A transfer device

Abstract

The application relates to the technical field of semiconductors, in particular to a transfer device which comprises an upper clamping mechanism, an upper carrier and an upper guide, the upper guide being rotationally connected to the upper carrier; a lower clamping mechanism, a lower carrier, a lower guide and a main body, at least one of the lower carrier and the upper carrier having a translational freedom in the vertical direction, the main body being rotationally connected to the lower carrier, the lower guide being rotationally connected to the main body, the lower guide being vertically opposite to the upper guide; a positioning mechanism, a first positioning member and a second positioning member, the first positioning member being fixedly arranged on the upper carrier, the second positioning member being fixedly arranged on the lower carrier, the positioning end of the first positioning member and the positioning end of the second positioning member being located on the same vertical plane, the application keeps the chip box in a stable state during the dynamic clamping process, ensures that the internal chips maintain a horizontal state, and avoids material taking failure or bump damage caused by chip inclination.

Description

Technical Field

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

[0002] In semiconductor packaging, chips are stacked layer by layer within square chip boxes. These boxes feature a closed top and bottom with a pair of open sides, facilitating the sequential pushing or picking of chips from the sides for loading. In actual automated production processes, chip boxes on the conveyor line must be precisely transported to the feeding position of subsequent processes, and their clamping, fixing, and positioning must be completed. Chip loading demands stringent placement postures; the chips must remain horizontal during the process. Existing conventional transfer and positioning methods struggle to achieve high-precision, stable positioning, leading to issues such as chip box tilting, positional shifts, and vibrations. This not only disrupts chip picking but also causes chip damage, significantly reducing product yield and hindering the overall stability and efficiency of the automated packaging line. Summary of the Invention

[0003] The purpose of this invention is to provide a transfer device to solve the problems of low stability and accuracy of existing chip box transfer and positioning methods, which can lead to chip box skew or vibration, resulting in chip picking failure and device damage.

[0004] The technical solution of the present invention is: a transfer device, comprising: The upper clamping mechanism includes an upper bearing member and an upper guide member, wherein the upper guide member is rotatably connected to the upper bearing member; The lower clamping mechanism includes a lower support member, a lower guide member, and a main body member. At least one of the lower support member and the upper support member has a translational degree of freedom in the vertical direction. The main body member is rotatably connected to the lower support member, and the lower guide member is rotatably connected to the main body member. The lower guide member is directly opposite the upper guide member in the vertical direction. The positioning mechanism includes a first positioning element and a second positioning element. The first positioning element is fixed on the upper support element, and the second positioning element is fixed on the lower support element. The positioning ends of the first positioning element and the second positioning element are located on the same vertical plane. During the process of clamping the chip box, the upper guide abuts against the top of the chip box, the lower guide abuts against the bottom of the chip box, the upper guide and the lower guide rotate synchronously, and the side of the chip box abuts against the first positioning member and the second positioning member to clamp and position the chip box.

[0005] Preferably, the end face of the upper guide member facing the lower guide member is an upper contact arc surface. The upper guide member is rotatably connected to the bottom of the upper support member via a horizontally arranged first rotating shaft. The curvature center of the first rotating shaft relative to the upper contact arc surface is arranged away from the first positioning member. A first torsion spring is sleeved on the first rotating shaft. One end of the first torsion spring is fixed to the upper guide member, and the other end is fixed to the upper support member.

[0006] Preferably, the end face of the lower guide member facing the upper guide member is a lower contact arc surface. The lower guide member is rotatably connected to the top of the main body member through a second rotating shaft. The second rotating shaft is parallel to the first rotating shaft and located in the same vertical plane. A second torsion spring is sleeved on the second rotating shaft. One end of the second torsion spring is fixed to the lower guide member, and the other end is fixed to the main body member.

[0007] Preferably, the main body is rotatably connected to the lower support member via a third rotating shaft. A third torsion spring is sleeved on the third rotating shaft. One end of the third torsion spring is fixed to the main body, and the other end is fixed to the lower support member. The torque of the third torsion spring is greater than that of the second torsion spring.

