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

Abstract

The utility model relates to the field of visual inspection, and discloses a 2D (two-dimensional) and 3D (three-dimensional) visual inspection system for a chip DB and a gold thread WB and a tray pushing mechanism thereof, the tray pushing mechanism comprises a material fork mounting seat (601), a tray pushing fork (602) is mounted at the material fork mounting seat (601), and the tray pushing fork (602) is mounted on the material fork mounting seat (601). One end of the tray pushing fork (602) forms a fork extending end (603) which can extend into the material box and is used for pushing out a single tray in the material box, and the other end of the tray pushing fork (602) forms a fork mounting end (604); a material fork buffering assembly is further installed on the material fork installation base (601) and can buffer movement of the material tray material pushing fork (602). According to the utility model, the material fork buffer assembly is arranged to buffer the material tray pushing fork, so that the deformation of the material tray caused by direct rigid pushing can be avoided, the damage to the material tray when the material tray is pushed out can be effectively avoided through flexible pushing, and the single material tray can be better pushed to a detection station.

Description

Technical Field

[0001] The utility model relates to the field of visual inspection, in particular to a 2D and 3D visual inspection system for a chip DB and a gold wire WB and a material tray pushing mechanism thereof. Background Art

[0002] DB is the abbreviation of "DieBond", which means die bonding. Sticking the die bonding to the LeadFrame can be understood as sticking the chip to the PCB or other substrates through glue. WB is the abbreviation of "WireBond", which means welding wires. Connecting wires on the die bonding can be understood as using equipment to connect the chip and PCB through gold wires or aluminum wires. These are two processes before semiconductor packaging and testing.

[0003] DB and WB need to be tested to determine whether the product is qualified. During the testing process, the material tray is generally placed in the material box, and then the material in each tray is tested. The material tray is a thin product, and how to best push it to the testing station is a problem that needs to be further solved in this field. Utility Model Content

[0004] The utility model aims at how to better push a single-chip tray to a detection station in a visual inspection mechanism of a chip DB and a gold wire WB, and provides a 2D and 3D visual inspection system for a chip DB and a gold wire WB and a tray pushing mechanism thereof.

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

[0006] The material tray pushing mechanism includes a material fork mounting seat, on which a material tray pushing fork is installed, one end of the material tray pushing fork constitutes a material fork extending end which can extend into the material box and be used to push out the single material tray in the material box, and the other end constitutes the material fork mounting end; a material fork buffer assembly is also mounted on the material fork mounting seat, the material fork buffer assembly comprises a material fork slide rail arranged along the material tray pushing direction in the length direction and a material fork slider which can slide along the material fork slide rail, the material tray pushing fork is mounted on the material fork slider, and also comprises a buffer spring arranged along the length direction of the material fork slide rail in the length direction, and the end of the buffer spring can abut against the material fork slider to buffer the movement of the material tray pushing fork.

[0007] Preferably, the material fork buffer assembly further includes a guide column with one end fixed on the material fork mounting seat and the other end inserted into the material fork slider. The end surface of the material fork slider away from the extended end of the material fork is provided with a sliding hole, the guide column is slidably connected in the sliding hole, and the buffer spring is sleeved on the guide column. The setting of the guide column plays the role of providing a mounting position for the buffer spring on the one hand, and can play a role of further guiding the material fork slider on the other hand.

[0008] Preferably, the tray pushing fork is in a U-shaped plate shape and the U-shaped opening end is the protruding end of the fork. Designing the tray pushing fork as a U-shaped plate can achieve that it can push out the tray in a wider material box and the tray in a smaller material box.

[0009] Preferably, it also includes a first linear module and a second linear module for driving the movement of the material fork mounting seat, the material fork mounting seat is installed on the second linear module and the second linear module is installed on the first linear module, the first linear module can drive the second linear module to move in a horizontal plane along a direction perpendicular to the material tray pushing out direction, and the second linear module can drive the material fork mounting seat to move in a horizontal plane along the material tray pushing out direction.

