Automatic stacking device for lead frame processing

Abstract

The present application relates to the technical field of lead frame processing, and specifically discloses an automatic stacking device for lead frame processing, which comprises a box 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 at the right front side of the inner side of the box shell; the separating mechanism is installed at the top front side middle part of the box shell; the three-axis moving module is installed at the top outer side rear part of the box shell; and the carrying mechanism is installed at the moving end of the three-axis moving module. The present application can realize the accurate non-contact separation of the adhered lead frame workpiece during the stacking process of the lead frame, reduce the physical damage to the workpiece during the separation process, reduce the influence on the subsequent process, and adapt to workpieces of different sizes and shapes according to actual needs, so as to have strong universality and flexibility and ensure the consistency and reliability of each separation operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lead frame processing, in particular to an automatic stacking device for lead frame processing. BACKGROUND

[0002] Lead frame is a core component in semiconductor packaging process, which serves as a bridge between chip and external circuit. The frame is usually made of metal materials with good electrical conductivity and high mechanical strength, such as copper or iron-nickel alloy, and its structure is ingenious, including chip pads for fixing chips, slender leads responsible for electrical connection, bonding areas to ensure accurate bonding, and windows for injecting encapsulating material in the plastic packaging process. The design and manufacturing precision of lead frame have a decisive influence on the performance and reliability of packaging. With the continuous progress of semiconductor technology, the design of lead frame is also evolving to meet the needs of smaller size, higher performance and lower cost packaging. From traditional lead frame to planar lead frame, to leadless frame and wafer-level packaging, innovative technologies are driving the innovation of semiconductor packaging technology. However, the vacuum adsorption method used in the traditional technical scheme for lead frame stacking and handling is prone to accumulate static electricity, which leads to sticking problem during handling, that is, two or more lead frames are stuck together due to electrostatic attraction, affecting the stacking efficiency and the quality of subsequent product processing. SUMMARY

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

[0004] To achieve the above purpose, the present application provides the following technical scheme: an automatic stacking device for lead frame processing, comprising: a box shell, a controller, a stacking mechanism, a separation mechanism, a three-axis movement module, a handling mechanism, a workpiece conveying belt, a ground rail and a handling robot arm; the controller is arranged at the top right rear of the box shell; the stacking mechanism is arranged at the right front inside of the box shell; the separation mechanism is installed at the top front middle of the box shell; the three-axis movement module is installed at the top outside rear of the box shell, and the three-axis movement module and the controller are electrically connected; the handling mechanism is installed at the moving end of the three-axis movement module; the workpiece conveying belt is arranged at the left rear inside of the box shell along the front-rear direction, and the workpiece conveying belt and the controller are electrically connected; the ground rail is arranged at the left front bottom of the box shell along the front-rear direction, and the ground rail and the controller are electrically connected; the handling robot arm is installed at the top of the moving end of the ground rail, and the handling robot arm and the controller are electrically connected; the clamping module is arranged at the moving end of the handling robot arm, and the clamping module and the controller are electrically connected.

[0005] Preferably, the stacking mechanism comprises a stacking mechanism shell, a storage rack, a jacking module, a storage rack and a track rack; the stacking mechanism shell is arranged on the inner side of the front right of the box shell in the front-back direction; the storage rack is fixedly installed on the top front side of the stacking mechanism shell; the number of the jacking module is two, and the two jacking modules are respectively installed on the inner side of the left and right sides of the storage rack; the jacking module is electrically connected with the controller; the storage rack is fixedly installed on the top rear side of the stacking mechanism shell; the track rack is arranged on the top of the stacking mechanism shell and located on the inner side of the storage rack and the storage rack in the front-back direction.

[0006] Preferably, the stacking mechanism further comprises a horizontal moving module, a pushing seat, a base, a blocking module, a slot seat, a jacking frame, a first mounting rack, a linear motor and a connecting plate; the horizontal moving module is arranged on the top of the stacking mechanism shell and located on the inner side of the bottom end of the storage rack, the storage rack and the track rack in the front-back direction, and the horizontal moving module is electrically connected with the controller; the pushing seat is installed on the moving end top of the horizontal moving module; the number of the base is two, and the two bases are respectively installed on the top of the stacking mechanism shell and located on the left and right sides of the storage rack; the number of the blocking module is two, and the two blocking modules are respectively installed on the top of the left and right bases, and the blocking module is electrically connected with the controller; the number of the slot seat is two groups, and the number of each group of the slot seat is two; two groups of the slot seat are respectively embedded in the inner cavity top of the stacking mechanism shell and located below the left and right sides of the storage rack; the number of the jacking frame is two, and the two jacking frames are respectively inserted into the inner cavities of the two groups of slot seats; the first mounting rack is installed on the inner cavity bottom rear side of the stacking mechanism shell; the linear motor is arranged on the inner side top of the first mounting rack, the top end of the linear motor extends out of the upper surface of the first mounting rack, and the linear motor is electrically connected with the controller; the connecting plate is arranged on the bottom end of the left and right jacking frames in the left-right direction, and the extension end of the linear motor is connected with the bottom of the connecting plate.

