An automatic pick-and-place system

Abstract

This invention provides an automated material handling system that, through the coordinated operation of multiple mechanisms, automates the handling of material boxes, the processing of limiting structures, and the retrieval of sheet-like carriers. It includes: a vertical mounting frame with an operating table, the central area of ​​which has a stacked shelf structure; a crane docking module for receiving large material boxes transported by a conveying system, the large material boxes containing multiple smaller material boxes; a multi-functional material handling arm for performing the handling of small material boxes and the retrieval of chip carriers within the small material boxes; a receiving and conveying module for receiving and conveying the chip carriers pushed out by the multi-functional material handling arm; an adjustable material box storage rack for positioning and storing small material boxes of different sizes; and a material box limiting structure opening module for opening the limiting structures of small material boxes positioned on the retrieval path to facilitate subsequent retrieval operations.

Description

Technical Field

[0001] This invention relates to the technical field of semiconductor device transfer, specifically to an automatic material handling system. Background Technology

[0002] In the flip chip packaging process, after DA (Die Attach) is completed, the chip is usually fixed in an array on a sheet carrier (such as a metal substrate or similar carrier structure) and stored in a special box for turnover.

[0003] In the current technology, the material handling in the process from the back end of DA to subsequent processes is mostly done manually, including operations such as material box handling, opening of material box limiting structure, and removal and transfer of sheet carriers.

[0004] The above-mentioned operating mode has the following problems: (1) Relying on manual operation, production cycle is limited and efficiency is low; (2) Poor operation consistency, which easily leads to unstable material handling; (3) During the material handling process, the carrier is prone to displacement or abnormal posture, affecting subsequent processes; (4) Different specifications of material boxes need to be manually identified and processed, lacking unified automated adaptation capabilities; (5) The material box limiting structure requires manual intervention, making it difficult to achieve continuous automated operation.

[0005] Therefore, it is necessary to provide an automated material handling system to automate and standardize the material handling process in the back end of flip chip manufacturing. Summary of the Invention

[0006] To address the aforementioned problems, this invention provides an automated material handling system that, through the coordinated operation of multiple mechanisms, automates the handling of material boxes, the processing of limiting structures, and the picking up of sheet-like carriers.

[0007] An automatic material handling system, characterized in that it comprises: A vertical mounting frame includes an operating table, wherein a stacked shelf structure is provided in the central area of ​​the operating table; The overhead crane docking module is used to receive large material boxes transported by the conveying system, and the large material boxes are equipped with multiple small material boxes. A multi-functional pick-and-place arm, used to perform pick-and-place operations on small material boxes and to pick up chip carriers from within small material boxes; The receiving and feeding module is used to receive and transport the chip carrier pushed out by the multi-functional pick-and-place arm; Adjustable tin box storage rack, used for positioning and storing small tin boxes of different sizes; And a material box limiting structure opening module, which is used to open the limiting structure of the small material box set on the material picking path to facilitate subsequent material picking operations. The top layer of the shelving structure is a crane docking module. The remaining layers of the shelving structure, excluding the top layer, are arranged with multiple sets of adjustable material box storage racks. One end of the workbench is equipped with a multi-functional material handling arm corresponding to the inlet / outlet end of a large material box. The other end of the workbench is equipped with a receiving and feeding module corresponding to the inlet / outlet end of a small material box. One layer of the shelving structure is equipped with a material box limiting structure opening module. In the chip carrier transfer state, the inlet / outlet ends of the small material boxes arranged on the material box limiting structure opening module are respectively equipped with the push output end of the multi-functional material handling arm and the receiving end of the receiving and feeding module.

