Chip turning device and chip turning method

Abstract

The application discloses a chip turning-over device and a chip turning-over method. The chip turning-over device comprises a tray assembly, two trays used in cooperation, a chip placing groove for placing a chip on the opposite side of each of the two trays, and a chip on one of the two trays and no chip on the other tray. The turning-over assembly comprises a lifting driving part, a turning-over driving part and a tray clamping part. The tray clamping part is used to clamp one or both of the trays of the tray assembly, and the tray clamping part can drive the clamped tray assembly to turn over under the action of the turning-over driving part. The turning-over driving part is installed on the lifting driving part and can drive the tray clamping part to shake up and down under the action of the lifting driving part. The application realizes the synchronous turning-over of multiple chips on the tray through mechanical cooperation, is more efficient, does not need manual participation, and effectively avoids the problems of missed turning-over or wrong turning-over in manual turning-over.

Description

Technical Field

[0001] This invention relates to the field of chip inspection technology, and in particular to a chip flipping device and a chip flipping method. Background Technology

[0002] With the rapid development of the semiconductor industry, semiconductor chip production is gradually moving towards automation and standardization. Visual inspection is a crucial step in chip manufacturing, primarily used to detect surface defects and provide a reference for subsequent production. Since chips are often mounted on trays, the side of the chip facing the tray is obstructed, making direct visual inspection difficult. Current practice typically involves manually flipping the chip after single-sided visual inspection for a second inspection. However, manual flipping is not only labor-intensive but also prone to errors due to the large number of chips on the tray, leading to incorrect or missed flips and affecting subsequent inspection results. Summary of the Invention

[0003] To overcome the above-mentioned shortcomings, the present invention aims to provide a chip flipping device and a chip flipping method, which realizes the synchronous flipping of multiple chips on the tray through mechanical cooperation. This not only has higher efficiency, but also eliminates the need for manual intervention, effectively avoiding the problems of missed or incorrect flipping that occur during manual flipping.

[0004] To achieve the above objectives, one of the technical solutions adopted by the present invention is: a chip flipping device, comprising:

[0005] The tray assembly includes two trays used in conjunction. Each tray has a chip placement slot on one side opposite to the other for placing chips. One tray has chips on it, while the other tray does not have chips on it.

[0006] The flipping assembly includes a lifting drive unit, a flipping drive unit, and a tray clamping unit. The tray clamping unit is used to clamp one or two trays of the tray assembly, and the tray clamping unit can drive the clamped tray assembly to flip under the action of the flipping drive unit. The flipping drive unit is mounted on the lifting drive unit and can drive the tray clamping unit to vibrate up and down under the action of the lifting drive unit.

[0007] In use, the tray without chips (hereinafter referred to as the "first tray") is first held by the tray clamping part, and then the first tray is flipped so that the chip placement slot is facing down by the flipping drive part. The lifting drive part moves the first tray down and stacks it on the tray with chips (hereinafter referred to as the "second tray"). Then, the tray clamping part clamps the first tray and the second tray at the same time, and flips the first tray and the second tray at the same time by the flipping drive part so that the second tray is flipped above the first tray. At this time, the chips on the second tray have completed the flipping action and enter the placement slot of the first tray under the action of gravity. Then, the lifting drive part drives the first tray and the second tray to shake up and down at the same time so that the chips stuck on the second tray can smoothly enter the placement slot of the first tray under the action of shaking. At this time, the chips in the first tray are the flipped chips. Then, the second tray can be removed by the tray clamping part. It should be noted that at this time, the second tray taken away by the tray clamping part does not contain any chips, and the chip placement slot is facing down. Therefore, the second tray taken away by the tray clamping part can be used as the first tray mentioned above in the next flipping operation.

[0008] It is important to note that the depth of the chip placement slots in the tray is adapted to the thickness of the chip. When two trays are stacked, the distance between the connected chip placement slots on the two trays (the minimum distance between connected chip placement slots is twice the depth of a single chip placement slot) should be less than the width and length of the chip. This is to prevent the chip from flipping between the two chip placement slots and ensure that the flipping action of the chip can only be achieved by flipping the tray.

