BIN automatic feeding and discharging equipment and using method thereof

Abstract

The invention provides BIN automatic feeding and discharging equipment and a using method thereof, and belongs to the technical field of automation. Comprising a bottom plate, a supporting module is arranged at the upper end of the bottom plate, displacement modules are arranged on the left side and the right side of the upper end of the supporting module, telescopic modules are arranged at the rear ends of the displacement modules, lifting adsorption modules are arranged in the middles of the lower ends of the displacement modules, and placing modules are arranged above the displacement modules. A transverse supporting structure is formed through the supporting modules, under the action of the transverse rod, the two displacement modules are connected to the two sides of the upper end of the transverse rod in a sleeving mode, then an alternate displacement conveying structure is formed under driving of the telescopic module, and when feeding is conducted on one side, the other side begins to take materials in cooperation with the placing module and the clamping module which are symmetrically designed; when feeding and discharging are needed, alternate feeding and discharging can be achieved by reversing the steps, and compared with a feeding and discharging path of traditional equipment, the efficiency of alternate feeding and discharging is higher.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a BIN automatic loading and unloading device and a method for using the same. Background Art

[0002] In the field of chip manufacturing, automated loading and unloading equipment is the "bridge" connecting various production processes. Its core value lies in achieving efficient wafer flow with high precision, high cleanliness and high stability.

[0003] At present, most of the automated loading and unloading equipment used in the chip manufacturing field is a program written by a programmer that is converted into a BIN file format through a related software platform and then uploaded to a PLC controller to achieve automated control in order to improve production efficiency, reduce labor costs and improve production quality. For example, a fully automatic loading and unloading equipment for a high-power laser chip aging fixture disclosed in Chinese invention patent number CN117485893A can automatically absorb the COS heat sink from a waffle box and then automatically place the COS heat sink into a designated fixture, or absorb the aged COS heat sink from the fixture and place it into the corresponding waffle box. The entire process realizes automated heat sink disassembly and assembly operations, effectively improving production efficiency and ensuring the yield and accuracy of product disassembly and assembly. It can automatically switch between disassembly and assembly. There are three modes of assembly and disassembly, but the following problems still exist in the actual working process: First, when the loading and unloading equipment is loading or unloading, since there is only one set of material tray conveying devices, it is necessary to complete a whole loading or unloading step each time before the next work can be carried out, resulting in a high vacancy rate of the entire equipment, and there is no way to start the next loading or unloading work during the previous loading or unloading process, resulting in low efficiency of loading and unloading work; secondly, the loading and unloading work of the equipment is carried out in one working path. When a fault occurs, the entire equipment needs to be shut down for maintenance and cannot continue to work. Therefore, in response to the above-mentioned problems, the present application provides a BIN automatic loading and unloading equipment and its use method to improve and optimize the existing problems. Summary of the Invention

[0004] (1) Technical problems solved In response to the shortcomings of the existing technology, the present invention provides a BIN automatic loading and unloading equipment and its use method, which solves the problem that the loading and unloading connection interval of the existing loading and unloading equipment is long, resulting in low efficiency of the loading and unloading work; secondly, the loading and unloading work maintains a working path, and when a fault occurs, the entire equipment needs to be shut down for maintenance and cannot continue to work.

[0005] (2) Technical solution In order to solve the above technical problems, the present invention provides the following technical solutions: A BIN automatic loading and unloading equipment includes a base plate, a support module is provided at the upper end of the base plate, displacement modules are provided on the left and right sides of the upper end of the support module, a telescopic module is provided at the rear end of the displacement module, a lifting and adsorption module is provided in the middle of the lower end of the displacement module, a placement module is provided above the displacement module, a holding module is provided in the middle of the upper end of the placement module, limiters are provided on the front and rear sides of the upper end of the placement module, an adjustment module is provided on the outer side of the lower end of the holding module, a material tray is provided on the inner side of the holding module, and a material picking module is provided in the middle above the support module.

[0006] Preferably, the support module includes a bracket, a reinforcement block, a cross bar, a reinforcement pin and a reinforcement bolt. Reinforcement blocks are provided on the left and right sides of the upper end of the bracket, a cross bar is installed on the inner side of the reinforcement block, a reinforcement pin is provided in the middle of the upper end of the reinforcement block, and a reinforcement bolt is provided at the lower end of the inner side of the bracket.

[0007] Preferably, the displacement module includes a support plate, an arc-shaped groove, an arc-shaped plate, a convex plate, a storage groove, a vertical plate, a clamping plate and an adjusting rod, an arc-shaped groove is provided on the left and right sides of the lower end of the support plate, an arc-shaped groove is provided at the lower end of the arc-shaped groove, a convex plate is provided below the rear end of the support plate, a storage groove is provided in the middle of the upper end of the support plate, vertical plates are provided on four sides of the upper end of the support plate, a clamping plate is provided on the inner side of the vertical plate, and an adjusting rod is provided on the inner side of the middle part of the vertical plate.

[0008] Preferably, the telescopic module includes a concave plate, a telescopic motor, a telescopic rod and a stabilizing rod, the lower end of the concave plate is provided with a telescopic motor, the front end of the telescopic motor is provided with a telescopic rod, and the rear side of the outer end of the telescopic rod is provided with a stabilizing rod.

[0009] Preferably, the lifting adsorption module includes a U-shaped frame, a lifting column, a suction nozzle, a suction pipe and a hydraulic box. A lifting column is provided in the middle of the inner side of the U-shaped frame, a suction nozzle is provided on the outer side of the upper end of the lifting column, the lower end of the suction nozzle is connected to the suction pipe, and a hydraulic box is provided at the lower end of the U-shaped frame.

[0010] Preferably, the placement module includes a placement table, columns, an inner groove and positioning holes, columns are provided at the four corners of the lower end of the placement table, an inner groove is provided on the inner side of the middle of the upper end of the placement table, and a positioning hole is provided above the inner groove.

[0011] Preferably, the holding module includes an L-shaped plate, a card plate, a card slot and a card pin, a card plate is provided on the outer side of the lower end of the L-shaped plate, a card slot is provided on the inner side of the outer end of the card plate, and a card pin is provided in the middle of the upper end of the card plate.

[0012] Preferably, the adjustment module includes a rectangular block, a side joint, an adjustment screw and a middle sleeve, a side joint is provided on the right side of the outer end of the rectangular block, an adjustment screw is sleeved on the inner side of the side joint, and a middle sleeve is provided on the right side of the adjustment screw.

