Feeding device applied to chip detection

Abstract

The invention relates to the technical field of chip production and detection, in particular to a feeding device applied to chip detection, which comprises a table body, a feeding line and a discharging line which are arranged on the table body in parallel, and a transverse transfer line connected to the same ends of the feeding line and the discharging line; a tray feeding assembly is connected to the tail end of the feeding line, a feeding station, a filling station and a covering station are sequentially arranged on the transverse transfer line in the material advancing direction, and a tray discharging assembly is connected to the tail end of the discharging line. When the chip is placed, the chip firstly makes contact with the protrusion on the top of the trapezoidal partition, the protrusion compresses the spring in the cavity below the protrusion under the gravity effect of the chip, falling impact kinetic energy is converted into elastic potential energy of the spring, and primary vertical buffering is achieved. Then, airflow generated by compression of the cavity is guided into the hollow film strip of the side wall through the preset air channel, and the film strip is driven to be unfolded along the Archimedes spiral track of the film strip.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of chip production and detection, and particularly relates to a feeding device applied to chip detection. BACKGROUND

[0002] In the field of integrated circuit manufacturing, after the chip is packaged, it usually needs to go through a series of strict detection processes. In this process, a large number of chips need to be transferred and temporarily stored efficiently and orderly to link the previous and subsequent processes. In the prior art, an automatic material storage and handling system is generally used to achieve this purpose. Such a system usually includes a rack structure for centralized storage of materials, an execution device capable of moving in three dimensions in the narrow space of the rack structure to access the materials, and an integrated central control unit. The system can realize automatic in-out of the warehouse, inventory and scheduling of materials, forming a high-density storage solution. Specifically, for the transfer of chips, a plurality of chips are placed in a dedicated carrier tray, the carrier tray is automatically transferred between the storage position and the conveying line by the execution device, and finally the plurality of carrier trays are stacked to form a regular material unit for subsequent batch conveying and processing.

[0003] However, the above-mentioned existing automatic storage and handling solution has obvious insufficient adaptability when facing chips with special physical structures. Specifically, the carrier tray in the prior art has a relatively simple structure and only has the function of supporting the body of the chip, without fully considering cases such as a plurality of small pins extending downward on the side of the chip. Due to the lack of special protection structure for the pins, in the process of grabbing, moving and stacking the tray by the execution device using the clamping mechanism, the pins of the chip are easily bent or even broken due to the collision with the bottom of the tray or the extrusion from the upper tray during stacking. For example, when a tray is fully loaded with chips, the execution device transfers it to the stacking area for stacking, and the top end of the pins of the chips in the lower tray directly contacts the bottom of the body of the upper tray. Under the static pressure of multi-layer stacking or the vibration impact during the handling process, the fragile pins are at risk of being damaged. This defect not only leads to a decrease in the yield of the chip, but also limits the safety and reliability of the operation of the entire automatic storage and handling system. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is that the general tray used in the existing automatic warehouse system has a simple structure and cannot effectively protect the downward pins on the side of the chip during stacking and handling, which poses a risk of pin bending or breaking under pressure.

[0005] The above-mentioned technical problems are solved by the following technical solution: This invention proposes a feeding device for chip testing, including a table, on which parallel feeding lines and unloading lines are arranged, and a transverse transfer line connected to the same end of both; a tray feeding assembly is connected to the end of the feeding line, and a feeding station, a filling station, and a covering station are arranged sequentially along the material travel direction on the transverse transfer line; a tray unloading assembly is connected to the end of the unloading line; a chip picking and placing robotic arm is arranged on the side of the filling station, and a cover plate supply assembly is arranged on the side of the covering station; The tray contains multiple chip accommodating cavities formed by several partitions. Each partition has a protrusion at the top and a cavity and elastic element below it. The cavity is connected to an expandable flexible constraint through an air passage to constrain the pins of the chip when it is placed.

[0006] In a preferred embodiment of the feeding device for chip inspection described in this invention: the cross-section of the partition is trapezoidal, the protrusion moves up and down within the cavity, the elastic element is located within the cavity for the protrusion to rise and reset, and the elastic element is a spring.

[0007] In a preferred embodiment of the feeding device for chip inspection described in this invention: the flexible constraint is a thin film strip wound in an Archimedean spiral shape, the interior of which is hollow and connected to the cavity.

[0008] In a preferred embodiment of the feeding device for chip inspection described in this invention: for each chip pin, two sets of flexible constraint members are provided on the corresponding sidewall of the chip accommodating cavity, wherein one set of flexible constraint members is located inside the pin and the other set of flexible constraint members is located outside the pin, and the winding directions of the two sets of flexible constraint members are opposite.

[0009] In a preferred embodiment of the feeding device for chip testing described in this invention: the tray feeding assembly includes a first transverse guide rail spanning the end of the feeding line, a first slide mounted on the first guide rail, a second guide rail fixed on the first slide, and a second slide mounted on the second guide rail; a first U-shaped frame is mounted on the second slide, and a horizontally opposed first clamping cylinder is mounted on each of the two opposite arms of the first U-shaped frame.

[0010] In a preferred embodiment of the feeding device for chip inspection described in this invention: the transverse transfer line includes a fixed track, a third guide rail and a third slide block slidably disposed below the fixed track, and a lifting cylinder mounted on the third slide block; the piston rod end of the lifting cylinder is fixedly connected to a top plate for supporting the tray.

