2D (two-dimensional) and 3D (three-dimensional) visual inspection system for DB (chip) and WB (gold wire) and tray conveying mechanism of 2D and 3D visual inspection system

Abstract

The utility model relates to the field of visual inspection, and discloses a 2D and 3D visual inspection system for a chip DB and a gold thread WB and a tray conveying mechanism of the 2D and 3D visual inspection system. The charging tray conveying mechanism comprises a fixed conveying frame (501) and a movable conveying frame (502) capable of moving towards or away from the fixed conveying frame (501), the fixed conveying frame (501) and the movable conveying frame (502) are each provided with a charging tray edge supporting table (505), and the charging tray edge supporting table (505) on a fixed track plate (503) and the charging tray edge supporting table (505) on a movable track plate (504) jointly form a charging tray conveying track (51); and a tray suction plate (8) which can move up and down and is used for sucking trays on the tray conveying track (51) is arranged at the lower part of the tray conveying track (51). According to the utility model, under the action of the tray suction plate, the tray can be ensured to be completely fixed and flat without deformation in the detection process, so that the stability and the position accuracy of a detected piece in the detection process can be effectively ensured.

Description

Technical Field

[0001] The utility model relates to the field of vision detection, in particular to a 2D and 3D vision detection system for chip DB and wire bond WB and its tray conveying mechanism. Background Art

[0002] DB is the abbreviation of "Die Bond", which means die bonding. Die bonding is to bond the die to the Lead Frame, which can be understood as bonding the chip to the PCB board or other substrates through glue. WB is the abbreviation of "Wire Bond", which means wire bonding. Wire bonding is to connect wires on the die, which can be understood as connecting the chip and the PCB through gold wires or aluminum wires by equipment. These are two processes in the front-end of semiconductor packaging and testing.

[0003] DB and WB need to be tested to determine whether the products are qualified. In the prior art, automated detection for DB and WB is provided. For example, the patent application document with the publication number CN 113075231 A discloses an automated intelligent detection method and system for chip DB and wire bond WB, which can use artificial intelligence methods to simulate the operations of inspectors, realize automatic movement, automatic data collection, and automatic measurement of results.

[0004] For the most important detection mechanism part in this type of detection system, the smoothness and position accuracy of the detected parts during the conveying process on the tray conveying mechanism will directly affect the detection results. Therefore, how to ensure the smoothness and accurate position of the detected parts during the detection process on the conveying mechanism is a technical problem to be solved urgently. Summary of the Utility Model

[0005] The utility model aims at the problem of how to improve the smoothness and position accuracy of the detected parts during the detection process in the vision detection mechanism for chip DB and wire bond WB, and provides a 2D and 3D vision detection system for chip DB and wire bond WB and its tray conveying mechanism.

[0006] In order to solve the above technical problems, the utility model is solved by the following technical solutions:

[0007] The tray conveying mechanism includes a fixed conveying frame and a movable conveying frame that can move towards or away from the fixed conveying frame. The fixed conveying frame and the movable conveying frame respectively include a fixed track plate and a movable track plate. The fixed track plate and the movable track plate are arranged in parallel, and the upper ends of the opposite sides are respectively provided with tray edge supports. The tray edge supports on the fixed track plate and the tray edge supports on the movable track plate together form a tray conveying track. A tray suction plate that can move up and down is arranged below the tray conveying track for sucking the tray on the tray conveying track.

[0008] Preferably, track guiding plates are provided at the inlet and outlet ends of the fixed track plate and the movable track plate on the tray conveying track. The side surface of the track guiding plate is configured with an upper limit platform on the edge of the tray located above the edge support platform of the tray. The lower end surfaces of the edge support platform of the tray and the upper limit platform on the edge of the tray jointly form an edge guiding groove of the tray. The setting of the track guiding plate can accurately guide the pushed tray onto the edge support platform of the tray. And under the combined action of the track guiding plate and the tray suction plate, it can ensure that the tray is completely fixed and flat without deformation during the detection process, guaranteeing the accuracy of the detection result.

[0009] Preferably, the lower end surface of the upper limit platform on the edge of the tray includes a horizontal limit surface parallel to the edge support platform of the tray and an inclined guiding surface provided at the starting end of the horizontal limit surface. The setting of the inclined guiding surface can accurately guide the pushed tray onto the edge support platform of the tray.

[0010] Preferably, it further includes a movable jaw for clamping the edge of the tray and capable of moving along the length direction of the tray conveying track. The movable jaw includes two clamping plates capable of relative movement. On the one hand, the movable jaw realizes the transportation of the tray between two detection positions. On the other hand, it also has the function of clamping and pushing the detected tray into an empty tray.

[0011] Preferably, the movable jaw is arranged on the side of the fixed conveying frame. It further includes a jaw driving mechanism. The jaw driving mechanism includes a jaw linear motor module with its length direction arranged along the length direction of the tray conveying track. A jaw mounting seat is installed on the jaw linear motor module. The jaw mounting seat is provided with two oppositely arranged clamping plate mounting arms and a mounting arm driving cylinder capable of driving the clamping plate mounting arms to move along the width direction of the tray conveying track. The two clamping plates are respectively installed on the two clamping plate mounting arms and the two clamping plate mounting arms can move towards or away from each other.

