Board card transfer apparatus and control method thereof

Abstract

This invention provides a circuit board transfer device and its control method, relating to the field of semiconductor testing technology. The device includes a support assembly, a drive mechanism, and a carrier frame. The carrier frame is rotatably coupled to the support assembly and has a receiving station at a first extreme position and an unloading station at a second extreme position. The carrier frame includes a guide groove, one end of which is closed, and the other end has an opening for the edge of the circuit board to enter. The carrier frame has a first limiting member to prevent the circuit board from detaching from the opening, and the anti-detachment part of the first limiting member is configured to be able to enter and exit the guide groove. The drive mechanism is mounted on the support assembly, connected to the carrier frame, and used to drive the carrier frame to switch between the receiving station and the unloading station. The circuit board transfer device provided by this invention significantly reduces the working difficulty for operators and the risks of pinching injuries and circuit board falls, shortens board changeover time, and improves the overall testing efficiency of aging test production lines. It is suitable for high-throughput, high-volume aging test scenarios.

Description

Technical Field

[0001] This invention relates to the field of semiconductor testing technology, and in particular to a board transfer device and its control method. Background Technology

[0002] With the rapid development of semiconductor technology and the continuous evolution of chip manufacturing processes, chip aging testing has become a crucial step in ensuring the quality of integrated circuits. During the testing process, the chip under test is mounted on a BIB (Burn-in Board), and then the entire BIB is inserted into the aging testing equipment for aging testing.

[0003] Before and after testing, BIB boards need to be transferred using transport equipment. Currently, this mainly relies on manual lifting by operators or the use of trolleys. To prevent condensation from accumulating on the surface of the BIB boards and the pins of electronic components during testing, which could lead to short circuits, leakage, or oxidation corrosion, the BIB boards need to be installed upside down, with the test product facing downwards. Gravity helps to suppress condensation buildup in critical electrical contact areas. Since current trolleys only use horizontal pushing to load and unload BIB boards, manual operation is required to flip the BIB boards so that the test product faces downwards before loading, and then manually flip them back up again after unloading. However, due to the large weight of the BIB boards, this increases the difficulty of manual operation, reduces operational safety, and also results in low BIB board replacement efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a circuit board transfer device that significantly reduces the workload for operators and the risks of pinching injuries and circuit board drops, shortens board changeover time, and improves the overall testing efficiency of the aging test production line. It is suitable for high-throughput, high-volume aging test scenarios. Additionally, a control method for the circuit board transfer device using the above-mentioned transfer device is provided.

[0005] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a board transfer device, including a support assembly, a drive mechanism, and a carrier frame; The support frame is rotatably coupled with the bracket assembly and has a receiving station at a first extreme position and an unloading station at a second extreme position. The support frame includes a guide groove, one end of which is closed and the other end has an opening for the edge of the board to enter. The support frame has a first limiting member for preventing the board from coming out of the opening. The anti-detachment part of the first limiting member is configured to enter and exit the guide groove. The drive mechanism is installed on the support assembly, and the drive mechanism is connected to the support frame and is used to drive the support frame to switch between the receiving station and the unloading station.

[0006] In an optional embodiment, the support frame has a foreign object sensor for detecting whether the plate has slid out of the guide groove, the foreign object sensor being located on the side of the first limiting member away from the opening.

[0007] In an optional embodiment, the support assembly has a second limiting member for limiting the rotation angle of the support frame relative to the support assembly; The second limiting member is provided with a buffer component, which protrudes vertically from the top and / or bottom surface of the second limiting member.

[0008] In an optional embodiment, the bracket assembly and / or the support frame are provided with a pressure cap sensor, which is used to detect whether the pressure cap on the board is closed; And / or, the support assembly or the carrier frame is further provided with a first positioning sensor for detecting whether the carrier frame has switched into position.

[0009] In an optional embodiment, the support assembly includes a first support and a second support horizontally spaced apart from the first support, the drive mechanism is connected to the first support and / or the second support, and the support frame is rotatably connected between the first support and the second support.

[0010] In an optional embodiment, the board transfer device further includes a frame and a lifting mechanism. The support assembly slides with the frame in a vertical direction, and the lifting mechanism is disposed on the frame to drive the support assembly to slide relative to the frame.

[0011] In an optional embodiment, the board transfer device further includes a safety button, an operating component, and a controller. The operating component includes at least one operating button, each operating button corresponding to an operating action. The safety button, the operating button, the drive mechanism, and the lifting mechanism are all connected to the controller. The controller is configured to control the drive mechanism or the lifting mechanism to perform corresponding operating actions when the safety button and the operation button are pressed simultaneously.

[0012] In an optional embodiment, the frame has a flip position within the lifting stroke, and the frame also has a second positioning sensor connected to the controller, the second positioning sensor being used to detect positioning information when the support assembly is in the flip position.

[0013] In an optional embodiment, the frame further includes a protective sensor assembly connected to the controller, wherein the detection direction of the protective sensor assembly is parallel to the vertical direction, and the orthogonal projection of the detection end of the protective sensor assembly on the horizontal plane is located outside the maximum horizontal projection area occupied by the support frame during rotation.

[0014] In a second aspect, the present invention provides a control method for a board transfer device, employing the board transfer device as described in the foregoing embodiments, comprising: Loading step: Load the board into the guide groove of the support frame located at the receiving station; Rotation step: The support frame rotates from the receiving station to the unloading station; Lifting procedure: The support frame is lifted and moved to a preset height; Unloading procedure: At a preset height, the board in the guide groove is transferred into the testing equipment.

[0015] In an optional implementation, the board transfer device control method further includes a reset step; The reset step includes height reset and posture reset. The height reset is the restoration of the support frame from a preset height to the height at which the loading step was performed. The posture reset is the restoration of the support frame from the unloading station to the receiving station at which the loading step was performed.

