Automatic stacking device for lead frame processing

Abstract

The invention relates to the technical field of lead frame processing, and particularly discloses an automatic stacking device for lead frame processing, which comprises a box body shell, a controller, a stacking mechanism, a separating mechanism, a three-axis moving module, a carrying mechanism, a workpiece conveying belt, a ground rail, a carrying mechanical arm and a clamping module, the stacking mechanism is arranged on the right front portion of the inner side of the box shell. The separating mechanism is installed in the middle of the front side of the top end of the box shell. The three-axis moving module is installed on the rear portion of the outer side of the top end of the box shell. The carrying mechanism is installed at the moving end of the three-axis moving module. In the lead frame machining and stacking process, accurate non-contact separation of the adhered lead frame workpieces can be achieved, physical damage to the workpieces in the separation process is reduced, the influence on subsequent procedures is reduced, the device adapts to the workpieces of different sizes and shapes according to actual needs, high universality and flexibility are achieved, and the production efficiency is improved. And the consistency and the reliability of each separation operation are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of lead frame processing, in particular to an automatic stacking device for lead frame processing. Background Art

[0002] The lead frame is a core component in the semiconductor packaging process, acting as a bridge between the chip and the external circuit. This frame is usually made of metal materials with good conductivity and high mechanical strength, such as copper or iron-nickel alloy. Its structure is exquisite, including chip pads for fixing chips, slender leads responsible for electrical connections, bonding areas to ensure precise bonding, and windows for injecting packaging materials during plastic packaging. The design and manufacturing accuracy of the lead frame have a decisive influence on the performance and reliability of the package. With the continuous advancement of semiconductor technology, the design of the lead frame is also evolving to meet the packaging needs of smaller size, higher performance and lower cost. From traditional lead frames to planar lead frames, to innovative technologies such as leadless lead frames and wafer-level packaging, they are all driving the innovation of semiconductor packaging technology; however, the vacuum adsorption method used in the traditional technical solution for stacking and transporting lead frames is easy to accumulate electrostatic charges due to the lead frame made of metal materials, resulting in adhesion problems during transportation, that is, two or more lead frames stick together due to electrostatic attraction, affecting the stacking efficiency and the quality of subsequent product processing. Summary of the invention

[0003] The object of the present invention is to provide an automatic stacking device for lead frame processing to solve the problems mentioned in the above background technology.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic stacking device for lead frame processing, comprising: a box shell, a controller, a stacking mechanism, a separation mechanism, a three-axis moving module, a handling mechanism, a workpiece conveyor belt, a ground rail and a handling robot arm; the controller is arranged at the right rear of the top end of the box shell; the stacking mechanism is arranged at the right front of the inner side of the box shell; the separation mechanism is installed in the middle of the front side of the top end of the box shell; the three-axis moving module is installed at the outer rear of the top end of the box shell, and the three-axis moving module is electrically connected to the controller; the handling mechanism is installed at the moving end of the three-axis moving module; the workpiece conveyor belt is arranged at the left rear of the inner side of the box shell along the front-to-back direction, and the workpiece conveyor belt is electrically connected to the controller; the ground rail is arranged at the bottom of the left front of the inner side of the box shell along the front-to-back direction, and the ground rail is electrically connected to the controller; the handling robot arm is installed at the top of the moving end of the ground rail, and the handling robot arm is electrically connected to the controller; the clamping module is arranged at the moving end of the handling robot arm, and the clamping module is electrically connected to the controller.

[0005] Preferably, the stacking mechanism includes: a stacking mechanism shell, a storage rack, a lifting module, a storage rack and a track rack; the stacking mechanism shell is arranged at the right front inner side of the box shell along the front-to-back direction; the storage rack is fixedly installed on the front top side of the stacking mechanism shell; the number of the lifting modules is two, and the two lifting modules are respectively installed at the bottom left and right sides of the interior of the storage rack, and the lifting modules and the controller are electrically connected; the storage rack is fixedly installed on the rear top side of the stacking mechanism shell; the track rack is arranged on the top of the stacking mechanism shell along the front-to-back direction and is located on the inner side of the storage rack and the storage rack.

[0006] Preferably, the stacking mechanism also includes: a horizontal moving module, a pushing seat, a base, a blocking module, a slot seat, a lifting frame, a first mounting frame, a linear motor and a connecting plate; the horizontal moving module is arranged at the top of the stacking mechanism shell in the front-to-back direction and is located at the inner bottom end of the storage rack, the storage rack and the track rack, and the horizontal moving module is electrically connected to the controller; the pushing seat is installed on the top of the moving end of the horizontal moving module; the number of the bases is two, and the two bases are respectively installed on the top of the stacking mechanism shell and are located on the left and right sides of the storage rack; the number of the blocking modules is two, and the two blocking modules are respectively installed on the top of the left and right bases, and the blocking module and the controller Electrical connection; the number of the slot seats is two groups, the number of the slot seats in each group is two, the two groups of slot seats are respectively embedded in the top of the inner cavity of the stacking mechanism shell and are located at the front and rear ends of the left and right sides below the storage rack; the number of the lifting frames is two, and the two lifting frames are respectively plugged into the inner cavities of the two groups of slot seats; the first mounting frame is installed on the rear side of the bottom end of the inner cavity of the stacking mechanism shell; the linear motor is arranged on the inner top of the first mounting frame, the top end of the linear motor extends out of the upper surface of the first mounting frame, and the linear motor and the controller are electrically connected; the connecting plate is arranged at the bottom ends of the left and right lifting frames along the left and right directions, and the telescopic end of the linear motor is connected to the bottom of the connecting plate.

