Automatic pipe feeding device

Abstract

The invention is suitable for the field of semiconductors, and discloses an automatic pipe feeding device which comprises a rack, a pipe feeding mechanism, a positioning mechanism and a pipe moving mechanism, the positioning mechanism comprises a positioning platform, a reversing positioning block, a first pipe falling limiting block, a second pipe falling limiting block, a material pipe in-place sensing assembly and a reversing assembly, and the positioning platform is installed on the rack; the reversing positioning block, the first tube falling limiting block and the second tube falling limiting block are installed on the positioning platform, a material tube groove is formed among the reversing positioning block, the first tube falling limiting block and the second tube falling limiting block, and the tube feeding mechanism is used for placing a material tube in the material tube groove. Detection optical fibers are arranged at the bottom of the reversing positioning block, the front side face of the first pipe falling limiting block and the rear side face of the second pipe falling limiting block correspondingly, the reversing assembly is used for reversing the material pipes, and the pipe moving mechanism takes away the reversed material pipes and places the reversed material pipes in a feeding pipe clamp of production equipment. The full-process automation from material pipe supply, direction detection and adjustment to final placement on production equipment is realized.

Description

Technical Field

[0001] The present invention relates to the field of semiconductors, and in particular to an automatic tube loading device. Background Art

[0002] The material tube of semiconductor devices plays a vital role in the semiconductor manufacturing process. Its main function is to protect semiconductor devices (chips) from physical damage and environmental pollution throughout the production process. Usually, the material tube is carefully made of plastic or other non-conductive materials. This material is selected to avoid electrostatic damage to semiconductor devices while ensuring their safety and stability during transportation and production processing. The design of the material tube must not only consider the protection function of semiconductor devices, but also needs to be compatible with the automated operation in the semiconductor production process to improve production efficiency and quality control.

[0003] However, there are still some problems that affect production efficiency in the current semiconductor production process. The placement of material tubes in many production equipment still relies on manual operation. Since the material tubes need to be placed in different directions (up and down), the operator must accurately identify and place the material tubes in the equipment in the correct direction. This operation has high requirements for the operator and is prone to misplacing the material tubes due to human negligence, which in turn affects subsequent production processes and may even cause damage to semiconductor devices. Secondly, some production equipment uses a gravity loading system, which means that the material tubes need to be placed above the equipment or in a relatively high position. In order to complete the loading operation, the operator has to climb up through multiple steps to place the material tubes. This operation is not only time-consuming, but also makes the operator feel tired, increases the complexity and danger of the operation, and greatly affects production efficiency.

[0004] Therefore, the existing technology still needs to be improved and developed. Summary of the invention

[0005] The object of the present invention is to provide an automatic tube loading device, which realizes the automation of the entire process from tube supply, direction detection and adjustment to final placement on production equipment.

[0006] To achieve the above object, the solution provided by the present invention is: An automatic pipe loading device comprises a frame, a pipe loading mechanism, a positioning mechanism and a pipe shifting mechanism, wherein the positioning mechanism comprises a positioning platform, a reversing positioning block, a first pipe drop stop block, a second pipe drop stop block, a pipe in-place sensing assembly and a reversing assembly, wherein the positioning platform is mounted on the frame, the reversing positioning block, the first pipe drop stop block and the second pipe drop stop block are respectively mounted on the positioning platform, the first pipe drop stop block and the second pipe drop stop block are respectively arranged on both sides of the reversing positioning block, a pipe slot is formed between the reversing positioning block, the first pipe drop stop block and the second pipe drop stop block, and the pipe loading mechanism is used to load the pipe into the pipe. The tube is placed in the material tube groove, and detection optical fibers are respectively arranged on the bottom of the reversing positioning block, the front side of the first tube drop limit block and the rear side of the second tube drop limit block. The reversing assembly includes a reversing block, a reversing rotating drive, a reversing moving drive and a reversing baffle. The reversing block is provided with a clamping groove adapted to the material tube, the reversing block is connected to the reversing rotating drive, the reversing rotating drive is arranged on the reversing moving drive, the reversing baffle and the reversing moving drive are respectively arranged at both ends of the positioning platform, and the tube moving mechanism is used to take away the reversed material tube and place it in the feeding tube clamp of the production equipment.

[0007] Preferably, the positioning mechanism also includes a material pipe in place sensing component installed on the positioning platform, and two material pipe in place sensing components are provided. The two material pipe in place sensing components are respectively arranged on both sides of the reversing positioning block and are located between the first drop tube limit block and the second drop tube limit block. The material pipe in place sensing component includes a material pipe in place sensing seat and a material pipe in place sensor. The material pipe in place sensor is located beside the material pipe groove, and an auxiliary positioning platform is formed between the material pipe in place sensing seat and the material pipe in place sensor.

[0008] Preferably, the positioning mechanism further comprises a lifting structure, wherein the lifting structure is mounted on a side of the positioning platform and is located below the material pipe slot, and the lifting structure is used to lift the material pipe placed in the material pipe slot so that the material pipe is placed flat on the reversing positioning block.

