Flexible clamping stacker crane

Abstract

The invention discloses a flexible clamping stacker crane which comprises an equipment frame, a flexible clamping mechanism and a three-axis mechanical arm, the three-axis mechanical arm is arranged at the top of the equipment frame, and the flexible clamping mechanism is fixedly connected to the moving end of the three-axis mechanical arm through a flange. The flexible clamping mechanism comprises a positioning plate, a suspension mechanical arm, a two-way clamping air cylinder, a limiting protruding block, a sliding plate, a buffering plate, a spring, an adjusting plate and an elastic clamping plate, the outward opening stroke of the two-way clamping air cylinder is absorbed through the spring, and the opening force of the two-way clamping air cylinder cannot be directly conducted into a tool box containing groove; therefore, the tool box is prevented from being damaged in the using process. By controlling an air cylinder in the suspension mechanical arm to stretch out, push plates on the two sides of the chips drive plane baffles to contract inwards, and therefore the chips which are staggered in the stacked state are leveled; and after the air cylinder completely extends out, the telescopic end of the air cylinder forces the U-shaped restraint frame to be folded inwards, so that a cross beam at the bottom of the U-shaped restraint frame is sleeved into the bottoms of the chips in a stacked state to prevent falling.

Description

Technical Field

[0001] The invention relates to the technical field of semiconductor chip processing supporting equipment, in particular to a flexible clamping and stacking machine. Background Art

[0002] The chip is a thin sheet that is very weak and fragile as a whole. During the chip processing and transportation process, the stacked chips need to be placed in a tooling box for transfer. To prevent the chips from shaking in the tooling box, the tooling box also has multiple placement slots with the same size as the chips. The existing clamps can only control the force of clamping the chips, but cannot control the force of loosening the clamps. In the process of placing the stacked chips in the tooling box and loosening them, the force of loosening the clamps will cause damage to the placement slots in the tooling box, and after continuous use, the tooling box will crack. In addition, the existing clamps are rigid clamps, which can easily cause chip damage due to vibration during movement. The stacked chips may also be dislocated due to vibration during movement. Therefore, a flexible clamping and stacking machine is designed to solve the above problems. Summary of the invention

[0003] In view of the insufficiency of existing chip processing supporting equipment, the purpose of the present invention is to provide a flexible clamping palletizer, which has the advantages of flexible clamping to prevent damage to the tooling box, prevent it from falling off after clamping, and prevent misalignment of chips in a stacked state.

[0004] To achieve the above-mentioned purpose, a technical solution adopted by the present invention is: a flexible clamping palletizer, including an equipment frame, a flexible clamping mechanism and a three-axis mechanical arm, a three-axis mechanical arm is arranged on the top of the equipment frame, and the moving end of the three-axis mechanical arm is fixedly connected to the flexible clamping mechanism through a flange, and the flexible clamping mechanism includes a positioning plate, a suspension mechanical arm, a two-way clamping cylinder, a limit convex block, a sliding plate, a buffer plate, a spring, an adjustment plate and an elastic clamping plate, the upper end surface of the positioning plate is fixedly connected to the flange of the moving end of the three-axis mechanical arm, a two-way clamping cylinder is arranged in the middle of the lower end surface of the positioning plate, openings for installing the suspension mechanical arm are provided on both sides of the positioning plate, and the movable ends on both sides of the two-way clamping cylinder are fixedly connected The cam is provided with a plurality of spring plates, each of which is provided with a plurality of spring plates that are fixed to the sides of the two-way clamping cylinder. The cam is provided with a plurality of spring plates that are fixed to the sides of the two-way clamping cylinder. The spring plates are ...