[0012] Preferably, it further includes a conveying frame driving mechanism. The conveying frame driving mechanism includes a conveying frame driving motor, a conveying frame driving lead screw connected to the conveying frame driving motor, and a driving frame connected to the conveying frame driving lead screw. The driving frame is fixed on the movable conveying frame.

[0013] Preferably, the movable conveying frame further includes two movable support plates arranged at both ends of the movable track plate and used for supporting the movable track plate. The conveying frame driving mechanism further includes a support plate track provided under the movable support plate for the movable support plate to slide and a driving frame track provided under the driving frame for the driving frame to slide.

[0014] Preferably, it further includes a tray support assembly disposed between the fixed track plate and the movable track plate. The tray support assembly includes tray support rods capable of supporting the bottom of the tray on the tray conveying track, and the tray support rods can move along the width direction of the tray conveying track. The arrangement of the tray support rods can support the middle part of the tray and prevent inaccurate detection results caused by the middle part of the tray being sunken during the detection process.

[0015] Preferably, the length direction of the tray support rods is arranged along the length direction of the tray conveying track, and the upper end surface of the tray support rods is an arc surface. The arc surface of the tray support rods makes it in line contact with the tray, which can effectively prevent the tray support rods from scratching the tray.

[0016] A 2D and 3D vision detection system for chip DB and wire bonding WB, and the aforementioned tray conveying mechanism.

[0017] Due to the adoption of the above technical solutions, the utility model has remarkable technical effects:

[0018] Under the action of the tray suction plate, the tray of the utility model can ensure that the tray is completely fixed and flat without deformation during the detection process, and then can effectively ensure the stability and position accuracy of the detected parts during the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of Embodiment 1 of the utility model.

[0020] Figure 2 is Figure 1 a schematic structural diagram of the loading mechanism in the above.

[0021] Figure 3 is Figure 2 a schematic structural diagram of the cartridge transport rack in the above.

[0022] Figure 4 is Figure 3 a partial enlarged view of the above.

[0023] Figure 5 is Figure 2 a schematic structural diagram of the cartridge conveying mechanism in the above.

[0024] Figure 6 is Figure 5 a schematic structural diagram of the limit plate drive mounting rack in the above.

[0025] Figure 7 is Figure 5 a schematic structural diagram of the cartridge loading rack in the above.

[0026] Figure 8 is Figure 5 a schematic structural diagram of the tray pushing mechanism in the above.

[0027] Figure 9 is Figure 8 the schematic diagram of the lower structure.

[0028] Figure 10 is Figure 1 the schematic diagram of the structure of the middle tray detection mechanism.

[0029] Figure 11 is Figure 10 the schematic diagram of the structure of the 2D camera adjustment mechanism in the middle.

[0030] Figure 12 is Figure 10 the schematic diagram of the structure of the 3D camera adjustment mechanism in the middle.

[0031] Figure 13 is Figure 10 the schematic diagram of the structure of the middle tray conveying mechanism.

[0032] Figure 14 is Figure 13 the partial enlarged view of the fixed conveying frame or the movable conveying frame in the middle.

[0033] Figure 15 is Figure 14 the schematic diagram of the structure of the track guide plate in the middle.

[0034] Figure 16 is Figure 10 the schematic diagram of the structure of the jaw driving mechanism in the middle.

[0035] Figure 17 is Figure 10 the schematic diagram of the structure of the inkjet positioning mechanism in the middle. Specific embodiments

[0036] The present utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0037] Embodiment 1

[0038] This embodiment provides a 2D and 3D vision detection system for chip DB and wire bond WB. As Figures 1 - 17 shown, it includes a cartridge transplanting mechanism and a tray detection mechanism 3. The cartridge transplanting mechanism includes a loading mechanism 11 and an unloading mechanism 12. The tray detection mechanism 3 is arranged between the loading mechanism 11 and the unloading mechanism 12.

[0039] As Figures 1 - 9As shown in the figure, the loading mechanism 11 and the unloading mechanism 12 both include a cassette loading and unloading rack 13 and a cassette transport rack 14 that are spaced apart in the horizontal direction. At the cassette loading and unloading rack 13, there are respectively a cassette loading position 101 and a cassette unloading position 102 that are spaced apart in the vertical direction. The cassette loading and unloading rack 13 includes a cassette conveying mechanism 17 provided at the cassette loading position 101. The cassette conveying mechanism 17 includes a cassette loading rack 105. The cassette loading and unloading rack 13 also includes a cassette unloading rack provided below the cassette loading rack 105. The cassette loading position 101 and the cassette unloading position 102 are respectively provided at the cassette loading rack 105 and the cassette unloading rack. Both the cassette loading position 101 and the cassette unloading position 102 are provided with a cassette placement groove 112 that is open at both the upper end and the end facing the cassette transport rack 14.

