A chip finished product detection system and its tray loading and unloading mechanism

Abstract

The present invention relates to an appearance inspection device, and discloses a chip finished product inspection system and a tray loading and unloading mechanism thereof, which comprises an inspection flow channel (21), a front NG disk flow channel (22) and a back NG disk flow channel (23) arranged in parallel with each other, the inspection flow channel (21) comprises a to-be-inspected station (201), an inspection station (202) and an inspection completion station (203) arranged in sequence, a front NG material taking station (204) and a back NG material taking station (205) are respectively arranged on the front NG disk flow channel (22) and the back NG disk flow channel (23); a tray conveying mechanism (24) is arranged on the inspection flow channel (21), the front NG disk flow channel (22) and the back NG disk flow channel (23); and a tray transplanting mechanism (25) is arranged at the inspection completion station (203). The present invention realizes different automatic classification processing for different materials after the inspection is completed by setting different flow channels, thereby effectively improving the inspection efficiency of the whole machine.

Description

Technical Field

[0001] The invention relates to appearance inspection equipment, and in particular to a finished chip inspection system and a tray loading and unloading mechanism thereof. Background Art

[0002] Before chip products leave the factory, they need to undergo appearance inspection to ensure factory quality and integrated functional acceptance, and then ensure that the equipment meets reliability standards before shipment.

[0003] Common chip product inspections require inspection of surface cracks, scratches, adhesives, chip pins, character printing and other defects. After the inspection is completed, different materials need to be processed differently. Therefore, providing a mechanism that can automatically classify and process materials after inspection is a technical problem that continues to be solved in this field. Summary of the invention

[0004] Aiming at the problem of how to realize automatic classification and processing of materials after the chip product detection process in the prior art, the present invention provides a chip product detection system and a tray loading and unloading mechanism thereof.

[0005] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0006] The tray loading and unloading mechanism includes a detection channel, a front NG tray channel and a back NG tray channel which are arranged in parallel with each other. The detection channel includes a station to be detected, a detection station and a detection completion station which are arranged in sequence. The front NG tray channel and the back NG tray channel are respectively provided with a front NG material taking station and a back NG material taking station;

[0007] The inspection channel, the front NG tray channel and the back NG tray channel are all provided with a tray conveying mechanism for conveying the trays between different workstations;

[0008] A tray transfer mechanism for transferring the front NG tray and the back NG tray to the front NG tray flow channel and the back NG tray flow channel respectively is provided at the inspection completion station.

[0009] Preferably, it also includes an OK tray flow channel arranged in parallel to one side of the front NG tray flow channel or the back NG tray flow channel, an OK material replenishing station for placing the OK material replenishing tray is provided on the OK tray flow channel, and a material taking component for replenishing the OK material at the front NG material taking station or the back NG material taking station into the OK material replenishing tray is provided above the OK tray flow channel. The OK tray flow channel is arranged to realize timely packaging and processing of the OK material in the NG tray, thereby improving the reuse rate of the Tray.

[0010] Preferably, the Tray conveying mechanism includes a Tray clamping assembly capable of moving along the length direction of the flow channel, the Tray clamping assembly includes a clamping bracket, the clamping bracket is provided with two oppositely arranged Tray clamps, two clamping cylinders for respectively driving the two Tray clamps to move relative to each other, and a Tray support plate arranged between the two Tray clamps. The arrangement of the Tray support plate can make the Tray conveying mechanism more stable when conveying the Tray between different workstations.

[0011] Preferably, the clamping bracket includes a bracket bottom plate, and cylinder mounting seats for fixing two clamping claw cylinders are respectively provided at both ends of the bracket bottom plate, and the tray plate is arranged on the upper end surfaces of the two cylinder mounting seats;

[0012] The tray clamp includes an L-shaped clamp arm and a clamp head arranged at the upper end of the L-shaped clamp arm.

[0013] The cylinder mounting seat includes a fixed seat fixed on the bracket bottom plate and a sliding seat that can slide on the fixed seat under the pushing action of the clamping claw cylinder.

[0014] The upper end of the L-shaped clamping claw arm is hinged on the fixed seat, and the sliding seat can push the lower end of the L-shaped clamping claw arm under the pushing action of the clamping claw cylinder to make the upper end of the L-shaped clamping claw arm rotate around the hinge point.

[0015] Preferably, unloading stations are provided on the inspection channel, the front NG tray channel and the back NG tray channel, and tray stacking mechanisms are provided at the inspection station and the unloading station. The tray stacking mechanism includes a tray limiting mechanism and a tray lifting mechanism arranged below the tray limiting mechanism. The tray lifting mechanism includes a lifting bracket and a lifting motor for driving the lifting bracket to move up and down. The lifting bracket is provided with two lifting plates which are relatively arranged along the width direction of the channel and are used to lift the tray on the corresponding channel upward; the tray limiting mechanism includes four longitudinally arranged L-shaped limiting plates, and the four L-shaped limiting plates together constitute the tray stacking area.

[0016] The tray limiting mechanism and the tray lifting mechanism can realize the stacking of trays and the automatic unloading after stacking.

[0017] Preferably, the tray transplanting mechanism comprises a transplanting bracket whose length direction is perpendicular to the length direction of the detection flow channel and is arranged above the detection flow channel, the front NG tray flow channel, the back NG tray flow channel and the OK tray flow channel, and the transplanting bracket is provided with a tray grabbing claw capable of linear reciprocating motion along the length and height direction of the transplanting bracket;

[0018] The transplanting bracket is also provided with a grab claw driving mechanism, which includes a grab claw transverse linear motor arranged along the length of the transplanting bracket, a grab claw longitudinal linear motor arranged on the grab claw transverse linear motor, and a bidirectional drive cylinder arranged on the grab claw longitudinal linear motor. The tray grab claw includes a grab claw head arranged on the bidirectional drive cylinder and moving toward or away from each other under the driving action of the bidirectional drive cylinder.

