Probe arranging machine

Abstract

The invention discloses a probe arranging machine, and aims to solve the problems that most procedures of an existing probe card are manually operated, a probe easily falls off and is damaged, meanwhile, the size of the probe is very small, and operation by personnel under a microscope is very inconvenient. Comprising a workbench, a feeding box, a cover plate recycling mechanism, an upper discharging mechanism and a discharging box are arranged on the right side of the upper surface of the workbench, the feeding box, the cover plate recycling mechanism, the upper discharging mechanism and the discharging box are sequentially arranged from back to front, and a rotating disc mechanism used for feeding in four directions is arranged in the middle of the upper surface of the workbench; two screw material boxes arranged side by side are arranged at the rear end of the left side of the upper surface of the workbench. Automatic feeding, station conversion, screw unloading, pin header unloading, pin header entering into a pin header clamp and transferring are achieved, automatic work is achieved, manpower is saved, and the working efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automation equipment, and particularly relates to a probe arrangement machine.

[0002] Prior art

[0003] With the development of the semiconductor industry, more and more electronic devices are connected on the semiconductor wafer. In the process of manufacturing semiconductor devices, the probes are contacted with the metal terminals on the semiconductor wafer to achieve temporary electrical connection, so that the electrical signals of the tester are transmitted to the semiconductor devices through the probes, and the tester detects the electronic devices on the semiconductor wafer through the returned electrical signals.

[0004] The probe card is a link between the semiconductor wafer and the tester. By integrating multiple probes on the probe card, multiple probes are simultaneously contacted with multiple semiconductor devices on the semiconductor wafer to improve the detection efficiency. The existing probe card process is mostly manual operation, which is prone to dropping needles and damage. At the same time, the size of the needle is very small, and it is very inconvenient for personnel to operate under a microscope. SUMMARY

[0005] (1) Technical problem to be solved

[0006] In view of the deficiencies of the prior art, the purpose of the present application is to provide a probe arrangement machine, which aims to solve the problem that the existing probe card process is mostly manual operation, which is prone to dropping needles and damage. At the same time, the size of the needle is very small, and it is very inconvenient for personnel to operate under a microscope.

[0007] (2) Technical solution

[0008] In order to solve the above technical problems, the present application provides a probe arrangement machine, which comprises a workbench, the upper surface of the workbench is provided with a feeding box, a cover plate recycling mechanism, an upper unloading mechanism and an unloading box on the right side, the feeding box, the cover plate recycling mechanism, the upper unloading mechanism and the unloading box are arranged in sequence from back to front, a rotary table mechanism for feeding in four directions is arranged in the middle of the upper surface of the workbench, two screw feeding boxes are arranged side by side at the rear end of the left side of the upper surface of the workbench, a visual guide screw unloading mechanism is arranged on the left side of the upper surface of the workbench and in front of the screw feeding box, a transfer mechanism is arranged on the upper surface of the workbench and in front of the rotary table mechanism, a needle arranging and unloading mechanism is arranged below the rear end of the transfer mechanism, and a needle arranging clamp transfer mechanism is arranged below the needle arranging and unloading mechanism on the upper surface of the workbench.

[0009] Preferably, the feeding box and the discharging box each comprises a support which is bolted to the upper surface of the workbench, the upper surface of the support is provided with a needle arranging frame, the middle of the top end of the support is provided with a mounting groove, the inside of the mounting groove is bolted with a box sensor, the top end of the support and located at both sides of the mounting groove is respectively fixedly connected with a first positioning pin and a second positioning pin, the lower surface of the needle arranging frame and the positions corresponding to the first positioning pin and the second positioning pin are respectively provided with pin grooves.

[0010] Further, the middle of the needle arranging frame is fixedly connected with a partition plate, the inner wall of the needle arranging frame and the two sides of the partition plate are fixedly connected with a plurality of rib strips which are distributed at equal intervals, the middle of the two sides of the needle arranging frame is provided with a plurality of detection holes, the detection holes are located between adjacent two rib strips, the size of the first positioning pin is larger than that of the second positioning pin, the middle of the two sides of the support is fixedly connected with a plurality of first clamp sensors through L-shaped strips, each first clamp sensor corresponds to a detection hole.

[0011] Further, the feeding and discharging mechanism comprises a first four-axis manipulator which is bolted to the upper surface of the workbench through a seat, the bottom of the free end of the first four-axis manipulator is fixedly installed with a matching plate through a connecting sleeve, the upper surface of the matching plate is fixedly connected with a vacuum chuck, the inside of the free end of the first four-axis manipulator is installed with a vacuum generator which is in communication with the vacuum chuck, the top ends of the two sides of the connecting sleeve are bolted with several character-shaped frames, the two ends of the character-shaped frames are fixedly installed with suction nozzles which are in communication with the vacuum generator.

[0012] Further, the cover plate recycling mechanism comprises a bottom plate which is bolted to the upper surface of the workbench, the upper surface of the bottom plate is fixedly connected with connecting columns at four corners, the top ends of the four connecting columns are fixedly connected with a same support plate, the upper surface of the support plate is fixedly connected with two limiting columns at four corners, the outer sides of the limiting columns and located at the opposite corners of the support plate are bolted with support plates, the upper middle part of the support plate is fixedly installed with an alarm sensor, and the emitting end of the alarm sensor is located between the two limiting columns.