[0007] Preferably, the stacking mechanism also includes: a second mounting frame, a roller guide frame, a grating sensor, a first mounting plate, a roller pushing frame and a first electric telescopic rod; the second mounting frame is mounted on the front bottom of the stacking mechanism housing; the number of the roller guide frames is two, and the two roller guide frames are respectively mounted on the left and right ends of the inner side of the second mounting frame along the front-to-back direction; the grating sensor is mounted on the front side of the top end of the second mounting frame, and the grating sensor is electrically connected to the controller; the first mounting plate is mounted on the middle of the rear side of the top end of the second mounting frame; the roller pushing frame is rotatably connected to the front top of the first mounting plate through a pin shaft seat; one end of the first electric telescopic rod is rotatably connected to the rear side of the top end of the first mounting plate through a pin shaft seat, the other end of the first electric telescopic rod is rotatably connected to the axis of the roller pushing frame through a pin shaft seat, and the first electric telescopic rod is electrically connected to the controller.

[0008] Preferably, the separation mechanism includes: an X-axis moving module, a truss, a Y-axis moving module, a Z-axis moving module and a second mounting plate; the X-axis moving module is arranged on the inner side of the front of the top end of the box shell in the front-to-back direction, and the X-axis moving module is electrically connected to the controller; the truss is fixedly installed on the top of the moving end of the X-axis moving module in the left-right direction; the Y-axis moving module is arranged on the rear side of the truss in the left-right direction, and the Y-axis moving module is electrically connected to the controller; the Z-axis moving module is fixedly installed on the rear side of the moving end of the Y-axis moving module in the up-down direction, and the Z-axis moving module is electrically connected to the controller; the second mounting plate is arranged on the rear side of the moving end of the Z-axis moving module in the up-down direction.

[0009] Preferably, the separation mechanism also includes: a guide rail frame, a second electric telescopic rod, a support seat, a third mounting frame, a first suction cup, a guide rail assembly, a moving seat, a third electric telescopic rod, a second suction cup and a connecting rod; the guide rail frame is arranged on the top of the rear side of the second mounting plate in the up-down direction; the second electric telescopic rod is installed on the top of the guide rail frame, the telescopic end of the second electric telescopic rod extends into the inner side of the guide rail frame, and the second electric telescopic rod is electrically connected to the controller; the support seat is sleeved on the outside of the guide rail frame, and the telescopic end of the second electric telescopic rod is fixedly connected to the inner top of the support seat; the third mounting frame is installed on the rear side of the support seat; the first suction cup is installed on the third mounting frame , the first suction cup and the controller are electrically connected; the guide rail assembly is installed at the lower front side of the second mounting plate; the moving seat is arranged in front of the limit end of the guide rail assembly; the third electric telescopic rod is installed above the front side of the second mounting plate in the up and down directions, the telescopic end of the third electric telescopic rod is connected to the top of the moving seat, and the third electric telescopic rod is electrically connected to the controller; the second suction cup is rotatably connected to the bottom end of the second mounting plate through the pin shaft seat, and the second suction cup is electrically connected to the controller; one end of the connecting rod is rotatably connected to the front top of the second suction cup through the pin shaft seat, and the other end of the connecting rod is rotatably connected to the inner bottom end of the moving seat through the pin shaft.

[0010] Preferably, the transport mechanism comprises: a first rotating module, a high rotating seat, a rotating frame, a low rotating seat, a fourth electric telescopic rod, a fifth electric telescopic rod, a mounting frame, a second rotating module and a third suction cup; the first rotating module is installed on the front side of the moving end of the three-axis moving module along the front-to-back direction, and the first rotating module is electrically connected to the controller; the number of the high rotating seats is two, and the two high rotating seats are respectively installed on the front and rear ends of the left and right sides of the rotating end of the first rotating module; the number of the rotating frames is two, and the two rotating frames are respectively rotatably connected to the inner sides of the two high rotating seats through pins; the number of the low rotating seats is two, and the two low rotating seats are respectively installed on the front and rear sides of the rotating end of the first rotating module and are located on the right and left sides of the two high rotating seats; the number of the fourth electric telescopic rods is two, and the two fourth electric telescopic rods are respectively rotatably connected to the inner sides of the two low rotating seats through pins, and the telescopic ends of the two fourth electric telescopic rods are respectively rotatably connected to one end of the two rotating frames through pins, and the fourth electric telescopic rod and the controller The device is electrically connected; the number of the fifth electric telescopic rod is two, and the two fifth electric telescopic rods are installed on the inner side of the other end of the two rotating frames, and the fifth electric telescopic rod is electrically connected to the controller; the number of the mounting frames is two, and the two mounting frames are respectively installed under the two rotating frames, and the tops of the two mounting frames are respectively connected to the telescopic ends of the two fifth electric telescopic rods; the number of the second rotating modules is two groups, and the number of the second rotating modules in each group is two. The two groups of the second rotating modules are respectively installed at the front and rear ends of the inner sides of the two mounting frames, and the second rotating modules are electrically connected to the controller; the number of the mobile modules is two groups, and the number of the mobile modules in each group is two. The two groups of mobile modules are respectively installed at the bottom of the rotating ends of the two second rotating modules, and the mobile modules are electrically connected to the controller; the number of the third suction cups is two groups, and the number of the third suction cups in each group is two. The two groups of the third suction cups are respectively installed at the bottom of the mobile ends of the two mobile modules, and the third suction cups are electrically connected to the controller.

