Feeding and discharging equipment and feeding and discharging system

Abstract

The invention discloses feeding and discharging equipment and a feeding and discharging system. The feeding and discharging equipment comprises a rack, a stock bin assembly, a material table assembly, a first execution assembly, a second execution assembly and a board card moving assembly. The stock bin assembly and the material table assembly are sequentially arranged in the Y-axis direction, and the material table assembly is closer to the board card moving assembly. The first execution assembly transfers the material disc between the material bin assembly and the material table assembly. During feeding, the second execution assembly takes and places a chip on a material disc of the material table assembly on a board card, and the board card moving assembly moves in the Y-axis direction and the Z-axis direction so that the board card assembled with the chip can be placed in testing equipment. During discharging, the board card moving assembly moves in the Y-axis direction and the Z-axis direction so as to take out the board card from the testing equipment, and the second execution assembly takes and places a chip on the board card onto a material disc of the material table assembly. According to the feeding and discharging equipment, the feeding and discharging efficiency is improved, and the safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of testing technology, and in particular to a loading and unloading device and a loading and unloading system. Background Art

[0002] During the board testing process, materials need to be loaded into or unloaded from the test equipment.

[0003] Currently, board loading and unloading operations rely on manual labor. However, with the development of the electronics industry, board weights have reached as high as 30 to 50 kilograms, and the maximum loading height exceeds 1.5 meters, exceeding the human operating limit and posing a high risk of personal injury and falling materials. Therefore, the current loading and unloading method is inefficient and unsafe. Summary of the Invention

[0004] The present invention provides a loading and unloading device and a loading and unloading system to solve the technical problems of low efficiency and low safety of loading and unloading methods in related technologies.

[0005] According to one aspect of the present invention, there is provided a loading and unloading device, comprising: a frame, a silo assembly, a material table assembly, a first execution assembly, a second execution assembly, and a board moving assembly;

[0006] The hopper assembly, the platform assembly, the first execution assembly, the second execution assembly, and the board moving assembly are all arranged on the rack, and the hopper assembly and the platform assembly are arranged in sequence along the Y-axis direction, and the platform assembly is closer to the board moving assembly;

[0007] The hopper assembly and the platform assembly are both used to store trays, and the trays are used to store chips; the board moving assembly is used to accommodate boards; the first execution assembly transfers the trays between the hopper assembly and the platform assembly;

[0008] When loading, the second execution component takes the chip on the tray of the material table assembly and places it on the board, and the board moving assembly moves along the Y-axis and Z-axis directions to place the board equipped with the chip in the test equipment; when unloading, the board moving assembly moves along the Y-axis and Z-axis directions to take the board out of the test equipment, and the second execution component takes the chip on the board and places it on the tray of the material table assembly; wherein, the Z-axis direction is the vertical direction, the Y-axis direction is perpendicular to the Z-axis direction, and is the direction away from or close to the test equipment.

[0009] According to one aspect of the present invention, there is provided a loading and unloading system, comprising: a board transfer vehicle and the loading and unloading equipment as described in any of the above embodiments;

[0010] The board transfer vehicle comprises: a vehicle frame, a positioning mechanism, a board guide rail groove, a guide rod, a guide rod connecting plate and a guide rod slide rail;

[0011] The positioning mechanism is provided on the vehicle frame and is used to connect the board transfer vehicle and the loading and unloading equipment;

[0012] The board guide rail groove and the guide rod slide rail are arranged on the frame, the guide of the board guide rail groove and the guide of the guide rod slide rail are both in the Y-axis direction, and the guide rod is slidably arranged on the guide rod slide rail through the guide rod connecting plate;

[0013] The board guide rail groove is provided above the guide rod and the guide rod slide rail, and the board guide rail groove is used to clamp the board so that the board slides along the board guide rail groove;

[0014] A hook rod is provided at one end of the guide rod close to the board hook plate of the board. When the guide rod rotates, the hook rod will drive the rotation and is located in the through hole of the board hook plate, so that when the guide rod moves along the Y-axis direction, the board can be taken out from the loading and unloading equipment or placed on the loading and unloading equipment.

[0015] The technical solution provided by this embodiment, on the one hand, transfers the material tray between the hopper component and the material table component through the first execution component. When loading, the second execution component takes the chip on the material tray of the material table component and places it on the board. The board moving component moves along the Y-axis and Z-axis directions to place the board equipped with the chip in the test equipment. When unloading, the board moving component moves along the Y-axis and Z-axis directions to take the board out of the test equipment, and the second execution component takes the chip on the board and places it on the material tray of the material table component, realizing automatic loading and unloading. Compared with the manual loading and unloading method, it is improved. It improves the loading and unloading efficiency and improves safety; on the other hand, the board moving component can move along the Y-axis and Z-axis directions to match test equipment of different specifications or match different test positions in the test equipment, thereby improving the flexibility of the loading and unloading process; on the other hand, the hopper component and the material table component are arranged in sequence along the Y-axis direction, and the material table component is closer to the board moving component, making the space of the loading and unloading equipment more compact and smaller in size. In addition, this setting method can make the stroke of the second execution component shorter, thereby further improving the loading and unloading efficiency and saving energy.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 these drawings without creative work.

