Automatic pipe loading device

Abstract

The present invention is applicable to the semiconductor field and discloses an automatic pipe loading device, including a frame, a pipe loading mechanism, a positioning mechanism and a pipe transferring mechanism. The positioning mechanism includes a positioning platform, a reversing positioning block, a first pipe drop limit block, a second pipe drop limit block, a pipe in-place sensing component and a reversing component. The positioning platform is installed on the frame, and the reversing positioning block, the first pipe drop limit block and the second pipe drop limit block are respectively installed on the positioning platform. A pipe groove is formed between the reversing positioning block, the first pipe drop limit block and the second pipe drop limit block. The pipe loading mechanism is used to place the pipe in the pipe groove. The bottom of the reversing positioning block, the front side of the first pipe drop limit block and the rear side of the second pipe drop limit block are respectively provided with detection optical fibers. The reversing component is used to reverse the pipe. The pipe transferring mechanism takes away the reversed pipe and places it in the pipe loading clamp of the production equipment, realizing the automation of the entire process from pipe supply, direction detection and adjustment to final placement on the production equipment.

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] Semiconductor device feed tubes play a crucial role in the semiconductor manufacturing process, their primary function being to protect semiconductor devices (chips) from physical damage and environmental contamination throughout the production process. Typically, feed tubes are carefully crafted from plastic or other non-conductive materials to prevent electrostatic damage to the semiconductor devices while ensuring safety and stability during transportation and production handling. The design of the feed tube must not only consider the protection of the semiconductor devices but also be compatible with the automated operations in the semiconductor production process to improve production efficiency and quality control.

[0003] However, current semiconductor production processes still face several issues that hinder production efficiency. The placement of material tubes on many production equipment still relies on manual labor. Because the tubes must be placed in a specific direction (up and down), operators must accurately identify and position them correctly. This demanding task can easily lead to misplaced tubes due to negligence, disrupting subsequent production steps and potentially damaging semiconductor devices. Furthermore, some production equipment utilizes gravity-fed loading systems, requiring the tubes to be placed above the equipment or at a relatively high position. To complete this loading operation, operators must climb multiple steps to place the tubes. This is not only time-consuming and tiring, but also increases operator complexity and risk, significantly impacting 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 pipe loading device, which realizes the automation of the entire process from material pipe supply, direction detection and adjustment to final placement on production equipment.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] An automatic pipe loading device comprises a frame, a pipe loading mechanism, a positioning mechanism and a pipe moving mechanism, the positioning mechanism comprises a positioning platform, a reversing positioning block, a first pipe drop limit block, a second pipe drop limit block, a pipe in place sensing component and a reversing component, the positioning platform is mounted on the frame, the reversing positioning block, the first pipe drop limit block and the second pipe drop limit block are respectively mounted on the positioning platform, the first pipe drop limit block and the second pipe drop limit block are respectively arranged on both sides of the reversing positioning block, a pipe groove is formed between the reversing positioning block, the first pipe drop limit block and the second pipe drop limit 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 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 tube, the reversing block is connected to the reversing rotating drive, the reversing rotating drive is provided on the reversing moving drive, the reversing baffle and the reversing moving drive are respectively provided 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.

[0008] 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 next to 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.

[0009] Preferably, the positioning mechanism further includes a lifting structure, which is installed on the side of the positioning platform and 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.

[0010] Preferably, the upper tube mechanism includes an upper tube support, a blanking platform, a hopper assembly, a lifting assembly, a conveying assembly and a pushing assembly, the upper tube support is obliquely installed on the frame, the blanking platform is obliquely installed on the upper tube support toward the direction of the positioning platform, a material stop portion is provided on the side of the blanking platform facing the positioning mechanism, the material stop portion is an arc-shaped material stop portion, the hopper assembly is arranged on the upper tube support, a pushing trough is provided on the hopper assembly, and a first mounting groove is formed between the hopper assembly and the upper tube support, the lifting assembly is used to push the material pipe in the hopper 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 blanking platform, the pushing assembly is installed on the upper tube support and is located below the blanking platform, and the pushing assembly is used to make the material pipe fall from the blanking platform along the material stop portion into the material pipe trough.

[0011] 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. 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.

