, the transverse cylinder of the defective NG product unloading mechanism 16 retracts, and then the servo motor rotates, so that the empty material box that was originally on the outside turns to the inside, and the full material box that was originally on the inside turns to the outside. Then the transverse cylinder pushes out, completing a material box conversion process. The five-axis loading and unloading mechanism 17 of the material box moves to the outside of the full material box of the defective NG product unloading mechanism 16 and grabs the full NG product material box to the NG product unloading position 83.

[0072] (iv) Defective NG removal section: After the defective NG ceramic sheet is removed, it continues to move one station on the motor rotating platform 15 and arrives below the transfer mechanism of the corresponding warped NG product unloading mechanism 2. When there is a warped NG ceramic sheet, the transfer mechanism of the warped NG product unloading mechanism 2 transfers the NG product to the unloading hopper 28 of the warped NG product unloading mechanism 2. When the unloading hopper 28 is full, the rodless cylinder 23 is pushed out, causing the warped NG full unloading hopper 28 to move to the outside, and the clamp of the sheet transfer mechanism 3... The claw 34 picks up the ceramic sheet in the feeding bin 28, and the Z-axis lifting module 33 drives the ceramic sheet to rise. At this time, the rodless cylinder 23 retracts, causing the coarse positioning cylinder 25 to move to the outside. The coarse positioning cylinder 25 drives the coarse positioning block 26 to lift up, and the claw rotation synchronous belt module 35 drives the ceramic sheet to rotate 90 degrees. Then the Z-axis lifting module 33 drives the ceramic sheet to descend, so that the bottom of the ceramic sheet contacts the coarse positioning block 26. The claw 34 slightly loosens, so that the entire stack of ceramic sheets comes together vertically, completing the coarse positioning of the warped NG ceramic sheet.

[0073] (V) Bundling of Warped NG Products: After coarse positioning, the gripper 34 clamps the stack of ceramic pieces again, and then the bundle transfer mechanism 3 moves it to the top of the fine positioning mechanism 4, rotates the ceramic pieces 90 degrees, and places them in the fine positioning hopper 410. The fine positioning cylinder 48 retracts, causing the four positioning blocks 44 to retract inwards simultaneously, completing the fine positioning of the warped NG products. The gripper 34 picks up the finely positioned ceramic pieces again, and then moves it to the top of the tape of the tape feeding mechanism 5, so that the bottom of the ceramic pieces contacts and adheres to the tape. Then it rises, and the gripper... The rotating synchronous belt module 35 drives the ceramic sheet to rotate three times at the origin, so that the tape binds the ceramic sheet three times. Then, the binding and transfer mechanism 3 moves the ceramic sheet to the tape cutting position. The Z-axis lifting module 33 drives the ceramic sheet to descend, and the cutting block 54 cuts the tape. The Z-axis lifting module continues to descend, so that the small section of tape that was cut off and suspended at the ceramic sheet end comes into contact with the floating flattening roller 55, thereby flattening the tape and completing the binding process of the warped NG product. Then, the binding and transfer mechanism 3 places the bound warped NG product onto the warped NG product binding and output belt 6.

[0074] (VI) OK Product Unloading Section: OK products continue to be conveyed backward via the motor rotating platform 15. The OK products at the two workstations correspond to the left box OK product unloading mechanism 9 and the right box OK product unloading mechanism 7, respectively. The transfer mechanism 11 corresponding to the left box OK product unloading mechanism 9 and the right box OK product unloading mechanism 7 transports the corresponding OK products into the material box. When the material boxes of the left box OK product unloading mechanism 9 and the right box OK product unloading mechanism 7 are full, the material box switching action is completed in the same way. The five-axis loading and unloading mechanism 17 of the material box sequentially transports the full OK product box to the OK product full box unloading position 84 to complete the unloading of OK products.