[0008] Preferably, the upper support member includes an integrally formed upper mounting part and an upper driven part. The bottom of the upper mounting part is provided with a first limiting surface and a second limiting surface that are distributed in a step along a first direction. The second limiting surface is located between the first limiting surface and the upper driven part, and the area where the second limiting surface is located is concave. The top of the upper guide member is provided with a first guide slope and a first correction surface, and the first correction surface is fixedly provided with a first protruding ridge; When the upper guide rotates toward the upper driven portion, the first protruding ridge abuts against the second limiting surface; when the upper guide rotates away from the upper driven portion, the first guiding slope abuts against the first limiting surface.

[0009] Preferably, the main body includes an integrally formed support part and a transmission part. The top of the support part is provided with a third limiting surface and a fourth limiting surface arranged in a stepped manner along a first direction. The third limiting surface is away from the second positioning member and is higher than the fourth limiting surface. The lower guide member is rotatably connected to the bearing part via the second rotating shaft. The bottom of the lower guide member is provided with a second guiding slope and a second correction surface. The second correction surface is fixed with a second protruding ridge. When the lower guide rotates toward the lower support member, the second protruding ridge abuts against the fourth limiting surface; when the lower guide rotates away from the lower support member, the second guide slope abuts against the third limiting surface.

[0010] Preferably, when the upper guide is not subjected to external force, the first torsion spring drives the upper guide to rotate in a direction away from the upper driven part, so that the first guide slope abuts against the first limiting surface; When the lower guide is not subjected to external force, the second torsion spring drives the lower guide to rotate away from the lower support member, so that the second guide slope abuts against the third limiting surface.

[0011] Preferably, both the upper contact arc surface and the lower contact arc surface are circular arc surfaces extending along the first direction, and their curvatures are the same. In the clamping state, the initial angular positions of the upper guide and the lower guide are set in a mirror-symmetric manner.

[0012] Preferably, the lower support member is fixed with a pad block, and the top end face of the pad block is a horizontally arranged support surface; In the initial state, the highest point of the lower contact arc surface of the lower guide member is higher than the plane where the support surface is located; after the chip box is clamped, the support surface forms a surface contact with the bottom of the chip box to bear the gravity load of the chip box.

[0013] Preferably, the transfer device further includes a drive mechanism, which includes a frame, a guide rail, and a guide rod. The guide rail is fixed to the frame in a vertical direction. The upper support member and the lower support member are slidably connected to the guide rail. The guide rod is fixed to the lower support member and extends in a vertical direction. The guide rod is movably inserted through the upper support member.

[0014] Compared with the prior art, the advantages of the present invention are: The upper and lower guide members rotate synchronously when clamping the chip box, thereby adaptively conforming to the top and bottom contours of the chip box. Even during dynamic clamping, the chip box remains stable, preventing it from tilting and ensuring that the internal chips remain horizontal. At the same time, the positioning ends of the first and second positioning members are located on the same vertical plane, forming a precise surface contact limit on the side of the chip box in the horizontal direction. This effectively suppresses positional deviation and running vibration, achieving high-precision stable positioning and avoiding chip picking failure or collision damage caused by chip tilting. This significantly improves the accuracy of chip loading and product yield. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a cross-sectional view of the transfer device described in this invention. Figure 2 This is a schematic diagram of the upper clamping mechanism described in this invention; Figure 3This is a cross-sectional view of the upper clamping mechanism described in this invention. Figure 4 This is a cross-sectional view of the upper guide member described in this invention. Figure 5 This is a schematic diagram of the lower clamping mechanism described in this invention; Figure 6 This is a side view of the lower clamping mechanism described in this invention; Figure 7 This is a cross-sectional view of the lower clamping mechanism described in this invention. Figure 8 This is a cross-sectional view of the lower guide member described in this invention.