[0009] The advantages of the chip flipping device of the present invention are as follows:

[0010] 1. In the tray assembly, the chip placement slots of the two trays are arranged relative to each other so that when the two trays are stacked, the chip placement slots on the trays can be connected one by one, which facilitates the transfer of chips from one tray to the other. In the flipping assembly, the tray clamping part clamps one or two trays to facilitate the stacking and clamping of the two trays (clamping both trays at the same time) or the unstacked and clamping (clamping only one tray). When the tray clamping part clamps two trays at the same time, the flipping drive part can drive the two trays to flip synchronously, so that the chips in the upper tray can enter the lower tray under their own weight. With the help of the lifting drive part, the tray clamping part and the two trays shake up and down synchronously, so that the chips can smoothly enter the lower tray under the shaking action, thus achieving the purpose of chip flipping.

[0011] 2. By flipping the entire tray using the flipping component, all chips on the tray can be flipped simultaneously, which improves the flipping efficiency to a certain extent. Furthermore, by setting the two trays relative to each other, the enclosed space formed by stacking the two trays can be utilized to prevent chips from slipping during subsequent flipping. The flipped chips can also be directly transferred to the other tray, enabling the synchronous loading of the flipped chips onto the empty tray (the tray without chips), which is beneficial for subsequent appearance inspection of the flipped chips.

[0012] Furthermore, the tray clamping part includes a clamping frame that matches the shape of the tray, and multiple clamping elements are evenly distributed on the clamping frame for clamping one or two trays. In use, the clamping frame can be fitted onto the outside of the tray to restrict the position of the tray; then the tray is clamped by the clamping elements, so that the tray is always stably limited within the clamping frame due to the clamping force of the clamping elements during the flipping and up-and-down shaking of the tray clamping part.

[0013] Furthermore, the clamping frame has a rectangular structure, with clamping elements arranged at the corners of the frame. These include clamping blocks that reciprocate along the diagonal of the clamping frame under the action of the clamping drive, and each clamping block simultaneously abuts against two adjacent sides of the material tray. By driving the clamping blocks to reciprocate through the clamping drive, the material tray is clamped or released. The fact that the clamping blocks are simultaneously abutting against two adjacent sides of the material tray enhances the clamping stability of the tray to a certain extent.

[0014] Furthermore, the clamping block includes a clamping block body, an upper stop plate, and a lower stop plate. The upper stop plate and the lower stop plate are located on the upper and lower end faces of the clamping block body, respectively, to limit the position of the upper and lower end faces of the material tray. The height of the clamping block body matches the stacking height of the two material trays, and the clamping block body is provided with a first abutting surface and a second abutting surface that can respectively abut against two adjacent sides of the material tray.

[0015] When the clamping block holds two trays, one of which contains a chip, the two trays must remain tightly stacked to prevent the chip from slipping during subsequent flipping. Therefore, the height of the clamping block is matched to the stacking height of the two trays. The upper and lower stop plates, working in conjunction, ensure that when the clamping block holds the two trays, they abut against the upper and lower surfaces of the stacked trays, respectively, thus limiting the stacking height and preventing slippage during flipping, ensuring reliable chip flipping. For cases where only a single tray (without a chip) is clamped, the upper and lower stop plates limit the sliding range of the single tray on the clamping block, preventing it from slipping off.

[0016] Furthermore, the flipping drive unit includes a flipping frame and a flipping drive component. The flipping frame is fixedly connected to the lifting drive unit and has a receiving space inside for accommodating the material tray clamping part. The material tray clamping part is located in the receiving space and its two ends are rotatably connected to the flipping frame. The flipping drive component is installed on the flipping frame and is used to drive the material tray clamping part to flip.

[0017] The lifting drive unit drives the tilting frame to move up and down, which in turn drives the material tray clamping part located on the tilting frame to move up and down synchronously. The tilting drive unit drives the material tray clamping part to tilt, thereby realizing the flipping operation of the material tray on the material tray clamping part.

[0018] Furthermore, the flipping drive unit also includes a detection sensor for detecting the flipping angle of the tray clamping part. By setting the detection sensor to detect the flipping angle of the tray clamping part, the accuracy of the tray flipping angle can be improved. It should be noted that the flipping angle is 180°.

[0019] Furthermore, it also includes a first conveyor line and a second conveyor line arranged in parallel. The first conveyor line is used to transport trays containing chips, and the second conveyor line is used to transport trays without chips. The flipping assembly can move back and forth between the first and second conveyor lines. The reciprocating movement of the flipping assembly between the first and second conveyor lines facilitates the clamping of the required trays.

