High-stability automatic feeding device for super-packaging substrate

Abstract

The utility model discloses a high-stability automatic feeding device for super-packaging substrates, which relates to the technical field of feeding devices and comprises a supporting table and a vibrating disc. And a feeding assembly is arranged on one side of the first moving assembly and used for clamping the base plate, the feeding assembly comprises a first connecting block, lifting rods are symmetrically and slidably connected to the middle of the first connecting block, the lower ends of the two lifting rods are jointly and fixedly connected with a second connecting block, and a second moving assembly is fixedly connected to the side, away from the first moving assembly, of the second connecting block. The substrate is grabbed through the grabbing assembly, in the process that the grabbing assembly grabs the substrate, the substrate can be adsorbed through the suction cups, the stability in the conveying process can be improved, and the position of the substrate can be limited through the limiting frame in the conveying process; even if the substrate is not firmly adsorbed by the sucker, the limiting frame can be used for preventing the substrate from falling off in the transportation process.

Description

Technical Field

[0001] The utility model relates to the technical field of feeding devices, in particular to an automatic feeding device for ultra-package substrates with high stability. Background Art

[0002] As a cutting-edge achievement of semiconductor packaging technology, the ultra-packaging substrate is designed to meet the needs of modern electronic systems for high performance, high integration, extreme miniaturization and excellent heat dissipation performance. It not only integrates high-density wiring technology to achieve high-speed data transmission and complex circuit layout in a limited space, but also integrates the concept of system-level packaging to tightly integrate multiple chips, passive and active components, significantly improving system integration and performance. Its miniaturized design benefits from advanced packaging technology and materials, and perfectly adapts to the development trend of mobile and portable devices. At the same time, the ultra-packaging substrate relies on efficient heat dissipation materials and structural innovations, such as heat pipes and heat sinks, to ensure that high-performance chips remain stable during continuous operation and extend their service life. In addition, its high flexibility and customizability enable the ultra-packaging substrate to flexibly respond to the personalized needs of various complex electronic systems. In a wide range of fields such as smartphones, tablets, wearable devices, data centers, high-performance computing and automotive electronics, the ultra-packaging substrate is gradually becoming an indispensable core component, and with the iteration of technology and the expansion of market demand, it indicates a more critical and brilliant role in future electronic systems.

[0003] However, the current automated loading process of ultra-encapsulated substrates faces a severe challenge, namely, how to achieve stable and efficient loading operations while ensuring that the substrates are intact. Traditional loading devices, whether relying on suction cup gripping or mechanical claw gripping, are unable to cope with this task. For suction cup loading devices, the challenge lies in the complex characteristics of the substrate surface. Ultra-encapsulated substrates are often covered with fine circuits and components. These characteristics make it difficult for the substrate surface to achieve ideal smoothness and flatness. Therefore, when using a suction cup for gripping, the sealing between the suction cup and the substrate is difficult to ensure, which can easily lead to insufficient adsorption force, and then cause the substrate to fall during transmission. On the other hand, although the mechanical claw gripping method has shown strong adaptability and flexibility in some aspects, it is easy to cause new problems when handling ultra-encapsulated substrates. The rigidity and direct contact of the mechanical claw may cause scratches or indentations on the substrate surface, which is unacceptable for ultra-encapsulated substrates with high precision requirements.

[0004] Chinese patent document CN218478180U discloses a loading device for a substrate, comprising a workbench, a clamping seat and a first driving member for driving the clamping seat to slide are provided on the workbench for sliding adjustment, and the clamping seat slides vertically; a bottom plate and a pressing plate are provided on the clamping seat, the bottom plate and the pressing plate are opposite to each other up and down, the pressing plate slides in a direction close to or away from the bottom plate, and a second driving member for driving the pressing plate to slide is provided on the clamping seat; a push block and a third driving member for driving the push block to slide are provided on the workbench close to one side of the bottom plate, and the push block slides horizontally in a direction close to or away from the bottom plate; a conveying frame is provided on the workbench close to the other side of the bottom plate, and the conveying frame is located on a straight line where the push block slides; but the following defects still exist in the implementation process:

[0005] Although the device in the above document is convenient for continuously taking out the substrates in the storage box, the device in the above document is not stable during the loading process. Utility Model Content

[0006] The purpose of the utility model is to provide an ultra-stable packaging substrate automatic loading device to solve the problems raised in the above-mentioned background technology.