[0011] In a preferred embodiment of the feeding device for chip testing described in this invention: an electric push rod is provided on the side of the fixed track at the feeding station and the filling station, and a baffle is provided on the fixed track at the feeding station and the filling station.

[0012] In a preferred embodiment of the feeding device for chip inspection described in this invention: the cover plate supply assembly includes a support frame erected on the side of the table, a lifting tray for stacking cover plates slidably disposed on the support frame, a fourth guide rail spanning across the lifting tray and above the cover-closing station, a fourth slide mounted on the fourth guide rail, a vertical cylinder mounted on the fourth slide, and a suction cup frame fixed to the end of the piston rod of the vertical cylinder; the lower surface of the suction cup frame is provided with multiple vacuum suction cups.

[0013] In a preferred embodiment of the feeding device for chip testing described in this invention: the tray unloading assembly includes a fifth guide rail arranged across the end of the unloading line, a fifth slide mounted on the fifth guide rail, a vertical sixth guide rail fixed on the fifth slide, and a sixth slide mounted on the sixth guide rail; a second U-shaped frame is mounted on the sixth slide, and a horizontally opposed second clamping cylinder is mounted on each of the two opposite arms of the second U-shaped frame.

[0014] In a preferred embodiment of the feeding device for chip testing described in this invention: the picking end of the chip picking and placing robot arm is located adjacent to the chip feeding line, the chip feeding line includes a bracket mounted next to the table and a circulating chain conveyor mechanism mounted on the bracket, and multiple chip carriers are arranged at equal intervals on the circulating chain conveyor mechanism.

[0015] The beneficial effects of this invention are as follows: Addressing the technical problem that chip pins are easily bent or broken due to impacts and compression during transport, this application provides a solution where, when the chip is placed, it first contacts the protrusion at the top of the trapezoidal partition. Under the weight of the chip, this protrusion compresses the spring within the cavity below, converting the impact kinetic energy into the elastic potential energy of the spring, thus achieving initial vertical cushioning. Next, the airflow generated by the compression of the cavity is guided through a pre-designed air passage into the hollow thin film strip on the sidewall, driving the thin film strip to unfold along its Archimedean spiral trajectory. Specifically, considering the figure-eight distribution of the chip pins, the thin film strips located on the inner and outer sides of the pins are set with opposite winding directions, allowing them to adaptively conform to the inner and outer inclined surfaces of the pins when inflated and unfolded, forming a clamping force that wraps around the pins from both sides. This continuous process from "vertical cushioning" to "lateral flexible clamping" is accomplished through the coordinated efforts of a sophisticated mechanical and pneumatic structure within the tray, fundamentally avoiding the risk of damage to the pins during placement and subsequent stacking and transportation.

[0016] To overcome the efficiency bottlenecks caused by isolated automated units and poor process coordination in existing technologies, this application constructs a compact and functionally specialized integrated device, achieving seamless connection and efficient collaboration throughout the entire material flow process. The device uses a tabletop as its basic platform, with the loading line, lateral transfer line, and unloading line arranged in parallel, and the lateral transfer line serving as a hub connecting each functional station. Within this framework, execution modules such as the pallet loading component, chip pick-and-place robotic arm, cover plate supply component, and pallet unloading component are precisely configured at their corresponding stations and scheduled by a unified control system. This layout enables a series of operations, including empty pallet loading, inter-station step-by-step transfer, precise chip filling, pin synchronization protection, automatic cover plate pressing, and finished product stacking unloading, to be completed efficiently and automatically on a continuous production line. Each module operates collaboratively based on unified instructions, minimizing intermediate material stagnation and secondary handling, thereby significantly improving the production cycle time and operational reliability of the entire feeding process while ensuring chip safety. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments of the present invention will be briefly described below. Obviously, the drawings described below only relate to some embodiments of the present invention and are not intended to limit the present invention. Wherein: Figure 1 This is a schematic diagram of the entire invention. Figure 1 ; Figure 2 This is a schematic diagram of the entire invention. Figure 2 ; Figure 3 This is a schematic diagram of the chip pick-and-place robotic arm of the present invention placing chips into a tray; Figure 4 This is a schematic diagram of the cross-sectional structure of the tray of the present invention; Figure 5 for Figure 4 Enlarged schematic diagram of the structure at point A in the middle.

[0018] In the picture: 1. Table body; 11. Tray; 12. Chip housing cavity; 13. Partition; 14. Protrusion; 15. Cavity; 16. Elastic element; 17. Air passage; 18. Flexible restraint component; 2. Feeding line; 3. Feeding line; 4. Chip feeding line; 41. Support frame; 42. Circulating chain conveyor mechanism; 43. Chip carrier; 44. Chip pick-and-place robotic arm; 5. Lateral transfer line; 51. Fixed track; 511. Loading station; 512. Filling station; 513. Covering station; 52. Third guide rail; 53. Third slide; 54. Lifting cylinder; 55. Top plate; 56. Electric push rod; 57. Baffle; 6. Pallet loading assembly; 61. First guide rail; 62. First slide; 63. Second guide rail; 64. Second slide; 65. First U-shaped frame; 66. First clamping cylinder; 7. Pallet unloading assembly; 71. Fifth guide rail; 72. Fifth slide; 73. Sixth guide rail; 74. Sixth slide; 75. Second U-shaped frame; 76. Second clamping cylinder; 8. Cover plate supply assembly; 81. Support frame; 82. Lifting tray; 83. Fourth guide rail; 84. Fourth slide; 85. Vertical cylinder; 86. Suction cup frame; 87. Vacuum suction cup. Detailed Implementation

[0019] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0020] The terminology used in this invention is that which is currently widely used in the art in consideration of the function of the invention; however, these terms may vary according to the intent of those skilled in the art, precedent, or new technology in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of the invention. Therefore, the terms used in this specification should not be construed as simple names, but rather based on their meanings and the overall description of the invention.

