Receiving tray carrying and receiving tray receiving mechanism

Abstract

The utility model discloses a material receiving tray carrying and material receiving mechanism, and relates to the technical field of semiconductor packaging testing. The utility model discloses a material receiving disc stacking loading and unloading table, a material receiving disc workbench and a material receiving disc carrying mechanism for carrying material receiving discs between the material receiving disc workbench and the material receiving disc stacking loading and unloading table. The material receiving disc stacking feeding and discharging table comprises an empty material receiving disc containing area, a low-quality chip material receiving disc containing area and a high-quality chip material receiving disc containing area. When the carrying mechanism descends, the carrying mechanism firstly moves downwards at a high speed and begins to descend in a decelerated mode when moving to the position detected by a sensor, time is saved, the situation that the carrying mechanism descends too fast to damage three-lap material receiving discs can be placed in a material receiving disc receiving area below is prevented, a material receiving disc carrying arm descends and has a resistance alarm function, and a material receiving workbench can move in the X direction and the Y direction; and two material receiving plates can be placed at the same time, and the device can be applied to a full-automatic test sorting machine.

Description

Technical Field

[0001] The utility model belongs to the technical field of semiconductor packaging and testing, and particularly relates to a receiving tray conveying and receiving tray receiving mechanism. Background Art

[0002] During the chip production and processing, in order to ensure the quality of the produced chip products, the chips need to be tested repeatedly. For batch testing, a large number of chips need to be carried on a receiving tray for transportation.

[0003] The existing method of transporting a large number of chips in batches involves loading chips of different qualities into different receiving trays, and also involves the rotation adjustment of the chips to be connected and transferred. The existing rotation adjustment of a single chip is inefficient; and the corresponding receiving tray transport mechanism uses a lifting mechanism, which may damage the receiving tray below due to the excessively fast lifting speed; therefore, in response to the above problems, the present technical solution provides a receiving tray transport and receiving tray receiving mechanism. Utility Model Content

[0004] The utility model provides a receiving tray conveying and receiving tray material mechanism, wherein three stacked receiving trays can be placed in the receiving area, the receiving tray conveying arm descends with a resistance alarm function, the receiving workbench can move in XY directions, and two receiving trays can be placed at the same time, and the device can be applied to a fully automatic testing and sorting machine, and solves the problems in the background technology.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model discloses a receiving tray conveying and receiving tray receiving mechanism, comprising a receiving tray stacking loading and unloading platform, a receiving tray working platform, and a receiving tray conveying mechanism for conveying the receiving tray between the receiving tray working platform and the receiving tray stacking loading and unloading platform;

[0007] The stacking loading and unloading platform of the receiving trays includes an empty receiving tray placement area, a low-quality chip receiving tray placement area, and a high-quality chip receiving tray placement area;

[0008] The receiving tray conveying mechanism comprises a receiving tray Y-direction moving module mounted on the bracket for driving the conveying arm to move in the Y direction, and a receiving tray Z-direction moving module slidably mounted on the receiving tray Y-direction moving module for driving the conveying arm to move in the Z direction;

[0009] The Z-direction moving module of the receiving tray includes a linear guide rail for guiding the transport arm to ascend when encountering resistance when descending; the transport arm is an L-shaped bracket mechanism, and the transport arm is slidably mounted on the linear guide rail for guiding the transport arm to ascend when encountering resistance when descending; a left hook claw and a right hook claw of the receiving tray for grabbing the receiving tray are respectively mounted on both sides of the transport arm; a position sensor for detecting whether the movement is obstructed is mounted on the Z-direction moving module of the receiving tray; a receiving tray limit block for preventing the receiving tray from sliding out laterally after grabbing the receiving tray is arranged on the front side of the transport arm;

[0010] The receiving tray workbench includes a receiving tray moving Y-axis module located on the bottom plate, a supporting platform slidably matched with the receiving tray moving Y-axis module, a receiving tray moving X-axis module installed on the supporting platform, a double receiving tray workbench slidably installed on the receiving tray moving X-axis module through a slider and used for loading high-quality new products and low-quality chips respectively, and a receiving tray rotating cylinder installed on the bottom plate through a bracket with a top lifting head facing the direction of the double receiving tray workbench.

[0011] Furthermore, a first photoelectric sensor for detecting whether there is a receiving tray in the empty material tray placement area is provided on the empty material tray placement area.