[0013] Preferably, the material picking module includes a material picking rack, a material picking movable plate, an electric push rod, a material picking elevator and a material suction head. The material picking movable plate is slidably installed on the inner side of the upper end of the material picking rack, the rear end of the material picking movable plate is provided with an electric push rod, the middle part of the upper end of the material picking movable plate is provided with a material picking elevator, and the lower end of the material picking elevator is provided with a material suction head.

[0014] A method for using BIN automatic loading and unloading equipment, comprising the following steps: The lifting and adsorption module is a kind of lifting and adsorption module that is installed in the middle of the lower end of the displacement module, and the lifting and adsorption module is a kind of lifting and adsorption module that is installed in the lower end of the displacement module. The lifting and adsorption module is a kind of lifting and adsorption module that is installed in ... Step 3. Through the telescopic module, the displacement module with the material tray stored can be pushed, and the displacement module is driven to push along the cross bar in the support module to the bottom of the picking module. When it reaches the bottom of the picking module, the device on the picking module absorbs the chip, and pushes the adsorbed chip horizontally to the conveying equipment to complete the loading work. At the same time, since the displacement module and the lifting adsorption module are symmetrically distributed on the left and right, when the displacement module on the left drives the lifting adsorption module to be pushed to the bottom of the picking module, the displacement module and lifting adsorption module on the right will start working. The alternating working mode on both sides makes the loading efficiency of the equipment higher. Step 4. Secondly, when unloading is required, the electric push rod in the retrieving module drives the retrieving movable plate to be pushed outward along the side arm at the upper end of the retrieving rack, and stops after reaching the top of the conveying equipment. When the chip is conveyed over, the retrieving elevator controls the suction head to descend, adsorbs and fixes the chip, and then lifts it up. Then the electric push rod works in the reverse direction to retract the retrieving movable plate to the top of the displacement module. Step 5. When the retrieving movable plate is retracted to the top of the displacement module, the retrieving elevator controls the suction head to descend and places the adsorbed chips in the material tray clamped at the top of the displacement module. When the material tray is full, the displacement module is driven by the telescopic module to retract outward along the crossbar in the support module and stops when it reaches the bottom of the placement module. Step 6. After the displacement module moves to the bottom of the placement module and stops, the lifting and adsorption module starts to work. After being adsorbed and fixed to the bottom of the material tray, the material tray is lifted up. When the material tray enters the inner side of the rectangular frame formed by the holding module, it stops. Then the limiter starts to work, driving the front end structure of the limiter to extend into the slot below the material tray. When the extension is completed, the lifting and adsorption module cancels the adsorption, separates from the material tray and descends, waiting for the next work. The part that requires manual participation in the unloading process is to place the empty material tray on the upper end of the displacement module. At the same time, the unloading process can also form the same working mode as the alternating loading through the displacement module and the lifting and adsorption module that are symmetrically arranged on the left and right, thereby improving the efficiency of the unloading work.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects: In the above scheme, a transverse support structure is formed at the upper end of the bottom plate through the setting of the support module. Under the action of the middle cross bar, the two groups of displacement modules are installed on both sides of the upper end of the transverse support structure, and the two groups of displacement modules are fixed together with the symmetrically distributed telescopic modules. Driven by the symmetrically designed telescopic modules, an alternating displacement conveying structure is formed, which cooperates with the placement modules and holding modules symmetrically distributed on both sides of the material picking module to form a storage structure. When the left displacement module moves to the bottom of the material picking module to start loading, the right displacement module will move to the bottom of the right placement module, and the material tray in the right storage structure will be removed by the right lifting adsorption module. When the left material tray completes the loading work and needs to be picked up, the right side can be connected to carry out loading work. When unloading work is required, the above steps can be reversed to achieve alternating unloading. Compared with the loading and unloading paths of traditional equipment, the efficiency of alternating loading and unloading will be higher.

[0016] Through the symmetrically arranged displacement modules and lifting adsorption modules, when a fault occurs during the loading and unloading process on one side, the equipment on the faulty side can be stopped, and the traditional single-path loading and unloading work can be continued with the equipment on the other side that has not failed. There is no need to stop the entire equipment for maintenance, thereby ensuring that the loading and unloading work can continue.

[0017] In summary, the present invention has the advantages of shortening the connection time in loading and unloading work, improving the efficiency of loading and unloading work by adopting alternating loading and unloading processes, and at the same time, when a device fails, there is no need to shut down the entire device for maintenance, and single-path loading and unloading work can continue. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 This is a schematic diagram of the assembly of the three-dimensional structure of the support module, displacement module and telescopic module of the present invention; Figure 3 This is a schematic diagram of the three-dimensional assembly structure of the displacement module and the lifting adsorption module of the present invention; Figure 4 This is an exploded schematic diagram of the telescopic module three-dimensional structure of the present invention; Figure 5 This is a schematic diagram of the three-dimensional structure of the lifting adsorption module of the present invention; Figure 6 This is a schematic diagram of the assembly of the placement module, the holding module and the limiter three-dimensional structure of the present invention; Figure 7 This is a schematic diagram of the three-dimensional structure of the placement module of the present invention; Figure 8 This is a schematic diagram of the three-dimensional assembly of the holding module and the adjustment module of the present invention; Figure 9 This is an exploded schematic diagram of the three-dimensional structure of the holding module and the adjustment module of the present invention; Figure 10 This is a schematic diagram of the three-dimensional structure of the material taking module of the present invention; Figure 11 This is a schematic diagram of the three-dimensional structure of the material tray of the present invention; Figure 12 Schematic diagram of the three-dimensional structure of the limiter of the present invention; Figure 13 The present invention is attached Figure 3 Schematic diagram of the locally enlarged structure at point A in the middle.

[0019] [reference numerals] 1. Bottom plate; 2. Support module; 3. Displacement module; 4. Telescopic module; 5. Lifting and adsorption module; 6. Placement module; 7. Clamping module; 8. Stopper; 9. Adjustment module; 10. Material tray; 11. Retrieving module; 201. Bracket; 202. Reinforcement block; 203. Crossbar; 204. Reinforcement pin; 205. Reinforcement bolt; 301. Support plate; 302. Arc groove; 303. Arc plate; 304. Convex plate; 305. Storage slot; 306. Vertical plate; 307. Clamping plate; 308. Adjustment rod; 401. Concave plate; 402. Telescopic motor ;403, telescopic rod; 404, stabilizing rod; 501, U-shaped frame; 502, lifting column; 503, suction nozzle; 504, suction pipe; 505, hydraulic box; 601, placing table; 602, column; 603, inner groove; 604, positioning hole; 701, L-shaped plate; 702, clamping plate; 703, clamping groove; 704, bayonet; 901, rectangular block; 902, side joint; 903, adjusting screw; 904, middle sleeve; 111, material retrieving rack; 112, material retrieving movable plate; 113, electric push rod; 114, material retrieving elevator; 115, material suction head.