[0016] In an optional implementation, the rotation step and / or the reset step may further include triggering a safety button at the same time as triggering the operation button.

[0017] In an optional embodiment, the control method for the board transfer device further includes a detection step prior to the rotation step; The detection steps include detecting the opening and closing state of the cover on the board, and restricting the rotation of the support frame when the cover is in the open state; and / or detecting the position of the board in the guide groove, and restricting the rotation of the support frame when the board is located outside the preset receiving area in the guide groove; and / or detecting whether there are foreign objects in the preset flipping area on the frame, and restricting the rotation of the support frame when there are foreign objects.

[0018] The circuit board transfer device and its control method provided by this invention can produce the following beneficial effects: The circuit board transfer device provided by the first aspect of the present invention can realize the flipping of circuit boards. The entire flipping process does not require manual intervention to adjust the posture of the circuit boards. It only requires a single push-in and a single take-out, which replaces the traditional operation mode that relies on manual flipping of heavy-duty circuit boards. It significantly reduces the working difficulty of operators and the safety risks such as pinching and circuit board falling, shortens the board changing time, and improves the overall testing efficiency of the aging test production line. It is suitable for high-throughput and large-volume aging test scenarios.

[0019] The control method for the board transfer equipment provided by the second aspect of the present invention can realize the flipping and loading of boards without the need for manual flipping and lifting operations, thereby reducing the difficulty of the work for operators and the safety risks such as pinching injuries and board falling. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the board transfer device provided in an embodiment of the present invention; Figure 2 A side view of the first frame, drive mechanism, and first support in the material receiving station as provided in an embodiment of the present invention; Figure 3 This is a side view of the first frame in the unloading position according to an embodiment of the present invention; Figure 4 This is a three-dimensional structural diagram of the second limiting member and the buffer assembly provided in an embodiment of the present invention. Figure 5 A three-dimensional structural diagram of the support frame, the second bracket, and the first positioning sensor when they are in conjunction, as provided in an embodiment of the present invention. Figure 6 A three-dimensional structural diagram of the board transfer device provided in an embodiment of the present invention from a first-view perspective; Figure 7 A three-dimensional structural schematic diagram of the lifting mechanism provided in an embodiment of the present invention; Figure 8 for Figure 6 Enlarged view of point A; Figure 9 for Figure 6 Enlarged view of point B; Figure 10 A top view of the support frame provided in an embodiment of the present invention; Figure 11 This is a three-dimensional structural diagram of the board transfer device provided in an embodiment of the present invention from a second perspective.

[0022] Icons: 1-Support assembly; 11-First support; 12-Second support; 13-Guide block; 2-Drive mechanism; 3-Bearing frame; 31-Guide groove; 311-Opening; 312-Accommodation area; 313-Sliding area; 32-First limiting member; 33-Foreign object sensor; 34-Second limiting member; 35-Buffer assembly; 351-First buffer; 352-Second buffer; 36-Mounting base; 37-First frame; 38-Second frame; 39-Connecting plate; 4-Pressure... 5-First position sensor; 6-Frame; 61-Safety button; 62-Operating component; 621-Operating button; 622-Emergency stop button; 63-Second position sensor; 64-Upper limit position sensor; 65-Lower limit position sensor; 66-Protective sensor assembly; 67-Frame; 68-Support frame; 7-Lifting mechanism; 71-Motor; 72-Commutator; 73-Commutator reducer; 74-Lead screw; 75-Lead screw and nut pair; 76-Guide rail. Detailed Implementation

[0023] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0027] A first aspect of the present invention provides a circuit board transfer device, such as... Figures 1 to 3 As shown, it includes a support assembly 1, a drive mechanism 2, and a support frame 3; The support frame 3 is rotatably coupled with the support assembly 1 and has a receiving station at the first extreme position and a unloading station at the second extreme position. The support frame 3 includes a guide groove 31, one end of which is closed and the other end has an opening 311 for the edge of the plate to enter. The support frame 3 has a first limiting member 32 for preventing the plate from falling out of the opening 311. The anti-detachment part of the first limiting member 32 is configured to be able to enter and exit the guide groove 31. The drive mechanism 2 is installed on the bracket assembly 1. The drive mechanism 2 is connected to the support frame 3 and is used to drive the support frame 3 to switch between the receiving station and the unloading station.

[0028] In use, first, the anti-detachment part of the first limiting member 32 is disengaged from the guide groove 31. Then, the board to be tested is horizontally pushed into the carrier frame 3 along the opening 311 of the guide groove 31 with the test product facing upward. The edge of the board slides into the guide groove 31 and abuts against the closed end. Then, the anti-detachment part of the first limiting member 32 is extended into the guide groove 31 to prevent the board from accidentally slipping off during the flipping process. Then, the drive mechanism 2 is activated, which drives the carrier frame 3 to rotate around its rotation axis with the support assembly 1, so that the carrier frame 3 is gradually flipped from the receiving station to the unloading station. During this process, the board is flipped synchronously with the carrier frame 3, so that the board is in the test product facing downward, which is convenient for the board to be installed into the aging test equipment for aging test. After the aging test is completed, the board is taken out and installed into the carrier frame 3. The drive mechanism 2 moves in the opposite direction, driving the carrier frame 3 to return to the receiving station. At this time, the board returns to the test product facing upward, which is convenient for safe removal.

[0029] The circuit board transfer device provided by the first aspect of the present invention can realize the flipping of circuit boards, replacing the traditional operation mode of manually flipping heavy circuit boards, significantly reducing the difficulty of operation and the risks of pinching injury and circuit board falling, shortening the board change time, improving the overall testing efficiency of the aging test production line, and is suitable for high-throughput and large-volume aging test scenarios.