[0021] Reference Figures 1-5 This embodiment provides a feeding device for chip testing, including a table 1, on which parallel feeding lines 2 and unloading lines 3 are arranged, and a transverse transfer line 5 connected to the same end of both; the end of the feeding line 2 is connected to a tray feeding assembly 6, and the transverse transfer line 5 is provided with a feeding station 511, a filling station 512 and a covering station 513 in sequence along the material travel direction, and the end of the unloading line 3 is connected to a tray unloading assembly 7; a chip picking and placing robotic arm 44 is arranged on the side of the filling station 512, and a cover plate supply assembly 8 is arranged on the side of the covering station 513; wherein, the tray 11 is provided with multiple chip receiving cavities 12 formed by several partitions 13, each partition 13 has a protrusion 14 on the top, and a cavity 15 and an elastic element 16 below it, the cavity 15 is connected to an expandable flexible constraint member 18 through an air channel 17, which is used to constrain the pins of the chip when it is placed.

[0022] This device constitutes a highly integrated automated processing system, including a table 1 serving as the support base. Parallel feeding lines 2 and 3 are arranged on the table 1 for material input and output. A transverse transfer line 5 effectively connects the same end of the feeding lines 2 and 3, forming the main channel for material flow. Based on this layout, the device is equipped with multiple functional modules to achieve continuous automated operation. At the end of the feeding line 2, a pallet 11 feeding assembly is provided, responsible for the automatic supply of empty pallets 11. The transverse transfer line 5 is sequentially planned with a feeding station 511, a filling station 512, and a closing station 513, forming the core path for sequential material processing. At the end of the 3, a pallet 11 unloading assembly is provided, responsible for the efficient removal of finished products. In addition, on the side of the filling station 512, the chip pick-and-place robotic arm 44 is responsible for picking up and precisely placing the chip; on the side of the cover station 513, the cover plate supply assembly 8 is responsible for supplying and pressing the cover plate.

[0023] Specifically, the tray 11 processed by this device has multiple chip receiving cavities 12 formed inside by partitions 13 for accommodating chips. Each partition 13 has a protrusion 14 structure on its top, and a cavity 15 and an elastic element 16 are integrated below it. The cavity 15 is connected to a deployable flexible constraint member 18 through a specific air passage 17. This mechanism integrated inside the tray 11 constitutes a dynamic protection system for the chip pins. It can effectively buffer and flexibly constrain the delicate and fragile pins through the synergistic action of mechanical and pneumatic mechanisms at the moment the chip is placed into the receiving cavity, thereby preventing damage to the pins during operation from the outset.

[0024] In summary, through the coordinated operation of the above-mentioned components, this device achieves a complete automated process from loading empty tray 11, precise chip filling, automatic pin protection to cover plate pressing and finished product unloading, significantly improving the efficiency and reliability of chip pre-processing.

[0025] Reference Figures 4-5 The partition 13 has a trapezoidal cross-section, specifically a design with a smaller upper surface and a larger lower surface. This geometry provides natural guidance and accommodation space for chips with downward-bending leads on both sides. When the chip is placed, the inclined surface on the inner side of its leads is roughly parallel to or in contact with the inclined surface of the trapezoidal partition 13, effectively preventing the sharp lead tips of the chip from rigidly colliding with the vertical edges of the partition 13 during its fall. This significantly reduces the risk of the leads bending or being damaged by impacts, making it particularly suitable for chips with leads that extend outward in a figure-eight shape.

[0026] A protrusion 14 is located at the center of the top of the trapezoidal partition 13. This protrusion 14 can move vertically up and down within a matching cavity 15. An elastic element 16, specifically a spring, is installed inside the cavity 15. When a chip is placed on the protrusion 14, its weight presses down on the protrusion 14, forcing the spring to compress and store energy. When the chip is removed, the compressed spring releases its energy, driving the protrusion 14 to automatically rise and return to its initial position, ready to receive the next chip. This synergistic effect of the protrusion 14 and the spring not only accurately positions the chip but, more importantly, converts the impact kinetic energy of the falling chip into the potential energy of the spring, achieving a flexible buffering process.

[0027] The flexible restraint 18 is a thin film strip wound in the shape of an Archimedean spiral. The thin film strip itself has a hollow structure to form a sealed air passage 17, and is connected to the cavity 15 below the protrusion 14 on the top of the partition 13 through a channel hidden in the tray 11.

