Flip type Socket automatic feeding and discharging equipment

Abstract

The invention discloses flip type Socket automatic feeding and discharging equipment. The flip type Socket automatic feeding and discharging equipment comprises a burn-in board conveying mechanism, a positioning mechanism, a motion platform, an execution assembly and a tray feeding mechanism. The execution assembly integrates three functional modules, namely a device taking and placing mechanism, a knob rotating mechanism and a hasp opening and closing mechanism. According to the knob rotating mechanism, accurate torque control over the Socket knob is achieved through cooperation of the knob lifting part and the knob rotating part, and the problem of poor contact or device damage caused by inconsistent manual tightening torque is solved. And the hasp opening and closing mechanism realizes automatic opening and closing of the hasp through the hasp lifting part and the hasp pressing part, so that damage to the Socket structural member caused by improper manual operation is avoided. The device taking and placing mechanism transfers devices between the tray feeding mechanism and the Socket through a taking and placing lifting part and a device grabbing part, and the electrostatic discharge risk caused by hand contact is eliminated. According to the full-automatic feeding and discharging device, full-automatic feeding and discharging of the flip type Socket are achieved, the production efficiency is improved, the operation consistency is guaranteed, and the operation cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of semiconductor device testing equipment, and particularly relates to a flip type Socket automatic feeding and discharging equipment. BACKGROUND

[0002] In the aging test link of chips and semiconductor devices, the flip type Socket is widely used due to its good electrical connection performance and reliability. The Socket is usually designed with a locking knob and a safety buckle structure. When operating, the knob is manually unscrewed and the buckle is opened to open the Socket cover, the device to be tested is placed in the contact cavity, then the Socket cover is closed and the knob is tightened to a specific torque to ensure the reliability of the electrical connection. When discharging, the opposite steps are repeated to take out the tested device. At present, the process is heavily dependent on manual operation, which has the problems of low efficiency, inconsistent manual tightening torque leading to poor contact or device damage, improper operation causing device pin bending or Socket contact wear, frequent manual contact increasing the risk of electrostatic discharge, etc. At the same time, the labor cost continues to rise and it is difficult to realize accurate recording and tracing of the operation process, which does not meet the requirements of high-standard quality control and data management. SUMMARY

[0003] In order to overcome the deficiencies of the prior art, the present application provides a flip type Socket automatic feeding and discharging equipment which is automatic, efficient, accurate and reliable.

[0004] The technical scheme adopted by the present application to solve its technical problems is: A flip cover Socket automatic feeding and discharging device comprises an aging board conveying mechanism for conveying the aging board to and retreating from a feeding and discharging position; a positioning mechanism for fixing the aging board at the feeding and discharging position; a moving platform arranged above the feeding and discharging position and capable of two-dimensional horizontal movement; an execution assembly installed on the moving platform and capable of vertical movement relative to the moving platform, comprising a device feeding and discharging mechanism having a feeding and discharging lifting part and a device grabbing part, the device grabbing part being arranged at the lower end of the feeding and discharging lifting part; a knob rotating mechanism having a knob lifting part and a knob rotating part, the knob rotating part being arranged at the lower end of the knob lifting part and cooperating with the knob of the Socket; a buckle opening and closing mechanism having a buckle lifting part and a buckle pressing part, the buckle pressing part being arranged at the lower end of the buckle lifting part and cooperating with the buckle of the Socket; and a tray feeding mechanism arranged within the working range of the moving platform and having a tray for storing devices; the moving platform drives the execution assembly to move horizontally to the position above each Socket on the aging board, the execution assembly realizes the rotation of the knob by vertical movement of the knob rotating part cooperating with the knob of the Socket, the buckle pressing part realizes the opening and closing of the buckle by cooperating with the buckle of the Socket, and the device grabbing part transfers the device between the tray feeding mechanism and the Socket.

[0005] Further, the positioning mechanism forms a moving channel for the aging board to pass through, the moving channel being communicated with the aging board conveying mechanism and the feeding and discharging position; the positioning mechanism further comprises a liftable positioning assembly, when the positioning assembly is in a lowered position, the aging board can enter and exit the feeding and discharging position through the moving channel, and when the positioning assembly is in a raised position, the aging board located at the feeding and discharging position is positioned and fixed.

[0006] Further, the positioning assembly comprises a jacking drive and a fixed plate, the fixed plate is arranged in extension along the moving direction of the aging board, and the two ends of the fixed plate are respectively provided with a first baffle and a second baffle; the jacking drive drives the fixed plate to lift and lower, so that the first baffle and the second baffle respectively stop the front and rear ends of the aging board when in the raised position, and are lower than the moving path of the aging board when in the lowered position.

[0007] Further, it further comprises a push-pull assembly arranged in the moving channel, the push-pull assembly comprises a push-pull drive and a liftable push-pull plate; the push-pull plate can cooperate with the end of the aging board when in the raised position, and the push-pull drive is driven to realize the bidirectional transfer of the aging board between the moving channel and the feeding and discharging position.

[0008] Further, the motion platform is a gantry structure, comprising: a gantry frame, which is arranged perpendicularly to the conveying direction of the aging board and has two opposite vertical columns, each vertical column being provided with a first linear module, and the two first linear modules being synchronously driven by double motors; a cross beam, which extends along the conveying direction of the aging board, spans between the two vertical columns and is movable along the first linear modules, and the cross beam is provided with a second linear module; and the execution assembly is mounted on the slider of the second linear module and realizes horizontal two-dimensional positioning through orthogonal motion of the first linear module and the second linear module.

[0009] Further, the aging board conveying mechanism comprises: a material frame for stacking and storing multiple aging boards; a conveying chain for conveying the material frame in the horizontal direction; a lifting platform cooperating with the conveying chain and used for lifting the material frame to different height positions; and a push plate mechanism arranged at a pushing position of the material frame and used for pushing the aging boards in the material frame to the feeding end of the material taking and placing position one by one; the conveying chain and the lifting platform cooperate to move the material frame loaded with the aging boards to the pushing position, and the push plate mechanism pushes the aging boards out of the material frame into the positioning mechanism.

[0010] Further, the device grabbing part of the device taking and placing mechanism comprises multiple parallelly arranged suction heads, each suction head being independently controllable and being capable of adsorbing a device through vacuum negative pressure; and the taking and placing lifting part is capable of driving multiple suction heads to synchronously lift, thereby realizing parallel taking and placing operation of multiple devices.

[0011] Further, the buckle pressing part comprises a rotatable roller; after the buckle lifting part drives the roller to descend and contact the buckle, the roller is rolled and pressed on the buckle through horizontal movement of the motion platform, thereby realizing opening and closing of the Socket.

[0012] Further, the lower end of the knob rotating part is a one-piece insertion piece matched with a one-piece slot of the knob, the one-piece insertion piece drives the knob through the mode of being inserted into the one-piece slot and being rotated, thereby realizing locking and unlocking operation of the Socket.

[0013] Further, the execution assembly further comprises a CCD assembly, the CCD assembly being mounted on the motion platform together with the device taking and placing mechanism, the buckle opening and closing mechanism and the knob rotating mechanism; the CCD assembly collects images of the aging board before operation and identifies position information of the Socket and the device.