[0009] Preferably, the upper tube mechanism comprises an upper tube support, a material dropping platform, a silo assembly, a lifting assembly, a conveying assembly and a pushing assembly, the upper tube support is obliquely installed on the frame, the material dropping platform is obliquely installed on the upper tube support toward the direction of the positioning platform, a material stopping portion is provided on the side of the material dropping platform facing the positioning mechanism, and the material stopping portion is an arc-shaped material stopping portion, the silo assembly is arranged on the upper tube support, a material pushing groove is provided on the silo assembly, and a first mounting groove is formed between the silo assembly and the upper tube support, the lifting assembly is used for pushing the material pipes in the silo assembly to the conveying assembly in sequence, the conveying assembly is installed in the first mounting groove, and the conveying end of the conveying assembly is higher than the material dropping platform, the pushing assembly is installed on the upper tube support and is located below the material dropping platform, and the pushing assembly is used for making the material pipes fall from the material dropping platform along the material stopping portion into the material pipe groove.

[0010] Preferably, the lifting assembly includes a lifting drive assembly, a first-level push plate and a second-level push plate, the lifting drive assembly is installed in the first installation groove, the first-level push plate is connected to the lifting drive assembly, the second-level push plate is arranged on the first-level push plate, and there is a height difference between the first-level push plate and the second-level push plate, the pushing assembly includes two pushing cylinders, the two pushing cylinders are respectively arranged on both sides of the blanking platform, and the two pushing cylinders are used to transfer the material pipe from the blanking platform to the material pipe groove in sequence from both ends of the material pipe.

[0011] Preferably, second mounting grooves are respectively provided at both ends of the blanking platform on one side facing the conveying assembly, and the conveying assembly includes a rotating shaft driving member, a rotating shaft, a first synchronous belt structure and a second synchronous belt structure, the rotating shaft driving member is installed on the upper tube bracket, the rotating shaft is rotatably installed on the upper tube bracket and is transmission-connected to the rotating shaft driving member, the first synchronous belt structure and the second synchronous belt structure are respectively provided at both ends of the rotating shaft and are located in the second mounting groove, and the conveying end of the first synchronous belt structure and the conveying end of the second synchronous belt structure are both higher than the blanking platform.

[0012] Preferably, the first synchronous belt structure includes a synchronous belt adjustment plate, a driving wheel, a driven wheel and a synchronous belt, the synchronous belt adjustment plate is installed on the upper tube bracket at an upward tilt and is located in the second mounting groove, the end of the synchronous belt adjustment plate is higher than the blanking platform, the driving wheel is installed on the rotating shaft, the driven wheel is installed at the end of the synchronous belt adjustment plate, the synchronous belt is arranged around the driving wheel and the driven wheel, and the structure of the second synchronous belt structure is the same as that of the first synchronous belt structure.

[0013] Preferably, the pipe moving mechanism includes a clamping jaw assembly, a lifting drive module and a horizontal drive module; the clamping jaw assembly is mounted on the lifting drive module, the clamping jaw assembly is used to grab the material pipe, the lifting drive module is mounted on the horizontal drive module, and is used to drive the clamping jaw assembly to move up and down relative to the positioning platform; the horizontal drive module is mounted on the frame, and is used to drive the lifting drive module to drive the clamping jaw assembly to move in the horizontal direction, so as to remove the reversed material pipe and place it in the feeding pipe clamp of the production equipment.

[0014] Preferably, the clamp assembly includes a clamp fixing plate, a first clamp and a second clamp, the first clamp and the second clamp are respectively arranged at two ends of the clamp fixing plate, and the pipe moving mechanism also includes a pipe release sensing seat, a pipe release sensor and a material jamming sensor, the pipe release sensing seat and the material jamming sensor are both arranged on the clamp fixing plate, and the pipe release sensor is arranged on the pipe release sensing seat.

[0015] Preferably, the lifting drive module includes a lifting drive component, a lifting mounting plate, a lifting movable plate and a lifting connecting plate, the lifting drive component is installed on the lifting connecting plate, the lifting movable plate is slidably arranged on the lifting mounting plate, and a tension spring is arranged between the lifting movable plate and the lifting mounting plate, the lifting drive component is connected to the lifting mounting plate, and is used to drive the lifting mounting plate to drive the lifting movable plate to move up and down relative to the positioning platform, the horizontal driving module includes a horizontal driving cylinder and a horizontal driving connecting plate, the horizontal driving cylinder is installed on the frame, the output end of the horizontal driving cylinder is connected to the lifting connecting plate, the horizontal driving connecting plate is connected to the lifting connecting plate, and the horizontal driving connecting plate is slidably arranged on the frame.

[0016] The automatic pipe loading device provided by the present invention comprises a pipe loading mechanism, a positioning mechanism and a pipe shifting mechanism. The pipe loading mechanism places the material pipe in the material pipe groove of the positioning mechanism, the positioning mechanism detects the material pipe, and when the direction of the material pipe is incorrect, a reversal operation is performed to unify the direction of the material pipe. Finally, the reversing material pipe is taken away by the pipe shifting mechanism and placed in the material loading pipe clamp of the production equipment, thereby realizing the automation of the entire process from material pipe supply, direction detection and adjustment to final placement on the production equipment. Moreover, when placing the material pipe on the pipe loading mechanism, there is no need to distinguish between the upper and lower directions, which greatly improves production efficiency and reduces manual operation errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] Figure 1 The structure of the automatic tube loading device provided by the embodiment of the present invention is shown in FIG. Figure 1 ; Figure 2 The structure of the automatic tube loading device provided by the embodiment of the present invention is shown in FIG. Figure 2 ; Figure 3 is a structural schematic diagram of an upper pipe mechanism provided by an embodiment of the present invention; Figure 4 is a structural schematic diagram of a positioning mechanism provided by an embodiment of the present invention; Figure 5 It is a structural schematic diagram of a pipe transfer mechanism provided in an embodiment of the present invention.