[0005] Preferably, the end surface of the adjustment plate has a waist-shaped hole, and the waist-shaped hole is used to change the fixing position of the adjustment plate and the buffer plate; in order to adapt to the size of the clamped chip, by changing the fixing position of the adjustment plate and the buffer plate, the spacing between the elastic clamping plates on both sides is changed to adapt to the chip size;

[0006] Preferably, the suspension mechanical arm comprises a cylinder, a mounting plate, a U-shaped plate, a push plate, a flat baffle, a U-shaped constraint frame and a hinge block, the mounting plate is fixed at the openings on both sides of the positioning plate in an adjustable fixed position manner, the telescopic end of the cylinder passes through the mounting plate and is fixedly connected to the top of the mounting plate, the open end of the U-shaped plate is fixedly connected to the bottom of the mounting plate, the U-shaped plate has a through hole corresponding to the extended position of the cylinder, the push plate is slidably connected to the upper end surface of the U-shaped plate, the sliding direction of the push plate is perpendicular to the movement path of the elastic clamping plate, the outer end of the push plate is fixedly connected with a flat baffle extending downward, and the end surface of the push plate corresponds to the extended position of the telescopic end of the cylinder and also has an inclined hole. The hinge block is fixedly connected to the lower end surface of the U-shaped plate, the open end of the U-shaped constraint frame is hinged with the hinge block, and the open end of the U-shaped constraint frame has a transversely extending drive block, and the drive block corresponds to the extended position of the telescopic end of the cylinder; when the telescopic end of the cylinder is extended, the telescopic end of the cylinder is inserted into the inclined hole on the end surface of the push plate, so that the push plate moves inward, and the movement of the push plate simultaneously drives the flat baffle to level the chips that are misaligned in the stacked state; when the telescopic end of the cylinder is fully extended, the telescopic end of the cylinder abuts against the drive block at the open end of the U-shaped constraint frame, so that the U-shaped constraint frame closes inward, so that the bottom crossbeam of the U-shaped constraint frame is inserted into the bottom of the chips in the stacked state, thereby preventing the chips from falling off during movement;

[0007] Further preferably, the suspension mechanical arm further comprises a tension spring arranged between the U-shaped restraint frame and the plane baffle, the tension spring is used to force the U-shaped restraint frame to be in an outwardly opened state, and a spring forcing the push plate to move outward is further provided between the push plate and the mounting plate; when the cylinder retracts, the spring between the push plate and the mounting plate forces the push plate to move outward, and the tension spring forces the U-shaped restraint frame to be in an outwardly opened state;

[0008] Preferably, the three-axis mechanical arm comprises a transverse arm, a vertical arm and a right-angle connecting frame, the transverse arm is slidably connected to the top of the equipment frame through a slide rail, the right-angle connecting frame base is slidably connected to the top of the transverse arm through a slide rail, the sliding direction of the right-angle connecting frame is perpendicular to the sliding direction of the transverse arm, the side plate of the right-angle connecting frame is slidably connected to the vertical arm through the slide rail, the sliding direction of the vertical arm is vertically perpendicular to the transverse arm, and the bottom of the vertical arm has a flange;

[0009] Further preferably, the three-axis mechanical arm further comprises a transverse drive motor, a longitudinal drive motor and a vertical drive motor, wherein the transverse drive motor is arranged at one side of the transverse arm, and the transverse drive motor drives the transverse arm to slide along the top of the equipment frame through gears and racks, the longitudinal drive motor is arranged at the end face of the base of the right-angle connecting frame, and the longitudinal drive motor drives the right-angle connecting frame to slide along the transverse arm through gears and racks, and the vertical drive motor is arranged at the end face of the side plate of the right-angle connecting frame, and the vertical drive motor drives the vertical arm to slide perpendicularly to the transverse arm through gears and racks;

[0010] Preferably, the flexible clamping palletizer further comprises a transfer component, which is movably arranged on the top of the equipment frame by a three-axis mechanical arm, and is used to clamp the tooling box for transfer;

[0011] Preferably, the flexible clamping palletizer further has a flipping mechanism, which is arranged on one side of the equipment frame and is used to flip the flat stacked chips into a vertical stacking state;

[0012] Preferably, the flexible clamping palletizer further comprises a stacking detection mechanism, which is vertically arranged on one side of the flipping mechanism, and is used to flatten and stack the qualified chips;