[0028] For each chip pin that needs protection, two sets of hollow flexible constraint members 18 are symmetrically arranged in the corresponding sidewall of the chip accommodating cavity 12. One set of flexible constraint members 18 is arranged on the inner side of the pin, and the other set is arranged on the outer side of the pin, thus forming a spatial clamping effect on the pin. The winding directions of the inner and outer flexible constraint members 18 are set to be opposite. Specifically, the flexible constraint members 18 located on the inner side of the pin have a winding direction from bottom to top, that is, the initial winding layer is located at the bottom and extends upward when unwound; while the flexible constraint members 18 located on the outer side of the pin are designed to unwound from top to bottom, that is, the initial winding layer is located at the top and extends downward when unwound.

[0029] When the chip is placed under the pressure protrusion 14, the gas in the cavity 15 is compressed and forced into the hollow flexible restraints 18. After the gas is filled, it drives the flexible restraints 18 to unfold along their Archimedean spiral trajectory like a measuring tape. Since the inner and outer flexible restraints 18 are wound in opposite directions, they will naturally conform to the tilt orientation of the chip's "eight"-shaped pins when they are inflated and unfolded: the inner flexible restraints 18 are pressed against the inner surface of the pins in the upward and inward direction, while the outer flexible restraints 18 wrap around the outer surface of the pins in the downward and outward direction. This reverse winding design allows the flexible restraints 18 to form a larger effective contact area with the pin surfaces at different angles after unfolding, thereby achieving a more fitting and reliable flexible clamping and all-round protection, effectively preventing the pins from breaking due to shaking and squeezing during subsequent handling and stacking.

[0030] Reference Figures 1-5Furthermore, the pallet loading assembly 6 includes a first transverse guide rail 61 spanning the end of the loading line 2, a first slide 62 mounted on the first guide rail 61, a second guide rail 63 fixed on the first slide 62, and a second slide 64 mounted on the second guide rail 63; a first U-shaped frame 65 is mounted on the second slide 64, and a horizontally opposed first clamping cylinder 66 is mounted on each of the two opposite arms of the first U-shaped frame 65.

[0031] The pallet loading assembly 6 is a two-dimensional motion component capable of horizontal movement and vertical lifting. First, a horizontally arranged first guide rail 61 is directly mounted above the end of the loading line 2. A first slide block 62 is mounted on this first guide rail 61 via an internal slider or roller, allowing it to move horizontally along the axial direction of the guide rail under the drive of a driving device (such as a servo motor with a lead screw, or a cylinder). Second, a vertically arranged second guide rail 63 is fixedly installed above the first slide block 62. A second slide block 64 is mounted on this second guide rail 63 in the same manner, allowing it to move vertically along the second guide rail 63 under the drive of another driving device. A horizontal first U-shaped frame 65 is installed on the second slide 64. The two opposing arms of the first U-shaped frame 65, like two symmetrical arms, extend from both sides of the stack of pallets 11 at the end of the feeding line 2. On each arm, i.e. the two opposing arms, a first clamping cylinder 66 is installed. The piston rod axes of the two first clamping cylinders 66 are on the same horizontal line and are horizontally opposed.

[0032] Initially, the pallet loading assembly 6 is in standby position. When an empty pallet 11 needs to be picked up, the control system first activates the drive mechanism of the first slide 62, causing it to move laterally along the entire lifting assembly until the first U-shaped frame 65 is directly above the stack of pallets 11. Subsequently, the drive mechanism of the second slide 64 is activated, driving the first U-shaped frame 65 to descend vertically along the second guide rail 63, so that the two arms of the first U-shaped frame 65 are positioned precisely at the gripping positions on both sides of the top pallet 11. Then, the two opposing first clamping cylinders 66 operate simultaneously, their piston rods extending synchronously to firmly clamp the outer edge of the pallet 11 from both sides. After clamping, the second slide 64 immediately rises, vertically lifting the clamped pallet 11 from the stack of pallets 11. Then, the first slide 62 moves laterally again, transporting the pallet 11 to the designated loading station 511. Finally, the piston rods of the first clamping cylinders 66 retract, releasing the pallet 11 and placing it at the target station, completing one empty pallet 11 distribution operation.

[0033] Furthermore, the transverse transfer line 5 includes a fixed track 51, a third guide rail 52 and a third slide block 53 slidably disposed below the fixed track 51, and a lifting cylinder 54 mounted on the third slide block 53; the piston rod end of the lifting cylinder 54 is fixedly connected to a top plate 55 for supporting the tray 11.

[0034] The main body of the transverse transfer line 5 is a fixed track 51, which serves as the support and guide foundation for the entire assembly. A third guide rail 52 is installed parallel to the fixed track 51 directly below it. A third slide 53 is slidably mounted on this third guide rail 52 via a slider or bearing assembly, allowing it to perform precise, reciprocating linear motion along the length of the fixed track 51 under the drive of a drive source (e.g., a combination of a servo motor and a ball screw). Above the third slide 53, a lifting cylinder 54 is installed. The cylinder body of the lifting cylinder 54 is fixedly connected to the third slide 53, and the piston rod of the lifting cylinder 54 extends vertically upwards. A specially designed top plate 55 is fixedly mounted at its end, with an area sufficient to simultaneously support pallets 11 located at two adjacent workstations.