[0012] Furthermore, a second photoelectric sensor for detecting whether the height of the stacked and fully loaded receiving trays exceeds a limit is installed on the corner brackets of the low-quality chip receiving tray placement area and the high-quality chip receiving tray placement area.

[0013] Furthermore, the left hook claw and the right hook claw of the material receiving tray are arranged opposite to each other, and a hook linear guide rail for sliding cooperation of the left hook claw and the right hook claw of the material receiving tray is arranged on the upper part of the conveying arm, and a spring and a hook opening and closing cylinder respectively connected to the left hook claw and the right hook claw of the material receiving tray are fixedly installed in the middle position of the conveying arm, so that the left hook claw and the right hook claw of the material receiving tray move left and right under the action of the cylinder and the spring.

[0014] Furthermore, a position detection sensor is installed at the bottom of the front end of the transport arm via a mounting frame.

[0015] Furthermore, the side of the double receiving tray workbench is provided with an X-direction fixed positioning block for the receiving tray used as the X-direction positioning reference, a Y-direction fixed positioning block for the receiving tray used as the Y-direction positioning reference, an X-direction positioning push rod for the receiving tray installed on the supporting platform for pushing the X-direction positioning reference of the receiving tray under the action of the cylinder, a Y-direction positioning push rod for the receiving tray installed on the supporting platform for pushing the Y-direction positioning reference of the receiving tray under the action of the cylinder, and an X-direction positioning cylinder for the receiving tray installed on the supporting platform for pushing the push rod to perform X-direction positioning.

[0016] Furthermore, a third photoelectric sensor for detecting the presence or absence of a receiving tray is installed at the bottom of the double receiving tray workbench through a hollow hole.

[0017] Furthermore, the receiving tray moving X-axis module includes an X-axis linear guide rail for guiding; and a fourth photoelectric sensor for detecting the presence or absence of the receiving tray is provided at the front end of the transport arm.

[0018] Furthermore, a claw motion driving cylinder is provided at the bottom of the double material receiving tray workbench, a claw rocker arm slider mechanism connecting rod whose end is hingedly connected to the top lifting head of the claw motion driving cylinder to provide a connecting rod effect, and a claw hingedly installed on the side of the double material receiving tray workbench and serving as a rocker arm and used to fix the material receiving tray, and the bottom of the claw is hingedly connected to the claw rocker arm slider mechanism connecting rod.

[0019] Furthermore, a limit block is provided at the bottom of the double-receiving tray workbench to fix the sliding distance of the left and right sliders in the open position of the claws.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] (1) Double receiving trays, chips of different qualities can be loaded into different receiving trays;

[0022] (2) Rotation of the receiving tray. When the chip is placed in the receiving tray and a rotation angle is required, there is no need to rotate each chip one by one. The receiving tray only needs to be rotated once, which greatly improves efficiency. There is no need to arrange a separate chip rotation station on the rotating table.

[0023] (3) When the transport mechanism descends, it first moves downward at a relatively high speed, and then begins to decelerate and descend when it reaches the position detected by the sensor, which saves time and prevents the transport mechanism from descending too quickly and damaging the receiving tray below;

[0024] (4) High handling efficiency: The handling arm moves the empty receiving trays in the stacking area to the double receiving tray workbench. On the workbench, the receiving trays are positioned by the XY positioning cylinders, and the positioning blocks are pushed to position the receiving trays. Then the claws are closed to fix the receiving trays. After the high-quality chip receiving tray or the low-quality chip receiving tray is filled with chips, the handling arm moves the filled receiving trays to the high-quality chip receiving tray storage area and the low-quality chip receiving tray storage area respectively.

[0025] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0027] Figure 1 This is a structural schematic diagram of a receiving tray transport and receiving tray receiving mechanism of the utility model;

[0028] Figure 2 for Figure 1 Structural diagram of the loading and unloading platform with stacked center material trays;

[0029] Figure 3 for Figure 1 Structural schematic diagram of the center receiving tray handling mechanism;

[0030] Figure 4 for Figure 3 Structural cross-sectional view of

[0031] Figure 5 for Figure 1 Structural diagram of the center receiving tray workbench;

[0032] Figure 6 for Figure 5 Structural diagram of the middle double-receiving tray workbench;

[0033] Figure 7 for Figure 6 A side view of the structure;

