2D (two-dimensional) and 3D (three-dimensional) visual inspection system for DB (chip) and WB (gold wire) and material box transplanting 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 magazine transplanting mechanism of the 2D and 3D visual inspection system. The material box transplanting mechanism comprises a material box feeding and discharging frame (13) and a material box conveying frame (14) which are arranged at intervals in the horizontal direction, the material box feeding and discharging frame (13) comprises a material box feeding position (101) and a material box discharging position (102) which are arranged at intervals in the vertical direction, a material disc collecting and discharging position is formed between the material box feeding and discharging frame (13) and the material box conveying frame (14), and a material box grabbing mechanism (104) is arranged at the material box conveying frame (14). According to the automatic feeding and discharging mechanism, the material box feeding and discharging frame and the material box conveying frame in the material box transplanting mechanism are reasonably arranged, and automatic feeding and discharging of the material boxes can be effectively achieved; good product boxes and defective product boxes can be automatically classified, and automatic operation in the whole detection process is fully achieved.

Description

Technical Field

[0001] The present invention relates to the field of vision detection, and particularly to a 2D and 3D vision detection system for chip DB and wire bond WB and its cassette transfer mechanism. Background Art

[0002] DB is the abbreviation of "Die Bond", which means die bonding, that is, bonding the die to the Lead Frame. It 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, that is, connecting wires on the die. It 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, in the patent application document with the application publication number CN 113075231 A, an automated intelligent detection method and system for chip DB and wire bond WB are disclosed, which can use artificial intelligence methods to simulate the operations of inspectors, realize automatic movement, automatic data collection, and automatic measurement of results.

[0004] In such detection systems, how to achieve automatic loading, automatic unloading, and the transportation of cassettes during the loading and unloading processes is a relatively important link. The prior art has not provided a better mechanism to achieve the above functions. Summary of the Invention

[0005] The present invention aims at the problem of how to achieve automatic loading, automatic unloading, and the transportation of cassettes during the loading and unloading processes in the vision detection system 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 cassette transfer mechanism.

[0006] To solve the above technical problems, the present invention is solved by the following technical solutions:

[0007] The cassette transfer mechanism includes a cassette loading / unloading rack and a cassette transportation rack that are spaced apart in the horizontal direction. At the cassette loading / unloading rack, there are a cassette loading position and a cassette unloading position that are spaced apart in the vertical direction. A cassette tray loading / unloading position is formed between the cassette loading / unloading rack and the cassette transportation rack. A cassette grabbing mechanism is provided at the cassette transportation rack. The cassette grabbing mechanism can move in the vertical and horizontal directions to transport the cassette at the cassette loading position to the cassette tray loading / unloading position and to transport the cassette at the cassette tray loading / unloading position to the cassette unloading position.

[0008] Preferably, the cartridge transport rack includes a horizontal transport rack and a vertical transport rack. The vertical transport rack can move horizontally on the horizontal transport rack towards or away from the cartridge loading and unloading rack. The cartridge gripping mechanism includes a gripping claw mounting plate, on which a movable gripping claw and a fixed gripping claw are arranged vertically. The movable gripping claw can move towards or away from the fixed gripping claw. The gripping claw mounting plate is mounted on the vertical transport rack and can perform vertical reciprocating motion on the vertical transport rack. Through the mutual cooperation of the movable gripping claw and the fixed gripping claw, stable gripping and transmission of the tray can be achieved.

[0009] Preferably, the gripping claw mounting plate is further provided with a movable gripping claw driving mechanism. The movable gripping claw driving mechanism includes a gripping claw driving cylinder and a gripping claw slide rail, both of which are vertically arranged. The end of the piston rod of the gripping claw driving cylinder is mounted with a gripping claw mounting seat slidably connected to the gripping claw slide rail. The movable gripping claw is fixed on the gripping claw mounting seat.

[0010] Preferably, a hydraulic buffer is further provided on the gripping claw mounting plate at the end of the gripping claw slide rail. The hydraulic buffer includes a buffer body fixed on the gripping claw mounting plate and a buffer piston rod with one end arranged inside the buffer body and the other end facing the gripping claw mounting seat. The setting of the hydraulic buffer can achieve a buffering and decelerating effect, be used for limiting the position when reaching the extreme position, and prevent the gripping claw mounting seat 208 from derailing or directly colliding with the tray rigidly when clamping the tray.