[0016] Explanation of reference numerals in the attached figures: 1. Upper clamping mechanism; 11. Upper bearing member; 111. Upper mounting part; 1111. First limiting surface; 1112. Second limiting surface; 1113. Upper bushing part; 112. Upper driven part; 12. Upper guide member; 121. Upper contact arc surface; 122. First guide slope; 123. First correction surface; 124. First protruding ridge; 13. First rotating shaft; 14. First torsion spring; 2. Lower clamping mechanism; 21. Lower bearing member; 211. Lower mounting part; 212. Lower driven part; 22. Lower guide member; 221. Lower contact arc surface; 222. Second guide slope ; 223, Second correction surface; 224, Second protruding ridge; 23, Main body component; 231, Bearing part; 2311, Third limiting surface; 2312, Fourth limiting surface; 232, Transmission part; 233, Lower bushing part; 24, Second rotating shaft; 25, Third rotating shaft; 26, Second torsion spring; 27, Third torsion spring; 28, Pad; 281, Support surface; 3, Positioning mechanism; 31, First positioning component; 311, First positioning plane; 32, Second positioning component; 321, Second positioning plane; 4, Drive mechanism; 41, Frame; 42, Guide rail; 43, Guide rod. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0018] like Figure 1As shown, a transfer device for clamping and positioning a chip box loaded with chips includes an upper clamping mechanism 1, a lower clamping mechanism 2, and a positioning mechanism 3. The upper clamping mechanism 1 abuts against and presses the top of the chip box from above, the lower clamping mechanism 2 supports and adaptively adjusts the bottom of the chip box from below, and the positioning mechanism 3 horizontally confines the sides of the chip box within a precise vertical plane. Through the coordinated operation of these three mechanisms, the transfer device achieves stable clamping and accurate positioning of the chip box.

[0019] In this embodiment, to facilitate the description of the relative positional relationships of the components, the first direction is the lateral direction in the horizontal plane, that is, either the length direction or the width direction of the chip box; the second direction is the longitudinal direction in the horizontal plane that is perpendicular to the first direction. The first direction and the second direction together constitute a horizontal reference plane, and the extension, arrangement and movement trajectory of each component in the upper clamping mechanism 1, the lower clamping mechanism 2 and the positioning mechanism 3 are all described based on the horizontal reference plane.

[0020] like Figures 2 to 4 As shown, the upper clamping mechanism 1 includes an upper support member 11 and an upper guide member 12. In this embodiment, the upper support member 11 has a translational degree of freedom in the vertical direction. The upper support member 11 includes an integrally formed upper mounting portion 111 and an upper driven portion 112, both extending in a horizontal first direction. The bottom of the upper mounting portion 111 is provided with a first limiting surface 1111 and a second limiting surface 1112 distributed in a stepped manner along the first direction. The second limiting surface 1112 is a recessed area. The first limiting surface 1111 is away from the upper driven portion 112, that is, the second limiting surface 1112 is located between the first limiting surface 1111 and the driven portion, and the area where the second limiting surface 1112 is located is recessed. An upper bushing portion 1113 is fixedly provided on the first limiting surface 1111. A first rotating shaft 13 extending in a second direction is movably passed through the upper bushing portion 1113. The upper guide member 12 is rotatably connected to the upper bushing portion 1113 through the first rotating shaft 13.

[0021] The upper guide 12 is a block structure. The bottom end face of the upper guide 12 is an upper contact arc surface 121, which is an arc surface extending along the first direction. When the upper guide 12 rotates, the upper contact arc surface 121 is used to guide the chip box to move along the first direction.

[0022] Furthermore, the first rotating shaft 13 is arranged away from the upper driven portion 112 relative to the curvature center of the upper contact arc surface 121. That is, the projection of the first rotating shaft 13 in the second direction is located on the side of the curvature center away from the upper driven portion 112.

[0023] The top of the upper guide member 12 is provided with a first guide slope 122 and a first correction surface 123. The first guide slope 122 and the first correction surface 123 are arranged adjacent to each other and form a preset angle between them. Specifically, the first guide slope 122 is located on the side of the top of the upper guide member 12 closer to the first rotating shaft 13. When the first correction surface 123 is in a horizontal state, a uniform distance is formed between the first correction surface 123 and the first limiting surface 1111. The first correction surface 123 is fixedly provided with a first protruding ridge 124. When the upper guide member 12 rotates around the first rotating shaft 13 to different angles, the first protruding ridge 124 abuts against the second limiting surface 1112, or the first guide slope 122 abuts against the first limiting surface 1111.