[0014] The present application has the following beneficial effects: The flip cover type Socket automatic feeding and discharging equipment of the application comprises an aging board conveying mechanism, a positioning mechanism, a motion platform, an execution assembly and a tray feeding mechanism. The execution assembly is installed on the motion platform and integrates three functional modules of a device taking and placing mechanism, a knob rotating mechanism and a buckle opening and closing mechanism. The knob rotating mechanism realizes accurate torque control of the Socket knob through cooperation of the knob lifting part and the knob rotating part, solves the problem of poor contact or device damage caused by inconsistent manual tightening torque. The buckle opening and closing mechanism realizes automatic opening and closing of the buckle through the buckle lifting part and the buckle pressing part, avoiding damage to the Socket structure caused by improper manual operation. The device taking and placing mechanism transfers the device between the tray feeding mechanism and the Socket through the taking and placing lifting part and the device grabbing part, eliminating the risk of electrostatic discharge caused by human hand contact. The horizontal two-dimensional motion of the motion platform cooperates with the vertical motion of the execution assembly, so that each mechanism can accurately reach the position of each Socket on the aging board and complete automatic operation. The application realizes full-automatic feeding and discharging of the flip cover type Socket, significantly improves production efficiency, guarantees operation consistency and reduces operating cost. BRIEF DESCRIPTION OF DRAWINGS

[0015] The application will be further described below in combination with the drawings and examples.

[0016] Figure 1 is a perspective structural schematic diagram of the application; Figure 2 is a top view structural schematic diagram of the application; Figure 3 is a perspective structural schematic diagram of the aging board conveying mechanism of the application; Figure 4 is a perspective structural schematic diagram of the main machine of the application; Figure 5 is a structural schematic diagram of the inside of the main machine of the application; Figure 6 is a structural schematic diagram of the motion platform of the application; Figure 7 is a structural schematic diagram of the tray feeding and discharging mechanism of the application; Figure 8 is a structural schematic diagram of the execution assembly of the application; Figure 9 is a structural schematic diagram of the positioning mechanism of the application; Figure 10 is a structural schematic diagram of the aging board of the application; Figure 11 is a structural schematic diagram of the Socket of the application-1; Figure 12 is a structural schematic diagram of the Socket of the application-2.

[0017] Among them, 100, aging board conveying mechanism; 110, material frame; 120, conveying chain; 130, lifting platform; 200, main machine; 210, positioning mechanism; 211, moving channel; 212, material taking and placing position; 213, positioning assembly; 2131, jacking driving part; 2132, fixed plate; 2133, first baffle; 2134, second baffle; 214, push-pull assembly; 2141, push-pull driving part; 2142, push-pull plate; 220, execution assembly; 221, device taking and placing mechanism; 2211, taking and placing lifting part; 2212, device grabbing part; 222, knob rotating mechanism; 2221, knob lifting part; 2222, knob rotating part; 223, buckle opening and closing mechanism; 2231, buckle lifting part; 2232, buckle pressing part; 224, CCD assembly; 230, tray feeding and discharging mechanism; 231, upper disc area; 232, lower disc area; 233, taking and feeding area; 234, tray; 240, motion platform; 241, gantry; 2411, column; 2412, first linear module; 242, cross beam; 2421, second linear module; 300, aging board; 400, Socket; 410, buckle; 420, knob; 421, slot. DETAILED DESCRIPTION

[0018] The concept, specific structure and generated technical effects of the present application will be described clearly and completely in combination with embodiments and drawings, so as to fully understand the purpose, features and effects of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments, and other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative labor are within the protection scope of the present application. In addition, all the coupling / connection relations involved in the patent do not mean that the components are directly connected, but means that a better coupling structure can be composed by adding or reducing coupling accessories according to the specific implementation. The technical features in the present application can be combined interactively without mutual contradiction and conflict.

[0019] REFERENCE Figures 1-12As shown, the application provides a flip cover Socket automatic feeding and discharging equipment. The core technical solution of the equipment is that the aging board conveying mechanism 100 transports the aging board 300 loaded with multiple groups of flip cover Sockets 400 to the taking and discharging position 212 of the main machine 200, the positioning mechanism 210 in the main machine 200 is used to fix the aging board 300, then the movement platform 240 of the main machine 200 drives the execution assembly 220 to perform horizontal two-dimensional movement above the aging board 300, so that the knob rotating mechanism 222, the buckle opening and closing mechanism 223 and the device taking and placing mechanism 221 in the execution assembly 220 are sequentially corresponded to the positions of each Socket 400, the rotation unlocking of the knob 420, the pressing opening and closing of the buckle 410 and the transfer operation between the device tray feeding and discharging mechanism 230 and the Socket 400 are completed, so as to realize the multiple independent actions such as knob rotation, buckle opening and closing and device placement in manual operation through mechanization and automation means, and through the cooperation of the vertical movement of the execution assembly 220 and the horizontal movement of the movement platform 240, the same set of execution mechanism can sequentially or in parallel complete the automatic feeding and discharging operation of all Sockets 400 on the aging board 300.

[0020] The working principle of the technical solution is that the aging board conveying mechanism 100 is responsible for the transportation and storage of the aging board 300, the positioning mechanism 210 realizes the positioning of the aging board 300 through mechanical jacking and baffle limiting, the movement platform 240 adopts a gantry structure to provide a high-rigidity two-dimensional movement platform, and the execution assembly 220 integrates the knob rotating mechanism 222, the buckle opening and closing mechanism 223 and the device taking and placing mechanism 221 three special mechanisms, which respectively correspond to the knob rotation, the buckle opening and the device placement three key actions in the operation of the flip cover Socket 400, so that the equipment can complete the complete operation process of a single Socket 400 in one working cycle, and realize the traversal operation of all Sockets 400 on the whole aging board 300 through the movement of the movement platform 240.

[0021] Compared with the traditional manual operation mode, the technical scheme has significant beneficial effects. First, in terms of efficiency, the device eliminates time-consuming actions such as manually twisting knobs and opening and closing buckles through automatic operation, shortening the loading and unloading time of a single aging board 300 from dozens of minutes to several minutes, greatly improving the throughput of the test equipment. Second, in terms of quality and reliability, the knob rotation mechanism 222 ensures the consistency of each locking operation through torque control, avoiding the problems of poor contact or damage caused by uneven manual tightening torque. The rolling design of the buckle opening and closing mechanism 223 reduces the impact force on the Socket 400 structure, reducing the risk of cover plate fracture and contact wear. The vacuum suction method of the device taking and placing mechanism 221 avoids human contact, eliminating the risk of electrostatic discharge damaging precision semiconductor devices. Third, in terms of cost, the device significantly reduces labor costs after replacing manual operation, while reducing the scrap rate of Sockets 400 and devices through control, reducing unit test costs. Finally, in terms of traceability, the automatic operation of the device can record parameters such as locking torque and opening and closing times of each Socket 400, meeting the requirements of high-standard quality control and data management.

[0022] The aging board conveying mechanism 100 is used to realize the automatic storage, conveying and piece pushing of the aging board 300. Referring to Figures 1-3 , the mechanism includes a material frame 110, a conveying chain 120 and a lifting platform 130. The material frame 110 serves as a bearing container for the aging board 300 and can stack and store multiple aging boards 300. The conveying chain 120 drives the material frame 110 to move in the horizontal direction, conveying the material frame 110 loaded with the aging board 300 from the storage position to the pushing position. The lifting platform 130 is used in cooperation with the conveying chain 120 and can adjust the vertical height of the material frame 110, so that the aging boards 300 at different levels in the material frame 110 are aligned in turn with the pushing height of the pushing plate mechanism.

[0023] In the specific working process, the conveying chain 120 first conveys the material frame 110 loaded with the aging board 300 to be loaded to the lifting platform 130. The lifting platform 130 gradually rises according to the stacking number of the aging boards 300 in the material frame 110, so that the uppermost aging board 300 is aligned with the pushing height of the pushing plate mechanism. The pushing plate mechanism pushes the aging board 300 out of the material frame 110 through horizontal thrust, so that the aging board 300 enters the moving channel 211 of the positioning mechanism 210. After the pushing of one aging board 300 is completed, the lifting platform 130 rises by one aging board thickness, so that the next aging board 300 is aligned with the pushing height. This cycle is repeated until all the aging boards 300 in the material frame 110 are pushed. This design realizes the continuous automatic supply of the aging board 300, ensuring the continuous operation of the main machine 200 without manual intervention.