[0018] Figure 1 This is a structural diagram of a loading and unloading device provided by an embodiment of the present invention from one perspective;

[0019] Figure 2 This is a structural schematic diagram of the loading and unloading equipment provided by an embodiment of the present invention from another perspective;

[0020] Figure 3 1. It is a top view of the loading and unloading equipment provided by an embodiment of the present invention;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the silo assembly;

[0022] Figure 5 It is the three-view drawing of the silo assembly;

[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the material table assembly;

[0024] Figure 7 It is the three-view drawing of the material table assembly;

[0025] Figure 8 Schematic diagram of the three-dimensional structure of the Z-axis screw and the Y-axis screw in the first actuator;

[0026] Figure 9 This is the three-view drawing of the Z-axis screw and the Y-axis screw in the first actuator;

[0027] Figure 10 is a schematic diagram of the three-dimensional structure of the first manipulator in the first execution assembly;

[0028] Figure 11 is a three-view diagram of the first manipulator in the first execution assembly;

[0029] Figure 12 is a schematic diagram of the three-dimensional structure of the second execution component;

[0030] Figure 13 It is a three-dimensional structural diagram of the board card entry and exit mechanism in the board card moving assembly;

[0031] Figure 14 It is a three-dimensional view of the board entry and exit mechanism in the board moving assembly;

[0032] Figure 15 This is a structural diagram of the board entry and exit mechanism in the board moving assembly from another perspective;

[0033] Figure 16 It is a schematic diagram of the three-dimensional structure of the second execution component and the board moving component;

[0034] Figure 17 It is a schematic diagram of the three-dimensional structure of the board transfer vehicle.

[0035] Reference numerals:

[0036] 11: rack;

[0037] 12: silo assembly; 121: silo; 1211: silo side panel; 1212: silo bottom panel; 1213: limiter; 1214: first structure;

[0038] 13: Material table assembly; 131: Lower material table bottom plate; 1311: Material table area to be tested; 1312: Material table area that passed the test; 132: Upper material table bottom plate; 1321: Material table area that failed the test; 1322: Third clamping cylinder; 133: Material table support plate;

[0039] 14: First actuator; 141: Z-axis screw; 142: Y-axis screw; 143: First manipulator; 1431: Mounting portion; 1432: Clamping portion; 1433: Manipulator body;

[0040] 15: second actuator; 151: actuator body; 152: second manipulator;

[0041] 16: Board moving assembly; 161: Board entry and exit mechanism; 1611: Board accommodating area; 1612: Board connection plate; 1613: Entry and exit guide rails; 16131: Lower entry and exit guide rails; 16132: Upper entry and exit guide rails; 162: Board lifting mechanism; 1621: Lifting rails;

[0042] 17: Board; 171: Board hook; 18: Material tray; 19: Second structure;

[0043] 21: Frame; 22: Positioning mechanism; 23: Board guide rail groove; 24: Guide rod; 25: Guide rod connecting plate; 26: Guide rod slide rail. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described 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 making creative efforts should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the term "comprising" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] Figure 1 It is a structural schematic diagram of the loading and unloading equipment provided by an embodiment of the present invention from one perspective. Figure 2 It is a structural schematic diagram of the loading and unloading equipment provided by an embodiment of the present invention from another perspective. Figure 3 This is a top view of the loading and unloading equipment provided by an embodiment of the present invention. The loading and unloading equipment provided by this embodiment is used in the application scenario of loading and unloading materials to or from the test equipment. Please also refer to Figures 1 to 3 The loading and unloading equipment provided in this embodiment includes: a frame 11, a hopper assembly 12, a material platform assembly 13, a first execution assembly 14, a second execution assembly 15 and a board moving assembly 16.

[0047] Among them, the hopper assembly 12, the material table assembly 13, the first execution assembly 14, the second execution assembly 15 and the board moving assembly 16 are all arranged on the frame 11. The hopper assembly 12 and the material table assembly 13 are arranged in sequence along the Y-axis direction, and the material table assembly 13 is closer to the board moving assembly 16.

[0048] The hopper assembly 12 and the platform assembly 13 are both used to store trays, which are used to store chips. The board moving assembly 16 is used to accommodate boards 17. The first execution assembly 14 transfers trays between the hopper assembly 12 and the platform assembly 13.

[0049] During loading, the second actuator assembly 15 removes chips from the tray of the stage assembly 13 and places them on the board 17. The board moving assembly 16 moves along the Y-axis and Z-axis to place the board 17 with the chips mounted on it into the test equipment. During unloading, the board moving assembly 16 moves along the Y-axis and Z-axis to remove the board 17 from the test equipment. The second actuator assembly 15 removes the chips from the board 17 and places them on the tray of the stage assembly 13. The Z-axis is the vertical direction, while the Y-axis is perpendicular to the Z-axis and moves away from or toward the test equipment.

[0050] Optionally, the testing device in this embodiment may be a burn-in testing device.

[0051] In this embodiment, the proximity of the feed table assembly 13 to the board moving assembly 16 means that the distance between the center points of the feed table assembly 13 and the board moving assembly 16 is less than the distance between the center points of the hopper assembly 12 and the board moving assembly 16. This arrangement aims, on the one hand, to make the loading and unloading equipment more compact and reduce its volume. On the other hand, since the second actuator assembly 15 is used to transfer chips between the board 17 and the feed table assembly 13, this arrangement shortens the travel of the second actuator assembly 15, thereby saving energy and improving loading and unloading efficiency.

[0052] It should be noted that in this embodiment, the stroke of the second actuator 15 refers to the distance the second actuator 15 moves a chip during the process of transferring a single chip between the stage assembly and the board 17. Alternatively, the stroke of the second actuator 15 refers to the average distance the second actuator 15 moves a plurality of chips during the process of transferring multiple chips between the stage assembly and the board 17. It will be appreciated that the stroke of the second actuator 15 is shorter when the stage assembly 13 is positioned closer to the board moving assembly 16 than when the hopper assembly 12 is positioned closer to the board moving assembly 16.