[0040] On the loading mechanism 11 and the unloading mechanism 12 and between the cassette loading and unloading rack 13 and the cassette transport rack 14, there are respectively formed a tray loading position 15 and a tray unloading position 16; at the cassette transport rack 14 in both the loading mechanism 11 and the unloading mechanism 12, there is provided a cassette gripping mechanism 104. The cassette gripping mechanism 104 can move in the vertical and horizontal directions to transport the cassette at the cassette loading position 101 to the tray unloading position 16 and to transport the cassette at the tray loading position 15 to the cassette unloading position 102.

[0041] In this embodiment, the cassette transport rack 14 includes a transport horizontal rack 201 and a transport vertical rack 202. The transport vertical rack 202 can move horizontally on the transport horizontal rack 201 towards or away from the cassette loading and unloading rack 13. The cassette gripping mechanism 104 includes a gripping claw mounting plate 203.

[0042] Among them, in order to realize the movement of the cassette gripping mechanism 104 in the vertical and horizontal directions, a vertical rack driving mechanism and a vertical rack movement slide rail 215 are provided on the transport horizontal rack 201, and a mounting plate driving mechanism is provided on the transport vertical rack 202.

[0043] Among them, the vertical rack driving mechanism includes a vertical rack driving motor 216 and a vertical rack driving lead screw 217 connected to the motor shaft of the vertical rack driving motor 216. The bottom of the transport vertical rack 202 is connected to the vertical rack driving lead screw 217 through a vertical rack driving nut. The vertical rack movement slide rail 215 is arranged on both sides of the vertical rack driving lead screw 217; the mounting plate driving mechanism includes a mounting plate driving motor 218 and a mounting plate driving lead screw 219 connected to the motor shaft of the mounting plate driving motor 218. The gripping claw mounting plate 203 is connected to the mounting plate driving lead screw 219 through a mounting plate driving nut.

[0044] In this embodiment, a movable gripping claw 204 and a fixed gripping claw 205 are installed on the gripping claw mounting plate 203 in an up-and-down arrangement. The movable gripping claw 204 can move towards or away from the fixed gripping claw 205. The gripping claw mounting plate 203 is installed on the transport vertical frame 202 and can perform vertical reciprocating motion on the transport vertical frame 202.

[0045] A movable gripping claw driving mechanism is further provided on the gripping claw mounting plate 203. The movable gripping claw driving mechanism includes a gripping claw driving cylinder 206 and a gripping claw slide rail 207 that are both vertically arranged. A gripping claw mounting seat 208 that is slidably connected to the gripping claw slide rail 207 is installed at the end of the piston rod of the gripping claw driving cylinder 206. The movable gripping claw 204 is fixed to the gripping claw mounting seat 208.

[0046] The fixed gripping claw 205 includes two parallel and spaced-apart supporting blocks 212. One end of the supporting block 212 is fixed to the gripping claw mounting plate 203, and the other end extends towards the cartridge transport rack 14. An L-shaped concave surface 213 for supporting the lower end of the cartridge is formed on the upper end surface of the extending end of the supporting block 212 towards the cartridge transport rack 14. A rubber pad 214 is provided at the end surface of the movable gripping claw 204 facing the fixed gripping claw 205.

[0047] During the process of gripping the cartridge by the cartridge gripping mechanism 104, first insert the lower fixed gripping claw 205 into the lower end surface of the cartridge, and then move the upper movable gripping claw 204 downward so that the rubber pad 214 presses against the upper surface of the tray. The rubber pad 214 can not only increase buffering, reduce wear, but also increase friction and improve the clamping stability. After the movable gripping claw 204 is clamped, under the combined action of the vertical frame driving mechanism and the mounting plate driving mechanism, first move the entire cartridge gripping mechanism 104 upward, and then move the cartridge out of the cartridge loading position 101 and move it to the tray discharging position 15 for single-piece tray discharging.

[0048] In addition, a hydraulic buffer 209 is further provided on the gripping claw mounting plate 203 at the end of the gripping claw slide rail 207. The hydraulic buffer 209 includes a buffer body 210 fixed to the gripping claw mounting plate 203 and a buffer piston rod 211 with one end disposed in the buffer body 210 and the other end facing the gripping claw mounting seat 208.

[0049] The buffer piston rod 211 can buffer and decelerate the movement of the gripping claw mounting seat 208 on the gripping claw slide rail 207, and is used for limiting when reaching the limit position to prevent the gripping claw mounting seat 208 from derailing or directly colliding with the tray rigidly when clamping the tray.

[0050] In this embodiment, the cartridge conveying mechanism 17 includes a cartridge conveying platform 106; on the cartridge loading rack 105, there are also an active cartridge limiting plate 107 and a fixed cartridge limiting plate 108 that are perpendicular to the cartridge conveying platform 106 and whose length direction is set along the cartridge conveying direction. The active cartridge limiting plate 107 and the fixed cartridge limiting plate 108 are arranged in parallel and can move towards or away from the fixed cartridge limiting plate 108. The active cartridge limiting plate 107, the fixed cartridge limiting plate 108, and the cartridge conveying platform 106 together form a cartridge placement groove 112. By setting the active cartridge limiting plate 107 and the fixed cartridge limiting plate 108, the adjustment of the width direction of the cartridge placement groove 112 can be realized, so that the cartridge placement groove 112 can be applicable to the conveying of cartridges with different models and widths, ensuring the running stability of the cartridge during the conveying process and the position and attitude accuracy of the cartridge when docking with the next working station.