[0019] Description of Figure Numbers: 10. Frame; 11. Base; 12. Vertical support frame; 13. First horizontal support; 14. Second horizontal support; 15. Module fixing seat; 16. Control box; 17. Travel wheel; 20. Upper tube mechanism; 21. Upper tube support; 22. Dropping platform; 221. Blocking part; 222. Second mounting slot; 23. Bin assembly; 231. Pushing slot; 232. First mounting slot; 233. Upper tube box; 24. Lifting Lifting assembly; 241, lifting drive assembly; 242, primary push plate; 243, secondary push plate; 25, conveying assembly; 251, shaft drive; 252, shaft; 253, first synchronous belt structure; 2531, synchronous belt adjustment plate; 2532, driving wheel; 2533, driven wheel; 2534, synchronous belt; 254, second synchronous belt structure; 26, push cylinder; 30, positioning mechanism; 31, positioning plane Table; 32, reversing positioning block; 33, first drop tube limit block; 34, second drop tube limit block; 35, reversing assembly; 351, reversing block; 352, reversing rotating drive member; 353, reversing moving drive member; 354, reversing baffle; 36, material tube in place sensing assembly; 361, material tube in place sensing seat; 362, material tube in place sensor; 363, auxiliary positioning table; 37, lifting cylinder; 40, pipe transfer mechanism; 4 1. Clamping jaw assembly; 411. Clamping jaw fixing plate; 412. First clamping jaw; 413. Second clamping jaw; 42. Lifting drive module; 421. Lifting drive assembly; 422. Lifting mounting plate; 423. Lifting movable plate; 424. Lifting connecting plate; 43. Horizontal driving module; 431. Horizontal driving cylinder; 432. Horizontal driving connecting plate; 44. Tube placing induction seat; 45. Tube placing sensor; 46. Material jamming sensor. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0023] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] like Figures 1 to 5 As shown, it is an automatic pipe loading device according to an embodiment of the present invention.

[0025] See also Figure 1-Figure 5 The automatic pipe loading device of the embodiment of the present invention comprises a frame 10, a pipe loading mechanism 20, a positioning mechanism 30 and a pipe moving mechanism 40. The positioning mechanism 30 comprises a positioning platform 31, a reversing positioning block 32, a first pipe drop stop block 33, a second pipe drop stop block 34, a pipe in-place sensing component 36 and a reversing component 35. The positioning platform 31 is mounted on the frame 10. The reversing positioning block 32, the first pipe drop stop block 33 and the second pipe drop stop block 34 are respectively mounted on the positioning platform 31. The first pipe drop stop block 33 and the second pipe drop stop block 34 are respectively arranged on both sides of the reversing positioning block 32. A pipe slot (not shown) is formed between the reversing positioning block 32, the first pipe drop stop block 33 and the second pipe drop stop block 34. The pipe loading mechanism 20 is used to The material pipe is placed in the material pipe groove. The bottom of the reversing positioning block 32, the front side of the first drop tube limit block 33 and the rear side of the second drop tube limit block 34 are respectively provided with detection optical fibers (not shown in the figure). The reversing assembly 35 includes a reversing block 351, a reversing rotating drive member 352, a reversing moving drive member 353 and a reversing baffle 354. The reversing block 351 is provided with a clamping groove (not shown in the figure) adapted to the material pipe. The reversing block 351 is connected to the reversing rotating drive member 352. The reversing rotating drive member 352 is arranged on the reversing moving drive member 353. The reversing baffle 354 and the reversing moving drive member 353 are respectively arranged at both ends of the positioning platform 31. The pipe moving mechanism 40 takes away the reversing material pipe and places it in the feeding pipe clamp of the production equipment.

[0026] In this embodiment, semiconductor devices are installed in the material tube, and the material tube is sent to the material tube clamp of the production equipment through the automatic tube loading device to facilitate packaging and other operations.

[0027] The working principle of the automatic tube loading device of this embodiment is as follows: The tube loading mechanism 20 places the material tube into the material tube groove, and then detects whether the direction of the material tube is correct through the detection optical fibers in three directions on the reversing positioning block 32, the first tube drop limit block 33 and the second tube drop limit block 34. If the direction is wrong, the reversing block 351 is driven to move toward the material tube by the reversing moving driver 353. The reversing block 351 is inserted into the material tube and is limited by the reversing baffle 354. Then, the reversing rotating driver 352 drives the reversing block 351 to rotate until the material tube rotates to the correct direction. The reversing moving driver 353 drives the reversing block 351 to reset, thereby separating the reversing block 351 from the material tube and completing the reversing operation. Finally, the tube transferring mechanism 40 takes away the reversing material tube and places it in the tube loading clamp of the production equipment.