[0053] Optionally, both the silo assembly 12 and the stage assembly 13 can store trays to be tested, trays that have passed the test, and trays that have failed the test. During loading, the tray to be tested of the silo assembly 12 stores the chips to be tested. The first execution assembly 14 takes the tray to be tested in the silo assembly 12 and places it on the stage assembly 13. The second execution assembly 15 takes each chip on the tray to be tested of the stage assembly 13 and places it on the board 17. The board moving assembly 16 moves along the Y-axis and Z-axis directions to place the board 17 equipped with chips in the test equipment. During unloading, the board moving assembly 16 moves along the Y-axis and Z-axis directions to remove the board 17 from the test equipment. The second execution assembly 15 takes the chips that have passed the test in the board 17 and places them on the tray that has passed the test in the stage assembly 13, and takes the chips that have failed the test in the board 17 and places them on the tray that has failed the test in the stage assembly 13. During this process, when the trays of test-passed chips in the platform assembly 13 are full, the first execution assembly 14 will take the full trays of test-passed chips from the platform assembly 13 and place them on the silo assembly 12. Similarly, when the trays of test-failed chips in the platform assembly 13 are full, the first execution assembly 14 will take the full trays of test-failed chips from the silo assembly 13 and place them on the silo assembly 12. Therefore, the loading and unloading equipment can load the chips to be tested from the silo assembly into the test equipment, and after the test equipment completes the test, unload them into the trays in the platform assembly, and automatically recycle the trays back into the silo assembly, completing the entire process of chip loading, testing, unloading, and returning to the silo.

[0054] Optionally, during loading, the chips to be tested in the test tray in the silo assembly 12 can be placed into the silo assembly 12 by other equipment or manually. During unloading, the test-passed tray or the test-failed tray in the silo assembly 12 can be taken out by other equipment or manually.

[0055] Optionally, the board in this embodiment may include a socket, which includes a top cover. The second actuator can open and close the socket. When placing a chip on the board, the second actuator 15 can first open the top cover of the socket, then place the chip in the socket, and then close the cover.

[0056] In this embodiment, the Y-axis direction is perpendicular to the Z-axis direction, and is the direction away from or close to the test device, which means that when approaching the test device along the Y-axis direction, the board can be removed from the test device at a suitable height.

[0057] In this embodiment, the board moving assembly can move along the Y-axis and the Z-axis to adapt to test equipment of different heights, or to adapt to different test positions in the test equipment, so as to improve the flexibility of the loading and unloading process.

[0058] The loading and unloading equipment provided in this embodiment, on the one hand, transfers the material tray between the material bin component and the material table component through the first execution component. When loading, the second execution component takes the chip on the material tray of the material table component and places it on the board. The board moving component moves along the Y-axis direction and the Z-axis direction to place the board equipped with the chip in the test equipment. When unloading, the board moving component moves along the Y-axis direction and the Z-axis direction to take the board out of the test equipment, and the second execution component takes the chip on the board and places it on the material tray of the material table component, realizing automatic loading and unloading. Compared with the manual loading and unloading method, it is improved. It improves the loading and unloading efficiency and improves safety; on the other hand, the board moving component can move along the Y-axis and Z-axis directions to match test equipment of different specifications or match different test positions in the test equipment, thereby improving the flexibility of the loading and unloading process; on the other hand, the hopper component and the material table component are arranged in sequence along the Y-axis direction, and the material table component is closer to the board moving component, making the space of the loading and unloading equipment more compact and smaller in size. Moreover, this setting method can make the stroke of the second execution component shorter, thereby further improving the loading and unloading efficiency and saving energy.

[0059] The following describes how the silo assembly is implemented. Figure 4 It is a schematic diagram of the three-dimensional structure of the silo component. Figure 5 These are the three views of the silo assembly. The front view, left view, and top view are as follows: Figure 5 Please also refer to Figure 3 、 Figure 4 as well as Figure 5 The silo assembly includes a plurality of silos 121. The silo 121 includes: a silo side plate 1211, a silo bottom plate 1212 connected to the silo side plate 1211, and a limiting portion 1213 provided on the silo bottom plate 1212. The silo bottom plate 1212 is used to place the material tray 18.

[0060] The purpose of providing the limiting portion 1213 is to prevent the material tray 18 on the material bin bottom plate 1212 from falling, so as to protect the chips in the material tray 18 .

[0061] Optionally, in order to facilitate the placement of a tray into the silo 121 from the outside, or to remove a tray from the silo 121 from the loading and unloading equipment, each silo 121 can be slidably arranged on the frame 11. Figure 4 as well as Figure 5 A first structure 1214 is provided on the side of the silo side plate 1211 away from the silo bottom plate 1212, and a second structure 19 is provided on the frame 11 at a position corresponding to the first structure 1214. The first structure 1214 and the second structure 19 cooperate with each other so that the silo 121 can be slidably provided on the frame 11 along the Y-axis direction, and the silo 121 can extend out of the frame 11 along the Y-axis direction.

[0062] Alternatively, the first structure 1214 may be a protrusion, and the second structure 19 may be a groove. Alternatively, the first structure 1214 may be a groove, and the second structure 19 may be a protrusion. In this embodiment, the hopper 121 can extend out of the frame 11 along the Y-axis, meaning that the hopper 121 can extend beyond the boundaries of the frame 11, so that a material tray can be placed into the hopper 121 or a material tray in the hopper 121 can be removed from the loading and unloading equipment.

[0063] Furthermore, the number of silos 121 is 7. The silo assembly includes: a first silo for storing a first tray to be tested, arranged sequentially along the Z-axis direction, for storing a first test-passed silo for storing a first test-passed silo, a first test-failed silo for storing a first test-failed silo, a second silo for storing a second tray to be tested, a second test-passed silo for storing a second test-passed silo, a second test-failed silo for storing a second test-failed silo, and an empty tray silo. Optionally, these 7 silos 121 can be arranged sequentially along the positive direction of the Z-axis, that is, from bottom to top. Alternatively, these 7 silos 121 can be arranged sequentially along the negative direction of the Z-axis, that is, from top to bottom.