[0013] Further, the rotating disc mechanism comprises a fixing frame bolted to the middle part of the workbench, the bottom end of the fixing frame is bolted with a rotary electrical connector and a servo motor, and the rotary electrical connector and the servo motor are located below the workbench, the upper part of the fixing frame is rotationally connected with a four-station placing plate through a rotating table, the middle part of the rotating table is fixedly connected with the output end of the servo motor through a shaft coupling, the four-station placing plate is arranged in a cross shape, the upper surfaces of the four ends of the four-station placing plate are all bolted with placing seats, the upper surfaces of the placing seats are placed with clamps, one end of each placing seat close to the center of the four-station placing plate is bolted with a first pair of clamping air cylinders through right-angle plates, the output ends of the first pair of clamping air cylinders are all fixedly connected with guide plates, the outer sides of the ends of the two guide plates away from each other are all fixedly connected with first clamping plates, the first clamping plates are slidingly connected to the upper surfaces of the two ends of the placing seats, the two sides of the placing seats and located below the lower surface of the four-station placing plate are all bolted with rotary clamping air cylinders, the output ends of the rotary clamping air cylinders are fixedly connected with L-shaped pressing plates through rotating shafts penetrating through the four-station placing plate and extending to the upper part, the lower surfaces of the horizontal ends of the L-shaped pressing plates are in contact with the upper surfaces of the clamps, the middle parts of the sides of the guide plates close to the clamps are fixedly connected with positioning blocks, the middle part of the upper surface of the four-station placing plate is fixedly installed with an electromagnetic valve group through a frame, the electromagnetic valve group is in communication with the rotary clamping air cylinders and the first pair of clamping air cylinders, and the inside of the top side of the placing seat is fixedly installed with a clamp inductor.

[0014] Further, the visual guidance screw unloading mechanism comprises a second four-axis manipulator, the second four-axis manipulator is bolted to the workbench through the base, the free end of the second four-axis manipulator is bolted with a mounting plate, the side upper end of the mounting plate away from the second four-axis manipulator is bolted with a first up-down air cylinder, the side lower end of the mounting plate away from the second four-axis manipulator is bolted with a slide rail in the middle, the output end of the first up-down air cylinder is fixedly connected with an L-shaped slide block, the outer side of the L-shaped slide block is slidably connected to the slide rail, the inner side of the L-shaped slide block is fixedly connected with a servo screwdriver, the output end of the servo screwdriver penetrates through the L-shaped slide block and extends to the below to be fixedly installed with a screwdriver head, the lower end of the slide rail is slidably connected with a first slide block, the side of the first slide block away from the slide rail is bolted with an L-shaped connecting plate, one side of the mounting plate and corresponding to the connecting plate is fixedly connected with a second up-down air cylinder, the output end of the second up-down air cylinder is fixedly connected to the other end of the connecting plate, the outer side of the first slide block is fixedly connected with a limiting plate in the middle, the end of the limiting plate away from the first slide block is installed with a sleeve matched with the screwdriver head in the middle, the upper end of the mounting plate and above the second up-down air cylinder is fixedly installed with a visual guidance camera, the lower end of the mounting plate and opposite to the second up-down air cylinder is bolted with a third up-down air cylinder, the output end of the bottom of the third up-down air cylinder is fixedly connected with a driving plate, the side lower end of the driving plate away from the third up-down air cylinder is fixedly connected with a fixed plate, the middle of the fixed plate is fixedly installed with two rubber suction nozzles.

[0015] Further, the transfer mechanism comprises a support frame bolted to the workbench, the inner top wall of the support frame is bolted with a first servo sliding table extending inward in the middle, the lower end of the first servo sliding table is slidably connected with a top plate, the lower surfaces of the two ends of the top plate are both bolted with a retaining plate, the lower surface of the top plate is bolted with a vertical plate in the middle, the middle of the two sides of the vertical plate is respectively fixedly installed with a first up-down driving sliding table and a second up-down driving sliding table, the first up-down driving sliding table is slidably connected with a first U-shaped slide block, the outer side of the first U-shaped slide block is bolted with a mounting frame, one side of the mounting frame is bolted with a mounting side frame, the outer side of the mounting side frame is bolted with a turnover motor, the output end of the turnover motor penetrates through the mounting side frame and is installed with a rotating shaft through a shaft coupling, the two ends of the rotating shaft are both rotatably connected to the inside of the mounting frame through bearings, the two sides of the rotating shaft are both provided with planes, the outer side of the plane is bolted with a second pair of clamping air cylinders, the two output ends of the second pair of clamping air cylinders are both bolted with a clamping arm, the bottom end of the two clamping arms is integrally formed with a chuck.

[0016] Further, the second upper and lower driving sliding table is slidably connected with a second U-shaped slider, the outer side of the second U-shaped slider is bolted with a U-shaped plate opening downward, the bottom of both ends of the U-shaped plate is bolted with a driving air cylinder through an angle plate, the output end of both driving air cylinders is bolted with an electric wrench through a moving plate, the output end of the electric wrench is provided with an electric wrench head, and the two sides of the second U-shaped slider are bolted with a hand-changing air cylinder through a lifting plate, and the hand-changing air cylinder is located between the two electric wrench heads.

[0017] Further, the row pin clamp transfer mechanism comprises a second servo sliding table bolted on the workbench, the movement direction of the second servo sliding table is perpendicular to the movement direction of the first servo sliding table, the top of the second servo sliding table is slidably connected with a bearing plate through a work-type seat, the rear side of the upper surface of the bearing plate is bolted with an L-shaped coaming at an angle, the outer side of the upper surface of the L-shaped coaming is integrally formed with a stop edge, the top of the bearing plate and located at the inner side of the L-shaped coaming is placed with a row pin clamp, the upper surface of the bearing plate and located at the opposite surfaces of the two sides of the L-shaped coaming is bolted with three limiting air cylinders, the upward output end of each limiting air cylinder is sleeved with a limiting block in contact with the row pin clamp, and the side of the bearing plate and located between the two limiting air cylinders on the left is bolted with a second clamp sensor through an L-shaped ear plate.