[0051] In order to realize the movement of the active cartridge limiting plate 107, a limiting plate driving mechanism for driving the active cartridge limiting plate 107 to move is installed on the cartridge loading rack 105. The limiting plate driving mechanism includes a limiting plate driving motor 109 and a limiting plate driving lead screw 110 connected to the motor shaft of the limiting plate driving motor 109. The active cartridge limiting plate 107 is connected to the limiting plate driving lead screw 110 through a lead screw nut 111.

[0052] In order to better install the limiting plate driving mechanism, in this embodiment, a limiting plate driving mounting frame 113 for installing the limiting plate driving mechanism is installed on the cartridge loading rack 105. The limiting plate driving mounting frame 113 includes two mounting frame support plates 114 fixed at the edge of the cartridge conveying platform 106 and arranged in parallel with each other, and a mounting frame top plate 115 arranged on the tops of the two mounting frame support plates 114. The limiting plate driving mechanism is arranged on the mounting frame top plate 115.

[0053] On the mounting frame top plate 115, there are also limiting plate driving slide rails 116 arranged on both sides of the limiting plate driving lead screw 110. The top of the active cartridge limiting plate 107 is connected with a limiting plate driving seat 117. The limiting plate driving lead screw 110 is connected to the middle of the limiting plate driving seat 117. Both ends of the limiting plate driving seat 117 are provided with driving seat sliding grooves 118 that cooperate with the limiting plate driving slide rails 116 for sliding.

[0054] In this embodiment, in order to realize the automatic transportation of the cartridge on the cartridge conveying platform 106, a cartridge conveying belt 119 is provided at the cartridge conveying platform 106. The two ends of the cartridge conveying platform 106 along the conveying direction of the cartridge conveying belt 119 respectively form a cartridge inlet end 120 and a cartridge outlet end 121.

[0055] Among them, the cartridge loading rack 105 includes a loading rack bottom plate 122 and two loading rack side plates 123. The loading rack bottom plate 122 and the two loading rack side plates 123 together form a belt drive mechanism installation groove 124. A belt drive mechanism is installed in the belt drive mechanism installation groove 124. The belt drive mechanism includes a belt drive motor 125, a plurality of spaced belt input wheels 126 connected to the output shaft of the belt drive motor 125, and belt output wheels 127 arranged in one-to-one correspondence with the belt input wheels 126. The cartridge conveying belt 119 is installed between the belt input wheel and the corresponding belt output wheel 127. A belt extension groove 128 for the cartridge conveying belt 119 to extend is provided on the cartridge conveying platform 106. The upper end surface of the cartridge conveying belt 119 is higher than the upper end surface of the cartridge conveying platform 106.

[0056] And in order to ensure that the cartridge is in a stationary state when being grabbed, at least one cartridge baffle plate 129 is provided on the loading rack bottom plate 122 and at the cartridge outlet end 121. The cartridge baffle plate 129 is arranged between adjacent belt input wheels 126 so that the cartridge baffle plate 129 can intercept and stop the cartridge to be detected. In this state, the cartridge needs to be detected. Therefore, a cartridge code reader 4 capable of scanning the cartridges on the cartridge conveying platform 106 is provided on the loading rack side plate 123. The cartridges are detected by the cartridge code reader 4. The cartridges with OK scanning flow to the next station through the cartridge grabbing mechanism 104, that is, the tray loading station; the cartridges with NG scanning are sent by the cartridge grabbing mechanism 104 to the cartridge unloading rack for discharge and manual processing. Therefore, setting the cartridge baffle plate 129 to intercept and stop the cartridge to be detected can not only facilitate the stable code scanning detection of the cartridge by the cartridge code reader 4, but also facilitate the grabbing of the detected cartridges by the cartridge grabbing mechanism 104.

[0057] In order to facilitate the cartridge code reader 4 to better scan the cartridges, a mechanism for adjusting the cartridge code reader 4 is also provided. Specifically, a code reader mounting rack 401 is installed on the loading rack side plate 123. The code reader mounting rack 401 includes a vertical long strip plate 402 fixed on the loading rack side plate 123 and a horizontal long strip plate 403 installed on the vertical long strip plate 402. Vertical long grooves 404 and horizontal long grooves 405 are respectively provided on the vertical long strip plate 402 and the horizontal long strip plate 403. One end of the horizontal long strip plate 403 is connected in the vertical long groove 404 through a fastening nut, and the cartridge code reader 4 is installed in the horizontal long groove 405 through a fastening nut. Through the settings of the vertical long groove 404 and the horizontal long groove 405, the position of the cartridge code reader 4 in the horizontal and vertical directions can be adjusted, thereby enabling the cartridge code reader 4 to better scan the cartridges.