[0011] Preferably, the three-axis moving module drives the transport mechanism to move in the three-axis directions to above the workpiece, the third suction cup absorbs and grabs the surface of the workpiece, the X-axis moving module drives the truss to move along the front and rear X-axis directions, the Y-axis moving module drives the Z-axis moving module to move along the left and right Y-axis directions, and the Z-axis moving module drives the second mounting plate to move along the upper and lower Z-axis directions.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. By judging according to the shape and width of the wire frame workpiece, the third suction cups under the left and right mounting frames are used for adsorption, or the third suction cup under the single-sided mounting frame is used for adsorption. If the third suction cup under the single-sided mounting frame is used for adsorption, the first rotating module drives the high rotating seats on both sides to drive the rotating frames on the corresponding positions to rotate, so as to drive the original left mounting frame to rotate to the front position and the original right mounting frame to the rear position under the cooperation of the rotating frame. At the same time as the original right mounting frame rotates, the fifth electric telescopic rod drives the mounting frame to move inward, and the fourth electric telescopic rod is extended to drive the rotating frame to rotate upward on the inner side of the high rotating seat, so that the rotating frame drives the mounting frame to flip upward from a horizontal state to a vertical state, and the second rotating module drives the moving module to rotate to a specified direction, and the moving module adjusts the direction of the position of the third suction cup below.

[0013] 2. The second mounting plate is moved to the front position of the transport mechanism through the cooperation of the X-axis moving module, the Y-axis moving module and the Z-axis moving module. The third electric telescopic rod drives the moving seat to drive one end of the connecting rod to move downward, and drives the second suction cup to flip upward to a horizontal state with the cooperation of the connecting rod. The second suction cup adsorbs the bottom of the workpiece under the third suction cup. If there is electrostatic adsorption between the workpieces, the second suction cup adsorbs the workpiece below to its top position to separate it. The second electric telescopic rod extends to drive the support seat to drive the third mounting frame and the first suction cup to move downward, the first suction cup stops adsorbing the workpiece, and the first suction cup adsorbs the workpiece under itself for separation.

[0014] 3. The blocking modules on the left and right sides intermittently extend and shorten themselves, so that the material trays stored in the storage rack fall into the top of the left and right lifting racks below in turn. The linear motor drives the connecting plate to drive the lifting rack to move the material tray to the same horizontal height position on the rear side of the track rack. The horizontal moving module drives the pushing seat to move forward, and the pushing seat moves the material tray forward along the inner side of the track rack. The three-axis moving module drives the conveying mechanism to move the adsorbed workpiece to the inside of the material tray on the inner side of the track rack, or places the separated workpiece inside the inside of the material tray on the inner side of the track rack through the separation mechanism. The horizontal moving module drives the pushing seat to move the material tray with the workpiece to the inside of the storage rack, and the lifting module cooperates to lift the material tray inside the storage rack to the specified height position. The ground rail, the conveying robot arm and the clamping module cooperate to move the material tray to the inside of the second mounting frame The trailer is stacked from bottom to top.

[0015] In summary, the present invention can achieve accurate non-contact separation of adhered lead frame workpieces during the lead frame processing and stacking process, reduce physical damage to the workpieces during the separation process, reduce the impact on subsequent processes, and adapt to workpieces of different sizes and shapes according to actual needs. It has strong versatility and flexibility, ensuring the consistency and reliability of each separation operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the structure of the present invention.

[0017] Figure 2 for Figure 1 Exploded diagram of the stacking mechanism.

[0018] Figure 3 for Figure 2 Enlarged view of point A.

[0019] Figure 4 for Figure 2 Enlarged view of point B.

[0020] Figure 5 for Figure 1 Exploded diagram of the separation mechanism.

[0021] Figure 6 for Figure 5 Enlarged view of point C.

[0022] Figure 7 for Figure 1 Exploded diagram of the handling mechanism.

[0023] In the figure: 1, box shell, 2, controller, 3, stacking mechanism, 31, stacking mechanism shell, 32, storage rack, 33, lifting module, 34, storage rack, 35, track rack, 36, horizontal moving module, 37, push seat, 38, base, 39, blocking module, 310, slot seat, 311, lifting rack, 312, first mounting frame, 313, linear motor, 314, connecting plate, 315, second mounting frame, 316, roller guide frame, 317, grating sensor, 318, first mounting plate, 319, roller push frame, 320, first electric telescopic rod, 4, separation mechanism, 41, X-axis moving module, 42, truss, 43, Y-axis moving module, 44, Z-axis moving moving module, 45, second mounting plate, 46, guide rail frame, 47, second electric telescopic rod, 48, support seat, 49, third mounting frame, 410, first suction cup, 411, guide rail assembly, 412, moving seat, 413, third electric telescopic rod, 414, second suction cup, 415, connecting rod, 5, three-axis moving module, 6, handling mechanism, 61, first rotating module, 62, high rotating seat, 63, rotating frame, 64, low rotating seat, 65, fourth electric telescopic rod, 66, fifth electric telescopic rod, 67, mounting frame, 68, second rotating module, 69, moving module, 610, third suction cup, 7, workpiece conveyor belt, 8, ground rail, 9, handling robot arm, 10, clamping module. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] See also Figure 1-Figure 7 The present invention provides a technical solution: an automatic stacking device for lead frame processing, comprising: a box shell 1, a controller 2, a stacking mechanism 3, a separation mechanism 4, a three-axis moving module 5, a handling mechanism 6, a workpiece conveyor belt 7, a ground rail 8, a handling robot arm 9 and a clamping module 10; the controller 2 is arranged at the right rear of the top end of the box shell 1, and the controller 2 is controlled by manual operation of a staff member or by an internal prefabricated logic program; the stacking mechanism 3 is arranged at the right front of the inner side of the box shell 1; the separation mechanism 4 is installed in the middle of the front side of the top end of the box shell 1; the three-axis moving module 5 is installed at the outer rear of the top end of the box shell 1, the three-axis moving module 5 and the controller 2 are electrically connected, the three-axis moving module 5 is controlled by the controller 2, and the three-axis moving module 5 can drive the handling mechanism 6 to move in the three-axis direction; the handling mechanism 6 is installed at the moving end of the three-axis moving module 5; the workpiece conveyor belt 7 is arranged on the box shell along the front and rear directions. 1, the workpiece conveyor belt 7 is electrically connected to the controller 2, the workpiece conveyor belt 7 is controlled by the controller 2, the workpiece conveyor belt 7 can be connected to the external assembly line conveying equipment, and the workpiece conveyor belt 7 can convey the workpiece on its surface from back to front; the ground rail 8 is arranged at the bottom of the inner left front of the box shell 1 along the front-to-back direction, the ground rail 8 is electrically connected to the controller 2, the ground rail 8 is controlled by the controller 2, and the ground rail 8 can move the handling robot arm 9 horizontally forward and backward; the handling robot arm 9 is installed on the top of the moving end of the ground rail 8, the handling robot arm 9 is electrically connected to the controller 2, the handling robot arm 9 is controlled by the controller 2, and the handling robot arm 9 can drive the clamping module 10 to move in multi-axis directions; the clamping module 10 is arranged at the moving end of the handling robot arm 9, the clamping module 10 is electrically connected to the controller 2, the clamping module 10 is controlled by the controller 2, and the clamping module 10 can clamp the material tray.