[0028] In this embodiment, whether the direction of the material pipe is correct is detected by detecting optical fibers in three directions on the reversing positioning block 32, the first drop tube limit block 33 and the second drop tube limit block 34. Specifically, during the initialization or calibration stage, when the material pipe is in the correct direction, the signal characteristics received by the detection optical fibers at the bottom of the reversing positioning block 32, the front side of the first drop tube limit block 33 and the rear side of the second drop tube limit block 34 are collected and analyzed to establish a standard signal reference model, including parameters such as light intensity distribution and reflected light angle.

[0029] During the actual operation, the signal processing unit receives the electrical signals from the three detection optical fibers in real time and compares and analyzes them with the reference model. The difference between the actual signal and the reference signal is calculated by the algorithm. For example, if the light intensity distribution or the reflected light angle detected at a certain position is significantly different from the reference model, it means that the direction of the material pipe at that position has deviated. Finally, a comprehensive judgment is made based on the analysis results of the detection signals at the three positions. If the signals at the three positions are consistent with the reference model, or the deviation is within the allowable range, the direction of the material pipe is determined to be correct; if the signal deviation at one or more positions exceeds the range, the direction of the material pipe is determined to be wrong and the possible direction and degree of deviation based on the specific situation and combination of the deviation.

[0030] In this embodiment, the frame 10 includes a base 11, a vertical support frame 12, a first transverse support 13, a second transverse support 14 and a module fixing seat 15. The vertical support frame 12 is vertically installed on the base 11, the first transverse support 13 is installed on the top of the vertical support frame 12, the second transverse support 14 is supported on the first transverse support 13, the module fixing seat 15 is installed on the first transverse support 13 and is located between the first transverse support 13 and the second transverse support 14. The upper tube mechanism 20 is installed on the side of the module fixing seat 15, and the positioning platform 31 is installed on the top of the module fixing seat 15. This design makes the overall structure of the automatic tube upper device more compact and reduces the space occupied.

[0031] Furthermore, a control box 16 is provided on the side of the vertical support frame 12 , and the tube raising mechanism 20 , the positioning mechanism 30 and the tube moving mechanism 40 can be controlled by the control components in the control box 16 .

[0032] Optionally, a running wheel 17 is provided at the bottom of the base 11, and the running wheel 17 is provided to facilitate the movement of the automatic pipe loading device.

[0033] The automatic pipe loading device provided in the embodiment of the present invention includes a pipe loading mechanism 20, a positioning mechanism 30 and a pipe transferring mechanism 40. The pipe loading mechanism 20 places the material pipe in the material pipe groove of the positioning mechanism 30. The positioning mechanism 30 detects the material pipe. When the direction of the material pipe is incorrect, a reversal operation is performed to unify the direction of the material pipe. Finally, the reversing material pipe is taken away by the pipe transferring mechanism 40 and placed in the material loading pipe clamp of the production equipment, thereby realizing the automation of the entire process from material pipe supply, direction detection and adjustment to final placement on the production equipment. Moreover, when placing the material pipe on the pipe loading mechanism 20, there is no need to distinguish between the upper and lower directions, which greatly improves production efficiency and reduces manual operation errors.

[0034] See also Figure 1 and Figure 4 As shown, in the present embodiment, illustratively, the positioning mechanism 30 further includes a material pipe in place sensing assembly 36 installed on the positioning platform 31, and two material pipe in place sensing assemblies 36 are provided, and the two material pipe in place sensing assemblies 36 are respectively arranged on both sides of the reversing positioning block 32, and are located between the first drop tube limit block 33 and the second drop tube limit block 34. The material pipe in place sensing assembly 36 includes a material pipe in place sensing seat 361 and a material pipe in place sensor 362, and the material pipe in place sensor 362 is located beside the material pipe groove, and an auxiliary positioning platform 363 is formed between the material pipe in place sensing seat 361 and the material pipe in place sensor 362, that is, the material pipe is placed on the reversing positioning block 32 and the auxiliary positioning platform 363 at the same time, and is limited by the two drop tube limit blocks, so that the material pipe is placed more stably.

[0035] In other embodiments, only one material pipe in-position sensing component 36 may be provided.

[0036] In this embodiment, the material tube in-position sensor 362 is used to sense whether there is a material tube in the material tube slot, ensuring that the positioning mechanism 30 performs detection and reversing actions only when there is a material tube, thereby avoiding invalid operations.

[0037] When a material tube is sensed, the direction of the material tube is detected through the detection optical fiber.

[0038] Specifically, the material tube arrival sensor 362 may be a photoelectric sensor or a proximity sensor.

[0039] See also Figure 4 As shown, in this embodiment, illustratively, the positioning mechanism 30 also includes a lifting structure, which is installed on the side of the positioning platform 31 and is located below the material pipe groove. The lifting structure is used to lift the material pipe placed in the material pipe groove so that the material pipe is placed flat on the reversing positioning block 32.

[0040] In this embodiment, the lifting structure is a lifting cylinder 37 , which lifts the material pipe on the reversing positioning block 32 multiple times through the extension and contraction of the lifting cylinder 37 , ensuring that the material pipe falls flat on the material pipe in place sensing seat 361 .

