Automatic IC carrier plate sorting device and working method thereof

Abstract

The invention relates to the technical field of IC carrier plate production, in particular to an IC carrier plate automatic sorting device and a working method thereof.The IC carrier plate automatic sorting device comprises a workbench, a feeding conveying belt arranged at one end of the top of the workbench and a discharging conveying belt installed at the other end of the top of the workbench; a mechanical grabbing arm is arranged at the position, at the feeding end of the feeding conveying belt, of the top of the workbench, a feeding frame is arranged at the position, at the feeding end of the feeding conveying belt, of the workbench, a sorting and removing camera is arranged at the position, between the mechanical grabbing arm and the feeding frame, of the workbench, and the feeding frame is of a U-shaped structure. One end of the feeding conveying belt is fixedly installed at the center of one side of the feeding frame through bolts, and a containing groove is formed in the center of the top of the feeding frame. The inclined insertion plate is inserted between the two IC carrier plate bodies through the movable grooves, separation of the IC carrier plate bodies is achieved, damage caused by friction of the two IC carrier plate bodies when the bottom IC carrier plate bodies are pushed out and separated is avoided, the inclined insertion plate is reset through the torsion springs, and the separation protection performance is high.

Description

Technical Field

[0001] The present invention relates to the technical field of IC carrier board production, and in particular to an IC carrier board automatic sorting device and a working method thereof. Background Art

[0002] With the development of semiconductor technology, semiconductor chips have occupied an increasingly larger share in the market. Due to the particularity of semiconductor chip packaging, the semiconductor chip is packaged on an IC substrate, and a package body is formed on the IC substrate to protect the semiconductor chip. The IC substrate is electrically connected to the semiconductor chip through solder joints, and the solder joints are hemispherical solder balls.

[0003] Before processing the IC substrate, it is necessary to select qualified products. Generally, a transmission belt is used for manual visual inspection or a machine vision is used for appearance inspection to remove unqualified products. The IC substrates are stacked in piles and are generally separated manually on the conveyor belt, which is time-consuming, labor-intensive and labor-intensive. Alternatively, a blanking machine is added and separated by the elliptical separation roller on the blanking machine. However, the IC substrate is not thick and is relatively light, which leads to instability in many separation processes, causing the IC substrate to tilt and get stuck, and the separation efficiency is low. In addition, some separation structures do not take into account the protection of the IC substrate body, resulting in certain wear and tear during separation. In addition, the transfer efficiency of the IC substrate after sorting is not high. Summary of the invention

[0004] In order to overcome the deficiencies of the prior art, the present invention provides an IC substrate automatic sorting device and a working method thereof.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: As a preferred technical solution of the present invention, it includes a workbench, a feeding conveyor belt arranged at one end of the top of the workbench, and a discharging conveyor belt installed at the other end of the top of the workbench, a mechanical grabbing arm is arranged on the top of the workbench at the feeding end of the feeding conveyor belt, a feeding rack is arranged on the workbench at the feeding end of the feeding conveyor belt, a sorting and rejecting camera is arranged on the workbench between the mechanical grabbing arm and the feeding rack, the feeding rack is located in a U-shaped structure, one end of the feeding conveyor belt is fixedly installed at the center of one side of the feeding rack by bolts, a placement groove is opened at the top center of the feeding rack, a carrier plate storage box is arranged on the feeding rack through the placement groove, and the carrier plate storage box is located at the top of one end of the feeding conveyor belt, a carrier plate hole groove is opened at the bottom center of the carrier plate storage box, and the carrier plate hole groove extends through the bottom center of both sides of the carrier plate storage box, and a protective component is arranged on both sides of the carrier plate hole groove on the carrier plate storage box, and the protective component includes: A push plate for discharging the IC carrier body, and the push plate moves in the carrier hole slot, the size of the push plate matches the size of the carrier hole slot, and a rotating frame is fixedly installed on the feed rack at the center of a side away from the feed conveyor belt; An elliptical inclined plug plate for lifting the IC carrier body, the carrier storage box is provided with movable grooves matching the size of the inclined plug plate at both ends of the top side of the carrier hole groove, and the inclined plug plate moves in the movable groove, and a rotating rod and a torsion spring are arranged at the center of the inclined plug plate; A movable block of a conical structure for pushing the oblique insert plate, and the movable block is disposed on one side of each oblique insert plate, a movable rod is connected through the movable blocks, and one end of the movable rod extends through the rotating frame; A rotating motor is fixedly installed at the bottom center of one end of the rotating frame away from the carrier storage box by bolts, and the output end of the rotating motor is connected to a rotating disk through a rotating shaft, and the rotating disk is movably connected to the pushing plate and the movable rod.