[0012] Preferably, a second mounting groove is respectively provided at both ends of the blanking platform on one side facing the conveying assembly, and the conveying assembly includes a rotating shaft drive, a rotating shaft, a first synchronous belt structure and a second synchronous belt structure. The rotating shaft drive is installed on the upper tube bracket, and the rotating shaft is rotatably installed on the upper tube bracket and is transmission-connected to the rotating shaft drive. 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. 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.

[0013] 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.

[0014] Preferably, the pipe transferring 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 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 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 loading pipe clamp of the production equipment.

[0015] 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 both 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 clamping sensor, the pipe release sensing seat and the material clamping sensor are both arranged on the clamp fixing plate, and the pipe release sensor is arranged on the pipe release sensing seat.

[0016] Preferably, the lifting drive module includes a lifting drive assembly, a lifting mounting plate, a lifting movable plate and a lifting connecting plate, the lifting drive assembly 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 assembly 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.

[0017] The automatic pipe loading device provided by the present invention includes a pipe loading mechanism, a positioning mechanism and a pipe transferring mechanism. The pipe loading mechanism places the material pipe in the material pipe groove of the positioning mechanism, and the positioning mechanism 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 reversed material pipe is taken away by the pipe transferring mechanism and placed in the pipe loading 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

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0019] Figure 1 This is a schematic diagram of the structure of the automatic tube loading device provided by the embodiment of the present invention. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the structure of the automatic tube loading device provided by the embodiment of the present invention. Figure 2 ;

[0021] Figure 3 1 is a structural diagram of an upper tube mechanism provided by an embodiment of the present invention;

[0022] Figure 4 is a structural diagram of a positioning mechanism provided by an embodiment of the present invention;

[0023] Figure 5 It is a structural schematic diagram of the pipe transfer mechanism provided in an embodiment of the present invention.

[0024] Description of Figure Numbers:

[0025] 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. Stopper; 222. Second mounting slot; 23. Hopper assembly; 231. Pushing slot; 232. First mounting slot; 233. Upper tube box; 24. Lift Lifting assembly; 241, lifting drive assembly; 242, first push plate; 243, second 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 level 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 rotation drive member; 353, reversing movement 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. Gripper assembly; 411. Gripper fixing plate; 412. First gripper; 413. Second gripper; 42. Lifting drive module; 421. Lifting drive assembly; 422. Lifting mounting plate; 423. Lifting movable plate; 424. Lifting connecting plate; 43. Horizontal drive module; 431. Horizontal drive cylinder; 432. Horizontal drive connecting plate; 44. Tube release sensor seat; 45. Tube release sensor; 46. Material jam sensor. DETAILED DESCRIPTION

[0026] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0027] 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 various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] 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. 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.

[0029] In addition, the descriptions of "first", "second", etc. in the present invention are for descriptive purposes only and should not 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" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0030] like Figures 1 to 5 As shown, it is an automatic pipe loading device according to an embodiment of the present invention.

[0031] See also Figure 1-Figure 5 The automatic pipe loading device of the embodiment of the present invention includes a frame 10, a pipe loading mechanism 20, a positioning mechanism 30 and a pipe moving mechanism 40. The positioning mechanism 30 includes a positioning platform 31, a reversing positioning block 32, a first pipe drop limit block 33, a second pipe drop limit block 34, a pipe in-place sensing component 36 and a reversing component 35. The positioning platform 31 is installed on the frame 10, the reversing positioning block 32, the first pipe drop limit block 33 and the second pipe drop limit block 34 are respectively installed on the positioning platform 31, the first pipe drop limit block 33 and the second pipe drop limit block 34 are respectively arranged on both sides of the reversing positioning block 32, and a pipe groove (not shown) is formed between the reversing positioning block 32, the first pipe drop limit block 33 and the second pipe drop limit block 34. The pipe loading mechanism 20 is used to The material pipe is placed in the material pipe groove, and the bottom of the reversing positioning block 32, the front side of the first drop pipe limit block 33 and the rear side of the second drop pipe 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, and 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 reversed material pipe and places it in the feeding pipe clamp of the production equipment.

[0032] In this embodiment, semiconductor devices are loaded into a material tube, which is then fed to a tube loading clamp of a production device by an automatic tube loading device for easy packaging and other operations.