[0030] It should be noted that any structure capable of entering and exiting the guide groove 31 can be the first limiting member 32 mentioned in the above embodiments. For example, the first limiting member 32 includes an elastic pin, which is driven by the preload of a spring to extend into the guide groove 31 to form a physical stop. Before taking out or placing the board, the pin can be manually pulled out to overcome the elastic force and allow the pin to exit the guide groove 31. At this time, the pin is the anti-disengagement part of the first limiting member 32. Alternatively, the first limiting member 32 includes a screw that is threaded into the support frame 3. The pin can enter and exit the guide groove 31 by rotating the first limiting member 32. At this time, the screw body is the anti-disengagement part of the first limiting member 32. Alternatively, the first limiting member 32 includes a driver mounted on the support frame 3 and an eccentric cam rotatably connected to the support frame 3. Before taking out or placing the board, the driver can drive the eccentric cam to rotate and exit the guide groove 31. After the board is installed, the driver can drive the eccentric cam to rotate and extend into the guide groove 31 to prevent the board from slipping out. At this time, the eccentric cam is the anti-disengagement part of the first limiting member 32.

[0031] It is understandable that the end of the guide channel 31 can be blocked by a blocking block, or a structure similar to the first limiting member 32 can be used to block it, or the guide channel can be a bottomed channel structure.

[0032] In alternative implementations, such as Figure 2 As shown, the guide groove 31 is divided into a receiving area 312 and a sliding area 313 along its own direction; the receiving area 312 is located near the closed end of the guide groove 31, and the sliding area 313 is located near the opening 311 of the guide groove 31. The length of the receiving area 312 is equal to or slightly greater than the length of the plate, and the length of the sliding area 313 is less than the length of the receiving area 312. The anti-detachment part of the first limiting member 32 is configured to be able to enter and exit the sliding area 313.

[0033] When the board under test is horizontally pushed into the support frame 3 along the opening 311 of the guide groove 31 and abuts against the closed end, the board under test can be completely accommodated in the receiving area 312. If the direction of the closed end of the guide groove 31 pointing towards the opening 311 does not have a downward tendency during use, the board under test will always abut against the closed end, proving that the flipping direction is correct and the flipping angle is within the preset range; if the direction of the closed end of the guide groove 31 pointing towards the opening 311 has a downward tendency, the board under test will slide from the receiving area 312 to the slippage area 313, proving that the flipping direction is incorrect or the flipping angle exceeds the preset range.

[0034] In alternative implementations, such as Figure 2As shown, the support frame 3 also integrates a foreign object sensor 33, which is installed on the body of the support frame 3 and positioned directly opposite the guide groove 31. Specifically, it is located within the sliding area 313 and on the side of the first limiting member 32 away from the opening 311. It is configured as a non-contact position detection device. The detection direction of the foreign object sensor 33 is perpendicular or obliquely towards the internal space of the guide groove 31, so that its effective sensing area covers the edge area of ​​the board after it slides out of the preset position. When the board is horizontally pushed into the opening 311 and abuts against the closed end of the guide groove 31, its edge is not within the detection range of the foreign object sensor 33. When the board slides out of the opening 311, its edge is within the detection range of the foreign object sensor 33, and the foreign object sensor 33 detects that the board is not in position at this time.

[0035] The above implementation method automates and eliminates the false judgment of the board loading status by adding a foreign object sensor 33, fundamentally avoiding safety hazards such as slippage, impact on the support frame 3, and instability during the flipping process caused by the board not being pushed all the way in.

[0036] The foreign object sensor 33 can be an infrared sensor, an acoustic sensor, a diffuse reflection sensor, etc.

[0037] Specifically, the foreign object sensor 33 is located at the corresponding position of the slip zone 313 to detect whether there is a circuit board in the slip zone 313, so as to quickly identify whether the circuit board has a tendency to fall off into the opening 311.

[0038] In alternative implementations, such as Figure 2 As shown, the support assembly 1 has a second limiting member 34, which is used to limit the rotation angle of the support frame 3 relative to the support assembly 1.

[0039] The second limiting member 34 can be a pair of rigid stop blocks. When the support frame 3 rotates about its rotation axis with the support assembly 1, the support frame 3 makes physical contact with the top of the second limiting member 34 when it reaches the first limit position, thereby rigidly constraining its continued rotation and ensuring that the support frame 3 is stably and repeatedly stopped at the receiving station; when the support frame 3 reaches the second limit position, it will make physical contact with the bottom of the second limiting member 34, ensuring that the support frame 3 is stably and repeatedly stopped at the unloading station.

[0040] The above-described implementation method ensures the rotation accuracy of the support frame 3 by using mechanical limiting, which can effectively prevent the support frame 3 from overturning.

[0041] Based on the above implementation methods, such as Figure 4 As shown, the second limiting member 34 is provided with a buffer component 35, which protrudes vertically from the top and / or bottom surfaces of the second limiting member 34.

[0042] The buffer assembly 35 ensures the positioning accuracy of the flip end point and significantly suppresses the mechanical vibration caused by rigid impact, ensuring the stable flipping of the board and preventing damage to the board during rotation.

[0043] Preferably, such as Figure 4 As shown, the buffer assembly 35 protrudes vertically from the top and bottom surfaces of the second limiting member 34. The buffer assembly 35 includes a first buffer 351 and a second buffer 352. The first buffer 351 protrudes vertically from the top surface of the second limiting member 34, and the second buffer 352 protrudes vertically from the bottom surface of the second limiting member 34, thereby mechanically limiting the support frame 3 whether it is flipped to the first extreme position or the second extreme position.

[0044] The first buffer 351 and the second buffer 352 may, but are not limited to, use gas springs.