[0018] (3) Beneficial effects

[0019] Compared with the prior art, the beneficial effects of the present application are that:

[0020] The present application sets a rotating disc mechanism in the middle of the workbench, sets a feeding box, an unloading mechanism, a cover plate recycling mechanism, a screw box, a visual guide screw unloading mechanism, a transfer mechanism, a row pin clamp transfer mechanism, an unloading box and a row pin unloading mechanism around the rotating disc mechanism, wherein the rotating disc mechanism rotates 90 degrees for one station, and there are a total of four stations, which realizes automatic feeding, station conversion, screw unloading, row pin unloading into a row pin clamp and transfer, realizes automatic work, saves manpower and greatly improves work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0022] Figure 2 It is a schematic diagram of the overall structure of the present application;

[0023] Figure 3 It is a schematic diagram of the explosion structure of the feeding box of the present application;

[0024] Figure 4 It is a schematic diagram of the structure of the unloading mechanism of the present application;

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure of the cover plate recycling mechanism of the present application;

[0026] Figure 6 The three-dimensional structure schematic diagram of the rotating disc mechanism of the present application;

[0027] Figure 7 The three-dimensional structure schematic diagram of the visual guiding screw unloading mechanism of the present application;

[0028] Figure 8 The partial structure schematic diagram of the visual guiding screw unloading mechanism of the present application;

[0029] Figure 9 The three-dimensional structure schematic diagram of the transfer mechanism, needle arranging and unloading mechanism and needle arranging clamp transfer mechanism of the present application;

[0030] Figure 10 The exploded structure schematic diagram of the needle arranging clamp transfer mechanism of the present application;

[0031] Figure 11 The three-dimensional structure schematic diagram of the needle arranging and unloading mechanism of the present application;

[0032] Figure 12 The three-dimensional structure schematic diagram of the needle arranging and unloading mechanism of the present application from another perspective.

[0033] The marks in the drawings are: 1, workbench; 2, feeding box; 201, support; 202, pin arranging frame; 203, partition plate; 204, rib; 205, detection hole; 206, first clamp sensor; 207, first positioning pin; 208, second positioning pin; 209, mounting groove; 210, box sensor; 3, feeding and discharging mechanism; 301, first four-axis manipulator; 302, matching plate; 303, vacuum chuck; 304, several-shaped frame; 305, suction nozzle; 4, cover plate recycling mechanism; 401, bottom plate; 402, connecting column; 403, support plate; 404, limiting column; 405, support plate; 406, alarm sensor; 5, rotary table mechanism; 501, fixing frame; 502, rotary electrical connector; 503, servo motor; 504, rotary table; 505, four-station placing plate; 506, placing seat; 507, first pair of clamping cylinders; 508, guide plate; 509, first clamping plate; 510, positioning block; 511, rotary clamping cylinder; 512, L-shaped pressing plate; 513, clamp sensor; 514, electromagnetic valve group; 6, screw box; 7, visual guidance screw discharging mechanism; 701, base; 702, second four-axis manipulator; 703, mounting plate; 704, first up-down cylinder; 705, sliding rail; 706, L-shaped sliding block; 707, servo screwdriver; 708, screwdriver bit; 709, second up-down cylinder; 710, connecting plate; 711, first sliding block; 712, limiting plate; 713, sleeve; 714, third up-down cylinder; 715, driving plate; 716, fixed plate; 717, rubber head suction nozzle; 718, visual guidance camera; 8, transfer mechanism; 801, support frame; 802, first servo sliding table; 9, pin clamp transfer mechanism; 901, second servo sliding table; 902, work-type seat; 903, bearing plate; 904, L-shaped coaming; 905, baffle; 906, limiting cylinder; 907, limiting block; 908, L-shaped ear plate; 909, second clamp sensor; 910, pin clamp; 10, discharging box; 11, pin discharging mechanism; 111, retaining plate; 112, top plate; 113, first up-down driving sliding table; 114, mounting frame; 115, mounting side frame; 116, overturning motor; 117, rotating shaft; 118, second pair of clamping cylinders; 119, clamping arm; 120, chuck; 121, second up-down driving sliding table; 122, U-shaped plate; 123, angle plate; 124, driving cylinder; 125, moving plate; 126, electric screwdriver; 127, electric screwdriver bit; 128, lifting plate; 129, hand-changing cylinder. DETAILED DESCRIPTION

[0034] The specific embodiment is a probe arranging machine, and the structural schematic diagram is as shown in the figure Figures 1-12As shown, including the workbench 1, the upper surface of the workbench 1 is provided with a feeding box 2, a cover recycling mechanism 4, an upper unloading mechanism 3 and an unloading box 10 on the right side, the feeding box 2, the cover recycling mechanism 4, the upper unloading mechanism 3 and the unloading box 10 are sequentially arranged from back to front, a turntable mechanism 5 for four orientation feeding is arranged on the upper surface of the workbench 1, two screw boxes 6 are arranged side by side on the left side of the upper surface of the workbench 1, a visual guiding screw unloading mechanism 7 is arranged on the left side of the upper surface of the workbench 1 and located in front of the screw box 6, a transfer mechanism 8 is arranged on the upper surface of the workbench 1 and located in front of the turntable mechanism 5, a pin unloading mechanism 11 is arranged below the rear end of the transfer mechanism 8, and a pin clamp transfer mechanism 9 is arranged below the pin unloading mechanism 11 on the upper surface of the workbench 1.