[0041] When the material pipe enters the material pipe groove, the lifting structure lifts the material pipe placed in the material pipe groove so that the material pipe is placed flat on the reversing positioning block 32, and then the detection optical fibers in three directions on the reversing positioning block 32, the first drop tube limit block 33 and the second drop tube limit block 34 detect whether the direction of the material pipe is correct. If the direction is incorrect, the reversing block 351 is driven to move toward the material pipe by the reversing moving drive member 353, and the reversing block 351 is inserted into the material pipe and limited by the reversing baffle 354. Then, the reversing rotating drive member 352 drives the reversing block 351 to rotate until the material pipe rotates to the correct direction, and the reversing moving drive member 353 drives the reversing block 351 to reset, thereby separating the reversing block 351 from the material pipe to complete the reversing operation.

[0042] See also Figure 1-Figure 3As shown, in this embodiment, exemplarily, the upper tube mechanism 20 includes an upper tube bracket 21, a material drop platform 22, a silo assembly 23, a lifting assembly 24, a conveying assembly 25 and a pushing assembly. The upper tube bracket 21 is tiltedly installed on the frame 10, and the material drop platform 22 is tilted downwardly on the upper tube bracket 21 toward the direction of the positioning platform 31. A material stopper 221 is provided on the side of the material drop platform 22 facing the positioning mechanism 30, and the material stopper 221 is an arc-shaped material stopper. The silo assembly 23 is arranged on the upper tube bracket 21. A pushing groove 231 is provided on the component 23, and a first installation groove 232 is formed between the silo component 23 and the upper tube bracket 21. The lifting component 24 is used to push the material pipes in the silo component 23 to the conveying component 25 in sequence. The conveying component 25 is installed in the first installation groove 232, and the conveying end of the conveying component 25 is higher than the blanking platform 22. The pushing component is installed on the upper tube bracket 21 and is located below the blanking platform 22. The pushing component is used to make the material pipe fall from the blanking platform 22 along the material blocking part 221 into the material pipe groove.

[0043] In this embodiment, the silo assembly 23 stores material pipes, and the lifting assembly 24 is responsible for pushing the material pipes to the conveying assembly 25 in sequence. The material pipes are reciprocated by the synchronous belt 2534, and the material pipes (stacked pipes) stuck together can be separated. Finally, the pushing assembly transfers the material pipes from the drop platform 22 to the positioning mechanism 30 material pipe slot one by one. The entire process has a high degree of automation, which reduces manual intervention and improves the efficiency of pipe loading. Moreover, the arc-shaped material stopper 221 set on the side of the drop platform 22 facing the positioning mechanism 30 can effectively guide the movement direction of the material pipe, ensuring that the material pipe accurately falls into the material pipe slot along the material stopper 221 under the action of the pushing assembly. In addition, the arc design fits the movement trajectory of the material pipe, reduces the collision and offset of the material pipe during the transfer process, improves the accuracy of the material pipe placement, and is conducive to the subsequent positioning mechanism 30 to accurately detect and process the material pipe.

[0044] In this embodiment, the angle between the blanking platform 22 and the upper tube support 21 is 90 degrees.

[0045] In this embodiment, the silo assembly 23 includes an upper tube box 233 and a material shortage detection sensor (not shown). The upper tube box 233 is used to load material tubes, and the material shortage detection sensor is arranged at the bottom of the upper tube box 233.

[0046] Specifically, a pushing groove 231 is provided on the upper tube material box 233 , and a first installation groove 232 is formed between the upper tube material box 233 and the upper tube bracket 21 .

[0047] In this embodiment, the lifting component 24 includes a lifting drive component 241, a first-level pushing plate 242 and a second-level pushing plate 243. The lifting drive component 241 is installed in the first installation groove 232, the first-level pushing plate 242 is connected to the lifting drive component 241, and the second-level pushing plate 243 is arranged on the first-level pushing plate 242. There is a height difference between the first-level pushing plate 242 and the second-level pushing plate 243. The width of the first-level pushing plate 242 is adapted to the material tube, and only 1 to 2 material tubes can be pushed at a time. The extra material tubes will fall from the first-level pushing plate 242. When the material tube falls, it is easy to cause the semiconductor device in the material tube to fall out. By setting the first-level pushing plate 242 and the second-level pushing plate 243, the drop of the material tube from the first-level pushing plate 242 back to the silo component 23 can be reduced.

[0048] In this embodiment, the lifting drive component 241 is a combination of a motor and a screw transmission structure. In other embodiments, the lifting drive component 241 can also be set as an electric push rod component or a cylinder component, as long as it can drive the first-level push plate 242 and the second-level push plate 243 to push the material pipe to the conveying component 25.

[0049] In this embodiment, second mounting grooves 222 are respectively provided at both ends of the blanking platform 22 facing the conveying component 25. The conveying component 25 includes a rotating shaft driving member 251, a rotating shaft 252, a first synchronous belt structure 253 and a second synchronous belt structure 254. The rotating shaft driving member 251 is installed on the upper tube bracket 21, and the rotating shaft 252 is rotatably installed on the upper tube bracket 21 and is transmission-connected with the rotating shaft driving member 251. The first synchronous belt structure 253 and the second synchronous belt structure 254 are respectively provided at both ends of the rotating shaft 252 and are located in the second mounting groove 22. The conveying ends of the first synchronous belt structure 253 and the second synchronous belt structure 254 are both higher than the blanking platform 22. The rotating shaft 252 is driven to rotate by the rotating shaft driving member 251, thereby simultaneously driving the first synchronous belt structure 253 and the second synchronous belt structure 254 to perform conveying operations, thereby conveying the material tube pushed by the lifting component 24 to the blanking platform 22.