[0024] For the completed aging plate 300, the push plate mechanism pushes it back to the frame 110, the lifting platform 130 cooperates to descend to receive the recycled aging plate 300, when the frame 110 is full, the conveying chain 120 transports it to the storage area or the next station, realizing the closed-loop circulation of the aging plate 300.

[0025] Referring to Figure 2 , 5 , 9, the core function of the positioning mechanism 210 is to provide a stable working platform for the aging plate 300, which forms a moving channel 211 for the aging plate 300 to pass through, and the moving channel 211 is connected with the aging plate conveying mechanism 100 and the material taking and placing position 212, so that the aging plate 300 can smoothly enter the material taking and placing position 212 and finally be fixed, the positioning mechanism 210 also includes a liftable positioning assembly 213 and a push-pull assembly 214, the positioning assembly 213 realizes the positioning and fixing of the aging plate 300 through lifting movement, and the push-pull assembly 214 is responsible for the bidirectional transfer of the aging plate 300 between the moving channel 211 and the material taking and placing position 212.

[0026] Referring to Figure 9 , the positioning assembly 213 includes a jacking drive 2131, a fixed plate 2132, a first baffle 2133 and a second baffle 2134, the fixed plate 2132 is arranged along the moving direction of the aging plate 300, and the two ends thereof are respectively provided with the first baffle 2133 and the second baffle 2134, the jacking drive 2131 drives the fixed plate 2132 to lift and descend in the vertical direction, when the fixed plate 2132 is located at the descending position, the first baffle 2133 and the second baffle 2134 are lower than the moving path of the aging plate 300, and the aging plate 300 can freely enter and exit the material taking and placing position 212 through the moving channel 211, when the aging plate 300 reaches the material taking and placing position 212, the jacking drive 2131 drives the fixed plate 2132 to rise to the rising position, the first baffle 2133 and the second baffle 2134 stop the front and rear ends of the aging plate 300 respectively, and at the same time, the fixed plate 2132 lifts the aging plate 300 to make it separate from the supporting surface of the moving channel 211, realizing the three-dimensional limiting and fixing of the aging plate 300, which ensures that the aging plate 300 remains stable during the operation of the execution assembly 220, and will not be displaced due to vibration or force.

[0027] Continuing to refer to Figure 9The push-pull assembly 214 is arranged in the moving channel 211 and comprises a push-pull driving member 2141 and a liftable push-pull plate 2142. The push-pull plate 2142 is lower than the supporting surface of the moving channel 211 in the lowered position and does not interfere with the passing of the aging plate 300. When the aging plate 300 needs to be moved, the push-pull plate 2142 is raised to the height level with the end of the aging plate 300, the push-pull driving member 2141 drives the push-pull plate 2142 to move horizontally along the moving channel 211, and the aging plate 300 is pushed into the loading and unloading position 212 from the moving channel 211 or pulled back to the moving channel 211 from the loading and unloading position 212. The liftable design of the push-pull plate 2142 avoids the frictional interference between the push-pull plate 2142 and the bottom surface of the aging plate 300, and ensures the stability of the moving process of the aging plate 300.

[0028] When the push plate mechanism of the aging plate conveying mechanism 100 pushes the aging plate 300 into the moving channel 211, the push-pull plate 2142 of the push-pull assembly 214 is raised and pushed forward to accurately send the aging plate 300 into the loading and unloading position 212, and then the push-pull plate 2142 is lowered to exit, the fixed plate 2132 of the positioning assembly 213 is raised, and the first baffle 2133, the second baffle 2134 and the fixed plate 2132 itself form three-point constraint on the aging plate 300 to complete the positioning and fixing. After the execution assembly 220 completes the work of the whole aging plate 300, the positioning assembly 213 is lowered to release the aging plate 300, and the push-pull assembly 214 is actuated again to push the aging plate 300 back to the moving channel 211, and finally the aging plate 300 is pushed back to the material frame 110 by the push plate mechanism. The whole process can realize the automatic in-out and accurate positioning of the aging plate 300 without manual intervention.

[0029] Referring to Figure 2 , 5 , 6, the motion platform 240 provides high-precision horizontal two-dimensional motion capability for the execution assembly 220, adopts a gantry structure to meet the comprehensive requirements of high rigidity, high speed and high precision, and comprises a gantry 241 and a cross beam 242. The gantry 241 is arranged perpendicular to the conveying direction of the aging plate 300 and has two oppositely arranged columns 2411. Each column 2411 is provided with a first linear module 2412. The two first linear modules 2412 are synchronously driven by double motors to ensure that the gantry 241 maintains a parallel state during movement. The cross beam 242 extends along the conveying direction of the aging plate 300, spans between the two columns 2411 and can move along the first linear module 2412. The cross beam 242 is provided with a second linear module 2421. The execution assembly 220 is installed on the slider of the second linear module 2421, and horizontal two-dimensional positioning is realized through the orthogonal motion of the first linear module 2412 and the second linear module 2421.

[0030] The double-servo synchronous driving structure of the gantry 241 can realize high-precision movement. The two first linear modules 2412 are respectively driven by independent servo motors, and the position feedback signals of the two motors are monitored in real time by a synchronous controller, which dynamically adjusts the driving instructions of the two sides to make the two upright columns 2411 always move synchronously. This design effectively suppresses the distortion of the gantry that may occur in long-stroke movement, guarantees the parallelism of the movement of the cross beam 242, and can maintain stable positioning accuracy even in high-speed reciprocating movement. The double-servo synchronous driving has stronger load capacity and faster response speed than the single-motor driving scheme, and can meet the dynamic performance requirements of the execution assembly 220 for fast movement and frequent start-stop above the aging board 300.

[0031] The second linear module 2421 on the cross beam 242 adopts high-precision ball screw transmission. Ball screw transmission has higher transmission efficiency and positioning accuracy than gear and rack transmission, and can convert the rotary motion of the servo motor into linear motion while maintaining a very small transmission gap. The slider of the second linear module 2421 is fixedly connected with the execution assembly 220, and through accurate position control of the servo motor, the execution assembly 220 can be accurately positioned in the direction of the cross beam 242. The self-locking property of the ball screw transmission can also keep the position of the execution assembly 220 from drifting in the power-off state, improving the safety and reliability of the system.

[0032] Through the orthogonal movement of the first linear module 2412 and the second linear module 2421, the motion platform 240 can accurately move the execution assembly 220 to the upper side of any Socket 400 on the aging board 300, with a positioning accuracy of ±0.05 mm, which meets the position requirements of precise operations such as device picking and placing, knob rotating, and buckle opening and closing. The high rigidity of the gantry structure ensures that the motion platform 240 will not be significantly distorted when carrying the execution assembly 220 and its acting force, ensuring the stability of the positioning accuracy during long-term use. The combination of double-motor synchronous driving and ball screw transmission realizes the best balance between high speed and high precision for the motion platform 240, which can quickly move between Socket 400 positions to improve work efficiency, and can accurately position after reaching the position to ensure operation quality.