[0024] Specifically, when the upper guide member 12 rotates towards the upper driven portion 112, the first protruding ridge 124 contacts the second limiting surface 1112, restricting further rotation of the upper guide member 12 and keeping the upper contact arc surface 121 in a pressing and guiding state on the top of the chip box; when the upper guide member 12 rotates away from the upper driven portion 112, the first guiding slope 122 contacts the first limiting surface 1111, defining the initial or release position of the upper guide member 12. Through the above-mentioned abutment cooperation, the upper guide member 12 achieves reliable positioning and smooth switching within a preset angle range, thereby adapting to the top contour of chip boxes of different sizes or postures, and improving the stability and adaptability of clamping guidance.

[0025] Furthermore, the first rotating shaft 13 is fitted with a first torsion spring 14, one end of which is fixed to the upper bearing member 11, and the other end is fixed to the upper guide member 12. Specifically, the first torsion spring 14 is configured to apply an elastic force to the upper guide member 12, causing it to rotate away from the upper driven portion 112. The torque of the first torsion spring 14 keeps the first guide ramp 122 abutting against the first limiting surface 1111 when the upper guide member 12 is not subjected to external force, thereby defining the initial angular position of the upper guide member 12.

[0026] When the upper contact arc surface 121 abuts against the top of the chip box, the reaction force exerted by the top of the chip box on the upper guide member 12 overcomes the torque of the first torsion spring 14, causing the upper guide member 12 to rotate adaptively around the first rotating shaft 13. That is, the upper guide member 12 rotates towards the upper driven part 112, thereby changing the contact position and angle between the upper contact arc surface 121 and the top of the chip box, achieving conformal fitting. After the chip box is removed, the upper guide member 12 automatically rotates away from the upper driven part 112 under the elastic restoring force of the first torsion spring 14 until the first guide slope 122 abuts against the first limiting surface 1111 again, completing the angle reset and preparing for the next clamping operation.

[0027] Preferably, the upper guide 12 is a rubber component. Specifically, the upper guide 12 is integrally molded from wear-resistant rubber material. Due to the high coefficient of friction of the rubber material, friction is generated when the upper contact arc surface 121 contacts the top of the chip box, thereby preventing relative sliding between the upper guide 12 and the chip box. At the same time, the elastic deformation capability of the rubber material allows the upper contact arc surface 121 to conform to the microscopically uneven surface of the top of the chip box, further increasing the effective contact area and improving frictional stability.

[0028] The positioning mechanism 3 includes a first positioning member 31 fixedly mounted on the bottom of the upper support member 11 and the upper driven part 112, located on the moving path of the chip box. When the chip box is fed in along the first direction by the upper clamping mechanism 1, the side of the chip box contacts the first positioning member 31. The first positioning member 31 has a first positioning plane 311, which is parallel to the second direction and perpendicular to the first direction, used to limit the positional offset of the chip box in the second direction and guide the side of the chip box into a preset vertical positioning plane.

[0029] like Figures 5 to 8 As shown, the lower clamping mechanism 2 includes a lower support member 21, a lower guide member 22, and a main body member 23. At least one of the lower support member 21 and the upper support member 11 has a translational degree of freedom in the vertical direction. The main body member 23 is rotatably connected to the lower support member 21, and the lower guide member 22 is rotatably connected to the main body member 23. The lower guide member 22 is directly opposite the upper guide member 12 in the vertical direction. In this embodiment, both the lower support member 21 and the upper support member 11 have a translational degree of freedom in the vertical direction.

[0030] The lower support member 21 includes an integrally formed lower mounting portion 211 and a lower driven portion 212, both extending in a first direction. The lower driven portion 212 is used to connect to a driving device. The main body member 23 is rotatably connected to a second rotating shaft 24, and the lower guide member 22 is rotatably connected to the main body member 23 via the second rotating shaft 24. The lower mounting portion 211 is rotatably connected to a third rotating shaft 25, and the main body member 23 is rotatably connected to the second mounting portion via the third rotating shaft 25. Both the second rotating shaft 24 and the third rotating shaft 25 extend in a second direction, and the lower guide member 22 rotates relative to the main body member 23 around the second rotating shaft 24 to achieve adaptive contact between the lower guide member 22 and the bottom surface of the chip box.