[0045] The positions of the first buffer 351 and / or the second buffer 352 relative to the second limiting member 34 are adjustable along their own extension and retraction direction. For example, the first buffer 351 and the second limiting member 34 are threaded together. After rotating the first buffer 351 and adjusting it to a suitable position, the position of the first buffer 351 can be locked by a nut; or the first buffer 351 and the second limiting member 34 are snapped together. The second limiting member 34 is provided with multiple slots along the extension and retraction direction of the first buffer 351, and the first buffer 351 is provided with a locking block that can be snapped into any one of the slots. The connection method between the second buffer 352 and the second limiting member 34 can be similar to the connection method between the first buffer 351 and the second limiting member 34.

[0046] The above settings can adjust the length of the first buffer 351 and / or the second buffer 352 protruding from the second limiting member 34, thereby adjusting the degree of buffering on the support frame 3, ensuring that the support frame 3 can obtain appropriate buffering force and buffering stroke before flipping to the first limit position and the second limit position.

[0047] In alternative implementations, such as Figure 1 and Figure 2 As shown, the board transfer device is equipped with a cover sensor 4, which is used to detect the closing status of the cover of the chip on the board under test in real time.

[0048] The pressure sensor 4 can employ a non-contact sensing method, such as a photoelectric sensor, fiber optic sensor, or acoustic sensor. It can be mounted independently on the support assembly 1, or independently on the carrier frame 3, or as... Figure 1 The arrangement shown is between the support assembly 1 and the support frame 3.

[0049] Specifically, the pressure sensor 4 includes a transmitter and a receiver, one mounted on the support assembly 1 and the other on the carrier frame 3. The space between them corresponds to the position of the pressure sensor on the board under test when it is in the open state. In use, the carrier frame 3 is in the first extreme position. After the board under test is pushed into the guide slot 31, if the receiver can receive the signal emitted by the transmitter, it proves that there is no obstruction between the receiver and the transmitter, and the pressure sensor is in the closed state. Otherwise, it proves that the pressure sensor is in the open state, and the chip may fall out after being flipped.

[0050] The above implementation introduces a pressure sensor 4, which fundamentally eliminates the safety hazard of the chip falling off during the flipping process due to the pressure cover not being closed, reduces reliance on the operator's experience, and helps to ensure the smooth progress of the test.

[0051] In alternative implementations, such as Figure 5 As shown, the board transfer equipment also includes a first positioning sensor 5, which is located on the support assembly 1 or the carrier frame 3, and is used to detect in real time whether the carrier frame 3 has accurately moved to the preset receiving station or unloading station.

[0052] The aforementioned first positioning sensor 5 can be a photoelectric sensor, fiber optic sensor, acoustic sensor, pressure sensor, etc.

[0053] Specifically, such as Figure 5 As shown, the first positioning sensor 5 is a non-contact photoelectric sensor, including two pairs of transmitting and receiving ends mounted on the support assembly 1. The support frame 3 includes a rotating shaft rotatably connected to the support assembly 1, and a mounting base 36 is provided at the end of the rotating shaft, with a baffle on the mounting base 36. When the support frame 3 rotates to the receiving position, the baffle is located between the first pair of transmitting and receiving ends, and the receiving end cannot receive the light signal emitted by the transmitting end, indicating that the support frame 3 has rotated to the correct position. Similarly, when the support frame 3 rotates to the unloading position, the baffle is located between the second pair of transmitting and receiving ends, and the receiving end cannot receive the light signal emitted by the transmitting end, indicating that the support frame 3 has rotated to the correct position.

[0054] The above implementation method achieves reliable confirmation of the positioning accuracy of the support frame 3 between the receiving station and the unloading station by adding a first positioning sensor 5, and fundamentally eliminates the risk of "false positioning" caused by mechanical inertia, transmission clearance or drive step loss, thereby improving the robustness of the flipping operation process and the safety of human-machine collaboration.

[0055] In alternative implementations, such as Figure 1As shown, the support assembly 1 includes a first support 11 and a second support 12 arranged at intervals along the horizontal direction; the first support 11 and the second support 12 have symmetrical bearing mounting positions in the height direction, and the rotating shafts on both sides of the support frame 3 are rotatably engaged with the bearing seats on the first support 11 and the second support 12, thereby achieving stable, low-friction rotation around the horizontal axis; the drive mechanism 2 includes a rotary drive unit, the housing of the drive mechanism 2 is fixedly installed on the outer wall of the first support 11, and its power output end is connected to one of the rotating shafts in the support frame 3 through a coupling or a synchronous belt drive mechanism.

[0056] Of course, the drive mechanism 2 may also include two rotary drive units, which are respectively installed on the first bracket 11 and the second bracket 12, and respectively connected to the rotating shafts on both sides of the support frame 3.

[0057] The aforementioned rotary drive unit can be replaced by a combination of a linear drive unit and a transmission assembly. The linear drive unit can be a pneumatic cylinder, a hydraulic cylinder, etc., and the transmission assembly can include multiple sequentially hinged connecting rods to convert the linear motion of the linear drive unit into the rotational motion of the shaft.

[0058] In alternative implementations, such as Figure 1 As shown, the support frame 3 includes a first frame 37 and a second frame 38 located inside the first support 11 and the second support 12; the first frame 37 is rotatably engaged with the first support 11, and the second frame 38 is rotatably engaged with the second support 12; the first frame 37 and the second frame 38 are connected by a connecting plate 39, and each is provided with a guide groove 31, a first limiting member 32, a second limiting member 34 and a pressure sensor 4.

[0059] In the above embodiments, the first frame 37 and the second frame 38 in the support frame 3 are connected by the bottom connecting plate 39, which can ensure the torsional stiffness and installation stability of the overall structure.