[0075] In summary, this invention features a dual-station test-feeding mechanism 12, a height measuring mechanism 14, a defective (NG) product unloading mechanism 16, and a warped (NG) product unloading mechanism 2. This allows for simultaneous inspection and defect removal of two ceramic sheets, improving the efficiency of ceramic sheet warping detection and reducing employee workload. Furthermore, this invention includes a right-box OK product unloading mechanism 7 and a left-box OK product unloading mechanism 9, which can operate independently. This addresses the possibility of products being OK on one side and NG on the other, ensuring simultaneous operation of all stations. Finally, this invention also includes a sheet bundling and transfer mechanism 3 and a tape feeding mechanism 5. The invention uses tape to bundle warped NG ceramic sheets, improving work efficiency; the invention uses a servo motor to drive the rotating plate 710 to rotate, enabling the switching of material boxes and thus achieving long-term continuous production; the height measuring mechanism 14 of the invention measures the height of each cross section of the ceramic sheet by line scanning and summarizes it into a model and transmits it to the system, which can measure the thickness of each point on the surface of the ceramic sheet, and when summarized, the warping degree of the current ceramic sheet can be calculated; the warped NG product unloading mechanism 2 of the invention can perform coarse positioning while unloading the warped NG products, and then the fine positioning mechanism 4 performs fine positioning of the warped NG products.

[0076] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A double-station ceramic wafer warpage detection and bundling apparatus comprising a worktable, characterized in that: A motor-driven rotating platform is installed above the workbench. Above the workbench, in sequence, are the following mechanisms surrounding the circumference of the motor-driven rotating platform: a warped NG product unloading mechanism, a right box OK product unloading mechanism, a feeding belt, a left box OK product unloading mechanism, a test product loading mechanism, a height measuring mechanism, and a defective NG product unloading mechanism. Above the motor-driven rotating platform, there are corresponding transfer mechanisms for the warped NG product unloading mechanism, the right box OK product unloading mechanism, the left box OK product unloading mechanism, the test product loading mechanism, and the defective NG product unloading mechanism. On both sides of the test product loading mechanism, there are empty box loading hoppers and full box test product loading hoppers, respectively. On the outside of the warped NG product unloading mechanism, there is a bundle transfer mechanism. On the side of the warped NG product unloading mechanism, there are in sequence a precision positioning mechanism, a tape feeding mechanism, and a warped NG product bundle discharge belt. Above the workbench, there is also a five-axis loading and unloading mechanism for the material boxes. The right box OK product unloading mechanism includes a mounting base plate. A slider guide rail is mounted on the top of the mounting base plate. A transverse plate is mounted on the slider of the slider guide rail. A transverse cylinder is mounted on the top of the mounting base plate. The output end of the transverse cylinder is connected to the transverse plate. A reducer is mounted on the transverse plate. A servo motor is mounted on the input end of the reducer. A rotating plate is connected to the output end of the reducer. Several material boxes / hoppers are mounted on the top of the rotating plate. A screw lifting module is mounted on the bottom of one end of the mounting base plate. A lifting rod is connected to the output end of the screw lifting module. A lifting block is connected to the upper end of the lifting rod. The structures of the left box OK product unloading mechanism, the test product loading mechanism, and the defective NG product unloading mechanism are the same as those of the right box OK product unloading mechanism.

2. The dual station ceramic wafer warpage inspection and bundling apparatus of claim 1, wherein: The feeding belt includes a conveyor belt, wherein... Four spacers are installed above the conveyor belt, dividing the area above the conveyor belt into NG product unloading positions, OK product full box unloading positions, and empty box unloading positions.

3. The dual station ceramic wafer warpage inspection and bundling apparatus of claim 1, wherein: The tape feeding mechanism includes a tape feeding mechanism mounting base, a tape mounting component is mounted at the middle position of the side of the tape feeding mechanism mounting base, a tape cutting cylinder is also mounted on the side of the tape feeding mechanism mounting base, a rotating base plate is hinged to the upper end of the tape feeding mechanism mounting base, the output end of the tape cutting cylinder is hinged to the rotating base plate, several guide rollers are mounted on both the tape feeding mechanism mounting base and the rotating base plate, a cutting block is connected to the end of the rotating base plate, a spring mounting block located below the cutting block is connected to the rotating base plate, a roller connecting block is connected to the spring mounting block through a spring, and a flattening roller is mounted on the roller connecting block.