[0010] Preferably, the first linear module includes a slide cylinder and a linear module mounting plate mounted on the slide cylinder, the second linear module includes a mounting seat drive plate fixed on the linear module mounting plate, the bottom of the mounting seat drive plate is configured as a mounting seat slide rail, and the material fork mounting seat is slidably connected to the mounting seat slide rail. The material fork mounting seat can realize movement in two directions in the horizontal plane through the cooperation of the first linear module and the second linear module, so that it can better cooperate with the position of the material box and ensure the effective push-out of the material tray in the material box.

[0011] Preferably, the mounting seat driving plate is equipped with a mounting seat conveyor belt arranged along the length direction of the mounting seat slide rail, a mounting seat driving wheel and a mounting seat driving motor for driving the mounting seat conveyor belt to move, and the material fork mounting seat is provided with an output belt connecting piece connected to the mounting seat conveyor belt.

[0012] A 2D and 3D visual inspection system for chips DB and gold wires WB, comprising the aforementioned material tray pushing mechanism.

[0013] The utility model has significant technical effects due to the adoption of the above technical solutions:

[0014] The utility model provides a material fork buffer assembly to buffer the material tray pushing fork, which can avoid deformation of the material tray caused by direct rigid pushing. Through this flexible pushing, it can effectively avoid damage to the material tray when pushing the material tray, and better realize the single-piece pushing to the inspection station. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of embodiment 1 of the utility model.

[0016] Figure 2 yes Figure 1 Schematic diagram of the structure of the feeding mechanism.

[0017] Figure 3 yes Figure 2 Schematic diagram of the structure of the medium material box transport rack.

[0018] Figure 4 yes Figure 3 A partial enlarged view of .

[0019] Figure 5 yes Figure 2 Schematic diagram of the structure of the middle material box conveying mechanism.

[0020] Figure 6 yes Figure 5 Schematic diagram of the structure of the middle limit plate drive mounting frame.

[0021] Figure 7 yes Figure 5 Schematic diagram of the structure of the medium material box loading rack.

[0022] Figure 8 yes Figure 5 Schematic diagram of the structure of the middle material tray pushing mechanism.

[0023] Figure 9 yes Figure 8 Schematic diagram of the lower structure.

[0024] Figure 10 yes Figure 1 Schematic diagram of the structure of the middle material tray detection mechanism.

[0025] Figure 11 yes Figure 10 Schematic diagram of the structure of the 2D camera adjustment mechanism.

[0026] Figure 12 yes Figure 10 Schematic diagram of the structure of the 3D camera adjustment mechanism.

[0027] Figure 13 yes Figure 10 Schematic diagram of the structure of the middle material tray conveying mechanism.

[0028] Figure 14 yes Figure 13 A partial enlarged view of the fixed conveyor rack or the movable conveyor rack.

[0029] Figure 15 yes Figure 14 Schematic diagram of the structure of the middle track guide plate.

[0030] Figure 16 yes Figure 10 Schematic diagram of the structure of the middle clamping jaw drive mechanism.

[0031] Figure 17 yes Figure 10 Schematic diagram of the structure of the inkjet positioning mechanism. DETAILED DESCRIPTION

[0032] The utility model is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0033] Example 1

[0034] This embodiment provides a 2D and 3D visual inspection system for a chip DB and a gold wire WB, such as Figures 1 - 17 As 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 a unloading mechanism 12 . The material tray detection mechanism 3 is arranged between the loading mechanism 11 and the unloading mechanism 12 .

[0035] like Figures 1 - 9 As shown, the loading mechanism 11 and the unloading mechanism 12 both include a material box upper and lower material rack 13 and a material box transport rack 14 which are arranged at intervals in the horizontal direction, the material box upper and lower material rack 13 respectively include a material box upper material position 101 and a material box lower material position 102 which are arranged at intervals in the vertical direction, the material box upper and lower material rack 13 includes a material box conveying mechanism 17 arranged at the material box upper material position 101, the material box conveying mechanism 17 includes a material box loading rack 105, the material box upper and lower material rack 13 also includes a material box lower material rack arranged below the material box loading rack 105, the material box upper material position 101 and the material box lower material position 102 are respectively arranged at the material box loading rack 105 and the material box lower material rack, and the material box upper material position 101 and the material box lower material position 102 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 rack 14.