[0008] Its further features are: The multi-functional pick-and-place arm includes an X-axis drive base, a Z-axis lifting module, a Y-axis drive module, a connecting seat, and a pair of clamping push rods. The output end of the X-axis drive base is fixed to the seat of the Z-axis lifting module, the output end of the Z-axis lifting module is fixed to the Y-axis seat of the Y-axis drive module, the output end of the Y-axis drive module is fixed to the connecting seat, and a pair of clamping push rods are fixed to the upper part of the connecting seat. The protruding ends of the clamping push rods are arranged facing the upper protruding docking block of the small material box. The clamping push rods are used to clamp the small material box and perform transfer operations. At the same time, the clamping push rods are used to push the chip carrier inside the small material box in the unlocked state. The material box limiting structure opening module includes a material box positioning mechanism and a limiting structure opening module. After the small material box is placed in the corresponding position of the material box limiting mechanism opening module, the material box positioning mechanism fixes the bottom position of the small material box, and the limiting structure opening module opens the limiting structure of the small material box set on the material picking path. The material box positioning mechanism includes two sets of mutually perpendicular limiting cylinders and two mutually perpendicular positioning edges. The piston ends of the two sets of mutually perpendicular limiting cylinders press one pair of right-angled edges of the small material box onto the two mutually perpendicular positioning edges to ensure that the position of the small material box is stable and reliable. The limiting structure opening module is arranged according to the setting of the limiting structure of the small material box, which is a vertical pressing mechanism, a horizontal rotating mechanism, or a composite mechanism composed of vertical pressing and horizontal rotating. The receiving and feeding module is used to receive the sheet-shaped chip carrier during its ejection and guide it into the conveying path. The feeding module is in the form of a conveyor belt and is equipped with a width adjustment mechanism to accommodate chip carriers of different sizes; The receiving and feeding module is equipped with a guide and limiting structure to constrain the movement trajectory of the sheet-shaped chip carrier and prevent it from shifting or flipping during the receiving process. During operation, the feeding module and the multi-functional picking and placing arm have a coordinated action relationship. The feeding module completes the receiving action at the same time as the chip carrier is detached from the small material box, thereby ensuring the continuity and stability of the entire picking process. The adjustable material box storage rack includes multiple storage units, each with an adjustable positioning structure inside. By changing the positioning spacing, it can adapt to different sized material boxes. The adjustable positioning structure can be adjusted by sliding and locked in place to achieve quick switching. It also includes an identification and positioning unit, which is used to identify information and correct the position of small material boxes and chip carriers. The identification and positioning unit includes a barcode scanning device or a vision inspection device to acquire material box information and detect the actual position of the sheet carrier, thereby guiding the picking and placing arm to perform precise operations.

[0009] When using the system of this invention, during system operation, the external conveying system first transports the large material box containing the small material box to the overhead crane docking module; then, the multi-functional pick-and-place arm removes the small material box and transfers it to the idle position of the adjustable material box storage rack; when material needs to be picked up, the target small material box is moved to the limit structure opening module to release the limit; then, the multi-functional pick-and-place arm pushes out the sheet-like chip carrier through the action structure, while the receiving and feeding module receives it; finally, the carrier is transported to the subsequent process through the receiving and feeding module; through the cooperation of multiple mechanisms, it realizes the automated operation of material box handling, limit structure processing, and sheet-like carrier picking. Attached Figure Description

[0010] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention after the outer frame of the vertical mounting bracket has been removed. Figure 3 This is a partially enlarged schematic diagram of the multifunctional material handling arm of the present invention; Figure 4 This is a three-dimensional structural diagram of the opening module of the material box limiting structure of the present invention; The names corresponding to the serial numbers in the diagram are as follows: Vertical mounting rack 10, operating table 11, shelf structure 20 30. Overhead crane docking module; 40. Large material box; 50. Small material box; 51. Chip carrier; 52. Protruding docking block; 60. Multifunctional material handling arm; 61. X-axis drive base; 62. Z-axis lifting module; 63. Y-axis drive module; 64. Connecting seat; 65. Clamping and pushing rod; 70. Material receiving and feeding module; 80. Adjustable material box storage rack; 81. Storage unit; 90. Material box limiting structure opening module; 91. Material box positioning mechanism; 92. Limiting structure opening module. Limit cylinder 1, positioning edge 2. Detailed Implementation

[0011] An automatic material handling system, see Figures 1-4 It includes a vertical mounting frame 10, a crane docking module 30, a multi-functional material handling arm 60, a material receiving and feeding module 70, an adjustable material box storage rack 80, and a material box limiting structure opening module 90. The vertical mounting frame 10 includes an operating table 11, and a stacked shelf structure 20 is provided in the central area of ​​the operating table 11. The overhead crane docking module 30 is used to receive the large material box 40 conveyed by the conveying system. The large material box 40 contains multiple small material boxes 50. The multi-functional pick-and-place arm 60 is used to perform pick-and-place operations on the small material box 50 and pick-up operations on the chip carrier 51 inside the small material box 50. The receiving and feeding module 70 is used to receive and transport the chip carrier 51 pushed out by the multi-functional picking and placing arm 60. The adjustable material box storage rack 80 is used for positioning and storing small material boxes 50 of different sizes; The material box limiting structure opening module 90 is used to open the limiting structure of the small material box 50 set on the material picking path, so as to facilitate subsequent material picking operations. The top layer of the shelf structure 20 is the crane docking module 30. Except for the top layer, the other layers of the shelf structure 20 are arranged with multiple sets of adjustable material box storage racks 80. One end of the workbench 11 is equipped with a multi-functional material handling arm 60 corresponding to the inlet / outlet end of the large material box 40. The other end of the workbench 11 is equipped with a receiving and feeding module 70 corresponding to the inlet / outlet end of the small material box 50. A material box limiting structure opening module 90 is provided on one side of the middle and upper layer of the shelf structure 20. When the chip carrier 51 is in the transfer state, the inlet / outlet ends of the small material box 50 arranged on the material box limiting structure opening module 90 are respectively equipped with the push output end of the multi-functional material handling arm 60 and the receiving end of the receiving and feeding module 70.