[0019] Preferably, the material picking assembly includes a material picking bracket whose length direction is perpendicular to the length direction of the detection flow channel and is arranged above the detection flow channel, the front NG disk flow channel, the rear NG disk flow channel and the OK disk flow channel. The material picking bracket is provided with a material picking suction cup that can make linear reciprocating motion along the length direction and the height direction of the material picking bracket, and a material picking linear motor module and a material picking lifting module for driving the material picking suction cup to move along the length direction and the height direction of the material picking bracket. The material picking linear motor module includes a material picking linear motor that is arranged on the material picking bracket and whose length direction is arranged along the length direction of the material picking bracket, and a material picking suction cup mounting back plate connected to the mover seat of the material picking linear motor. The material picking lifting module is installed on the material picking suction cup mounting back plate. The material picking lifting module includes a material picking lifting motor and a hinge mechanism connected to the motor shaft of the material picking lifting motor. The material picking suction cup drives the hinge mechanism to realize height movement through the material picking lifting motor.

[0020] Preferably, the material picking assembly also includes a suction cup rotating module for driving the material picking suction cup to rotate, the suction cup rotating module includes a rotating motor and a material picking air pipe for communicating with the material picking suction cup, a pulley is provided on the outside of the material picking air pipe, a conveyor belt is connected between the motor shaft of the rotating motor and the pulley, and the rotating motor drives the pulley through the conveyor belt to make the material picking air pipe drive the material picking suction cup to rotate.

[0021] The setting of the suction cup rotating module can realize the rotational suction of the material in the material tray, and the suction angle can be adjusted according to different materials to achieve better material suction.

[0022] Preferably, the material picking suction cups include a plurality of suction cups arranged side by side at intervals, the material picking assembly also includes a lead screw pitch-changing module for adjusting the spacing between adjacent material picking suction cups, the lead screw pitch-changing module includes a suction cup driving lead screw fixed to a mounting back plate of the material picking suction cup and arranged along the arrangement direction of the material picking suction cups in its length direction, and a lifting assembly mounting plate connected to the suction cup driving lead screw.

[0023] The material picking lifting module is installed on the lifting component mounting plate, and the lifting component mounting plate can move linearly along the axial direction of the suction cup driving screw under the rotational movement of the suction cup driving screw.

[0024] The setting of the screw pitch variable module can adjust the distance between adjacent suction nozzles, and can suck materials from material trays with material slots of different distances.

[0025] A finished chip inspection system comprises the aforementioned Tray loading and unloading mechanism, a multi-station visual inspection mechanism is arranged at the inspection station, the multi-station visual inspection mechanism comprises a front inspection mechanism and a back inspection mechanism, the front inspection mechanism comprises a front 2D visual inspection module, the front 2D visual inspection module comprises a front inspection camera; the back inspection mechanism comprises a linear back inspection line, a back 2D visual inspection module, a back 3D visual inspection module and a back 5S visual inspection module are sequentially arranged on the back inspection line, the back 2D visual inspection module comprises a first back inspection camera, the back 3D visual inspection module comprises a 3D laser profiler, and the back 5S visual inspection module comprises a reflecting prism and a second back inspection camera arranged below the reflecting prism.

[0026] The present invention has significant technical effects due to the adoption of the above technical solution:

[0027] The present invention provides a finished chip inspection system and a tray loading and unloading mechanism thereof, which can realize different automatic classification processing for different materials after the inspection is completed by setting different flow channels, thereby effectively improving the inspection efficiency of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the finished chip detection system of the present invention.

[0029] Figure 2 yes Figure 1 Schematic diagram of the structure of the multi-station visual inspection mechanism 1.

[0030] Figure 3 yes Figure 1 Schematic diagram of the structure of the middle tray loading and unloading mechanism 2.

[0031] Figure 4 yes Figure 1 Schematic diagram of the structure of the middle chip taping mechanism 3.

[0032] Figure 5 yes Figure 2 Schematic diagram of the structure of the middle front 2D visual detection module 11.

[0033] Figure 6 yes Figure 2 Schematic diagram of the structure of the middle and reverse 2D visual detection module 12.

[0034] Figure 7 yes Figure 2 Schematic diagram of the structure of the 3D visual detection module 13 in the middle and back.

[0035] Figure 8 yes Figure 2 Schematic diagram of the structure of the 5S visual inspection module 14 on the middle and reverse sides.

[0036] Fig. 9 yes Figure 2 A schematic structural diagram of the middle and reverse side material taking and placing module 15.

[0037] Fig.10 yes Fig. 9 A schematic structural diagram of the middle suction nozzle assembly 16.

[0038] Fig.11 yes Fig.10 A schematic structural diagram of the middle nozzle mounting assembly 110.

[0039] Fig.12 yes Fig.11 A schematic structural diagram of the middle air pipe connecting block 122.

[0040] Fig.13 yes Figure 3 Schematic diagram of the structure of the detection channel 21.

[0041] Fig.14 yes Figure 3 Schematic diagram of the structure of the tray conveying mechanism 24.

[0042] Fig.15 yes Fig.14 A schematic diagram of the structure of the tray clamping assembly 207.

[0043] Fig.16 yes Fig.15 Schematic diagram of the internal structure of the middle cylinder mounting seat 213.

[0044] Fig.17 yes Figure 3 Schematic diagram of the structure of the tray transplanting mechanism 25.