[0026] Furthermore, if Figure 2 and Figure 3As shown, the stacking mechanism 3 includes: a stacking mechanism shell 31, a storage rack 32, a lifting module 33, a storage rack 34, a track rack 35, a horizontal movement module 36, a pushing seat 37, a base 38, a blocking module 39, a slot seat 310, a lifting frame 311, a first mounting frame 312, a linear motor 313, a connecting plate 314, a second mounting frame 315, a roller guide frame 316, a grating sensor 317, a first mounting plate 318, a roller pushing frame 319 and a first electric telescopic rod 320; the stacking mechanism shell 31 is arranged on the inner right front side of the box shell 1 along the front-to-back direction; the storage rack 32 is fixedly installed on the top front side of the stacking mechanism shell 31; the number of the lifting modules 33 is two, and the two lifting modules 33 are respectively installed on the storage rack 32. At the bottom left and right sides of the inner side of the rack 32, the lifting module 33 is electrically connected to the controller 2, the lifting module 33 is controlled by the controller 2, and the lifting module 33 can lift the material pallet above itself; the storage rack 34 is fixedly installed on the top rear side of the stacking mechanism shell 31; the track frame 35 is arranged at the top of the stacking mechanism shell 31 along the front-to-back direction and is located on the inner side of the storage rack 32 and the storage rack 34; the horizontal moving module 36 is arranged at the top of the stacking mechanism shell 31 along the front-to-back direction and is located at the inner bottom of the storage rack 32, the storage rack 34 and the track frame 35, the horizontal moving module 36 is electrically connected to the controller 2, the horizontal moving module 36 is controlled by the controller 2, and the horizontal moving module 36 can drive the pushing seat 37 to move horizontally in the front-to-back direction. ; The pushing seat 37 is installed on the top of the moving end of the horizontal moving module 36; the number of the base 38 is two, and the two bases 38 are respectively installed on the top of the stacking mechanism shell 31 and located on the left and right sides of the storage rack 34; the number of the blocking modules 39 is two, and the two blocking modules 39 are respectively installed on the top of the left and right bases 38, the blocking module 39 is electrically connected to the controller 2, and the blocking module 39 is controlled by the controller 2. The blocking module 39 can intermittently extend and shorten itself, so that the material tray stored in the storage rack 34 falls into the top of the left and right lifting frames 311 below in sequence; the number of the slot seats 310 is two groups, and the number of each group of slot seats 310 is two, and the two groups of slot seats 310 are respectively embedded in the inner cavity top of the stacking mechanism shell 31 The first mounting frame 312 is installed at the rear side of the bottom end of the inner cavity of the stacking mechanism housing 31; the linear motor 313 is arranged at the inner top of the first mounting frame 312, and the top end of the linear motor 313 extends out of the upper surface of the first mounting frame 312, the linear motor 313 is electrically connected to the controller 2, the linear motor 313 is controlled by the controller 2, and the linear motor 313 can drive the connecting plate 314 to move up and down; the connecting plate 314 is arranged at the bottom end of the left and right two lifting frames 311 along the left and right directions, and the telescopic end of the linear motor 313 is connected to the bottom of the connecting plate 314;The second mounting frame 315 is mounted on the front bottom of the stacking mechanism housing 31; there are two roller guide frames 316, which are respectively mounted on the left and right ends of the inner side of the second mounting frame 315 along the front-to-back direction; a grating sensor 317 is mounted on the front side of the top end of the second mounting frame 315, and the grating sensor 317 is electrically connected to the controller 2. After the grating sensor 317 detects that the height of the designated number of stacking inside the cart has been reached, it sends a signal to the controller 2; a first mounting plate 318 is mounted on the middle of the rear side of the top end of the second mounting frame 315; a roller pushing frame 319 is rotatably connected to the first mounting frame 315 through a pin seat. The front top of a mounting plate 318; one end of the first electric telescopic rod 320 is rotatably connected to the rear side of the top end of the first mounting plate 318 through a pin seat, and the other end of the first electric telescopic rod 320 is rotatably connected to the axis of the roller push frame 319 through a pin seat. The first electric telescopic rod 320 is electrically connected to the controller 2, and the first electric telescopic rod 320 is controlled by the controller 2. The first electric telescopic rod 320 can drive the roller push frame 319 to rotate by extending and shortening itself. The first electric telescopic rod 320 can rotate with the top pin seat of the first mounting plate 318 as the axis during its own extension and shortening process. ;