[0064] This implementation of the silo assembly can realize the function of dual-batch serial loading and unloading, thereby improving the efficiency of loading and unloading. The first silo to be tested, the first test-pass silo and the first test-failed silo are used to store the various trays of batch 1. The second silo to be tested, the second test-pass silo and the second test-failed silo are used to store the various trays of batch 2. During the unloading process, after the test-pass tray in the material table assembly is full, the first execution component will transfer the test-pass tray to the corresponding test-pass silo in the silo assembly. At this time, the first execution component needs to transfer the empty tray in the empty tray bin to the position where the test-pass tray is placed in the material table assembly, so that the second execution component can place the test-pass chip in the tray. Similarly, after the test-failed tray in the material table assembly is full, the first execution component will transfer the test-failed tray to the corresponding test-failed silo in the silo assembly. At this time, the first execution component needs to transfer the empty tray in the empty tray bin to the position where the test-failed tray is placed in the material table assembly, so that the second execution component can place the test-failed chip in the tray. Therefore, setting up an empty tray bin can achieve efficient placement of empty trays into the material table assembly, further improving the material unloading efficiency.

[0065] The following describes how to implement the material table component. Figure 6 It is a three-dimensional structural diagram of the material table assembly. Figure 7 These are the three views of the material table assembly. The front view, left view and top view are as follows: Figure 7 Please also refer to Figure 3 、 Figure 6 as well as Figure 7The material platform assembly 13 includes: a lower material platform bottom plate 131, an upper material platform bottom plate 132 and a material platform support plate 133.

[0066] The upper material platform bottom plate 132 is disposed on the lower material platform bottom plate 131 along the Z-axis direction through the material platform support plate 133 .

[0067] The lower material platform bottom plate 131 includes a material platform area 1311 for testing and a material platform area 1312 for passing the test. The material platform area 1311 for testing is used to store material trays for testing, and the material platform area 1312 for passing the test is used to store material trays that have passed the test.

[0068] The upper material platform bottom plate 132 includes a test failure material platform area 1321, and the test failure material platform area 1321 is used to store test failure material trays.

[0069] Optionally, the bottom plate 131 of the lower material table is arranged on the frame.

[0070] In this implementation, by providing two layers of three-station trays in the loading platform assembly, the loading and unloading equipment can be spaced more compactly. Furthermore, during unloading, chips in corresponding states can be placed in corresponding trays, enabling sorting of tested chips. Failed chips are returned to the failed test hopper in the hopper assembly and can be re-inspected during subsequent testing.

[0071] Furthermore, the material table assembly 13 also includes: a lower moving cylinder, an upper moving cylinder, a first clamping cylinder, a second clamping cylinder and a third clamping cylinder 1322.

[0072] The lower moving cylinder is provided on the lower material platform bottom plate 131 and is used to control the material platform area 1311 to move along the X-axis direction so that the material platform area 1311 to be tested is aligned with the silo assembly 12 in the X-axis direction. The X-axis direction is a direction perpendicular to both the Y-axis direction and the Z-axis direction.

[0073] The lower moving cylinder is also used to control the test pass material platform area 1312 to move along the X-axis direction so that the test pass material platform area 1312 is aligned with the silo assembly 12 in the X-axis direction.

[0074] The first clamping cylinder is provided in the material platform area 1311. When the first clamping cylinder is clamped, it is used to fasten the material tray to be tested. When the first clamping cylinder is released, it is used to take out or put in the material tray to be tested.

[0075] The second clamping cylinder is provided in the test pass material platform area 1312. When the second clamping cylinder is clamped, it is used to fasten the test pass material tray. When the second clamping cylinder is released, it is used to take out or put in the test pass material tray.

[0076] The upper moving cylinder is set on the upper material platform bottom plate 132, and the upper moving cylinder is used to control the test failure material platform area 1321 to move along the X-axis direction so that the test failure material platform area 1321 is aligned with the silo assembly 12 in the X-axis direction.

[0077] The third clamping cylinder 1322 is provided in the test failure tray area 1321. When the third clamping cylinder 1322 is clamped, it is used to fasten the test failure tray. When the third clamping cylinder 1322 is released, it is used to take out or put in the test failure tray.

[0078] Optionally, the first clamping cylinder, the second clamping cylinder and the third clamping cylinder in this embodiment can all achieve clamping in both the X-axis direction and the Y-axis direction.

[0079] The alignment of the material platform area 1311 to be tested and the silo assembly 12 in the X-axis direction means that the coordinate values of the material platform area 1311 to be tested and the silo assembly 12 on the X-axis are equal. That is, when the material platform area 1311 to be tested and the silo assembly 12 are aligned in the X-axis direction, the first execution component can control the material tray between the material platform area 1311 to be tested and the silo assembly 12 to move along the Y-axis direction. Similarly, the alignment of the material platform area 1312 to the silo assembly 12 in the X-axis direction after the test is passed means that the coordinate values of the material platform area 1312 to the silo assembly 12 on the X-axis after the test is passed are equal. The alignment of the material platform area 1321 to the silo assembly 12 in the X-axis direction after the test is failed means that the coordinate values of the material platform area 1321 to the silo assembly 12 on the X-axis are equal. This implementation method can reduce the complexity of the first execution component, and at the same time, shorten the stroke of the first execution component, further improving the loading and unloading efficiency. The stroke of the first actuator refers to the distance the first actuator moves a single tray between the hopper assembly and the platform assembly. Alternatively, the stroke of the first actuator refers to the average distance the first actuator moves multiple trays.

[0080] The status of each material table area in the material table assembly includes the following states: the status of placing the material tray to be tested, the status of raising the empty material tray to the material table where the test has passed, the status of raising the empty material tray to the material table where the test has failed, the status of the empty material tray to be tested returning to the warehouse, the status of the full material tray to be tested returning to the warehouse, the status of the material tray to be tested returning to the warehouse, the status of taking out the material from the material tray to be tested and placing the tested chip, and the status of placing the chip that failed the test.

[0081] The following details the working process of the moving cylinder and the clamping cylinder in the material table assembly in each state.

[0082] State of the upper material tray to be tested: The lower moving cylinder of the material table assembly retracts to the negative direction of the X axis (corresponding to Figure 2The first clamping cylinder is released in the X and Y directions, waiting for the first actuator to transfer the material tray to be tested from the hopper assembly to the material table assembly. After the first actuator places the material tray to be tested on the material table area, the first clamping cylinder clamps it.