[0007] Preferably, the stacking mechanism further comprises a second mounting rack, a roller guide frame, a grating sensor, a first mounting plate, a roller pushing frame and a first electric telescopic rod; the second mounting rack is installed on the front bottom of the stacking mechanism shell; the number of the roller guide frame is two, and the two roller guide frames are respectively installed on the inner side left and right ends of the second mounting rack in the front-back direction; the grating sensor is installed on the top front side of the second mounting rack, and the grating sensor is electrically connected with the controller; the first mounting plate is installed on the top rear side of the second mounting rack; the roller pushing frame is rotationally connected to the front side top of the first mounting plate through the pin shaft seat; one end of the first electric telescopic rod is rotationally connected to the top rear side of the first mounting plate through the pin shaft seat, the other end of the first electric telescopic rod is rotationally connected with the shaft of the roller pushing frame through the pin shaft seat, and the first electric telescopic rod is electrically connected with the controller.

[0008] Preferably, the separating mechanism comprises: 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 at the inner side of the front end of the top of the box shell in the front-rear direction, and the X-axis moving module is electrically connected with 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 at the rear side of the truss in the left-right direction, and the Y-axis moving module is electrically connected with 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 with the controller; and the second mounting plate is arranged at the rear side of the top of the Z-axis moving module in the up-down direction.

[0009] Preferably, the separating mechanism further comprises: 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 at 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 with the controller; the support seat is sleeved on the outside of the guide rail frame, the telescopic end of the second electric telescopic rod is fixedly connected with the inner side 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 inner side bottom of the third mounting frame, and the first suction cup is electrically connected with the controller; the guide rail assembly is installed below the front side of the second mounting plate; the moving seat is arranged at the front side of the limiting 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-down direction, the telescopic end of the third electric telescopic rod is connected with the top of the moving seat, and the third electric telescopic rod is electrically connected with the controller; the second suction cup is rotatably connected with the bottom end of the second mounting plate through a pin shaft seat, and the second suction cup is electrically connected with the controller; one end of the connecting rod is rotatably connected with the front side top of the second suction cup through a pin shaft seat, and the other end of the connecting rod is rotatably connected with the inner side bottom end of the moving seat through a pin shaft.

[0010] Preferably, the carrying mechanism comprises: a first rotating module, a high rotating base, a rotating frame, a low rotating base, 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 in the front-rear direction, and the first rotating module is electrically connected with the controller; the number of the high rotating base is two, and the two high rotating bases are respectively installed on the left and right sides of the rotating end of the first rotating module; the number of the rotating frame is two, and the two rotating frames are respectively connected to the inner sides of the two high rotating bases through pin shafts; the number of the low rotating base is two, and the two low rotating bases 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 bases; the number of the fourth electric telescopic rod is two, and the two fourth electric telescopic rods are respectively connected to the inner sides of the two low rotating bases through pin shafts, and the telescopic ends of the two fourth electric telescopic rods are respectively connected to one end of the two rotating frames through pin shafts; the fourth electric telescopic rod is electrically connected with the controller; the number of the fifth electric telescopic rod is two, and the two fifth electric telescopic rods are installed on the inner sides of the other ends of the two rotating frames; the fifth electric telescopic rod is electrically connected with the controller; the number of the mounting frame is two, and the two mounting frames are respectively installed below the two rotating frames; the top ends 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 module is two groups, and the number of each group of the second rotating module is two; the two groups of second rotating modules are respectively installed on the inner sides of the two mounting frames; the second rotating module is electrically connected with the controller; the number of the moving module is two groups, and the number of each group of the moving module is two; the two groups of moving modules are respectively installed on the bottom of the rotating end of the two second rotating modules; the moving module is electrically connected with the controller; the number of the third suction cup is two groups, and the number of each group of the third suction cup is two; the two groups of third suction cups are respectively installed on the bottom of the moving end of the two moving modules; and the third suction cup is electrically connected with the controller.

[0011] Preferably, the carrying mechanism is driven by the three-axis moving module to move to the upper side of the workpiece in the three-axis direction, the third suction cup adsorbs and grabs the surface of the workpiece, the X-axis moving module drives the truss to move in the front-rear X-axis direction, the Y-axis moving module drives the Z-axis moving module to move in the left-right Y-axis direction, and the Z-axis moving module drives the second mounting plate to move in the up-down Z-axis direction.