[0027] Furthermore, if Figure 4 , Figure 5 and Figure 6As shown, the separation mechanism 4 includes: an X-axis moving module 41, a truss 42, a Y-axis moving module 43, a Z-axis moving module 44, a second mounting plate 45, a guide rail frame 46, a second electric telescopic rod 47, a support seat 48, a third mounting frame 49, a first suction cup 410, a guide rail assembly 411, a moving seat 412, a third electric telescopic rod 413, a second suction cup 414 and a connecting rod 415; the X-axis moving module 41 is arranged on the front inner side of the top end of the box shell 1 along the front-back direction, the X-axis moving module 41 is electrically connected to the controller 2, the X-axis moving module 41 is controlled by the controller 2, and the X-axis moving module 41 can drive the truss 42 to move along the front-back X-axis direction; the truss 42 is fixedly mounted on the moving portion of the X-axis moving module 41 along the left-right direction. The Y-axis moving module 43 is arranged at the rear side of the truss 42 along the left-right direction, the Y-axis moving module 43 is electrically connected to the controller 2, the Y-axis moving module 43 is controlled by the controller 2, and the Y-axis moving module 43 can drive the Z-axis moving module 44 to move along the left-right Y-axis direction; the Z-axis moving module 44 is fixedly installed at the rear side of the moving end of the Y-axis moving module 43 along the up-down direction, the Z-axis moving module 44 is electrically connected to the controller 2, the Z-axis moving module 44 is controlled by the controller 2, and the Z-axis moving module 44 can drive the second mounting plate 45 to move along the up-down Z-axis direction; the second mounting plate 45 is arranged at the rear side of the moving end of the Z-axis moving module 44 along the up-down direction; the guide rail frame 46 is arranged at the second mounting plate 45 along the up-down direction The second electric telescopic rod 47 is installed on the top of the guide rail frame 46, and the telescopic end of the second electric telescopic rod 47 extends into the inner side of the guide rail frame 46. The second electric telescopic rod 47 is electrically connected to the controller 2. The second electric telescopic rod 47 is controlled by the controller 2. The second electric telescopic rod 47 drives the support seat 48 to move up and down by its own extension and shortening; the support seat 48 is sleeved on the outside of the guide rail frame 46, and the telescopic end of the second electric telescopic rod 47 is fixedly connected to the inner top of the support seat 48, and the support seat 48 can move up and down on the outside of the guide rail frame 46; the third mounting frame 49 is installed on the rear side of the support seat 48; the first suction cup 410 is installed on the inner bottom of the third mounting frame 49, and the first suction cup 410 is electrically connected to the controller 2. A suction cup 410 is controlled by the controller 2 to adsorb the workpiece; the guide rail assembly 411 is installed at the lower front side of the second mounting plate 45, the guide rail in the guide rail assembly 411 is installed at the front side of the second mounting plate 45 along the up-down direction, and the outer sleeve of the guide rail is connected with a limit slider as a limit end; the moving seat 412 is arranged at the front side of the limit end of the guide rail assembly 411; the third electric telescopic rod 413 is installed at the upper front side of the second mounting plate 45 along the up-down direction, the telescopic end of the third electric telescopic rod 413 is connected to the top of the moving seat 412, the third electric telescopic rod 413 is electrically connected to the controller 2, the third electric telescopic rod 413 is controlled by the controller 2, and the third electric telescopic rod 413 drives the moving seat 412 to move in the up-down direction by its own extension and contraction;The second suction cup 414 is rotatably connected to the bottom end of the second mounting plate 45 through a pin shaft seat, the second suction cup 414 is electrically connected to the controller 2, and the second suction cup 414 is controlled by the controller 2 to adsorb the workpiece; one end of the connecting rod 415 is rotatably connected to the front top of the second suction cup 414 through a pin shaft seat, and the other end of the connecting rod 415 is rotatably connected to the inner bottom end of the moving seat 412 through a pin shaft. ;

[0028] As a preferred solution, further, Figure 7As shown, the transport mechanism 6 includes: a first rotating module 61, a high rotating seat 62, a rotating frame 63, a low rotating seat 64, a fourth electric telescopic rod 65, a fifth electric telescopic rod 66, a mounting frame 67, a second rotating module 68, a moving module 69 and a third suction cup 610; the first rotating module 61 is installed on the front side of the moving end of the three-axis moving module 5 along the front-to-back direction, and the first rotating module 61 is electrically connected to the controller 2; the number of high rotating seats 62 is two, and the two high rotating seats 62 are respectively installed on the front and rear ends of the left and right sides of the rotating end of the first rotating module 61; the number of rotating frames 63 is two, and the two rotating frames 63 are respectively rotatably connected to the inner sides of the two high rotating seats 62 through pin shafts; the number of low rotating seats 64 is two, and the two low rotating seats 6 4 are respectively installed on the front and rear sides of the rotating end of the first rotating module 61 and are located on the right and left sides of the two high rotating seats 62; the number of the fourth electric telescopic rod 65 is two, and the two fourth electric telescopic rods 65 are respectively rotatably connected to the inner sides of the two low rotating seats 64 through pin shafts, and the telescopic ends of the two fourth electric telescopic rods 65 are respectively rotatably connected to one end of the two rotating frames 63 through pin shafts, and the fourth electric telescopic rod 65 is electrically connected to the controller 2, and the fourth electric telescopic rod 65 is controlled by the controller 2. The fourth electric telescopic rod 65 drives the rotating frame 63 to rotate by extending and shortening itself. During the process of extending and shortening itself, the fourth electric telescopic rod 65 can rotate around the rotation connection with the top pin shaft seat of the low rotating seat 64; the number of the fifth electric telescopic rod 66 is Two, two fifth electric telescopic rods 66 are installed on the inner side of the other end of the two rotating frames 63, the fifth electric telescopic rod 66 is electrically connected to the controller 2, the fifth electric telescopic rod 66 is controlled by the controller 2, and the fifth electric telescopic rod 66 drives the mounting frame 67 to move by its own extension and shortening; the number of mounting frames 67 is two, the two mounting frames 67 are respectively installed under the two rotating frames 63, and the tops of the two mounting frames 67 are respectively connected to the telescopic ends of the two fifth electric telescopic rods 66; the number of second rotating modules 68 is two groups, the number of each group of second rotating modules 68 is two, and the two groups of second rotating modules 68 are respectively installed on the front and rear ends of the inner sides of the two mounting frames 67, and the second rotating modules 68 are electrically connected to the controller 2, The second rotating module 68 is controlled by the controller 2, and the second rotating module 68 can drive the moving module 69 to rotate; the number of the moving modules 69 is two groups, and the number of each group of moving modules 69 is two. The two groups of moving modules 69 are respectively installed at the bottom of the rotating ends of the two second rotating modules 68, the moving modules 69 are electrically connected to the controller 2, and the moving modules 69 are controlled by the controller 2, and the moving module 69 can drive the third suction cup 610 to move; the number of the third suction cup 610 is two groups, and the number of each group of the third suction cup 610 is two. The two groups of third suction cups 610 are respectively installed at the bottom of the moving ends of the two moving modules 69, the third suction cup 610 is electrically connected to the controller 2, and the third suction cup 610 is controlled by the controller 2 to adsorb the workpiece.