[0031] Specifically, the main body 23 includes an integrally formed support portion 231 and a transmission portion 232. The top of the support portion 231 is provided with a third limiting surface 2311 and a fourth limiting surface 2312 arranged in a stepped manner along a first direction. The third limiting surface 2311 is away from the lower driven portion 212 and is higher than the fourth limiting surface 2312. A lower bushing portion 233 is fixedly mounted on the third limiting surface 2311, and the second rotating shaft 24 is movably inserted through the lower bushing portion 233.

[0032] The lower guide member 22 has a block-shaped structure. The top end face of the lower guide member 22 is a lower contact arc surface 221, which is an arc surface extending along the first direction. It is used to support the bottom of the chip box and cooperate with the upper guide member 12 to guide the chip box to move along the first direction. The second rotating shaft 24 is arranged away from the lower driven part 212 relative to the curvature center of the lower contact arc surface 221. That is, the projection of the second rotating shaft 24 in the second direction is located on the side of the curvature center away from the lower driven part 212.

[0033] The bottom of the lower guide member 22 is provided with a second guide slope 222 and a second correction surface 223. The second guide slope 222 and the second correction surface 223 are arranged adjacent to each other and form a preset obtuse angle between them. Specifically, the second guide slope 222 is located on the side of the bottom of the lower guide member 22 closer to the third rotating shaft 25. When the second correction surface 223 is in a horizontal state, a uniform distance is formed between the second correction surface 223 and the third limiting surface 2311. The second correction surface 223 is fixedly provided with a second protrusion 224. When the lower guide member 22 rotates around the second rotating shaft 24 to different angles, the second protrusion 224 abuts against the fourth limiting surface 2312, or the second guide slope 222 abuts against the third limiting surface 2311.

[0034] The second rotating shaft 24 is fitted with a second torsion spring 26. One end of the second torsion spring 26 is fixed to the main body 23, and the other end is fixed to the lower guide member 22. The second torsion spring 26 is configured to apply an elastic force to the lower guide member 22, causing it to rotate away from the lower driven part 212, so that the lower guide member 22, when not subjected to external force, keeps the second guide ramp 222 abutting against the third limiting surface 2311, thereby defining the initial angular position of the lower guide member 22.

[0035] Preferably, the initial angular position of the upper guide 12 and the initial guiding position of the lower guide 22 are mirror-symmetrically set, and the curvature of the upper contact arc surface 121 and the lower contact arc surface 221 is the same. During the clamping process, the direction, point of application, and contact stress distribution of the clamping force on the top and bottom of the chip box are mirror-symmetrical. The symmetrical force state avoids the chip box from tilting or deflecting due to uneven force on one side, ensuring the stability of the chip box in the vertical direction, which is beneficial for keeping the chip in a horizontal state during subsequent horizontal unloading.

[0036] When the lower contact surface 221 supports the bottom of the chip box, the force exerted by the bottom of the chip box on the lower guide member 22 overcomes the torque of the second torsion spring 26, causing the lower guide member 22 to rotate around the second pivot 24. That is, as the lower guide member 22 rotates toward the lower driven part 212 until the second protrusion 224 abuts against the fourth limiting surface 2312, the contact position and angle between the lower contact surface 221 and the bottom of the chip box are changed, achieving conformal bearing. After the chip box is removed, the lower guide member 22 automatically rotates away from the lower driven part 212 under the elastic restoring force of the second torsion spring 26 until the second guide slope 222 abuts against the third limiting surface 2311 again, completing the angle reset and preparing for the next bearing operation.

[0037] Preferably, the lower guide member 22 is a rubber component. Specifically, the lower guide member 22 is integrally molded from wear-resistant rubber material to prevent relative sliding between the bottom of the chip box and the lower guide member 22. At the same time, the elastic deformation capability of the rubber material allows the lower contact arc surface 221 to conform to the microscopic uneven surface of the bottom of the chip box, further increasing the effective contact area and improving load-bearing stability.