[0006] As a preferred technical solution of the present invention, a rotating column is provided on one side of the top of the rotating disk, and a rotating plate is rotatably connected to the rotating column, and the top of the pushing plate extends through the rotating frame, and the top of the rotating plate is installed on the center of one side of the pushing plate through a rotating seat, and fixed slide grooves are provided at both ends of the interior of the rotating frame, and a fixed slider is slidably connected to the rotating frame in the fixed slide groove, and connecting rods are fixedly installed on the pushing plate on both sides of the interior of the rotating frame by bolts, and the top of the connecting rod is fixedly installed on the fixed slider, and a supporting plate is fixedly installed at the center of one side of the top of the connecting rod by bolts, and the top of the movable rod is fixedly installed on the top of the support plate by bolts.

[0007] The carrier hole groove is located at the bottom of the placement groove on the discharge rack, movable holes are opened at both ends of the carrier storage box, and the movable rods are movable through the movable holes, the thickness of the pushing plate is the thickness of a single IC carrier body, and the movable groove is opened at the center between adjacent IC carrier bodies.

[0008] As a preferred technical solution of the present invention, a rotating rod is fixedly installed at the center of one side of the movable groove in the carrier storage box by bolts, and limited discs are fixedly installed at both ends of the rotating rod, and the torsion spring is fixedly installed at the center between the rotating discs, and the torsion spring moves on the outer periphery of the rotating rod, and the middle end of the torsion spring is fixedly installed on the inclined insert plate, and the center of the inclined insert plate moves on the outer periphery of the rotating rod through a rotating ring; An arc-shaped groove matching the thickness of the inclined insert plate is provided on one side of the movable block, and the inclined insert plate movably contacts the movable block through the arc-shaped groove; A fixed block is provided at the middle end of the feed conveyor belt, and the fixed block is a U-shaped structure. The fixed block is connected to the sorting and rejecting camera at the top of the feed conveyor belt through a fixed top plate.

[0009] As a preferred technical solution of the present invention, the bottom of the mechanical grabbing arm is connected to the workbench through a connecting seat, the top of the mechanical grabbing arm is provided with a rotating arm, and the bottom of the rotating arm is connected to an IC carrier clamp through a clamping cylinder; The unloading conveyor belt is a two-layer structure, and loading racks are arranged on both sides of one end of the unloading conveyor belt located at the mechanical grabbing arm, and a loading groove is opened at the center of one side of the inner side of the loading rack. A hydraulic cylinder is fixedly installed on the loading rack at the bottom center of the loading groove, and a loading conveyor belt is fixedly installed between the output ends of the hydraulic cylinder. A tray of IC carrier boards is placed on the loading conveyor belt, and a baffle for blocking the pallet is fixedly installed on the end of the loading conveyor belt away from the unloading conveyor belt.