[0020] Furthermore, both the first and second conveyor lines are equipped with material picking stations for the flipping components to pick up and place material trays. These stations are equipped with material picking limiters to define the position of the material trays. By limiting the material trays with these limiters, the flipping components can achieve uniformity in picking up and placing the material trays. Moreover, the limiters also enable alignment of stacked material trays, ensuring that the chip placement slots on the two trays are aligned one-to-one.

[0021] The second technical solution adopted in this invention is: a chip flipping method, comprising the following steps:

[0022] Flip the first tray without chips so that the chip placement slot is facing down;

[0023] The first tray is stacked on top of the second tray containing the chips;

[0024] Simultaneously, pick up the stacked first and second trays and flip them so that the second tray is above the first tray;

[0025] This causes the first and second material trays, after being flipped, to vibrate up and down synchronously.

[0026] After the first and second material trays, which have been shaken up and down, are placed in the designated positions, the second material tray located on top is removed. At this point, the chip on the first material tray is the flipped chip.

[0027] The beneficial effects of the chip flipping method of the present invention are as follows:

[0028] 1. By stacking and coordinating the first and second material trays, a relatively enclosed placement space is formed between them to prevent the chips from slipping out of the placement space. Then, by flipping, the second material tray containing the chips can be flipped to the top of the first material tray. The chips in the second material tray are flipped synchronously and can move towards the first material tray. With the synchronous up and down shaking of the first and second material trays, the chips can be smoothly entered into the first material tray under the shaking action. Finally, the second material tray on top is removed. At this time, the chips on the first material tray are the flipped chips.

[0029] 2. The chip flipping and transfer is achieved by coordinating the first and second material trays. That is, by using the synchronous flipping of the stacked first and second material trays, the chips on the second material tray can be flipped and fall into the first material tray at the same time. This flipping method not only achieves the synchronous flipping of multiple chips, but also improves the chip flipping efficiency and effectively avoids the phenomenon of missed flipping and incorrect flipping that occurs in manual flipping.

[0030] Furthermore, after the first tray is stacked on top of the second tray containing the chips, the first and second trays are aligned and positioned so that the chip placement slots on the first tray can be aligned one by one with the chip placement slots on the second tray. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the flipping assembly according to an embodiment of the present invention;

[0032] Figure 2 This is a schematic diagram of the chip flipping device according to an embodiment of the present invention;

[0033] Figure 3 This is a schematic diagram of the clamping mechanism clamping the first and second material trays according to an embodiment of the present invention;

[0034] Figure 4 This is a schematic diagram of the material handling station of the first conveyor line in an embodiment of the present invention;

[0035] Figure 5 This is a top view of the material handling station of the first conveyor line in an embodiment of the present invention;

[0036] Figure 6 This is a schematic diagram of the material tray clamping part according to an embodiment of the present invention;

[0037] Figure 7 This is a schematic diagram of the clamping block according to an embodiment of the present invention;

[0038] Figure 8This is a schematic diagram of the lifting drive unit according to an embodiment of the present invention;

[0039] Figure 9 for Figure 8 A magnified view of part A in the middle.

[0040] In the picture:

[0041] 1-Lifting drive unit; 11-Lifting base plate; 12-First linear module; 13-Lifting plate; 14-Second linear module; 15-Shaking base;

[0042] 2-Flipping drive unit; 21-Flipping frame; 22-Detection sensor; 23-Detection board;

[0043] 3-Plate clamping part; 31-Clamping frame; 311-Upper frame plate; 312-Lower frame plate; 313-End plate; 314-Support rod; 32-Clamping drive component; 33-Clamping block; 331-Clamping block body; 3311-First abutting surface; 332-Upper stop plate; 333-Lower stop plate;

[0044] 41 - First tray; 42 - Second tray;

[0045] 51-First conveyor line; 511-Plate lifting unit; 5111-Lifting plate; 512-Material picking limiting unit; 5121-Limiting clamp; 5122-Limiting drive component;

[0046] 52 - Second conveyor line;

[0047] 6-Horizontal drive component. Detailed Implementation

[0048] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0049] Example

[0050] See appendix Figure 1-3 As shown, a chip flipping device of the present invention includes a tray assembly and a flipping assembly. The tray assembly includes two trays used in cooperation. Each of the two trays has a chip placement slot on one side opposite to the other for placing chips. One tray has chips on it, while the other tray does not have chips on it. The flipping assembly includes a lifting drive unit 1, a flipping drive unit 2, and a tray clamping unit 3. The tray clamping unit 3 is used to clamp one or both trays of the tray assembly, and the tray clamping unit 3 can drive the clamped tray assembly to flip under the action of the flipping drive unit 2. The flipping drive unit 2 is mounted on the lifting drive unit 1 and can drive the tray clamping unit 3 to vibrate up and down under the action of the lifting drive unit 1.