[0036] A material tray discharge position 15 and a material tray receiving position 16 are respectively formed on the loading mechanism 11 and the unloading mechanism 12 and between the material box upper and lower material racks 13 and the material box transport rack 14; a material box grasping mechanism 104 is provided at the material box transport rack 14 in the loading mechanism 11 and the unloading mechanism 12, and the material box grasping mechanism 104 can move in the vertical direction and the horizontal direction for transporting the material box at the material box upper position 101 to the material tray receiving position 16 and for transporting the material box at the material tray discharge position 15 to the material box unloading position 102.

[0037] In this embodiment, the material box transport frame 14 includes 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 material frames 13 . The material box grabbing mechanism 104 includes a grab claw mounting plate 203 .

[0038] In order to realize the movement of the material box grabbing mechanism 104 in the vertical and horizontal directions, a vertical frame driving mechanism and a vertical frame moving slide rail 215 are provided on the transport horizontal frame 201 , and a mounting plate driving mechanism is provided on the transport vertical frame 202 .

[0039] Among them, the vertical frame driving mechanism includes a vertical frame driving motor 216 and a vertical frame driving screw 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 217 through a vertical frame driving nut, and the vertical frame movement slide rail 215 is arranged on both sides of the vertical frame driving screw 217; the mounting plate driving mechanism includes a mounting plate driving motor 218 and a mounting plate driving screw 219 connected to the motor shaft of the mounting plate driving motor 218, and the grab claw mounting plate 203 is connected to the mounting plate driving screw 219 through a mounting plate driving nut.

[0040] In this embodiment, a movable grabbing claw 204 and a fixed grabbing claw 205 arranged up and down are installed on the grabbing claw mounting plate 203. The movable grabbing claw 204 can move toward or away from the fixed grabbing claw 205. The grabbing claw mounting plate 203 is installed on the transport vertical frame 202 and can perform vertical reciprocating motion on the transport vertical frame 202.

[0041] A movable grab claw driving mechanism is also provided on the grab claw mounting plate 203, and the movable grab claw driving mechanism includes a grab claw driving cylinder 206 and a grab claw slide rail 207, both of which are vertically arranged. The end of the piston rod of the grab claw driving cylinder 206 is equipped with a grab claw mounting seat 208 that is slidably connected to the grab claw slide rail 207, and the movable grab claw 204 is fixed on the grab claw mounting seat 208.

[0042] The fixed grabbing claw 205 includes two parallel and spaced support blocks 212, one end of which is fixed on the grabbing claw mounting plate 203 and the other end extends toward the magazine transport frame 14. The upper end surface of the extension end of the support block 212 facing the magazine transport frame 14 is configured with an L-shaped concave surface 213 for supporting the lower end of the magazine. A rubber pad 214 is provided at the end surface of the movable grabbing claw 204 facing the fixed grabbing claw 205.

[0043] When the material box grabbing mechanism 104 grabs the material box, the fixed grabbing claw 205 at the bottom is first inserted into the lower end surface of the material box, and then the movable grabbing claw 204 at the top is moved downward, so that the rubber pad 214 presses the upper surface of the material tray. The setting of the rubber pad 214 can increase the buffer, reduce wear, increase friction, and improve the clamping stability. After the movable grabbing claw 204 is clamped, under the joint action of the vertical frame driving mechanism and the mounting plate driving mechanism, the entire material box grabbing mechanism 104 is first moved upward, and then the material box is moved out of the material box upper material position 101 and moved to the material tray discharge position 15 to wait for the single-piece material tray to be discharged.

[0044] In addition, a hydraulic buffer 209 is 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 on the gripper mounting plate 203 and a buffer piston rod 211 with one end disposed within the buffer body 210 and the other end facing the gripper mounting seat 208.

[0045] The arrangement of the buffer piston rod 211 can achieve the buffering and decelerating effect when the gripper mounting seat 208 moves on the gripper slide rail 207, and is used for limiting the position when reaching the extreme position to prevent the gripper mounting seat 208 from derailing or directly colliding with the material tray rigidly when clamping the material tray.