[0010] As a preferred technical solution of the present invention, a working method for automatic sorting of IC substrates mainly includes the following steps: Step 1: Stack the IC carrier bodies into a carrier storage box, start the rotating motor to reciprocate the rotating column on the rotating disk, the rotating column rotates to drive the rotating plate to rotate, and the rotating plate drives the push plate in the fixed slide groove to move back and forth through the rotating seat, so that the push plate pushes a single IC carrier body in the carrier hole groove; Step 2: When the push plate moves back and forth, the movable rod is synchronously driven to move back and forth in the movable hole of the carrier storage box through the connecting rod. Once the push plate enters the carrier hole groove and contacts the IC carrier body, the movable block with a conical structure on the movable rod is abutted against the oblique plug plate, and the oblique plug plate enters the arc groove on the movable block, so that the oblique plug plate with an elliptical structure moves outside the movable groove, and the oblique plug plate is inserted between the lowest IC carrier body and the upper IC carrier body, so that the two IC carrier bodies are separated; Step 3: The push plate continues to push the IC carrier body under the rotation of the rotating disk. At this time, the movable block oblique insert plate continues to move in the arc groove of the movable block, so that the oblique insert plate enters between the two IC carrier bodies until the push plate completely pushes out the bottom IC carrier body; Step 4: After the IC carrier body is pushed out of the carrier hole slot and falls into the feeding conveyor, the rotating disk rotates and resets again. After the push plate is withdrawn from the carrier hole slot, the oblique insert plate is separated from the arc groove on the movable block, and the oblique insert plate is reset to the movable slot again through the torsion spring. At this time, the previous IC carrier body enters the bottom of the carrier storage box and is pushed again; Step 5: The IC carrier body is identified by the fixed block, fixed top plate and sorting and rejection camera on the feed conveyor belt, and the IC carrier body with appearance defects is rejected by triggering the mechanical grabbing arm. The qualified ones are clamped onto the pallet by the IC carrier clamp on the mechanical grabbing arm. After the pallet is fully loaded, the loading conveyor belt is started to make the pallet enter the top layer of the discharge conveyor belt, and then the loading conveyor belt enters the bottom layer of the discharge conveyor belt under the action of the hydraulic cylinder, and the empty pallet on the discharge conveyor belt is placed on the loading conveyor belt. The hydraulic cylinder makes the loading conveyor belt drive the empty pallet to rise, so that the qualified IC carrier body can be placed.

[0011] Compared with the prior art, the present invention can achieve the following beneficial effects: 1. The IC carrier bodies are placed centrally through the carrier storage box. The carrier holes on the carrier storage box push the IC carrier bodies one by one onto the feeding conveyor. The loading structure is simple. The IC carrier bodies in the carrier holes are driven by the push plate to load, and the interval loading has strong stability.

[0012] 2. The rotating plate in the rotating frame drives the rotating rod to reciprocate back and forth, and the push plate realizes stable movement through the fixed slide groove, the fixed slider and the connecting rod, while driving the movable block on the movable rod to reciprocate back and forth synchronously, and the motion structure is simple and stable.

[0013] 3. The oblique insert plate is inserted between the two IC carrier bodies through the movable groove to achieve separation between the IC carrier bodies, avoiding damage caused by friction between the two bottom IC carrier bodies when they are pushed out and separated. The design is ingenious, the oblique insert plate is reset by the torsion spring, the structure is simple, and the separation protection performance is strong.

[0014] 4. When the push plate pushes and contacts the IC carrier body, the conical movable block pushes the oblique insert plate through the arc-shaped groove, so that the torsion spring on the outside of the rotating rod accumulates force, and the oblique insert plate moves out of the movable groove. When the push plate pushes out an IC carrier body and returns to the initial contact position, the oblique insert plate separates from the movable block and enters the movable groove again under the reset of the torsion spring, and the next IC carrier body falls down to wait for the next push.

[0015] 5. The loading conveyor moves up and down at one end of the discharging conveyor, so that the tray on the loading conveyor can centrally place and process the IC carrier bodies, thereby improving the loading efficiency after sorting. The loading conveyor tray is driven by the hydraulic cylinder on the loading rack to load and unload materials, and the structure is simple.