[0012] Compared with the prior art, the present application has the following advantages:

[0013] 1、By according to the shape width of the wire frame workpiece, it is judged whether to use the third suction disc under the left and right side installation frame to perform suction, or to use the third suction disc under the single side installation frame to perform suction, if the third suction disc under the single side installation frame is used to perform suction, the first rotating module drives the two side high rotating seats to drive the rotating frame at the corresponding position to rotate, so as to drive the original left side installation frame to rotate to the front side position, and the original right side installation frame to rotate to the rear side position, and the original right side installation frame rotates, the fifth electric telescopic rod drives the installation frame to move inward, the fourth electric telescopic rod is extended to drive the rotating frame to rotate upward in the high rotating seat, so that the rotating frame drives the installation frame to overturn from the horizontal state to the vertical state, the second rotating module drives the moving module to rotate to the specified direction, and the moving module adjusts the direction of the position of the third suction disc below.

[0014] 2、By the cooperation of the X-axis moving module, the Y-axis moving module and the Z-axis moving module, the second installation plate is moved to the front side position of the carrying mechanism, 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 disc to overturn to the horizontal state under the cooperation of the connecting rod, the second suction disc performs suction on the bottom of the workpiece below the third suction disc, if there is an electrostatic adsorption phenomenon between the workpieces, the second suction disc adsorbs the workpiece below to separate it, the second electric telescopic rod is extended to drive the supporting seat to move the third installation frame and the first suction disc downward, the first suction disc stops adsorbing the workpiece, and the first suction disc adsorbs the workpiece below to separate it.

[0015] 3、By the intermittent extension and shortening of the left and right side blocking modules, the material trays stored in the storage frame fall into the top of the top lifting frame below in sequence, the linear motor drives the connecting plate to drive the top lifting frame to move the material tray to the same horizontal height position at the rear side of the track frame, the horizontal moving module drives the pushing seat to move forward, the pushing seat moves the material tray forward along the inside of the track frame, the three-axis moving module drives the carrying mechanism to move the adsorbed workpiece to the inside of the tray of the track frame, or places the separated workpiece in the inside of the tray of the track frame through the separating mechanism, the horizontal moving module drives the pushing seat to move the tray with the workpiece to the inside of the storage frame, the lifting module cooperates to lift the tray in the inside of the storage frame to the specified height position, and the ground rail, the carrying mechanical arm and the clamping module cooperate to move the tray to the inside of the second installation frame and stack from bottom to top.

[0016] In summary, the present application can realize accurate non-contact separation of the adhered lead frame workpiece in the lead frame processing and stacking process, reduce the physical damage to the workpiece during the separation process, reduce the influence on the subsequent process, and adapt to workpieces of different sizes and shapes according to actual needs, have strong universality and flexibility, and ensure the consistency and reliability of each separation operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 Structure diagram of the present application.

[0018] Figure 2 Structure diagram of the present application. Figure 1

[0019] Figure 3 Structure diagram of the present application. Figure 2

[0020] Figure 4 Structure diagram of the present application. Figure 2

[0021] Figure 5 Structure diagram of the present application. Figure 1

[0022] Figure 6 Structure diagram of the present application. Figure 5

[0023] Figure 7 Structure diagram of the present application. Figure 1

[0024] Figure: 1, box shell, 2, controller, 3, stacking mechanism, 31, stacking mechanism shell, 32, storage rack, 33, jacking module, 34, storage rack, 35, track rack, 36, horizontal movement module, 37, push seat, 38, base, 39, blocking module, 310, slot seat, 311, jacking frame, 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 pushing frame, 320, first electric telescopic rod, 4, separation mechanism, 41, X-axis movement module, 42, truss, 43, Y-axis movement module, 44, Z-axis movement 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 movement module, 6, carrying mechanism, 61, first rotation module, 62, high rotation seat, 63, rotation frame, 64, low rotation seat, 65, fourth electric telescopic rod, 66, fifth electric telescopic rod, 67, mounting frame, 68, second rotation module, 69, movement module, 610, third suction cup, 7, workpiece conveying belt, 8, ground rail, 9, carrying robot arm, 10, clamping module. DETAILED DESCRIPTION

[0025] ​​​​​​In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the embodiments and in conjunction with the drawings. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0026] Referring to Figures 1-7 The present application 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 carrying mechanism 6, a workpiece conveying belt 7, a ground rail 8, a carrying mechanical arm 9 and a clamping module 10; the controller 2 is arranged at the top right rear of the box shell 1, and the controller 2 is controlled manually by a worker or through an internal pre-prepared logic program; the stacking mechanism 3 is arranged at the inside right front of the box shell 1; the separation mechanism 4 is installed at the top front middle of the box shell 1; the three-axis moving module 5 is installed at the top outside rear 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 carrying mechanism 6 to move in three-axis directions; the carrying mechanism 6 is installed at the moving end of the three-axis moving module 5; the workpiece conveying belt 7 is arranged at the inside left rear of the box shell 1 along the front-rear direction, the workpiece conveying belt 7 and the controller 2 are electrically connected, the workpiece conveying belt 7 is controlled by the controller 2, the workpiece conveying belt 7 can be connected with an external assembly line conveying equipment, and the workpiece conveying belt 7 can convey workpieces on its own surface from back to front; the ground rail 8 is arranged at the inside left front bottom of the box shell 1 along the front-rear direction, the ground rail 8 and the controller 2 are electrically connected, the ground rail 8 is controlled by the controller 2, and the ground rail 8 can move the carrying mechanical arm 9 horizontally in front and back directions; the carrying mechanical arm 9 is installed at the moving end top of the ground rail 8, the carrying mechanical arm 9 and the controller 2 are electrically connected, the carrying mechanical arm 9 is controlled by the controller 2, and the carrying mechanical arm 9 can drive the clamping module 10 to move in multiple-axis directions; the clamping module 10 is arranged at the moving end of the carrying mechanical arm 9, the clamping module 10 and the controller 2 are electrically connected, the clamping module 10 is controlled by the controller 2, and the clamping module 10 can clamp a material tray.