[0034] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0035] 1- Material tray stacking loading and unloading table, 2- Material tray handling mechanism, 3- Material tray workbench, 4- Empty material tray placement area, 5- Low-quality chip material tray placement area, 6- High-quality chip material tray placement area, 7- First photoelectric sensor, 8- Second photoelectric sensor, 9- Material tray Y-direction moving module, 10- Material tray Z-direction moving module, 11- Position sensor, 12- Material tray limit block, 13- Fourth photoelectric sensor, 14- Handling arm descends and encounters resistance to rise guide linear guide rail, 15- Left hook of the material tray, 16-Hook opening and closing cylinder, 17-Hook linear guide rail, 1 8-right hook of receiving tray, 19-position detection sensor, 20-X-direction module for receiving tray movement, 21-double receiving tray workbench, 22-receiving tray rotating cylinder, 23-Y-direction module for receiving tray movement, 24-X-direction fixed positioning block of receiving tray, 25-Y-direction positioning push rod for receiving tray, 26-Y-direction fixed positioning block of receiving tray, 27-X-direction positioning push rod for receiving tray, 28-X-direction positioning cylinder for receiving tray, 29-third photoelectric sensor, 30-X-direction linear guide, 31-connecting rod of claw rocker slider mechanism, 32-claw, 33-limiting block 34-claw movement driving cylinder. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0037] In the description of the present invention, it should be understood that terms such as "up and down", "front side", "upper", "front end", and "bottom" indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0038] See also Figure 1-7 As shown, a receiving tray conveying and receiving tray receiving mechanism of the utility model comprises a receiving tray stacking loading and unloading platform 1, a receiving tray working platform 3, and a receiving tray conveying mechanism 2 for conveying the receiving tray between the receiving tray working platform 3 and the receiving tray stacking loading and unloading platform 1;

[0039] The receiving tray stacking loading and unloading platform 1 includes an empty receiving tray placement area 4, a low-quality chip receiving tray placement area 5, and a high-quality chip receiving tray placement area 6;

[0040] The receiving tray conveying mechanism 2 includes a receiving tray Y-direction moving module 9 mounted on a bracket for driving a conveying arm to move in the Y direction, and a receiving tray Z-direction moving module 10 slidably mounted on the receiving tray Y-direction moving module 9 for driving the conveying arm to move in the Z direction;

[0041] The receiving tray Z-direction moving module 10 includes a linear guide rail 14 for guiding the transport arm to ascend when encountering resistance when descending; the transport arm is an L-shaped bracket mechanism, and the transport arm is slidably mounted on the linear guide rail 14 for guiding the transport arm to ascend when encountering resistance when descending; a left hook 15 and a right hook 18 for the receiving tray are respectively mounted on both sides of the transport arm for grabbing the receiving tray; a position sensor 11 for detecting whether the movement is blocked is mounted on the receiving tray Z-direction moving module 10; a receiving tray limit block 12 is arranged on the front side of the transport arm for preventing the receiving tray from sliding out laterally after grabbing the receiving tray;

[0042] The receiving tray workbench 3 includes a receiving tray moving Y-axis module 23 located on the bottom plate, a supporting platform slidably fitted on the receiving tray moving Y-axis module 23, a receiving tray moving X-axis module 20 installed on the supporting platform, a double receiving tray workbench 21 slidably installed on the receiving tray moving X-axis module 20 through a slider and used for loading high-quality new products and low-quality chips respectively, and a receiving tray rotating cylinder 22 installed on the bottom plate through a bracket with the top lifting head facing the direction of the double receiving tray workbench 21.

[0043] Wherein, a first photoelectric sensor 7 for detecting whether there is a receiving tray in the empty material tray placement area 4 is arranged.

[0044] Among them, the corner brackets of the low-quality chip receiving tray placement area 5 and the high-quality chip receiving tray placement area 6 are installed with second photoelectric sensors 8 for detecting whether the height of the stacked full receiving trays exceeds the limit.

[0045] Among them, the left hook claw 15 and the right hook claw 18 of the material receiving tray are arranged opposite to each other, and a hook linear guide rail 17 for sliding cooperation of the left hook claw 15 and the right hook claw 18 of the material receiving tray is arranged on the upper part of the conveying arm, and a spring and a hook opening and closing cylinder 16 respectively connected with the left hook claw 15 and the right hook claw 18 of the material receiving tray are fixedly installed in the middle position of the conveying arm, so that the left hook claw 15 and the right hook claw 18 of the material receiving tray can move left and right under the action of the cylinder and the spring.

[0046] Among them, a position detection and beam sensor 19 is installed at the front bottom of the transport arm through a mounting frame.