[0016] 6. The feed conveyor and the discharge conveyor are switched by a mechanical grabbing arm to improve efficiency. The stacked IC substrates are directly placed in the substrate storage box, which has high operating efficiency. The synchronous interval drive of the oblique insert plate and the push plate makes the discharge simple and stable, and the IC substrate can be protected at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ; Figure 3 For the present invention Figure 1 Schematic diagram of the mechanical grabbing arm structure; Figure 4 For the present invention Figure 2 Schematic diagram of the structure of the middle feed conveyor belt; Figure 5 For the present invention Figure 1 Schematic diagram of the structure of the middle loading conveyor belt; Figure 6 For the present invention Figure 4 Schematic diagram of the internal structure of the mid-load board storage box; Figure 7 For the present invention Figure 6 Schematic diagram of the connection structure of the middle oblique plug plate; Figure 8 For the present invention Figure 6 Schematic diagram of the connection structure of the middle movable rod; Fig. 9 For the present invention Figure 4 Schematic diagram of the structure of the middle feed rack; Fig.10 For the present invention Figure 4 Schematic diagram of the internal structure of the central rotating frame.

[0018] Among them: 1. Workbench; 10. IC carrier body; 20. Feed conveyor belt; 21. Feed rack; 22. Sorting and rejection camera; 23. Placement slot; 24. Fixed block; 25. Fixed top plate; 3. Discharge conveyor belt; 31. Loading rack; 32. Loading groove; 33. Hydraulic cylinder; 34. Loading conveyor belt; 35. Tray; 36. Baffle; 4. Mechanical grabbing arm; 41. Rotating arm; 42. Clamping cylinder; 43. IC carrier clamping pliers; 44. Connecting seat; 5. Carrier Storage box; 50, arc-shaped groove; 51, carrier plate hole groove; 52, push plate; 53, oblique plug plate; 54, movable groove; 55, rotating rod; 56, torsion spring; 57, movable block; 58, limit disc; 59, rotating ring; 6, rotating frame; 60, support plate; 61, rotating motor; 62, rotating disc; 63, movable rod; 64, rotating column; 65, rotating plate; 66, rotating seat; 67, fixed slide groove; 68, fixed slider; 69, connecting rod; 70, movable hole. DETAILED DESCRIPTION

[0019] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work all belong to the protection scope of the present invention. The experimental methods in the following embodiments, unless otherwise specified, are conventional methods, and the materials, reagents, etc. used in the following embodiments, unless otherwise specified, can all be obtained from commercial channels.

[0020] Embodiment: Figure 1 , Figure 2 , Figure 4 , Figure 6 , Figure 7 , Figure 8 and Fig.10As shown, it includes a workbench 1, a feeding conveyor belt 20 arranged at one end of the top of the workbench 1, and a discharging conveyor belt 3 installed at the other end of the top of the workbench 1. A mechanical grabbing arm 4 is arranged on the top of the workbench 1 at the feeding end of the feeding conveyor belt 20. A feeding rack 21 is arranged on the workbench 1 at the feeding end of the feeding conveyor belt 20. A sorting and rejecting camera 22 is arranged between the mechanical grabbing arm 4 and the feeding rack 21 on the workbench 1. The feeding rack 21 is located in a U-shaped structure. One end of the feeding conveyor belt 20 passes through The bolt is fixedly installed at the center of one side of the feed rack 21, and a placement slot 23 is opened at the center of the top of the feed rack 21. A carrier storage box 5 is set on the feed rack 21 through the placement slot 23, and the carrier storage box 5 is located at the top of one end of the feed conveyor belt 20. A carrier hole slot 51 is opened at the center of the bottom of the carrier storage box 5, and the carrier hole slot 51 extends through the center of the bottom of both sides of the carrier storage box 5. Protective components are set on both sides of the carrier hole slot 51 on the carrier storage box 5, and the protective components include: A push plate 52 for discharging the IC carrier body 10, and the push plate 52 moves in the carrier hole slot 51, and the size of the push plate 52 matches the size of the carrier hole slot 51. A rotating frame 6 is fixedly installed on the feeding frame 21 at the center of a side away from the feeding conveyor belt 2; The oblique insert plate 53 of an elliptical structure is used to lift the IC carrier body 10. The carrier storage box 5 is provided with movable grooves 54 that match the size of the oblique insert plate 53 at both ends of the top side of the carrier hole groove 51, and the oblique insert plate 53 moves in the movable groove 54. A rotating rod 55 and a torsion spring 56 are provided at the center of the oblique insert plate 53. A movable block 57 of a conical structure is used to push the oblique insert plate 53, and a movable block 57 is provided on one side of each oblique insert plate 53, and a movable rod 63 is connected between the movable blocks 57, and one end of the movable rod 63 extends through the rotating frame 6; A rotating motor 61 is fixedly installed at the bottom center of one end of the rotating frame 6 away from the carrier storage box 5 by bolts. The output end of the rotating motor 61 is connected to a rotating disk 62 through a rotating shaft. The rotating disk 62 is movably connected to the pushing plate 52 and the movable rod 63.