[0029] Here’s how it works: Step 1: The staff pre-connects the workpiece conveyor belt 7 with the external assembly line conveying equipment, and stacks the lead frame tray inside the storage rack 34, and moves the external workpiece cart to the inside of the second mounting rack 315 under the guidance of the roller guide racks 316 on both sides. The preset program inside the controller 2 controls the first rotating module 61 in the conveying mechanism 6 and the fourth electric telescopic rod 65 on both sides to start according to the shape of the lead frame workpiece. The staff judges whether to use the third suction cup 610 under the left and right mounting frames 67 for adsorption according to the width of the lead frame workpiece shape, or use the third suction cup 610 under the single-sided mounting frame 67 for adsorption. If the third suction cup 610 under the single-sided mounting frame 67 is used for adsorption, the first rotating module 61 drives the high rotating seats 62 on both sides to drive the rotating rack 63 at the corresponding position to rotate, so as to drive the rotating rack 63 with the cooperation of the rotating rack 63. The original left mounting frame 67 rotates to the front position, the original right mounting frame 67 rotates to the rear position, and while the original right mounting frame 67 rotates, the preset program inside the controller 2 controls the fifth electric telescopic rod 66 and the fourth electric telescopic rod 65 at the upper position of the mounting frame 67 on this side to start, the fifth electric telescopic rod 66 shortens and drives the mounting frame 67 to move inward, the fourth electric telescopic rod 65 extends and drives the rotating frame 63 to rotate upward on the inner side of the high rotating seat 62, and the rotating frame 63 drives the mounting frame 67 to flip upward from a horizontal state to a vertical state, the preset program inside the controller 2 controls the second rotating module 68 and the moving module 69 at the inner position of the front mounting frame 67 to start, the second rotating module 68 drives the moving module 69 to rotate clockwise or counterclockwise to a specified direction, and the moving module 69 adjusts the position direction of the third suction cup 610 below; Step 2: When in use, the preset program inside the controller 2 controls the workpiece conveyor belt 7, the three-axis moving module 5, the third suction cup 610, the X-axis moving module 41, the Y-axis moving module 43, the Z-axis moving module 44, the third electric telescopic rod 413, the second suction cup 414, the second electric telescopic rod 47 and the first suction cup 410 to start, the workpiece conveyor belt 7 conveys the external lead frame workpiece to the inner side of the box shell 1, the three-axis moving module 5 drives the conveying mechanism 6 to move in the three-axis direction to the top of the workpiece, the third suction cup 610 absorbs and grasps the surface of the workpiece, the X-axis moving module 41 drives the truss 42 to move along the front and rear X-axis direction, the Y-axis moving module 43 drives the Z-axis moving module 44 to move along the left and right Y-axis direction, and the Z-axis moving module 44 drives the second mounting plate 45 to move along the upper The second mounting plate 45 moves in the lower Z-axis direction, thereby moving the second mounting plate 45 to the front side of the transport mechanism 6. The third electric telescopic rod 413 extends to drive the moving seat 412. The moving seat 412 drives one end of the connecting rod 415 to move downward under the limiting action of the guide rail assembly 411, and drives the second suction cup 414 to flip upward to a horizontal state with the cooperation of the connecting rod 415. The second suction cup 414 adsorbs the bottom of the adsorbed workpiece under the third suction cup 610. If there is electrostatic adsorption between the workpieces, the second suction cup 414 adsorbs the workpiece below to its own top position to make it detach. The second electric telescopic rod 47 extends to drive the support seat 48 to drive the third mounting frame 49 and the first suction cup 410 to move downward. The first suction cup 410 stops adsorbing the workpiece, and the first suction cup 410 adsorbs the workpiece under itself. Step 3: The preset program inside the controller 2 controls the blocking module 39, the linear motor 313, the horizontal movement module 36, the lifting module 33, the ground rail 8, the handling robot arm 9, the clamping module 10, the grating sensor 317 and the first electric telescopic rod 320 to start. The left and right blocking modules 39 intermittently extend and shorten themselves, so that the material tray stored in the storage rack 34 falls into the top of the left and right lifting racks 311 below in turn. The linear motor 313 drives the connecting plate 314, so that the connecting plate 314 drives the lifting rack 311 to move downward inside the slot seat 310, and then moves the material tray to the same horizontal height position on the rear side of the track frame 35 under the support of the lifting racks 311 on both sides. The horizontal movement module 36 drives the pushing seat 37 to move forward, and the pushing seat 37 moves the material tray along the inner side of the track frame 35 to the front side. The three-axis moving module 5 drives the handling mechanism 6 to move the adsorbed workpiece to the inside of the material tray inside the track frame 35, or through the separation mechanism 4 to move the inner The separated workpieces are placed inside the material tray inside the track frame 35. After completion, the horizontal moving module 36 drives the pushing seat 37 to move the material tray with the workpieces to the inside of the storage rack 32. The lifting module 33 extends and cooperates to lift the material tray inside the storage rack 32 to a specified height position. The ground rail 8 drives the transport robot arm 9 to move to the left side of the storage rack 32. The transport robot arm 9 drives the clamping module 10 to move to the outside of the storage rack 32. After the clamping module 10 clamps the material tray inside the storage rack 32, the ground rail 8, the transport robot arm 9 and the clamping module 10 cooperate to move the material tray to the inside of the second mounting frame 315. The trailer is stacked from bottom to top. After the grating sensor 317 detects that the specified number of stacking heights has been reached inside the cart, it sends a signal to the controller 2. The first electric telescopic rod 320 shortens and drives the roller pushing frame 319 to rotate forward, so that the roller pushing frame 319 pushes the cart forward along the roller guide frame 316 out of the second mounting frame 315.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic stacking device for lead frame processing, characterized in that: include: Box housing (1), controller (2), stacking mechanism (3), separation mechanism (4), three-axis moving module (5), transport mechanism (6), workpiece conveyor belt (7), ground rail (8), transport robot arm (9) and clamping module (10); The controller (2) is arranged at the right rear of the top of the box shell (1), the stacking mechanism (3) is arranged at the right front of the inner side of the box shell (1), the separation mechanism (4) is installed at the middle of the front side of the top of the box shell (1), the three-axis moving module (5) is installed at the outer rear of the top of the box shell (1), the three-axis moving module (5) and the controller (2) are electrically connected, the transport mechanism (6) is installed at the moving end of the three-axis moving module (5), and the workpiece conveyor belt (7) is arranged on the box shell along the front and rear directions. (1), the workpiece conveyor belt (7) is electrically connected to the controller (2), a ground rail (8) is arranged at the bottom of the inner left front of the box shell (1) along the front-back direction, the ground rail (8) is electrically connected to the controller (2), a transport robot arm (9) is installed on the top of the moving end of the ground rail (8), the transport robot arm (9) is electrically connected to the controller (2), and a clamping module (10) is arranged at the moving end of the transport robot arm (9), the clamping module (10) is electrically connected to the controller (2).