[0050] In this embodiment, the shaft driving member 251 is a rotary motor, which can be directly disposed at one end of the shaft 252 and connected to the shaft 252 via a coupling, or can be connected to the shaft 252 via a transmission structure such as a sprocket.

[0051] In this embodiment, the first synchronous belt structure 253 includes a synchronous belt adjustment plate 2531, a driving wheel 2532, a driven wheel 2533 and a synchronous belt 2534. The synchronous belt adjustment plate 2531 is installed on the upper tube bracket 21 at an upward tilt and is located in the second installation groove 222. The end of the synchronous belt adjustment plate 2531 is higher than the blanking platform 22. The driving wheel 2532 is installed on the rotating shaft 252, and the driven wheel 2533 is installed at the end of the synchronous belt adjustment plate 2531. The synchronous belt 2534 is arranged around the driving wheel 2532 and the driven wheel 2533. The structure of the second synchronous belt structure 254 is the same as that of the first synchronous belt structure 253.

[0052] In this embodiment, the synchronous belt adjustment plate 2531 is detachably mounted on the upper tube bracket 21, and the inclination angle of the first synchronous belt structure 253 and the inclination angle of the second synchronous belt structure 254 can be adjusted by adjusting the installation angle of the synchronous belt adjustment plate 2531. In the production process, it may be necessary to process material pipes of different sizes, weights or characteristics. By adjusting the installation angle of the synchronous belt adjustment plate 2531, the inclination angle of the first synchronous belt structure 253 and the inclination angle of the second synchronous belt structure 254 can be adapted to the conveying requirements of different material pipes.

[0053] In this embodiment, the pushing assembly includes two pushing cylinders 26, which are respectively arranged on both sides of the material drop platform 22. The two pushing cylinders 26 are used to transfer the material pipe from the material drop platform 22 to the material pipe groove of the positioning mechanism 30 from both ends of the material pipe in turn.

[0054] In other embodiments, the pushing assembly is only provided with one pushing cylinder 26, and the pushing cylinder 26 is arranged below the middle part of the material dropping platform 22. A through hole is provided in the middle part of the material dropping platform 22 to facilitate the contact between the pushing cylinder 26 and the material pipe, thereby lifting the material pipe and causing the material pipe to fall into the material pipe groove along the material blocking portion 221.

[0055] See also Figure 1 and Figure 5 As shown, in this embodiment, exemplarily, the pipe moving mechanism 40 includes a clamping jaw assembly 41, a lifting drive module 42 and a horizontal drive module 43. The clamping jaw assembly 41 is installed on the lifting drive module 42. The clamping jaw assembly 41 is used to grab the material pipe. The lifting drive module 42 is installed on the horizontal drive module 43, and is used to drive the clamping jaw assembly 41 to move up and down relative to the positioning platform 31. The horizontal drive module 43 is installed on the frame 10, and is used to drive the lifting drive module 42 to drive the clamping jaw assembly 41 to move in the horizontal direction, so as to remove the reversed material pipe and place it in the feeding pipe clamp of the production equipment. Through the cooperation of the clamping jaw assembly 41, the lifting drive module 42 and the horizontal drive module 43, the operations such as grabbing, moving and placing the material pipe can be automatically completed, reducing manual intervention, improving the level of production automation, reducing labor costs and labor intensity, and at the same time improving the stability and consistency of production.

[0056] In this embodiment, the clamp assembly 41 includes a clamp fixing plate 411, a first clamp 412 and a second clamp 413. The first clamp 412 and the second clamp 413 are respectively arranged at two ends of the clamp fixing plate 411. The symmetrical distribution of the double clamps can balance the clamping force and reduce the deviation or tilt of the material tube caused by uneven force during the clamping process.

[0057] In other embodiments, only one clamping jaw may be provided, and the clamping jaw is provided in the middle of the clamping jaw fixing plate 411. The single clamping jaw can reduce mechanical failure points and lower maintenance and replacement costs.

[0058] Furthermore, the tube transferring mechanism 40 also includes a tube placing sensing seat 44 and a tube placing sensor 45 arranged on the tube placing sensing seat 44. The tube placing sensing seat 44 is arranged on the clamp fixing plate 411. The tube placing sensor 45 is used to sense the position of the material tube in the feeding tube clamp of the production equipment. By setting the tube placing sensor 45, the position of the material tube in the feeding tube clamp of the production equipment can be sensed in real time, ensuring that the tube transferring mechanism 40 can accurately place the material tube clamped by the clamp assembly 41 into the feeding tube clamp, avoiding the material tube from being misplaced or falling due to position deviation, thereby improving production stability and product quality.