[0038] The transmission part 232 is fixed on the fourth limiting surface 2312 of the bearing part 231. The transmission part 232 and the bearing part 231 form an "L"-shaped structure. The transmission part 232 is rotatably connected to the lower mounting part 211 through the third rotating shaft 25. The third rotating shaft 25 is fitted with a third torsion spring 27. One end of the third torsion spring 27 is fixed to the transmission part 232, and the other end is fixed to the lower mounting part 211. The elastic force of the third torsion spring 27 is greater than that of the second torsion spring 26. When the upper clamping mechanism 1 and the lower clamping mechanism 2 clamp the chip box, the third torsion spring 27 plays the main role in bearing and clamping. Specifically, the second torsion spring 26 is only used to maintain the initial angular position of the lower guide member 22 and reset it when unloaded. It only needs to overcome the weight of the lower guide member 22 itself and the rotational friction. The third torsion spring 27 is used to provide the return torque of the main body 23 in the horizontal plane and bear the horizontal load transmitted from the chip box to the lower guide member 22.

[0039] The positioning mechanism 3 includes a second positioning member 32, which is fixed to the lower driven portion 212 and is arranged vertically opposite to the first positioning member 31. The second positioning member 32 has a second positioning plane 321. The first positioning plane 311 and the second positioning plane 321 are located in the same vertical plane. Specifically, both the first positioning plane 311 and the second positioning plane 321 are precision-machined planes, and together they constitute the positioning reference plane of the side of the chip box. When the chip box is clamped by the upper clamping mechanism 1 and the lower clamping mechanism 2, the side of the chip box simultaneously abuts against the first positioning plane 311 and the second positioning plane 321, thereby limiting the chip box to a preset position in the horizontal direction.

[0040] The upper mounting portion 111 is fixedly provided with a pad 28, the top end face of which is a horizontally arranged support surface 281. In the initial state, the lower guide member 22 has its lower contact arc surface 221 protruding from the support surface 281, that is, the highest point of the lower contact arc surface 221 is higher than the plane where the support surface 281 is located. Before clamping the chip box, the bottom of the chip box first contacts the lower contact arc surface 221, and the lower guide member 22 carries the chip box and guides it to move along the first direction.

[0041] As the upper support member 11 and the lower support member 21 move relative to each other to clamp the chip box located on the conveyor belt of the previous process, and as the chip box contacts the pad 28, the lower guide member 22 rotates around the second pivot 24 under the weight of the chip box, causing the chip box to gradually descend. When the highest point of the lower guide member 22 is flush with the support surface 281, the bottom surface of the chip box contacts the support surface 281 of the pad 28. After clamping the chip box, the support surface 281 of the pad 28 forms surface contact with the bottom of the chip box, bearing the main gravity load of the chip box, while the lower guide member 22 remains in contact with the bottom of the chip box, providing auxiliary guidance and stability.

[0042] The transfer device also includes a drive mechanism 4 for driving the upper clamping mechanism 1 and the lower clamping mechanism 2 to move. The drive mechanism 4 includes a frame 41, a guide rail 42, and a guide rod 43. The guide rail 42 is fixed vertically to the side of the frame 41. The upper support member 11 and the lower support member 21 are slidably connected to the guide rail 42, with the upper support member 11 located above the lower support member 21. Specifically, an upper slider is fixed to one side of the upper support member 11, and a lower slider is fixed to one side of the lower support member 21. Both the upper and lower sliders slide in cooperation with the guide rail 42, allowing the upper support member 11 and the lower support member 21 to move independently vertically along the guide rail 42.

[0043] The guide rod 43 is fixed to the lower support member 21 and extends vertically, and is slidably connected to the upper support member 11. Specifically, the upper support member 11 has a guide hole extending vertically, and the guide rod 43 is movably inserted into the guide hole. When the upper support member 11 moves up and down relative to the lower support member 21, the guide rod 43 slides in the guide hole, providing auxiliary guidance for the movement of the upper support member 11 and preventing the upper support member 11 from swaying or tilting horizontally during movement.

[0044] Implementation principle: Step 1: The upper support member 11 rises to a high position along the guide rail 42, and the lower support member 21 descends to a low position along the guide rail 42, creating an opening distance between the upper clamping mechanism 1 and the lower clamping mechanism 2 that is greater than the height of the chip box. Simultaneously, under the elastic force of the first torsion spring 14, the upper guide member 12 swings downward, causing the first guide ramp 122 to abut against the first limiting surface 1111 at an initial angle position; under the elastic force of the second torsion spring 26, the lower guide member 22 swings upward, causing the second guide ramp 222 to abut against the third limiting surface 2311 at an initial angle position. Under the elastic force of the third torsion spring 27, the main body 23 maintains a preset initial deflection posture around the third rotating shaft 25. At this time, the chip box is located at the end of the conveyor belt of the previous process, and the chip box is located between the upper support member 11 and the lower support member 21.