[0027] Further, as Figure 2 and Figure 3As shown, the stacking mechanism 3 comprises: a stacking mechanism shell 31, a storage rack 32, a jacking module 33, a storage rack 34, a track rack 35, a horizontal moving module 36, a pushing seat 37, a base 38, a blocking module 39, a slot seat 310, a jacking rack 311, a first mounting rack 312, a linear motor 313, a connecting plate 314, a second mounting rack 315, a roller guide rack 316, a grating sensor 317, a first mounting plate 318, a roller pushing rack 319, and a first electric telescopic rod 320; the stacking mechanism shell 31 is arranged at the right front side of the inner side of the box shell 1 along the front-rear direction; the storage rack 32 is fixedly installed at the top front side of the stacking mechanism shell 31; the number of the jacking module 33 is two, and the two jacking modules 33 are respectively installed at the bottom ends of the left and right sides of the inside of the storage rack 32, the jacking module 33 is electrically connected with the controller 2, the jacking module 33 is controlled by the controller 2, and the jacking module 33 can lift the material tray above itself; the storage rack 34 is fixedly installed at the top rear side of the stacking mechanism shell 31; the track rack 35 is arranged at the top of the stacking mechanism shell 31 and located at the inside of the storage rack 32 and the storage rack 34 along the front-rear direction; the horizontal moving module 36 is arranged at the top of the stacking mechanism shell 31 and located at the inside of the bottom end of the storage rack 32, the storage rack 34 and the track rack 35 along the front-rear direction, the horizontal moving module 36 is electrically connected with 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 along the front-rear direction; the pushing seat 37 is installed at the moving end top of the horizontal moving module 36; the number of the base 38 is two, and the two bases 38 are respectively installed at the top of the left and right sides of the storage rack 34 of the stacking mechanism shell 31; the number of the blocking module 39 is two, and the two blocking modules 39 are respectively installed at the top of the left and right bases 38, the blocking module 39 is electrically connected with the controller 2, the blocking module 39 is controlled by the controller 2, and the blocking module 39 can make the material disc stored in the inside of the storage rack 34 fall into the top of the jacking rack 311 below in turn by intermittent extension and shortening; the number of the slot seat 310 is two groups, and the number of each group of the slot seat 310 is two, the two groups of the slot seat 310 are respectively embedded in the inner cavity top of the stacking mechanism shell 31 and located at the left and right sides below the storage rack 34 along the front-rear direction; the number of the jacking rack 311 is two, and the two jacking racks 311 are respectively inserted into the inner cavities of the two groups of the slot seat 310; the first mounting rack 312 is installed at the inner cavity bottom rear side of the stacking mechanism shell 31; the linear motor 313 is arranged at the inner side top of the first mounting rack 312, the top end of the linear motor 313 extends out of the upper surface of the first mounting rack 312, the linear motor 313 is electrically connected with 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 along the up-down direction; the connecting plate 314 is arranged at the bottom end of the left and right jacking racks 311 along the left-right direction, and the extension end of the linear motor 313 is connected with the bottom of the connecting plate 314;The second mounting frame 315 is installed at the front bottom of the stacking mechanism housing 31; the two roller guide frames 316 are installed at the left and right ends of the inner side of the second mounting frame 315 along the front and back direction respectively; the grating sensor 317 is installed at the top front side of the second mounting frame 315, the grating sensor 317 is electrically connected with the controller 2, and the grating sensor 317 sends a signal to the inside of the controller 2 after detecting that the inside of the cart reaches the specified height of the stacking; the first mounting plate 318 is installed at the top back side of the middle part of the second mounting frame 315; the roller pushing frame 319 is rotatably connected to the front top side of the first mounting plate 318 through a pin shaft seat; one end of the first electric telescopic rod 320 is rotatably connected to the top back side of the first mounting plate 318 through a pin shaft seat, and the other end of the first electric telescopic rod 320 is rotatably connected with the shaft center of the roller pushing frame 319 through a pin shaft seat, the first electric telescopic rod 320 is electrically connected with the controller 2, the first electric telescopic rod 320 is controlled by the controller 2, the first electric telescopic rod 320 can drive the roller pushing frame 319 to rotate by itself elongation and shortening, and the first electric telescopic rod 320 can rotate around the top pin shaft seat of the first mounting plate 318 during its own elongation and shortening.