[0045] Fig.18 yes Fig.17 Schematic diagram of the structure of the middle grabbing claw driving mechanism 227.

[0046] Fig.19 yes Figure 3 A schematic structural diagram of the middle material taking component 27.

[0047] Fig. 20 yes Fig.19 Schematic diagram of the installation of the middle material lifting module 235.

[0048] Fig.21 yes Fig. 20 Schematic diagram of the back structure.

[0049] Fig. 22 yes Figure 3 Schematic diagram of the structure of the tray stacking mechanism 28.

[0050] Fig.23 yes Figure 4 Schematic diagram of the structure of the middle braided belt conveyor track 302.

[0051] Fig.24 yes Fig.23 Schematic diagram of the structure of the heat sealing component 303.

[0052] Fig.25 It is a schematic diagram of the structure of the heat seal strip 319.

[0053] Fig.26 yes Figure 4 A schematic diagram of the structure of the cutting component 304.

[0054] Fig. 27 yes Fig.23 The structural diagram of the braiding conveying motor 312 at A in the middle drives the braiding transportation. DETAILED DESCRIPTION

[0055] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0056] A chip finished product detection system, such as Figure 1-Figure 27 As shown, it includes a complete machine frame, on which are installed a multi-station visual inspection mechanism 1, a Tray loading and unloading mechanism 2 and a chip taping mechanism 3. The Tray loading and unloading mechanism 2 can realize chip packaging through the Tray after inspection, and the chip taping mechanism 3 can realize chip loading and packaging through the reel after inspection. In actual working process, one of them can be selected to be installed according to actual needs, or different packaging methods can be selected according to needs after both are installed. The whole inspection system is flexible and convenient to use, and can fully meet the different needs of different customers.

[0057] like Figure 2-Figure 12 As shown, in this embodiment, the multi-station visual inspection mechanism 1 includes a front inspection mechanism and a back inspection mechanism, the front inspection mechanism includes a front 2D visual inspection module 11, and the front 2D visual inspection module 11 includes a front inspection camera 101; the back inspection mechanism includes a linear back inspection line, and the back inspection line is sequentially and spaced apart with a back 2D visual inspection module 12, a back 3D visual inspection module 13 and a back 5S visual inspection module 14, the back 2D visual inspection module 12 includes a first back inspection camera 102, the back 3D visual inspection module 13 includes a 3D laser profiler 103, and the back 5S visual inspection module 14 includes a reflecting prism 104 and a second back inspection camera 105 arranged at the lower part of the reflecting prism 104.

[0058] The front 2D visual inspection module 11 further includes a front 2D camera transfer module 132 for realizing the movement of the front inspection camera 101 in the horizontal direction and the vertical direction, and further includes a first light source 133 disposed below the front inspection camera 101;

[0059] The back side 2D visual inspection module 12 further includes a first linear drive module 134 and a first camera distance adjustment module 135 for respectively realizing the movement of the first back side inspection camera 102 in the horizontal direction and the vertical direction, and also includes a second light source 136 disposed above the first back side inspection camera 102;

[0060] The back side 5S visual inspection module 14 further includes a second linear drive module 137 and a second camera distance adjustment module 138 for respectively realizing the movement of the second back side inspection camera 105 in the horizontal direction and the vertical direction;

[0061] The back-side 3D visual inspection module 13 further includes a third linear drive module 139 for enabling the 3D laser profiler 103 to move in the horizontal direction.

[0062] Among them, in this embodiment, the first linear drive module 134, the second linear drive module 137 and the third linear drive module 139 are all linear drive mechanisms composed of motors, screws and screw nuts. The modules are installed at the corresponding positions through the mounting plates, and then the corresponding drive components are fixed through conventional and reasonable layouts. The first camera distance adjustment module 135 and the second camera distance adjustment module 138 are both conventional linear adjustment mechanisms, which realize the adjustment of the corresponding cameras in the height direction, and then achieve the purposes of distance adjustment and focusing.

[0063] Among them, the reverse side detection mechanism also includes a reverse side material discharging module 15, which includes a nozzle assembly 16 that can move in the horizontal direction along the length direction of the reverse side detection line and can move in the vertical direction, and the nozzle assembly 16 includes a plurality of nozzles 106 that are evenly spaced and arranged in a straight line. The reverse side material discharging module 15 includes a material discharging frame 107, and the upper part of the material discharging frame 107 is provided with a first horizontal linear motor 108 that is arranged along the length direction of the reverse side detection line. The reverse side 2D visual detection module 12, the reverse side 3D visual detection module 13 and the reverse side 5S visual detection module 14 are all arranged at the lower part of the material discharging frame 107 and are located below the first horizontal linear motor 108; the vertical driving mechanism 17 of the nozzle assembly for driving the nozzle assembly 16 to move in the vertical direction is installed on the moving sub-seat of the first horizontal linear motor 108.

[0064] The front 2D camera transfer module 132 includes a second horizontal linear motor 140 arranged on the material loading and unloading frame 107 and a front 2D camera vertical drive mechanism 141 connected to the second horizontal linear motor 140. The front 2D camera vertical drive mechanism 141 includes a camera mounting plate for installing the front detection camera 101 and connected to the mover seat of the second horizontal linear motor 140. The front detection camera 101 is installed on the camera mounting plate. The front detection camera 101 moves horizontally under the action of the second horizontal linear motor 140, and can move in the vertical direction under the action of the front 2D camera vertical drive mechanism 141.