[0046] In this embodiment, the cartridge conveying mechanism 17 includes a cartridge conveying platform 106; an active cartridge limiting plate 107 and a fixed cartridge limiting plate 108 are further provided on the cartridge loading rack 105, which are perpendicular to the cartridge conveying platform 106 and the length direction is arranged 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 in 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, to ensure 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.

[0047] 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.

[0048] In order to better realize the installation of the limiting plate driving mechanism, a limiting plate driving mounting frame 113 for installing the limiting plate driving mechanism is installed on the cartridge loading rack 105 in this embodiment. 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.

[0049] On the mounting frame top plate 115, there are also provided limit plate driving slide rails 116 disposed on both sides of the limit plate driving lead screw 110. The top of the movable cartridge limit plate 107 is connected to a limit plate driving seat 117. The limit plate driving lead screw 110 is connected to the middle of the limit plate driving seat 117. Both ends of the limit plate driving seat 117 are provided with driving seat sliding grooves 118 that cooperate with the limit plate driving slide rails 116 for sliding.

[0050] 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.

[0051] 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 transmission mechanism installation groove 124. A belt transmission mechanism is installed in the belt transmission mechanism installation groove 124. The belt transmission mechanism includes a belt transmission motor 125, a plurality of spaced belt input wheels 126 connected to the output shaft of the belt transmission motor 125, and belt output wheels 127 provided corresponding to the belt input wheels 126 one by one. 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.

[0052] And in order to ensure that the cartridge is in a stationary state when being grabbed, at least one cartridge blocking plate 129 is provided on the loading rack bottom plate 122 and located at the cartridge outlet end 121. The cartridge blocking plate 129 is disposed between adjacent belt input wheels 126, so that the cartridge blocking plate 129 can intercept the cartridge to be detected. In this state, the cartridge needs to be detected. Therefore, a cartridge barcode reader 4 capable of scanning the cartridge on the cartridge conveying platform 106 is provided on the loading rack side plate 123. The cartridge is detected by the cartridge barcode reader 4. The cartridge with OK scanning flows to the next station through the cartridge grabbing mechanism 104, that is, the tray feeding station; the cartridge with NG scanning is sent by the cartridge grabbing mechanism 104 to the cartridge discharging rack for discharging and manual processing. Therefore, setting the cartridge blocking plate 129 to intercept the cartridge to be detected can not only facilitate the stable barcode scanning detection of the cartridge by the cartridge barcode reader 4, but also facilitate the grabbing of the detected cartridge by the cartridge grabbing mechanism 104.

[0053] In order to facilitate the box reader 4 to better scan the boxes, a mechanism for adjusting the box reader 4 is also provided. Specifically, a reader mounting bracket 401 is installed on the side plate 123 of the loading rack. The reader mounting bracket 401 includes a vertical long strip plate 402 fixed on the side plate 123 of the loading rack and a horizontal long strip plate 403 installed on the vertical long strip plate 402. A vertical long slot 404 and a horizontal long slot 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 slot 404 through a fastening nut, and the box reader 4 is installed in the horizontal long slot 405 through a fastening nut. Through the settings of the vertical long slot 404 and the horizontal long slot 405, the position of the box reader 4 in the horizontal and vertical directions can be adjusted, so that the box reader 4 can better scan the boxes.

[0054] Among them, at the box loading and unloading rack 13, a first tray pushing mechanism 6 is provided for pushing the single piece of the tray to be detected in the box at the tray loading position 15 onto the tray conveying track 51. At the tray conveying mechanism 5, a second tray pushing mechanism is provided for pushing the tray after detection on the tray conveying track 51 into the box at the tray receiving position 16.

[0055] In this embodiment, the first tray pushing mechanism 6 includes a fork mounting seat 601. A tray push fork 602 is installed at the fork mounting seat 601. One end of the tray push fork 602 constitutes a fork extending end 603 that can extend into the box to push out the single-piece tray in the box, and the other end constitutes a fork mounting end 604. A fork buffer assembly is also installed on the fork mounting seat 601. The fork buffer assembly includes a fork slide rail 605 whose length direction is set along the tray pushing direction and a fork slide block 606 that can slide along the fork slide rail 605. The tray push fork 602 is installed on the fork slide block 606. It also includes a buffer spring 607 whose length direction is set 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 push fork 602. The setting of the buffer spring 607 can enable the tray push fork 602 to have a certain buffering effect when extending into the box to push the tray. Since the tray is very thin, if it is pushed directly in a 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.