[0035] Before work, the staff first puts the full needle clamp fixture box in the feeding box 2, and puts the empty pin box on the pin clamp transfer mechanism 9; through the external controller, the upper unloading mechanism 3 works to take out a needle clamp fixture (with full needle) from the feeding box 2 and place it on the turntable mechanism 5, and then the upper unloading mechanism 3 can take away the cover on the needle clamp fixture and place it in the cover recycling mechanism 4; then the external controller controls the turntable mechanism 5 to rotate the needle clamp fixture by 90 degrees each time, so the turntable mechanism 5 can rotate counterclockwise four times, that is, the turntable mechanism 5 rotates once for each station, and there are four stations, and the needle clamp fixture can be automatically positioned after being placed on the turntable mechanism 5, when the turntable mechanism 5 rotates to the third time, that is, the third station, the visual guiding screw unloading mechanism 7 at this station can disassemble the screws on the needle clamp fixture and place them in the screw box 6 for collection; then, the turntable mechanism 5 rotates to the fourth station, at which the transfer mechanism 8 can unload the pins and place them in the pin clamp transfer mechanism 9, and the pin clamp transfer mechanism 9 transports the full pin unloading position, and the upper unloading mechanism 3 sucks the clamp and places it in the unloading box 10, and when the unloading box 10 is full, the system will alarm to inform the operator to take it away;

[0036] The upper feeding box 2 and the discharging box 10 each comprise a support 201 which is bolted to the upper surface of the workbench 1, the upper surface of the support 201 is provided with a needle arranging frame 202, the middle part of the top end of the support 201 is provided with a mounting groove 209, the inside of the mounting groove 209 is bolted with a box sensor 210, the top end of the support 201 and located on both sides of the mounting groove 209 are fixedly connected with a first positioning pin 207 and a second positioning pin 208 respectively, the lower surface of the needle arranging frame 202 and the positions corresponding to the first positioning pin 207 and the second positioning pin 208 are respectively provided with pin grooves; wherein the two supports 201 are respectively the upper feeding station and the discharging station, the needle arranging frame 202 can be taken out or put in from the corresponding support 201, at the same time, the needle arranging frame 202 is put into the corresponding first positioning pin 207 and second positioning pin 208 through the two pin grooves at the bottom of the needle arranging frame 202, so that the needle arranging frame 202 is positioned, and the box sensor 210 can detect whether the support 201 is placed flat.

[0037] The middle part of the needle arranging frame 202 is fixedly connected with a partition plate 203, the inner wall of the needle arranging frame 202 and the two sides of the partition plate 203 are fixedly connected with a plurality of rib strips 204 which are distributed at equal intervals, the middle part of the two sides of the needle arranging frame 202 is provided with a plurality of detection holes 205, the detection holes 205 are located between adjacent two rib strips 204, the size of the first positioning pin 207 is larger than that of the second positioning pin 208, the middle part of the two sides of the support 201 is fixedly connected with a plurality of first clamp sensors 206 through L-shaped strips, each first clamp sensor 206 corresponds to a detection hole 205; wherein the needle arranging frame 202 is put into the support 201, the needle arranging frame 202 is pre-installed with full-needle needle-pasting clamps, the needle-pasting clamps are sequentially placed on the rib strips 204 from bottom to top, at the same time, the needle-pasting clamps correspond to the detection holes 205, so that the first clamp sensor 206 can detect whether there is a needle-pasting clamp in the layer through the detection hole 205 and send a signal to an external controller for processing; wherein the first positioning pin 207 and the second positioning pin 208 can accurately place the needle arranging frame 202 on the support 201.

[0038] The upper and lower discharge mechanism 3 comprises a first four-axis manipulator 301, the first four-axis manipulator 301 is bolted to the upper surface of the workbench 1 through a seat body, the bottom of the free end of the first four-axis manipulator 301 is fixedly installed with a matching plate 302 through a connecting sleeve, the upper surface of the matching plate 302 is fixedly connected with a vacuum chuck 303, the inside of the free end of the first four-axis manipulator 301 is installed with a vacuum generator communicated with the vacuum chuck 303, the top of the connecting sleeve is bolted with a few Chinese character-shaped frames 304 on both sides, the two ends of the Chinese character-shaped frame 304 are fixedly installed with suction nozzles 305 communicated with the vacuum generator; wherein the first four-axis manipulator 301 is prior art, which can realize forward and backward and left and right movements, so that the vacuum chuck 303 and the suction nozzle 305 can move to the feeding box 2, the cover plate recycling mechanism 4 and the discharge box 10, wherein the suction nozzle 305 is a suction nozzle 305 with a spring, and when feeding, the first four-axis manipulator 301 can drive the vacuum chuck 303 to move to the feeding box 2 and extend the vacuum chuck 303 below the needle clamping jig in the needle frame 202, the needle clamping jig above is adsorbed and taken out by the vacuum chuck 303 and placed on the first station of the turntable mechanism 5, and after the placement is completed, the cover plate on the needle clamping jig is taken off by the suction nozzle 305 and placed on the cover plate recycling mechanism 4 for recycling.

[0039] The cover plate recycling mechanism 4 comprises a bottom plate 401 bolted to the upper surface of the workbench 1, the upper surface of the bottom plate 401 is fixedly connected with connecting columns 402 at four corners, the top of the four connecting columns 402 is fixedly connected with a same support plate 403, the upper surface of the support plate 403 is fixedly connected with two limiting columns 404 at four corners, the support plate 403 is bolted with support plates 405 at opposite corners on the outer side of the limiting columns 404, the upper end of the support plate 405 is fixedly installed with an alarm sensor 406, and the emitting end of the alarm sensor 406 is located between the two limiting columns 404; wherein the cover plate is placed between the four groups of limiting columns 404 by the suction nozzle 305, and the alarm sensor 406 can detect whether the cover plate is stacked to the highest position, if the cover plate is full, it can be taken away by the worker, which is convenient for subsequent placement.