[0011] Preferably, the fixed gripping claw includes two parallel and spaced-apart support blocks. One end of the support block is fixed on the gripping claw mounting plate, and the other end extends towards the cartridge transport rack. The upper end surface of the extending end of the support block facing the cartridge transport rack is configured with an L-shaped concave surface for lifting the lower end of the cartridge. The setting of the L-shaped concave surface can smoothly extend under the cartridge to lift the cartridge.

[0012] Preferably, a rubber pad is provided at the end face of the movable gripping claw facing the fixed gripping claw. The setting of the rubber pad can avoid damaging the cartridge when gripping the cartridge, and at the same time increase the gripping friction force to ensure stable gripping.

[0013] Preferably, a vertical rack driving mechanism and a vertical rack movement slide rail are provided on the horizontal transport rack. The vertical rack driving mechanism includes a vertical rack driving motor and a vertical rack driving lead screw connected to the motor shaft of the vertical rack driving motor. The bottom of the vertical transport rack is connected to the vertical rack driving lead screw through a vertical rack driving nut. The vertical rack movement slide rail is arranged on both sides of the vertical rack driving lead screw; a mounting plate driving mechanism is provided on the vertical transport rack. The mounting plate driving mechanism includes a mounting plate driving motor and a mounting plate driving lead screw connected to the motor shaft of the mounting plate driving motor. The gripping claw mounting plate is connected to the mounting plate driving lead screw through a mounting plate driving nut.

[0014] Preferably, both the loading position and the unloading position of the cartridge are provided with cartridge placement slots that are open at the upper end and the end facing the cartridge transport rack. A cartridge code reader capable of scanning the cartridges at the loading position of the cartridge is provided on the cartridge loading and unloading rack. The setting of the cartridge code reader can realize the scanning detection of the cartridges. Its specific working principle is the existing conventional cartridge code reader scanning detection, and then the classification of good cartridges and defective cartridges is realized.

[0015] Preferably, a code reader mounting rack is installed on the cartridge loading and unloading rack. The code reader mounting rack includes a vertical long strip plate and a horizontal long strip plate. A vertical long slot and [not provided in the original] are respectively provided on the vertical long strip plate and the horizontal long strip plate. One end of the horizontal long strip plate is connected in the vertical long slot through a fastening nut, and the cartridge code reader is installed in the horizontal long slot through a fastening nut. The structural design of the code reader mounting rack can make the position of the cartridge code reader adjustable, and then enable it to better align and scan the cartridges, ensuring the accuracy and efficiency of scanning.

[0016] A 2D and 3D vision inspection system for chip DB and wire bond WB includes the aforementioned cartridge transfer mechanism.

[0017] Due to the adoption of the above technical solutions, the present invention has significant technical effects:

[0018] By reasonably arranging the cartridge loading and unloading rack and the cartridge transport rack in the cartridge transfer mechanism, the present utility model can effectively realize the automatic loading and unloading of cartridges; and can automatically classify good cartridges and defective cartridges, fully realizing the automated operation in the entire inspection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention.

[0020] Figure 2 is Figure 1 a schematic structural diagram of the loading mechanism in [[not provided in the original]].

[0021] Figure 3 is Figure 2 a schematic structural diagram of the cartridge transport rack in [[not provided in the original]].

[0022] Figure 4 is Figure 3 a partial enlarged view of [[not provided in the original]].

[0023] Figure 5 is Figure 2 a schematic structural diagram of the cartridge conveying mechanism in [[not provided in the original]].

[0024] Figure 6 is Figure 5 a schematic structural diagram of the limit plate drive mounting rack in [[not provided in the original]].

[0025] Figure 7 isFigure 5 Schematic diagram of the structure of the middle material box loading rack.

[0026] Figure 8 is Figure 5 Schematic diagram of the structure of the middle material tray pushing mechanism.