[0058] Among them, a first tray pushing mechanism 6 for pushing the single-piece trays to be detected in the tray at the tray loading and unloading rack 13 to the tray conveying track 51 is provided at the tray loading and unloading rack 13, and a second tray pushing mechanism for pushing the trays after detection on the tray conveying track 51 into the tray at the tray receiving position 16 is provided at the tray conveying mechanism 5.

[0059] In this embodiment, the first tray pushing mechanism 6 includes a fork mounting seat 601, a tray pushing fork 602 is mounted at the fork mounting seat 601, one end of the tray pushing fork 602 forms a fork extending end 603 that can extend into the tray to push out the single-piece tray in the tray, and the other end forms a fork mounting end 604; a fork buffer assembly is also mounted on the fork mounting seat 601. The fork buffer assembly includes a fork slide rail 605 whose length direction is arranged along the tray pushing direction and a fork slide block 606 that can slide along the fork slide rail 605. The tray pushing fork 602 is mounted on the fork slide block 606. It also includes a buffer spring 607 whose length direction is arranged along the length direction of the fork slide rail 605. The end of the buffer spring 607 can abut against the fork slide block 606 to buffer the movement of the tray pushing fork 602. The setting of the buffer spring 607 can make the tray pushing fork 602 have a certain buffering effect when extending into the tray to push out the tray. Since the tray is very thin, if it is pushed directly in a rigid manner, it is easy to cause the tray to deform, thereby affecting the subsequent detection effect. By using the buffering method of combining the spring and the slide block for flexible pushing, it can effectively avoid damaging the tray when pushing out the tray.

[0060] In order to facilitate the installation of the buffer spring 607 and further guide the fork slide block 606, the fork buffer assembly further includes a guide post 608 with one end fixed to the fork mounting seat 601 and the other end inserted into the fork slide block 606. A slide hole 609 is provided on the end face of the fork slide block 606 away from the fork extending end 603. The guide post 608 is slidably connected in the slide hole 609, and the buffer spring 607 is sleeved on the guide post 608.

[0061] The tray pushing fork 602 is formed in a U-shaped plate shape, and the U-shaped opening end is the fork extending end 603. The tray pushing fork 602 with this structure can both use the double side arms of the U-shaped plate to extend into the tray to push out the tray in a wider tray, and use the single side arm of the U-shaped plate to extend into the tray to push out the tray in a smaller-width tray.

[0062] In order to make the tray pusher fork 602 better cooperate with the cartridge in the tray discharging position 15, a position adjusting mechanism for the tray pusher fork 602 in the horizontal direction is also provided. Specifically, it includes a first linear module 610 and a second linear module 611 for driving the fork mounting seat 601 to move. The fork mounting seat 601 is mounted on the second linear module 611, and the second linear module 611 is mounted on the first linear module 610. The first linear module 610 can drive the second linear module 611 to move in the horizontal plane along a direction perpendicular to the tray pushing direction, and the second linear module 611 can drive the fork mounting seat 601 to move in the horizontal plane along the tray pushing direction.

[0063] Among them, the first linear module 610 includes a slide cylinder 612 and a linear module mounting plate 613 mounted on the slide cylinder 612. The second linear module 611 includes a mounting seat driving plate 614 fixed on the linear module mounting plate 613. The bottom of the mounting seat driving plate 614 is configured as a mounting seat slide rail 615, and the fork mounting seat 601 is slidably connected to the mounting seat slide rail 615.

[0064] A mounting seat conveyor belt 616 with a transmission direction along the length direction of the mounting seat slide rail 615, a mounting seat driving wheel 617 and a mounting seat driving motor 618 for driving the mounting seat conveyor belt 616 to move are mounted on the mounting seat driving plate 614. An output belt connecting member 619 connected to the mounting seat conveyor belt 616 is provided on the fork mounting seat 601. Under the action of the output belt connecting member 619, the fork mounting seat 601 moves along with the mounting seat conveyor belt 616, realizing the movement of the fork mounting seat 601 in the horizontal plane along the tray pushing direction.

[0065] As Figures 10 - 17 shown, in this embodiment, the tray detection mechanism 3 includes a vision detection station 31 and a tray conveying station 32.

[0066] Among them, a 2D vision detection camera 33 and a 3D vision detection camera 34 are sequentially provided at the vision detection station 31 along the conveying direction of the tray conveying track 51. There are also two tray suction plates 8 that can move up and down and are used to adsorb the trays on the tray conveying track 51. Both of the two tray suction plates 8 are arranged below the tray conveying track 51 and are respectively corresponding to the 2D vision detection camera 33 and the 3D vision detection camera 34. The tray suction plate 8 corresponding to the 2D vision detection camera 33 is made of a transparent material and a backlight is provided below it. There is also a dotting machine 35 provided at the 3D vision detection camera 34 and located on the 3D camera linear motor module 304 for dotting and marking defective products.