[0047] Among them, the side of the double receiving tray workbench 21 is provided with an X-direction fixed positioning block 24 of the receiving tray used as the X-direction positioning reference, a Y-direction fixed positioning block 26 of the receiving tray used as the Y-direction positioning reference, an X-direction positioning push rod 27 of the receiving tray installed on the supporting platform for pushing the X-direction positioning reference of the receiving tray under the action of the cylinder, a Y-direction positioning push rod 25 of the receiving tray installed on the supporting platform for pushing the Y-direction positioning reference of the receiving tray under the action of the cylinder, and an X-direction positioning cylinder 28 of the receiving tray installed on the supporting platform for pushing the push rod to perform X-direction positioning on the push tray.

[0048] Among them, a third photoelectric sensor 29 for detecting the presence or absence of a receiving tray is installed at the bottom of the double receiving tray workbench 21 through a hollow hole.

[0049] The receiving tray moving X-axis module 20 includes an X-axis linear guide rail 30 for guiding; a fourth photoelectric sensor 13 for detecting the presence or absence of the receiving tray is arranged at the front end of the transport arm.

[0050] Among them, a claw movement driving cylinder 34 is provided at the bottom of the double-receiving tray workbench 21, a claw rocker arm slider mechanism connecting rod 31 whose end is hingedly connected to the top lifting head of the claw movement driving cylinder 34 to provide a connecting rod effect, and a claw 32 is hingedly installed on the side of the double-receiving tray workbench 21 and serves as a rocker arm and is used to fix the receiving tray. The bottom of the claw 32 is hingedly connected to the claw rocker arm slider mechanism connecting rod 31.

[0051] Among them, a limit block 33 is provided at the bottom of the double-receiving tray workbench 21 to fix the sliding distance of the left and right sliders when the claws 32 are in the open position.

[0052] like Figure 1 As shown, it is the general assembly diagram of the receiving tray loading and unloading mechanism. The receiving tray stacking loading and unloading platform 1 is the loading and unloading area; the receiving tray conveying mechanism 2 is used to convey the receiving tray between the receiving tray worktable and the receiving tray stacking loading and unloading platform; the receiving tray worktable 3 is an XY movable + rotating double receiving tray worktable. The XY movable can ensure that the chip can be placed in each matrix pit of the receiving tray. When the chip is transported to the top of the receiving tray, if there is a direction requirement for the chip placed in the receiving tray, the worktable can be rotated to meet this requirement.

[0053] As attached Figure 2 The figure shows a loading and unloading platform for stacked receiving trays; the empty receiving tray placement area 4 is used to place receiving trays that have not been loaded with chips; the low-quality chip receiving tray placement area 5 is used to place receiving trays full of low-quality chips; the high-quality chip receiving tray placement area 6 is used to place receiving trays full of high-quality chips; the first photoelectric sensor 7 is an empty receiving tray detection sensor, which is used to detect whether there is a receiving tray in the empty receiving tray placement area; the second photoelectric sensor 8 is a full-load detection sensor for the receiving tray unloading area, which is used to detect whether the height of the stacked full receiving trays exceeds the limit.

[0054] As attached Figure 3 The figure shows the receiving tray handling mechanism, the receiving tray Y-direction moving module 9, which is used to drive the handling arm to move in the Y direction; the receiving tray Z-direction moving module 10, which drives the handling arm to move in the Z direction; the position sensor 11 is a sensor for detecting the obstruction of the movement of the receiving tray grabbing arm. When the Z is pressed downward and encounters a set resistance (the resistance will not damage the handling arm), the equipment will alarm in advance and stop the downward movement of the handling arm to avoid greater downward pressure causing damage to the mechanism; the receiving tray limit block 12 is used to prevent the receiving tray from sliding sideways after grabbing the receiving tray; the fourth photoelectric sensor 13 is a sensor for detecting whether there is a receiving tray on the receiving tray grabbing arm, which is used to detect whether there is a receiving tray on the handling arm;

[0055] As attached Figure 4 The figure shows the material receiving tray handling mechanism. The linear guide rail 14 is the guiding linear guide rail for the lifting of the material receiving tray when the carrying arm encounters resistance when descending. The driving force for the descent of the carrying arm is its own gravity. When the carrying arm encounters resistance when descending, the carrying arm will automatically rise along the linear guide rail until it encounters resistance and rises to the position detection sensor; the left hook claw 15 of the material receiving tray can move left and right under the action of the cylinder and the spring; the hook claw opening and closing cylinder 16 is used to push the structure to open; the hook claw linear guide rail 17 is used to guide the left and right movement of the hook claw; the right hook claw 18 of the material receiving tray can move left and right under the action of the cylinder and the spring; the position detection shooting sensor 19 is the starting position detection shooting sensor for the lifting and deceleration of the material receiving tray: during the descent of the carrying arm, the sensor will detect the highest point of the stacked material receiving tray in advance, and then the carrying arm begins to decelerate to a very slow speed to prevent excessive collision during the descent of the material receiving tray;