[0012] In a specific embodiment, the multi-functional material handling arm 60 includes an X-axis drive base 61, a Z-axis lifting module 62, a Y-axis drive module 63, a connecting seat 64, and a pair of clamping push rods 65. The output end of the X-axis drive base 61 is fixedly connected to the seat of the Z-axis lifting module 62. The output end of the Z-axis lifting module 62 is fixedly connected to the Y-axis seat of the Y-axis drive module 63. The output end of the Y-axis drive module 63 is fixedly connected to the connecting seat 64. A pair of clamping push rods 65 are fixedly connected to the upper part of the connecting seat 64. The protruding ends of the clamping push rods 65 are arranged facing the upper protruding docking block 52 of the small material box 50. The clamping push rods 65 are used to clamp the small material box 50 and perform transfer operations. At the same time, the clamping push rods 65 are used to push the chip carrier 51 inside the small material box 50, which is in the unlocked state.

[0013] In specific implementation, the material box limiting structure opening module 90 includes a material box positioning mechanism 91 and a limiting structure opening module 92. After the small material box 50 is placed in the corresponding position of the material box limiting mechanism opening module 90, the material box positioning mechanism 91 fixes the bottom position of the small material box 50, and the limiting structure opening module 92 opens the limiting structure of the small material box set on the material picking path.

[0014] In a specific embodiment, the material box positioning mechanism 91 includes two sets of mutually perpendicular limiting cylinders 1 and two mutually perpendicular positioning edges 2. The piston ends of the two sets of mutually perpendicular limiting cylinders 1 press one pair of right-angled edges of the small material box 50 onto the two mutually perpendicular positioning edges 2 to ensure that the position of the small material box 50 is stable and reliable.

[0015] In practice, the limiting structure opening module 92 is arranged according to the setting of the limiting structure of the small material box 50. It is a vertical pressing mechanism, a horizontal rotating mechanism, or a composite mechanism composed of vertical pressing and horizontal rotating.

[0016] In practice, the receiving and feeding module 70 is used to receive the sheet-shaped chip carrier 51 during its ejection and guide it into the conveying path. The feeding module 70 is in the form of a conveyor belt and is equipped with a width adjustment mechanism to accommodate chip carriers of different sizes; The feeding module 70 is equipped with a guide and limit structure to constrain the movement trajectory of the sheet-like chip carrier and prevent it from shifting or flipping during the receiving process. During operation, the feeding module 70 and the multi-functional picking and placing arm 60 have a coordinated action relationship. When the chip carrier 51 is detached from the small material box 50, the feeding module 70 completes the receiving action, thereby ensuring the continuity and stability of the entire picking process. The adjustable material box storage rack 80 includes multiple storage units 81. Each storage unit 81 has an adjustable positioning structure inside. By changing the positioning distance, it can adapt to material boxes of different sizes. The adjustable positioning structure can be adjusted by sliding and locked to achieve quick switching.

[0017] In practical implementation, it also includes an identification and positioning unit, which is used to identify information and correct the position of small material boxes and chip carriers. The identification and positioning unit includes a barcode scanning device or a vision inspection device, which is used to acquire material box information and detect the actual position of the sheet carrier, thereby guiding the picking and placing arm to perform precise operations.

[0018] When using the system of this invention, during system operation, the external conveying system first transports the large material box containing the small material box to the overhead crane docking module; then, the multi-functional pick-and-place arm removes the small material box and transfers it to the idle position of the adjustable material box storage rack; when material needs to be picked up, the target small material box is moved to the limit structure opening module to release the limit; then, the multi-functional pick-and-place arm pushes out the sheet-like chip carrier through the action structure, while the receiving and feeding module receives it; finally, the carrier is transported to the subsequent process through the receiving and feeding module; through the cooperation of multiple mechanisms, it realizes the automated operation of material box handling, limit structure processing, and sheet-like carrier picking.