[0020] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0021] The following describes in detail an automated BIN loading and unloading device and its method of use provided by the present invention, in conjunction with the accompanying drawings and specific embodiments. It is also noted that, to provide a more detailed description, the following embodiments are optimal and preferred embodiments, and those skilled in the art may also adopt other alternatives for implementing certain known technologies. Furthermore, the accompanying drawings are intended only to provide a more detailed description of the embodiments and are not intended to limit the present invention.

[0022] like Figures 1 to 13 As shown, an embodiment of the present invention provides a BIN automatic loading and unloading equipment, including a base plate 1, a support module 2 is provided at the upper end of the base plate 1, a displacement module 3 is provided on the left and right sides of the upper end of the support module 2, a telescopic module 4 is provided at the rear end of the displacement module 3, a lifting and adsorption module 5 is provided in the middle of the lower end of the displacement module 3, a placement module 6 is provided above the displacement module 3, a holding module 7 is provided in the middle of the upper end of the placement module 6, a limiter 8 is provided on the front and rear sides of the upper end of the placement module 6, an adjustment module 9 is provided on the outer side of the lower end of the holding module 7, a material tray 10 is provided on the inner side of the holding module 7, and a material picking module 11 is provided in the middle above the support module 2.

[0023] The base plate 1 is an integral structure. The support module 2 and the base plate 1 are reinforced by bolts. The displacement module 3 is sleeved and installed on the left and right sides of the upper end of the support module 2. The telescopic module 4 is fixed to the middle of the left and right sides of the upper end of the support module 2 and reinforced by screws. At the same time, the front end of the telescopic module 4 and the contact end of the displacement module 3 are reinforced together with screws, so that the displacement module 3 and the telescopic module 4 form a structural whole. The contact end of the lifting adsorption module 5 and the displacement module 3 is reinforced by four symmetrically distributed screws. The upper end of the middle structure of the lifting adsorption module 5 passes through the inner side of the displacement module 3. And it extends to the outside above, and the installation angle of the lifting adsorption module 5 is vertical to the displacement module 3, the placement module 6 is symmetrically installed on the left and right sides of the upper end of the base plate 1, and the installation angle of the placement module 6 and the displacement module 3 is in a straight line. A rectangular notch is opened in the middle of the upper end of the placement module 6, the holding module 7 and the placement module 6 are clamped and installed, the limiter 8 is fixedly installed on the front and rear sides of the upper end of the placement module 6, the adjustment module 9 is embedded on the inner side of the lower end of the holding module 7, the material tray 10 is placed on the inner side of the rectangular frame formed by the holding module 7, and the material taking module 11 is fixedly installed in the middle of the upper end of the base plate 1.

[0024] During operation, a transverse support structure is formed at the upper end of the base plate 1 through the support module 2 set up. Under the action of the middle cross bar 203, the two groups of displacement modules 3 are installed on both sides of the upper end of the transverse support structure, and the two groups of displacement modules 3 are fixed together with the symmetrically distributed telescopic modules 4. Driven by the symmetrically designed telescopic modules 4, an alternating displacement conveying structure is formed, which cooperates with the placement modules 6 and the clamping modules 7 symmetrically distributed on both sides of the material picking module 11 to form a storage structure. When the left displacement module 3 moves to the bottom of the material picking module 11 to start loading, the right displacement module 3 will move to the bottom of the right placement module 6, and the material tray 10 in the right storage structure will be removed by the right lifting adsorption module 5. When the left material tray 10 completes the loading work and needs to be picked up, the right side can be connected to carry out loading work. When unloading work is required, the above steps can be reversed to achieve alternating unloading. Compared with the loading and unloading paths of traditional equipment, the efficiency of alternating loading and unloading work will be higher.

[0025] like Figure 1 and Figure 2 As shown, in this embodiment, the support module 2 includes a bracket 201, a reinforcement block 202, a cross bar 203, a reinforcement pin 204 and a reinforcement bolt 205. Reinforcement blocks 202 are provided on the left and right sides of the upper end of the bracket 201, the inner side of the reinforcement block 202 is sleeved with a cross bar 203, the middle part of the upper end of the reinforcement block 202 is provided with a reinforcement pin 204, and the lower end of the inner side of the bracket 201 is provided with a reinforcement bolt 205.

[0026] There are two symmetrically distributed brackets 201, and four symmetrically distributed reinforcement blocks 202, two on each side. The brackets 201 and the reinforcement blocks 202 are reinforced by screws. There are two cross bars 203 symmetrically distributed front and back. The left and right ends of the two cross bars 203 extend to the inside of the symmetrically distributed reinforcement blocks 202, and the reinforcement pins 204 penetrate the reinforcement blocks 202 and extend to the inside of the cross bars 203 for reinforcement. The reinforcement bolts 205 are horizontally distributed on the inner side of the lower end of the bracket 201.

[0027] During operation, the symmetrically arranged brackets 201 are used to fix it at a straight installation angle on the left and right sides of the upper end of the base plate 1, and then the two cross bars 203 are inserted into the interior of the reinforcement block 202 and fixed with reinforcement pins 204 to form a horizontal straight working path. Then, the two sets of displacement modules 3 are installed on the left and right sides of the upper ends of the two cross bars 203, and cooperate with the symmetrically distributed telescopic modules 4 to form an alternating conveying structure.

[0028] like Figures 1 to 3 As shown, in this embodiment, the displacement module 3 includes a support plate 301, an arc-shaped groove 302, an arc-shaped plate 303, a convex plate 304, a storage groove 305, a vertical plate 306, a clamping plate 307 and an adjustment rod 308. Arc-shaped grooves 302 are provided on the left and right sides of the lower end of the support plate 301, an arc-shaped plate 303 is provided at the lower end of the arc-shaped groove 302, a convex plate 304 is provided below the rear end of the support plate 301, a storage groove 305 is provided in the middle of the upper end of the support plate 301, vertical plates 306 are provided on four sides of the upper end of the support plate 301, a clamping plate 307 is provided on the inner side of the vertical plate 306, and an adjustment rod 308 is provided on the inner side of the middle part of the vertical plate 306.