[0059] Specifically, the height of the tube release sensor 45 is slightly lower than the height of the first clamp 412 and the second clamp 413. The tube release sensor 45 is a diffuse reflection photoelectric sensor. The feeding tube clamp of the production equipment stacks the material tubes from bottom to top. When the clamp assembly 41 moves to the top of the feeding tube clamp of the production equipment, the transmitting end of the diffuse reflection photoelectric sensor emits an optical fiber, and the light is irradiated to the surface of the material tube in the feeding tube clamp of the production equipment. Part of the light will be reflected back and received by the receiving end of the diffuse reflection photoelectric sensor. The receiving end of the diffuse reflection photoelectric sensor sends different state electrical signal states according to the intensity of the received light signal, so as to judge the position of the material tube in the feeding tube clamp of the production equipment. The lifting drive module 42 can drive the clamp assembly 41 to descend to the corresponding position according to the position of the material tube in the feeding tube clamp of the production equipment, so as to place the material tube clamped by the clamp assembly 41 into the feeding tube clamp of the production equipment.

[0060] Furthermore, the pipe transferring mechanism 40 also includes a material sticking sensor 46, which is arranged on the clamp fixing plate 411 and is used to sense the material pipe on the positioning mechanism 30. By setting the material sticking sensor 46, it is possible to monitor in real time whether there is a material pipe on the positioning mechanism 30 and the position status of the material pipe. Once the material pipe is placed on the positioning mechanism 30, the material sticking sensor 46 can quickly sense it, providing a signal basis for subsequent pipe transferring operations, ensuring that the pipe transferring mechanism 40 only performs a grabbing action when there is material, avoiding invalid operations such as empty grabbing.

[0061] Specifically, the material jam sensor 46 may be a photoelectric sensor or a proximity sensor.

[0062] In this embodiment, the lifting drive module 42 includes a lifting drive component 421, a lifting mounting plate 422 and a lifting movable plate 423. The lifting drive component 421 is installed on the horizontal driving module 43. The lifting movable plate 423 is slidably set on the lifting mounting plate 422, and a tension spring (not shown) is set between the lifting movable plate 423 and the lifting mounting plate 422. The lifting drive component 421 is connected to the lifting mounting plate 422, and is used to drive the lifting mounting plate 422 to drive the lifting movable plate 423 to move up and down relative to the positioning platform 31. By setting a tension spring between the lifting movable plate 423 and the lifting mounting plate 422, a buffering effect can be achieved.

[0063] In this embodiment, the lifting drive component 421 is a combination of a motor and a screw transmission structure. In other embodiments, the lifting drive component 421 can also be set as an electric push rod component or a cylinder component, as long as it can drive the lifting mounting plate 422 to drive the lifting movable plate 423 to move up and down relative to the positioning platform 31.

[0064] In this embodiment, the lifting drive module 42 also includes a lifting connecting plate 424, and the horizontal drive module 43 includes a horizontal drive cylinder 431 and a horizontal drive connecting plate 432. The horizontal drive cylinder 431 is installed on the frame 10, and the output end of the horizontal drive cylinder 431 is connected to the lifting connecting plate 424. The horizontal drive connecting plate 432 is connected to the lifting connecting plate 424, and the horizontal drive connecting plate 432 is slidably set on the frame 10. The lifting drive module 42 is driven by the extension and retraction of the horizontal drive cylinder 431 to drive the clamping jaw assembly 41 to move in the horizontal direction. The driving method is simple and reliable.

[0065] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An automatic pipe loading device, characterized in that: The invention comprises a frame, an upper tube mechanism, a positioning mechanism and a tube moving mechanism, wherein the positioning mechanism comprises a positioning platform, a reversing positioning block, a first tube-dropping stop block, a second tube-dropping stop block, a tube-in-place sensing component and a reversing component, wherein the positioning platform is mounted on the frame, the reversing positioning block, the first tube-dropping stop block and the second tube-dropping stop block are respectively mounted on the positioning platform, the first tube-dropping stop block and the second tube-dropping stop block are respectively arranged on both sides of the reversing positioning block, a tube groove is formed between the reversing positioning block, the first tube-dropping stop block and the second tube-dropping stop block, and the upper tube mechanism is used to place the tube in the position where the tube is to be moved. In the material pipe groove, the bottom of the reversing positioning block, the front side of the first drop tube limit block and the rear side of the second drop tube limit block are respectively provided with detection optical fibers, the reversing assembly includes a reversing block, a reversing rotating drive, a reversing moving drive and a reversing baffle, the reversing block is provided with a clamping groove adapted to the material pipe, the reversing block is connected to the reversing rotating drive, the reversing rotating drive is arranged on the reversing moving drive, the reversing baffle and the reversing moving drive are respectively arranged at both ends of the positioning platform, and the pipe moving mechanism is used to take away the reversed material pipe and place it in the feeding pipe clamp of the production equipment.

2. The automatic pipe loading device according to claim 1, characterized in that: The positioning mechanism also includes a material pipe in place sensing component installed on the positioning platform, and two material pipe in place sensing components are provided. The two material pipe in place sensing components are respectively arranged on both sides of the reversing positioning block and are located between the first drop tube limit block and the second drop tube limit block. The material pipe in place sensing component includes a material pipe in place sensing seat and a material pipe in place sensor. The material pipe in place sensor is located beside the material pipe groove, and an auxiliary positioning platform is formed between the material pipe in place sensing seat and the material pipe in place sensor.