[0033] The working principle of the automatic tube loading device of this embodiment is as follows:

[0034] 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 drive 353. The reversing block 351 is inserted into the material tube and is limited by the reversing baffle 354. Then, the reversing rotating drive 352 drives the reversing block 351 to rotate until the material tube rotates to the correct direction. The reversing moving drive 353 drives the reversing block 351 to reset, thereby disengaging the reversing block 351 from the material tube and completing the reversing operation. Finally, the tube transferring mechanism 40 takes away the reversed material tube and places it in the tube loading clamp of the production equipment.

[0035] 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.

[0036] During actual operation, the signal processing unit receives electrical signals from the three detection optical fibers in real time and compares them with a reference model. An algorithm calculates the difference between the actual and reference signals. For example, if the light intensity distribution or reflected light angle detected at a particular location differs significantly from the reference model, it indicates that the pipe's orientation at that location has deviated. Finally, a comprehensive judgment is made based on the analysis results of the detection signals from the three locations. If the signals at all three locations match the reference model or the deviations are within the allowable range, the pipe's orientation is determined to be correct. If the signal deviations at one or more locations exceed the range, the pipe's orientation is determined to be incorrect, along with the possible direction and degree of deviation, based on the specific circumstances and combination of the deviations.

[0037] 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 loading device more compact and reduces the space occupied.

[0038] 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 .

[0039] Optionally, a running wheel 17 is provided at the bottom of the base 11. The running wheel 17 facilitates the movement of the automatic tube loading device.

[0040] The automatic pipe loading device provided by 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, and the positioning mechanism 30 detects the material pipe. When the direction of the material pipe is incorrect, it performs a reversal operation to unify the direction of the material pipe. Finally, the reversed 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.

[0041] See also Figure 1 and Figure 4 As shown, in this embodiment, illustratively, the positioning mechanism 30 also includes a material pipe in place sensing component 36 installed on the positioning platform 31. Two material pipe in place sensing components 36 are provided. The two material pipe in place sensing components 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 component 36 includes a material pipe in place sensing seat 361 and a material pipe in place sensor 362. The material pipe in place sensor 362 is located next to the material pipe groove. 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.

[0042] In other embodiments, only one material pipe position sensing assembly 36 may be provided.

[0043] In this embodiment, the material tube 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.

[0044] When a material tube is sensed, the direction of the material tube is detected through the detection optical fiber.

[0045] Specifically, the material tube arrival sensor 362 may be a photoelectric sensor or a proximity sensor.

[0046] 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.

[0047] 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 to ensure that the material pipe falls flat on the material pipe in place sensing seat 361 .

[0048] 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 are used to 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 353. The reversing block 351 is inserted into the material pipe and is limited by the reversing baffle 354. Then, the reversing rotating drive 352 drives the reversing block 351 to rotate until the material pipe rotates to the correct direction. The reversing moving drive 353 drives the reversing block 351 to reset, thereby separating the reversing block 351 from the material pipe and completing the reversing operation.

[0049] See also Figure 1-Figure 3As shown, in this embodiment, for example, 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 installed obliquely on the frame 10, and the material drop platform 22 is installed on the upper tube bracket 21 in a downward direction toward the positioning platform 31. A material stopper 221 is provided on the side of the material drop platform 22 facing the positioning mechanism 30. The material stopper 221 is an arc-shaped material stopper. The silo assembly 23 is provided 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.

[0050] In this embodiment, the hopper 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 transported back and forth by the synchronous belt 2534, which can separate the material pipes (stacked pipes) that are stuck together. Finally, the pushing assembly transfers the material pipes one by one from the blanking platform 22 to the material pipe slot of the positioning mechanism 30. 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 stop 221 provided on the side of the blanking platform 22 facing the positioning mechanism 30 can effectively guide the movement direction of the material pipe, ensuring that the material pipe accurately falls along the material stop 221 into the material pipe slot under the action of the pushing assembly. In addition, the arc-shaped design fits the movement trajectory of the material pipe, reducing the collision and offset of the material pipe during the transfer process, improving the accuracy of the material pipe placement, and facilitating the subsequent accurate detection and processing of the material pipe by the positioning mechanism 30.

[0051] In this embodiment, the angle between the blanking platform 22 and the upper tube support 21 is 90 degrees.

[0052] 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.

[0053] 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 .