[0040] The rotating disc mechanism 5 comprises a fixed frame 501 bolted to the middle part of the workbench 1, the bottom end of the fixed frame 501 is bolted with a rotating electrical connector 502 and a servo motor 503, and the rotating electrical connector 502 and the servo motor 503 are located below the workbench 1, the upper part of the fixed frame 501 is rotationally connected with a four-station placing plate 505 through a rotating table 504, the middle part of the rotating table 504 is fixedly connected with the output end of the servo motor 503 through a shaft coupling, the four-station placing plate 505 is arranged in a cross shape, the upper surfaces of the four ends of the four-station placing plate 505 are bolted with placing seats 506, the upper surfaces of the placing seats 506 are placed with clamps, the end of each placing seat 506 close to the center of the four-station placing plate 505 is bolted with a first pair of clamping air cylinders 507 through right-angle plates, the two output ends of the first pair of clamping air cylinders 507 are fixedly connected with guide plates 508, the outer sides of the ends of the two guide plates 508 away from each other are fixedly connected with first clamping plates 509, the first clamping plates 509 are slidingly connected to the upper surfaces of the two ends of the placing seats 506, the two sides of the placing seats 506 and located below the lower surface of the four-station placing plate 505 are bolted with rotary clamping air cylinders 511, the output end of the rotary clamping air cylinder 511 is fixedly connected with an L-shaped pressing plate 512 through a rotating shaft penetrating through the four-station placing plate 505 and extending to the upper part, the lower surface of the horizontal end of the L-shaped pressing plate 512 is in contact with the upper surface of the clamp, the middle part of the side of the guide plate 508 close to the clamp is fixedly connected with a positioning block 510, the middle part of the upper surface of the four-station placing plate 505 is fixedly installed with an electromagnetic valve group 514 through a frame, the electromagnetic valve group 514 is in communication with the rotary clamping air cylinder 511 and the first pair of clamping air cylinders 507, the side of the top end of the placing seat 506 is internally fixedly installed with a clamp inductor 513; wherein the middle part of the workbench 1 is provided with an empty space, which can facilitate the placement and installation of the rotating electrical connector 502 and the servo motor 503, the rotating electrical connector 502 is in communication with the electromagnetic valve group 514; the vacuum chuck 303 can place the pin clamps on the placing seats 506 on the first station, and after the suction nozzle 305 removes the cover plate, the external controller controls the first pair of clamping air cylinders 507 on the first station to reset and retract and the rotary clamping air cylinder 511 to work through the rotating electrical connector 502 and the electromagnetic valve group 514, (the first pair of clamping air cylinders 507 are in an extended state before the pin clamps are placed), the first pair of clamping air cylinders 507 drive the first clamping plates 509 to approach each other through the guide plates 508 and clamp the pin clamps, at the same time, the rotary clamping air cylinder 511 rotates 90 degrees to the pin clamps to clamp and position the edges of the pin clamps, which is convenient for subsequent work; at the same time, the servo motor 503 can drive the four-station placing plate 505 to rotate through the rotating table 504, so that the four-station placing plate 505 drives the four placing seats 506 to be transported to the next station; at the same time, a position sensor is arranged below any station on the four-station placing plate 505, so that the servo motor 503 can accurately start and stop; at the same time, the clamp inductor 513 can detect whether there is a pin clamp on the placing seat 506.

[0041] The visual guidance screw unloading mechanism 7 comprises a second four-axis manipulator 702 which is bolted to the workbench 1 through a base 701, a mounting plate 703 is bolted to the free end of the second four-axis manipulator 702, a first up-down air cylinder 704 is bolted to the side upper end of the mounting plate 703 away from the second four-axis manipulator 702, a slide rail 705 is bolted to the side lower end of the mounting plate 703 away from the second four-axis manipulator 702, an L-shaped slide block 706 is fixedly connected to the output end of the first up-down air cylinder 704, the L-shaped slide block 706 is slidably connected to the outer side of the slide rail 705, a servo screwdriver 707 is fixedly connected to the inner side of the L-shaped slide block 706, the output end of the servo screwdriver 707 penetrates through the L-shaped slide block 706 and extends downwards to be fixedly installed with a screwdriver head 708, a first slide block 711 is slidably connected to the lower end of the slide rail 705, an L-shaped connecting plate 710 is bolted to the side away from the slide rail 705 of the first slide block 711, a second up-down air cylinder 709 is fixedly connected to the side of the mounting plate 703 and corresponds to the connecting plate 710, the output end of the second up-down air cylinder 709 is fixedly connected to the other end of the connecting plate 710, a limiting plate 712 is fixedly connected to the outer side middle part of the first slide block 711, a sleeve 713 matched with the screwdriver head 708 is installed in the middle part of the end away from the first slide block 711 of the limiting plate 712, a visual guidance camera 718 is fixedly installed on the upper end of the mounting plate 703 and above the second up-down air cylinder 709, a third up-down air cylinder 714 is bolted to the lower end of the mounting plate 703 and opposite to the second up-down air cylinder 709, a driving plate 715 is fixedly connected to the output end of the bottom of the third up-down air cylinder 714, a fixed plate 716 is fixedly connected to the side lower end of the driving plate 715 away from the third up-down air cylinder 714, two rubber head suction nozzles 717 are fixedly installed in the middle part of the fixed plate 716; when the four-station placing plate 505 rotates the needle attaching clamp in the second station to the third station, that is, the third station corresponds to the visual guidance screw unloading mechanism 7, at this time, the visual guidance camera 718 can position the accurate position of the screw on the needle attaching clamp, and then the second four-axis manipulator 702 moves the sleeve 713 above the screw according to the positioning;Then, the second up-down air cylinder 709 drives the limiting plate 712 and the sleeve 713 to move downward through the connecting plate 710 and the first sliding block 711, so that the sleeve 713 is sleeved outside the bolt, and then the first up-down air cylinder 704 extends downward and drives the servo screwdriver 707 to move downward through the L-shaped sliding block 706, so that the screwdriver head 708 enters the sleeve 713 and contacts the screw head. Subsequently, the servo screwdriver 707 is started and the bolt is removed through the screwdriver head 708. The sleeve 713 has a vacuum adsorption function and can adsorb the removed bolt in the sleeve 713. Then, the third up-down air cylinder 714 extends and drives the fixed plate 716 and the rubber head suction nozzle 717 to move downward through the driving plate 715, so that the rubber head suction nozzle 717 takes away the pressing strip. Finally, the sleeve 713 and the rubber head suction nozzle 717 are driven by the second four-axis mechanical hand 702 to move into the two bolt boxes 6, so that the bolt and the pressing strip fall into the corresponding bolt boxes 6, respectively.