[0007] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0008] An automatic loading device for ultra-package substrates with high stability comprises a support table and a vibration plate; a first moving component is fixedly connected to one side of the upper end of the support table, a clamping component is fixedly connected to the middle part of the upper end of the support table, a loading component is arranged on one side of the first moving component, and the loading component is used to clamp the substrate, and the loading component comprises a connecting block 1, a lifting rod is symmetrically and slidably connected to the middle part of the connecting block 1, a connecting block 2 is fixedly connected to the lower ends of the two lifting rods, a second moving component is fixedly connected to the side of the connecting block 2 away from the first moving component, an electric telescopic rod is fixedly connected to the side of the connecting block 1 away from the first moving component, the electric telescopic rod is fixedly connected to the connecting block 2, the second moving component is fixedly connected to the grasping component, and a placement table component used in conjunction with the vibration plate is fixedly connected to the side of the support table close to the vibration plate.

[0009] A further improvement of the technical solution of the utility model is that: the first moving component includes a support frame 1, a lower end of the support frame is fixedly connected to the upper end of the support platform, the upper part of the support frame 1 close to the feeding component is rotatably connected with a screw rod, one side of the support frame 1 is fixedly connected to a motor 1, the output end of the motor 1 is fixedly connected to the screw rod, the upper part of the support frame 1 is fixedly connected to a guide rod 1, the screw rod is threadedly connected to a moving block 1, the moving block 1 is slidably connected to the guide rod 1, and the side of the moving block 1 close to the connecting block 1 is fixedly connected to the connecting block 1.

[0010] The above-mentioned technical solution is adopted, in which the output end of a motor is fixedly connected to the screw, so that the motor can be used to drive the screw to rotate, and then the moving block is threadedly connected to the screw, so that when the screw rotates, the moving block can be driven to move, so that the moving block can be used to drive the loading assembly to move, and then the substrate can be grabbed and moved for loading.

[0011] A further improvement of the technical solution of the utility model is that the second moving component includes a connecting block three, one side of the connecting block three is fixedly connected to a motor two, the inner cavity of the connecting block three is rotatably connected to a bidirectional threaded rod, the output end of the motor two is fixedly connected to the bidirectional threaded rod, the outer surface of the bidirectional threaded rod is threadedly connected to two moving blocks two, and the side of the connecting block two close to the connecting block three is fixedly connected to the connecting block three.

[0012] The above-mentioned technical solution is adopted, in which a bidirectional threaded rod is fixedly connected to motor 2, so that when motor 2 is running, the bidirectional threaded rod can be driven to rotate, and then the bidirectional threaded rod is threadedly connected to the two moving blocks 2, so that when the bidirectional threaded rod rotates, the two moving blocks 2 can be driven to approach or move away from each other at the same time.

[0013] A further improvement of the technical solution of the utility model is that the grabbing component includes a vacuum pump, the side of the connecting block three close to the vacuum pump is fixedly connected to the vacuum pump, the lower end of the vacuum pump is symmetrically fixedly connected with an air pipe, the side of the air pipe away from the vacuum pump is fixedly connected with an electromagnetic valve, the sides of the two electromagnetic valves close to each other are fixedly connected to a limit frame, a plurality of suction cups are fixedly connected to the bottom wall of the inner cavity of the limit frame, the electromagnetic valve and the plurality of suction cups are fixedly connected together, and the inner cavity of the limit frame is fixedly connected with a buffer component.

[0014] The above-mentioned technical solution is adopted, in which a plurality of suction cups are fixedly connected to the lower part of the limit frame, so that when the limit frame grabs the substrate, the plurality of suction cups can be used to adsorb the substrate, thereby further improving the stability of the device during the loading process. By cooperating with the two limit frames, the substrate can be grabbed, which can reduce damage to the surface of the substrate during the loading process.

[0015] A further improvement of the technical solution of the utility model is that the buffer component includes a main board and a sub-board, the main board is fixedly connected to the inner cavity of the limit frame, a pressure sensor is fixedly connected to the middle of the main board, a side of the main board close to the sub-board is fixedly connected to a plurality of springs, the plurality of springs are fixedly connected to the sub-board together, and the sub-board is made of rubber material.