4. The dual station ceramic wafer warpage inspection and bundling apparatus of claim 1, wherein: The precision positioning mechanism includes a precision positioning mechanism base, on which precision positioning slider guides parallel to its four sides are respectively installed on the top of the precision positioning mechanism base. The sliders of the precision positioning slider guides are installed on the top of the precision positioning mechanism base. One end of the upper part of the precision positioning slider guide is connected to a positioning block, and the other end of the upper part of the precision positioning slider guide is connected to a guide bearing. A support shaft is installed in the middle position on the top of the precision positioning mechanism base. A cross rotating plate rotates on the support shaft. The end of the cross rotating plate has a waist hole, which is fitted outside the guide bearing. A precision positioning cylinder is installed on the side of the precision positioning mechanism base. The output end of the precision positioning cylinder is connected to one of the positioning blocks through a positioning connector. A hopper connector is also installed on the side of the precision positioning mechanism base, and a precision positioning hopper is installed on the hopper connector.

5. The dual station ceramic sheet warpage detection and bundling apparatus of claim 1, wherein: The warped NG product unloading mechanism includes a warped NG product unloading mechanism base, an upper slider guide rail installed at the upper end of the warped NG product unloading mechanism base, a transverse block connected to the slider of the upper slider guide rail, a unloading hopper installed above the transverse block, a rodless cylinder installed on the side of the warped NG product unloading mechanism base, the output end of the rodless cylinder connected to the transverse block, a lower slider guide rail installed at the bottom inside the warped NG product unloading mechanism base, a coarse positioning cylinder installed on the slider of the lower slider guide rail, a coarse positioning block installed on the output end of the coarse positioning cylinder, and a synchronous belt module installed inside the warped NG product unloading mechanism base, with the sliders of both the upper and lower slider guide rails connected to the synchronous belt of the synchronous belt module.

6. The dual station ceramic sheet warpage detection and bundling apparatus of claim 1, wherein: The bundled sheet transplanting mechanism includes a Y-axis transverse module, wherein an X-axis transverse module is installed on the output end of the Y-axis transverse module, a Z-axis lifting module is installed on the output end of the X-axis transverse module, a gripper mounting plate is installed on the output end of the Z-axis lifting module, a gripper rotating synchronous belt module is installed on the gripper mounting plate, the gripper is connected to the output end of the gripper rotating synchronous belt module, and a gripper stepper screw motor for controlling the gripper's movement is also installed on the gripper mounting plate.

7. The dual station ceramic sheet warpage detection and bundling apparatus of claim 1, wherein: The transplanting mechanism includes a transplanting mechanism base, wherein a track plate is mounted on the side of the transplanting mechanism base, and a swing block rotates on the track plate. A transplanting servo motor is mounted on the back of the transplanting mechanism base, and the output end of the transplanting servo motor is connected to the swing block. A transplanting horizontal sliding slider guide rail is mounted on the transplanting mechanism base below the track plate. A transplanting lifting slider guide rail is mounted on the slider of the transplanting horizontal sliding slider guide rail. The slider of the transplanting lifting slider guide rail is connected to the slider of the transplanting horizontal sliding slider guide rail. A transplanting lifting plate is mounted on the guide rail of the transplanting lifting slider guide rail. The transplanting lifting plate, the swing block, and the track plate are connected by a cam bearing. A suction cup is mounted on the end of the transplanting lifting plate.

8. The dual station ceramic sheet warpage detection and bundling apparatus of claim 1, wherein: The five-axis loading and unloading mechanism for the material box includes a support frame. A Y-axis transverse movement module of the five-axis loading and unloading mechanism is installed above the support frame. An X-axis transverse movement module of the five-axis loading and unloading mechanism is installed on the output end of the Y-axis transverse movement module. A Z-axis lifting module of the five-axis loading and unloading mechanism is installed on the output end of the X-axis transverse movement module. A rotary servo motor is installed on the output end of the rotary servo motor. A gripper cylinder is installed on the output end of the gripper cylinder. A material box gripper is installed on the output end of the gripper cylinder.