[0042] The transfer mechanism 8 comprises a support frame 801 bolted to the workbench 1, a first servo sliding table 802 extending inwardly is bolted to the middle of the inner top wall of the support frame 801, the lower end of the first servo sliding table 802 is slidingly connected with a top plate 112, the lower surfaces of the two ends of the top plate 112 are both bolted with a retaining plate 111, the lower surface of the top plate 112 is bolted with a vertical plate, the middle of the two sides of the vertical plate is respectively fixedly installed with a first up-down driving sliding table 113 and a second up-down driving sliding table 121, a first U-shaped sliding block is slidingly connected on the first up-down driving sliding table 113, an installation frame 114 is bolted to the outer side of the first U-shaped sliding block, an installation side frame 115 is bolted to one side of the installation frame 114, a turnover motor 116 is bolted to the outer side of the installation side frame 115, a rotating shaft 117 is installed at the output end of the turnover motor 116 in a penetrating mode through the installation side frame 115 and through a shaft coupling, the two ends of the rotating shaft 117 are both rotatingly connected to the inner part of the installation frame 114 through bearings, the middle of the two sides of the rotating shaft 117 is both provided with a plane, a second pair of clamping air cylinders 118 are bolted to the outer plane, clamping arms 119 are bolted to the two output ends of the second pair of clamping air cylinders 118, clamping heads 120 are integrally formed at the bottom ends of the two clamping arms 119; when the screws and the pressing strips on the needle mounting jig are removed by the third station, the four-station placing plate 505 continues to rotate by 90 degrees to the fourth station, that is, the needle mounting jig is rotated to the lower side of the transfer mechanism 8, at this time, the external controller controls the turnover motor 116 to reset and the second pair of clamping air cylinders 118 to extend, so that the clamping arms 119 and the clamping heads 120 are in a downward vertical and separated state, then the first up-down driving sliding table 113 works and drives the installation frame 114 to move downward, at the same time, the clamping arms 119 and the clamping heads 120 move downward to the upper side of the needle mounting jig, so that the two clamping heads 120 are located at the two ends of the needle strip, then the second pair of clamping air cylinders 118 resets to drive the two clamping arms 119 and the clamping heads 120 to approach each other, so that the two clamping heads 120 clamp the needle strip, then the turnover motor 116 starts and drives the rotating shaft 117 to rotate by 90 degrees, the rotating shaft 117 drives the second pair of clamping air cylinders 118 to rotate by 90 degrees, so that the clamping arms 119 and the clamping heads 120 drive the needle strip to rotate by 90 degrees, and the needle strip is rotated to the other side.

[0043] The second U-shaped slider is slidably connected to the second up-down driving sliding table 121, the outer side of the second U-shaped slider is bolted with a U-shaped plate 122 with an opening downward, the bottom of both ends of the U-shaped plate 122 is bolted with a driving cylinder 124 through an angle plate 123, the output end of both driving cylinders 124 is bolted with an electric wrench 126 through a moving plate 125, the output end of the electric wrench 126 is installed with an electric wrench head 127, both sides of the second U-shaped slider are bolted with a hand-changing cylinder 129 through a lifting plate 128, and the hand-changing cylinder 129 is located between the two electric wrench heads 127; wherein when the pin strip is rotated by 90 degrees to another time, that is, the pin strip is located below the two hand-changing cylinders 129, at this time, the second up-down driving sliding table 121 works and drives the hand-changing cylinder 129 to move downward through the lifting plate 128, so that the clamping ends of the two hand-changing cylinders 129 are located at both ends of the pin strip, at this time, when the hand-changing cylinder 129 works, the clamping ends clamp both ends of the pin strip, at this time, the turnover motor 116 resets, so that the chuck 120 resets to a downward vertical state, facilitating subsequent work, then the clamping end of the hand-changing cylinder 129 clamps the pin strip and puts it into the pin clamp transfer mechanism 9, this action is driven by the first servo sliding table 802, at the same time, the two end electric wrenches 126 lock the headless screws in the pin clamp transfer mechanism 9, and fix the pin strip.

[0044] The pin row clamp transfer mechanism 9 comprises a second servo sliding table 901 bolted to the workbench 1, the movement direction of the second servo sliding table 901 is perpendicular to the movement direction of the first servo sliding table 802, a bearing plate 903 is slidingly connected to the top of the second servo sliding table 901 through a work-type seat 902, an L-shaped coaming 904 is bolted to a rear corner of the upper surface of the bearing plate 903, a baffle 905 is integrally formed on the outer side of the upper surface of the L-shaped coaming 904, a pin row clamp 910 is placed on the top of the bearing plate 903 and located at the inner side of the L-shaped coaming 904, three limiting air cylinders 906 are bolted to the opposite surfaces of the bearing plate 903 and located on both sides of the L-shaped coaming 904, a limiting block 907 in contact with the pin row clamp 910 is sleeved on the upward output end of each limiting air cylinder 906, and a second clamp sensor 909 is bolted to one side of the bearing plate 903 and located between the left two limiting air cylinders 906 through an L-shaped ear plate 908; wherein the pin row strip is placed in the pin row clamp 910, and the electric wrench 126 locks the headless screw in the pin row clamp transfer mechanism 9 to fix the pin row strip; wherein the three limiting air cylinders 906 can limit the pin row clamp 910 on the bearing plate 903 through the limiting block 907, the L-shaped coaming 904 and the baffle 905, and the second clamp sensor 909 can detect whether the pin row clamp 910 is on the bearing plate 903, when the pin row clamp 910 is full, the second servo sliding table 901 is controlled by an external controller to move the full pin row clamp 910 to the unloading box 10, then the limiting air cylinders 906 are loosened, the vacuum suction cup 303 is moved to the bearing plate 903 and sucks the pin row clamp 910 under the drive of the first four-axis mechanical hand 301, after the operation, the pin row clamp 910 is transferred to the pin row frame 202 in the unloading box 10, when the pin row frame 202 is full, the system can issue an alarm, and the staff removes and replaces the empty pin row frame 202.