[0056] As attached Figure 5 The figure shows a receiving tray workbench, a receiving tray moving X-direction module 20, which is used to drive the receiving tray to move in the X direction; a double receiving tray workbench 21, one receiving tray on the workbench is used to load high-quality chips, and the other receiving tray is used to load low-quality chips; a receiving tray rotating cylinder 22 is used to drive the double receiving tray workbench to rotate; a receiving tray moving Y-direction module 23, which is used to drive the receiving tray to move in the Y direction;

[0057] As attached Figure 6 The figure shows a double receiving tray workbench, with a receiving tray X-direction fixed positioning block 24, which is used as the X-direction positioning reference when the receiving tray is automatically positioned; a receiving tray Y-direction positioning push rod 25, which can push the receiving tray Y-direction toward the Y-direction positioning reference under the action of the cylinder; a receiving tray Y-direction fixed positioning block 26, which is used as the Y-direction positioning reference when the receiving tray is automatically positioned; a receiving tray X-direction positioning push rod 27, which can push the receiving tray X-direction toward the X-direction positioning reference under the action of the cylinder; a receiving tray X-direction positioning cylinder 28, on which a positioning push rod is installed; a third photoelectric sensor 29 is used to detect whether there is a receiving tray on the workbench.

[0058] As attached Figure 7 The figure shows a side view of a double receiving tray workbench, in which a rocker slider mechanism is used to fix the receiving tray's clamping claws, and an X-axis linear guide 30 is used for guidance; a connecting rod 31 of the clamping claw rocker slider mechanism; 32 a clamping claw (rocker slider): used to fix the receiving tray; a limit block for fixing the open position of the clamping claw 33; used to fix the sliding distance of the left and right sliders after the clamping claws are opened.

[0059] Technical advantages include:

[0060] (1) Double receiving trays, chips of different qualities can be loaded into different receiving trays.

[0061] (2) The receiving tray rotates. When the chip is placed in the receiving tray and a rotation angle is required, there is no need to rotate each chip one by one. The receiving tray only needs to be rotated once, which greatly improves efficiency. There is no need to arrange a separate chip rotation station on the rotating table.

[0062] (3) When the transport mechanism descends, it first moves downward at a relatively high speed, and then begins to decelerate and descend when it reaches the position detected by the sensor. This saves time and prevents the transport mechanism from descending too quickly and damaging the receiving tray below.

[0063] The working process is as follows:

[0064] The transport arm transports the receiving trays in the empty receiving tray stacking area to the double receiving tray workbench. On the workbench, the receiving trays are positioned by the XY positioning cylinders, pushing the positioning blocks to position the receiving trays, and then the claws are closed to fix the receiving trays. After the high-quality chip receiving tray or the low-quality chip receiving tray is full of chips, the transport arm transports the filled receiving trays to the high-quality chip receiving tray storage area and the low-quality chip receiving tray storage area respectively.

[0065] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A receiving tray transport and receiving tray receiving mechanism, characterized in that: It comprises a receiving tray stacking loading and unloading platform (1), a receiving tray working platform (3), and a receiving tray transporting mechanism (2) for transporting the receiving tray between the receiving tray working platform (3) and the receiving tray stacking loading and unloading platform (1); The stacked loading and unloading platform (1) for receiving trays comprises an empty receiving tray placement area (4), a low-quality chip receiving tray placement area (5), and a high-quality chip receiving tray placement area (6); The receiving tray conveying mechanism (2) comprises a receiving tray Y-direction moving module (9) mounted on a bracket and used for driving a conveying arm to move in a Y direction, and a receiving tray Z-direction moving module (10) slidably mounted on the receiving tray Y-direction moving module (9) and used for driving the conveying arm to move in a Z direction; The receiving tray Z-direction moving module (10) comprises a linear guide rail (14) for guiding the transport arm to ascend when encountering resistance when descending; the transport arm is an L-shaped bracket mechanism, and the transport arm is slidably mounted on the linear guide rail (14) for guiding the transport arm to ascend when encountering resistance when descending; a left hook (15) and a right hook (18) for grabbing the receiving tray are respectively mounted on both sides of the transport arm; a position sensor (11) for detecting whether movement is obstructed is mounted on the receiving tray Z-direction moving module (10); a receiving tray limit block (12) for preventing the receiving tray from sliding out laterally after grabbing the receiving tray is disposed on the front side of the transport arm; The receiving tray workbench (3) comprises a receiving tray moving Y-direction module (23) located on a bottom plate, a supporting platform slidably matched with the receiving tray moving Y-direction module (23), a receiving tray moving X-direction module (20) mounted on the supporting platform, a double receiving tray workbench (21) slidably mounted on the receiving tray moving X-direction module (20) via a slider and used for loading high-quality new products and low-quality chips respectively, and a receiving tray rotating cylinder (22) mounted on the bottom plate via a bracket with the top lifting head facing the direction of the double receiving tray workbench (21).