[0065] The nozzle assembly vertical drive mechanism 17 and the front 2D camera vertical drive mechanism 141 in this embodiment are both realized by an axially vertically arranged drive motor and a screw assembly connected to the drive motor. The nozzle assembly vertical drive mechanism 17 and the front 2D camera vertical drive mechanism 141 both include motor mounting plates respectively connected to the mover seats of the first horizontal linear motor 108 and the second horizontal linear motor 140, and a vertical drive motor is fixed on the motor mounting plate. The motor shaft of the vertical drive motor is longitudinally arranged and a screw assembly is connected thereto. The vertical drive motor drives the nozzle mounting plate 109 and the camera mounting plate to move up and down respectively through the screw assembly, thereby realizing the vertical movement of the nozzle assembly 16 and the front detection camera 101 respectively.

[0066] In this embodiment, the nozzle assembly 16 includes a nozzle mounting plate 109 and nozzle mounting assemblies 110 corresponding to the plurality of nozzles 106 one by one, a multi-moving linear motor 111 is mounted on the nozzle mounting plate 109, and the plurality of nozzle mounting assemblies 110 are mounted one by one on the moving sub-seat of the multi-moving linear motor 111;

[0067] The nozzle mounting assembly 110 includes a connecting seat 112 installed on the mover seat of the multi-motor linear motor 111, a guide block 113 fixed on the connecting seat 112, and a nozzle mounting seat 114 for mounting the nozzle 106. A sliding air pipe 115 is slidably connected in the guide block 113 and is vertically arranged with both ends extending out of the guide block 113. The upper end of the sliding air pipe 115 constitutes a first air port 116, and the lower end is connected to the nozzle mounting seat 114 and can be communicated with the nozzle 106. The sliding air pipe 115 is outerly provided with a buffer spring whose upper and lower ends respectively rest against the guide block 113 and the nozzle mounting seat 114.

[0068] The setting of the multi-motor linear motor 111 can realize the linear movement of multiple suction nozzle mounting seats 114, thereby making multiple suction nozzles 106 directly compatible with different acupoints without manual replacement, and at the same time more accurately suck the chips on the Tray. In addition, the setting of the buffer spring and the guide block 113 can effectively play a guiding and buffering role, so that the suction nozzle 106 can accurately align with the material when contacting the chip, and avoid instantaneous impact on the material, which can effectively prevent the suction nozzle 106 from damaging the material during the suction process.

[0069] In this embodiment, the nozzle mounting seat 114 includes an upper mounting seat 117 and a lower mounting seat 118 that are interlocked. By designing the nozzle mounting seat 114 into two detachable parts, it has higher compatibility, so that different models of nozzles 106 can be quickly assembled, and different scenarios and different needs can be replaced flexibly.

[0070] The lower end of the sliding air pipe 115 is connected to the upper mounting seat 117. The upper mounting seat 117 has an air passage connected to the sliding air pipe 115 inside, and the bottom of the air passage forms a second air port 119. The suction nozzle 106 is installed at the lower end of the lower mounting seat 118. The upper end surface of the lower mounting seat 118 is provided with a third air port 120 connected to the suction nozzle 106. When the upper mounting seat 117 and the lower mounting seat 118 are buckled together, the second air port 119 and the third air port 120 are tightly connected.

[0071] Among them, the upper mounting seat 117 includes a mounting seat shell 121 and an air pipe connecting block 122 arranged inside the mounting seat shell 121, the mounting seat shell 121 and the air pipe connecting block 122 are mutually limited in the longitudinal direction and can slide relatively in the transverse direction; the lower end of the sliding air pipe 115 is connected to the air pipe connecting block 122 and the air passage is arranged inside the air pipe connecting block 122, the upper end of the lower mounting seat 118 is provided with an L-shaped hook groove 123, the L-shaped hook groove 123 includes a vertical insertion portion 124 and a transverse snap-fit ​​portion 125, the lower end of the mounting seat shell 121 is provided with a snap-fit ​​hook 126 that can extend from the vertical insertion portion 124 into the L-shaped hook groove 123 and snap-fit ​​at the transverse snap-fit ​​portion 125, the mounting seat shell 121 can move relative to the air pipe connecting block 122 in the horizontal direction, and a driving spring 127 for driving the snap-fit ​​hook 126 to move toward the transverse snap-fit ​​portion 125 is provided between the mounting seat shell 121 and the air pipe connecting block 122. The arrangement of the driving spring 127 can ensure that the upper mounting seat 117 and the lower mounting seat 118 can be stably buckled.

[0072] In order to further ensure the connection stability between the upper mounting seat 117 and the lower mounting seat 118, and to ensure that the second air port 119 and the third air port 120 can continue to be accurately sealed and aligned, a transversely arranged limit column 128 is provided on the air pipe connecting block 122, and a limit long groove 129 with an opening extending upward and downward is provided on the upper end surface of the lower mounting seat 118. When the upper mounting seat 117 and the lower mounting seat 118 are buckled together, the limit column 128 is inserted into the limit long groove 129.

[0073] In this embodiment, a slot 130 is provided on the side of the mounting seat shell 121, and a hook 131 that can be inserted into the slot 130 is provided on the guide block 113. The hook 131 is rotatably connected to the guide block 113, and a hook spring for driving the hook 131 to be stuck in the slot 130 is provided at the guide block 113.

[0074] The setting of the hook 131 and the slot 130 can realize selective shielding of the suction nozzle 106. For example, by hooking up a single-row suction nozzle 106 in the whole row, the single-row suction nozzle 106 can be shielded, so that only the double-row suction nozzle 106 works at this time. Of course, different rows of suction nozzles 106 can also be selected to be hooked up according to actual needs, so as to complete more flexible material suction.