[0033] Referring to Figure 2 , 5, 8, the execution assembly 220 is the core functional module to realize the automatic operation of the Socket 400, integrating the device taking and placing mechanism 221, the knob rotating mechanism 222, the buckle opening and closing mechanism 223 and the CCD assembly 224 four modules, the integrated structure makes all operation mechanisms share the horizontal positioning ability provided by the movement platform 240, through the movement of the movement platform 240, different mechanisms are sequentially aligned to the target Socket 400, realizing the sequential operation of knob unlocking, buckle opening and closing and device transfer, at the same time, each mechanism has independent vertical movement ability relative to the movement platform 240, which can adjust the action height and force according to the respective process requirements, the execution assembly 220 is installed on the slider of the second linear module 2421 of the movement platform 240, and moves horizontally in two dimensions above the aging board 300 with the movement platform 240, covering all positions of the Socket 400 on the aging board 300.

[0034] The device taking and placing mechanism 221 is responsible for realizing the transfer of the device between the tray supply / receiving mechanism 230 and the Socket 400, which includes the taking and placing lifting part 2211 and the device grabbing part 2212. The taking and placing lifting part 2211 drives the device grabbing part 2212 to lift in the vertical direction through a linear driving device. The device grabbing part 2212 uses vacuum adsorption to grab the device. The device grabbing part 2212 includes a plurality of parallel arranged suction heads, each of which is independently controllable and adsorbs the device through vacuum negative pressure. The taking and placing lifting part 2211 can drive multiple suction heads to lift synchronously, realizing the parallel taking and placing operation of multiple devices. This multi-suction head parallel design significantly improves the device transfer efficiency. When a group of Sockets 400 needs to place multiple devices, the device grabbing part 2212 can grab the corresponding number of devices from the tray supply / receiving mechanism 230 at one time, and then move to the above of the Socket 400 with the movement platform 240, and complete the batch placement of the devices through the sequential release of multiple suction heads.

[0035] The working process of the device pick-and-place mechanism 221 embodies the combination of precise control and flexible operation. In the feeding stage, the motion platform 240 first moves the device pick-and-place mechanism 221 above the taking / supplying area 233 of the tray supply / receiving mechanism 230. The CCD assembly 224 identifies the position and orientation of the device in the tray 234, adjusts the position of the suction head of the device grabbing part 2212 according to the identification result, ensures accurate alignment of the suction head with the center of the device, drives the device grabbing part 2212 to descend to a set height by the pick-and-place lifting part 2211, starts vacuum negative pressure after the suction head contacts the surface of the device to complete adsorption, drives the device grabbing part 2212 to rise by the pick-and-place lifting part 2211, takes the device from the tray 234, and then the motion platform 240 moves the device pick-and-place mechanism 221 above the target Socket 400. The CCD assembly 224 again confirms the position of the cavity of the Socket 400, drives the device grabbing part 2212 to descend by the pick-and-place lifting part 2211, places the device into the cavity of the Socket 400, releases the vacuum negative pressure of the suction head to complete device placement, and drives the device grabbing part 2212 to rise and reset by the pick-and-place lifting part 2211. The operation process of the discharging stage is opposite, the device pick-and-place mechanism 221 takes out the tested device from the Socket 400 and places it into the tray 234 in the lower tray area 232 of the tray supply / receiving mechanism 230.

[0036] With reference to Figure 8 , 11 The knob rotating mechanism 222 is specially used to realize the automatic rotation of the Socket knob 420. The mechanism includes a knob lifting part 2221 and a knob rotating part 2222. The knob lifting part 2221 drives the knob rotating part 2222 to ascend and descend in the vertical direction through a linear driving device. The knob rotating part 2222 includes a one-piece insert piece matched with the one-slot 421 of the Socket knob 420, and realizes the unlocking or locking of the knob 420 through rotation driving. The lower end of the knob rotating part 2222 is a one-piece insert piece matched with the one-slot 421 of the Socket knob 420. The size and shape of the one-piece insert piece are matched with the one-slot 421 to ensure that torque can be reliably transmitted after insertion without slipping. The knob lifting part 2221 adopts a closed-loop servo motor cooperating with a ball screw to drive, which can accurately control the insertion depth of the one-piece insert piece, avoiding damage to the knob 420 due to excessive insertion or insufficient torque transmission due to shallow insertion. The rotation driving of the knob rotating part 2222 also adopts a closed-loop servo motor, which realizes accurate control of the locking state of the knob 420 by real-time monitoring of the rotation angle and rotation torque.

[0037] The working process of the knob rotating mechanism 222 embodies the high integration of positioning and control. When the motion platform 240 moves the knob rotating mechanism 222 directly above the socket knob 420, the CCD assembly 224 identifies the direction of the T-shaped slot 421 of the knob 420, adjusts the rotation angle of the knob rotating part 2222 according to the identification result, aligns the T-shaped insert with the direction of the T-shaped slot 421, drives the knob rotating part 2222 to descend by the knob lifting part 2221, inserts the T-shaped insert into the T-shaped slot 421 to a preset depth, starts the rotating motor of the knob rotating part 2222, and rotates a specific angle according to the operation requirement. Before loading, the knob 420 needs to be rotated to unlock to open the socket 400. The rotation angle is usually 90 to 180 degrees, which depends on the design of the socket 400. After the device is placed, the knob 420 needs to be rotated to lock to ensure the reliable connection between the device pins and the socket contacts. During the rotation process, the rotation torque is monitored in real time. When the torque reaches the preset locking torque value, the rotation is stopped to avoid excessive tightening and damage to the knob 420 or the socket 400. At the same time, the torque consistency of each locking operation is ensured, the quality hidden danger of uneven torque in manual operation is eliminated, and after the rotation is completed, the knob lifting part 2221 drives the knob rotating part 2222 to rise, the T-shaped insert exits from the T-shaped slot 421, and the knob rotating mechanism 222 is reset and ready.

[0038] Referring to Figure 8 , 11 , 12, the buckle opening and closing mechanism 223 is used to realize the automatic pressing opening and closing operation of the socket buckle 410. The mechanism includes a buckle lifting part 2231 and a buckle pressing part 2232. The buckle lifting part 2231 drives the buckle pressing part 2232 to rise and fall in the vertical direction through a linear driving device. The buckle pressing part 2232 includes a rotatable roller. The roller cooperates with the socket buckle 410 to realize the opening and closing of the buckle 410 by pressing. The design of the roller of the buckle pressing part 2232 is the innovation of the mechanism. Compared with the traditional direct pressing method, the roller can rotate freely with the horizontal movement of the motion platform 240 after contacting the buckle 410. The rolling friction instead of sliding friction significantly reduces the wear on the surface of the buckle 410, prolongs the service life of the socket 400, and at the same time, the rolling action of the roller makes the opening and closing process of the buckle 410 more stable, reduces the impact force on the structure of the socket 400, and reduces the risk of cover breakage and connection part fatigue damage.

[0039] The working process of the buckle opening and closing mechanism 223 fully utilizes the movement capability of the movement platform 240. After the movement platform 240 moves the buckle opening and closing mechanism 223 to the starting position of the Socket buckle 410, the buckle lifting part 2231 drives the buckle pressing part 2232 to descend, the roller contacts the surface of the buckle 410 and applies a preset pressing force, the movement platform 240 then moves horizontally along the lever direction of the buckle 410, the roller rolls along the surface of the buckle 410 under the action of the pressing force, and the buckle 410 is pushed from the locked position to the open position or from the open position to the locked position through the lever principle. The rolling pressure stroke and rolling pressure degree are realized by controlling the descending depth of the buckle lifting part 2231 and the moving distance of the movement platform 240, so as to ensure that the buckle 410 can be completely opened or completely locked. After the rolling pressure is completed, the buckle lifting part 2231 drives the buckle pressing part 2232 to rise, the roller is separated from the contact with the buckle 410, and the buckle opening and closing mechanism 223 is reset and waits for standby. This rolling pressure type opening and closing method has the advantages of more uniform force, more stable action and less wear compared with the traditional direct pressing method, and is particularly suitable for the flip type Socket 400 application scenario which needs to be frequently opened and closed.