[0016] The above technical solution is adopted, in which the sub-plate is fixedly connected to a plurality of springs, so that when the substrate is grabbed, the substrate can exert a force on the sub-plate, and then drive the pressure sensor to move in a certain direction. When the sub-plate contacts the pressure sensor, the pressure sensor will transmit data to the controller, and then the controller controls the motor 2 to stop running, so that the moving block 2 will no longer drive the limit frame to move, thereby avoiding the limit frame from moving too much when grabbing the substrate, thereby breaking the substrate and causing damage. The sub-plate is made of rubber material and has good elasticity and flexibility, so that when the sub-plate contacts the substrate, the sub-plate can reduce the damage to the substrate caused by the sub-plate.

[0017] A further improvement of the technical solution of the utility model is that the clamping assembly comprises a support plate 1 and a support plate 2, a lower end of the support plate and a lower end of the support plate 2 are both fixedly connected to the upper end of the support platform, an electric push rod is fixedly connected to the side of the support plate 1 away from the support plate 2, two guide rods 2 are fixedly connected between the opposite surfaces of the support plate 1 and the support plate 2, the two guide rods 2 are slidably connected to a clamping block, the electric push rod telescopic rod is fixedly connected to the clamping block, a connecting block 4 is fixedly connected to the side of the support plate 2 close to the clamping block, a connecting block 5 is fixedly connected to the upper end of the connecting block 4, and a plurality of positioning bolts 1 are fixedly connected to the upper end of the connecting block 5.

[0018] The above technical solution is adopted, in which the clamp block is slidably connected to the guide rod 2, and then the clamp block is fixedly connected to the telescopic rod of the electric push rod, so that the clamp block can be pushed to move by the electric push rod, and then the clamp block can be driven to limit the position of the substrate placed on the connecting block 5 to prevent the substrate from moving during the processing. By fixing a plurality of positioning bolts 1 on the connecting block 5, it is convenient to locate the position of the substrate when placing it.

[0019] A further improvement of the technical solution of the utility model is that the placing table assembly includes a second support frame, the lower end of the second support frame is fixedly connected to the upper end of the support table, the upper end of the second support frame is fixedly connected to a connecting plate, the upper end of the connecting plate is fixedly connected to a rubber block, and the upper end of the rubber block is symmetrically fixedly connected to a positioning bolt two.

[0020] The above technical solution is adopted, in which a second positioning bolt is fixedly connected to the rubber block, so that the second positioning bolt can be used to limit the substrate conveyed by the vibration plate, and then the device can grab and load the substrate.

[0021] Due to the adoption of the above technical solution, the utility model has achieved the following technical progress compared with the prior art:

[0022] 1. The utility model provides an automatic loading device for ultra-packaged substrates with high stability, wherein the first moving component can drive the connection block 1 to move, thereby the first moving component can be used to drive the loading component to move, and then the loading component can grab and load the substrate, the electric telescopic rod can drive the connection block 2 to be lifted and lowered, and then the connection between the lifting rod and the connection block 2 can be used to enhance the stability of the connection block 2 during the lifting process, the second moving component can drive the grabbing component to move, and then the grabbing component can be used to grab the substrate, and in the process of the grabbing component grabbing the substrate, the substrate can be adsorbed by the suction cup, thereby improving the stability of the conveying process, and the position of the substrate can be limited by the limit frame during the conveying process, even if the suction cup does not adsorb the substrate firmly, the limit frame can be used to prevent the substrate from falling during transportation, thereby improving the stability of the device during the loading process under the effect of double limitation.

[0023] 2. The utility model provides an automatic loading device for ultra-package substrates with high stability. By fixing the sub-plate with a plurality of springs, when grabbing the substrate, the substrate can exert a force on the sub-plate, and then drive the pressure sensor to move in a certain direction. When the sub-plate contacts the pressure sensor, the pressure sensor transmits data to the controller, and then the controller controls the second motor to stop running, so that the second moving block no longer drives the limit frame to move, thereby avoiding the limit frame from moving too much when grabbing the substrate, thereby breaking the substrate and causing damage. Since the sub-plate is made of rubber material, it has good elasticity and flexibility, so that when the sub-plate contacts the substrate, the damage caused by the sub-plate to the substrate can be reduced, so that when grabbing and loading the substrate, the scratches on the surface of the substrate can be reduced or even avoided, thereby improving the loading quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The utility model will be further described below in conjunction with the accompanying drawings.