[0035] When pallet 11 needs to be transferred from the upstream station to the downstream station, the third slide 53 first moves the lifting cylinder 54 and the top plate 55 until the top plate 55 stops directly under the pallet 11 to be transferred. At this time, the piston rod of the lifting cylinder 54 extends upward to drive the top plate 55 to rise, smoothly lifting two pallets 11 in the two adjacent stations above, so that they are removed from the support surface of the station. Subsequently, the third slide 53 carries the lifted pallets 11 and moves downstream one station's distance simultaneously. After moving into position, the piston rod of the lifting cylinder 54 retracts, causing the top plate 55 to descend, placing the two pallets 11 on the corresponding two downstream stations respectively. In this way, the empty pallet 11 originally located at the loading station 511 is transferred to the filling station 512, while the chip-loaded pallet 11 originally located at the filling station 512 is simultaneously transferred to the closing station 513, realizing the step-by-step assembly line operation of materials.

[0036] On the side of the fixed track 51 of each of the loading station 511 and the filling station 512, there is a set of positioning components. Each set of components includes an electric push rod 56 and a fixedly installed baffle 57. The baffle 57 is vertically fixed on the station, while the electric push rod 56 is horizontally installed on one side of the edge of the station, and the extension and retraction direction of its piston rod is facing the reference surface.

[0037] When an empty pallet 11 is placed at the loading station 511, it may remain in any of its initial positions. At this point, the electric push rod 56 at this station receives a control signal, and its piston rod extends at a constant speed, smoothly pushing the pallet 11 from the side. Under the action of the push rod, the pallet 11 slides along the fixed track 51 until its other side is completely pressed against the reference surface of the opposite baffle 57. Through this action, regardless of the initial position of the pallet 11, it can be accurately positioned at the center of the station. After positioning, the piston rod of the electric push rod 56 retracts, leaving space for subsequent transfer operations, while the pallet 11 is firmly constrained in the reference position provided by the baffle 57. The same process is repeated at the filling station 512 to ensure that the pallet 11 is in the precise predetermined position before receiving precision chips, providing crucial positioning assurance for subsequent automated operations.

[0038] The cover plate supply assembly 8 includes a support frame 81 erected on the side of the table body 1, a lifting tray 82 slidably disposed on the support frame 81 for stacking cover plates, a fourth guide rail 83 spanning above the lifting tray 82 and the cover closing station 513, a fourth slide 84 mounted on the fourth guide rail 83, a vertical cylinder 85 mounted on the fourth slide 84, and a suction cup frame 86 fixed to the end of the piston rod of the vertical cylinder 85; the lower surface of the suction cup frame 86 is provided with a plurality of vacuum suction cups 87.

[0039] The cover plate supply assembly 8 includes a support frame 81 erected on the side of the table body 1. A lifting tray 82 for supporting and stacking multiple layers of covers is slidably mounted on the support frame 81 via a slider or linear bearing. The lifting tray 82 is connected to a drive device (such as a lead screw or chain lifting mechanism driven by a servo motor) and can automatically perform intermittent lifting according to the removal of the top cover plate, thereby always keeping the top cover plate at a fixed working height that is easy to pick up. Directly above the lifting tray 82 and the cover closing station 513, a fourth guide rail 83 is mounted horizontally. A fourth slide block 84 is mounted on this guide rail via an internal slider assembly, allowing it to reciprocate between the "cover removal position" and the "cover closing position" along the length of the guide rail under the drive of the drive device (such as a motor). Below the fourth slide 84, a vertically downward-facing cylinder 85 is installed. The cylinder body of the vertical cylinder 85 is fixedly connected to the fourth slide 84, and a suction cup frame 86 is fixedly installed at the end of its piston rod. Multiple vacuum suction cups 87 are regularly arranged on the lower surface of the suction cup frame 86 according to the size and shape of the cover plate. These vacuum suction cups 87 are connected to an external vacuum pump or vacuum generator through pipelines.

[0040] Initially, the fourth slide 84 is positioned directly above the lifting tray 82, i.e., the "cover-removing position." At this time, the piston rod of the vertical cylinder 85 extends downward, pushing the entire suction cup frame 86 down until all the vacuum suction cups 87 are in close contact with the upper surface of the topmost cover plate. Subsequently, the vacuum system activates the suction cups to generate negative pressure, firmly adhering the cover plate. Then, the piston rod of the vertical cylinder 85 retracts, smoothly lifting the adsorbed cover plate. Afterward, the fourth slide 84, carrying the lifted cover plate, moves laterally along the fourth guide rail 83 to directly above the full-load tray 11 at the cover-closing station 513, i.e., the "cover-closing position." Upon arrival, the piston rod of the vertical cylinder 85 extends downward again, smoothly pressing the cover plate down onto the top of the full-load tray 11. When the pressure sensor detects that the pressure has reached a preset value or the cylinder has reached a predetermined stroke, the vacuum system releases the negative pressure, the suction cups release the cover plate, and the pressing action is completed. Finally, the vertical cylinder 85 retracts again, and the fourth slide 84 moves back to the "cover removal position," ready for the next work cycle. The entire process is coordinated and controlled by the central control system, ensuring the accuracy and reliability of the cover placement.