[0056] 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 on 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.

[0057] The tray pushing fork 602 is in the shape of a U-shaped plate, and the open end of the U-shaped is the fork extending end 603. The tray pushing fork 602 with this structure can not only push the tray in the wider tray box by inserting both side arms of the U-shaped plate into the tray box, but also push the tray in the tray box with a smaller width by inserting only one side arm of the U-shaped plate into the tray box.

[0058] In order to make the tray pushing fork 602 better cooperate with the tray box at the tray placing 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 installed on the second linear module 611, and the second linear module 611 is installed 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.

[0059] Among them, the first linear module 610 includes a slide cylinder 612 and a linear module mounting plate 613 installed 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.

[0060] 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 installed 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.

[0061] As Figures 10 - 17 shown, in this embodiment, the tray detection mechanism 3 includes a visual detection station 31 and a tray conveying station 32.

[0062] Among them, along the conveying direction of the tray conveying track 51 at the visual inspection station 31, a 2D visual inspection camera 33 and a 3D visual inspection camera 34 are arranged in sequence. 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 arranged corresponding to the 2D visual inspection camera 33 and the 3D visual inspection camera 34. The tray suction plate 8 corresponding to the 2D visual inspection camera 33 is made of a transparent material and a backlight is arranged below it. There is also an ink dotting machine 35 that is arranged at the 3D visual inspection camera 34 and is located on the 3D camera linear motor module 304 and is used to dot ink marks on defective products.

[0063] A backlight is arranged at the lower part of the tray suction plate 8, so that the backlight shines from below the product, which can make the photos taken by the 2D visual inspection camera 33 clearer and the results more accurate. The backlight has a good detection effect on the hollow materials, and can make the hollow edges clearer. In addition, a ring light source is also arranged below the 2D visual inspection camera 33, which can effectively eliminate the shadows generated by the backlight installation connectors.

[0064] At the visual 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 visual inspection camera 33 and the 2D visual 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 realize the movement of the 2D visual inspection camera 33 and the 3D visual inspection camera 34 in the length and width directions of the tray conveying track 51 in the horizontal plane.

[0065] 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 a tray loading position 15 and a tray unloading position 16 are respectively located at the inlet and outlet ends of the tray conveying track 51.

[0066] 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. In order 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.

[0067] To further ensure the movement stability of the movable conveyor rack 502, the movable conveyor rack 502 further 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 conveyor rack driving mechanism further includes a support plate track 520 provided under the movable support plate 519 for the movable support plate 519 to slide and a driving rack track 521 provided under the driving rack 518 for the driving rack 518 to slide.

[0068] The fixed conveyor rack 501 and the movable conveyor rack 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 side surfaces are both constructed with tray edge support platforms 505. The tray edge support platform 505 on the fixed track plate 503 and the tray edge support platform 505 on the movable track plate 504 together constitute a tray conveying track 51.

[0069] Track guiding plates 506 are provided at both the inlet and outlet ends of the tray conveying track 51 on the fixed track plate 503 and the movable track plate 504. The side surface of the track guiding plate 506 is constructed with a tray edge upper limiting platform 507 provided above the tray edge support platform 505. The lower end surfaces of the tray edge support platform 505 and the tray edge upper limiting platform 507 together constitute 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 support platform 505 and an inclined guiding surface 510 provided at the starting end of the horizontal limiting surface 509.

[0070] Under the action of the track guiding plate 506, the pushed tray can be accurately guided onto the tray edge support platform 505, and under the combined action of the track guiding plate 506 and the tray suction plate 8, it can be ensured that the tray is completely fixed and flat without deformation during the detection process, guaranteeing the accuracy of the detection result.

[0071] The tray conveying mechanism 5 further includes a plurality of movable grippers 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 gripper 52 includes two clamping plates 511 that can move relative to each other. The movable gripper 52 near the tray receiving position 16 constitutes a second tray pushing mechanism.