[0060] In addition, to reduce the friction between the guide groove 31 and the card plate, roller assemblies are provided on both the first frame 37 and the second frame 38. The roller assembly includes multiple pairs of rollers spaced apart along the extension direction of the guide groove 31. Each pair of rollers extends into the guide groove 31 from the top and bottom surfaces of the guide groove 31. During the process of pushing the card into the guide groove 31, the friction between the card and the guide groove 31 can be reduced, making it easier to put the card in and take it out.

[0061] In alternative implementations, such as Figure 6 As shown, the board transfer equipment also includes a frame 6 and a lifting mechanism 7. The support assembly 1 slides in the vertical direction with the frame 6. The lifting mechanism 7 is located between the frame 6 and the support assembly 1 and is used to drive the support assembly 1 to slide relative to the frame 6.

[0062] The circuit board transfer device provided in the second aspect of the present invention is equipped with a lifting mechanism, which can drive the support assembly 1 to move up and down, thereby facilitating the pushing of circuit boards at different heights to the support frame 3, saving the process of manually carrying the circuit boards upward. At the same time, the device can also realize the flipping of the circuit boards, effectively reducing the difficulty of manual operation, improving the safety of operation, and improving the efficiency of circuit board replacement.

[0063] In an optional embodiment, the board transfer device further includes a frame 67 and a U-shaped support frame 68 connected to the front side of the frame 67. A lifting mechanism 7 is installed on the frame 67. Rollers are provided at the bottom of the frame 67 and the support frame 68 to facilitate the transfer of the frame 6. The rollers preferably have a self-locking function.

[0064] It should be noted that any mechanism that can drive the support assembly 1 to slide relative to the frame 6 can be the lifting mechanism 7 in the above embodiments. For example, the lifting mechanism 7 includes a pneumatic cylinder, a hydraulic cylinder or a linear motor, etc., which are mechanisms that make linear motion, or it includes a combination of a rotary motor and a transmission component. The transmission component can convert the rotational motion of the rotary motor into linear motion. The transmission component can be a lead screw and nut or a gear and rack.

[0065] like Figure 7 As shown, the lifting mechanism 7 includes a motor 71, a commutator 72, two commutator reducers 73, two lead screws 74, and two lead screw nut pairs 75. The motor 71, commutator 72, and two commutator reducers 73 are all mounted on the frame 67, and the two lead screws 74 are rotatably engaged with the frame 67. The motor 71 is connected to the commutator 72, and the commutator 72 is connected to the commutator reducers 73 on both sides through a drive shaft. Each commutator reducer 73 is correspondingly connected to one lead screw 74.

[0066] Understandably, the aforementioned reversal is achieved through the engagement of two bevel gears.

[0067] The lifting mechanism 7 also includes a guide rail 76 extending in the vertical direction, and the bracket assembly 1 is provided with a guide block 13 that slides with the guide rail 76. The screw nut pair 75 is installed on the first bracket 11 and the second bracket 12.

[0068] In use, the motor 71 drives the reversing reducers 73 on both sides in a bidirectional synchronous manner through the commutator 72 and the drive shaft. The reversing reducers 73 further transmit the power to the lead screw 74. Under the guidance of the guide rail 76, the lead screw 74 drives the lead screw nut pair 75 to rise and fall.

[0069] Among them, the lead screw 74 can have a self-locking function.

[0070] In alternative implementations, such as Figure 8 and Figure 9As shown, the support frame 68 of the rack 6 is equipped with a physical safety button 61, a modular operating component 62 and a controller; Specifically, such as Figure 8 As shown, the safety button 61 is installed on the top surface of the support frame 68 in a position easily accessible to the operator, and its contact signal is connected to the controller via a circuit; the operating component 62 includes at least two independently arranged operating buttons 621, for example, the first operating button corresponds to the "flip start / reset" action, and the second operating button corresponds to the "rise / fall" action. Each operating button 621 adopts a self-locking or non-self-locking micro switch with LED status indication, which is electrically connected to the controller.

[0071] In use, the controller outputs a valid enable pulse to the drive mechanism 2 or the lifting mechanism 7 only when the safety button 61 is continuously pressed and any operation button 621 is triggered at the same time, and forcibly cuts off the power supply to the actuator after any input signal is interrupted.

[0072] The above implementation avoids the risk of accidental flipping / lifting caused by accidental single-handed touch, elbow collision, or clothing snagging through a dual-redundancy safety control mechanism, thus eliminating safety accidents such as board falling, pinching workers, or impacting the test machine structure caused by the unexpected movement of the support frame 3.

[0073] In alternative implementations, such as Figure 10 As shown, the frame 6 also has a protective sensor assembly 66 connected to the controller. The detection direction of the protective sensor assembly 66 is parallel to the vertical direction, and the orthogonal projection of the detection end of the protective sensor assembly 66 on the horizontal plane is located outside the maximum horizontal projection area occupied by the support frame 3 during rotation.

[0074] When in use, if the protective sensor assembly 66 detects a foreign object during the flipping action, the controller immediately interrupts the power supply output of the drive mechanism 2 and triggers an emergency stop signal, keeping the support frame 3 locked in its current position.

[0075] The aforementioned protective sensor assembly 66 enables the detection of the surrounding environment of the support frame 3 during its rotation. When foreign objects obstruct the rotation of the support frame 3, or when the support frame 3 tilts and deviates from its original trajectory, it can promptly monitor and control the support frame 3 to stop rotating, ensuring the stability of the rotation process. More importantly, the aforementioned protective sensor assembly 66 can protect operators, preventing accidental injury from the support frame 3 when an operator's limbs enter the movement trajectory.

[0076] Specifically, the protective sensor assembly 66 includes multiple diffuse reflection gratings that integrate single-sided receiving and transmitting functions, specifically including two, three, four, or five diffuse reflection gratings. For example... Figure 10As shown, the protective sensor assembly 66 includes three diffuse reflection gratings, all of which are mounted on the support frame 68. Two of the diffuse reflection gratings are arranged opposite each other, and the direction in which they face each other is parallel to the rotation axis of the support frame 3. The other safety grating is located on one side of the flip axis. The projection of the three diffuse reflection gratings on the horizontal plane is U-shaped.