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

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

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

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

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

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

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

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

[0035] Figure 17 is Figure 10 Schematic diagram of the structure of the inkjet positioning mechanism in the middle. Specific implementation manners

[0036] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0037] Embodiment 1

[0038] This embodiment provides a 2D and 3D vision detection system for chip DB and wire bonding WB. As Figures 1 - 17 shown, it includes a material box transplanting mechanism and a material tray detection mechanism 3. The material box transplanting mechanism includes a loading mechanism 11 and an unloading mechanism 12, and the material 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 magazine loading and unloading rack 13 and a magazine transportation rack 14 that are spaced apart in the horizontal direction. At the magazine loading and unloading rack 13, there are respectively a magazine loading position 101 and a magazine unloading position 102 that are spaced apart in the vertical direction. The magazine loading and unloading rack 13 includes a magazine conveying mechanism 17 provided at the magazine loading position 101. The magazine conveying mechanism 17 includes a magazine loading rack 105. The magazine loading and unloading rack 13 also includes a magazine unloading rack provided below the magazine loading rack 105. The magazine loading position 101 and the magazine unloading position 102 are respectively provided at the magazine loading rack 105 and the magazine unloading rack. Both the magazine loading position 101 and the magazine unloading position 102 are provided with a magazine placement groove 112 that is open at both the upper end and the end facing the magazine transportation rack 14.

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

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

[0042] Among them, in order to realize the movement of the magazine gripping mechanism 104 in the vertical direction and the horizontal direction, a vertical rack driving mechanism and a vertical rack movement slide rail 215 are provided on the transportation horizontal rack 201, and a mounting plate driving mechanism is provided on the transportation 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 transportation 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 gripper 204 and a fixed gripper 205 are vertically arranged and mounted on the gripper mounting plate 203. The movable gripper 204 can move towards or away from the fixed gripper 205. The gripper mounting plate 203 is mounted on the vertical transport frame 202 and can perform vertical reciprocating motion on the vertical transport frame 202.

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

[0046] The fixed gripper 205 includes two parallel and spaced-apart support blocks 212. One end of the support block 212 is fixed to the gripper 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 support block 212 facing the cartridge transport rack 14. A rubber pad 214 is provided at the end face of the movable gripper 204 facing the fixed gripper 205.

[0047] During the process of gripping the cartridge by the cartridge gripping mechanism 104, first insert the lower fixed gripper 205 into the lower end face of the cartridge, and then move the upper movable gripper 204 downward so that the rubber pad 214 presses tightly 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 gripper 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 gripper mounting plate 203 at the end of the gripper slide rail 207. The hydraulic buffer 209 includes a buffer body 210 fixed to the gripper mounting plate 203 and a buffer piston rod 211 with one end disposed in the buffer body 210 and the other end facing the gripper mounting seat 208.

[0049] The buffer piston rod 211 can buffer and decelerate the movement of the gripper mounting seat 208 on the gripper slide rail 207, and is used for limiting when reaching the limit position to prevent the gripper 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. Through the setting of 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, in order to ensure the running stability of the cartridge during the cartridge conveying process and the position and attitude accuracy of the cartridge when docking with the next working station.

[0051] Among them, 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 preferably realize the installation of 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 at the top 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 chutes 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 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 stop plate 129 is provided on the loading rack bottom plate 122 and at the cartridge outlet end 121. The cartridge stop plate 129 is arranged between adjacent belt input wheels 126, so that the cartridge stop plate 129 can stop the cartridge to be detected. At 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, that is, the tray loading station, through the cartridge grabbing mechanism 104; 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 stop plate 129 to stop the cartridge to be detected can not only facilitate the stable code scanning detection of the cartridges 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. By setting 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, so as to enable the cartridge code reader 4 to better scan the cartridges.

[0058] Among them, a first tray pushing mechanism 6 for pushing single pieces of the 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 completed in 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 enables the tray pushing fork 602 to have a certain buffering effect when extending into the tray to push out the tray. Since the tray is very thin, if the tray is pushed in a direct rigid manner, it is easy to cause the deformation of the tray, which will then affect 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] 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 sliding 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 sliding 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 open 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 enable the tray pushing fork 602 to better cooperate with the material box at the tray discharging position 15, a position adjusting mechanism for the tray pushing fork 602 in the horizontal direction is also provided, which specifically 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 arranged 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. The two tray suction plates 8 are both arranged below the tray conveying track 51 and are respectively arranged 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, a ring 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 a 2D camera adjustment mechanism 301 and a 3D camera adjustment mechanism 302 respectively used to adjust the positions of the 2D vision inspection camera 33 and the 3D vision inspection camera 34. 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 enable the 2D vision inspection camera 33 and the 3D vision inspection camera 34 to move along the length and width directions of the tray conveying track 51 in the horizontal plane.