[0025] Figure 1 The overall structure of the utility model is shown in FIG. Figure 1 ;

[0026] Figure 2 It is a schematic diagram of the local structure of the utility model Figure 1 ;

[0027] Figure 3 It is a schematic diagram of the local structure of the utility model Figure 2 ;

[0028] Figure 4 It is a schematic diagram of the local structure of the utility model Figure 3 ;

[0029] Figure 5It is a schematic diagram of the feeding structure of the utility model;

[0030] Figure 6 This is a schematic diagram of a first moving component of the utility model;

[0031] Figure 7 This is a schematic diagram of a second moving component of the present utility model;

[0032] Figure 8 It is a schematic diagram of the grabbing assembly of the utility model;

[0033] Fig. 9 This is a schematic diagram of a buffer component of the utility model;

[0034] Fig.10 This is a schematic diagram of the clamping assembly of the utility model;

[0035] Fig.11 This is a schematic diagram of a placement table assembly of the utility model;

[0036] In the figure: 1, support platform; 2, vibration plate; 3, first moving assembly; 31, support frame 1; 32, screw rod; 33, motor 1; 34, moving block 1; 35, guide rod 1; 4, feeding assembly; 41, connecting block 1; 42, electric telescopic rod; 43, lifting rod; 44, connecting block 2; 45, second moving assembly; 451, connecting block 3; 452, motor 2; 453, two-way threaded rod; 454, moving block 2; 46, grab assembly; 461, vacuum pump; 462, air pipe; 46 3. Solenoid valve; 464. Limit frame; 465. Suction cup; 466. Buffer assembly; 4661. Main board; 4662. Pressure sensor; 4663. Spring; 4664. Sub-board; 5. Clamping assembly; 51. Support plate one; 52. Electric push rod; 53. Support plate two; 54. Connecting block four; 55. Connecting block five; 56. Positioning bolt one; 57. Clamping block; 58. Guide rod two; 6. Placement table assembly; 61. Support frame two; 62. Connecting plate; 63. Rubber block; 64. Positioning bolt two. DETAILED DESCRIPTION

[0037] The present invention is further described in detail below in conjunction with the embodiments:

[0038] Example 1

[0039] like Figure 1-11As shown, the utility model provides an automatic loading device for ultra-package substrates with high stability, including a support table 1 and a vibration plate 2; a first moving component 3 is fixedly connected to one side of the upper end of the support table 1, a clamping component 5 is fixedly connected to the middle part of the upper end of the support table 1, a loading component 4 is arranged on one side of the first moving component 3, and the loading component 4 is used to clamp the substrate, and the loading component 4 includes a connecting block 1 41, a lifting rod 43 is symmetrically slidably connected to the middle part of the connecting block 1 41, and the lower ends of the two lifting rods 43 are commonly fixedly connected to a connecting block 2 44, and a second moving component 45 is fixedly connected to the side of the connecting block 2 44 away from the first moving component 3, and an electric telescopic rod 42 is fixedly connected to the side of the connecting block 1 41 away from the first moving component 3, and the electric telescopic rod 42 is fixedly connected to the connecting block 2 44, and the second moving component 45 is fixedly connected to a grabbing component 46, and a placement table component 6 used in conjunction with the vibration plate 2 is fixedly connected to the side of the support table 1 close to the vibration plate 2.

[0040] In this embodiment, the entire device can be supported and connected by the support table 1, the substrate to be processed can be arranged by the vibration plate 2, and the loading component 4 can be driven to move by the first moving component 3, so that the loading component 4 can grab and load the substrate arranged by the vibration plate 2, and can grab and unload the processed substrate. The first moving component 3 can be connected to the connecting block 1 41, and the connecting block 2 44 can be driven to be lifted and lowered by the electric telescopic rod 42, and then the second moving component 45 and the grabbing component 46 can be driven to move together. The connecting block 2 44 is connected by the lifting rod 43, so that the stability of the connecting block 2 44 during the lifting process can be improved. The grabbing component 46 can be driven to move by the second moving component 45, and then the grabbing component 46 can be driven to grab and transport the substrate. The substrate transported by the loading component 4 can be fixed in position by the clamping component 5, so as to facilitate its processing.