[0077] The output signals of each diffuse reflection grating are connected to the controller, which is configured to monitor the interruption status of the detection signal of any diffuse reflection grating in real time; once any diffuse reflection grating is blocked, the controller immediately cuts off the power supply circuit of the drive mechanism 2 and triggers emergency stop braking.

[0078] In alternative implementations, such as Figure 11 As shown, the frame 67 of the rack 6 also has a second positioning sensor 63 connected to the controller. The second positioning sensor 63 is located at the height of the board transfer device when it performs the flipping action. The second positioning sensor 63 is used to detect the positioning information of the bracket assembly 1.

[0079] In use, the support frame 3 can only perform the flipping action after the second positioning sensor 63 detects the positioning information of the support assembly 1. The above implementation method can ensure that the support frame 3 is in the preset position before each flip, ensuring the height accuracy during each flip and avoiding collision between the support assembly 1 and the frame 6 due to the support assembly 1 being too high or too low.

[0080] The second positioning sensor 63 may, but is not limited to, be a proximity sensor.

[0081] In alternative implementations, such as Figure 11 As shown, an upper limit position sensor 64 and a lower limit position sensor 65 are fixedly installed on the frame 67 along the vertical direction, both of which are electrically connected to the controller. The upper limit position sensor 64 is located at the height corresponding to the highest permissible position of the support assembly 1 during the lifting and lowering motion, and is used to detect whether the support assembly 1 has reached the upper limit position. The lower limit position sensor 65 is located at the height corresponding to the lowest permissible position of the support assembly 1 during the lifting and lowering motion, and is used to detect whether the support assembly 1 has reached the lower limit position. The height of the second position sensor 63 is located between the upper limit position sensor 64 and the lower limit position sensor 65.

[0082] When in use, when the support assembly 1 rises to touch or enter the effective sensing area of ​​the upper limit position sensor 64, the sensor outputs an interrupt signal to the controller, the controller cuts off the upward drive signal of the lifting mechanism 7 and maintains the braking state; similarly, when the support assembly 1 descends to trigger the lower limit position sensor 65, the controller cuts off the downward drive signal of the lifting mechanism 7.

[0083] The above-described implementation avoids the risk of overtravel collision or fall of the support assembly 1 caused by the loss of control of the lifting mechanism 7 by arranging the upper limit position sensor 64 and the lower limit position sensor 65 on the frame 6 and forming a multi-level sensing control system with the controller, thus ensuring the mechanical reliability of the equipment and the safety of personnel during long-term operation.

[0084] The control method for a board transfer device provided in the second aspect of the present invention uses the board transfer device provided in the first aspect of the present invention, and includes: Loading step: Load the board into the guide groove 31 of the support frame 3 located at the receiving station; Rotation steps: The support frame 3 rotates from the receiving station to the unloading station; Lifting procedure: The support frame 3 is lifted and moved to the preset height; Unloading procedure: At the preset height, the board in the guide groove 31 is transferred into the test equipment.

[0085] Specifically, in the feeding step, the opening 311 of the guide groove 31 faces the operating side, making it easy for manual pushing. At the same time, the anti-detachment part of the first limiting member 32 retracts outside the guide groove 31, making the guide groove 31 in a through state. Subsequently, the operator pushes the test board with the test surface facing up horizontally along the guide groove 31. After the edge of the board slides into the guide groove 31, it naturally abuts against the closed end of the guide groove 31. After it is in place, the anti-detachment part of the first limiting member 32 extends into the guide groove 31 to restrain the board from the side, preventing the board from sliding out along the guide groove 31 during the subsequent flipping process.

[0086] During the rotation step, the drive mechanism 2 drives the support frame 3 to rotate smoothly around its rotation axis with respect to the bracket assembly 1. The rotation angle range is from the first limit position corresponding to the receiving station to the second limit position corresponding to the unloading station, so that the board can be precisely flipped from a test-face-up position to a test-face-down position. During the flipping process, the first limiting member 32 remains locked, and the guide groove 31 provides full guidance and support for the edge of the board, preventing it from being suspended, bumped, or deflected.

[0087] During the lifting process, after the support frame 3 completes its flipping and comes to a stable stop at the unloading station, the lifting mechanism 7 drives the entire support frame 3 to rise or fall vertically, so that the plates in the guide groove 31 are precisely aligned with the test chamber in the aging test equipment.

[0088] During the unloading process, after the support frame 3 is raised to the target height, the operator smoothly pushes the board out of the opening 311 along the guide groove 31 and sends it into the aging test equipment. At this time, since the board is in the test-side-down position, it can be directly matched with the crimping device in the aging test equipment.

[0089] The above-mentioned control method for the board transfer equipment can realize the flipping and loading of boards without the need for manual flipping and lifting operations, which reduces the difficulty of the work for operators and the safety risks such as pinching and board falling.

[0090] It should be noted that the timing of the above-mentioned rotation and lifting steps is not fixed. The rotation step can be performed first and then the lifting step, or the lifting step can be performed first and then the rotation step, or they can be performed simultaneously.

[0091] In an optional implementation, the control method for the board transfer equipment further includes a reset step; the reset step includes height reset and posture reset, wherein the height reset is the carrier frame 3 restoring from a preset height to the height at the time of the loading step under the action of the lifting mechanism 7; and the posture reset is the carrier frame 3 rotating from the unloading station to the receiving station at the time of the loading step under the action of the drive mechanism 2.

[0092] The aforementioned height reset and attitude reset can be performed sequentially or simultaneously. Together, they constitute a complete reset process, ensuring the repeatability and positioning accuracy of the equipment's actions. Under the premise of no human intervention, the cycle of unloading, reset, and waiting for loading is completed.