[0019] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0020] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An automatic material handling system, characterized in that, It includes: A vertical mounting frame includes an operating table, wherein a stacked shelf structure is provided in the central area of ​​the operating table; The overhead crane docking module is used to receive large material boxes transported by the conveying system, and the large material boxes are equipped with multiple small material boxes. A multi-functional pick-and-place arm, used to perform pick-and-place operations on small material boxes and to pick up chip carriers from within small material boxes; The receiving and feeding module is used to receive and transport the chip carrier pushed out by the multi-functional pick-and-place arm; Adjustable tin box storage rack, used for positioning and storing small tin boxes of different sizes; And a material box limiting structure opening module, which is used to open the limiting structure of the small material box set on the material picking path to facilitate subsequent material picking operations. The top layer of the shelving structure is a crane docking module. The remaining layers of the shelving structure, excluding the top layer, are arranged with multiple sets of adjustable material box storage racks. One end of the workbench is equipped with a multi-functional material handling arm corresponding to the inlet / outlet end of a large material box. The other end of the workbench is equipped with a receiving and feeding module corresponding to the inlet / outlet end of a small material box. One layer of the shelving structure is equipped with a material box limiting structure opening module. In the chip carrier transfer state, the inlet / outlet ends of the small material boxes arranged on the material box limiting structure opening module are respectively equipped with the push output end of the multi-functional material handling arm and the receiving end of the receiving and feeding module.

2. The automatic material handling system according to claim 1, characterized in that: The multi-functional pick-and-place arm includes an X-axis drive base, a Z-axis lifting module, a Y-axis drive module, a connecting seat, and a pair of clamping push rods. The output end of the X-axis drive base is fixed to the seat of the Z-axis lifting module, the output end of the Z-axis lifting module is fixed to the Y-axis seat of the Y-axis drive module, and the output end of the Y-axis drive module is fixed to the connecting seat. A pair of clamping push rods are fixed to the upper part of the connecting seat. The protruding ends of the clamping push rods are arranged facing the upper protruding docking block of the small material box. The clamping push rods are used to clamp the small material box and perform transfer operations. At the same time, the clamping push rods are used to push the chip carrier inside the small material box in the unlocked state.

3. The automatic material handling system according to claim 1, characterized in that: The material box limiting structure opening module includes a material box positioning mechanism and a limiting structure opening module. After the small material box is placed in the corresponding position of the material box limiting mechanism opening module, the material box positioning mechanism fixes the bottom position of the small material box, and the limiting structure opening module opens the limiting structure of the small material box set on the material picking path.

4. The automatic material handling system according to claim 3, characterized in that: The material box positioning mechanism includes two sets of mutually perpendicular limiting cylinders and two mutually perpendicular positioning edges. The piston ends of the two sets of mutually perpendicular limiting cylinders press one pair of right-angled edges of the small material box onto the two mutually perpendicular positioning edges.

5. An automatic material handling system according to claim 3, characterized in that: The limiting structure opening module is arranged according to the setting of the limiting structure of the small material box. It is a vertical pressing mechanism, a horizontal rotating mechanism, or a composite mechanism composed of vertical pressing and horizontal rotating.

6. The automatic material handling system according to claim 1, characterized in that: The receiving and feeding module is used to receive the sheet-shaped chip carrier during its ejection and guide it into the conveying path.

7. An automatic material handling system according to claim 6, characterized in that: The feeding module is in the form of a conveyor belt and is equipped with a width adjustment mechanism to accommodate chip carriers of different sizes; The feeding module is equipped with a guide and limiting structure to constrain the movement trajectory of the sheet-like chip carrier and prevent it from shifting or flipping during the receiving process.

8. An automatic material handling system according to claim 6, characterized in that: During operation, the feeding module and the multi-functional picking and placing arm have a coordinated action relationship. The feeding module completes the receiving action at the same time as the chip carrier is detached from the small material box.

9. An automatic material handling system according to claim 1, characterized in that: The adjustable hopper storage rack includes multiple storage units, each with an adjustable positioning structure. By changing the positioning spacing, it can adapt to hoppers of different sizes. The adjustable positioning structure can be adjusted by sliding and locked in place, enabling quick switching.

10. An automatic material handling system according to claim 1, characterized in that: It also includes an identification and positioning unit, which is used to identify information and correct the position of small material boxes and chip carriers. The identification and positioning unit includes a barcode scanning device or a vision inspection device to acquire material box information and detect the actual position of the sheet carrier, thereby guiding the picking and placing arm to perform precise operations.

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