[0075] like Figure 13-Figure 22 As shown, the tray loading and unloading mechanism 2 in this embodiment includes a detection channel 21, a front NG tray channel 22 and a back NG tray channel 23 which are arranged in parallel with each other. The detection channel 21 includes a to-be-detected station 201, a detection station 202 and a detection completion station 203 which are arranged in sequence. A front NG material taking station 204 and a back NG material taking station 205 are respectively arranged on the front NG tray channel 22 and the back NG tray channel 23. A tray conveying mechanism 24 for conveying the tray between different stations is arranged on the detection channel 21, the front NG tray channel 22 and the back NG tray channel 23.

[0076] The inspection completion station 203 is provided with a tray transfer mechanism 25 for transferring the front NG tray and the back NG tray to the front NG tray flow channel 22 and the back NG tray flow channel 23 respectively.

[0077] The inspection channel 21, the front NG tray channel 22 and the back NG tray channel 23 are all provided with unloading stations 218, and the unloading stations 218 are used to pack empty trays, stacked full front NG trays and full back NG trays. One end of the inspection channel 21 extends to the multi-station visual inspection mechanism 1, and the other end is flush with the unloading station 218 end of the front NG tray channel 22 or the back NG tray channel 23. The inspection stations 202 on the inspection channel 21 include the back inspection station 202 and the front inspection station 202. The multi-station visual inspection mechanism 1 is set at the inspection station 202, and the tray transfer mechanism 25 is set near the inspection completion station 203.

[0078] In the present embodiment, it also includes an OK disk flow channel 26 arranged in parallel to one side of the front NG disk flow channel 22 or the back NG disk flow channel 23, an OK material replenishing station 206 for placing the OK material replenishing disk is provided on the OK disk flow channel 26, and a material taking component 27 for replenishing the OK material at the front NG material taking station 204 or the back NG material taking station 205 into the OK material replenishing disk is provided above the OK disk flow channel 26.

[0079] When Tray is used for packaging, the OK tray flow channel 26 can be started. During use, the Tray that has completed inspection is transported to the inspection completion station 203 through the Tray tray conveying mechanism 24. When NG material appears, the Tray tray transplanting mechanism 25 transplants the entire Tray tray to the front NG material picking station 204 or the back NG material picking station 205 at the front NG tray flow channel 22 or the back NG tray flow channel 23, and then takes the corresponding NG material. At this time, the Tray tray is an unfilled OK tray. The Tray tray transplanting mechanism 25 transplants the unfilled OK tray to the OK material replenishing station 206 on the OK tray flow channel 26, and the picking component 27 replenishes the OK material on other trays at the front NG material picking station 204 or the back NG material picking station 205 into the unfilled OK tray, so that it is replenished and full of OK materials. Finally, it is transported to its unloading station 218 through the Tray tray conveying mechanism 24 on the OK tray flow channel 26 for Tray tray stacking and packaging.

[0080] In this embodiment, the Tray conveying mechanism 24 includes a Tray clamping assembly 207 that can move along the length direction of the flow channel. The Tray clamping assembly 207 includes a clamping bracket 208. The clamping bracket 208 is provided with two relatively arranged Tray clamps 209, two clamping cylinders 210 for respectively driving the two Tray clamps 209 to move relative to each other, and a Tray support plate 211 arranged between the two Tray clamps 209. The arrangement of the Tray support plate 211 can make the Tray conveying mechanism 24 more stable when conveying the Tray between different workstations.

[0081] The clamping bracket 208 includes a bracket base plate 212, and cylinder mounting seats 213 for fixing two clamping cylinders 210 respectively are provided at both ends of the bracket base plate 212, and the tray support plate 211 is arranged on the upper end surfaces of the two cylinder mounting seats 213; the tray clamp 209 includes an L-shaped clamp arm 214 and a clamp head 215 arranged at the upper end of the L-shaped clamp arm 214, and the cylinder mounting seat 213 includes a fixed seat 216 fixed on the bracket base plate 212 and a sliding seat 217 that can slide on the fixed seat 216 under the pushing action of the clamp cylinder 210, the upper end of the L-shaped clamp arm 214 is hinged on the fixed seat 216, and the sliding seat 217 can push the lower end of the L-shaped clamp arm 214 under the pushing action of the clamp cylinder 210 to make the upper end of the L-shaped clamp arm 214 rotate around the hinge point.

[0082] In this embodiment, a tray stacking mechanism 28 is provided at both the inspection station 201 and the unloading station 218. The tray stacking mechanism 28 includes a tray limiting mechanism 219 and a tray lifting mechanism 220 arranged below the tray limiting mechanism 219. The tray lifting mechanism 220 includes a lifting bracket 221 and a lifting motor 222 for driving the lifting bracket 221 to move up and down. The lifting bracket 221 is provided with two lifting plates 223 which are arranged opposite to each other along the width direction of the flow channel and are used to lift the tray on the corresponding flow channel upward; the tray limiting mechanism 219 includes four longitudinally arranged L-shaped limiting plates 224, and the four L-shaped limiting plates 224 together constitute a tray stacking area.

[0083] In this embodiment, the tray transfer mechanism 25 includes a transfer bracket 225 whose length direction is perpendicular to the length direction of the detection channel 21 and is arranged above the detection channel 21, the front NG tray channel 22, the back NG tray channel 23 and the OK tray channel 26. The transfer bracket 225 is provided with a tray grabbing claw 226 that can perform linear reciprocating motion along the length and height direction of the transfer bracket 225;

[0084] A grab claw drive mechanism 227 is also provided on the transplanting bracket 225, and the grab claw drive mechanism 227 includes a grab claw transverse linear motor 228 arranged along the length of the transplanting bracket 225, a grab claw longitudinal linear motor 229 arranged on the grab claw transverse linear motor 228, and a bidirectional drive cylinder 230 arranged on the grab claw longitudinal linear motor 229. The tray grab claw 226 includes a grab claw head 231 which is arranged on the bidirectional drive cylinder 230 and moves toward or away from each other under the driving action of the bidirectional drive cylinder 230.