[0051] For ease of description, the tray without chips is designated as the first tray 41, and the tray with chips is designated as the second tray 42. In use, the first tray 41 is first held by the tray clamping part 3, and then the first tray 41 is flipped so that the chip placement slot is facing down by the flipping drive part 2. The lifting drive part 1 moves the first tray 41 down and stacks it on the second tray 42. Then, the tray clamping part 3 simultaneously clamps the first tray 41 and the second tray 42, and flips the first tray 41 and the second tray 42 synchronously by the flipping drive part 2 so that the second tray 42 is flipped above the first tray 41. At this time, the chip on the second tray 42 completes the flipping action and enters the placement slot of the first tray 41 under the action of gravity. Then, the lifting drive part 1 drives the first tray 41 and the second tray 42 to shake up and down synchronously so that the chip stuck on the second tray 42 can smoothly enter the placement slot of the first tray 41 under the action of shaking. At this time, the chip in the first tray 41 is the flipped chip. Then, the second tray 42 can be removed by the tray clamping part 3. At this time, the second tray 42 taken away by the tray clamping part 3 has no chips and the chip placement slot is facing down. Therefore, the second tray 42 taken away by the tray clamping part 3 can be used as the first tray mentioned above in the next flipping operation.

[0052] It is important to note that the first tray 41 and the second tray 42 have identical structures, and the depth of their internal chip placement slots is adapted to the thickness of the chips. When the first tray 41 and the second tray 42 are stacked, the spacing between the connected chip placement slots on the first tray 41 and the second tray 42 (the minimum spacing between connected chip placement slots is twice the depth of a single chip placement slot) should be less than the width and length of the chip. This is to suppress the flipping of the chip between the two chip placement slots, ensuring that the flipping action of the chip can only be achieved by flipping the trays. In addition, the side of the first tray 41 and the second tray 42 with the chip placement slots should be flat, so that when the first tray 41 and the second tray 42 are stacked, the side with the chip placement slots can be flat and abut against each other, and they are only connected at the chip placement slots.

[0053] To meet the visual inspection requirements during the production process, in some embodiments, see Appendix Figure 2 As shown, the chip flipping device also includes a first conveyor line 51 and a second conveyor line 52 arranged in parallel. The first conveyor line 51 is used to convey the first material tray 41 to the working range of the flipping assembly, and the second conveyor line 52 is used to convey the second material tray 42 to the working range of the flipping assembly. The flipping assembly can reciprocate between the first conveyor line 51 and the second conveyor line 52 by the drive of the horizontal drive member 6.

[0054] Furthermore, both the first conveyor line 51 and the second conveyor line 52 are equipped with a material handling station for the flipping assembly to pick up or place the first material tray 41 or the second material tray 42. It should be noted that the first conveyor line 51 and the second conveyor line 52 have the same structure, the only difference being that the first conveyor line 51 conveys the first material tray 41 without chips, while the second conveyor line 52 conveys the second material tray 42 with chips.

[0055] Taking the first conveyor line 51 and the first material tray 41 as examples, in some embodiments, see the appendix. Figure 4-5 As shown, the material handling station is equipped with a material tray lifting part 511 and a material handling limiting part 512. The material tray lifting part 511 is located below the first material tray 41 and is used to lift the first material tray 41 away from the first conveyor line 51. The material handling limiting part 512 is arranged on the first conveyor line 51 and is evenly distributed along the material handling station to limit the position of the first material tray 41 at the material handling station.