[0093] In an optional embodiment, the control method for the board transfer device further includes a detection step prior to the rotation step; the detection step includes detecting the opening and closing state of the cover on the board, and when the cover sensor 4 detects that the cover is in the open state, the controller restricts the rotation of the carrier frame 3; and / or; detecting the position of the board in the guide groove 31, and when the foreign object sensor 33 detects that the board is outside the preset receiving area 312 in the guide groove 31, the controller restricts the rotation of the carrier frame 3; and / or; the protective sensor assembly 66 detects whether there is a foreign object in the preset flipping area on the frame 6, and when there is a foreign object, the controller restricts the rotation of the carrier frame 3.

[0094] The above testing steps ensure that the board is in the preset position before the board transfer equipment flips, the chip position on the board is stable, and there are no foreign objects obstructing the flipping area, thus ensuring the smooth progress of the subsequent flipping process.

[0095] In an optional implementation, the rotation step and / or reset step may further include triggering the safety button 61 at the same time as triggering the operation button 621.

[0096] Specifically, if the lifting step is performed first and then the rotation step is performed, after the second positioning sensor 63 detects the positioning information of the bracket assembly 1, and neither the protective sensor assembly 66 nor the first limiting member 32 detects any foreign objects and both the safety button 61 and the operation button 621 send control signals: if the first positioning sensor 5 determines that the carrier frame 3 is in the receiving position or the unloading position, the controller controls the drive mechanism 2 to drive the carrier frame 3 to rotate, thereby realizing rotation for loading or rotation for resetting.

[0097] In the above embodiments, under the premise that the support assembly 1 is in place and there are no foreign objects in the running path, the corresponding actuator can only be started after the user simultaneously triggers the safety button 61 and the operation button 621 and the support frame 3 is in two extreme positions. This can ensure that there are no foreign objects obstructing the rising of the support assembly 1 and the flipping of the support frame 3, and that the flipping path is continuous, complete, and the running stability is stronger.

[0098] In an optional implementation, the control method for the board transfer equipment ensures the safety and reliability of the entire flipping process through multiple real-time safety interlock mechanisms. Specifically, when the support frame 3 flips, the controller controls the drive mechanism 2 to stop flipping the support frame 3 if any of the following conditions occur: The controller receives the grating blocking signal output by the protective sensor assembly 66 in real time and simultaneously collects the status feedback signal of the first limiting member 32; when either the protective sensor assembly 66 or the first limiting member 32 detects a foreign object, the controller immediately cuts off the power supply circuit of the drive mechanism 2 and controls the support frame 3 to stop flipping. When the drive mechanism 2 starts, the controller starts the timer synchronously and sets the first preset time to the theoretical maximum time required for the carrier frame 3 to complete a single flip. If the timer expires and the first positioning sensor 5 still does not return a valid positioning signal, the controller determines that there is a risk of mechanical jamming, sensor failure or drive step loss, and then stops the flipping process. The highest priority shutdown command is triggered only when the safety button 61 and the emergency stop button 622 are pressed simultaneously, and the support frame 3 stops rotating.

[0099] The multi-safety interlock control logic defined in the above-described embodiments improves the safety and operational reliability of the board transfer equipment during dynamic flipping operations: when the protective sensor component 66 detects the intrusion of personnel, tools, or other foreign objects in the movement path of the support frame 3, or when the first limiter 32 detects that the board has slipped in the guide groove 31, the controller promptly cuts off the power output of the drive mechanism 2, effectively avoiding safety accidents such as pinching, collision, and accidental board ejection; when the flipping motion lasts for more than a preset first threshold and the first positioning sensor 5 still does not report that the support frame 3 has reached the target workstation, it indicates that there may be abnormal working conditions such as mechanical jamming, transmission failure, or sensor misjudgment, and the controller actively stops the action and triggers a fault alarm to prevent the equipment from operating with defects and causing damage to the board; and the simultaneous triggering of the safety button 61 and the emergency stop button 622 constitutes the highest priority manual intervention mechanism to ensure that the operator can respond to an emergency in any emergency scenario.

[0100] In an optional implementation, during the flipping process of the drive mechanism 2, the controller locks all function input channels of the operation buttons 621 in real time. Pressing the operation button 621 will not generate a control signal, thereby preventing mid-process command interference or reverse start / stop operations caused by accidental human touch. This avoids sudden stops, rotations, or positioning deviations of the carrier frame 3 caused by unexpected commands, ensuring the continuity, certainty, and stability of the board's posture during the flipping process. After the carrier frame 3 has finished flipping and continues for a second preset time, the operation buttons 621 return to their active state.

[0101] The following describes a specific embodiment of the above-mentioned control method for the board transfer equipment: The carrier frame 3 can only rotate when the support assembly 1 is in the flipped position, i.e., when the second positioning sensor 63 is triggered. If neither the protective sensor assembly 66 nor the first limiting member 32 detects a foreign object, the safety button 61 and the operation button 621 are pressed simultaneously. The board transfer device will determine whether the carrier frame 3 is in the first or second limit position based on the first positioning sensor 5, and will rotate in the opposite direction. If either the protective sensor assembly 66 or the first limiting member 32 detects a foreign object during the rotation, the rotation will terminate, and the safety button 61 and the operation button 621 will become ineffective. The first limiting member 32 is mainly used to detect whether the board is in a suitable rotation position and to detect whether the board has slipped out during the rotation. If the first positioning sensor 5 does not detect the board in position after 5 seconds of rotation, the solenoid valve output is canceled, and the operation stops.