2. The automatic stacking device for lead frame processing according to claim 1, characterized in that: The stacking mechanism (3) comprises: A stacking mechanism housing (31) is arranged at the right front of the inner side of the box housing (1) along the front-to-back direction; A storage rack (32) fixedly mounted on the front side of the top end of the stacking mechanism housing (31); Lifting modules (33), the number of the lifting modules (33) being two, the two lifting modules (33) being respectively mounted on the bottom ends of the left and right sides of the interior of the storage rack (32), and the lifting modules (33) being electrically connected to the controller (2); A storage rack (34) fixedly mounted on the rear side of the top end of the stacking mechanism housing (31); The track frame (35) is arranged on the top of the stacking mechanism housing (31) along the front-to-back direction and is located inside the storage frame (32) and the storage frame (34).

3. The automatic stacking device for lead frame processing according to claim 2, characterized in that: The stacking mechanism (3) further comprises: A horizontal moving module (36) is arranged at the top of the stacking mechanism housing (31) along the front-to-back direction and is located at the inner bottom of the storage rack (32), the storage rack (34) and the track rack (35); the horizontal moving module (36) is electrically connected to the controller (2); A pushing seat (37) is mounted on the top of the moving end of the horizontal moving module (36); A base (38), wherein the number of the bases (38) is two, and the two bases (38) are respectively mounted on the top of the stacking mechanism housing (31) and located on the left and right sides of the storage rack (34); A blocking module (39), wherein the number of the blocking modules (39) is two, and the two blocking modules (39) are respectively mounted on the top of the left and right bases (38), and the blocking modules (39) are electrically connected to the controller (2); Slot seats (310), the number of the slot seats (310) being two groups, the number of the slot seats (310) in each group being two, the two groups of slot seats (310) being respectively embedded in the top of the inner cavity of the stacking mechanism housing (31) and located at the left and right sides and the front and rear ends below the storage rack (34); A lifting frame (311), wherein the number of the lifting frames (311) is two, and the two lifting frames (311) are respectively plugged into the inner cavities of the two groups of slot seats (310); A first mounting frame (312) mounted on the rear side of the bottom end of the inner cavity of the stacking mechanism housing (31); A linear motor (313) is arranged on the inner top of the first mounting frame (312), the top end of the linear motor (313) extends out of the upper surface of the first mounting frame (312), and the linear motor (313) is electrically connected to the controller (2); A connecting plate (314) is arranged at the bottom ends of the left and right lifting frames (311) along the left-right direction, and the telescopic end of the linear motor (313) is connected to the bottom of the connecting plate (314).

4. The automatic stacking device for lead frame processing according to claim 3, characterized in that: The stacking mechanism (3) further comprises: A second mounting frame (315) mounted on the front bottom of the stacking mechanism housing (31); Roller guide frames (316), the number of the roller guide frames (316) being two, and the two roller guide frames (316) being respectively mounted on the left and right ends of the inner side of the second mounting frame (315) along the front-to-back direction; A grating sensor (317) is mounted on the front side of the top end of the second mounting frame (315), and the grating sensor (317) is electrically connected to the controller (2); A first mounting plate (318) mounted on the middle portion of the rear side of the top end of the second mounting frame (315); A roller pushing frame (319) is rotatably connected to the front top of the first mounting plate (318) via a pin seat; One end of the first electric telescopic rod (320) is rotatably connected to the rear side of the top end of the first mounting plate (318) via a pin shaft seat, the other end of the first electric telescopic rod (320) is rotatably connected to the axis of the roller pushing frame (319) via a pin shaft seat, and the first electric telescopic rod (320) is electrically connected to the controller (2).