[0083] Empty the material tray to the test through the material table state: the lower mobile cylinder of the material table assembly extends to the positive direction of the X axis (corresponding to Figure 2 The second clamping cylinder releases in the X and Y directions, waiting for the first actuator to transfer the empty tray from the hopper assembly to the platform assembly. After the first actuator places the empty tray on the test platform area, the second clamping cylinder clamps it.

[0084] Empty tray to test failure stage: The upper moving cylinder of the stage assembly extends in the positive X-axis direction to align the test failure stage area with the hopper assembly in the X-axis direction. The third clamping cylinder releases in the X- and Y-axis directions, waiting for the first actuator to transfer the empty tray from the hopper assembly to the stage assembly. After the first actuator places the empty tray in the test failure stage area, the third clamping cylinder clamps it.

[0085] Empty tray to be tested returns to the silo: The lower moving cylinder of the material table assembly retracts in the negative direction of the X-axis to align the material table area to be tested with the silo assembly in the X-axis direction. The first clamping cylinder releases in the X-axis and Y-axis directions, waiting for the first actuator to move the empty tray to be tested to the empty tray bin of the silo assembly.

[0086] The test-pass material tray is full and returned to the silo: the lower moving cylinder of the material table assembly extends in the positive direction of the X-axis to align the test-pass material table area with the silo assembly in the X-axis direction. The second clamping cylinder is released in the X-axis and Y-axis directions, waiting for the first actuator to move the full test-pass material tray to the test-pass silo of the silo assembly.

[0087] Test failed tray returns to the bin state: the upper moving cylinder of the material table assembly extends in the positive direction of the X-axis to align the test failed material table area with the silo assembly in the X-axis direction, and the third clamping cylinder is released in the X-axis and Y-axis directions, waiting for the first actuator to move the full test failed tray to the test failed silo of the silo assembly.

[0088] Removing chips from the test tray and placing tested chips: The lower moving cylinder of the stage assembly extends in the positive X-axis direction (this is to reduce the stroke of the second actuator). The first clamping cylinder clamps in the X and Y axes, and the second clamping cylinder clamps in the X and Y axes. The second actuator transfers chips from the stage assembly's test tray to the board. The second actuator removes and places tested chips from the board onto the tested tray.

[0089] Failed test chip placement: The upper movable cylinder of the material table assembly extends in the positive X-axis direction (this purpose is also to reduce the stroke of the second actuator). The first clamping cylinder clamps in the X and Y axes, the second clamping cylinder clamps in the X and Y axes, and the third clamping cylinder clamps in the X and Y axes. The second actuator removes the failed test chip from the board and places it in the failed test tray.

[0090] The implementation method of the above-mentioned material platform assembly can reduce the complexity of the first execution assembly, and at the same time, can effectively shorten the stroke of the first execution assembly and the second execution assembly, further improving the loading and unloading efficiency.

[0091] The following describes the implementation of the first execution component. Figure 8 It is a schematic diagram of the three-dimensional structure of the Z-axis screw and the Y-axis screw in the first actuator. Figure 9 This is the three-view drawing of the Z-axis screw and the Y-axis screw in the first actuator. The front view, left view and top view are as follows: Figure 9 As shown in . Figure 10 It is a schematic diagram of the three-dimensional structure of the first manipulator in the first execution component. Figure 11 These are the three views of the first manipulator in the first actuator. The front view, left view, and top view are as follows: Figure 11 Please also refer to Figure 3 、 Figures 8 to 11 The first actuator 14 includes: a Z-axis screw 141, a Z-axis motor, a Y-axis screw 142, a Y-axis motor, a first manipulator 143 and a clamping electric cylinder.

[0092] The Z-axis screw 141 is mounted on the frame 11, with its axis extending along the Z-axis. The Y-axis screw 142 is mounted on the Z-axis screw 141, with its axis extending along the Y-axis. The first manipulator 143 includes a manipulator body 1433, a mounting portion 1431, and a clamping portion 1432. The manipulator body 1433 is mounted on the Y-axis screw 142 via the mounting portion 1431, and the clamping portion 1432 is mounted on the manipulator body 1433.

[0093] The Z-axis motor is used to drive the Z-axis screw 141 so that the Y-axis screw 142 drives the first manipulator 143 to move along the Z-axis direction, and the Y-axis motor is used to drive the Y-axis screw 142 so that the first manipulator 143 moves along the Y-axis direction.

[0094] The clamping electric cylinder is used to control the clamping part 1432 to loosen along the Y-axis direction to grab or place the material tray, and is also used to control the clamping part 1432 to clamp along the Y-axis direction to tighten the material tray.

[0095] It can be understood that based on the above implementation, the first actuator can realize the movement in the Y-axis direction and the Z-axis direction. In the implementation scenario where the silo assembly includes 7 silos, the first actuator can realize the movement in the Y-axis direction and the Z-axis direction to enter each silo as needed to retrieve and place the material tray.

[0096] Taking the example of the first executive component taking and placing the material tray to be measured in the silo assembly into the material table platform as an example, the working process of the first executive component is described in detail. The Z-axis motor drives the Z-axis screw to drive the first manipulator to move along the Z-axis direction to the oblique upper part of the material tray to be measured in the silo assembly. The Y-axis motor drives the Y-axis screw to drive the first manipulator to move along the Y-axis direction to directly above the material tray to be measured. The Z-axis motor drives the Z-axis screw to move downward, driving the first manipulator to move downward along the Z-axis direction, and the clamping electric cylinder controls the clamping part to loosen along the Y-axis direction until the clamping part contacts the material tray to be measured in the silo assembly. The clamping electric cylinder controls the clamping part to clamp along the Y-axis direction to tighten the material tray to be measured. Afterwards, the Z-axis motor drives the Z-axis screw to move upward, driving the first manipulator to move upward along the Z-axis direction. When it moves to a position higher than the limit part of the silo to be measured, the Y-axis motor drives the Y-axis screw to drive the first manipulator to move along the Y-axis direction to directly above the material table area to be measured in the material table assembly (based on Figures 6 and 7 In the embodiment shown, the material platform area to be tested is aligned with the material bin assembly in the X-axis direction. Subsequently, the Z-axis motor drives the Z-axis leadscrew to move, driving the first manipulator to move along the Z-axis direction to a preset position above the material platform area to be tested. The clamping electric cylinder then controls the clamping portion to release along the Y-axis direction, thereby placing the material tray to be tested on the material platform area to be tested of the material platform assembly.