[0040] Referring to Figure 8 , the CCD assembly 224 is a visual guarantee for the precise operation of the implementation assembly 220. The CCD assembly 224 is installed on the movement platform 240 together with the device taking and placing mechanism 221, the buckle opening and closing mechanism 223 and the knob rotating mechanism 222. The CCD assembly 224 collects images of the aging board 300 before operation, identifies the position information of the Socket 400 and the device. The image recognition function of the CCD assembly 224 includes multiple aspects. First, the accurate position of each Socket 400 on the aging board 300 is identified, a coordinate database of the Socket 400 position is established, and target coordinates are provided for the movement of the movement platform 240. Second, the direction of the one-slot 421 of the knob 420 in each Socket 400 is identified, angle information is provided for the alignment of the knob rotating mechanism 222. Third, the position of the buckle 410 of the Socket 400 and the lever direction are identified, and guidance is provided for the rolling pressure path of the buckle opening and closing mechanism 223. Finally, the position and orientation of the device on the tray 234 in the tray feeding and discharging mechanism 230 are identified, and coordinate and angle information is provided for the precise grabbing of the device taking and placing mechanism 221.

[0041] The workflow of the CCD assembly 224 embodies the deep integration of visual guidance and automated control. After the aging board 300 is fixed at the loading and unloading position 212 by the positioning mechanism 210, the motion platform 240 first drives the CCD assembly 224 to move in a scanning manner above the aging board 300. The CCD assembly 224 performs regional image acquisition on the aging board 300, identifies the position coordinates of each socket 400, the angle of the one-slot 421 of the knob 420, the lever position of the buckle 410 and other key information through image processing algorithms, and stores these information in the control system as the reference data for subsequent execution of the actions of the components 220. When the device loading and unloading mechanism 221, the knob rotating mechanism 222 and the buckle opening and closing mechanism 223 perform operations respectively, the motion platform 240 accurately moves the corresponding mechanism to the target position according to the coordinate data provided by the CCD assembly 224. The CCD assembly 224 can also perform secondary confirmation at key operation nodes, such as taking images of the socket 400 cavity again before device placement, and only after confirming that there is no foreign matter in the cavity and the position is accurate, the placement action is performed. This visual guidance mechanism greatly improves the reliability and fault tolerance of automated operation. Even if there is a slight positional deviation of the aging board 300 or individual differences of the sockets 400, the CCD assembly 224 can also compensate dynamically through real-time identification to ensure the accuracy of each operation.

[0042] Referring to Figure 2 , 5 , 7, the tray loading and unloading mechanism 230 undertakes the functions of device supply and recovery, and is arranged in the working range of the motion platform 240. The position of the tray loading and unloading mechanism 230 is selected in a region that can be reached by the motion platform 240 but does not conflict with the loading and unloading position 212 of the aging board 300. The tray loading and unloading mechanism 230 includes an upper disc area 231, a lower disc area 232, a loading and unloading area 233 and a tray 234. The upper disc area 231 is used to store the tray 234 loaded with devices to be loaded. The lower disc area 232 is used to store the tray 234 collecting devices that have been unloaded. The loading and unloading area 233 is located between the upper disc area 231 and the lower disc area 232, and is the working position of the device loading and unloading mechanism 221 for loading or unloading. The tray 234 flows between the upper disc area 231, the loading and unloading area 233 and the lower disc area 232 in turn, realizing the automatic supply and recovery of devices.

[0043] The integrated design of the tray feeding / receiving mechanism 230 realizes seamless connection of the feeding and discharging processes. The upper tray area 231 adopts a stacked storage structure and can accommodate multiple layers of trays 234, each loaded with a certain number of devices to be fed. The upper tray area 231 is equipped with a lifting drive device that can send the lowermost tray 234 layer by layer to the taking / supplying area 233. When the device taking mechanism 221 removes all the devices from the tray 234, the empty tray 234 is removed from the taking / supplying area 233, the lifting drive device of the upper tray area 231 is raised, and the next layer of tray 234 loaded with devices is sent to the taking / supplying area 233. This cycle continues until all the trays 234 in the upper tray area 231 are used up. The lower tray area 232 also adopts a stacked storage structure and is used to receive trays 234 loaded with discharged devices. In the discharging process, the empty tray 234 is first placed in the taking / supplying area 233, and the device taking mechanism 221 places the devices taken from the socket 400 onto the tray 234 one by one. When the tray 234 is full, it is moved into the lower tray area 232 for stacked storage. The lifting drive device of the lower tray area 232 cooperates with the stacking of the trays 234 to ensure consistent spacing between each layer of trays 234.

[0044] The taking / supplying area 233 of the tray feeding / receiving mechanism 230 is the key position for interaction between the device taking mechanism 221 and the tray 234. The height of the taking / supplying area 233 is accurately designed so that the suction head of the device taking mechanism 221 can accurately contact the devices in the tray 234 when it is lowered to the working height. The taking / supplying area 233 is equipped with a positioning mechanism to ensure that the tray 234 is stable after being positioned. The CCD assembly 224 performs image recognition on the tray 234 in the taking / supplying area 233 to obtain the accurate position coordinates of each device in the tray 234. The device taking mechanism 221 grasps or places the devices one by one according to these coordinates. The device arrangement in the tray 234 usually adopts a matrix layout, and the devices are spaced far enough apart to avoid interference with the suction head, while maximizing the device capacity of a single tray 234.

[0045] The automated flow mechanism of the tray feeding / receiving mechanism 230 supports continuous operation of the equipment. The stacked capacity of the trays 234 in the upper tray area 231 and the lower tray area 232 is large enough to meet the feeding and discharging needs of multiple pieces of burn-in board 300 without frequent manual replenishment or emptying of the trays 234. During equipment operation, the operator can replenish new trays 234 loaded with devices before the trays 234 in the upper tray area 231 are about to be used up, or remove the trays 234 fully loaded with devices before the stacking of the trays 234 in the lower tray area 232 is about to be full. This design realizes no downtime during the process and ensures the continuous production capacity of the equipment. The standardized design of the tray 234 enables it to adapt to different specifications of devices, and by replacing different trays 234, the equipment can be compatible with multiple types of devices, improving the flexibility and versatility of the equipment.

[0046] Implementation of the whole machine loading process The loading process of the device is a highly automated continuous operation process. First, the material frame 110 in the aging board conveying mechanism 100 loads the aging board 300 to be loaded. The Socket 400 on the aging board 300 is in an empty material state. The conveying chain 120 conveys the material frame 110 from the storage position to the lifting platform 130. The lifting platform 130 rises the material frame 110 according to the stacking layer number of the aging board 300 in the material frame 110, so that the uppermost aging board 300 is aligned with the pushing height of the push plate mechanism. The push plate mechanism pushes the aging board 300 out of the material frame 110 by horizontal thrust. The aging board 300 enters the working area of the main machine 200 along the moving channel 211.

[0047] When the aging board 300 reaches the moving channel 211, the push-pull assembly 214 of the positioning mechanism 210 acts. The push-pull drive 2141 drives the push-pull plate 2142 to rise and push forward, accurately pushing the aging board 300 from the moving channel 211 into the material taking and placing position 212. The push-pull plate 2142 then descends and exits. The jacking drive 2131 of the positioning assembly 213 is started, driving the fixed plate 2132 to rise. The fixed plate 2132 lifts the aging board 300 to make it separate from the support surface of the moving channel 211. At the same time, the first baffle 2133 and the second baffle 2134 stop the front and rear ends of the aging board 300, respectively, to achieve three-dimensional positioning and fixing of the aging board 300. After the aging board 300 is firmly fixed in the material taking and placing position 212, it provides a stable working platform for the subsequent operation of the execution assembly 220.