[0029] The left and right sides of the lower end of the support plate 301 are provided with arc grooves 302, and the lower end of the arc groove 302 is screwed to the arc plate 303. The arc groove 302 and the arc plate 303 are symmetrically distributed and parallel, and the convex plate 304 and the vertical plate 306 are an integrated structure with the support plate 301. The storage groove 305 is opened in the middle of the upper end of the support plate 301, and the inner side of the storage groove 305 is divided into an upper and lower layer structures. The transverse diameter of the upper structure is adapted to the diameter of the top structure of the lifting column 502 in the lifting adsorption module 5, and the transverse diameter of the lower structure is adapted to the diameter of the lower end structure of the lifting column 502. The vertical plate 306 and the splint 307 are symmetrically distributed and have four pieces, and the widths of the two are equal. Parallel sliding grooves are opened on the left and right sides of the contact end between the lower end of the vertical plate 306 and the support plate 301. The front end of the adjusting rod 308 passes through the interior of the vertical plate 306 and continues to extend to the middle of the rear end of the splint 307. The contact ends of the two are reinforced by screws.

[0030] During operation, the support plate 301 can be installed on the two cross bars 203 in the support module 2 through the provided arc groove 302 and arc plate 303, so that it forms a horizontal displacement structure. Then, through the design of the storage groove 305, the lifting and adsorption module 5 can be installed in the middle of the lower end of the support plate 301 to realize assembly. At the same time, through the provided adjustment rod 308, the control clamping plate 307 can be pressed against the front side of the vertical plate 306 to adjust along the parallel slide groove opened at the contact end of the clamping plate 307 and the support plate 301, forming a four-sided adjustable clamping frame to ensure the stability of the material tray 10 during displacement after entering the clamping frame.

[0031] like Figures 2 to 4 As shown, in this embodiment, the telescopic module 4 includes a concave plate 401, a telescopic motor 402, a telescopic rod 403 and a stabilizing rod 404. The lower end of the concave plate 401 is provided with a telescopic motor 402, the front end of the telescopic motor 402 is provided with a telescopic rod 403, and the rear side of the outer end of the telescopic rod 403 is provided with a stabilizing rod 404.

[0032] The concave plate 401 is clamped and installed on the front side of the outer end of the telescopic motor 402 to fix the installation of the telescopic motor 402, and the concave plate 401 is reinforced to the middle part of the upper end of the bracket 201 with screws. The telescopic rod 403 is composed of two parts, the front end part is thinner and the rear end part is thicker, and the area extending from the front end part to the inner side of the rear end part is provided with an external thread, and the inner side of the rear end part is provided with an internal thread. The conducting end of the telescopic motor 402 and the rear end part of the telescopic rod 403 are an integrated structure. The front end part of the telescopic rod 403 and the contact end of the displacement module 3 are provided with a bearing, and a limit ring is provided on the outside of the bearing provided at the contact end of the telescopic rod 403 and the displacement module 3, which not only ensures that the front end part of the telescopic rod 403 can rotate, but also ensures that it will not detach from the displacement module 3 during rotation. The stabilizing rod 404 is sleeved and installed on the outer side of the rear end part of the telescopic rod 403, and the contact ends of the two are provided with bearings.

[0033] During operation, the telescopic motor 402 can be clamped and fixed by the concave plate 401 to ensure its stability during operation. Then, the telescopic motor 402 starts to rotate, which can drive the rear end part of the telescopic rod 403 to rotate. The rear end part and the front end part of the telescopic rod 403 are threadedly mounted to each other, thereby driving the front end part of the telescopic rod 403 to push the displacement module 3 to move. The front and rear directions of the displacement need to control the forward and reverse rotation of the telescopic motor 402 to achieve. At the same time, the stabilizing rod 404 can ensure the stability of the rear end part of the telescopic rod 403 during rotation.

[0034] like Figure 3 and Figure 5As shown, in this embodiment, the lifting and adsorption module 5 includes a U-shaped frame 501, a lifting column 502, a suction nozzle 503, a suction pipe 504 and a hydraulic box 505. The lifting column 502 is provided in the middle of the inner side of the U-shaped frame 501, and the suction nozzle 503 is provided on the outer side of the upper end of the lifting column 502. The lower end of the suction nozzle 503 is connected to the suction pipe 504, and the lower end of the U-shaped frame 501 is provided with a hydraulic box 505.

[0035] The U-shaped frame 501 is installed in an inverted U shape, with screw holes on the left and right sides of the upper end of the U-shaped frame 501. The lifting column 502 is threadedly installed in the middle of the inner side of the U-shaped frame 501. The lifting column 502 is composed of two upper and lower tubes and a top circular plate. The upper tube and the lower tube are piston-connected, and limit stops are made at the upper end of the lower tube and the lower end of the upper tube so that the upper and lower tubes will not separate when they reach the maximum lifting distance. There are four suction nozzles 503 symmetrically distributed, and the suction nozzles 503 are threadedly installed on the inner side of the top circular plate of the lifting column 502. The upper end of the suction pipe 504 is connected to the lower end of the suction nozzle 503, and the suction pipe 504 is connected to the external air supply equipment. The hydraulic box 505 is equipped with an oil supply equipment for driving the lifting column 502 to perform lifting activities. Since the working method of the hydraulic piston driven by the hydraulic box 505 to drive the lifting column 502 is a well-known technology, it will not be described in detail in this article.

[0036] During operation, the lifting column 502 is installed downward from the receiving groove 305 opened in the center of the displacement module 3, so that the lower end of the lifting column 502 passes through the displacement module 3 and is threadedly installed with the lower end of the inner side of the U-shaped frame 501. Then, the U-shaped frame 501 is fixed to the middle part of the lower end of the displacement module 3 with screws. When it is necessary to transport the material tray 10, it is only necessary to use the hydraulic box 505 to provide power to drive the lifting column 502 to extend upward, so that the suction nozzle 503 installed on the upper end of the top disc of the lifting column 502 is against the material tray 10, and the material tray 10 is adsorbed and fixed. Then, the extension and contraction of the limiter 8 and the descent of the lifting column 502 can be controlled to achieve the separation between the material trays 10.

[0037] like Figure 6 and Figure 7 As shown, in this embodiment, the placement module 6 includes a placement platform 601, a column 602, an inner groove 603 and a positioning hole 604. The four corners of the lower end of the placement platform 601 are provided with columns 602, the inner groove 603 is opened on the inner side of the middle part of the upper end of the placement platform 601, and the positioning hole 604 is opened above the inner groove 603.