[0056] Specifically, the material picking limiting part 512 includes at least one set of limiting members that can move towards or away from each other. Each limiting member includes two limiting clamps 5121 arranged opposite each other. Each limiting clamp 5121 can move towards or away from the first material tray 41 under the action of the limiting drive member 5122 (such as a linear cylinder). The height of the limiting clamp 5121 is adapted to the height of the two material trays stacked (i.e., the sum of the heights of the first material tray 41 and the second material tray 42 after stacking), so that the limiting clamp 5121 can limit the individual first material tray 41 and simultaneously limit the stacked first material tray 41 and second material tray 42, so that the chip placement slots on the first material tray 41 can be aligned one by one with the chip placement slots on the second material tray 42.

[0057] For example, two sets of limiting members are provided, and are respectively located at the corners corresponding to the two diagonals of the first material tray 41. The limiting clamp 5121 is provided with an L-shaped limiting surface that matches the shape of the corner of the first material tray 41. When the limiting clamp 5121 moves toward the first material tray 41, the L-shaped limiting surface can abut against the corner of the first material tray 41.

[0058] In some embodiments, the tray lifting part 511 includes a lifting plate 5111 that can be raised and lowered, and the upper end surface of the lifting plate 5111 is used to receive the first tray 41. It should be noted that the size of the lifting plate 5111 should be smaller than the size of the first tray 41 to ensure that when the first tray 41 is located on the lifting plate 5111, the four corners of the first tray 41 are exposed outside the lifting plate 5111, thereby avoiding the lifting plate 5111 from affecting the movement of the limiting member or the clamping member. In addition, the raising and lowering movement of the lifting plate 5111 is prior art, and will not be described in detail in this embodiment.

[0059] In some embodiments, see Appendix Figure 6As shown, the tray clamping part 3 includes a clamping frame 31 that matches the shape of the first tray 41. Multiple clamping members are evenly distributed on the clamping frame 31. The clamping members can clamp only the first tray 41 or the second tray 42, or they can clamp both the first tray 41 and the second tray 42 simultaneously. Taking clamping only the first tray 41 as an example, in use, the clamping frame 31 can be fitted onto the outside of the first tray 41 to restrict the position of the first tray 41; then, the clamping members clamp the first tray 41, so that during the flipping and shaking process of the tray clamping part 3, the first tray is always stably confined within the clamping frame 31 due to the clamping force of the clamping members.

[0060] Furthermore, the clamping frame 31 has a rectangular structure, with clamping elements arranged at the corners of the clamping frame 31. These include clamping blocks 33 that can reciprocate along the diagonal direction of the clamping frame 31 under the action of the clamping drive 32 (such as a linear cylinder). The clamping blocks 33 can simultaneously abut against two adjacent sides of the first material tray 41 or the second material tray 42. By driving the clamping blocks 33 to reciprocate through the clamping drive 32, the material tray can be clamped or released. Furthermore, limiting the clamping blocks 33 to simultaneously abut against two adjacent sides of the material tray enhances the clamping stability of the material tray to a certain extent.

[0061] Since the clamping block 33 clamps the material tray from the side, when the clamping block 33 clamps the stacked first material tray 41 and second material tray 42, because the second material tray 42 has chips on it, if the first material tray 41 and second material tray 42 slip on the clamping block 33 after stacking, gaps may easily appear between the first material tray 41 and second material tray 42, and the chips may fall out. Therefore, in some embodiments, the structure of the clamping block 33 has been improved. For details, please refer to the appendix. Figure 7 As shown, the clamping block 33 includes a clamping block body 331, an upper stop plate 332, and a lower stop plate 333. The upper stop plate 332 and the lower stop plate 333 are located on the upper and lower end faces of the clamping block body 331, respectively, to limit the position of the upper and lower end faces of the first material tray 41 and / or the second material tray 42. The height of the clamping block body 331 matches the stacked height of the first material tray 41 and the second material tray 42, and the clamping block body 331 is provided with a first abutting surface 3311 and a second abutting surface that can respectively abut against the two adjacent sides of the first material tray 41 and / or the second material tray 42.

[0062] The height of the clamping block body 331 is adapted to the stacking height of the first tray 41 and the second tray 42. Through the cooperation of the upper stop plate 332 and the lower stop plate 333, when the clamping block body 331 simultaneously clamps the first tray 41 and the second tray 42, the upper stop plate 332 and the lower stop plate 333 can respectively abut against the upper and lower end faces of the two stacked trays, thereby limiting the stacking height of the two trays. This prevents the trays from slipping on the clamping block body 331 during subsequent flipping, thus preventing the chips from slipping off. When only a single tray (the first tray or the second tray) is clamped, no chips are placed on the single tray. Therefore, in this case, the upper stop plate 332 and the lower stop plate 333 can cooperate to limit the sliding range of the single tray on the clamping block body 331, preventing the single tray from slipping off the clamping block body 331.