[0097] Based on the above implementation, the complexity of the first execution component is low and the stroke is short, which further improves the loading and unloading efficiency.

[0098] The following describes how to implement the second execution component. Figure 12 is a schematic diagram of the three-dimensional structure of the second execution component. Figure 12 As shown, the second execution component 15 includes an execution component body 151 and a second manipulator 152 .

[0099] The second manipulator 152 is installed on the frame 11 through the actuator body 151 .

[0100] When loading, the second manipulator 152 takes the chip on the tray of the material table assembly 13 and places it on the board 17. When unloading, the second manipulator 152 takes the chip on the board 17 and places it on the tray of the material table assembly 13.

[0101] The second manipulator 152 can also perform the cover opening and closing operation of the board base: after opening the upper cover of the base, place the chip on the base, and then perform the cover closing operation.

[0102] Furthermore, the second robot can also realize chip sorting: placing the chips that pass the test in the test-passed tray of the material stage assembly, and placing the chips that fail the test in the test-failed tray of the material stage assembly.

[0103] The above implementation method of the second manipulator is less complex and reduces the cost of loading and unloading equipment.

[0104] The following describes how to implement the board mobile component. Figure 13 It is a three-dimensional structural diagram of the board entry and exit mechanism in the board moving assembly. Figure 14 These are the three views of the board in and out mechanism in the board moving assembly. The front view, left view, and top view are as follows: Figure 14 As shown in . Figure 15 This is a structural diagram of the board entry and exit mechanism in the board moving assembly from another perspective. Figure 16 This is a three-dimensional structural diagram of the second execution component and the board moving component. Please also refer to Figure 3 、 Figures 13 to 16 The board moving assembly 16 includes a board entry and exit mechanism 161 and a board lifting mechanism 162 .

[0105] The board entry and exit mechanism 161 includes an entry and exit motor, a board accommodating area 1611, a board connection plate 1612, and an entry and exit guide rail 1613. Board connection plate 1612 and board accommodating area 1611 are arranged sequentially along the Y-axis, with board accommodating area 1611 being closer to the test equipment. The entry and exit guide rail 1613 guides along the Y-axis.

[0106] The board connecting plate 1612 is connected to the board 17 in the board accommodating area 1611 , and the board 17 is clamped in the entry and exit guide rail 1613 . The entry and exit motor is used to control the movement of the board connecting plate 1612 and the board 17 along the Y-axis direction.

[0107] The board lifting mechanism 162 includes an elevator and a lifting guide rail 1621. The lifting guide rail 1621 guides the Z axis. The entry and exit guide rail 1613 is clamped in the lifting guide rail 1621.

[0108] The elevator is used to control the entry and exit guide rail 1613 to move along the lifting guide rail 1621 to drive the board connecting plate 1612 and the board 17 to move along the Z-axis direction.

[0109] The board accommodating area 1611 is used to accommodate two boards arranged along the Z-axis direction.

[0110] Compared to board connection plate 1612, board accommodating area 1611 is closer to the test equipment. This facilitates the removal and insertion of boards from the test equipment via board connection plate 1612, which is further away from the test equipment, improving the safety of the loading and unloading process. The Y-axis orientation of entry and exit guide rail 1613 means that after board 17 is engaged with entry and exit guide rail 1613, it moves along the Y-axis.

[0111] Optionally, the entry and exit guide rails 1613 in this embodiment may include two symmetrically arranged guide rails. The lifting guide rails 1621 in this embodiment may include four symmetrically arranged guide rails.

[0112] The working process of the board moving component can be as follows: taking loading into the test equipment as an example, the board in and out mechanism 161 drives the board to move along the Z-axis direction. After the board is lifted and lowered to the specified position in the test equipment, the board in and out mechanism 161 drives the board to move along the Y-axis direction, and the board is pushed into the test equipment through the board connecting plate 1612 for testing operations.

[0113] In order to further improve the efficiency of loading and unloading, the board accommodating area 1611 is used to accommodate two boards arranged along the Z axis. Figure 15 As shown, the board moving assembly 16 includes a lower entry and exit guide rail 16131 and an upper entry and exit guide rail 16132. The lower board is engaged in the lower entry and exit guide rail 16131, while the upper board is engaged in the upper entry and exit guide rail 16132. This implementation allows the two boards to alternately operate, for example, loading the lower board while the upper board is unloading, thereby improving the overall equipment effectiveness (OEE) of the loading and unloading equipment.

[0114] The above-mentioned implementation method of the board moving component can realize independent movement in the Z-axis direction and the Y-axis direction, thereby improving the precision of the loading and unloading equipment and further improving the flexibility of loading and unloading.

[0115] An embodiment of the present invention further provides a loading and unloading system, which includes a board transfer vehicle and the loading and unloading equipment described in any of the above embodiments. Figure 17 This is a schematic diagram of the three-dimensional structure of the board transfer vehicle. Figure 17 As shown, the board transfer vehicle includes: a vehicle frame 21, a positioning mechanism 22, a board guide rail groove 23, a guide rod 24, a guide rod connecting plate 25 and a guide rod slide rail 26.

[0116] The positioning mechanism 22 is provided on the vehicle frame 21 and is used to connect the board transfer vehicle and the loading and unloading equipment.