[0102] If, after 5 seconds of the flipping motion, the first positioning sensor 5 does not detect that the support frame 3 is in either the first or second limit position, pressing and holding the reset button in both the safety button 61 and the operation button 621 will cause the support frame 3 to flip to the first limit position. During the flipping motion, all operating components 62 except for the emergency stop button 622 are disabled, and the operation resumes after 2 seconds of inactivity.

[0103] The flipping motion logic sequence is as follows: The drive mechanism 2 includes a swing cylinder. During the flipping process, the solenoid valve receives an electrical signal to control the opening and closing of the two air circuits. After the swing cylinder receives the air pressure, its output shaft drives the support frame 3 to swing and flip.

[0104] The lifting mechanism 7 can only operate if the upper limit position sensor 64 and the lower limit position sensor 65 are not triggered. If neither the protective sensor assembly 66 nor the first limit member 32 detects any foreign objects, pressing the safety button 61 and the up, down, return, and material change buttons on the operation button 621 simultaneously will achieve the corresponding lifting requirements. After pressing the safety button 61, clicking the up and down buttons will activate the lifting function.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A circuit board transfer device, characterized in that, It includes a support assembly (1), a drive mechanism (2), and a support frame (3); The support frame (3) is rotatably coupled with the support assembly (1) and has a receiving station at a first extreme position and a unloading station at a second extreme position. The support frame (3) includes a guide groove (31), one end of which is closed and the other end has an opening (311) for the edge of the plate to enter. The support frame (3) has a first limiting member (32) for preventing the plate from coming out of the opening (311). The anti-detachment part of the first limiting member (32) is configured to be able to enter and exit the guide groove (31). The drive mechanism (2) is installed on the bracket assembly (1). The drive mechanism (2) is connected to the support frame (3) and is used to drive the support frame (3) to switch between the receiving station and the unloading station.

2. The board transfer device according to claim 1, characterized in that, The support frame (3) has a foreign object sensor (33) for detecting whether the plate has slid out of the guide groove (31), and the foreign object sensor (33) is located on the side of the first limiting member (32) away from the opening (311).

3. The board transfer device according to claim 1, characterized in that, The support assembly (1) has a second limiting member (34) for limiting the rotation angle of the support frame (3) relative to the support assembly (1); The second limiting member (34) is provided with a buffer component (35), which protrudes vertically from the top and / or bottom surface of the second limiting member (34).

4. The board transfer device according to claim 1, characterized in that, The bracket assembly (1) and / or the support frame (3) are provided with a pressure cap sensor (4), which is used to detect whether the pressure cap on the board is closed; And / or, the support assembly (1) or the carrier (3) is further provided with a first positioning sensor (5) for detecting whether the carrier (3) is switched into position.

5. The board transfer device according to any one of claims 1-4, characterized in that, The support assembly (1) includes a first support (11) and a second support (12) horizontally spaced from the first support (11). The drive mechanism (2) is connected to the first support (11) and / or the second support (12). The support frame (3) is rotatably connected between the first support (11) and the second support (12).

6. The board transfer device according to any one of claims 1-4, characterized in that, The board transfer device also includes a frame (6) and a lifting mechanism (7). The support assembly (1) slides in cooperation with the frame (6) in the vertical direction. The lifting mechanism (7) is set on the frame (6) and is used to drive the support assembly (1) to slide relative to the frame (6).

7. The board transfer device according to claim 6, characterized in that, The board transfer device also includes a safety button (61), an operation component (62) and a controller. The operation component (62) includes at least one operation button (621), each operation button (621) corresponds to an operation action. The safety button (61), the operation button (621), the drive mechanism (2) and the lifting mechanism (7) are all connected to the controller. The controller is configured to control the drive mechanism (2) or the lifting mechanism (7) to perform corresponding operation actions when the safety button (61) and the operation button (621) are pressed simultaneously.

8. The board transfer device according to claim 7, characterized in that, The frame (6) has a flip position within the lifting stroke, and the frame (6) also has a second position sensor (63) connected to the controller. The second position sensor (63) is used to detect the position information of the support assembly (1) when it is in the flip position.

9. The board transfer device according to claim 7, characterized in that, The frame (6) also has a protective sensor assembly (66) connected to the controller. The detection direction of the protective sensor assembly (66) is parallel to the vertical direction, and the orthogonal projection of the detection end of the protective sensor assembly (66) on the horizontal plane is located outside the maximum horizontal projection area occupied by the support frame (3) during rotation.

10. A control method for a circuit board transfer device, characterized in that, The circuit board transfer device according to any one of claims 1-9 comprises: Loading step: Load the board into the guide groove (31) of the support frame (3) located at the receiving station; Rotation step: The support frame (3) rotates from the receiving station to the unloading station; Lifting and lowering steps: The support frame (3) is lifted and moved to a preset height; Unloading steps: At a preset height, the board in the guide groove (31) is transferred into the test equipment.

11. The control method for the board transfer equipment according to claim 10, characterized in that, The control method for the board transfer device also includes a reset step; The reset step includes height reset and posture reset. The height reset is the height at which the support frame (3) returns from the preset height to the height at which the loading step is performed. The posture reset is the material receiving position at which the support frame (3) rotates from the unloading position back to the material receiving position at which the loading step is performed.

12. The control method for the board transfer equipment according to claim 11, characterized in that, The rotation step and / or the reset step also include triggering the safety button (61) at the same time as triggering the operation button (621).

13. The control method for the board transfer equipment according to claim 10, characterized in that, The control method for the board transfer equipment also includes a detection step prior to the rotation step. The detection steps include detecting the opening and closing state of the cover on the board, and restricting the rotation of the support frame (3) when the cover is in the open state; and / or detecting the position of the board in the guide groove (31), and restricting the rotation of the support frame (3) when the board is located outside the preset accommodating area (312) in the guide groove (31); and / or detecting whether there are foreign objects in the preset flipping area on the frame (6), and restricting the rotation of the support frame (3) when there are foreign objects.

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