[0063] In some embodiments, see Appendix Figure 6 As shown, the clamping frame 31 includes an upper frame plate 311, a lower frame plate 312, and an end plate 313. The upper frame plate 311 and the lower frame plate 312 have identical structures and are arranged vertically, with a clamping space between them to accommodate the material tray. The height of the clamping space is greater than the stacking height of the first material tray 41 and the second material tray 42. Two end plates 313 are provided, located at both ends of the upper frame plate 311 and the lower frame plate 312, respectively, to fix the upper frame plate 311 and the lower frame plate 312. It should be noted that the size of the hollow portion on the upper frame plate 311 and the lower frame plate 312 should be larger than the size of the material tray, so that when the material tray enters the clamping space from the hollow portion of the lower frame plate 312 (or the upper frame plate 311), it will not touch the lower frame plate 312 (or the upper frame plate 311). Clamping components are arranged one by one between the upper frame plate 311 and the lower frame plate 312, with the clamping block 33 facing the clamping space.

[0064] Since the end plate 313 is fixed from both ends of the upper frame plate 311 and the lower frame plate 312, the middle area of ​​the upper frame plate 311 and the lower frame plate 312 is suspended and has poor stability. Therefore, in some embodiments, a support rod 314 can be arranged in the middle area of ​​the upper frame plate 311 and the lower frame plate 312, and the two ends of the support rod 314 can be fixed to the upper frame plate 311 and the lower frame plate 312 respectively.

[0065] In some embodiments, see Appendix Figure 8As shown, the flipping drive unit 2 includes a flipping frame 21 and a flipping drive component (not shown in the figure). The flipping frame 21 is fixedly connected to the lifting drive unit 1, and has an accommodating space for accommodating the tray clamping part 3. The tray clamping part 3 is located within the accommodating space, and the two ends of the clamping frame 31 with end plates 313 are respectively rotatably connected to the flipping frame 21. The flipping drive component is mounted on the flipping frame 21 to drive the tray clamping part 3 to flip. Specifically, the flipping frame 21 has an inverted U-shaped structure, and its upper end is connected to the lifting drive unit 1. The clamping frame 31 is located inside the flipping frame 21, and the middle part of the end plate 313 is rotatably mounted on the flipping frame 21 via a rotating shaft. One of the rotating shafts is coaxially connected to the flipping drive component. For example, the flipping drive component can be a flipping cylinder.

[0066] When the flipping drive is activated, the end plate 313 drives the clamping frame 31 to flip along the flipping frame 21, thereby realizing the flipping operation of the material tray. It should be noted that the rotation axis of the rotating shaft should coincide with the center line of the material tray to minimize the overall flipping range of the material tray and facilitate the compactness of the overall structure of the flipping drive unit 2.

[0067] Furthermore, since the tray rotation is used to flip the chips, that is, to rotate the chips 180°, please refer to the appendix for details on detecting the tray rotation angle. Figure 9 As shown, a detection sensor 22 can be installed on the flipping drive unit 2, and a detection plate 23 can be installed on the clamping frame 31. When the clamping frame 31 is flipped, the detection plate 23 flips and enters or leaves the detection range of the detection sensor 22, thereby enabling the detection of the flipping angle.

[0068] In some embodiments, see Appendix Figure 8 As shown, the lifting drive unit 1 includes a lifting base plate 11 that can move horizontally under the action of a horizontal drive member 6. The lifting base plate 11 is provided with a lifting plate 13 that can move up and down under the action of a first linear module 12. The lifting plate 13 is provided with a shaking base 15 that can move up and down under the action of a second linear module 14. The shaking base 15 is fixedly connected to the flipping frame 21. The linear motion stroke of the second linear module 14 is less than that of the first linear module 12. Through the cooperation of the second linear module 14 and the shaking base 15, the up and down shaking of the flipping frame 21 can be quickly achieved with a smaller linear motion stroke. The lifting drive of the lifting plate 13 by the first linear module 12 is for gripping the first tray 41 or the second tray 42 from the first conveyor line 51 or the second conveyor line 52. For example, the first linear module 12 and the second linear module 14 can be linear screw modules in the prior art.