[0054] In this embodiment, the lifting assembly 24 includes a lifting drive assembly 241, a first-level pushing plate 242 and a second-level pushing plate 243. The lifting drive assembly 241 is installed in the first installation groove 232, the first-level pushing plate 242 is connected to the lifting drive assembly 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 assembly 23 can be reduced.

[0055] In this embodiment, the lifting drive assembly 241 is a combination of a motor and a screw transmission structure. In other embodiments, the lifting drive assembly 241 can also be set as an electric push rod assembly or a cylinder assembly, 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 assembly 25.

[0056] 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 drive 251, a rotating shaft 252, a first synchronous belt structure 253 and a second synchronous belt structure 254. The rotating shaft drive 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 to the rotating shaft drive 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 drive 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 pipe pushed by the lifting component 24 to the blanking platform 22.

[0057] In this embodiment, the shaft driving member 251 is a rotary motor, which can be directly set at one end of the shaft 252 and connected to the shaft 252 through a coupling, or can be connected to the shaft 252 through a transmission structure such as a sprocket.

[0058] 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.

[0059] In this embodiment, the timing belt adjustment plate 2531 is removably mounted on the upper tube bracket 21. Adjusting the mounting angle of the timing belt adjustment plate 2531 allows the inclination angle of the first timing belt structure 253 and the inclination angle of the second timing belt structure 254 to be adjusted. During the production process, it may be necessary to process pipes of varying sizes, weights, or characteristics. By adjusting the mounting angle of the timing belt adjustment plate 2531, the inclination angles of the first timing belt structure 253 and the second timing belt structure 254 can be adapted to the conveying requirements of different pipes.

[0060] In this embodiment, the pushing assembly includes two pushing cylinders 26, which are respectively arranged on both sides of the blanking platform 22. The two pushing cylinders 26 are used to transfer the material pipe from the blanking platform 22 to the material pipe groove of the positioning mechanism 30 from both ends of the material pipe in sequence.

[0061] In other embodiments, the pushing assembly is only provided with one pushing cylinder 26, which is arranged below the middle of the blanking platform 22. A through hole is provided in the middle of the blanking 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 along the material blocking portion 221 into the material pipe groove.

[0062] See also Figure 1 and Figure 5 As shown, in this embodiment, for example, the pipe transferring 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 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 to drive the lifting drive module 42 to drive the clamping jaw assembly 41 to move in the horizontal direction 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, 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 production stability and consistency.

[0063] In this embodiment, the clamping jaw assembly 41 includes a clamping jaw fixing plate 411, a first clamping jaw 412 and a second clamping jaw 413. The first clamping jaw 412 and the second clamping jaw 413 are respectively arranged at both ends of the clamping jaw fixing plate 411. The symmetrical distribution of the double clamping jaws can balance the clamping force and reduce the deviation or tilt of the material tube caused by uneven force during the clamping process.

[0064] 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 . A single clamping jaw can reduce mechanical failure points and reduce maintenance and replacement costs.

[0065] Furthermore, the pipe transferring mechanism 40 also includes a pipe placing sensing seat 44 and a pipe placing sensor 45 arranged on the pipe placing sensing seat 44. The pipe placing sensing seat 44 is arranged on the clamp fixing plate 411. The pipe placing sensor 45 is used to sense the position of the material pipe in the loading pipe clamp of the production equipment. By setting the pipe placing sensor 45, the position of the material pipe in the loading pipe clamp of the production equipment can be sensed in real time to ensure that the pipe transferring mechanism 40 can accurately place the material pipe clamped by the clamp assembly 41 into the loading pipe clamp, thereby avoiding the material pipe being misplaced or falling due to position deviation, thereby improving production stability and product quality.

[0066] Specifically, the height of the tube release sensor 45 is slightly lower than the height of the first clamping jaw 412 and the second clamping jaw 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 clamping jaw 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, thereby judging the position of the material tube in the feeding tube clamp of the production equipment. The lifting drive module 42 can drive the clamping jaw 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, thereby placing the material tube clamped by the clamping jaw assembly 41 into the feeding tube clamp of the production equipment.

[0067] 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.

[0068] Specifically, the material jam sensor 46 may be a photoelectric sensor or a proximity sensor.