[0045] All the technical features in the embodiment can be freely combined according to actual needs.

[0046] The above embodiment is a preferred implementation scheme of the application, and the application can also be implemented in other ways, and any obvious replacement without departing from the technical scheme concept is within the protection scope of the application.

Claims

1. A probe placement machine, comprising a worktable (1), characterized in that, On the right side of the upper surface of the workbench (1), a feeding box (2), a cover plate recycling mechanism (4), an upper unloading mechanism (3), and an unloading box (10) are respectively provided. The feeding box (2), the cover plate recycling mechanism (4), the upper unloading mechanism (3), and the unloading box (10) are arranged sequentially from back to front. A turntable mechanism (5) for feeding materials in four directions is provided in the middle of the upper surface of the workbench (1). Two screw boxes (6) are arranged side by side at the rear left side of the upper surface of the workbench (1). A visual guidance screw unloading mechanism (7) is provided on the left side of the upper surface of the workbench (1) and in front of the screw box (6). A transfer mechanism (8) is provided on the upper surface of the workbench (1) and in front of the turntable mechanism (5). A pin unloading mechanism (11) is provided below the rear end of the transfer mechanism (8). A pin clamp transfer mechanism (9) is provided on the upper surface of the workbench (1) and below the pin unloading mechanism (11).

2. The probe placement machine according to claim 1, characterized in that, Both the loading box (2) and the unloading box (10) include a bracket (201). The bracket (201) is bolted to the upper surface of the workbench (1). The upper surface of the bracket (201) is provided with a pin rack (202). The top center of the bracket (201) is provided with a mounting groove (209). A material box sensor (210) is bolted inside the mounting groove (209). The top of the bracket (201) and the two sides of the mounting groove (209) are respectively fixedly connected with a first positioning pin (207) and a second positioning pin (208). The lower surface of the pin rack (202) is provided with pin grooves at positions corresponding to the first positioning pin (207) and the second positioning pin (208).

3. The probe placement machine according to claim 2, characterized in that, A partition (203) is fixedly connected to the middle of the pin rack (202). Multiple ribs (204) are fixedly connected to the inner wall of the pin rack (202) and both sides of the partition (203). The multiple ribs (204) are distributed at equal intervals. Multiple detection holes (205) are provided in the middle of both sides of the pin rack (202). The detection holes (205) are located between two adjacent ribs (204). The size of the first positioning pin (207) is larger than the size of the second positioning pin (208). Multiple first clamping sensors (206) are fixedly connected to the middle of both sides of the bracket (201) through L-shaped strips. Each first clamping sensor (206) corresponds to a detection hole (205).

4. The probe placement machine according to claim 3, characterized in that, The loading and unloading mechanism (3) includes a first four-axis manipulator (301), which is bolted to the upper surface of the workbench (1) via a base. A mating plate (302) is fixedly installed at the bottom of the free end of the first four-axis manipulator (301) via a connecting sleeve. A vacuum suction cup (303) is fixedly connected to the upper surface of the mating plate (302). A vacuum generator connected to the vacuum suction cup (303) is installed inside the free end of the first four-axis manipulator (301). A Z-shaped frame (304) is bolted to both sides of the top of the connecting sleeve. A suction nozzle (305) connected to the vacuum generator is fixedly installed at both ends of the Z-shaped frame (304).

5. The probe placement machine according to claim 1, characterized in that, The cover plate recycling mechanism (4) includes a base plate (401) bolted to the upper surface of the workbench (1). Connecting columns (402) are fixedly connected to the four corners of the upper surface of the base plate (401). The top of the four connecting columns (402) is fixedly connected to the same support plate (403). Two limiting columns (404) are fixedly connected to the four corners of the upper surface of the support plate (403). Support plates (405) are bolted to the diagonal corners of the upper surface of the support plate (403) and to the outside of the limiting columns (404). An alarm sensor (406) is fixedly installed in the middle of the upper end of the support plate (405), and the transmitting end of the alarm sensor (406) is located between the two limiting columns (404).

6. The probe placement machine according to claim 5, characterized in that, The turntable mechanism (5) includes a fixed frame (501) bolted to the middle of the worktable (1). A rotary electrical connector (502) and a servo motor (503) are bolted to the bottom end of the fixed frame (501), and both the rotary electrical connector (502) and the servo motor (503) are located below the worktable (1). A four-position placement plate (505) is rotatably connected to the top of the fixed frame (501) via a rotary table (504). The middle of the rotary table (504) is connected to the servo motor (505) via a coupling. 03) The output end is fixedly connected. The four-station placement plate (505) is arranged in a cross shape. Placement seats (506) are bolted to the upper surfaces of the four ends of the four-station placement plate (505). A clamp is placed on the upper surface of the placement seat (506). The end of each placement seat (506) near the center of the four-station placement plate (505) is bolted to a first pair of clamping cylinders (507) through a right-angle plate. Guide plates (508) are fixedly connected to the two output ends of the first pair of clamping cylinders (507). Each of the guide plates (508) has a first clamping plate (509) fixedly connected to the outer side of its opposite end. The first clamping plate (509) is slidably connected to the upper surfaces of both ends of the placement base (506). Rotary clamping cylinders (511) are bolted to both sides of the placement base (506) and to the lower surface of the four-position placement plate (505). The output end of the rotary clamping cylinder (511) passes through the four-position placement plate (505) via a rotating shaft and extends upwards to be fixedly connected to an L-shaped pressure plate (512). The lower surface of the horizontal end of the L-shaped pressure plate (512) is in contact with the upper surface of the fixture. A positioning block (510) is fixedly connected to the middle of the side of the guide plate (508) near the fixture. A solenoid valve group (514) is fixedly installed in the middle of the upper surface of the four-station placement plate (505) through a frame. The solenoid valve group (514) is connected to the rotary clamping cylinder (511) and the first pair of clamping cylinders (507). A fixture sensor (513) is fixedly installed inside the top side of the placement seat (506).