[0028] Further, as Figure 4 , Figure 5 and Figure 6As shown, the separating mechanism 4 comprises: 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 base 48, a third mounting frame 49, a first suction cup 410, a guide rail assembly 411, a moving base 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 at the inner side of the front end of the top of the box shell 1 in the front-back direction, the X-axis moving module 41 is electrically connected with 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 in the front-back X-axis direction; the truss 42 is fixedly installed at the top of the moving end of the X-axis moving module 41 in the left-right direction; the Y-axis moving module 43 is arranged at the rear side of the truss 42 in the left-right direction, the Y-axis moving module 43 is electrically connected with 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 in 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 in the up-down direction, the Z-axis moving module 44 is electrically connected with 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 in the up-down Z-axis direction; the second mounting plate 45 is arranged at the rear side of the top of the Z-axis moving module 44 in the up-down direction; the guide rail frame 46 is arranged at the top of the rear side of the second mounting plate 45 in the up-down direction; the second electric telescopic rod 47 is installed at 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, the second electric telescopic rod 47 is electrically connected with the controller 2, the second electric telescopic rod 47 is controlled by the controller 2, and the second electric telescopic rod 47 drives the support base 48 to move in the up-down direction through the elongation and shortening of the second electric telescopic rod 47; the support base 48 is sleeved at the outer side of the guide rail frame 46, the telescopic end of the second electric telescopic rod 47 is fixedly connected with the inner side top of the support base 48, and the support base 48 can move up and down at the outer side of the guide rail frame 46; the third mounting frame 49 is installed at the rear side of the support base 48; the first suction cup 410 is installed at the inner side bottom of the third mounting frame 49, the first suction cup 410 is electrically connected with the controller 2, the first suction cup 410 is controlled by the controller 2 to adsorb the workpiece; the guide rail assembly 411 is installed below the front side of the second mounting plate 45, the guide rails in the guide rail assembly 411 are installed at the front side of the second mounting plate 45 in the up-down direction, and the outer sides of the guide rails are sleeved with limit sliding blocks as limit ends; the moving base 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 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 with the top of the moving base 412, the third electric telescopic rod 413 is electrically connected with 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 base 412 to move in the up-down direction through the elongation and shortening of the third electric telescopic rod 413;The second suction disc 414 is rotatably connected to the bottom end of the second mounting plate 45 through a pin shaft seat, the second suction disc 414 is electrically connected with the controller 2, and the second suction disc 414 is controlled by the controller 2 to adsorb the workpiece; one end of the connecting rod 415 is rotatably connected to the top of the front side of the second suction disc 414 through a pin shaft seat, and the other end of the connecting rod 415 is rotatably connected with the inner bottom end of the moving seat 412 through a pin shaft.

[0029] As a preferred solution, further, as Figure 7As shown, the carrying mechanism 6 comprises: a first rotating module 61, a high rotating base 62, a rotating frame 63, a low rotating base 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 disc 610; the first rotating module 61 is installed on the front side of the moving end of the three-axis moving module 5 in the front-rear direction, and the first rotating module 61 is electrically connected with the controller 2; the number of the high rotating base 62 is two, and the two high rotating bases 62 are respectively installed on the left and right sides of the rotating end of the first rotating module 61; the number of the rotating frame 63 is two, and the two rotating frames 63 are respectively rotationally connected with the inner sides of the two high rotating bases 62 through pin shafts; the number of the low rotating base 64 is two, and the two low rotating bases 64 are respectively installed on the front and rear sides of the rotating end of the first rotating module 61 and located on the right and left sides of the two high rotating bases 62; the number of the fourth electric telescopic rod 65 is two, and the two fourth electric telescopic rods 65 are respectively rotationally connected with the inner sides of the two low rotating bases 64 through pin shafts, one end of each of the two fourth electric telescopic rods 65 is rotationally connected with one end of the rotating frame 63 through a pin shaft, the fourth electric telescopic rod 65 is electrically connected with the controller 2, the fourth electric telescopic rod 65 is controlled by the controller 2, the rotating frame 63 is driven to rotate by the fourth electric telescopic rod 65 through its lengthening and shortening, and the fourth electric telescopic rod 65 can rotate with the top pin shaft seat rotating connection of the low rotating base 64 as the axis during its lengthening and shortening; the number of the fifth electric telescopic rod 66 is two, and the two fifth electric telescopic rods 66 are installed on the inner sides of the other ends of the two rotating frames 63, the fifth electric telescopic rod 66 is electrically connected with the controller 2, the fifth electric telescopic rod 66 is controlled by the controller 2, and the mounting frame 67 is driven to move by the fifth electric telescopic rod 66 through its lengthening and shortening; the number of the mounting frame 67 is two, and the two mounting frames 67 are respectively installed below the two rotating frames 63, and the top ends of the two mounting frames 67 are connected with the telescopic ends of the two fifth electric telescopic rods 66; the number of the second rotating module 68 is two groups, the number of each group of the second rotating module 68 is two, and the two groups of the second rotating module 68 are respectively installed on the inner sides of the two mounting frames 67, the second rotating module 68 is electrically connected with 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 module 69 is two groups, the number of each group of the moving module 69 is two, and the two groups of the moving module 69 are respectively installed at the bottom of the rotating end of the two second rotating modules 68, the moving module 69 is electrically connected with the controller 2, the moving module 69 is controlled by the controller 2, and the moving module 69 can drive the third suction disc 610 to move; the number of the third suction disc 610 is two groups, the number of each group of the third suction disc 610 is two, and the two groups of the third suction disc 610 are respectively installed at the bottom of the moving end of the two moving modules 69, the third suction disc 610 is electrically connected with the controller 2, and the third suction disc 610 is controlled by the controller 2 to adsorb workpieces.