[0085] The material picking component 27 includes a material picking bracket 232 whose length direction is perpendicular to the length direction of the detection flow channel 21 and is arranged above the detection flow channel 21, the front NG disk flow channel 22, the back NG disk flow channel 23 and the OK disk flow channel 26. The material picking bracket 232 is provided with a material picking suction cup 233 that can make linear reciprocating motion along the length direction and height direction of the material picking bracket 232, and a material picking linear motor module 234 and a material picking lifting module 235 for driving the material picking suction cup 233 to move along the length direction and height direction of the material picking bracket 232. The material picking linear motor module 23 The material picking bracket 232 includes a picking linear motor 236 which is arranged on the picking bracket 232 and has a length direction along the length direction thereof, and a picking suction cup mounting back plate 237 which is connected to a mover seat of the picking linear motor 236. The picking lifting module 235 is mounted on the picking suction cup mounting back plate 237. The picking lifting module 235 includes a picking lifting motor 238 and a hinge mechanism 239 which is connected to a motor shaft of the picking lifting motor 238. The picking suction cup 233 realizes height movement by driving the hinge mechanism 239 through the picking lifting motor 238.

[0086] The material picking assembly 27 further includes a suction cup rotating module 240 for driving the material picking suction cup 233 to rotate, the suction cup rotating module 240 includes a rotating motor 241 and a material picking air pipe 242 for communicating with the material picking suction cup 233, a pulley 243 is provided outside the material picking air pipe 242, a conveyor belt 244 is connected between the motor shaft of the rotating motor 241 and the pulley 243, and the rotating motor 241 drives the pulley 243 through the conveyor belt 244 to make the material picking air pipe 242 drive the material picking suction cup 233 to rotate. The setting of the suction cup rotating module 240 can realize the rotational suction of the material in the material tray, and adjust the suction angle according to different materials to achieve better material suction.

[0087] The picking suction cup 233 includes a plurality of suction cups 233 arranged side by side at intervals. The picking assembly 27 also includes a screw pitch change module 245 for adjusting the spacing between adjacent picking suction cups 233. The screw pitch change module 245 includes a suction cup driving screw 246 fixed on the picking suction cup mounting back plate 237 and arranged along the arrangement direction of the picking suction cups 233 in its length direction, and a lifting assembly mounting plate 247 connected to the suction cup driving screw 246. The setting of the screw pitch change module 245 can adjust the spacing between adjacent suction nozzles 106, and can suck materials for material trays with material slots with different spacings.

[0088] The material picking lifting module 235 is installed on the lifting component mounting plate 247, and the lifting component mounting plate 247 can move linearly along the axial direction of the suction cup driving screw 246 under the rotational movement of the suction cup driving screw 246.

[0089] The drive wheel 248 on the motor shaft of the material picking and lifting motor 238 is provided with an eccentric block 249. The hinge mechanism 239 includes a first hinge plate 250 connected to the eccentric block 249 and a second hinge plate 251 whose upper end is rotatably connected to the first hinge plate 250. The material picking suction cup 233 is connected to the lower end of the second hinge plate 251. The lifting component mounting plate 247 is provided with a vertically arranged hinge plate slide rail 252. The second hinge plate 251 is slidably connected to the hinge plate slide rail 252 through a slider. The material picking suction cup mounting back plate 237 is provided with a horizontally arranged mounting plate slide rail 253. The lifting component mounting plate 247 is slidably connected to the mounting plate slide rail 253 through a slider. The up and down movement of the material picking suction cup 233 is achieved by this hinge mechanism 239. Compared with the conventional cylinder lifting mechanism, this mechanism can better meet the requirements that the lifting mechanism structure is as compact as possible and the center distance of the suction nozzle 106 is as small as possible.

[0090] like Figure 23-Figure 27 As shown, in this embodiment, the chip taping mechanism 3 is arranged near the material picking component 27, wherein the chip taping mechanism 3 includes a fixed frame 322 and a taping frame 301, the taping frame 301 is slidably arranged on the fixed frame 322, and the taping frame 301 is provided with two parallel taping conveying rails 302; the fixed frame 322 is provided with a frame driving screw assembly 323 for driving the taping frame 301 to move so that different taping conveying rails 302 are opposite to the material picking component 27, wherein the fixed frame 322 is fixed on the whole machine frame.

[0091] Two sets of heat sealing and detection channels 21 are arranged in the chip taping mechanism 3. Through this structure, automatic switching of different taping conveying tracks 302 can be realized, which fully meets the actual working requirements.

[0092] The braiding frame 301 is provided with a braiding conveying track 302 and a heat sealing component 303, a cutting component 304 and a full reel receiving component 305 which are arranged in sequence along the feeding direction of the braiding conveying track 302. The braiding frame 301 is also provided with an empty reel tray discharging component 306, a cover reel tray component 307 arranged above the heat sealing component 303, and a pre-heat sealing visual inspection component 308 and a post-heat sealing visual inspection component 309 which are used to detect the braid in the braiding conveying track 302 and are respectively arranged at the front and rear positions of the heat sealing component 303.

[0093] The braiding machine frame 301 is provided with guide rail frames 310 which are relatively arranged and can move toward or away from each other. The guide rail frames 310 can move toward or away from each other through a conventional screw module, thereby adjusting the width of the braiding conveying track 302 to make it suitable for carrier tapes of different widths.