[0038] A rectangular slot is provided in the middle of the placement platform 601, and columns 602 are threadedly installed at the four corners of the lower end of the placement platform 601. There are four columns 602 symmetrically distributed, and the height of each column 602 can be adjusted according to actual usage requirements. The inner groove 603 is provided on the inner side of the rectangular slot in the middle of the placement platform 601, and inner grooves 603 are provided on all four sides of the rectangular slot, and the positioning holes 604 are distributed in a rectangular shape.

[0039] During operation, the placement platform 601 can be supported by the provided columns 602. At the same time, since the height of each column 602 can be adjusted according to the actual placement position to ensure that the placement platform 601 as a whole maintains a horizontal angle, the holding module 7 and the adjustment module 9 can be installed on the inner side through the rectangular slot and the inner slot 603 opened at the headquarters of the placement platform 601. At the same time, due to the cooperation between the inner slot 603 and the positioning hole 604, the adjustment module 9 can be slid and adjusted on the inside, thereby changing the size of the rectangular frame formed by the holding module 7.

[0040] like Figure 8 and Figure 9 As shown, in this embodiment, the holding module 7 includes an L-shaped plate 701, a clamping plate 702, a clamping slot 703 and a clamping pin 704. The outer side of the lower end of the L-shaped plate 701 is provided with a clamping plate 702, the inner side of the outer end of the clamping plate 702 is provided with a clamping slot 703, and the middle part of the upper end of the clamping plate 702 is provided with a clamping pin 704; the adjustment module 9 includes a rectangular block 901, a side joint 902, an adjusting screw 903 and a middle sleeve 904. The right side of the outer end of the rectangular block 901 is provided with a side joint 902, the inner side of the side joint 902 is sleeved with an adjusting screw 903, and the right side of the adjusting screw 903 is provided with a middle sleeve 904.

[0041] There are four symmetrically distributed L-shaped plates 701, card plates 702 and card slots 703. The L-shaped plates 701 and card plates 702 are of an integrated structure. There are eight symmetrically distributed card pins 704. There are eight symmetrically distributed rectangular blocks 901, with two on each side. The side joints 902 are distributed on the opposite sides of the two rectangular blocks 901 on each side. The side joints 902 and the rectangular blocks 901 are threadedly installed. The adjusting screws 903 are symmetrically distributed. Both sides of the symmetrically distributed adjusting screws 903 extend to the inner side of the side joints 902, and the front end of the adjusting screws 903 extending to the inner side of the side joints 902 is limited. The end of the adjusting screw 903 in contact with the middle sleeve 904 is provided with an external thread, and the left and right sides inside the middle sleeve 904 are provided with opposite internal threads.

[0042] During operation, a rectangular block 901 is set and welded to the middle of the inner side of the card slot 703. Then, when it is installed with the placement table 601, the rectangular block 901 can be embedded in the inner groove 603. Through the set adjustment module 9, when the length or width of the material tray 10 used is different, the middle sleeve 904 can be rotated to allow the adjustment screws 903 on both sides to shrink or extend toward the inside of the middle sleeve 904 along the different angle threads opened on the left and right sides of the middle sleeve 904, thereby driving the rectangular block 901 fixed in the card slot 703 to shrink or expand, and then driving the rectangular frame formed by the four L-shaped plates 701 to change, so as to adapt to material trays 10 of different lengths or widths. Secondly, each adjustment can only be made along the symmetrically distributed inner grooves 603. After reaching the appropriate adjustment area, the bayonet 704 is used to cooperate with the positioning hole 604 for fixation.

[0043] like Figure 1 and Figure 10 As shown, in this embodiment, the material picking module 11 includes a material picking frame 111, a material picking movable plate 112, an electric push rod 113, a material picking elevator 114 and a material suction head 115. The material picking movable plate 112 is slidably installed on the inner side of the upper end of the material picking frame 111, the rear end of the material picking movable plate 112 is provided with an electric push rod 113, the middle part of the upper end of the material picking movable plate 112 is provided with a material picking elevator 114, and the lower end of the material picking elevator 114 is provided with a material suction head 115.

[0044] Outer arms are provided on the left and right sides of the upper end of the material picking rack 111, and sliding slots are provided on the relative inner sides of the left and right outer arms. The sliding slots are adapted to the left and right side structures of the outer end of the material picking movable plate 112. The front end of the electric push rod 113 is fixedly installed with the rear end of the material picking movable plate 112. The material picking elevator 114 is fixedly installed in the middle of the upper end of the material picking movable plate 112, and the lower end of the material picking elevator 114 passes through the middle of the material picking movable plate 112 and extends to the lower outside, and is fixedly installed with the suction head 115. An air supply device is installed in front of the material picking elevator 114, and the air supply device is connected to the adsorption structure installed at the lower end of the suction head 115. Since the air supply device is a well-known technology, it will not be described in detail in this article.

[0045] During operation, the material picking elevator 114 can be used to drive the suction head 115 to rise and fall, thereby sucking the chips placed in the material tray 10 below. After the chips are sucked up, the electric push rod 113 can be used to push the material picking movable plate 112 to extend forward along the sliding grooves on the inner sides of the left and right outer arms at the upper end of the material picking frame 111, and then drive the material picking elevator 114 to drive the chips sucked up by the suction head 115 to move forward synchronously, thereby completing the loading work. If unloading work is to be carried out, the above operations can be completed in reverse.

[0046] The electrical components mentioned in this article are all connected to an external main controller and mains electricity, and the main controller can be a conventional known device such as a computer that performs control.