7. The probe placement machine according to claim 6, characterized in that, The visually guided screw removal mechanism (7) includes a second four-axis manipulator (702), which is bolted to the worktable (1) via a base (701). A mounting plate (703) is bolted to the free end of the second four-axis manipulator (702). A first up-and-down cylinder (704) is bolted to the upper end of the mounting plate (703) on the side away from the second four-axis manipulator (702). A slide rail (705) is bolted to the middle of the lower end of the mounting plate (703) on the side away from the second four-axis manipulator (702). An L-shaped slider (706) is fixedly connected to the output end of the cylinder (704). The outer side of the L-shaped slider (706) is slidably connected to the slide rail (705). A servo screwdriver (707) is fixedly connected to the inner side of the L-shaped slider (706). The output end of the servo screwdriver (707) passes through the L-shaped slider (706) and extends downwards to be fixedly installed with a screwdriver bit (708). A first slider (711) is slidably connected to the lower end of the slide rail (705). The first slider (711) is placed away from the slide rail (705) and bolted to one side with a [missing information - likely a type of screwdriver]. An L-shaped connecting plate (710) is provided. A second upper and lower cylinder (709) is fixedly connected to one side of the mounting plate (703) at a position corresponding to the connecting plate (710). The output end of the second upper and lower cylinder (709) is fixedly connected to the other end of the connecting plate (710). A limiting plate (712) is fixedly connected to the middle of the outer side of the first slider (711). A sleeve (713) adapted to a screwdriver bit (708) is installed at the middle of the end of the limiting plate (712) away from the first slider (711). The upper part of the mounting plate (703) is... A vision guidance camera (718) is fixedly installed above the second upper and lower cylinder (709). A third upper and lower cylinder (714) is bolted to the lower end of the mounting plate (703) at a position opposite to the second upper and lower cylinder (709). A drive plate (715) is fixedly connected to the output end of the bottom of the third upper and lower cylinder (714). A fixing plate (716) is fixedly connected to the lower end of the drive plate (715) on the side away from the third upper and lower cylinder (714). Two rubber nozzles (717) are fixedly installed in the middle of the fixing plate (716).

8. The probe placement machine according to claim 7, characterized in that, The transfer mechanism (8) includes a support frame (801) bolted to the workbench (1). A first servo slide (802) extending inward is bolted to the middle of the inner top wall of the support frame (801). A top plate (112) is slidably connected to the lower end of the first servo slide (802). A retaining plate (111) is bolted to the lower surfaces of both ends of the top plate (112). A vertical plate is bolted to the middle of the lower surface of the top plate (112). A first up-and-down drive slide (113) and a second up-and-down drive slide (121) are respectively fixedly installed on the middle of the two sides of the vertical plate. A first U-shaped slider is slidably connected to the first up-and-down drive slide (113). A mounting frame (114) is bolted to the outer side of the first U-shaped slider. The mounting frame (114) is bolted to one side of a mounting side bracket (115), and a tilting motor (116) is bolted to the outside of the mounting side bracket (115). The output end of the tilting motor (116) passes through the mounting side bracket (115) and is mounted with a rotating shaft (117) via a coupling. Both ends of the rotating shaft (117) are rotatably connected to the inside of the mounting frame (114) via bearings. The middle of both sides of the rotating shaft (117) is provided with a flat surface. A second pair of clamping cylinders (118) is bolted to the outer flat surface. Both output ends of the second pair of clamping cylinders (118) are bolted with clamping arms (119). The bottom ends of the two clamping arms (119) are integrally formed with clamps (120).

9. The probe placement machine according to claim 8, characterized in that, A second U-shaped slider is slidably connected to the second upper and lower drive slide (121). A U-shaped plate (122) with an opening facing downward is bolted to the outside of the second U-shaped slider. Both ends of the bottom of the U-shaped plate (122) are bolted to drive cylinders (124) through corner plates (123). The output ends of the two drive cylinders (124) are bolted to electric screwdrivers (126) through moving plates (125). Electric screwdriver bits (127) are installed at the output ends of the electric screwdrivers (126). Both sides of the second U-shaped slider are bolted to hand-changing cylinders (129) through lifting plates (128). The hand-changing cylinders (129) are located between the two electric screwdriver bits (127).

10. The probe placement machine according to claim 9, characterized in that, The needle holder transfer mechanism (9) includes a second servo slide (901) bolted to the worktable (1). The movement direction of the second servo slide (901) is perpendicular to the movement direction of the first servo slide (802). A support plate (903) is slidably connected to the top of the second servo slide (901) via a I-shaped base (902). An L-shaped side plate (904) is bolted to one rear corner of the upper surface of the support plate (903). A retaining edge (905) is integrally formed on the outer side of the upper surface of the L-shaped side plate (904). A pin holder (910) is placed on the top of the bearing plate (903) and inside the L-shaped enclosure (904). Three limiting cylinders (906) are bolted to the upper surface of the bearing plate (903) and to the opposite sides of the L-shaped enclosure (904). Each limiting cylinder (906) has a limiting block (907) that contacts the pin holder (910) at its upward output end. A second clamp sensor (909) is bolted to one side of the bearing plate (903) between the two limiting cylinders (906) on the left side through an L-shaped ear plate (908).

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