[0069] 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 drive module 43. The lifting movable plate 423 is slidably set on the lifting mounting plate 422, and a tension spring (not shown in the figure) is provided 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 providing a tension spring between the lifting movable plate 423 and the lifting mounting plate 422, a buffering effect can be achieved.

[0070] 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.

[0071] 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 claw assembly 41 to move in the horizontal direction. The driving method is simple and reliable.

[0072] 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 transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application 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 present invention relates to a pipe transfer mechanism comprising a frame, an upper pipe mechanism, a positioning mechanism and a pipe transfer mechanism, wherein the positioning mechanism comprises a positioning platform, a reversing positioning block, a first drop pipe limit block, a second drop pipe limit block, a pipe in-place sensing component and a reversing component, the positioning platform is mounted on the frame, the reversing positioning block, the first drop pipe limit block and the second drop pipe limit block are respectively mounted on the positioning platform, the first drop pipe limit block and the second drop pipe limit block are respectively arranged on both sides of the reversing positioning block, a pipe groove is formed between the reversing positioning block, the first drop pipe limit block and the second drop pipe limit block, the upper pipe mechanism is used to place the pipe in the pipe groove, the bottom of the reversing positioning block, the first drop pipe limit block and the second drop pipe limit block The front side of the tube limit block and the rear side of the second tube limit block are respectively provided with detection optical fibers, the reversing assembly includes a reversing block, a reversing rotary drive, a reversing movable 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 rotary drive, the reversing rotary drive is arranged on the reversing movable drive, the reversing baffle and the reversing movable drive are respectively arranged at both ends of the positioning platform, 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; the upper tube mechanism includes an upper tube bracket, a drop material platform, a silo assembly, a lifting assembly, a conveying assembly and a pushing assembly, the upper tube bracket The lifting assembly is used to push the material pipes in the silo assembly to the conveying assembly in sequence. The conveying assembly is installed in the first installation groove, and the conveying end of the conveying assembly is higher than the blanking platform. The pushing assembly is installed on the upper tube bracket and is located on the blanking platform. The lifting mechanism is a bottom-up mechanism, and the lifting mechanism comprises a lifting mechanism, a first mechanism, a second mechanism, a second mechanism, a second mechanism, a second mechanism, a second mechanism, a third mechanism, a fourth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism, a fifth mechanism,The first synchronous belt structure includes a synchronous belt adjustment plate, a driving pulley, a driven pulley, and a synchronous belt. The synchronous belt adjustment plate is installed on the upper tube bracket at an upward angle and is located in the second installation groove. The end of the synchronous belt adjustment plate is higher than the blanking platform. The driving pulley is installed on the rotating shaft, and the driven pulley is installed on the end of the synchronous belt adjustment plate. The synchronous belt is wrapped around the driving pulley and the driven pulley. The structure of the second synchronous belt structure is the same as that of the first synchronous belt structure.

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. 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 next to 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 lifting assembly includes a lifting drive assembly, a first-level pusher plate and a second-level pusher plate. The lifting drive assembly is installed in the first installation groove. The first-level pusher plate is connected to the lifting drive assembly. The second-level pusher plate is arranged on the first-level pusher plate. There is a height difference between the first-level pusher plate and the second-level pusher 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.

5. The automatic pipe loading device according to claim 1, characterized in that: The pipe moving mechanism includes a clamping claw assembly, a lifting drive module and a horizontal drive module. The clamping claw assembly is installed on the lifting drive module. The clamping claw 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 claw 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 claw assembly to move in the horizontal direction to remove the reversed material pipe and place it in the loading pipe clamp of the production equipment.

6. The automatic pipe loading device according to claim 5, characterized in that: The clamping jaw assembly includes a clamping jaw fixing plate, a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are respectively arranged at both ends of the clamping jaw fixing plate, the pipe moving mechanism also includes a pipe release sensing seat, a pipe release sensor and a material clamping sensor, the pipe release sensing seat and the material clamping sensor are both arranged on the clamping jaw fixing plate, and the pipe release sensor is arranged on the pipe release sensing seat.

7. The automatic pipe loading device according to claim 6, characterized in that: The lifting drive module includes a lifting drive assembly, a lifting mounting plate, a lifting movable plate and a lifting connecting plate. The lifting drive assembly 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 assembly 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.

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