[0067] A backlight is provided below the suction plate 8 of the tray, so that the backlight shines from below the product, enabling the 2D vision inspection camera 33 to take clearer pictures and obtain more accurate results. The backlight has a good detection effect on the hollowed materials, making the edges of the hollow more distinct. Additionally, an annular light source is provided below the 2D vision inspection camera 33, which can effectively eliminate the shadows generated by the mounting connectors of the backlight.

[0068] At the vision inspection station 31, there are also provided a 2D camera adjustment mechanism 301 and a 3D camera adjustment mechanism 302 for respectively adjusting the positions of the 2D vision inspection camera 33 and the 2D vision inspection camera 33. The 2D camera adjustment mechanism 301 and the 3D camera adjustment mechanism 302 include a 2D camera linear motor module 303 and a 3D camera linear motor module 304 that can respectively achieve the movement of the 2D vision inspection camera 33 and the 3D vision inspection camera 34 in the length and width directions of the tray conveying track 51 in the horizontal plane.

[0069] At the tray conveying station 32, there is provided a tray conveying mechanism 5. The tray conveying mechanism 5 includes a tray conveying track 51, and the tray loading position 15 and the tray unloading position 16 are respectively located at the inlet and outlet ends of the tray conveying track 51.

[0070] Among them, the tray conveying mechanism 5 includes a fixed conveying frame 501 and a movable conveying frame 502 that can move towards or away from the fixed conveying frame 501. To achieve the movement of the movable conveying frame 502, there is also a conveying frame driving mechanism. The conveying frame driving mechanism includes a conveying frame driving motor 516, a conveying frame driving lead screw 517 connected to the conveying frame driving motor 516, and a driving frame 518 connected to the conveying frame driving lead screw 517. The driving frame 518 is fixed on the movable conveying frame 502.

[0071] To further ensure the movement stability of the movable conveying frame 502, the movable conveying frame 502 also includes two movable support plates 519 provided at both ends of the movable track plate 504 and used for supporting the movable track plate 504. The conveying frame driving mechanism also includes a support plate track 520 provided below the movable support plate 519 for the movable support plate 519 to slide and a driving frame track 521 provided below the driving frame 518 for the driving frame 518 to slide.

[0072] The fixed conveying frame 501 and the movable conveying frame 502 respectively include a fixed track plate 503 and a movable track plate 504. The fixed track plate 503 and the movable track plate 504 are arranged in parallel, and the upper ends of the opposite sides are both constructed with tray edge support platforms 505. The tray edge support platforms 505 on the fixed track plate 503 and the tray edge support platforms 505 on the movable track plate 504 together constitute the tray conveying track 51.

[0073] On the fixed track plate 503 and the movable track plate 504, and at the inlet and outlet ends of the tray conveying track 51, there are track guide plates 506. On the side of the track guide plate 506, there is a tray edge upper limit platform 507 arranged above the tray edge support platform 505. The lower end surfaces of the tray edge support platform 505 and the tray edge upper limit platform 507 together form a tray edge guide groove 508; the lower end surface of the tray edge upper limit platform 507 includes a horizontal limit surface 509 parallel to the tray edge support platform 505 and an inclined guide surface 510 arranged at the starting end of the horizontal limit surface 509.

[0074] Under the action of the track guide plate 506, the pushed tray can be accurately guided onto the tray edge support platform 505. And under the combined action of the track guide plate 506 and the tray suction plate 8, it can ensure that the tray is completely fixed and flat without deformation during the detection process, guaranteeing the accuracy of the detection result.

[0075] The tray conveying mechanism 5 further includes a plurality of movable jaws 52 that can move along the length direction of the tray conveying track 51 and are used to clamp the edge part of the tray. The movable jaw 52 includes two clamping plates 511 that can move relative to each other. The movable jaw 52 near the tray receiving position 16 constitutes a second tray pushing mechanism.

[0076] The movable jaw 52 clamps and transports the tray to different detection stations on the tray conveying track 51. After the detection is completed, the movable jaw 52 pushes the detected products one by one into the empty tray. After the tray is filled, it is transported by the tray gripping mechanism 104 in the tray transport rack 14 of the blanking mechanism 12 to the blanking mechanism 12, and then further transported to subsequent stations.

[0077] In this embodiment, the movable jaw 52 is arranged on the side of the fixed conveyor frame 501, and it also includes a jaw driving mechanism. The jaw driving mechanism includes a jaw linear motor module 512 whose length direction is arranged along the length direction of the tray conveying track 51. A jaw mounting seat 513 is installed on the jaw linear motor module 512. On the jaw mounting seat 513, there are two oppositely arranged clamping plate mounting arms 514 and a mounting arm driving cylinder 515 that can drive the clamping plate mounting arms 514 to move along the width direction of the tray conveying track 51. The two clamping plates 511 are respectively installed on the two clamping plate mounting arms 514 and the two clamping plate mounting arms 514 can move towards or away from each other. The specific movement driving method can adopt a conventional two-way motor or two-way cylinder drive.

[0078] When detecting defective products, inkjet marking needs to be carried out on the defective products. Since the chip is small, the positioning requirement is precise, and the material is very thin, when the jaw drags the material over, there may be relative sliding between the jaw and the material. Relying solely on the walking distance of the movable jaw 52 along the X-axis for positioning is inaccurate. Therefore, the inkjet positioning mechanism 7 is designed.