[0030] The working principle is as follows:

[0031] Step 1: The worker connects the workpiece conveying belt 7 with the external flow line conveying equipment in advance, stacks the lead frame material tray in the storage rack 34, and moves the external workpiece cart to the inside of the second mounting frame 315 under the guidance of the two-side roller guide frame 316. The internal preset program of the controller 2 controls the first rotating module 61 and the fourth electric telescopic rod 65 on the two sides in the carrying mechanism 6 to start according to the shape of the lead frame workpiece. The worker judges the width of the lead frame workpiece according to the shape and uses the third suction cup 610 below the left and right mounting frames 67 for adsorption, or uses the third suction cup 610 below the single mounting frame 67 for adsorption. If the third suction cup 610 below the single mounting frame 67 is used for adsorption, the first rotating module 61 drives the two-side high rotating seat 62 to drive the rotating frame 63 at the corresponding position to rotate, so as to drive the original left mounting frame 67 to rotate to the front side position and the original right mounting frame 67 to rotate to the rear side position under the cooperation of the rotating frame 63. At the same time, the original right mounting frame 67 rotates, and the internal preset program of the controller 2 controls the fifth electric telescopic rod 66 and the fourth electric telescopic rod 65 above the mounting frame 67 to start. The fifth electric telescopic rod 66 shortens to drive the mounting frame 67 to move inward, the fourth electric telescopic rod 65 lengthens to drive the rotating frame 63 to rotate upward inside the high rotating seat 62, and the rotating frame 63 drives the mounting frame 67 to flip from the horizontal state to the vertical state. The internal preset program of the controller 2 controls the second rotating module 68 and the moving module 69 inside the front mounting frame 67 to start. The second rotating module 68 drives the moving module 69 to rotate clockwise or counterclockwise to the specified direction, and the moving module 69 adjusts the direction of the position of the third suction cup 610 below;

[0032] Step 2: When in use, the controller 2 internally presets a program to control the workpiece conveying 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 conveying belt 7 conveys the external lead frame workpiece to the inside of the box shell 1, the three-axis moving module 5 drives the carrying mechanism 6 to move in three-axis directions above the workpiece, the third suction cup 610 adsorbs and grabs the surface of the workpiece, the X-axis moving module 41 drives the truss 42 to move in the front-back X-axis direction, the Y-axis moving module 43 drives the Z-axis moving module 44 to move in the left-right Y-axis direction, the Z-axis moving module 44 drives the second mounting plate 45 to move in the up-down Z-axis direction, and then the second mounting plate 45 moves to the front side position of the carrying mechanism 6, the third electric telescopic rod 413 is elongated to drive the moving seat 412, the moving seat 412 drives the one end of the connecting rod 415 to move downward under the limiting action of the guide rail assembly 411, and the second suction cup 414 is driven by the connecting rod 415 to overturn upward to the horizontal state, the second suction cup 414 adsorbs the bottom of the workpiece below the third suction cup 610, if there is an electrostatic adsorption phenomenon between the workpieces, the second suction cup 414 adsorbs the workpiece below to the top position to make it separate, the second electric telescopic rod 47 is elongated to drive the support seat 48 to move downward with the third mounting frame 49 and the first suction cup 410, the first suction cup 410 stops adsorbing the workpiece, and the first suction cup 410 adsorbs the workpiece below;