[0013] The beneficial effects of the present invention are: 1. The spring absorbs the outward opening stroke of the two-way clamping cylinder, so that the opening force of the two-way clamping cylinder will not be directly transmitted to the tooling box placement slot, thereby preventing the tooling box from being damaged during use; 2. By controlling the extension of the cylinder in the suspended robotic arm, the push plates on both sides of the chip drive the flat baffles to retract inward, thereby leveling the misaligned chips in the stacked state; 3. When the cylinder in the suspended robotic arm is fully extended, the telescopic end of the cylinder abuts against the driving block at the open end of the U-shaped constraint frame, so that the U-shaped constraint frame closes inward, so that the bottom crossbeam of the U-shaped constraint frame is inserted into the bottom of the stacked chips, thereby preventing the chips from falling off during movement; 4. During the clamping process, the deformation of the elastic clamp plate absorbs the excess stroke of the two-way clamping cylinder, thereby preventing the two-way clamping cylinder from clamping too hard and causing damage to the chip. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A three-dimensional view of the overall structural layout of the present invention;

[0015] Figure 2 A three-dimensional view of the connection state between the three-axis mechanical arm and the flexible clamping mechanism of the present invention;

[0016] Figure 3 A three-dimensional structural view of the flexible clamping mechanism of the present invention in a clamping state;

[0017] Figure 4 This is a three-dimensional structural view of the suspension mechanical arm of the present invention;

[0018] Figure 5 This is a three-dimensional structural view of the push plate of the present invention;

[0019] Figure 6 This is a cross-sectional structural view of the flexible clamping mechanism of the present invention;

[0020] Figure 7 For the present invention Figure 6 Sectional structural view in the AA direction. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0022] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0023] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "provided with", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be internal communication between two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] See also Figures 1 to 7 , the embodiment of the present invention includes:

[0025] A flexible clamping palletizer, comprising an equipment frame 1, a flexible clamping mechanism 2 and a three-axis mechanical arm 3, wherein the three-axis mechanical arm 3 is arranged on the top of the equipment frame 1, and the moving end of the three-axis mechanical arm 3 is fixedly connected to the flexible clamping mechanism 2 through a flange, and the flexible clamping mechanism 2 comprises a positioning plate 21, a suspension mechanical arm 22, a two-way clamping cylinder 23, a limiting protrusion 24, a sliding plate 25, a buffer plate 26, a spring 4, an adjustment plate 27 and an elastic clamping plate 28, the upper end surface of the positioning plate 21 is fixedly connected to the flange of the moving end of the three-axis mechanical arm 3, the middle part of the lower end surface of the positioning plate 21 is provided with a two-way clamping cylinder 23, the two sides of the positioning plate 21 have openings for installing the suspension mechanical arm 22, and the two-way clamping The movable ends on both sides of the cylinder 23 are fixedly connected with sliding plates 25, and a limiting protrusion 24 fixed to the side of the two-way clamping cylinder 23 is provided between the two sliding plates 25. The bottom end surfaces of the two sliding plates 25 are slidably connected with buffer plates 26, and the sliding direction of the buffer plates 26 is the same as the movement direction of the sliding plates 25. A spring 4 is provided between the buffer plates 26 and the limiting protrusion 24, and the spring 4 forces the buffer plates 26 on both sides to open outward to the limit position. The bottom end surface of the buffer plate 26 is provided with an adjusting plate 27 with an adjustable fixed position, and the bottom end surface of the adjusting plate 27 is fixed with a plurality of elastic clamping plates 28 at equal distances. When the two-way clamping cylinder 23 is clamped, the elastic clamping plates 28 on both sides are close to each other and compress the spring 4 at the same time;

[0026] The end surface of the adjusting plate 27 has a waist-shaped hole, and the waist-shaped hole is used to change the fixing position of the adjusting plate 27 and the buffer plate 26; in order to adapt to the size of the clamped chip, by changing the fixing position of the adjusting plate 27 and the buffer plate 26, the distance between the elastic clamping plates 28 on both sides is changed to adapt to the chip size;