[0041] Example 2

[0042] like Figure 6 , Fig.11As shown, on the basis of Example 1, the utility model provides a technical solution: preferably, the first moving component 3 includes a support frame 31, the lower end of the support frame 31 is fixedly connected to the upper end of the support platform 1, the upper part of the support frame 31 close to the feeding component 4 is rotatably connected with a screw rod 32, one side of the support frame 31 is fixedly connected to a motor 33, the output end of the motor 33 is fixedly connected to the screw rod 32, the upper part of the support frame 31 is fixedly connected to a guide rod 35, the screw 32 is threadedly connected to a moving block 34, the moving block 34 is slidingly connected to the guide rod 35, and the side of the moving block 34 close to the connecting block 41 is fixedly connected to the connecting block 41, and the placement table component 6 includes a support frame 2 61, the lower end of the support frame 2 61 is fixedly connected to the upper end of the support platform 1, the upper end of the support frame 2 61 is fixedly connected to a connecting plate 62, the upper end of the connecting plate 62 is fixedly connected to a rubber block 63, and the upper end of the rubber block 63 is symmetrically fixedly connected to a positioning bolt 2 64.

[0043] In this embodiment, when it is necessary to load the substrate, the substrate to be processed is first arranged by the vibration plate 2, and then transported to the rubber block 63. Then, the position of the substrate transported to the rubber block 63 can be limited by the positioning bolt 64, and then the motor 33 is controlled by the controller to operate, and the output end of the motor 33 is used to drive the screw 32 to rotate, and then the screw 32 drives the moving block 34 to move toward the substrate, and the moving block 34 can drive the loading assembly 4 to move toward the substrate.

[0044] Example 3

[0045] like Figure 5 , Figure 7 , Figure 8 , Fig. 9 As shown, on the basis of Example 1, the utility model provides a technical solution: preferably, the second moving component 45 includes a connecting block 3 451, one side of the connecting block 3 451 is fixedly connected to a motor 2 452, the inner cavity of the connecting block 3 451 is rotatably connected to a bidirectional threaded rod 453, the output end of the motor 2 452 is fixedly connected to the bidirectional threaded rod 453, the outer surface of the bidirectional threaded rod 453 is threadedly connected to two moving blocks 2 454, the side of the connecting block 2 44 close to the connecting block 3 451 is fixedly connected to the connecting block 3 451, and the grabbing component 46 includes A vacuum pump 461, a side of the connection block 451 close to the vacuum pump 461 is fixedly connected to the vacuum pump 461, an air pipe 462 is symmetrically fixedly connected to the lower end of the vacuum pump 461, and a solenoid valve 463 is fixedly connected to the side of the air pipe 462 away from the vacuum pump 461, and the two solenoid valves 463 are fixedly connected to the limit frame 464 on the sides close to each other, and a plurality of suction cups 465 are fixedly connected to the bottom wall of the inner cavity of the limit frame 464, and the solenoid valve 463 and the plurality of suction cups 465 are fixedly connected together, and a buffer assembly 466 is fixedly connected to the inner cavity of the limit frame 464;

[0046] The buffer assembly 466 includes a main board 4661 and a sub-board 4664. The main board 4661 is fixedly connected to the inner cavity of the limit frame 464. A pressure sensor 4662 is fixedly connected to the middle of the main board 4661. A side of the main board 4661 close to the sub-board 4664 is fixedly connected to a plurality of springs 4663. The plurality of springs 4663 are fixedly connected to the sub-board 4664 together. The sub-board 4664 is made of rubber material.