[0069] At the tray conveying station 32, there is 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 realize 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 to support 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 slab 503 and the movable track slab 504 and at the inlet and outlet ends of the tray conveying track 51, there are track guiding plates 506. On the side of the track guiding plate 506, there is a tray edge upper limiting platform 507 arranged above the tray edge supporting platform 505. The lower end surfaces of the tray edge supporting platform 505 and the tray edge upper limiting platform 507 together form a tray edge guiding groove 508; the lower end surface of the tray edge upper limiting platform 507 includes a horizontal limiting surface 509 parallel to the tray edge supporting platform 505 and an inclined guiding surface 510 arranged at the starting end of the horizontal limiting surface 509.

[0074] Under the action of the track guiding plate 506, the pushed tray can be accurately guided onto the tray edge supporting platform 505. And under the combined action of the track guiding 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 clamping 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 clamping jaw 52 includes two clamping plates 511 that can move relative to each other. The movable clamping jaw 52 near the tray receiving position 16 constitutes a second tray pushing mechanism.

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

[0077] In this embodiment, the movable clamping jaw 52 is arranged on the side of the fixed conveying frame 501 and further includes a clamping jaw driving mechanism. The clamping jaw driving mechanism includes a clamping jaw linear motor module 512 whose length direction is arranged along the length direction of the tray conveying track 51. A clamping jaw mounting seat 513 is installed on the clamping jaw linear motor module 512. On the clamping 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 a defect, an inkjet mark needs to be made on the defective product. Since the chip is small, the positioning requirement is precise, and the material is very thin, when the clamping jaw drags the material over, there may be relative sliding between the clamping jaw and the material. Relying solely on the walking distance of the movable clamping jaw 52 along the X-axis for positioning is inaccurate. Therefore, an inkjet positioning mechanism 7 is designed.

[0079] In this embodiment, an inkjet positioning mechanism 7 located below the dotting machine 35 is provided at the tray conveying track 51. The inkjet positioning mechanism 7 includes an inkjet positioning frame 71. An inkjet positioning plate 701 capable of blocking and positioning the trays on the tray conveying track 51 is installed on the inkjet positioning frame 71. The inkjet positioning plate 701 can move up and down in the height direction of the tray conveying track 51 to 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 provided 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 capable of supporting the bottom of the trays 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 inkjet positioning plate 701 being configured as a U-shaped plate can prevent the tray support rod 522 from blocking the inkjet positioning plate 701 when the inkjet positioning plate 701 moves upward.

[0082] A bracket limiting plate 705 is fixed on the positioning frame bottom plate 702. A limiting plate long groove 706 arranged along the width direction of the track is provided on the bracket limiting plate 705. A plurality of spaced bolt holes 707 cooperating with the long groove are provided on the positioning plate support 703. A fastening wrench 708 for relatively fixing and limiting the positioning plate support 703 and the bracket limiting 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 grooves 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 operation 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 scratching of the product.

[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 operation 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 of 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 loading station through the material box gripping mechanism 104; the material box with a failed barcode scan is sent to the material box unloading rack by the material box gripping mechanism 104 for discharge and manual processing.

[0088] Then, the tray pusher mechanism pushes the trays in the material box at the tray loading 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 then 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 dot ink 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 inspected 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. 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 between each station, and can better realize the automatic operation in the whole detection process, and automatically classify the qualified products and unqualified products after detection.

[0094] It is easy to understand that those skilled in the art can combine, split, recombine, 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 material box transplanting mechanism is characterized by: The invention comprises a material box upper and lower material rack (13) and a material box transport rack (14) arranged at intervals in the horizontal direction, the material box upper and lower material rack (13) comprises a material box upper material position (101) and a material box lower material position (102) arranged at intervals in the vertical direction, a material tray storage position is formed between the material box upper and lower material rack (13) and the material box transport rack (14), and a material box grabbing mechanism (104) is provided on the material box transport rack (14), and the material box grabbing mechanism (104) can move in the vertical direction and the horizontal direction to realize the transportation of the material box at the material box upper material position (101) to the material tray storage position and to transport the material box at the material tray storage position to the material box lower position (102).