[0045] Step Two; The upper support member 11 and the lower support member 21 move in opposite directions to clamp the chip box. During this process, the bottom of the chip box contacts the highest point of the lower contact arc surface 221 of the lower guide member 22, while the top of the chip box contacts the lowest point of the upper contact arc surface 121 of the upper guide member 12.

[0046] Step 3: The upper support member 11 and the lower support member 21 continue to move in opposite directions, while the upper guide member 12 and the lower guide member 22 rotate in opposite directions under the force. Under the elastic force of the first torsion spring 14, the top of the chip box conformally fits the upper contact arc surface 121, and under the elastic force of the second torsion spring 26, the bottom of the chip box conformally fits the lower contact arc surface 221. The upper guide member 12 and the lower guide member 22 guide the horizontal movement of the chip box and make the side of the chip box abut against the first positioning plane 311 and the second positioning plane 321.

[0047] During this process, the first protrusion 124 of the upper guide 12 gradually approaches and abuts against the second limiting surface 1112, and the second protrusion 224 of the lower guide 22 gradually approaches and abuts against the fourth limiting surface 2312. At the same time, the highest point of the lower guide 22 is flush with the support surface 281. When the horizontal movement of the chip box ends, it abuts against the support surface 281 of the pad 28, and the upper guide 12 cooperates with the pad 28 to clamp the chip box.

[0048] Step Four: The upper support member 11 and the lower support member 21 continue to move in opposite directions. The bottom of the chip box drives the main body member 23 to rotate around the third rotating shaft 25 through the lower guide member 22. The third torsion spring 27 is twisted and generates an elastic restoring torque. The elastic restoring torque is transmitted to the bottom of the chip box through the main body member 23 and the lower guide member 22, applying a clamping force to the chip box.

[0049] Step 5: After clamping is completed, the upper support 11 and the lower support 21 rise or fall synchronously, aligning the opening of the chip box with the entrance of the next process, ensuring that each chip is accurately and smoothly removed.

[0050] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A transfer device, characterized in that, include: The upper clamping mechanism (1) includes an upper bearing member (11) and an upper guide member (12), wherein the upper guide member (12) is rotatably connected to the upper bearing member (11); The lower clamping mechanism (2) includes a lower support member (21), a lower guide member (22), and a main body member (23). At least one of the lower support member (21) and the upper support member (11) has a translational degree of freedom in the vertical direction. The main body member (23) is rotatably connected to the lower support member (21), and the lower guide member (22) is rotatably connected to the main body member (23). The lower guide member (22) is directly opposite the upper guide member (12) in the vertical direction. The positioning mechanism (3) includes a first positioning element (31) and a second positioning element (32). The first positioning element (31) is fixed on the upper support element (11), and the second positioning element (32) is fixed on the lower support element (21). The positioning end of the first positioning element (31) and the positioning end of the second positioning element (32) are located on the same vertical plane. During the process of clamping the chip box, the upper guide (12) abuts against the top of the chip box, the lower guide (22) abuts against the bottom of the chip box, the upper guide (12) and the lower guide (22) rotate synchronously, and the side of the chip box abuts against the first positioning member (31) and the second positioning member (32) to clamp and position the chip box.

2. The transfer device according to claim 1, characterized in that: The end face of the upper guide member (12) facing the lower guide member (22) is an upper contact arc surface (121). The upper guide member (12) is rotatably connected to the bottom of the upper support member (11) through a first rotating shaft (13) arranged horizontally. The first rotating shaft (13) is arranged away from the first positioning member (31) at the curvature center of the upper contact arc surface (121). The first rotating shaft (13) is fitted with a first torsion spring (14). One end of the first torsion spring (14) is fixed to the upper guide member (12), and the other end is fixed to the upper support member (11).