[0041] The pallet unloading assembly 7 includes a fifth guide rail 71 that spans the end of the unloading line 3, a fifth slide 72 mounted on the fifth guide rail 71, a vertical sixth guide rail 73 fixed on the fifth slide 72, and a sixth slide 74 mounted on the sixth guide rail 73; a second U-shaped frame 75 is mounted on the sixth slide 74, and a horizontally opposed second clamping cylinder 76 is mounted on each of the two opposite arms of the second U-shaped frame 75.

[0042] A horizontally arranged fifth guide rail 71 is directly mounted above the end area of ​​the unloading line 3. A fifth slide 72 is mounted on this fifth guide rail 71 via a slider or linear bearing, enabling it to move precisely horizontally along the guide rail under the drive of a drive device (such as a servo motor). Below the fifth slide 72, a vertical sixth guide rail 73 is fixedly installed. A sixth slide 74 is mounted on this sixth guide rail 73 in the same manner, enabling it to move vertically up and down under the drive of another drive device (such as a cylinder). A second U-shaped frame 75 is mounted on the sixth slide 74, with two opposing arms extending from both sides of the tray 11. A second clamping cylinder 76 is mounted on each arm. The piston rod axes of the two second clamping cylinders 76 are on the same horizontal line and are horizontally opposed to each other, ensuring that force can be applied evenly from both sides.

[0043] Initially, the mechanism is in a waiting position. Once the tray 11 on the closing station 513 is ready, the fifth slide 72 first moves the entire lifting part laterally until the second U-shaped frame 75 is precisely positioned above the tray 11 on the closing station 513. Then, the sixth slide 74 drive device is activated, driving the second U-shaped frame 75 to descend vertically along the sixth guide rail 73, so that the two arms of the second U-shaped frame 75 descend precisely to the gripping positions on both sides of the tray 11. Then, the two opposing second clamping cylinders 76 act simultaneously, and their piston rods extend synchronously to firmly clamp the outer edge of the fully loaded tray 11 from both sides. After clamping, the sixth slide 74 immediately rises, vertically lifting the clamped pallet 11 from the closing station 513. Then, the fifth slide 72 moves laterally, transporting the pallet 11 to the designated stacking point above the unloading line 3. Upon reaching the position, the sixth slide 74 slowly descends, smoothly placing the pallet 11 onto the existing stack of pallets 11 on the unloading line 3. Finally, the clamping cylinder piston retracts, releasing the pallet 11. The entire gripping assembly rises and moves back to the waiting position, ready for the next handling operation. By repeating this process, a neat stack of pallets 11 can be formed on the unloading line 3, and the unloading line 3 will transport them away uniformly after stacking to a predetermined height.

[0044] The chip pick-and-place robotic arm 44 is located near the chip feeding line 4. The chip feeding line 4 includes a bracket 41 mounted next to the table 1 and a circulating chain conveyor mechanism 42 mounted on the bracket 41. Multiple chip carriers 43 are evenly spaced on the circulating chain conveyor mechanism 42.

[0045] The chip feeding line 4, serving as the source of chips, is primarily a stable, independent support 41 mounted next to the main table 1. A circulating chain conveyor mechanism 42 is installed on this support 41. Its working principle is similar to a small automated transmission chain; a closed chain, driven by a motor and sprockets, continuously circulates along a predetermined trajectory. Multiple chip carriers 43 are fixedly installed on this chain at strictly equal intervals. Each carrier is a positioning seat with a cavity on its upper part that matches the shape and size of the chip to be transported, serving as the chip carrier 43 to support and fix a single chip during transport, preventing it from sliding or tipping over. A chip pick-and-place robotic arm 44 is positioned immediately adjacent to the end of the circulating chain conveyor mechanism 42. Its picking end (typically an end effector equipped with a vacuum nozzle) has a range of motion capable of precisely covering the picking station at the end of the chain.

[0046] The circulating chain conveyor 42 operates intermittently under the command of the control system. Whenever a carrier carrying a chip moves to the designated pick-up station at the end of the chain, the conveyor stops precisely. Almost simultaneously, the chip pick-up and placement robot arm 44 begins to move. Its drive system controls the multi-axis linkage of the robot arm, quickly moving the vacuum nozzle at the end to directly above the carrier. Subsequently, the robot arm controls the nozzle to descend. When the nozzle end face contacts the upper surface of the chip, the vacuum system is activated, generating suction force to firmly pick up the chip. The robot arm then lifts and turns, carrying the chip to directly above the precisely positioned tray 11 receiving slot on the filling station 512. Finally, the vacuum suction is released, and the chip is gently released into the designated position in the receiving slot. While the robot arm is performing the placement action, the circulating chain conveyor 42 has already started and transported the next carrier carrying a chip to the pick-up station, waiting for the next grab. This cycle repeats, realizing continuous, automated chip supply and precise placement.

[0047] Please refer to Figures 1-5 The workflow of this feeding device begins with the supply of chips and ends with the stacking of trays 11 filled with chips and covered, followed by transport to the testing station. The specific steps are as follows: 1. Chip supply and empty tray preparation: Multiple chip carriers 43 are evenly spaced on the circulating chain conveyor mechanism 42. Each chip carrier 43 contains a newly processed chip. This mechanism operates intermittently under the drive of a motor, conveying the chips one by one to the designated pickup position at the end. Simultaneously, the loading line conveyor belt transports stacked empty pallets 11 to its end. Each empty pallet 11 contains multiple chip receiving cavities 12, each for holding one chip, and adjacent chip receiving cavities 12 are separated by partitions 13. Several cover plates are stacked on the lifting pallet 82 of the cover plate supply assembly 8. The lifting pallet 82 adjusts its height by moving up and down along the support frame 81, ensuring that the uppermost cover plate is always in a pickup position.