2. A receiving tray transport and receiving tray receiving mechanism according to claim 1, characterized in that: The empty material tray placement area (4) is provided with a first photoelectric sensor (7) for detecting whether there is a material tray in the empty material tray placement area (4).

3. A receiving tray transport and receiving tray receiving mechanism according to claim 1, characterized in that: A second photoelectric sensor (8) for detecting whether the height of the stacked and fully loaded receiving trays exceeds a limit is installed on the corner brackets of the low-quality chip receiving tray placement area (5) and the high-quality chip receiving tray placement area (6).

4. A receiving tray transport and receiving tray material receiving mechanism according to claim 1, characterized in that: The left hook claw (15) and the right hook claw (18) of the receiving tray are arranged opposite to each other, and a hook claw linear guide rail (17) for slidingly cooperating with the left hook claw (15) and the right hook claw (18) of the receiving tray is arranged on the upper part of the conveying arm, and a spring and a hook claw opening and closing cylinder (16) respectively connected with the left hook claw (15) and the right hook claw (18) of the receiving tray are fixedly installed in the middle position of the conveying arm, so that the left hook claw (15) and the right hook claw (18) of the receiving tray can move left and right under the action of the cylinder and the spring.

5. A receiving tray transport and receiving tray material receiving mechanism according to claim 1, characterized in that: A position detection and shooting sensor (19) is installed at the front end bottom of the transport arm via a mounting frame.

6. A receiving tray transport and receiving tray material receiving mechanism according to claim 1, characterized in that: The side of the double receiving tray workbench (21) is provided with a receiving tray X-direction fixed positioning block (24) used as a positioning reference in the X direction, a receiving tray Y-direction fixed positioning block (26) used as a positioning reference in the Y direction, a receiving tray X-direction positioning push rod (27) installed on the supporting platform for pushing the receiving tray to move the X-direction positioning reference under the action of the cylinder, a receiving tray Y-direction positioning push rod (25) installed on the supporting platform for pushing the receiving tray to move the Y-direction positioning reference under the action of the cylinder, and a receiving tray X-direction positioning cylinder (28) installed on the supporting platform for pushing the pushing tray to perform X-direction positioning.

7. A receiving tray transport and receiving tray material receiving mechanism according to claim 6, characterized in that: A third photoelectric sensor (29) for detecting the presence or absence of a material receiving tray is installed through a hollow hole at the bottom of the double material receiving tray workbench (21).

8. A receiving tray transport and receiving tray material receiving mechanism according to claim 1, characterized in that: The receiving tray moving X-direction module (20) comprises an X-direction linear guide rail (30) for guiding; and a fourth photoelectric sensor (13) for detecting the presence or absence of the receiving tray is arranged at the front end of the transport arm.

9. A receiving tray transport and receiving tray material receiving mechanism according to claim 1, characterized in that: The bottom of the double-receiving tray workbench (21) is provided with a claw movement driving cylinder (34), a claw swing arm slider mechanism connecting rod (31) whose end is hingedly connected to the top lifting head of the claw movement driving cylinder (34) to provide a connecting rod function, and a claw (32) hingedly installed on the side of the double-receiving tray workbench (21) and serving as a swing arm and used to fix the receiving tray, and the bottom of the claw (32) is hingedly connected to the claw swing arm slider mechanism connecting rod (31).

10. A receiving tray transport and receiving tray material receiving mechanism according to claim 9, characterized in that: A limit block (33) for fixing the sliding distance of the left and right slide blocks at the open position of the gripping claws (32) is provided at the bottom of the double-receiving tray workbench (21).

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