[0027] The suspension robot arm 22 includes a cylinder 221, a mounting plate 222, a U-shaped plate 223, a push plate 224, a flat baffle 225, a U-shaped constraint frame 226 and a hinge block 227. The mounting plate 222 is fixed to the openings on both sides of the positioning plate 21 in an adjustable fixed position. The telescopic end of the cylinder 221 passes through the mounting plate 222 and is fixedly connected to the top of the mounting plate 222. The open end of the U-shaped plate 223 is fixedly connected to the bottom of the mounting plate 222. The U-shaped plate 223 has a through hole corresponding to the extended position of the cylinder 221. The push plate 224 is slidably connected to the upper end surface of the U-shaped plate 223. The sliding direction of the push plate 224 is perpendicular to the movement path of the elastic clamp 28. The outer end of the push plate 224 is fixedly connected to a flat baffle 225 extending downward. The end surface of the push plate 224 corresponding to the extended position of the telescopic end of the cylinder 221 is also The hinge block 227 is fixedly connected to the lower end surface of the U-shaped plate 223, and the open end of the U-shaped constraint frame 226 is hinged to the hinge block 227. The open end of the U-shaped constraint frame 226 has a transversely extending driving block 6, and the driving block 6 corresponds to the extended position of the telescopic end of the cylinder 221; when the telescopic end of the cylinder 221 is extended, the telescopic end of the cylinder 221 is inserted into the oblique hole 5 on the end surface of the push plate 224, so that the push plate 224 moves inward, and the movement of the push plate 224 simultaneously drives the plane baffle 225 to level the chips misaligned in the stacked state. When the telescopic end of the cylinder 221 is fully extended, the telescopic end of the cylinder 221 abuts against the driving block 6 at the open end of the U-shaped constraint frame 226, so that the U-shaped constraint frame 226 is closed inward, so that the bottom crossbeam of the U-shaped constraint frame 226 is inserted into the bottom of the chips in the stacked state, thereby preventing the chips from falling off during movement;

[0028] The suspension robot arm 22 also has a tension spring arranged between the U-shaped constraint frame 226 and the plane baffle 225, and the tension spring is used to force the U-shaped constraint frame 226 to be in an outwardly opened state. There is also a spring 4 between the push plate 224 and the mounting plate 222 to force the push plate 224 to move outward; when the cylinder 221 retracts, the spring 4 between the push plate 224 and the mounting plate 222 forces the push plate 224 to move outward, and the tension spring forces the U-shaped constraint frame 226 to be in an outwardly opened state;

[0029] The three-axis robot arm 3 includes a transverse arm 31, a vertical arm 32 and a right-angle connecting frame 33. The transverse arm 31 is slidably connected to the top of the equipment frame 1 through a slide rail. The base of the right-angle connecting frame 33 is slidably connected to the top of the transverse arm 31 through a slide rail. The sliding direction of the right-angle connecting frame 33 is perpendicular to the sliding direction of the transverse arm 31. The side plate of the right-angle connecting frame 33 is slidably connected to the vertical arm 32 through a slide rail. The sliding direction of the vertical arm 32 is vertically perpendicular to the transverse arm 31. The bottom of the vertical arm 32 has a flange.

[0030] The three-axis robot arm 3 also includes a transverse drive motor 34, a longitudinal drive motor 35 and a vertical drive motor 36. The transverse drive motor 34 is arranged on one side of the transverse arm 31, and the transverse drive motor 34 drives the transverse arm 31 to slide along the top of the equipment frame 1 through gears and racks. The longitudinal drive motor 35 is arranged on the end surface of the base of the right-angle connecting frame 33, and the longitudinal drive motor 35 drives the right-angle connecting frame 33 to slide along the transverse arm 31 through gears and racks. The vertical drive motor 36 is arranged on the end surface of the side plate of the right-angle connecting frame 33, and the vertical drive motor 36 drives the vertical arm 32 to slide perpendicular to the transverse arm 31 through gears and racks.