5. The automatic stacking device for lead frame processing according to claim 4, characterized in that: The separation mechanism (4) comprises: An X-axis moving module (41) is arranged on the inner side of the front of the top end of the box shell (1) along the front-back direction, and the X-axis moving module (41) is electrically connected to the controller (2); A truss (42) is fixedly mounted on the top of the moving end of the X-axis moving module (41) in the left-right direction; A Y-axis moving module (43) is arranged on the rear side of the truss (42) along the left-right direction, and the Y-axis moving module (43) is electrically connected to the controller (2); A Z-axis moving module (44) is fixedly mounted on the rear side of the moving end of the Y-axis moving module (43) in the up-down direction, and the Z-axis moving module (44) is electrically connected to the controller (2); The second mounting plate (45) is arranged at the rear side of the moving end of the Z-axis moving module (44) along the up-down direction.

6. The automatic stacking device for lead frame processing according to claim 5, characterized in that: The separation mechanism (4) further comprises: A guide rail frame (46) is arranged on the top of the rear side of the second mounting plate (45) along the up-down direction; A second electric telescopic rod (47) is mounted on the top of the guide rail frame (46), the telescopic end of the second electric telescopic rod (47) extends into the inner side of the guide rail frame (46), and the second electric telescopic rod (47) is electrically connected to the controller (2); A support seat (48) is sleeved on the outside of the guide rail frame (46), and the telescopic end of the second electric telescopic rod (47) is fixedly connected to the inner top of the support seat (48); A third mounting frame (49) mounted on the rear side of the support seat (48); A first suction cup (410) is mounted on the inner bottom of the third mounting frame (49), the first suction cup (410) being electrically connected to the controller (2); A guide rail assembly (411) mounted below the front side of the second mounting plate (45); A movable seat (412) is arranged at the front side of the limiting end of the guide rail assembly (411); A third electric telescopic rod (413) is installed above the front side of the second mounting plate (45) in the up-down direction, the telescopic end of the third electric telescopic rod (413) is connected to the top of the movable seat (412), and the third electric telescopic rod (413) is electrically connected to the controller (2); A second suction cup (414) is rotatably connected to the bottom end of the second mounting plate (45) via a pin seat, and the second suction cup (414) is electrically connected to the controller (2); One end of the connecting rod (415) is rotatably connected to the front top of the second suction cup (414) via a pin shaft seat, and the other end of the connecting rod (415) is rotatably connected to the inner bottom end of the movable seat (412) via a pin shaft.

7. The automatic stacking device for lead frame processing according to claim 6, characterized in that: The transport mechanism (6) comprises: A first rotating module (61) is installed on the front side of the moving end of the three-axis moving module (5) along the front-back direction, and the first rotating module (61) is electrically connected to the controller (2); A high rotating seat (62), the number of the high rotating seats (62) being two, and the two high rotating seats (62) being respectively mounted on the left and right sides and the front and rear ends of the rotating end of the first rotating module (61); A rotating frame (63), wherein the number of the rotating frames (63) is two, and the two rotating frames (63) are rotatably connected to the inner sides of the two high rotating seats (62) via pins respectively; A low rotating seat (64), the number of the low rotating seats (64) being two, the two low rotating seats (64) being respectively mounted on the front and rear sides of the rotating end of the first rotating module (61) and being located on the right and left sides of the two high rotating seats (62); a fourth electric telescopic rod (65), the number of the fourth electric telescopic rods (65) being two, the two fourth electric telescopic rods (65) being rotatably connected to the inner sides of the two low rotating seats (64) via pins, the telescopic ends of the two fourth electric telescopic rods (65) being rotatably connected to one end of the two rotating frames (63) via pins, and the fourth electric telescopic rods (65) being electrically connected to the controller (2); A fifth electric telescopic rod (66), the number of the fifth electric telescopic rod (66) being two, the two fifth electric telescopic rods (66) being mounted on the inner side of the other ends of the two rotating frames (63), the fifth electric telescopic rod (66) being electrically connected to the controller (2); A mounting frame (67), wherein the number of the mounting frames (67) is two, and the two mounting frames (67) are respectively mounted below the two rotating frames (63), and the top ends of the two mounting frames (67) are respectively connected to the telescopic ends of the two fifth electric telescopic rods (66); second rotating modules (68), the number of the second rotating modules (68) being two groups, the number of the second rotating modules (68) in each group being two, the two groups of the second rotating modules (68) being respectively mounted on the front and rear ends of the inner sides of the two mounting frames (67), the second rotating modules (68) being electrically connected to the controller (2); Mobile modules (69), the number of the mobile modules (69) being two groups, the number of the mobile modules (69) in each group being two, the two groups of mobile modules (69) being respectively mounted at the bottom of the rotating ends of the two second rotating modules (68), the mobile modules (69) being electrically connected to the controller (2); The third suction cup (610) is provided in two groups, each group of the third suction cups (610) is provided with two third suction cups, the two groups of the third suction cups (610) are respectively installed at the bottom of the mobile ends of the two mobile modules (69), and the third suction cups (610) are electrically connected to the controller (2).

8. The automatic stacking device for lead frame processing according to claim 7, characterized in that: The three-axis moving module (5) drives the transport mechanism (6) to move in the three-axis directions to above the workpiece, the third suction cup (610) absorbs and grasps the surface of the workpiece, the X-axis moving module (41) drives the truss (42) to move along the front and rear X-axis directions, the Y-axis moving module (43) drives the Z-axis moving module (44) to move along the left and right Y-axis directions, and the Z-axis moving module (44) drives the second mounting plate (45) to move along the upper and lower Z-axis directions.

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