2. The material box transplanting mechanism according to claim 1, characterized in that: The material box transport frame (14) comprises a transport horizontal frame (201) and a transport vertical frame (202); the transport vertical frame (202) can move horizontally on the transport horizontal frame (201) toward or away from the material box upper and lower frames (13); the material box grasping mechanism (104) comprises a grasping claw mounting plate (203); movable grasping claws (204) and fixed grasping claws (205) arranged up and down are mounted on the grasping claw mounting plate (203); the movable grasping claws (204) can move toward or away from the fixed grasping claws (205); the grasping claw mounting plate (203) is mounted on the transport vertical frame (202) and can perform vertical reciprocating motion on the transport vertical frame (202).

3. The material box transplanting mechanism according to claim 2, characterized in that: The grab claw mounting plate (203) is also provided with a movable grab claw driving mechanism, which comprises a grab claw driving cylinder (206) and a grab claw slide rail (207) both of which are vertically arranged, and a grab claw mounting seat (208) slidably connected to the grab claw slide rail (207) is mounted on the piston rod end of the grab claw driving cylinder (206), and the movable grab claw (204) is fixed on the grab claw mounting seat (208).

4. The material box transplanting mechanism according to claim 3, characterized in that: The grab claw mounting plate (203) is also provided with a hydraulic buffer (209) arranged at the end of the grab claw slide rail (207), and the hydraulic buffer (209) comprises a buffer body (210) fixed on the grab claw mounting plate (203) and a buffer piston rod (211) with one end arranged in the buffer body (210) and the other end facing the grab claw mounting seat (208).

5. The material box transplanting mechanism according to claim 2, characterized in that: The fixed grabbing claw (205) comprises two support blocks (212) arranged in parallel and at intervals, one end of the support block (212) being fixed to the grabbing claw mounting plate (203) and the other end extending towards the material box transport frame (14), and the upper end surface of the extended end of the support block (212) facing the material box transport frame (14) is configured with an L-shaped concave surface (213) for supporting the lower end of the material box.

6. The material box transplanting mechanism according to claim 2, characterized in that: A rubber pad (214) is provided at the end surface of the movable grasping claw (204) facing the fixed grasping claw (205).

7. The material box transplanting mechanism according to claim 2, characterized in that: The transport horizontal frame (201) is provided with a vertical frame driving mechanism and a vertical frame moving slide rail (215); the vertical frame driving mechanism comprises a vertical frame driving motor (216) and a vertical frame driving screw rod (217) connected to the motor shaft of the vertical frame driving motor (216); the bottom of the transport vertical frame (202) is connected to the vertical frame driving screw rod (217) via a vertical frame driving nut; the vertical frame moving slide rail (215) is arranged on both sides of the vertical frame driving screw rod (217); the transport vertical frame (202) is provided with a mounting plate driving mechanism; the mounting plate driving mechanism comprises a mounting plate driving motor (218) and a mounting plate driving screw rod (219) connected to the motor shaft of the mounting plate driving motor (218); the grab claw mounting plate (203) is connected to the mounting plate driving screw rod (219) via a mounting plate driving nut.

8. The material box transplanting mechanism according to claim 2, characterized in that: The upper material position (101) and the lower material position (102) of the material box are both provided with a material box placement groove (112) which is open at the upper end and the end facing the material box transport frame (14), and the upper and lower material frames (13) of the material box are provided with a material box code reader (4) capable of scanning the code of the material box at the upper material position (101).

9. The material box transplanting mechanism according to claim 8, characterized in that: A barcode reader mounting frame (401) is mounted on the material box upper and lower material racks (13). The barcode reader mounting frame (401) comprises a vertical long strip (402) and a horizontal long strip (403). The vertical long strip (402) and the horizontal long strip (403) are respectively provided with vertical long grooves (404) and, one end of the horizontal long strip (403) is connected to the vertical long groove (404) by a fastening nut, and the material box barcode reader (4) is mounted in the horizontal long groove (405) by a fastening nut.

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

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