[0031] The flexible clamping palletizer also has a transfer component 7, which is movably arranged on the top of the equipment frame 1 through a three-axis mechanical arm 3, and the transfer component 7 is used to clamp the tooling box for transfer;

[0032] The flexible clamping palletizer also has a flipping mechanism 8, which is arranged on one side of the equipment frame 1 and is used to flip the flat stacked chips into a vertical stacking state;

[0033] The flexible clamping palletizer also has a stacking detection mechanism 9, which is vertically arranged on one side of the flipping mechanism 8, and is used to flatten and stack the qualified chips;

[0034] Through the above settings, in the actual working process, its specific working principle is as follows:

[0035] First, the chips are inspected by the stacking inspection mechanism 9, and the stacking inspection mechanism 9 lays and stacks the qualified chips on the table of the flipping mechanism 8, and the flipping mechanism 8 flips the flat stacked chips into a vertical stacking state;

[0036] Then the three-axis robot arm 3 drives the flexible clamping mechanism 2 to move to the clamping position, and the two-way clamping cylinder 23 is started to contract and clamp. The two-way clamping cylinder 23 drives the sliding plates 25 on both sides to approach each other. Since the spring 4 forces the buffer plate 26 to move outward to the limit limit, the sliding plates 25 approach each other and drive the adjustment plate 27. The adjustment plate 27 also drives the elastic clamping plate 28 at the bottom to clamp the chip stack. During the clamping process, the deformation generated by the elastic clamping plate 28 absorbs the reaction force generated by the clamping, thereby realizing flexible clamping of the chip;

[0037] After the bidirectional clamping cylinder 23 completes the clamping, the cylinder 221 in the suspension mechanical arms 22 on both sides is started to extend. When the telescopic end of the cylinder 221 is extended, the telescopic end of the cylinder 221 is inserted into the inclined hole 5 on the end face of the push plate 224, so that the push plate 224 moves inward. The movement of the push plate 224 simultaneously drives the plane baffle 225 to level the misaligned chips in the stacked state. When the telescopic end of the cylinder 221 is fully extended, the telescopic end of the cylinder 221 abuts against the driving block 6 at the open end of the U-shaped constraint frame 226, so that the U-shaped constraint frame 226 is closed inward, so that the bottom crossbeam of the U-shaped constraint frame 226 is inserted into the bottom of the stacked chips, thereby preventing the chips from falling off during movement.

[0038] After the clamping is completed, the three-axis robot 3 drives the flexible clamping mechanism 2 to move to the position above the tooling box placement slot. First, the cylinder 221 in the suspended robot arms 22 on both sides is started to retract, and the spring 4 between the push plate 224 and the mounting plate 222 forces the push plate 224 to move outward, and the tension spring forces the U-shaped constraint frame 226 to be in an outward opening state. At this time, the U-shaped constraint and the plane baffle 225 return to their initial state and no longer restrict the chip; then the three-axis robot 3 is started again to drive the chip to move into the tooling box placement slot, and at this time, the bidirectional clamping cylinder 23 is started to open outward, and the double The clamping cylinder 23 drives the sliding plates 25 on both sides to move away from each other. Since the buffer plate 26 is slidably connected to the bottom end of the sliding plate 25, the spring 4 arranged between the buffer plate 26 and the limiting protrusion 24 forces it to open outward to the limit position, and the elastic clamping plate 28 has been inserted into the placement groove of the tool box and cannot be opened outward. At this time, the force exerted on the elastic clamping plate 28 is only the elastic force of the spring 4 forcing it to open, so that the force applied by the bidirectional clamping cylinder 23 during the outward opening process will not be directly transmitted to the tool box placement groove, thereby preventing the tool box from being damaged during use;