9. The implementation method of the double-station ceramic wafer warpage detection and bundling device according to any one of claims 1-8, characterized in that, Includes the following steps: (I) Loading Section: The operator manually places three empty boxes on the empty box loading hopper and three full boxes on the full box testing hopper, arranging the necessary boxes for each station. The five-axis loading / unloading mechanism moves to the top of the full box testing hopper, sequentially picking up two full boxes and placing them into the outer box hopper of the testing hopper. When the ceramic pieces in the two full boxes pre-loaded by the testing hopper are fully loaded, the transverse cylinder of the testing hopper retracts, and the servo motor rotates, causing the full boxes originally on the outer side to turn inward, and the empty boxes originally on the inner side to turn outward. Then the transverse cylinder pushes out, completing one box conversion process. After conversion, the transfer mechanism of the corresponding testing hopper continues to pick up ceramic pieces and load them onto the motor rotating platform. The five-axis loading / unloading mechanism moves to the top of the outer empty box of the testing hopper and picks up the empty box onto the empty box unloading position. (II) Inspection Section: The ceramic sheet moves one station on the motor rotating platform and passes through the height measuring mechanism. Two height measuring heads perform 3D height measurement on the two ceramic sheets respectively, completing the 3D height measurement process of the ceramic sheet. (III) Defective NG product removal: After the ceramic sheet with measured height moves two stations on the motor rotating platform, it arrives below the transfer mechanism of the corresponding defective NG product unloading mechanism. Based on the height measurement result, the transfer mechanism of the corresponding defective NG product unloading mechanism picks up and places the ceramic sheet with NG thickness and NG defects into the material box of the defective NG product unloading mechanism. When the material box is full of products, the transverse cylinder of the defective NG product unloading mechanism retracts, and then the servo motor rotates, causing the empty material box that was originally on the outer side to turn inward, and the full material box that was originally on the inner side to turn outward. Then the transverse cylinder pushes out, completing a material box conversion process. The five-axis loading and unloading mechanism of the material box moves to the outer full material box of the defective NG product unloading mechanism and grabs the full NG product material box to the NG product unloading position. (iv) Warped NG defective parts; After the defective NG ceramic sheet is removed, it continues to move one station on the motor rotating platform and arrives below the transfer mechanism of the corresponding warped NG product unloading mechanism. When there is a warped NG ceramic sheet, the transfer mechanism of the warped NG product unloading mechanism transfers the NG product to the unloading bin of the warped NG product unloading mechanism. When the unloading bin is full, the rodless cylinder extends, causing the full unloading bin of warped NG to move to the outside. The gripper of the bundled sheet transfer mechanism picks up the ceramic sheet in the unloading bin, and the Z-axis lifting module drives the ceramic sheet to rise. At this time, the rodless cylinder retracts, causing the coarse positioning cylinder to move to the outside. The coarse positioning cylinder drives the coarse positioning block to lift up, and the gripper rotation synchronous belt module drives the ceramic sheet to rotate 90 degrees. Then the Z-axis lifting module drives the ceramic sheet to descend, so that the bottom of the ceramic sheet contacts the coarse positioning block. The gripper slightly loosens, so that the entire stack of ceramic sheets comes together vertically, completing the coarse positioning of the warped NG ceramic sheet. (V) Bundling of Warped NG Products: After coarse positioning, the grippers clamp the stack of ceramic pieces again, and then the bundle transfer mechanism moves it above the fine positioning mechanism, rotates the ceramic pieces 90 degrees, and places them in the fine positioning hopper. The fine positioning cylinder retracts, causing the four positioning blocks to retract inwards simultaneously, completing the fine positioning of the warped NG products. The grippers then pick up the finely positioned ceramic pieces again, and move them above the tape of the tape feeding mechanism, allowing the bottom of the ceramic pieces to contact and adhere to the tape. Then, the grippers rise, and the grippers rotate... The synchronous belt module drives the ceramic sheet to rotate three times at the origin, so that the tape binds the ceramic sheet three times. Then, the binding and transfer mechanism moves the ceramic sheet to the tape cutting position. The Z-axis lifting module moves the ceramic sheet down, and the cutting block cuts the tape. The Z-axis lifting module continues to descend, so that the small section of tape that was cut off and suspended at the ceramic sheet end comes into contact with the floating flattening roller, thereby flattening the tape and completing the binding process of the warped NG product. Then, the binding and transfer mechanism places the bound warped NG product onto the warped NG product binding and output belt. (VI) OK Product Unloading Section: OK products continue to be conveyed backward via the motor rotating platform. The OK products at the two workstations correspond to the left box OK product unloading mechanism and the right box OK product unloading mechanism, respectively. The transfer mechanism corresponding to the left box OK product unloading mechanism and the right box OK product unloading mechanism will transport the corresponding OK products into the material box. When the material boxes of the left box OK product unloading mechanism and the right box OK product unloading mechanism are full, the material box switching action is completed in the same way. The five-axis loading and unloading mechanism of the material box will sequentially transport the full OK product box to the OK product full box unloading position to complete the unloading of OK products.

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