[0069] The chip flipping device works as follows:

[0070] In the initial state, the first tray 41 and the second tray 42 are respectively conveyed to the picking stations of the first conveyor line 51 and the second conveyor line 52. The tray lifting part 511 on the first conveyor line 51 lifts the first tray 41 to the designated loading position, and the limiting member of the corresponding picking limiting part 512 moves towards the first tray 41 to limit the position of the first tray 41; then the picking limiting part 512 returns to its original position. At the same time, the tray lifting part on the second conveyor line 52 lifts the second tray 42 to the designated loading position, and the limiting member of the corresponding picking limiting part moves towards the second tray 42 to limit the position of the second tray 42; then the picking limiting part returns to its original position.

[0071] The horizontal drive unit 6 drives the flipping assembly to move above the material picking station of the first conveyor line 51. The first linear module 12 drives the lifting plate 13 to move down and moves the clamping frame 31 to be fitted onto the first material tray 41. The clamping component then clamps the first material tray 41. The first linear module 12 drives the lifting plate 13 to move up, so that the material tray clamping part 3 drives the first material tray 41 to move up and away from the first conveyor line 51. The flipping drive unit is activated, and the material tray clamping part 3 drives the first material tray 41 to flip until the chip placement slot of the first material tray 41 faces down.

[0072] The horizontal drive unit 6 moves the flipping assembly above the material picking station of the second conveyor line 52. The first linear module 12 drives the lifting plate 13 to move down, and the material tray clamping part 3 moves the first material tray 41 above the second material tray 42. The clamping part then releases the first material tray 41, and the first material tray 41 falls onto the second material tray 42. The limiting part of the picking limiting part 512 then limits the first material tray 41 and the second material tray 42 to align the first material tray 41 with the second material tray 42. Then the picking limiting part 512 returns to its original position. The flipping assembly continues to descend until the clamping frame 31 is fitted onto the first material tray. 41. On the second tray 42; the clamping parts then simultaneously clamp the first tray 41 and the second tray 42; the first linear module 12 drives the lifting plate 13 to move upward, so that the tray clamping part 3 drives the first tray 41 and the second tray 42 to move upward and leave the first conveyor line 51; the flipping drive is activated, and the tray clamping part 3 then drives the first tray 41 and the second tray 42 to flip synchronously until the chip placement slot of the second tray 42 faces downward. At this time, the chip placement slot of the first tray 41 faces upward, and the chip located in the second tray 42 can move downward into the chip placement slot of the first tray 41 under its own weight.

[0073] The second linear module 14 drives the vibrating base 15 to vibrate up and down, and the flipping frame 21 then drives the material tray clamping part 3 to vibrate up and down, so that the chip tilted and stuck in the chip placement slot of the first material tray 41 or the second material tray 42 can smoothly enter the designated position of the chip placement slot of the first material tray 41.

[0074] The horizontal drive unit 6 drives the flipping assembly to move to the designated unloading area (e.g., the material picking station of the second conveyor line 52 or other positions). The first linear module 12 drives the lifting plate 13 to move down, and the tray clamping part 3 then drives the first tray 41 and the second tray 42 to the designated unloading position. The clamping part releases the first tray 41 and the second tray 42, and the second linear module 14 then drives the tray clamping part 3 to move up a small distance (the height of one tray). Then the clamping part clamps the second tray 42 located above. The first linear module 12 drives the tray clamping part 3 to move up so that the second tray 42 leaves the first tray 41. At this time, the chip loaded on the first tray 41 is the flipped chip.

[0075] Based on this, the present invention also provides a chip flipping method, comprising the following steps: flipping a first tray 41 without chips so that the chip placement slot faces down; stacking the first tray 41 on top of a second tray 42 with chips; simultaneously clamping the stacked first tray 41 and second tray 42, and flipping them so that the second tray 42 is above the first tray 41; causing the flipped first tray 41 and second tray 42 to vibrate up and down synchronously; placing the vibrated first tray 41 and second tray 42 in a designated position, and removing the second tray 42 located on top. At this time, the chip on the first tray 41 is the flipped chip.