[0117] The board guide rail groove 23 and the guide rod slide rail 26 are set on the frame 21. The guidance of the board guide rail groove 23 and the guide rod slide rail 26 are both in the Y-axis direction. The guide rod 24 is slidably set on the guide rod slide rail 26 through the guide rod connecting plate 25.

[0118] The board guide rail groove 23 is provided above the guide rod 24 and the guide rod slide rail 26 . The board guide rail groove 23 is used to clamp the board so that the board slides along the board guide rail groove 23 .

[0119] A hook rod is provided at one end of the guide rod 24 close to the board hook plate 171 of the board. When the guide rod 24 rotates, the hook rod will drive the rotation and be located in the through hole of the board hook plate 171, so that the guide rod 24 can remove the board from the loading and unloading equipment or place the board on the loading and unloading equipment when it moves along the Y-axis direction.

[0120] Optionally, the positioning mechanism 22 in this embodiment can be a positioning pin. A pin hole is provided at a corresponding position of the loading and unloading equipment.

[0121] Since the board guide groove 23 guides in the Y-axis direction, the board slides along the board guide groove 23 in the Y-axis direction.

[0122] To remove a card from the loading and unloading equipment, the guide rod 24 is controlled to move along the guide rail 26 in the positive direction of the Y axis, extending out of the carriage 21. Once it reaches the desired position, the guide rod 24 is rotated, driving the hook rod until it is seated in the through-hole of the card hook plate 171. Since the card hook plate 171 is fixedly connected to the card, the guide rod 24 is controlled to move along the guide rail 26 in the negative direction of the Y axis, allowing the card to engage in the card guide rail slot 23, allowing the card to be removed from the card moving assembly of the loading and unloading equipment.

[0123] When placing a board into the loading and unloading equipment, the board is clipped into the board guide rail slot 23. The guide rod 24 is rotated, driving the hook rod to rotate until the hook rod is located in the through hole of the board hook plate 171. The guide rod 24 is controlled to move along the guide rail 26 in the positive direction of the Y axis, driving the board to move in the positive direction of the Y axis until it reaches the predetermined position. The guide rod 24 is then rotated, driving the hook rod to rotate until the hook rod is no longer located in the through hole of the board hook plate 171. At this point, the board is pushed into the board moving assembly of the loading and unloading equipment.

[0124] It should be noted that when the loading and unloading equipment is operating normally, the boards are stored in the loading and unloading equipment or the testing equipment. When the boards need to be repaired or removed from the loading and unloading equipment, the board transfer vehicle provided in this embodiment can be used to transfer the boards from the loading and unloading equipment to the board storage device.

[0125] The loading and unloading system provided in this embodiment can realize the transfer of boards between the board transfer vehicle and the loading and unloading equipment by setting up a board transfer vehicle and loading and unloading equipment to adapt to different scenarios, expand the application scenarios of the loading and unloading equipment, and improve the adaptability of the loading and unloading equipment.

[0126] Optionally, the loading and unloading equipment provided in this embodiment may further include a processor and a memory. The memory here may be a read-only memory (ROM), a random access memory (RAM), etc. The loading and unloading equipment may further include an input unit, such as a keyboard, a mouse, etc.; an output unit, such as various types of displays, speakers, etc.; a storage unit, such as a magnetic disk, an optical disk, etc.; and a communication unit, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit allows the loading and unloading equipment to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0127] The processor can be various general and / or special processing components with processing and computing capabilities. Some examples of processors include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various dedicated artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor in this embodiment can be connected to electric control devices such as motors in loading and unloading equipment to control each electric control device. Exemplarily, the electric control devices here include: Z-axis motors, Y-axis motors, in-and-out motors, elevators, and a second manipulator, etc. The processor in this embodiment can send control instructions to each electric control device. The control instructions can represent the movement direction and movement position of the electric control device, etc.

[0128] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0129] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A loading and unloading equipment, characterized in that: include: Rack, silo assembly, material table assembly, first execution assembly, second execution assembly and board moving assembly; The hopper assembly, the platform assembly, the first execution assembly, the second execution assembly, and the board moving assembly are all arranged on the rack, and the hopper assembly and the platform assembly are arranged in sequence along the Y-axis direction, and the platform assembly is closer to the board moving assembly; The hopper assembly and the platform assembly are both used to store trays, and the trays are used to store chips; the board moving assembly is used to accommodate boards; the first execution assembly transfers the trays between the hopper assembly and the platform assembly; When loading, the second execution component takes the chip on the tray of the material table assembly and places it on the board, and the board moving assembly moves along the Y-axis and Z-axis directions to place the board equipped with the chip in the test equipment; when unloading, the board moving assembly moves along the Y-axis and Z-axis directions to take the board out of the test equipment, and the second execution component takes the chip on the board and places it on the tray of the material table assembly; wherein, the Z-axis direction is the vertical direction, the Y-axis direction is perpendicular to the Z-axis direction, and is the direction away from or close to the test equipment.

2. The loading and unloading equipment according to claim 1, characterized in that: The silo assembly includes a plurality of silos; The silo includes: a silo side plate, a silo bottom plate connected to the silo side plate, and a limiting portion arranged on the silo bottom plate, and the silo bottom plate is used to place the material tray.

3. The loading and unloading equipment according to claim 2, characterized in that: A first structure is provided on the side of the silo side plate away from the silo bottom plate, and a second structure is provided on the frame at a position corresponding to the first structure. The first structure and the second structure cooperate with each other so that the silo can be slidably provided on the frame along the Y-axis direction, and the silo can extend out of the frame along the Y-axis direction.

4. The loading and unloading equipment according to claim 3, characterized in that: The number of the silos is 7; the silo assembly includes: a first silo for storing the first material tray to be tested, which is arranged in sequence along the Z-axis direction, a first passed test silo for storing the first test-passed material tray, a first failed test silo for storing the first failed test material tray, a second silo for storing the second silo for testing, a second passed test silo for storing the second test-passed material tray, and a second failed test silo for storing the second test-failed material tray and an empty silo.