[0048] The CCD assembly 224 moves above the aging board 300 with the movement platform 240 in a scanning manner, and performs image acquisition and position recognition on each Socket 400 on the aging board 300. The recognition content includes the position coordinates of the Socket 400, the angle of the one-slot 421 of the knob 420, the lever position of the buckle 410, and other key information. These information are stored in the control system and generate a work path. The work path planning considers the principles of shortest moving distance and highest work efficiency, and determines the operation sequence of the execution assembly 220 on each Socket 400.

[0049] The execution assembly 220 starts to operate the first Socket 400, the motion platform 240 first moves the knob rotating mechanism 222 to the upper position of the Socket knob 420, the knob lifting part 2221 drives the knob rotating part 2222 to descend, the letter-shaped insert piece is aligned and inserted into the letter-shaped slot 421 of the knob 420, the rotating motor of the knob rotating part 2222 is started, and rotates by a preset angle to unlock the knob 420. During the rotation, the rotating torque is monitored in real time, and after confirming that the knob 420 has been completely unlocked, the knob lifting part 2221 drives the knob rotating part 2222 to rise and reset.

[0050] The motion platform 240 subsequently moves the buckle opening and closing mechanism 223 to the starting position of the Socket buckle 410, the buckle lifting part 2231 drives the buckle pressing part 2232 to descend, the roller contacts the surface of the buckle 410 and applies a pressing force, the motion platform 240 moves horizontally along the lever direction of the buckle 410, the roller rolls and presses the buckle 410 to push it from the locked position to the open position, and the cover of the Socket 400 is automatically opened after the buckle 410 is opened. The buckle lifting part 2231 drives the buckle pressing part 2232 to rise and reset.

[0051] The motion platform 240 moves the device taking and placing mechanism 221 to the above of the taking / supplying area 233 of the tray supply / delivery mechanism 230, the CCD assembly 224 identifies the position of the device in the tray 234, the suction head of the device grabbing part 2212 is aligned with the device according to the identification result, the taking and placing lifting part 2211 drives the device grabbing part 2212 to descend, the suction head contacts the device and starts the vacuum negative pressure to complete the adsorption, the taking and placing lifting part 2211 drives the device grabbing part 2212 to rise, and the device is taken out from the tray 234.

[0052] The motion platform 240 moves the device taking and placing mechanism 221 to the above of the Socket 400, the CCD assembly 224 confirms the position of the cavity of the Socket 400, the taking and placing lifting part 2211 drives the device grabbing part 2212 to descend, and accurately places the device into the cavity of the Socket 400, the suction head releases the vacuum negative pressure to complete the device placement, the taking and placing lifting part 2211 drives the device grabbing part 2212 to rise and reset. If multiple devices need to be placed in the Socket 400, the device taking and placing mechanism 221 repeats the above taking and placing actions until the cavity of the Socket 400 is filled with devices.

[0053] After the single Socket 400 is placed, the motion platform 240 moves the buckle opening and closing mechanism 223 to the position of the Socket buckle 410 again, the buckle lifting part 2231 drives the buckle pressing part 2232 to descend, the roller pushes the buckle 410 from the open position to the locked position through the rolling action, and the cover of the Socket 400 is closed after the buckle 410 is locked, and the buckle lifting part 2231 drives the buckle pressing part 2232 to rise and reset.

[0054] The motion platform 240 moves the knob rotating mechanism 222 to the position directly above the Socket knob 420, the knob lifting part 2221 drives the knob rotating part 2222 to descend, the letter-shaped insert piece is inserted into the letter-shaped slot 421 of the knob 420, the rotating motor of the knob rotating part 2222 is started, rotates by a preset angle to lock the knob 420, and the rotating torque is monitored in real time during the rotation. When the torque reaches the preset locking torque value, the rotation is stopped, the reliable connection between the device pin and the Socket contact is ensured, the knob lifting part 2221 drives the knob rotating part 2222 to rise and reset, and thus the complete feeding operation of the Socket 400 is completed.

[0055] The execution assembly 220 repeats the above-mentioned operation processes of the knob unlocking, the buckle opening, the device placing, the buckle locking and the knob locking on the remaining Sockets 400 on the aging board 300 in sequence according to the work path, until all the Sockets 400 on the whole aging board 300 are fed. In the continuous work process of the multiple Sockets 400, the movement path of the motion platform 240 is optimized to reduce the empty movement time, and part of the operation can be improved in efficiency through the parallel mode, for example, while the device is placed on a Socket 400, the CCD assembly 224 can perform position confirmation on the next Socket 400.

[0056] After the whole piece of aging board 300 is completed, the positioning assembly 213 of the positioning mechanism 210 is actuated, the lifting driving part 2131 drives the fixed plate 2132 to descend, the first baffle 2133 and the second baffle 2134 release the positioning of the aging board 300, the aging board 300 descends to the support surface of the moving channel 211, the push-pull plate 2142 of the push-pull assembly 214 rises, the push-pull driving part 2141 drives the push-pull plate 2142 to push back, the aging board 300 is pushed back from the taking and placing position 212 to the moving channel 211, the push plate mechanism of the aging board conveying mechanism 100 pushes the aging board 300 back from the moving channel 211 to the material frame 110, the lifting platform 130 cooperates with the descent of the material frame 110 to receive the recycled aging board 300, the lifting platform 130 then rises the material frame 110, the push plate mechanism pushes the next piece of aging board 300 to be fed into the moving channel 211, and the above-mentioned feeding, positioning, knob unlocking, buckle opening, device placement, buckle locking, knob locking and other operations are repeated to realize the automatic feeding of multiple pieces of aging board 300.

[0057] The unloading process of the device is similar in operation logic to the feeding process, but the device transfer direction is opposite, first the material frame 110 in the aging board conveying mechanism 100 loads the aging board 300 that has completed the aging test, the Socket 400 on these aging boards 300 is in a full material state, the conveying chain 120 conveys the material frame 110 to the lifting platform 130, the lifting platform 130 rises the material frame 110 to make the uppermost aging board 300 align with the pushing height of the push plate mechanism, and the push plate mechanism pushes the aging board 300 out piece by piece to the moving channel 211.

[0058] The push-pull assembly 214 of the positioning mechanism 210 pushes the aging board 300 from the moving channel 211 into the taking and placing position 212, the positioning assembly 213 precisely positions and fixes the aging board 300 through the cooperation of the lifting fixed plate 2132 and the first baffle 2133 and the second baffle 2134, the CCD assembly 224 scans and identifies the Socket 400 on the aging board 300, obtains the position information of each Socket 400, and generates an unloading operation path.

[0059] The execution assembly 220 starts the unloading operation on the first Socket 400, the movement platform 240 first moves the knob rotating mechanism 222 to be directly above the Socket knob 420, the knob lifting part 2221 drives the knob rotating part 2222 to descend, the character-shaped plug is inserted into the character-shaped slot 421 of the knob 420, the knob rotating part 2222 rotates a preset angle to unlock the knob 420, and the knob lifting part 2221 drives the knob rotating part 2222 to rise and reset.

[0060] The motion platform 240 moves the buckle opening and closing mechanism 223 to the position of the Socket buckle 410. The buckle lifting part 2231 drives the buckle pressing part 2232 to descend. The roller pushes the buckle 410 from the locked position to the open position through the rolling action. The cover of the Socket 400 is opened. The buckle lifting part 2231 drives the buckle pressing part 2232 to ascend and reset.