[0047] A method for using BIN automatic loading and unloading equipment, comprising the following steps: Step 1: First, when starting the loading work, the chips to be used are placed on the tray 10, and then the full tray 10 is placed in the frame formed by the clamping module 7 at the upper end of the placement module 6. The tray 10 is lifted and limited at the bottom by the symmetrically distributed limiters 8. At the same time, since the placement module 6 and the clamping module 7 are symmetrically distributed in two groups, the two groups can be installed on the left and right sides above the support module 2, respectively, to form two temporary storage structures on the left and right. The two temporary storage structures are installed at a vertical angle to the displacement module 3 below. Step 2: The lifting and adsorption module 5 provided in the middle of the lower end of the displacement module 3 can be extended upward to adsorb the top of the lifting and adsorption module 5 on the lower end of the tray 10, and then the limiter 8 is controlled to retract inward to allow the front end structure of the limiter 8 to separate from the lower end of the tray 10. The lifting and adsorption module 5 controls the tray 10 to descend by the height of the tray 10, and then the limiter 8 starts to work, extending the front end of the limiter 8 forward and inserting it into the notch at the lower end of the tray 10 for limiting. After that, the lifting and adsorption module 5 adsorbs the tray 10 and descends into the clamping structure provided at the upper end of the displacement module 3 for placement. Step 3: The telescopic module 4 is provided to push the displacement module 3 on which the material tray 10 has been stored, and drive the displacement module 3 to be pushed along the cross bar 203 in the support module 2 to the bottom of the picking module 11. When it reaches the bottom of the picking module 11, the device on the picking module 11 absorbs the chips, and pushes the adsorbed chips horizontally to the conveying equipment to complete the loading work. At the same time, since the displacement module 3 and the lifting and adsorption module 5 are symmetrically distributed on the left and right, when the displacement module 3 on the left drives the lifting and adsorption module 5 to be pushed to the bottom of the picking module 11, the displacement module 3 and the lifting and adsorption module 5 on the right will start working. The alternating working mode on both sides makes the loading work efficiency of the equipment higher. Step 4. Secondly, when unloading is required, the electric push rod 113 in the material picking module 11 drives the material picking movable plate 112 to be pushed outward along the side arm at the upper end of the material picking frame 111, and stops after reaching the top of the conveying equipment. When the chip is conveyed over, the material picking elevator 114 controls the suction head 115 to descend, adsorbs and fixes the chip, and then lifts it up. Then the electric push rod 113 works in the reverse direction to retract the material picking movable plate 112 to the top of the displacement module 3; Step 5: When the material-retrieving movable plate 112 is retracted to above the displacement module 3, the material-retrieving elevator 114 controls the material suction head 115 to descend, and the adsorbed chips are placed in the material tray 10 clamped at the upper end of the displacement module 3. When the material tray 10 is full, the displacement module 3 is driven by the telescopic module 4 to retract outward along the crossbar 203 in the support module 2, and stops when the displacement module 3 reaches below the placement module 6. Step six, when the displacement module 3 moves to the bottom of the placement module 6 and stops, the lifting and adsorption module 5 starts to work, and after being adsorbed and fixed with the bottom of the material tray 10, the material tray 10 is lifted up. When the material tray 10 enters the inner side of the rectangular frame formed by the holding module 7, it stops. Then the limiter 8 starts to work, driving the front end structure of the limiter 8 to extend into the slot below the material tray 10. When the extension is completed, the lifting and adsorption module 5 cancels the adsorption, separates from the material tray 10 and descends, waiting for the next work. The part that requires manual participation in the unloading process is to place the empty material tray 10 on the upper end of the displacement module 3. At the same time, the unloading process can also form the same working mode as the alternating loading through the displacement module 3 and the lifting and adsorption module 5 that are symmetrically arranged on the left and right, thereby improving the efficiency of the unloading work.

[0048] The working principle of the technical solution provided by the present invention is as follows: a transverse support structure is formed at the upper end of the bottom plate 1 by setting the support module 2, and under the action of the middle cross bar 203, the two groups of displacement modules 3 are installed on both sides of the upper end of the transverse support structure, and the two groups of displacement modules 3 are fixed together with the symmetrically distributed telescopic modules 4. Driven by the symmetrically designed telescopic modules 4, an alternating displacement conveying structure is formed, which is combined with the placement module 6 and the clamping module 7 symmetrically distributed on both sides of the material picking module 11 to form a placement structure. When the left displacement module 3 moves to the bottom of the material picking module 11 to start loading, the right displacement module 3 will move to the bottom of the right placement module 6, and through the right The side lifting adsorption module 5 removes the material tray 10 in the right storage structure. When the left material tray 10 completes the loading work and needs to take the material, the right side can be connected to carry out the loading work. When unloading work is needed, the above steps can be reversed to achieve alternating unloading. Compared with the loading and unloading paths of traditional equipment, the efficiency of alternating loading and unloading will be higher; secondly, through the symmetrically arranged displacement module 3 and the lifting adsorption module 5, when a fault occurs during the loading and unloading process on one side, the equipment on the faulty side can be stopped, and the traditional single-path loading and unloading work can be continued with the equipment on the other side that has not failed. There is no need to stop the entire equipment for maintenance, thereby ensuring the continuation of the loading and unloading work.

[0049] Alternating working principle description: 1. Collaborative work of displacement modules and lifting adsorption modules on both sides: Control signal: The displacement modules and lifting adsorption modules on both sides are controlled by the same PLC controller. The PLC controller sends control signals according to the preset program to control the movement of each component; Synchronous control: The PLC controller monitors the position and speed of each component in real time through sensors such as encoders, and performs synchronous control based on the monitoring results to ensure that the movement of the displacement modules and the lifting and adsorption modules on both sides are synchronized; Collaborative action: For example, when the left displacement module pushes the material tray to the bottom of the picking module, the right lifting and adsorption module simultaneously takes the material tray out of the placement module and places it on the right displacement module; 2. Ensure the synchronization and coordination of work on both sides: Time synchronization: The PLC controller sets the time synchronization mechanism to ensure that the displacement modules and lifting adsorption modules on both sides start and end their actions at the same time; Position synchronization: The PLC controller monitors the position of each component in real time through sensors such as encoders, and performs position synchronization control based on the monitoring results to ensure that the motion trajectories of the displacement modules and the lifting and adsorption modules on both sides are consistent; Speed ​​synchronization: The PLC controller monitors the speed of each component in real time through sensors such as encoders, and performs speed synchronization control based on the monitoring results to ensure that the movement speeds of the displacement modules and lifting adsorption modules on both sides are consistent; 3. Fault detection and switching: Sensor monitoring: Each component is equipped with a sensor, such as an encoder, limit switch, pressure sensor, etc., to monitor the status of each component; Fault diagnosis: The PLC controller performs fault diagnosis based on the signals collected by the sensor. For example, when the sensor detects abnormal movement of the displacement module or the lifting and adsorption module, the PLC controller will determine it as a fault; Fault switching: When a fault occurs on one side of the equipment, the PLC controller will automatically switch to the other side of the equipment to ensure the continuity of loading and unloading work; Fault alarm: The PLC controller will send out a fault alarm signal to remind the operator to handle the fault; The modular design of PLC control: the control program is divided into multiple modules, such as: Main program module: responsible for coordinating the operation of each module and handling emergencies; Displacement module control module: controls the movement of the displacement module, including moving direction, speed and position; Lifting and adsorption module control module: controls the movement of the lifting and adsorption module, including lifting speed, position and suction force; Reclaiming module control module: controls the movement of the reclaiming module, including reclaiming, unloading, lifting, etc.; Sensor data processing module: collects and processes the signals of each sensor and transmits the processing results to other modules; Fault diagnosis module: monitors equipment status, and performs fault diagnosis and processing; Sequential control: Using sequential control to execute the functions of each module according to predetermined steps; Conditional control: Perform conditional judgment based on the signals collected by the sensor and perform corresponding operations based on the judgment results; Interrupt control: Set up interrupt programs to handle emergency situations, such as emergency stop, fault alarm, etc.