[0021] See also Figure 1 , Figure 6 and Fig.10A rotating column 64 is provided on one side of the top of the rotating disk 62, and a rotating plate 65 is rotatably connected to the rotating column 64. The top of the pushing plate 52 extends through the rotating frame 6, and the top of the rotating plate 65 is installed on the center of one side of the pushing plate 52 through the rotating seat 66. Fixed slide grooves 67 are provided at both ends of the interior of the rotating frame 6, and a fixed slider 68 is slidably connected in the fixed slide groove 67 on the rotating frame 6. A connecting rod 69 is fixedly installed on the pushing plate 52 on both sides of the interior of the rotating frame 6 by bolts, and the top of the connecting rod 69 is fixedly installed on the fixed slider 68. A support plate 60 is fixedly installed at the center of one side of the top of the connecting rod 69 by bolts, and the top of the movable rod 63 is fixedly installed on the top of the support plate 60 by bolts.

[0022] The carrier hole groove 51 is located at the bottom of the placement groove 23 on the discharge rack, and movable holes 70 are opened at both ends of the carrier storage box 5, and the movable rods 63 are movable through the movable holes 70. The thickness of the pushing plate 52 is the thickness of a single IC carrier body 10, and the movable groove 54 is opened at the center between adjacent IC carrier bodies 10.

[0023] See also Figure 1 , Figure 4 , Figure 6 and Figure 7 A rotating rod 55 is fixedly installed at the center of one side of the movable groove 54 in the carrier storage box 5 by bolts, and limited discs 58 are fixedly installed at both ends of the rotating rod 55. A torsion spring 56 is fixedly installed at the center between the rotating discs. The torsion spring 56 moves on the outer periphery of the rotating rod 55. The middle end of the torsion spring 56 is fixedly installed on the inclined insert plate 53, and the center of the inclined insert plate 53 moves on the outer periphery of the rotating rod 55 through a rotating ring 59; An arc-shaped groove 50 that matches the thickness of the oblique insert plate 53 is formed on one side of the movable block 57, and the oblique insert plate 53 is movable against the movable block 57 through the arc-shaped groove 50; A fixed block 24 is provided at the middle end of the feed conveyor belt 20 . The fixed block 24 is a U-shaped structure. A sorting and rejecting camera 22 is connected to the fixed block 24 at the top of the feed conveyor belt 20 through a fixed top plate 25 .

[0024] See also Figure 1 , Figure 3 , Figure 7 and Fig. 9 The bottom of the mechanical grabbing arm 4 is connected to the workbench 1 through a connecting seat 44, a rotating arm 41 is provided on the top of the mechanical grabbing arm 4, and the bottom of the rotating arm 41 is connected to an IC carrier clamp 43 through a clamping cylinder 42; The discharge conveyor belt 3 is a two-layer structure. Loading racks 31 are arranged on both sides of one end of the discharge conveyor belt 3 located at the mechanical grabbing arm 4. A loading groove 32 is opened at the center of one side of the inner side of the loading rack 31. A hydraulic cylinder 33 is fixedly installed on the loading rack 31 at the bottom center of the loading groove 32. A loading conveyor belt 34 is fixedly installed between the output ends of the hydraulic cylinder 33, and a tray 35 for an IC carrier board is placed on the loading conveyor belt 34. A baffle 36 for blocking the tray 35 is fixedly installed on the end of the loading conveyor belt 34 away from the discharge conveyor belt 3.