[0039] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A flexible clamping palletizer, characterized in that: It includes an equipment frame, a flexible clamping mechanism and a three-axis mechanical arm. The three-axis mechanical arm is arranged on the top of the equipment frame. The moving end of the three-axis mechanical arm is fixedly connected to the flexible clamping mechanism through a flange. The flexible clamping mechanism includes a positioning plate, a suspension mechanical arm, a two-way clamping cylinder, a limit convex block, a sliding plate, a buffer plate, a spring, an adjustment plate and an elastic clamping plate. The upper surface of the positioning plate is fixedly connected to the flange of the moving end of the three-axis mechanical arm. A two-way clamping cylinder is arranged in the middle of the lower end surface of the positioning plate. The positioning plate has openings on both sides for installing the suspension mechanical arm. The two sides of the two-way clamping cylinder The movable ends are fixedly connected with sliding plates, and a limiting protrusion fixed to the side of the two-way clamping cylinder is provided between the two sliding plates. The bottom end surfaces of the two sliding plates are slidably connected with buffer plates, and the sliding direction of the buffer plates is the same as the movement direction of the sliding plates. A spring is provided between the buffer plates and the limiting protrusions, and the spring forces the buffer plates on both sides to open outward to the extreme position. An adjusting plate with adjustable fixed position is provided on the bottom end surface of the buffer plate, and a plurality of elastic clamps are fixed at equal distances on the bottom end surface of the adjusting plate. When the two-way clamping cylinder is clamped, the elastic clamps on both sides approach each other and compress the springs at the same time.

2. A flexible clamping palletizer according to claim 1, characterized in that: The end surface of the adjustment plate is provided with a waist-shaped hole, and the waist-shaped hole is used to change the fixing position of the adjustment plate and the buffer plate.

3. The flexible clamping palletizer according to claim 1, characterized in that: The U-shaped plate is fixedly connected to the upper end surface of the U-shaped plate, and the sliding direction of the push plate is perpendicular to the movement path of the elastic clamp plate. The outer end of the push plate is fixedly connected with a downwardly extending flat baffle, and the end surface of the push plate corresponding to the extended position of the cylinder telescopic end is also provided with an inclined hole. The hinge block is fixedly connected to the lower end surface of the U-shaped plate, the open end of the U-shaped constraint frame is hinged with the hinge block, and the open end of the U-shaped constraint frame has a transversely extending drive block, and the drive block corresponds to the extended position of the telescopic end of the cylinder.

4. A flexible clamping palletizer according to claim 3, characterized in that: The suspension robot arm also has a tension spring arranged between the U-shaped constraint frame and the plane baffle, and the tension spring is used to force the U-shaped constraint frame to be in an outwardly opened state. There is also a spring between the push plate and the mounting plate to force the push plate to move outward.

5. The flexible clamping palletizer according to claim 1, characterized in that: The three-axis robotic arm includes a transverse arm, a vertical arm and a right-angle connecting frame. The transverse arm is slidably connected to the top of the equipment frame through a slide rail, the base of the right-angle connecting frame is slidably connected to the top of the transverse arm through a slide rail, the sliding direction of the right-angle connecting frame is perpendicular to the sliding direction of the transverse arm, the side plate of the right-angle connecting frame is slidably connected to the vertical arm through a slide rail, the sliding direction of the vertical arm is vertically perpendicular to the transverse arm, and the bottom of the vertical arm has a flange.

6. The flexible clamping palletizer according to claim 5, characterized in that: The three-axis robotic arm also includes a transverse drive motor, a longitudinal drive motor and a vertical drive motor. The transverse drive motor is arranged on one side of the transverse arm, and the transverse drive motor drives the transverse arm to slide along the top of the equipment frame through gears and racks. The longitudinal drive motor is arranged on the end face of the base of the right-angle connecting frame, and the longitudinal drive motor drives the right-angle connecting frame to slide along the transverse arm through gears and racks. The vertical drive motor is arranged on the end face of the side plate of the right-angle connecting frame, and the vertical drive motor drives the vertical arm to slide perpendicular to the transverse arm through gears and racks.

7. The flexible clamping palletizer according to claim 1, characterized in that: The flexible clamping palletizer also has a transfer component, which is movably arranged on the top of the equipment frame through a three-axis mechanical arm, and is used to clamp the tooling box for transfer.

8. The flexible clamping palletizer according to claim 1, characterized in that: The flexible clamping palletizer also has a flipping mechanism, which is arranged on one side of the equipment frame and is used to flip the flat stacked chips into a vertical stacking state.

9. The flexible clamping palletizer according to claim 1, characterized in that: The flexible clamping palletizer also has a stacking detection mechanism, which is vertically arranged on one side of the flipping mechanism and is used to flatten and stack the chips that have passed the inspection.

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