[0047] In this embodiment, after the first moving component 3 moves the feeding component 4 to the position above the substrate, the controller controls the electric telescopic rod 42 to operate, and the electric telescopic rod 42 is used to drive the second moving component 45 and the grabbing component 46 to move downward, and then the controller controls the motor 2 452 to operate, and the motor 2 452 is used to drive the bidirectional threaded rod 453 to rotate, and under the action of the bidirectional threaded rod 453, the two moving blocks 2 454 are driven to move toward the opposite surface direction, and then under the action of the moving blocks 2 454, the two limit frames 464 are driven to move toward the substrate. When the two limit frames 464 move to a certain position, the substrate applies a force to the sub-plate 4664, driving the sub-plate 4664 to move toward the main plate 4661, and then drives the spring 4663 to contract. When the sub-plate 466 After the pressure sensor 4662 contacts the pressure sensor 4662, the pressure sensor 4662 transmits data to the controller, so that the motor 2 452 can stop running. Then, the vacuum pump 461 is controlled by the controller to run, and the air in the inner cavity of the suction cup 465 can be extracted by the cooperation of the air pipe 462 and the electromagnetic valve 463. Then, the substrate can be adsorbed and fixed by a plurality of suction cups 465. Then, the electric telescopic rod 42 is controlled by the controller to run, and the electric telescopic rod 42 can be used to drive the connecting block 2 44 to move upward, so that the second moving assembly 45 and the grabbing assembly 46 can be driven to rise together. Then, the motor 1 33 is controlled by the controller to run, and the cooperation of the motor 1 33 and the screw 32 is used to drive the moving block 1 34 to move, so that the feeding assembly 4 can be driven to move above the clamping assembly 5.

[0048] Example 4

[0049] like Fig.10As shown, on the basis of Example 1, the utility model provides a technical solution: preferably, the clamping assembly 5 includes a support plate 1 51 and a support plate 2 53, the lower end of the support plate 1 51 and the lower end of the support plate 2 53 are both fixedly connected to the upper end of the support platform 1, the side of the support plate 1 51 away from the support plate 2 53 is fixedly connected with an electric push rod 52, the opposite surfaces of the support plate 1 51 and the support plate 2 53 are commonly fixedly connected with two guide rods 2 58, the two guide rods 2 58 are commonly slidably connected with a clamping block 57, the telescopic rod of the electric push rod 52 is fixedly connected to the clamping block 57, the side of the support plate 2 53 close to the clamping block 57 is fixedly connected with a connecting block 4 54, the upper end of the connecting block 4 54 is fixedly connected with a connecting block 55, and the upper end of the connecting block 55 is fixedly connected with a plurality of positioning bolts 1 56.

[0050] In this embodiment, after the substrate is moved to above the clamping assembly 5, the controller is then used to control the electric telescopic rod 42 to operate, and then the above steps are repeated to drive the second moving assembly 45 and the grabbing assembly 46 to move downward. After the grabbing assembly 46 moves to a certain position, the substrate contacts the upper end of the connecting block 55 and stops descending. Then the vacuum pump 461 is stopped to stop the suction cup 465 from adsorbing the substrate. Then the controller is used to control the electric push rod 52 to operate, and the telescopic rod of the electric push rod 52 is used to push the clamping block 57 to move toward the substrate. Then, with the cooperation of the clamping block 57 and the plurality of positioning bolts 56, the substrate can be positioned and fixed. Then the motor 2 452 is operated, and the cooperation of the motor 2 452 and the bidirectional threaded rod 453 drives the two moving blocks 2 454 to move in a direction away from each other, so that the two After the limit frames 464 move a certain distance so that the two limit frames 464 will not collide with the substrate during the rising process, the electric telescopic rod 42 is operated to drive the connecting block 2 44 to rise and reset, and then the second moving component 45 and the grabbing component 46 can be driven to rise and reset under the action of the connecting block 2 44, and then the first moving component 3 is used to drive the loading component 4 to move and reset, so as to avoid the loading component 4 staying above the substrate and affecting the processing of the substrate by the processing device. When the processing device completes the processing of the substrate, the clamping component 5 releases the position limit of the substrate, and then the loading component 4 is grabbed by the loading component 4, and then the first moving component 3 and the loading component 4 cooperate to transport the processed substrate to the storage box, and then repeat the above steps to grab and transport the new substrate.

[0051] The working principle of the highly stable ultra-package substrate automatic loading device is described in detail below.