[0025] As a preferred technical solution of the present invention, a working method for automatic sorting of IC substrates mainly includes the following steps: Step 1: stack the IC carrier bodies 10 in a stack and place them in the carrier storage box 5, start the rotating motor 61 to reciprocate the rotating column 64 on the rotating disk 62, the rotating column 64 rotates to drive the rotating plate 65 to rotate, and the rotating plate 65 drives the push plate 52 in the fixed slide groove 67 to move back and forth through the rotating seat 66, so that the push plate 52 pushes a single IC carrier body 10 in the carrier hole groove 51; Step 2: When the push plate 52 moves back and forth, the connecting rod 69 synchronously drives the movable rod 63 to move back and forth in the movable hole 70 of the carrier storage box 5. Once the push plate 52 enters the carrier hole groove 51 and contacts the IC carrier body 10, the movable block 57 of the conical structure on the movable rod 63 abuts against the oblique insert plate 53, and the oblique insert plate 53 enters the arc groove 50 on the movable block 57, so that the oblique insert plate 53 of the elliptical structure moves outside the movable groove 54, and the oblique insert plate 53 is inserted between the lowest IC carrier body 10 and the upper IC carrier body 10, so that the two IC carrier bodies 10 are separated; Step 3: The push plate 52 continues to push the IC carrier body 10 under the rotation of the rotating disk 62. At this time, the movable block 57 and the oblique insert plate 53 continue to move in the arc groove 50 of the movable block 57, so that the oblique insert plate 53 enters between the two IC carrier bodies 10 until the push plate 52 completely pushes out the bottom IC carrier body 10; Step 4: After the IC carrier body 10 is pushed out of the carrier hole slot 51 and falls into the feeding conveyor belt 20, the rotating disk 62 rotates and resets again. After the pushing plate 52 withdraws from the carrier hole slot 51, the oblique insert plate 53 is separated from the arc groove 50 on the movable block 57, and the oblique insert plate 53 is reset to the movable groove 54 again through the torsion spring 56. At this time, the previous IC carrier body 10 enters the bottom of the carrier storage box 5 and is pushed for the next time; Step 5: The IC carrier body 10 is identified by the fixed block 24, the fixed top plate 25 and the sorting and rejection camera 22 on the feed conveyor belt 20, and the IC carrier body 10 with appearance defects is rejected by triggering the mechanical grabbing arm 4. The qualified ones are clamped onto the tray 35 by the IC carrier clamping clamp 43 on the mechanical grabbing arm 4. After the tray 35 is fully loaded, the loading conveyor belt 34 is started to make the tray 35 enter the top layer of the discharge conveyor belt 3, and then the loading conveyor belt 34 enters the bottom layer of the discharge conveyor belt 3 under the action of the hydraulic cylinder 33, and the empty tray 35 on the discharge conveyor belt 3 is placed on the loading conveyor belt 34, and the hydraulic cylinder 33 makes the loading conveyor belt 34 drive the empty tray 35 to rise, so as to place the qualified IC carrier body.