[0033] Step 3: The controller 2 internally presets the program to control the blocking module 39, the linear motor 313, the horizontal moving module 36, the jacking module 33, the ground rail 8, the carrying mechanical 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 are intermittently elongated and shortened by themselves, so that the material trays stored in the storage rack 34 fall into the top of the left and right jacking frames 311 in turn. The linear motor 313 drives the connecting plate 314, so that the connecting plate 314 drives the jacking frame 311 to move downward in the slot seat 310, and then moves the material tray to the same horizontal height position at the rear side of the rail frame 35 under the lifting of the two jacking frames 311. The horizontal moving module 36 drives the push seat 37 to move forward, and the push seat 37 moves the material tray forward along the inside of the rail frame 35. The three-axis moving module 5 drives the carrying mechanism 6 to move the adsorbed workpiece to the inside of the tray in the rail frame 35, or places the separated workpiece in the inside of the tray in the rail frame 35 through the separating mechanism 4. After completion, the horizontal moving module 36 drives the push seat 37 to move the tray with the workpiece to the inside of the storage rack 32. The jacking module 33 is elongated to cooperate with the tray in the storage rack 32 to lift it to the specified height position. The ground rail 8 drives the carrying mechanical arm 9 to move to the left side of the storage rack 32. The carrying mechanical arm 9 drives the clamping module 10 to move to the outside of the storage rack 32. After the clamping module 10 clamps the tray in the storage rack 32, the ground rail 8, the carrying mechanical arm 9 and the clamping module 10 cooperate to move the tray to the inside of the second mounting frame 315, and stack and place it from bottom to top in the trolley. When the grating sensor 317 detects that the inside of the trolley reaches the specified number of stacks, it sends a signal to the inside of the controller 2. The first electric telescopic rod 320 is shortened to drive the roller pushing frame 319 to rotate forward, so that the roller pushing frame 319 pushes the trolley forward along the roller guide frame 316 and out of the inside of the second mounting frame 315.

[0034] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An automatic stacking device for lead frame processing, characterized in that, include: The enclosure (1), controller (2), stacking mechanism (3), separation mechanism (4), three-axis moving module (5), handling mechanism (6), workpiece conveyor belt (7), ground rail (8), handling robotic arm (9), and clamping module (10). The controller (2) is located at the top right rear of the housing shell (1), the stacking mechanism (3) is located at the inner right front of the housing shell (1), the separation mechanism (4) is installed at the top front middle of the housing shell (1), the three-axis moving module (5) is installed at the top outer rear of the housing shell (1), the three-axis moving module (5) and the controller (2) are electrically connected, the conveying mechanism (6) is installed at the moving end of the three-axis moving module (5), and the workpiece conveyor belt (7) is arranged along the front-back direction on the housing shell. (1) On the inner left rear side, the workpiece conveyor belt (7) and the controller (2) are electrically connected. The ground rail (8) is set in the front left bottom of the inner side of the housing (1) along the front-back direction. The ground rail (8) and the controller (2) are electrically connected. The handling robot arm (9) is installed on the top of the moving end of the ground rail (8). The handling robot arm (9) and the controller (2) are electrically connected. The clamping module (10) is set on the moving end of the handling robot arm (9). The clamping module (10) and the controller (2) are electrically connected. The stacking mechanism (3) includes: The stacking mechanism housing (31) is located on the inner right front side of the housing housing (1) in the front-back direction; A horizontal moving module (36) is disposed at the top of the stacking mechanism housing (31) in the front-back direction; The pusher seat (37) is installed on the top of the moving end of the horizontal moving module (36); The base (38) is two in number, and the two bases (38) are respectively installed on the top of the stacking mechanism housing (31) and on the left and right sides of the storage rack (34); The number of 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 modules (39) and the controller (2) are electrically connected. Slot base (310), the number of slot bases (310) is two sets, the number of slot bases (310) in each set is two, the two sets of slot bases (310) are respectively embedded in the top of the inner cavity of the stacking mechanism housing (31) and located at the lower left and right sides and front and rear ends of the storage rack (34); The lifting frame (311) is two in number, and the two lifting frames (311) are respectively inserted into the inner cavity of two sets of slot seats (310); The first mounting bracket (312) is installed on the rear side of the bottom end of the inner cavity of the stacking mechanism housing (31); A linear motor (313) is disposed on the inner top of the first mounting bracket (312), the top of the linear motor (313) extends out of the upper surface of the first mounting bracket (312), and the linear motor (313) is electrically connected to the controller (2). A connecting plate (314) is set at the bottom of the two lifting frames (311) in 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 separation mechanism (4) includes: Guide rail bracket (46); The second electric telescopic rod (47) is installed 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). The second electric telescopic rod (47) is electrically connected to the controller (2). The support base (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 top of the inner side of the support base (48). The third mounting bracket (49) is installed on the rear side of the support base (48); The first suction cup (410) is installed on the inner bottom of the third mounting bracket (49), and the first suction cup (410) is electrically connected to the controller (2); The guide rail assembly (411) is mounted on the lower front side of the second mounting plate (45); The movable seat (412) is disposed on the front side of the limiting end of the guide rail assembly (411); The third electric telescopic rod (413) is installed above the front side of the second mounting plate (45) in the vertical direction. The telescopic end of the third electric telescopic rod (413) is connected to the top of the movable seat (412). The third electric telescopic rod (413) is electrically connected to the controller (2). The 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 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.