[0052] like Figure 1-11As shown, when the substrate needs to be loaded, the substrate to be processed is first arranged by the vibration plate 2, and then transported to the rubber block 63, and then the position of the substrate transported to the rubber block 63 can be limited by the positioning bolt 2 64, and then the motor 1 33 is controlled by the controller to operate, and the output end of the motor 1 33 is used to drive the screw 32 to rotate, and then the moving block 1 34 is driven to move toward the substrate under the action of the screw 32, and the loading assembly 4 can be driven to move toward the substrate through the moving block 1 34;

[0053] After the first moving component 3 moves the feeding component 4 to the position above the substrate, the controller controls the electric telescopic rod 42 to operate, and the electric telescopic rod 42 is used to drive the second moving component 45 and the grabbing component 46 to move downward, and then the controller controls the motor 2 452 to operate, and the motor 2 452 is used to drive the bidirectional threaded rod 453 to rotate, and under the action of the bidirectional threaded rod 453, the two moving blocks 2 454 are driven to move toward the opposite surface direction, and then under the action of the moving block 2 454, the two limit frames 464 are driven to move toward the substrate. When the two limit frames 464 move to a certain position, the substrate will apply a force to the sub-plate 4664, driving the sub-plate 4664 to move toward the main plate 4661, and then drive the spring 4663 to contract. When the sub-plate 4664 and the pressure After the sensor 4662 makes contact, the data is transmitted to the controller through the pressure sensor 4662, so that the motor 2 452 can stop running, and then the vacuum pump 461 is controlled by the controller to run, and the air in the inner cavity of the suction cup 465 can be extracted by the cooperation of the air pipe 462 and the solenoid valve 463, and then the substrate can be adsorbed and fixed by a number of suction cups 465, and then the electric telescopic rod 42 is controlled by the controller to run, and the electric telescopic rod 42 can be used to drive the connecting block 2 44 to move upward, so that the second moving component 45 and the grabbing component 46 can be driven to rise together, and then the motor 1 33 is controlled by the controller to run, and the cooperation of the motor 1 33 and the screw 32 is used to drive the moving block 1 34 to move, so that the loading component 4 can be driven to move above the clamping component 5;

[0054] After the substrate is moved to above the clamping assembly 5, the controller is then used to control the electric telescopic rod 42 to operate, and then the above steps are repeated to drive the second moving assembly 45 and the grabbing assembly 46 to move downward. After the grabbing assembly 46 moves to a certain position, the substrate stops descending after contacting the upper end of the connecting block 55, and then the vacuum pump 461 is stopped to stop the suction cup 465 from adsorbing the substrate. Then, the controller is used to control the electric push rod 52 to operate, and the telescopic rod of the electric push rod 52 is used to push the clamping block 57 to move toward the substrate. Then, with the cooperation of the clamping block 57 and the plurality of positioning bolts 56, the substrate can be positioned and fixed. Then, the motor 2 452 is operated, and through the cooperation of the motor 2 452 and the bidirectional threaded rod 453, the two moving blocks 2 454 are driven to move in a direction away from each other, so that the two limit frames After 464 moves a certain distance so that the two limit frames 464 will not collide with the substrate during the rising process, the electric telescopic rod 42 is operated to drive the connecting block 2 44 to rise and reset, and then the second moving component 45 and the grabbing component 46 can be driven to rise and reset under the action of the connecting block 2 44, and then the first moving component 3 is used to drive the loading component 4 to move and reset, so as to avoid the loading component 4 staying above the substrate and affecting the processing of the substrate by the processing device. When the processing device completes the processing of the substrate, the clamping component 5 releases the position limit of the substrate, and then the loading component 4 is grabbed by the loading component 4, and then the first moving component 3 and the loading component 4 cooperate to transport the processed substrate to the storage box, and then repeat the above steps to grab and transport the new substrate.

[0055] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. An automatic loading device for ultra-high stability ultra-package substrates, comprising a support table (1) and a vibration plate (2); characterized in that: A first moving assembly (3) is fixedly connected to one side of the upper end of the support platform (1), a clamping assembly (5) is fixedly connected to the middle of the upper end of the support platform (1), a loading assembly (4) is arranged on one side of the first moving assembly (3), the loading assembly (4) is used to clamp the base, the loading assembly (4) comprises a connecting block 1 (41), a lifting rod (43) is symmetrically slidably connected to the middle of the connecting block 1 (41), the lower ends of the two lifting rods (43) are fixedly connected to a connecting block 2 (44), the The second moving assembly (45) is fixedly connected to the side of the connecting block 2 (44) away from the first moving assembly (3); the side of the connecting block 1 (41) away from the first moving assembly (3) is fixedly connected to an electric telescopic rod (42); the electric telescopic rod (42) is fixedly connected to the connecting block 2 (44); the second moving assembly (45) is fixedly connected to a grabbing assembly (46); and the side of the supporting platform (1) close to the vibration plate (2) is fixedly connected to a placing platform assembly (6) used in conjunction with the vibration plate (2).