[0026] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. An IC substrate automatic sorting device, comprising a workbench (1), a feed conveyor belt (20) arranged at one end of the top of the workbench (1), and a discharge conveyor belt (3) installed at the other end of the top of the workbench (1), characterized in that: A mechanical grabbing arm (4) is arranged on the top of the workbench (1) at the feeding end of the feeding conveyor belt (20); a feeding rack (21) is arranged on the workbench (1) at the feeding end of the feeding conveyor belt (20); a sorting and rejecting camera (22) is arranged on the workbench (1) between the mechanical grabbing arm (4) and the feeding rack (21); the feeding rack (21) is located in a U-shaped structure; one end of the feeding conveyor belt (20) is fixedly mounted at the center of one side of the feeding rack (21) by bolts; the feeding rack (21) is provided with a plurality of holes on the workbench (1); and the plurality of holes on the workbench (1) are provided with a plurality of holes on the workbench (1). 1) is provided with a placement slot (23) at the top center, a carrier storage box (5) is provided on the feed rack (21) through the placement slot (23), and the carrier storage box (5) is located at the top of one end of the feed conveyor belt (20), a carrier hole slot (51) is provided at the bottom center of the carrier storage box (5), and the carrier hole slot (51) extends through the bottom center of both sides of the carrier storage box (5), and a protective component is provided on both sides of the carrier hole slot (51) on the carrier storage box (5), and the protective component includes: A push plate (52) for discharging the IC carrier body (10), wherein the push plate (52) moves in the carrier hole slot (51), the size of the push plate (52) matches the size of the carrier hole slot (51), and a rotating frame (6) is fixedly mounted on the feed frame (21) at the center of a side away from the feed conveyor belt (2); An elliptical inclined insert plate (53) for lifting the IC carrier body (10), movable grooves (54) matching the size of the inclined insert plate (53) are provided on the carrier storage box (5) at both ends of the top side of the carrier hole groove (51), and the inclined insert plate (53) moves in the movable groove (54), and a rotating rod (55) and a torsion spring (56) are provided at the center of the inclined insert plate (53); a movable block (57) of a conical structure for pushing the inclined insert plate (53), wherein the movable block (57) is provided on one side of each inclined insert plate (53), a movable rod (63) is connected through the movable blocks (57), and one end of the movable rod (63) extends through the rotating frame (6); A rotating motor (61) is fixedly mounted at the bottom center of one end of the rotating frame (6) away from the carrier storage box (5) by means of bolts, and an output end of the rotating motor (61) is connected to a rotating disk (62) via a rotating shaft, and the rotating disk (62) is movably connected to the pushing plate (52) and the movable rod (63).

2. The IC substrate automatic sorting device according to claim 1, characterized in that: A rotating column (64) is provided on one side of the top of the rotating disk (62), and a rotating plate (65) is rotatably connected to the rotating column (64). The top of the pushing plate (52) extends through the rotating frame (6), and the top of the rotating plate (65) is installed on the center of one side of the pushing plate (52) through a rotating seat (66). Fixed sliding grooves (67) are provided at both ends of the interior of the rotating frame (6), and a fixed sliding block (68) is slidably connected to the rotating frame (6) in the fixed sliding groove (67).

3. The IC substrate automatic sorting device according to claim 2, characterized in that: The push plate (52) is fixedly mounted with a connecting rod (69) on both sides of the interior of the rotating frame (6) by means of bolts, and the top end of the connecting rod (69) is fixedly mounted on the fixed sliding block (68). A supporting plate (60) is fixedly mounted at the center of one side of the top of the connecting rod (69) by means of bolts, and the top end of the movable rod (63) is fixedly mounted on the top of the supporting plate (60) by means of bolts.

4. The IC substrate automatic sorting device according to claim 3, characterized in that: A rotating rod (55) is fixedly mounted at the center of one side of the movable groove (54) in the carrier storage box (5) by means of bolts, and limiting discs (58) are fixedly mounted at both ends of the rotating rod (55). The torsion spring (56) is fixedly mounted at the center between the rotating discs, and the torsion spring (56) moves on the outer periphery of the rotating rod (55). The middle end of the torsion spring (56) is fixedly mounted on the inclined insertion plate (53), and the center of the inclined insertion plate (53) moves on the outer periphery of the rotating rod (55) via a rotating ring (59).

5. The IC substrate automatic sorting device according to claim 4, characterized in that: The bottom of the mechanical grabbing arm (4) is connected to the workbench (1) via a connecting seat (44), a rotating arm (41) is provided on the top of the mechanical grabbing arm (4), and the bottom of the rotating arm (41) is connected to an IC carrier clamp (43) via a clamping cylinder (42).

6. The IC substrate automatic sorting device according to claim 5, characterized in that: The discharge conveyor belt (3) is a two-layer structure. The discharge conveyor belt (3) is provided with loading racks (31) on both sides of one end of the mechanical grabbing arm (4). A loading groove (32) is provided at the center of one side of the inner side of the loading rack (31). A hydraulic cylinder (33) is fixedly installed on the loading rack (31) at the bottom center of the loading groove (32). A loading conveyor belt (34) is fixedly installed between the output ends of the hydraulic cylinder (33). A tray (35) for IC carriers is placed on the loading conveyor belt (34). A baffle (36) for blocking the tray (35) is fixedly installed on the end of the loading conveyor belt (34) away from the discharge conveyor belt (3).