2. The automatic stacking device for lead frame processing according to claim 1, characterized in that, The stacking mechanism (3) further includes: A storage rack (32) is fixedly installed on the top front side of the stacking mechanism housing (31); Lifting module (33), there are two lifting modules (33), the two lifting modules (33) are respectively installed on the bottom of the left and right sides inside the storage rack (32), and the lifting module (33) is electrically connected to the controller (2); Storage rack (34) is fixedly installed on the rear top of the stacking mechanism housing (31); The track frame (35) is located on the top of the stacking mechanism housing (31) in the front-back direction and inside the storage rack (32) and the storage rack (34). The horizontal movement module (36) is located at the bottom inside the storage rack (32), the storage rack (34) and the track frame (35). The horizontal movement module (36) is electrically connected to the controller (2).

3. The automatic stacking device for lead frame processing according to claim 2, characterized in that, The stacking mechanism (3) further includes: The second mounting bracket (315) is installed on the front bottom of the stacking mechanism housing (31); Two roller guide frames (316) are provided, and the two roller guide frames (316) are respectively installed on the left and right ends of the inner side of the second mounting frame (315) in the front-back direction. A grating sensor (317) is mounted on the front top of the second mounting bracket (315), and the grating sensor (317) is electrically connected to the controller (2); The first mounting plate (318) is installed at the middle of the rear side of the top of the second mounting bracket (315); The roller pusher frame (319) is rotatably connected to the top front side of the first mounting plate (318) via a pin seat; The first electric telescopic rod (320) is rotatably connected at one end to the rear top of the first mounting plate (318) via 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) via a pin seat. The first electric telescopic rod (320) is electrically connected to the controller (2).

4. The automatic stacking device for lead frame processing according to claim 3, characterized in that, The separation mechanism (4) further includes: The X-axis moving module (41) is arranged in the front inner side of the top of the housing (1) along the front-back direction, and the X-axis moving module (41) and the controller (2) are electrically connected. The truss (42) is fixedly installed on the top of the moving end of the X-axis moving module (41) in the left-right direction; The Y-axis moving module (43) is arranged on the rear side of the truss (42) in the left-right direction, and the Y-axis moving module (43) is electrically connected to the controller (2); The Z-axis moving module (44) is fixedly installed on the rear side of the moving end of the Y-axis moving module (43) in the vertical direction, and the Z-axis moving module (44) is electrically connected to the controller (2). The second mounting plate (45) is disposed on the rear side of the moving end of the Z-axis moving module (44) in the vertical direction, and the guide rail frame (46) is disposed on the top rear side of the second mounting plate (45) in the vertical direction.

5. The automatic stacking device for lead frame processing according to claim 4, characterized in that, The transport mechanism (6) includes: The first rotating module (61) is installed in the front of the moving end of the three-axis moving module (5) in the front-back direction. The first rotating module (61) and the controller (2) are electrically connected. Two high rotating seats (62) are installed on the left and right sides and the front and rear ends of the rotating end of the first rotating module (61), respectively. Two rotating frames (63) are provided, and the two rotating frames (63) are rotatably connected to the inner sides of two high rotating seats (62) by pins respectively; The number of low rotating seats (64) is two, and the two low rotating seats (64) are respectively installed on the front and rear sides of the rotating end of the first rotating module (61) and located on the right and left sides of the two high rotating seats (62); The fourth electric telescopic rod (65) has two components. The two fourth electric telescopic rods (65) are rotatably connected to the inner side of the two low rotating seats (64) by pins. The telescopic ends of the two fourth electric telescopic rods (65) are rotatably connected to one end of the two rotating frames (63) by pins. The fourth electric telescopic rod (65) is electrically connected to the controller (2). The fifth electric telescopic rod (66) has two components. The 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 number of mounting frames (67) is two, and the two mounting frames (67) are respectively installed below the two rotating frames (63). The top ends of the two mounting frames (67) are respectively connected to the telescopic ends of the two fifth electric telescopic rods (66). The second rotating module (68) has two sets, with two second rotating modules (68) in each set. The two sets of second rotating modules (68) are installed on the inner front and rear ends of the two mounting frames (67) respectively. The second rotating module (68) and the controller (2) are electrically connected. The number of the moving modules (69) is two sets, and the number of the moving modules (69) in each set is two. The two sets of moving modules (69) are respectively installed at the bottom of the rotating end of the two second rotating modules (68). The moving modules (69) are electrically connected to the controller (2). The third suction cup (610) is in two sets, with two third suction cups (610) in each set. The two sets of third suction cups (610) are respectively installed at the bottom of the moving end of the two moving modules (69). The third suction cup (610) is electrically connected to the controller (2).

6. The automatic stacking device for lead frame processing according to claim 5, characterized in that, The three-axis moving module (5) drives the conveying mechanism (6) to move above the workpiece in three-axis directions. The third suction cup (610) adsorbs and grabs 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. The Z-axis moving module (44) drives the second mounting plate (45) to move along the up and down Z-axis direction.

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