[0079] In this embodiment, an inkjet positioning mechanism 7 is provided at the tray conveying track 51 and is located below the dotting machine 35. The inkjet positioning mechanism 7 includes an inkjet positioning frame 71. An inkjet positioning plate 701 is installed on the inkjet positioning frame 71 and can block and position the tray on the tray conveying track 51. The inkjet positioning plate 701 can move up and down in the height direction of the tray conveying track 51 to reach the upper part or the lower part of the tray. The inkjet positioning frame 71 includes a positioning frame bottom plate 702 and a positioning plate support 703 arranged on the positioning frame bottom plate 702. The positioning plate support 703 is slidably arranged on the positioning frame bottom plate 702 in the width direction of the tray conveying track 51. The inkjet positioning plate 701 is arranged on the positioning plate support 703. A vertically arranged fixed plate driving cylinder 704 is fixed on the positioning plate support 703. The inkjet positioning plate 701 is connected to the piston rod of the fixed plate driving cylinder 704.

[0080] A tray support assembly is further provided on the positioning plate support 703. The tray support assembly includes a tray support rod 522 that can support the bottom of the tray on the tray conveying track 51. The length direction of the tray support rod 522 is arranged along the length direction of the tray conveying track 51, and the upper end surface of the tray support rod 522 is an arc surface.

[0081] The inkjet positioning plate 701 is configured as a U-shaped plate with an open upper end. The inkjet positioning plate 701 is arranged below the tray support rod 522 and can move upward to a position where the tray support rod 522 is inside the inkjet positioning plate 701. The U-shaped plate configuration of the inkjet positioning plate 701 can prevent the tray support rod 522 from blocking the inkjet positioning plate 701 when the inkjet positioning plate 701 moves upward.

[0082] A support frame limit plate 705 is fixed on the positioning frame bottom plate 702. A limit plate long slot 706 arranged along the track width direction is provided on the support frame limit plate 705. A plurality of bolt holes 707 arranged at intervals and matching with the long slot are provided on the positioning plate support 703. A fastening wrench 708 for relatively fixing and limiting the positioning plate support 703 and the support frame limit plate 705 is provided at the bolt holes 707.

[0083] Positioning frame fixing plates 709 are further provided at both ends of the positioning frame bottom plate 702. Fixing plate long slots 710 arranged vertically for adjusting the installation height of the positioning frame fixing plates 709 are provided on the positioning frame fixing plates 709.

[0084] During the working process of the inkjet positioning mechanism 7, after adjusting the width of the tray conveying track 51, by loosening the fastening wrench 708, the entire positioning plate bracket 703 moves relative to the positioning frame bottom plate 702 to the middle position of the tray conveying track 51. At this time, the inkjet positioning plate 701 and the tray support rod 522 are centered in the tray conveying track 51. Since the tray is thin and has a certain flexibility, the tray support rod 522 supports the middle part of the tray, which can prevent the middle part of the tray from being concave and deformed during the tray detection process. The upper surface of the tray support rod 522 is configured as an arc surface, which can make the tray support rod 522 in line contact with the lower surface of the tray, reducing the risk of potential product scratching.

[0085] When the product inspection is completed and defective products are found, the inkjet positioning plate 701 is lifted. When the material moves into place, it is blocked in the middle by the inkjet positioning plate 701. The sensor in the inkjet positioning plate 701 detects the position, realizing that the flow direction is hard-limited, ensuring the inkjet accuracy during this process. After the defective part is inkjet-printed, the inkjet positioning plate 701 descends, and the product is transported to the next station.

[0086] In this embodiment, the movement process, movement position, etc. of the motion mechanism are accurately detected by position sensors. For example, displacement sensors are set in the corresponding transmission mechanism or motion mechanism, and the installation position of the displacement sensor is adjusted according to actual needs. The position detection principle is a conventional detection method.

[0087] During the working process of the entire vision inspection system in this embodiment, first, an operator puts a full material box into the material box placement groove 112 at the material box loading position 101 in the loading mechanism 11. Under the action of the material box conveying belt 119, it is transported to the lower part of the material box barcode reader 4 for barcode scanning and inspection. The material box with a successful barcode scan flows to the tray placing station through the tray grasping mechanism 104; the material box with a failed barcode scan is sent to the material box unloading rack by the tray grasping mechanism 104 for discharge and manual processing.

[0088] Then, the tray pushing mechanism pushes the trays in the material box at the tray placing station one by one into the tray conveying track 51, and the empty material boxes are discharged from the lower layer;

[0089] Next, under the action of the moving gripper 52, the tray to be inspected loaded with materials on the tray conveying track 51 is transported to the 2D vision inspection station below the 2D vision inspection camera 33 for 2D inspection; after the 2D inspection is completed, it is transported to the 3D vision inspection station below the 3D vision inspection camera 34 for 3D inspection;

[0090] After the vision inspection is completed, if it is a NG product, it is marked with ink at the NG position by the dotting machine 35 and then transported to the unloading station; if it is a qualified product, it is directly transported to the unloading station.