[0061] The motion platform 240 moves the device taking and placing mechanism 221 to the position directly above the Socket 400. The CCD assembly 224 identifies the position of the device in the cavity of the Socket 400. The suction head of the device grabbing part 2212 is aligned with the device. The taking and placing lifting part 2211 drives the device grabbing part 2212 to descend. The suction head contacts the device and starts the vacuum negative pressure to complete the adsorption. The taking and placing lifting part 2211 drives the device grabbing part 2212 to ascend, taking the device out of the Socket 400.

[0062] The motion platform 240 moves the device taking and placing mechanism 221 to the position above the taking and supplying area 233 of the tray supplying and receiving mechanism 230. The taking and placing lifting part 2211 drives the device grabbing part 2212 to descend, placing the device at the designated position of the tray 234. The suction head releases the vacuum negative pressure to complete the device placement. The taking and placing lifting part 2211 drives the device grabbing part 2212 to ascend and reset. If there are multiple devices in the Socket 400, the device taking and placing mechanism 221 repeats the above-mentioned taking and placing actions until all the devices in the cavity of the Socket 400 are taken out.

[0063] After the single Socket 400 completes the device taking, the motion platform 240 moves the buckle opening and closing mechanism 223 to the position of the Socket buckle 410. The buckle lifting part 2231 drives the buckle pressing part 2232 to descend. The roller pushes the buckle 410 from the open position to the locked position. The cover of the Socket 400 is closed. The buckle lifting part 2231 drives the buckle pressing part 2232 to ascend and reset.

[0064] The motion platform 240 moves the knob rotating mechanism 222 to the position directly above the Socket knob 420. The knob lifting part 2221 drives the knob rotating part 2222 to descend. The letter-shaped insert is inserted into the letter-shaped slot 421 of the knob 420. The knob rotating part 2222 rotates by a preset angle to lock the knob 420. The knob lifting part 2221 drives the knob rotating part 2222 to ascend and reset. Thus, the complete unloading operation of the Socket 400 is completed.

[0065] The execution assembly 220 repeats the above-mentioned operation process of knob unlocking, buckle opening, device taking out, buckle locking and knob locking in sequence for the remaining sockets 400 on the aging board 300 according to the operation path, until all the sockets 400 on the whole aging board 300 complete the unloading, and the devices taken out from the sockets 400 are placed on the tray 234 of the tray supply / receiving mechanism 230 in sequence, and when the tray 234 is full, it is moved into the lower tray area 232 for storage, and the empty tray 234 is sent to the taking / supplying area 233 to continue receiving the unloaded devices.

[0066] After the whole aging board 300 completes the unloading, the positioning mechanism 210 releases the fixation of the aging board 300, the push-pull assembly 214 pushes the aging board 300 back to the moving channel 211, the push plate mechanism of the aging board conveying mechanism 100 pushes the aging board 300 back to the frame 110, the lifting platform 130 cooperates with the lifting of the frame 110, the push plate mechanism sends the next aging aging board 300, and the above-mentioned operations of sending the board, positioning, knob unlocking, buckle opening, device taking out, buckle locking, knob locking and the like are repeated to realize the automatic unloading operation of the continuous multiple aging boards 300.

[0067] Based on the above-mentioned flip type socket automatic unloading equipment, the application also provides a systematic operation method, which organically combines the hardware capability of the equipment with the process flow to realize the full automation operation of the aging test link.

[0068] The first step of the operation method is preparation work, the operator places the frame 110 loaded with the aging board 300 to be unloaded in the unloading position of the aging board conveying mechanism 100, the sockets 400 on these aging boards 300 are in empty state, at the same time, a sufficient number of trays 234 are loaded in the upper tray area 231 of the tray supply / receiving mechanism 230, the trays 234 are loaded with devices to be tested, a sufficient number of empty trays 234 are prepared in the lower tray area 232 for receiving the unloaded devices, the control system of the equipment completes the self-checking program, confirms that each mechanism is in normal working state, and the CCD assembly 224 completes the calibration to ensure that the visual recognition accuracy meets the requirements.

[0069] The second step is to start the automatic unloading process, the operator selects the unloading mode on the man-machine interface and starts the program, the conveying chain 120 automatically conveys the frame 110 to the lifting platform 130, the lifting platform 130 lifts the frame 110 to the push plate height, the push plate mechanism pushes the uppermost aging board 300 into the moving channel 211, the push-pull assembly 214 pulls the aging board 300 from the moving channel 211 into the taking / placing position 212, and the positioning assembly 213 accurately fixes the aging board 300 through jacking and baffle limiting.

[0070] The third step is visual recognition and path planning. The CCD component 224 scans the aging board 300 with the motion platform 240 to identify the coordinates of all sockets 400, the angle of the slot 421 of the knob 420, and the lever position of the buckle 410. The control system generates an optimal operation path based on the recognition results, determines the operation sequence for each socket 400, and scans the tray 234 of the tray supply / receiving mechanism 230 to identify the coordinates and orientation of each device in the tray 234, providing accurate guidance for subsequent device grabbing.

[0071] The fourth step is to perform automatic feeding. The motion platform 240 moves the execution component 220 to each socket 400 position according to the planned path to perform the complete operation sequence of knob unlocking, buckle opening, device picking and placing, buckle locking, and knob locking. During the device picking and placing process, the device picking and placing mechanism 221 first picks up the device from the tray 234 of the tray supply / receiving mechanism 230 and then moves to the top of the socket 400 for accurate placement. The knob rotation mechanism 222 monitors the torque in real time when locking the knob 420 to ensure that the locking torque of each socket 400 meets the process requirements. The roller design of the buckle opening and closing mechanism 223 ensures the stability of the buckle 410 opening and closing process. The entire operation process can be automatically completed without manual intervention.

[0072] The fifth step is aging board recycling and recycling. When all the sockets 400 on the aging board 300 are completed, the positioning component 213 is released, the push-pull component 214 pushes the aging board 300 back to the moving channel 211, and the push plate mechanism pushes the aging board 300 back to the material frame 110. At this time, the aging board 300 has completed the feeding and can be sent to the aging test equipment. The lifting platform 130 cooperates with the material frame 110 to lift, and the push plate mechanism automatically pushes the next aging board 300 to be fed. The device repeats the above positioning, recognition, feeding, recycling, and other steps to realize the automatic feeding of multiple aging boards 300. The operator only needs to supplement the new material frame 110 when the aging board 300 in the material frame 110 is about to be exhausted, or supplement the new tray 234 when the tray 234 is about to be exhausted, to ensure the continuous operation of the device.

[0073] The sixth step is to start the automatic unloading process. After the aging test is completed, the operator places the material frame 110 loaded with the tested aging board 300 at the loading position of the aging board conveying mechanism 100, selects the unloading mode on the human-machine interface, and starts the program. The device performs similar steps such as feeding, positioning, and identification as the loading process, but the device transfer direction is opposite. The device pick-and-place mechanism 221 takes out the tested device from the socket 400 and places it into the tray 234 of the tray supply / delivery mechanism 230. When the tray 234 is full, it is automatically moved to the lower tray area 232. The empty tray 234 is sent to the pick / delivery area 233 to continue receiving devices. The operator periodically removes the full tray 234 from the lower tray area 232 and replenishes the empty tray 234 to the upper tray area 231 for the next round of loading.

[0074] The seventh step is data recording and quality traceability. The device automatically records key process parameters during the entire operation process, including the knob locking torque of each socket 400, the number of times the buckle is opened and closed, the device placement position deviation, and other data. These data are stored in association with the unique number of the aging board 300 and the position information of the socket 400, forming a complete process traceability chain. If subsequent testing finds a problem with a device, the device can be traced back to all operating parameters during the loading process to determine whether the problem originated from the loading link. The image data collected by the CCD assembly 224 can also be saved for quality analysis, providing a basis for process optimization.