3. The transfer device according to claim 2, characterized in that: The end face of the lower guide member (22) facing the upper guide member (12) is a lower contact arc surface (221). The lower guide member (22) is rotatably connected to the top of the main body member (23) through a second rotating shaft (24). The second rotating shaft (24) is parallel to the first rotating shaft (13) and located in the same vertical plane. A second torsion spring (26) is sleeved on the second rotating shaft (24). One end of the second torsion spring (26) is fixed to the lower guide member (22), and the other end is fixed to the main body member (23).

4. A transfer device according to claim 3, characterized in that: The main body (23) is rotatably connected to the lower support (21) via a third rotating shaft (25). A third torsion spring (27) is sleeved on the third rotating shaft (25). One end of the third torsion spring (27) is fixed to the main body (23), and the other end is fixed to the lower support (21). The torque of the third torsion spring (27) is greater than that of the second torsion spring (26).

5. A transfer device according to claim 3, characterized in that: The upper support member (11) includes an integrally formed upper mounting part (111) and an upper driven part (112). The bottom of the upper mounting part (111) is provided with a first limiting surface (1111) and a second limiting surface (1112) distributed in a step along a first direction. The second limiting surface (1112) is located between the first limiting surface (1111) and the upper driven part (112), and the area where the second limiting surface (1112) is located is concave. The top of the upper guide member (12) is provided with a first guide slope (122) and a first correction surface (123), and the first correction surface (123) is fixedly provided with a first protruding ridge (124). When the upper guide (12) rotates toward the upper driven part (112), the first protrusion (124) abuts against the second limiting surface (1112); when the upper guide (12) rotates away from the upper driven part (112), the first guide slope (122) abuts against the first limiting surface (1111).

6. A transfer device according to claim 5, characterized in that: The main body (23) includes an integrally formed support part (231) and a transmission part (232). The top of the support part (231) is provided with a third limiting surface (2311) and a fourth limiting surface (2312) arranged in a stepped manner along a first direction. The third limiting surface (2311) is away from the second positioning member (32) and the third limiting surface (2311) is higher than the fourth limiting surface (2312). The lower guide member (22) is rotatably connected to the bearing part (231) via the second rotating shaft (24). The bottom of the lower guide member (22) is provided with a second guide slope (222) and a second correction surface (223). The second correction surface (223) is fixedly provided with a second protruding ridge (224). When the lower guide (22) rotates toward the lower support (21), the second protrusion (224) abuts against the fourth limiting surface (2312); when the lower guide (22) rotates away from the lower support (21), the second guide slope (222) abuts against the third limiting surface (2311).

7. A transfer device according to claim 6, characterized in that: When the upper guide member (12) is not subjected to external force, the first torsion spring (14) drives the upper guide member (12) to rotate in a direction away from the upper driven part (112), so that the first guide inclined surface (122) abuts against the first limiting surface (1111). When the lower guide member (22) is not subjected to external force, the second torsion spring (26) drives the lower guide member (22) to rotate away from the lower support member (21), so that the second guide slope (222) abuts against the third limiting surface (2311).

8. A transfer device according to claim 3, characterized in that: The upper contact arc surface (121) and the lower contact arc surface (221) are both circular arc surfaces extending along the first direction, and their curvatures are the same. In the clamping state, the initial angular positions of the upper guide (12) and the lower guide (22) are set in a mirror-symmetric manner.

9. A transfer device according to claim 8, characterized in that: The lower support member (21) is fixed with a pad (28), and the top end face of the pad (28) is a horizontally arranged support surface (281). In the initial state, the highest point of the lower contact arc surface (221) of the lower guide member (22) is higher than the plane where the support surface (281) is located; after the chip box is clamped, the support surface (281) forms a surface contact with the bottom of the chip box to bear the gravity load of the chip box.

10. A transfer device according to claim 1, characterized in that: The transfer device also includes a drive mechanism (4), which includes a frame (41), a guide rail (42) and a guide rod (43). The guide rail (42) is fixed to the frame (41) in the vertical direction. The upper support member (11) and the lower support member (21) are slidably connected to the guide rail (42). The guide rod (43) is fixed on the lower support member (21) and extends in the vertical direction. The guide rod (43) is movably inserted through the upper support member (11).

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