[0048] 2. Transfer empty pallet 11 to loading station 511: The chip pick-and-place robotic arm 44 first moves to the end of the circulating chain conveyor mechanism 42 and picks up the chip located in the chip carrier 43 through the suction nozzle at the end. The suction nozzle is usually equipped with a sensor to confirm successful chip pickup. At the same time, after the empty pallet 11 at the end of the loading line conveyor belt is stacked in place, the two first clamping cylinders 66 on the first U-shaped frame 65 of the pallet loading assembly 6 extend simultaneously to clamp the two sides of the uppermost pallet 11 in the stack. The clamping force of the first clamping cylinders 66 is adjusted by the control system to avoid damaging the pallet 11. Subsequently, the empty pallet 11 is transferred from the end of the loading line 2 conveyor belt to the loading station 511 of the transverse transfer line 5 by the lifting and lowering movement of the second slide 64 along the second guide rail 63 and the horizontal lateral movement of the first slide 62 along the first guide rail 61. After the transfer is completed, the electric push rod 56 located on the side of the loading station 511 extends and cooperates with the baffle 57 of the station to push the empty pallet 11 to the center position of the loading station 511 to ensure subsequent positioning accuracy. The stroke of the electric actuator 56 is monitored by a position sensor to ensure alignment accuracy.

[0049] 3. Transfer of tray 11 between workstations and chip filling: The third slide 53 of the transverse transfer line 5 moves along the third guide rail 52, moving the top plate 55 below the loading station 511 and the filling station 512. Then, the lifting cylinder 54 extends, pushing the top plate 55 upward, simultaneously lifting the pallets 11 on the loading station 511 and the filling station 512. After the top plate 55 lifts the pallets 11, the third slide 53 continues to move, moving the top plate 55 below the filling station 512 and the closing station 513. At this time, the lifting cylinder 54 retracts, causing the top plate 55 to descend, thereby transferring the empty pallet 11 from the loading station 511 to the filling station 512, and transferring the original pallet 11 from the filling station 512 to the closing station 513. This process can be synchronized using a linear encoder or photoelectric sensor to prevent the pallets 11 from falling or becoming misaligned. Then, the second electric push rod 56 located on the side of the filling station 512 extends and cooperates with the baffle 57 of the station to push the empty tray 11 to the center of the filling station 512 to ensure positioning accuracy.

[0050] The chip pick-and-place robotic arm 44 moves the picked-up chips to the tray 11 of the filling station 512, and aligns them one-to-one with the chip receiving cavities 12 in the tray 11. The robotic arm uses a vision system to precisely position and release the chips one by one into the chip receiving cavities 12.

[0051] When the chip is placed into the chip receiving cavity 12, it falls onto the trapezoidal protrusion 14 at the top of the partition 13. A cavity 15 is located below the protrusion 14, and a spring is installed inside the cavity 14. As the chip falls, the protrusion 14 is compressed, causing the spring to buffer the kinetic energy. Simultaneously, the gas inside the cavity 15 is squeezed through a preset channel into the flexible constraint members 18 on both sides. The gas drives the flexible constraint members 18 to unfold along their Archimedean spiral trajectory: inside the chip pins, the flexible constraint members 18 unfold downwards in a winding direction, increasing the contact area with the inside of the pins; outside the pins, the flexible constraint members 18 unfold upwards in a winding direction, increasing the contact area with the outside of the pins. Because the chip pins are arranged in a figure-eight shape, the inner and outer flexible constraint members 18 unfold in opposite directions, better conforming to the tilted state of the pins, forming a wrap-around clamp, effectively preventing the pins from bending or breaking during transportation or stacking.

[0052] 4. Cover plate closing and finished product transfer: After the chip filling is completed at the filling station 512, the tray 11 is transferred to the capping station 513 via the top plate 55. At this time, the capping plate supply assembly 8 is activated: the fourth slide 84 moves horizontally along the fourth guide rail 83, positioning the suction cup frame 86 below the vertical cylinder 85 directly above the lifting tray 82. The vertical cylinder 85 descends, and multiple vacuum suction cups 87 on the suction cup frame 86 pick up the uppermost capping plate. Subsequently, the vertical cylinder 85 rises, and the fourth slide 84 moves directly above the capping station 513. The vertical cylinder 85 descends again, capping the capping plate onto the tray 11 at the capping station 513. The vacuum suction cups 87 are equipped with pressure feedback to ensure the capping plate is placed flat.

[0053] After the lid is closed, the tray unloading assembly 7 begins to operate: the fifth slide 72 moves horizontally along the fifth guide rail 71, and the sixth slide 74 descends along the sixth guide rail 73, causing the second clamping cylinder 76 on the second U-shaped frame 75 to clamp the two sides of the lidded tray 11. After the second clamping cylinder 76 applies a constant clamping force, the sixth slide 74 rises, and the fifth slide 72 moves, transferring the tray 11 from the closing station 513 to the unloading line 3 conveyor belt. After receiving the tray 11, the unloading line 3 conveyor belt stacks it. When the stacking height reaches a preset value (detected by a height sensor), the unloading line 3 conveyor belt starts, transporting the entire stack of trays 11 to the subsequent chip testing station. Throughout the process, the control system coordinates the timing of each component to ensure continuous operation.