[0091] At the blanking mechanism 12, manually place the empty material box at the loading position as well; after the empty material box passes the barcode scanning successfully, it is sent to the product receiving position. If the barcode scanning fails, it is discharged from the lower layer for manual handling;

[0092] Next, the moving gripper 52 pushes the detected products one by one into the empty material box at the product receiving position; after the empty material box at the product receiving position is full, it is placed by the material box gripping mechanism 104 at the lower-layer full material box blanking position 102, and after caching a certain number, it reminds the operator to take it out.

[0093] In this embodiment, the whole process has a smooth flow and a reasonable layout among each station, and can preferably realize the automatic operation in the whole detection process, and automatically classify the qualified and unqualified products after detection.

[0094] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on one or several embodiments provided by the present application to obtain other embodiments, and these embodiments do not exceed the protection scope of the present application.

[0095] In conclusion, the above are only the preferred embodiments of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope covered by the patent of the present invention.

Claims

1. The tray conveying mechanism is characterized by: The invention comprises a fixed conveying frame (501) and a movable conveying frame (502) capable of moving toward or away from the fixed conveying frame (501); the fixed conveying frame (501) and the movable conveying frame (502) respectively comprise a fixed track plate (503) and a movable track plate (504); the fixed track plate (503) and the movable track plate (504) are arranged in parallel and the upper ends of the opposite sides are both configured with a material tray edge support platform (505); the material tray edge support platform (505) on the fixed track plate (503) and the material tray edge support platform (505) on the movable track plate (504) together constitute a material tray conveying track (51); a material tray suction plate (8) capable of moving up and down for adsorbing the material tray on the material tray conveying track (51) is provided at the lower part of the material tray conveying track (51).

2. The tray conveying mechanism according to claim 1, characterized in that: Track guide plates (506) are provided on the fixed track plate (503) and the movable track plate (504) at the inlet and outlet ends of the tray conveying track (51); the side of the track guide plate (506) is provided with a tray edge upper positioning platform (507) arranged above the tray edge support platform (505); the lower end surfaces of the tray edge support platform (505) and the tray edge upper positioning platform (507) together form a tray edge guide groove (508).

3. The tray conveying mechanism according to claim 2, characterized in that: The lower end surface of the tray edge upper limit platform (507) comprises a horizontal limit surface (509) parallel to the tray edge support platform (505) and an inclined guide surface (510) arranged at the starting end of the horizontal limit surface (509).

4. The tray conveying mechanism according to claim 1, characterized in that: It also comprises a movable clamping jaw (52) capable of moving along the length direction of the material tray conveying track (51) and used for clamping the edge of the material tray. The movable clamping jaw (52) comprises two clamping plates (511) capable of relative movement.

5. The tray conveying mechanism according to claim 4, characterized in that: The movable clamp (52) is arranged on the side of the fixed conveying frame (501), and also includes a clamp driving mechanism, the clamp driving mechanism includes a clamp linear motor module (512) arranged along the length direction of the material tray conveying track (51), a clamp mounting seat (513) is installed on the clamp linear motor module (512), and the clamp mounting seat (513) is provided with two clamping plate mounting arms (514) arranged opposite to each other and a mounting arm driving cylinder (515) capable of driving the clamping plate mounting arms (514) to move along the width direction of the material tray conveying track (51), and the two clamping plates (511) are respectively mounted on the two clamping plate mounting arms (514), and the two clamping plate mounting arms (514) can move towards or away from each other.

6. The tray conveying mechanism according to claim 1, characterized in that: The conveyor frame driving mechanism also includes a conveyor frame driving motor (516), a conveyor frame driving screw rod (517) connected to the conveyor frame driving motor (516), and a driving frame (518) connected to the conveyor frame driving screw rod (517), wherein the driving frame (518) is fixed to the movable conveyor frame (502).

7. The tray conveying mechanism according to claim 6, characterized in that: The movable conveying frame (502) further comprises two movable support plates (519) arranged at both ends of the movable track plate (504) and used to support the movable track plate (504), and the conveying frame driving mechanism further comprises a support plate track (520) arranged at the bottom of the movable support plate (519) for the movable support plate (519) to slide, and a driving frame track (521) arranged at the bottom of the driving frame (518) for the driving frame (518) to slide.

8. The tray conveying mechanism according to claim 1, characterized in that: It also includes a tray support assembly arranged between the fixed track plate (503) and the movable track plate (504), the tray support assembly including a tray support rod (522) capable of supporting the bottom of the tray on the tray conveying track (51), and the tray support rod (522) is capable of moving along the width direction of the tray conveying track (51).

9. The tray conveying mechanism according to claim 1, characterized in that: The length direction of the tray support rod (522) is arranged along the length direction of the tray conveying track (51), and the upper end surface of the tray support rod (522) is an arc surface.

10. A 2D and 3D visual inspection system for chip DB and gold wire WB, characterized in that: It comprises the tray conveying mechanism as described in any one of claims 1-9.

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