5. The loading and unloading equipment according to claim 1, characterized in that: The material platform assembly includes: a lower material platform bottom plate, an upper material platform bottom plate and a material platform support plate; The upper material platform bottom plate is arranged on the lower material platform bottom plate along the Z-axis direction through the material platform support plate; The bottom plate of the lower material platform includes a material platform area for testing and a material platform area for passing the test. The material platform area for testing is used to store material trays for testing, and the material platform area for passing the test is used to store material trays that have passed the test. The upper material platform bottom plate includes a test failure material platform area, and the test failure material platform area is used to store test failure material trays.

6. The loading and unloading equipment according to claim 5, characterized in that: The material table assembly further comprises: a lower moving cylinder, an upper moving cylinder, a first clamping cylinder, a second clamping cylinder and a third clamping cylinder; The lower moving cylinder is arranged on the bottom plate of the lower material platform, and is used to control the movement of the material platform area to be tested along the X-axis direction so that the material platform area to be tested is aligned with the silo assembly in the X-axis direction; wherein the X-axis direction is a direction perpendicular to both the Y-axis direction and the Z-axis direction; The lower moving cylinder is further used to control the test pass material platform area to move along the X-axis direction, so that the test pass material platform area is aligned with the silo assembly in the X-axis direction; The first clamping cylinder is arranged in the area of the material platform to be tested; when the first clamping cylinder is clamped, it is used to fasten the material tray to be tested; when the first clamping cylinder is loosened, it is used to take out or put in the material tray to be tested; The second clamping cylinder is arranged in the area of the test-pass material platform; when the second clamping cylinder is clamped, it is used to fasten the test-pass material tray; when the second clamping cylinder is loosened, it is used to take out or put in the test-pass material tray; The upper moving cylinder is arranged on the bottom plate of the upper material platform, and the upper moving cylinder is used to control the test failure material platform area to move along the X-axis direction so that the test failure material platform area is aligned with the silo assembly in the X-axis direction; The third clamping cylinder is arranged in the test failure material platform area; when the third clamping cylinder is clamped, it is used to fasten the test failure material tray; when the third clamping cylinder is loosened, it is used to take out or put in the test failure material tray.

7. The loading and unloading equipment according to claim 6, characterized in that: The first actuator assembly includes: a Z-axis lead screw, a Z-axis motor, a Y-axis lead screw, a Y-axis motor, a first manipulator, and a clamping electric cylinder; The Z-axis screw is arranged on the frame, and the axis of the Z-axis screw is arranged along the Z-axis direction; the Y-axis screw is arranged on the Z-axis screw, and the axis of the Y-axis screw is arranged along the Y-axis direction; the first manipulator includes a manipulator body, a mounting portion and a clamping portion, the manipulator body is arranged on the Y-axis screw through the mounting portion, and the clamping portion is arranged on the manipulator body; The Z-axis motor is used to drive the Z-axis screw so that the Y-axis screw drives the first manipulator to move along the Z-axis direction, and the Y-axis motor is used to drive the Y-axis screw so that the first manipulator moves along the Y-axis direction; The clamping electric cylinder is used to control the clamping part to loosen along the Y-axis direction to grab or place the material tray, and is also used to control the clamping part to clamp along the Y-axis direction to tighten the material tray.

8. The loading and unloading equipment according to any one of claims 1 to 7, characterized in that: The second execution component includes an execution component body and a second manipulator; Wherein, the second manipulator is mounted on the frame through the actuator body; When loading, the second manipulator takes the chip on the material tray of the material table assembly and places it on the board; when unloading, the second manipulator takes the chip on the board and places it on the material tray of the material table assembly.

9. The loading and unloading equipment according to any one of claims 1 to 7, characterized in that: The board moving assembly includes: a board in and out mechanism and a board lifting mechanism; The board entry and exit mechanism includes an entry and exit motor, a board accommodating area, a board connection plate, and an entry and exit guide rail; the board connection plate and the board accommodating area are arranged in sequence along the Y-axis direction, and the board accommodating area is closer to the test equipment; the entry and exit guide rail is guided in the Y-axis direction; The board connecting plate is connected to the board in the board accommodating area, the board is clamped in the entry and exit guide rail, and the entry and exit motor is used to control the board connecting plate and the board to move along the Y-axis direction; The board lifting mechanism includes a lift and a lifting guide rail; the lifting guide rail is guided in the Z-axis direction; the entry and exit guide rail is clamped in the lifting guide rail; The elevator is used to control the entry and exit guide rail to move along the lifting guide rail, so as to drive the board connecting plate and the board to move along the Z-axis direction; The board accommodating area is used to accommodate two boards arranged along the Z-axis direction.

10. A loading and unloading system, characterized in that: It comprises a board transfer vehicle and the loading and unloading equipment according to any one of claims 1 to 9; The board transfer vehicle comprises: a vehicle frame, a positioning mechanism, a board guide rail groove, a guide rod, a guide rod connecting plate and a guide rod slide rail; The positioning mechanism is provided on the vehicle frame and is used to connect the board transfer vehicle and the loading and unloading equipment; The board guide rail groove and the guide rod slide rail are arranged on the frame, the guide of the board guide rail groove and the guide of the guide rod slide rail are both in the Y-axis direction, and the guide rod is slidably arranged on the guide rod slide rail through the guide rod connecting plate; The board guide rail groove is provided above the guide rod and the guide rod slide rail, and the board guide rail groove is used to clamp the board so that the board slides along the board guide rail groove; A hook rod is provided at one end of the guide rod close to the board hook plate of the board. When the guide rod rotates, the hook rod will drive the rotation and is located in the through hole of the board hook plate, so that when the guide rod moves along the Y-axis direction, the board can be taken out from the loading and unloading equipment or placed on the loading and unloading equipment.

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