[0054] 5. System loop and exception handling: The chip pick-and-place robotic arm 44 returns to the circulating chain conveyor mechanism 42 to pick up the next chip, the loading line conveyor belt replenishes the empty pallet 11, and the lifting pallet 82 of the cover supply assembly 8 replenishes the cover. If any step is abnormal, the sensor will trigger an alarm and pause the process, awaiting manual intervention. The entire system is based on the principle of automated control, achieving high-density storage and unmanned operation, improving efficiency and reliability.

[0055] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of the present invention.

Claims

1. A feeding device for chip inspection, comprising a table (1), characterized in that: The table (1) is provided with parallel feeding lines (2) and unloading lines (3), and a transverse transfer line (5) connected to the same end of both; the end of the feeding line (2) is connected to a tray feeding assembly (6), the transverse transfer line (5) is provided with a feeding station (511), a filling station (512) and a covering station (513) in sequence along the material travel direction, and the end of the unloading line (3) is connected to a tray unloading assembly (7); a chip picking and placing robot arm (44) is provided on the side of the filling station (512), and a cover plate supply assembly (8) is provided on the side of the covering station (513). The tray (11) contains multiple chip accommodating cavities (12) formed by several partitions (13). Each partition (13) has a protrusion (14) on its top and a cavity (15) and an elastic element (16) below it. The cavity (15) is connected to an expandable flexible constraint (18) through an air passage (17) to constrain the pins of the chip when it is placed.

2. The feeding device for chip inspection according to claim 1, characterized in that: The partition (13) has a trapezoidal cross-section. The protrusion (14) moves up and down within the cavity (15). The elastic element (16) is located within the cavity (15) and is used for the protrusion (14) to rise and reset. The elastic element (16) is a spring.

3. The feeding device for chip inspection according to claim 1, characterized in that: The flexible constraint (18) is a thin film strip wound in an Archimedean spiral shape, with its interior being hollow and connected to the cavity (15).

4. The feeding device for chip inspection according to claim 3, characterized in that: For each chip pin, two sets of flexible constraint members (18) are provided on the corresponding sidewall of the chip accommodating cavity (12), one set of flexible constraint members (18) is located inside the pin, and the other set of flexible constraint members (18) is located outside the pin, and the two sets of flexible constraint members (18) are wound in opposite directions.

5. The feeding device for chip inspection according to claim 1, characterized in that: The pallet loading assembly (6) includes a first transverse guide rail (61) spanning the end of the loading line (2), a first slide (62) mounted on the first guide rail (61), a second guide rail (63) fixed on the first slide (62), and a second slide (64) mounted on the second guide rail (63); a first U-shaped frame (65) is mounted on the second slide (64), and a horizontally opposed first clamping cylinder (66) is mounted on each of the two opposite arms of the first U-shaped frame (65).

6. The feeding device for chip inspection according to claim 1, characterized in that: The transverse transfer line (5) includes a fixed track (51), a third guide rail (52) and a third slide block (53) slidably disposed below the fixed track (51), and a lifting cylinder (54) mounted on the third slide block (53); the piston rod end of the lifting cylinder (54) is fixedly connected to a top plate (55) for supporting the tray (11).

7. The feeding device for chip inspection according to claim 6, characterized in that: An electric push rod (56) is provided on the side of the fixed rail (51) at the loading station (511) and the filling station (512), and a baffle (57) is provided on the fixed rail (51) at the loading station (511) and the filling station (512).

8. The feeding device for chip inspection according to claim 1, characterized in that: The cover plate supply assembly (8) includes a support frame (81) erected on the side of the table body (1), a lifting tray (82) for stacking cover plates slidably disposed on the support frame (81), a fourth guide rail (83) spanning above the lifting tray (82) and the cover closing station (513), a fourth slide (84) mounted on the fourth guide rail (83), a vertical cylinder (85) mounted on the fourth slide (84), and a suction cup frame (86) fixed to the end of the piston rod of the vertical cylinder (85); the lower surface of the suction cup frame (86) is provided with a plurality of vacuum suction cups (87).

9. The feeding device for chip inspection according to claim 1, characterized in that: The pallet unloading assembly (7) includes a fifth guide rail (71) that spans the end of the unloading line (3), a fifth slide (72) mounted on the fifth guide rail (71), a vertical sixth guide rail (73) fixed on the fifth slide (72), and a sixth slide (74) mounted on the sixth guide rail (73); a second U-shaped frame (75) is mounted on the sixth slide (74), and a horizontally opposed second clamping cylinder (76) is mounted on each of the two opposite arms of the second U-shaped frame (75).

10. The feeding device for chip inspection according to claim 1, characterized in that: The chip picking and placing robot arm (44) is located near the chip feeding line (4). The chip feeding line (4) includes a bracket (41) mounted next to the table (1) and a circulating chain conveyor mechanism (42) mounted on the bracket (41). Multiple chip carriers (43) are arranged at equal intervals on the circulating chain conveyor mechanism (42).

Images