[0076] By stacking and cooperating the first tray 41 and the second tray 42, a relatively enclosed placement space can be formed between the first tray 41 and the second tray 42 to prevent the chip from slipping out of the placement space. Then, by flipping, the second tray 42 containing the chip can be flipped to be above the first tray 41. After the chip in the second tray 42 is flipped synchronously, it can move towards the first tray 41. With the synchronous up and down shaking of the first tray 41 and the second tray 42, the chip can be smoothly entered into the first tray 41 under the shaking action. Finally, the second tray 42 located on top is removed. At this time, the chip on the first tray 41 is the flipped chip.

[0077] Furthermore, after the first tray 41 is stacked on top of the second tray 42 containing the chips, the first tray 41 and the second tray 42 are aligned and positioned so that the chip placement slots on the first tray 41 can be aligned one by one with the chip placement slots on the second tray 42.

[0078] The above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable those skilled in the art to understand the content of the present invention and implement it. They should not be used to limit the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A chip flipping device, characterized in that: include The tray assembly includes two trays used in conjunction, each tray having a chip placement slot on one side opposite to the other, wherein one tray has a chip placed on it and the other tray does not have a chip placed on it. A flipping assembly includes a lifting drive unit, a flipping drive unit, and a tray clamping unit. The tray clamping unit is used to clamp one or two trays of the tray assembly, and the tray clamping unit can drive the clamped tray assembly to flip under the action of the flipping drive unit. The flipping drive unit is mounted on the lifting drive unit and can drive the tray clamping unit to vibrate up and down under the action of the lifting drive unit. The tray clamping part includes a clamping frame that matches the shape of the tray, and a plurality of clamping elements for clamping one or two trays are evenly distributed on the clamping frame. The clamping frame has a square frame structure, and the clamping members are arranged at the corners of the clamping frame. The clamping members include clamping blocks that can reciprocate along the diagonal direction of the clamping frame under the action of the clamping drive member. The clamping blocks can simultaneously abut against two adjacent sides of the material tray. The clamping block includes a clamping block body, an upper stop plate, and a lower stop plate. The upper stop plate and the lower stop plate are located on the upper and lower end faces of the clamping block body, respectively, to limit the position of the upper and lower end faces of the material tray. The height of the clamping block body matches the stacked height of the two material trays, and the clamping block body is provided with a first abutting surface and a second abutting surface that can respectively abut against two adjacent sides of the material tray.

2. The chip flipping device according to claim 1, characterized in that: The flipping drive unit includes a flipping frame and a flipping drive component. The flipping frame is fixed to the lifting drive unit and has a receiving space inside for accommodating the material tray clamping part. The material tray clamping part is located in the receiving space and its two ends are rotatably connected to the flipping frame. The flipping drive component is installed on the flipping frame and is used to drive the material tray clamping part to flip.

3. The chip flipping device according to claim 2, characterized in that: The flipping drive unit also includes a detection sensor for detecting the flipping angle of the tray clamping unit.

4. The chip flipping device according to claim 1, characterized in that: It also includes a first conveyor line and a second conveyor line arranged in parallel. The first conveyor line is used to convey the tray containing the chip, and the second conveyor line is used to convey the tray without the chip. The flipping assembly can move back and forth between the first conveyor line and the second conveyor line.

5. The chip flipping device according to claim 4, characterized in that: Both the first and second conveyor lines are equipped with material picking stations for the flipping assembly to pick up and put down the material trays. The material picking stations are equipped with material picking limit parts to limit the position of the material trays.

6. A chip flipping method for use in the chip flipping apparatus according to any one of claims 1 to 5, characterized in that, Includes the following steps: Flip the first tray without chips so that the chip placement slot is facing down; The first tray is stacked on top of the second tray containing the chips; Simultaneously, pick up the stacked first and second trays and flip them so that the second tray is above the first tray; This causes the first and second material trays, after being flipped, to vibrate up and down synchronously. After the first and second material trays, which have been shaken up and down, are placed in the designated positions, the second material tray located on top is removed. At this point, the chip on the first material tray is the flipped chip.

7. The chip flipping method according to claim 6, characterized in that: After the first tray is stacked on top of the second tray containing chips, the first and second trays are aligned and positioned so that the chip placement slots on the first tray are aligned with the chip placement slots on the second tray.

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