7. The IC substrate automatic sorting device according to claim 6, characterized in that: An arc-shaped groove (50) matching the thickness of the inclined insert plate (53) is formed on one side of the movable block (57), and the inclined insert plate (53) is movable against the movable block (57) through the arc-shaped groove (50); A fixed block (24) is provided at the middle end of the feed conveyor belt (20), the fixed block (24) being a U-shaped structure, and the fixed block (24) is connected to the sorting and rejecting camera (22) at the top of the feed conveyor belt (20) via a fixed top plate (25).

8. The IC substrate automatic sorting device according to claim 7, characterized in that: The carrier hole groove (51) is located at the bottom of the placement groove (23) on the discharge rack, movable holes (70) are opened at both ends of the carrier storage box (5), and the movable rods (63) are movable through the movable holes (70), the thickness of the pushing plate (52) is the thickness of a single IC carrier body (10), and the movable groove (54) is opened at the center between adjacent IC carrier bodies (10).

9. The working method of the automatic sorting device for IC substrates according to claim 8, characterized in that: The main steps include: Step 1: stack the IC carrier bodies (10) in a stack and place them in the carrier storage box (5), start the rotating motor (61) to make the rotating column (64) on the rotating disk (62) reciprocate, the rotating column (64) rotates to drive the rotating plate (65) to rotate, and the rotating plate (65) drives the push plate (52) in the fixed slide groove (67) to move back and forth through the rotating seat (66), so that the push plate (52) pushes the single IC carrier body (10) in the carrier hole groove (51); Step 2: When the push plate (52) moves back and forth, the connecting rod (69) synchronously drives the movable rod (63) to move back and forth in the movable hole (70) of the carrier storage box (5). Once the push plate (52) enters the carrier hole groove (51) and contacts the IC carrier body (10), the conical movable block (57) on the movable rod (63) and the inclined insert plate (53) are abutted against each other, and the inclined insert plate (53) enters the arc groove (50) on the movable block (57), so that the elliptical inclined insert plate (53) moves outside the movable groove (54), and the inclined insert plate (53) is inserted between the lowest IC carrier body (10) and the upper IC carrier body (10), so that the two IC carrier bodies (10) are separated; Step 3: The push plate (52) continues to push the IC carrier body (10) under the rotation of the rotating disk (62), and at this time, the inclined insert plate (53) of the movable block (57) continues to move in the arc-shaped groove (50) of the movable block (57), so that the inclined insert plate (53) enters between the two IC carrier bodies (10), until the push plate (52) completely pushes out the bottom IC carrier body (10); Step 4: After the IC carrier body (10) is pushed out of the carrier hole slot (51) and falls into the feeding conveyor belt (20), the rotating disk (62) rotates and resets again. After the pushing plate (52) is withdrawn from the carrier hole slot (51), the inclined insert plate (53) is separated from the arc groove (50) on the movable block (57). The torsion spring (56) allows the inclined insert plate (53) to reset again into the movable slot (54). At this time, the previous IC carrier body (10) enters the bottom of the carrier storage box (5) and is pushed again. Step 5: The IC carrier body (10) is identified by the fixed block (24), the fixed top plate (25) and the sorting and rejecting camera (22) on the feeding conveyor belt (20), and the IC carrier body (10) with appearance defects is rejected by triggering the mechanical grabbing arm (4). The qualified IC carrier body is clamped by the IC carrier clamping clamp (43) on the mechanical grabbing arm (4) and placed on the tray (35). After the tray (35) is fully loaded, the loading conveyor belt (34) is started to make the tray (35) enter the top layer of the discharging conveyor belt (3), and then the loading conveyor belt (34) enters the bottom layer of the discharging conveyor belt (3) under the action of the hydraulic cylinder (33), and the empty tray (35) on the discharging conveyor belt (3) is placed on the loading conveyor belt (34). The hydraulic cylinder (33) makes the loading conveyor belt (34) drive the empty tray (35) to rise, so that the qualified IC carrier body can be placed.

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