[0050] The present invention encompasses any alternatives, modifications, equivalents, and solutions that fall within the spirit and scope of the present invention. To provide a thorough understanding of the present invention, specific details are described in detail below in connection with the preferred embodiments of the present invention, but those skilled in the art will be able to fully understand the present invention without these detailed descriptions. Furthermore, to avoid unnecessary confusion regarding the essence of the present invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0051] Testing of loading and unloading speed and efficiency; Test data: Tray type: such as standard tray, special tray, etc.; Chip type: for example, chips of different sizes, weights, and packages; Loading and unloading quantity: for example, 10 trays, 20 trays, etc.; Test environment: such as temperature, humidity, power supply, etc.; Loading and unloading speed: for example, the loading and unloading time of each tray, the loading and unloading time of each chip, etc. Loading and unloading efficiency: for example, the ratio of actual unloading speed to theoretical maximum speed; Test result analysis: Analyze the impact of different factors on loading and unloading speed and efficiency, such as tray type, chip type, loading and unloading quantity, etc. Equipment reliability and stability testing: Test data: Test time: for example, continuous operation for 24 hours, 48 ​​hours, 72 hours, etc.; Test environment: such as temperature, humidity, power supply, etc.; Fault type: such as motor failure, transmission mechanism failure, sensor failure, control system failure, etc. Fault times: record the number of times each fault occurs; Failure rate: for example, the number of failures per 100 hours of operation; Misoperation rate: for example, the ratio of the number of failures caused by operator misoperation to the number of operations; Test result analysis: Analyze the reliability and stability of the equipment and identify factors that affect the reliability and stability of the equipment; 1. Comparative experiment on loading and unloading efficiency: Test items Traditional single-path devices Alternating device of the present invention Improvement ratio Tray capacity 25 pieces / plate 25 pieces / plate - Single loading time 8.5 seconds 5.2 seconds 38.8％ Time taken to play 100 consecutive games 14 minutes and 10 seconds 8 minutes and 40 seconds 39.0％ Theoretical maximum CPH 423 pieces / hour 692 pieces / hour 63.6％ Data explanation: Under the same tray specifications (300mm wafer tray) and clean room environment, the present invention significantly shortens the process connection time through the alternating working mode; 2. Fault tolerance comparison test: Test conditions: Test scenario Traditional equipment status Working state of the present invention Left displacement module failure Complete shutdown The right module continues to work Abnormal vacuum adsorption system Production interruption Automatic switching of backup gas line Mean time to repair 126 minutes Can be delayed until a planned maintenance window Key Metrics: Equipment availability increased from 92.3% to 98.7% – average monthly downtime decreased from 37 hours to 5 hours; 3. Long-term stability test (1000 hours): Performance degradation comparison: Run time CPH attenuation of traditional equipment The CPH attenuation of the present invention 0-200 hours 0％ 0％ 200-500 hours 6.2％ 2.8％ 500-1000 hours 15.7％ 7.3％ Key findings: The wear rate of the displacement module using a symmetrical load design is reduced by 42% and the temperature fluctuation range of the hydraulic system is reduced by 35%. 4. Compatibility testing of different specifications: Tray type Traditional equipment switching time Switching time of the present invention 200mm standard disc Need to replace the fixture (25min) Automatic adjustment (3min) 300mm thin plate Not supported Successful adaptation 450mm special-shaped disc Customized transformation Just adjust the parameters Experimental method description: 1. All tests were completed in a Class 100 clean room with a temperature control of 23±1℃; 2. Use Keysight DAQ970A data acquisition system to record real-time parameters; 3. Fault simulation is implemented using the NI fault injection system.

[0052] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A BIN automatic loading and unloading equipment, characterized in that: The invention comprises a bottom plate (1), wherein the upper end of the bottom plate (1) is provided with a support module (2), the left and right sides of the upper end of the support module (2) are provided with displacement modules (3), the rear end of the displacement module (3) is provided with a telescopic module (4), the middle part of the lower end of the displacement module (3) is provided with a lifting adsorption module (5), the upper part of the displacement module (3) is provided with a placement module (6), the middle part of the upper end of the placement module (6) is provided with a holding module (7), the front and rear sides of the upper end of the placement module (6) are provided with a limiter (8), the outer side of the lower end of the holding module (7) is provided with an adjustment module (9), the inner side of the holding module (7) is provided with a material tray (10), and the middle part above the support module (2) is provided with a material taking module (11).

2. The BIN automatic loading and unloading equipment according to claim 1 is characterized in that: The support module (2) comprises a bracket (201), a reinforcement block (202), a cross bar (203), a reinforcement pin (204) and a reinforcement bolt (205); the reinforcement blocks (202) are provided on the left and right sides of the upper end of the bracket (201); the cross bar (203) is sleeved and installed on the inner side of the reinforcement block (202); the reinforcement pin (204) is provided in the middle of the upper end of the reinforcement block (202); and the reinforcement bolt (205) is provided at the lower end of the inner side of the bracket (201).

3. The BIN automatic loading and unloading equipment according to claim 1 is characterized in that: The displacement module (3) comprises a support plate (301), an arc-shaped groove (302), an arc-shaped plate (303), a convex plate (304), a receiving groove (305), a vertical plate (306), a clamping plate (307) and an adjustment rod (308); the arc-shaped groove (302) is provided on the left and right sides of the lower end of the support plate (301); the arc-shaped plate (303) is provided at the lower end of the arc-shaped groove (302); the convex plate (304) is provided below the rear end of the support plate (301); the receiving groove (305) is provided in the middle of the upper end of the support plate (301); the vertical plates (306) are provided on four sides of the upper end of the support plate (301); the clamping plate (307) is provided on the inner side of the vertical plate (306); and the adjustment rod (308) is provided on the inner side of the middle part of the vertical plate (306).