[0075] The eighth step is abnormal handling and human-machine cooperation. The device is equipped with multiple safety protection mechanisms. When the CCD assembly 224 identifies that the socket 400 position is abnormal, the device is missing, or the placement deviation exceeds the allowed range, the device automatically pauses the operation and displays an alarm message on the human-machine interface. The operator manually checks and handles according to the prompt. After handling, the operator can choose to continue the subsequent operation or re-execute the operation of the current socket 400. If the knob rotation mechanism 222 detects torque abnormalities during locking, such as knob 420 jamming or slipping, the device will also automatically stop and alarm. If the buckle opening and closing mechanism 223 detects abnormal operation of the buckle 410, it will also trigger a protection stop. This human-machine cooperation mode ensures the efficiency of automation while considering the reliability of the operation.

[0076] The ninth step is equipment maintenance and parameter optimization. The operator regularly maintains the equipment, including cleaning the lens of the CCD assembly 224, checking the air tightness of the suction head of the device grabbing part 2212, lubricating the linear module of the motion platform 240, etc. The control system records the cumulative running time and operation frequency of the equipment, and automatically prompts the operator to perform maintenance when the preset maintenance period is reached. According to the long-term accumulated operation data, the operator can fine-tune and optimize parameters such as knob locking torque, buckle opening and closing force, and device grabbing vacuum degree, to adapt to the individual differences of different batches of Socket 400 or devices, and improve the adaptability and operation success rate of the equipment.

[0077] Through the above operation method, the flip type Socket automatic feeding and discharging equipment of the application realizes full-process automation from aging board conveying, accurate positioning, visual recognition, Socket opening and closing, and device transfer to aging board recycling. The work focus of the operator is changed from heavy repetitive physical labor to equipment monitoring, abnormal handling and process optimization. The production efficiency is greatly improved, and the consistency and traceability of product quality are effectively guaranteed. The modular design and parameter adjustable characteristics of the equipment enable it to adapt to various specifications of Socket 400 and devices, with good universality and expandability, providing a reliable technical solution for the intelligent upgrading of the semiconductor device aging test link.

[0078] The above is a specific description of the preferred implementation of the application, but the application is not limited to the described embodiments. Those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the application. These equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A flip cover Socket automatic feeding and discharging equipment, characterized in that, The device comprises: an aging board conveying mechanism for conveying the aging board to and from the loading and unloading position; a positioning mechanism for fixing the aging board at the loading and unloading position; a moving platform arranged above the loading and unloading position and capable of horizontal two-dimensional movement; an execution assembly mounted on the moving platform and capable of vertical movement relative to the moving platform, comprising: a device loading and unloading mechanism having a loading and unloading lifting part and a device grabbing part, the device grabbing part being arranged at the lower end of the loading and unloading lifting part; a knob rotating mechanism having a knob lifting part and a knob rotating part, the knob rotating part being arranged at the lower end of the knob lifting part and cooperating with the knob of the Socket; a buckle opening and closing mechanism having a buckle lifting part and a buckle pressing part, the buckle pressing part being arranged at the lower end of the buckle lifting part and cooperating with the buckle of the Socket; a tray feeding mechanism arranged within the working range of the moving platform and having a tray for storing devices; the moving platform drives the execution assembly to move horizontally to the position above each Socket on the aging board, the execution assembly rotates the knob by vertical movement of the knob rotating part cooperating with the knob of the Socket, the buckle pressing part cooperates with the buckle of the Socket to open and close the buckle, and the device grabbing part transfers the device between the tray feeding mechanism and the Socket.

2. The flip-type Socket automatic loading and unloading equipment according to claim 1, wherein the positioning mechanism forms a moving channel for the aging board to pass through, the moving channel being communicated with the aging board conveying mechanism and the loading and unloading position; the positioning mechanism further comprises a liftable positioning assembly, when the positioning assembly is in the lowered position, the aging board can enter and exit the loading and unloading position through the moving channel, and when the positioning assembly is in the raised position, the aging board located at the loading and unloading position is positioned and fixed.

3. The flip-type Socket automatic loading and unloading equipment according to claim 2, wherein the positioning assembly comprises a jacking drive and a fixed plate, the fixed plate is arranged to extend along the moving direction of the aging board, and the fixed plate is provided with a first baffle and a second baffle at both ends thereof; the jacking drive drives the fixed plate to lift and lower, so that the first baffle and the second baffle stop the front and rear ends of the aging board in the raised position, and are below the moving path of the aging board in the lowered position.

4. The flip-type Socket automatic loading and unloading equipment according to claim 2, further comprising a push-pull assembly arranged in the moving channel, the push-pull assembly comprising a push-pull drive and a liftable push-pull plate; the push-pull plate can cooperate with the end of the aging board in the raised position, and the push-pull drive is driven to realize the bidirectional transfer of the aging board between the moving channel and the loading and unloading position.

5. The flip-type Socket automatic loading and unloading equipment according to claim 1, wherein the moving platform is of a gantry structure, comprising: ​ The gantry is arranged perpendicularly to the conveying direction of the aging board, and has two opposite columns, each of which is provided with a first linear module, and the two first linear modules are synchronously driven by double motors; The cross beam extends along the conveying direction of the aging board, spans between the two columns and is movable along the first linear module, and the cross beam is provided with a second linear module; The execution assembly is mounted on the slider of the second linear module, and horizontal two-dimensional positioning is realized through orthogonal motion of the first linear module and the second linear module.

6. The flip cover Socket automatic feeding and discharging equipment according to claim 1, wherein the aging board conveying mechanism comprises: a material frame for stacking and storing a plurality of aging boards; a conveying chain for conveying the material frame in the horizontal direction; a lifting platform cooperating with the conveying chain for lifting the material frame to different height positions; a push plate mechanism arranged at a pushing position of the material frame for pushing the aging boards in the material frame to the feeding end of the taking and placing position one by one; the conveying chain and the lifting platform cooperate to move the material frame loaded with the aging boards to the pushing position, and the push plate mechanism pushes the aging boards out of the material frame into the positioning mechanism.

7. The flip cover Socket automatic feeding and discharging equipment according to claim 1, wherein the device grabbing part of the device taking and placing mechanism comprises a plurality of parallel arranged suction heads, each of which is independently controllable and can adsorb a device through vacuum negative pressure; and the taking and placing lifting part can drive the plurality of suction heads to be synchronously lifted, so as to realize parallel taking and placing operation of a plurality of devices.

8. The flip cover Socket automatic feeding and discharging equipment according to claim 1, wherein the buckle pressing part comprises a rotatable roller; and the buckle lifting part drives the roller to descend and contact the buckle, and then the roller rolls and presses the buckle through horizontal movement of the movement platform, so as to realize opening and closing of the Socket.

9. The flip cover Socket automatic feeding and discharging equipment according to claim 1, wherein the lower end of the knob rotating part is a one-piece insertion piece matched with a one-piece slot of the knob, and the one-piece insertion piece drives the knob through the mode of being inserted into the one-piece slot and being rotated, so as to realize locking and unlocking operation of the Socket.

10. The flip cover Socket automatic feeding and discharging equipment according to claim 1, wherein the execution assembly further comprises a CCD assembly, and the CCD assembly, the device taking and placing mechanism, the buckle opening and closing mechanism and the knob rotating mechanism are jointly mounted on the movement platform; and the CCD assembly collects images of the aging board before operation, and identifies position information of the Socket and the device. ​ ​ ​ ​ ​

Images