[0094] A braid conveying track 302 is formed between the guide rail frames 310, and a braid edge limiting groove 311 for the braid edge to extend into is provided on the opposite side of the guide rail frame 310, and a braid conveying motor 312 is provided on the guide rail frame 310, and a braid conveying wheel 313 is provided on the braid conveying motor 312. A braid conveying tooth 314 is provided on the side wall of the braid conveying wheel 313, and tooth holes that cooperate with the braid conveying tooth 314 are provided on the carrier tape. The braid conveying wheel 313 rotates under the action of the braid conveying motor 312, and then the carrier tape is transferred to the corresponding heat sealing station, the inspection station 202 and the material receiving station by the braid conveying tooth 314.

[0095] In this embodiment, the empty reel tray discharging assembly 306, the full reel tray receiving assembly 305 and the cover reel tray assembly 307 are all provided with a winding mechanism 316 for realizing the rotation of the reel tray. The winding mechanism 316 includes a winding shaft for installing the reel tray and a winding motor for realizing the rotation of the winding shaft.

[0096] The heat sealing assembly 303 includes two oppositely arranged heating plates 317 and a heating rod 318 for heating the heating plates 317 . A heat sealing strip 319 is provided between the two heating plates 317 and can move up and down under the action of a linear drive mechanism to heat seal the cover tape onto the carrier tape.

[0097] The cutting assembly 304 includes a cutting opening 320 for the braid to pass through, and cutting knives 321 are provided at both upper and lower ends of the cutting opening 320. The cutting knives 321 at the upper or lower part of the cutting opening 320 can move up and down under the action of the linear drive mechanism.

[0098] It also includes a material taking component 27 for taking and placing chips on the carrier tape at the braiding conveying track 302. The material taking component 27 is the same mechanism as the material taking component 27 set above the aforementioned OK disk flow channel 26 for replenishing the OK material at the front NG material taking station 204 or the back NG material taking station 205 into the OK material replenishing disk. The specific structure is not repeated here. In addition, the linear drive mechanism in this embodiment generally refers to a conventional cylinder linear drive mechanism or a linear drive mechanism composed of a lead screw module.

[0099] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application to obtain other embodiments based on one or several embodiments provided in the present application, and these embodiments do not exceed the protection scope of the present application.

[0100] In conclusion, the above is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the patent of the present invention.

Claims

1. Tray loading and unloading mechanism, characterized by: It comprises a detection flow channel (21), a front NG disk flow channel (22) and a back NG disk flow channel (23) which are arranged in parallel with each other, the detection flow channel (21) comprises a to-be-detected station (201), a detection station (202) and a detection completion station (203) which are arranged in sequence, and a front NG material taking station (204) and a back NG material taking station (205) are respectively provided on the front NG disk flow channel (22) and the back NG disk flow channel (23); The detection flow channel (21), the front NG tray flow channel (22) and the back NG tray flow channel (23) are all provided with a tray conveying mechanism (24) for conveying the trays between different workstations; A tray transfer mechanism (25) for transferring the front NG tray and the back NG tray to the front NG tray flow channel (22) and the back NG tray flow channel (23), respectively, is provided at the inspection completion station (203); The device further comprises an OK tray flow channel (26) arranged in parallel on one side of the front NG tray flow channel (22) or the back NG tray flow channel (23); an OK material replenishing station (206) for placing an OK material replenishing tray is arranged on the OK tray flow channel (26); a tray transfer mechanism (25) transfers an unfilled OK tray after taking out NG material at the front NG material taking station (204) or the back NG material taking station (205) to the OK material replenishing station (206) on the OK tray flow channel (26); the OK tray flow channel (26) ) is provided above the material taking component (27) for replenishing the OK material at the front NG material taking station (204) or the back NG material taking station (205) into the OK material replenishing tray; the detection flow channel (21), the front NG tray flow channel (22), the back NG tray flow channel (23) and the OK tray flow channel (26) are all provided with unloading stations (218), and the empty trays, full front NG trays, full back NG trays and full OK trays are stacked and packaged at the corresponding unloading stations (218).

2. The tray loading and unloading mechanism according to claim 1 is characterized in that: The tray conveying mechanism (24) comprises a tray clamping assembly (207) capable of moving along the length direction of the flow channel, the tray clamping assembly (207) comprising a clamping bracket (208), the clamping bracket (208) being provided with two tray clamping jaws (209) arranged opposite to each other, two clamping jaw cylinders (210) for respectively driving the two tray clamping jaws (209) to move relative to each other, and a tray support plate (211) arranged between the two tray clamping jaws (209).

3. The tray loading and unloading mechanism according to claim 2 is characterized in that: The clamping bracket (208) comprises a bracket bottom plate (212), two ends of the bracket bottom plate (212) are provided with cylinder mounting seats (213) for respectively fixing two clamping claw cylinders (210), and a tray support plate (211) is arranged on the upper end surfaces of the two cylinder mounting seats (213); The tray clamp (209) comprises an L-shaped clamp arm (214) and a clamp head (215) arranged at the upper end of the L-shaped clamp arm (214). The cylinder mounting seat (213) comprises a fixed seat (216) fixed on the bracket bottom plate (212) and a sliding seat (217) capable of sliding on the fixed seat (216) under the pushing action of the clamping claw cylinder (210). The upper end of the L-shaped clamping claw arm (214) is hinged on the fixed seat (216), and the sliding seat (217) can push the lower end of the L-shaped clamping claw arm (214) under the pushing action of the clamping claw cylinder (210) to make the upper end of the L-shaped clamping claw arm (214) rotate around the hinge point.