2. The highly stable ultra-package substrate automatic loading device according to claim 1, characterized in that: The first moving assembly (3) comprises a support frame (31), the lower end of the support frame (31) is fixedly connected to the upper end of the support platform (1), the upper part of the support frame (31) close to the feeding assembly (4) is rotatably connected to a screw rod (32), one side of the support frame (31) is fixedly connected to a motor (33), the output end of the motor (33) is fixedly connected to the screw rod (32), the upper part of the support frame (31) is fixedly connected to a guide rod (35), the screw rod (32) is threadedly connected to a moving block (34), the moving block (34) is slidably connected to the guide rod (35), and the side of the moving block (34) close to the connecting block (41) is fixedly connected to the connecting block (41).

3. The highly stable ultra-package substrate automatic loading device according to claim 1, characterized in that: The second moving component (45) includes a connecting block three (451), one side of the connecting block three (451) is fixedly connected to a motor two (452), the inner cavity of the connecting block three (451) is rotatably connected to a bidirectional threaded rod (453), the output end of the motor two (452) is fixedly connected to the bidirectional threaded rod (453), the outer surface of the bidirectional threaded rod (453) is threadedly connected to two moving blocks two (454), and the side of the connecting block two (44) close to the connecting block three (451) is fixedly connected to the connecting block three (451).

4. The highly stable ultra-package substrate automatic loading device according to claim 3, characterized in that: The gripping assembly (46) comprises a vacuum pump (461), the side of the connection block three (451) close to the vacuum pump (461) is fixedly connected to the vacuum pump (461), the lower end of the vacuum pump (461) is symmetrically fixedly connected to an air pipe (462), the side of the air pipe (462) away from the vacuum pump (461) is fixedly connected to an electromagnetic valve (463), the sides of the two electromagnetic valves (463) close to each other are fixedly connected to a limit frame (464), the bottom wall of the inner cavity of the limit frame (464) is fixedly connected to a plurality of suction cups (465), the electromagnetic valve (463) and the plurality of suction cups (465) are fixedly connected together, and the inner cavity of the limit frame (464) is fixedly connected to a buffer assembly (466).

5. The highly stable ultra-package substrate automatic loading device according to claim 4, characterized in that: The buffer assembly (466) includes a main board (4661) and a sub-board (4664), the main board (4661) is fixedly connected to the inner cavity of the limit frame (464), a pressure sensor (4662) is fixedly connected to the middle of the main board (4661), a side of the main board (4661) close to the sub-board (4664) is fixedly connected to a plurality of springs (4663), the plurality of springs (4663) are fixedly connected to the sub-board (4664), and the sub-board (4664) is made of rubber material.

6. The highly stable ultra-package substrate automatic loading device according to claim 1, characterized in that: The clamping assembly (5) comprises a support plate 1 (51) and a support plate 2 (53), the lower ends of the support plate 1 (51) and the lower ends of the support plate 2 (53) are both fixedly connected to the upper end of the support platform (1), the side of the support plate 1 (51) away from the support plate 2 (53) is fixedly connected with an electric push rod (52), the opposite surfaces of the support plate 1 (51) and the support plate 2 (53) are commonly fixedly connected with two guide rods 2 (58), the two guide rods 2 (58) are commonly slidably connected with a clamping block (57), the telescopic rod of the electric push rod (52) is fixedly connected to the clamping block (57), the side of the support plate 2 (53) close to the clamping block (57) is fixedly connected with a connecting block 4 (54), the upper end of the connecting block 4 (54) is fixedly connected with a connecting block 5 (55), and the upper end of the connecting block 5 (55) is fixedly connected with a plurality of positioning bolts 1 (56).

7. The highly stable ultra-package substrate automatic loading device according to claim 1, characterized in that: The placement table assembly (6) comprises a second support frame (61), the lower end of the second support frame (61) is fixedly connected to the upper end of the support table (1), the upper end of the second support frame (61) is fixedly connected to a connecting plate (62), the upper end of the connecting plate (62) is fixedly connected to a rubber block (63), and the upper end of the rubber block (63) is symmetrically fixedly connected to a second positioning bolt (64).

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