4. The BIN automatic loading and unloading equipment according to claim 1 is characterized in that: The telescopic module (4) comprises a concave plate (401), a telescopic motor (402), a telescopic rod (403) and a stabilizing rod (404); the lower end of the concave plate (401) is provided with the telescopic motor (402); the front end of the telescopic motor (402) is provided with the telescopic rod (403); and the rear side of the outer end of the telescopic rod (403) is provided with the stabilizing rod (404).

5. The BIN automatic loading and unloading equipment according to claim 1 is characterized in that: The lifting adsorption module (5) comprises a U-shaped frame (501), a lifting column (502), a suction nozzle (503), a suction pipe (504) and a hydraulic box (505). The lifting column (502) is provided in the middle of the inner side of the U-shaped frame (501). The outer side of the upper end of the lifting column (502) is provided with a suction nozzle (503). The lower end of the suction nozzle (503) is connected to the suction pipe (504). The lower end of the U-shaped frame (501) is provided with a hydraulic box (505).

6. The BIN automatic loading and unloading equipment according to claim 1 is characterized in that: The placement module (6) comprises a placement platform (601), a column (602), an inner groove (603) and a positioning hole (604); the four corners of the lower end of the placement platform (601) are provided with columns (602); the inner groove (603) is provided on the inner side of the middle of the upper end of the placement platform (601); and the positioning hole (604) is provided above the inner groove (603).

7. The BIN automatic loading and unloading equipment according to claim 1 is characterized in that: The holding module (7) comprises an L-shaped plate (701), a card plate (702), a card slot (703) and a card pin (704); the card plate (702) is provided on the outer side of the lower end of the L-shaped plate (701); the card slot (703) is provided on the inner side of the outer end of the card plate (702); and the card pin (704) is provided in the middle of the upper end of the card plate (702).

8. The BIN automatic loading and unloading equipment according to claim 1 is characterized in that: The adjustment module (9) comprises a rectangular block (901), a side joint (902), an adjustment screw (903) and a middle sleeve (904); the side joint (902) is provided on the right side of the outer end of the rectangular block (901); the adjustment screw (903) is sleeved and installed on the inner side of the side joint (902); and the middle sleeve (904) is provided on the right side of the adjustment screw (903).

9. The BIN automatic loading and unloading equipment according to claim 1, characterized in that: The retrieving module (11) comprises a retrieving frame (111), a retrieving movable plate (112), an electric push rod (113), a retrieving elevator (114) and a material suction head (115); the retrieving movable plate (112) is slidably mounted on the inner side of the upper end of the retrieving frame (111); the rear end of the retrieving movable plate (112) is provided with an electric push rod (113); the middle part of the upper end of the retrieving movable plate (112) is provided with a retrieving elevator (114); and the lower end of the retrieving elevator (114) is provided with a material suction head (115).

10. The method for using the BIN automatic loading and unloading equipment according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: First, when starting the loading work, the chips to be used are placed on the set material tray (10), and then the filled material tray (10) is placed in the frame formed by the clamping module (7) at the upper end of the placement module (6). The material tray (10) is lifted and limited at the bottom by the symmetrically distributed limiters (8). At the same time, since the placement module (6) and the clamping module (7) are symmetrically distributed in two groups, the two groups can be installed on the left and right sides above the support module (2) respectively to form two temporary storage structures on the left and right. The two temporary storage structures are installed at a vertical angle to the displacement module (3) below. Step 2: The lifting adsorption module (5) provided in the middle of the lower end of the displacement module (3) can be extended upward to adsorb the top of the lifting adsorption module (5) on the lower end of the material tray (10), and then the limiter (8) is controlled to retract inward, so that the front end structure of the limiter (8) is separated from the lower end of the material tray (10), and then the lifting adsorption module (5) controls the material tray (10) to descend by the height of the material tray (10), and then the limiter (8) starts to work, and the front end of the limiter (8) is extended forward and inserted into the notch at the lower end of the material tray (10) for limiting, and then the lifting adsorption module (5) adsorbs the material tray (10) and descends into the clamping structure provided at the upper end of the displacement module (3) for placement; Step 3: The displacement module (3) on which the material tray (10) has been stored can be pushed by the telescopic module (4), driving the displacement module (3) to be pushed along the cross bar (203) in the support module (2) to the bottom of the material taking module (11). When the chip is directly below the material taking module (11), the device on the material taking module (11) absorbs the chip, and the absorbed chip is moved to the conveying device by pushing it horizontally to complete the loading work. At the same time, since the displacement module (3) and the lifting adsorption module (5) are symmetrically distributed on the left and right, when the displacement module (3) on the left drives the lifting adsorption module (5) to be pushed to the bottom of the material taking module (11), the displacement module (3) and the lifting adsorption module (5) on the right will start working. By the alternating working mode on both sides, the loading work efficiency of the equipment is made higher. Step 4. Secondly, when unloading is required, the electric push rod (113) in the material picking module (11) drives the material picking movable plate (112) to be pushed outward along the side arm at the upper end of the material picking frame (111), and stops after reaching the top of the conveying device. When the chip is conveyed over, the material picking elevator (114) controls the suction head (115) to descend, and the chip is adsorbed and fixed and then lifted. Then the electric push rod (113) works in the reverse direction to retract the material picking movable plate (112) to the top of the displacement module (3); Step 5: When the material picking movable plate (112) is retracted to the top of the displacement module (3), the material picking elevator (114) controls the material suction head (115) to descend, and the adsorbed chips are placed in the material tray (10) clamped at the upper end of the displacement module (3). When the material tray (10) is full, the displacement module (3) is driven by the telescopic module (4) to retract outward along the crossbar (203) in the support module (2), and stops when the displacement module (3) reaches the bottom of the placement module (6). Step 6: When the displacement module (3) moves to the bottom of the placement module (6) and stops, the lifting and adsorption module (5) starts to work, and after being fixed with the bottom of the material tray (10), the material tray (10) is lifted up and lifted. When the material tray (10) enters the inner side of the rectangular frame formed by the holding module (7), it stops. Then the limiter (8) starts to work, driving the front end structure of the limiter (8) to extend into the slot below the material tray (10). When the extension is completed, the lifting and adsorption module (5) cancels the adsorption, separates from the material tray (10) and descends to wait for the next work. The part that requires manual participation in the unloading process is to place the empty material tray (10) on the upper end of the displacement module (3). At the same time, the unloading process can also form the same working mode as the alternating loading through the displacement module (3) and the lifting and adsorption module (5) that are symmetrically arranged on the left and right, thereby improving the efficiency of the unloading work.

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