4. The tray loading and unloading mechanism according to claim 1 is characterized in that: A material unloading station (218) is provided on the inspection flow channel (21), the front NG tray flow channel (22) and the back NG tray flow channel (23). A tray stacking mechanism (28) is provided at the inspection station (201) and the material unloading station (218). The tray stacking mechanism (28) includes a tray limiting mechanism (219) and a tray lifting mechanism (220) arranged below the tray limiting mechanism (219). (220) comprises a lifting bracket (221) and a lifting motor (222) for driving the lifting bracket (221) to move up and down, the lifting bracket (221) is provided with two lifting plates (223) which are arranged opposite to each other along the width direction of the flow channel and are used to lift the tray on the corresponding flow channel upward; the tray limiting mechanism (219) comprises four longitudinally arranged L-shaped limiting plates (224), and the four L-shaped limiting plates (224) together constitute a tray stacking area.

5. The tray loading and unloading mechanism according to claim 1 is characterized in that: The tray transfer mechanism (25) comprises a transfer bracket (225) whose length direction is perpendicular to the length direction of the detection flow channel (21) and is arranged above the detection flow channel (21), the front NG tray flow channel (22), the back NG tray flow channel (23) and the OK tray flow channel (26); the transfer bracket (225) is provided with a tray grabbing claw (226) capable of linear reciprocating motion along the length and height direction of the transfer bracket (225); The transplanting support (225) is also provided with a grab claw driving mechanism (227), which comprises a grab claw transverse linear motor (228) arranged along the length of the transplanting support (225), a grab claw longitudinal linear motor (229) arranged on the grab claw transverse linear motor (228), and a bidirectional driving cylinder (230) arranged on the grab claw longitudinal linear motor (229), and the tray grab claw (226) comprises a grab claw head (231) arranged on the bidirectional driving cylinder (230) and moving towards or away from each other under the driving action of the bidirectional driving cylinder (230).

6. The tray loading and unloading mechanism according to claim 1 is characterized in that: The material picking assembly (27) comprises a material picking bracket (232) whose length direction is perpendicular to the length direction of the detection flow channel (21) and is arranged above the detection flow channel (21), the front NG disk flow channel (22), the rear NG disk flow channel (23) and the OK disk flow channel (26); the material picking bracket (232) is provided with a material picking suction cup (233) capable of linear reciprocating motion along the length direction and height direction of the material picking bracket (232); and a material picking linear motor module (234) and a material picking lifting module (235) for driving the material picking suction cup (233) to move along the length direction and height direction of the material picking bracket (232); the material picking linear motor module (234) and the material picking lifting module (235) are arranged on the material picking bracket (232). 4) comprising a material picking linear motor (236) arranged on a material picking bracket (232) and arranged along the length direction of the material picking bracket (232), and a material picking suction cup mounting back plate (237) connected to a mover seat of the material picking linear motor (236), a material picking lifting module (235) mounted on the material picking suction cup mounting back plate (237), the material picking lifting module (235) comprising a material picking lifting motor (238) and a hinge mechanism (239) connected to a motor shaft of the material picking lifting motor (238), and the material picking suction cup (233) drives the hinge mechanism (239) through the material picking lifting motor (238) to achieve height movement.

7. The tray loading and unloading mechanism according to claim 6 is characterized in that: The material picking assembly (27) further comprises a suction cup rotating module (240) for driving the material picking suction cup (233) to perform a rotational motion. The suction cup rotating module (240) comprises a rotating motor (241) and a material picking air pipe (242) for communicating with the material picking suction cup (233). A pulley (243) is provided outside the material picking air pipe (242). A conveyor belt (244) is connected between the motor shaft of the rotating motor (241) and the pulley (243). The rotating motor (241) drives the pulley (243) via the conveyor belt (244) so ​​that the material picking air pipe (242) drives the material picking suction cup (233) to rotate.

8. The tray loading and unloading mechanism according to claim 6 is characterized in that: The material picking suction cups (233) include a plurality of suction cups (233) arranged side by side at intervals. The material picking assembly (27) further includes a lead screw pitch changing module (245) for adjusting the spacing between adjacent material picking suction cups (233). The lead screw pitch changing module (245) includes a suction cup driving lead screw (246) fixed to a material picking suction cup mounting back plate (237) and arranged along the arrangement direction of the material picking suction cups (233) in its length direction, and a lifting assembly mounting plate (247) connected to the suction cup driving lead screw (246). The material picking lifting module (235) is mounted on the lifting component mounting plate (247), and the lifting component mounting plate (247) can move linearly along the axial direction of the suction cup driving screw (246) under the rotational movement of the suction cup driving screw (246).

9. A finished chip inspection system, comprising the tray loading and unloading mechanism according to any one of claims 1 to 8, characterized in that: A multi-station visual inspection mechanism is provided at the inspection station (202), the multi-station visual inspection mechanism comprising a front inspection mechanism and a back inspection mechanism, the front inspection mechanism comprising a front 2D visual inspection module (11), the front 2D visual inspection module (11) comprising a front inspection camera (101); the back inspection mechanism comprising a linear back inspection line, the back inspection line being provided with a back 2D visual inspection module (12), a back 3D visual inspection module (13) and a back 5S visual inspection module (14) at intervals in sequence, the back 2D visual inspection module (12) comprising a first back inspection camera (102), the back 3D visual inspection module (13) comprising a 3D laser profiler (103), and the back 5S visual inspection module (14) comprising a reflection prism (104) and a second back inspection camera (105) provided below the reflection prism (104).

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