3. The automatic pipe loading device according to claim 1, characterized in that: The positioning mechanism also includes a lifting structure, which is installed on the side of the positioning platform and is located below the material pipe groove. The lifting structure is used to lift the material pipe placed in the material pipe groove so that the material pipe is placed flat on the reversing positioning block.

4. The automatic pipe loading device according to claim 1, characterized in that: The upper tube mechanism comprises an upper tube support, a material dropping platform, a silo assembly, a lifting assembly, a conveying assembly and a pushing assembly, the upper tube support is obliquely installed on the frame, the material dropping platform is installed on the upper tube support in a direction toward the positioning platform and obliquely downward, the material dropping platform is provided with a material stopping portion on the side facing the positioning mechanism, the material stopping portion is an arc-shaped material stopping portion, the silo assembly is arranged on the upper tube support, the material pushing groove is arranged on the silo assembly, and a first mounting groove is formed between the silo assembly and the upper tube support, the lifting assembly is used for pushing the material pipe in the silo assembly to the conveying assembly in sequence, the conveying assembly is installed in the first mounting groove, and the conveying end of the conveying assembly is higher than the material dropping platform, the pushing assembly is installed on the upper tube support and is located below the material dropping platform, and the pushing assembly is used for making the material pipe fall from the material dropping platform along the material stopping portion into the material pipe groove.

5. The automatic pipe loading device according to claim 4, characterized in that: The lifting assembly includes a lifting drive assembly, a first-level push plate and a second-level push plate. The lifting drive assembly is installed in the first installation groove. The first-level push plate is connected to the lifting drive assembly. The second-level push plate is arranged on the first-level push plate. There is a height difference between the first-level push plate and the second-level push plate. The pushing assembly includes two pushing cylinders. The two pushing cylinders are respectively arranged on both sides of the blanking platform. The two pushing cylinders are used to transfer the material pipe from the blanking platform to the material pipe groove in sequence from both ends of the material pipe.

6. The automatic pipe loading device according to claim 4, characterized in that: The two ends of the blanking platform facing the conveying assembly are respectively provided with second mounting grooves, and the conveying assembly includes a rotating shaft driving member, a rotating shaft, a first synchronous belt structure and a second synchronous belt structure, the rotating shaft driving member is installed on the upper tube bracket, the rotating shaft is rotatably installed on the upper tube bracket and is transmission-connected with the rotating shaft driving member, the first synchronous belt structure and the second synchronous belt structure are respectively provided at the two ends of the rotating shaft and are located in the second mounting groove, and the conveying end of the first synchronous belt structure and the conveying end of the second synchronous belt structure are both higher than the blanking platform.

7. The automatic pipe loading device according to claim 6, characterized in that: The first synchronous belt structure includes a synchronous belt adjustment plate, a driving wheel, a driven wheel and a synchronous belt. The synchronous belt adjustment plate is installed on the upper tube bracket at an upward tilt and is located in the second installation groove. The end of the synchronous belt adjustment plate is higher than the blanking platform. The driving wheel is installed on the rotating shaft, and the driven wheel is installed at the end of the synchronous belt adjustment plate. The synchronous belt is arranged around the driving wheel and the driven wheel. The structure of the second synchronous belt structure is the same as that of the first synchronous belt structure.

8. The automatic pipe loading device according to claim 1, characterized in that: The pipe moving mechanism includes a clamping jaw assembly, a lifting drive module and a horizontal drive module. The clamping jaw assembly is installed on the lifting drive module. The clamping jaw assembly is used to grab the material pipe. The lifting drive module is installed on the horizontal drive module and is used to drive the clamping jaw assembly to move up and down relative to the positioning platform. The horizontal drive module is installed on the frame and is used to drive the lifting drive module to drive the clamping jaw assembly to move in the horizontal direction so as to remove the reversed material pipe and place it in the feeding pipe clamp of the production equipment.

9. The automatic pipe loading device according to claim 8, characterized in that: The clamp assembly includes a clamp fixing plate, a first clamp and a second clamp, the first clamp and the second clamp are respectively arranged at two ends of the clamp fixing plate, the pipe moving mechanism also includes a pipe release sensing seat, a pipe release sensor and a material jamming sensor, the pipe release sensing seat and the material jamming sensor are both arranged on the clamp fixing plate, and the pipe release sensor is arranged on the pipe release sensing seat.

10. The automatic pipe loading device according to claim 8, characterized in that: The lifting drive module includes a lifting drive component, a lifting mounting plate, a lifting movable plate and a lifting connecting plate. The lifting drive component is installed on the lifting connecting plate. The lifting movable plate is slidably arranged on the lifting mounting plate, and a tension spring is arranged between the lifting movable plate and the lifting mounting plate. The lifting drive component is connected to the lifting mounting plate and is used to drive the lifting mounting plate to drive the lifting movable plate to move up and down relative to the positioning platform. The horizontal driving module includes a horizontal driving cylinder and a horizontal driving connecting plate. The horizontal driving cylinder is installed on the frame, and the output end of the horizontal driving cylinder is connected to the lifting connecting plate. The horizontal driving connecting plate is connected to the lifting connecting plate, and the horizontal driving connecting plate is slidably arranged on the frame.

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