[0072] The movable gripper 52 clamps and transports the tray to different detection stations on the tray conveying track 51. After the detection is completed, the movable gripper 52 pushes the detected products one by one into an empty tray. After the tray is full, it is transported by the tray gripping mechanism 104 in the tray transport rack 14 at the blanking mechanism 12 to the blanking mechanism 12 and further transported to subsequent stations.

[0073] In this embodiment, the movable jaw 52 is arranged on the side of the fixed conveyor frame 501, and further 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. Two oppositely arranged clamping plate mounting arms 514 and a mounting arm driving cylinder 515 capable of driving the clamping plate mounting arms 514 to move along the width direction of the tray conveying track 51 are provided on the jaw mounting seat 513. 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 bidirectional motor or a bidirectional cylinder for driving.

[0074] 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 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, an inkjet positioning mechanism 7 is designed.

[0075] 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 capable of blocking and positioning the tray on the tray conveying track 51 is installed on the inkjet positioning frame 71. The inkjet positioning plate 701 can move up and down along 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 along 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, and the inkjet positioning plate 701 is connected to the piston rod of the fixed plate driving cylinder 704.

[0076] 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 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.

[0077] 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.

[0078] A support limiting plate 705 is fixed on the bottom plate 702 of the positioning frame. A long slot 706 of the limiting plate is arranged on the support limiting plate 705 along the width direction of the track. A plurality of bolt holes 707 arranged at intervals and matched with the long slot are arranged on the positioning plate support 703. A fastening wrench 708 for relatively fixing and limiting the positioning plate support 703 and the support limiting plate 705 is arranged at the bolt holes 707.

[0079] Positioning frame fixing plates 709 are further arranged at both ends of the bottom plate 702 of the positioning frame. Vertical fixing plate long slots 710 for adjusting the installation height of the positioning frame fixing plates 709 are arranged on the positioning frame fixing plates 709.

[0080] During the working process of the inkjet positioning mechanism 7, after adjusting the width of the material tray conveying track 51, by loosening the fastening wrench 708, the entire positioning plate support 703 moves relative to the bottom plate 702 of the positioning frame to the middle position of the material tray conveying track 51. At this time, the inkjet positioning plate 701 and the material tray support rod 522 are centered in the material tray conveying track 51. Since the material tray is thin and has a certain flexibility, the material tray support rod 522 supports the middle part of the material tray, which can avoid the middle part of the material tray from deforming downward during the material tray detection process. The upper surface of the material tray support rod 522 is configured as an arc surface, which can make the contact between the material tray support rod 522 and the lower surface of the material tray a line contact, reducing the risk of potential product scratching.

[0081] When the product detection is completed and defective products are found, the inkjet positioning plate 701 is lifted. When the material moves in place, it is blocked in the middle by the inkjet positioning plate 701. The sensor in the inkjet positioning plate 701 detects in place, realizing that the flow direction is hard limited to ensure 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 working station.

[0082] In this embodiment, the movement process, movement position, etc. of the movement mechanism are accurately detected by a position sensor. For example, a displacement sensor is arranged in the corresponding transmission mechanism or movement mechanism, and the installation position of the displacement sensor is adjusted according to actual needs. The position detection principle is a conventional detection method.

[0083] During the working process of the entire vision detection 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 detection. The material box with OK barcode flows to the material tray placing station through the material box grasping mechanism 104; the material box with NG barcode is sent to the material box discharging rack by the material box grasping mechanism 104 for discharging and manual processing.

[0084] Then, the material tray pushing mechanism pushes the material trays in the material box at the material tray placing station one by one into the material tray conveying track 51, and the empty material box is discharged from the lower layer;

[0085] Next, under the action of the moving gripper 52, the tray to be detected 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;

[0086] After the vision inspection, if it is a NG product, it is marked with ink at the NG position by the ink dotting machine 35 and then transported to the blanking station; if it is a qualified product, it is directly transported to the blanking station.

[0087] At the blanking mechanism 12, an empty material box is manually placed at the loading position; 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 and processed manually;

[0088] 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 full material box blanking position 102, and after caching a certain number, it reminds the operator to take it out.

[0089] The whole process of this embodiment has a smooth process 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 and unqualified products after detection.

[0090] 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.

[0091] In summary, 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 pushing mechanism is characterized by: The material fork mounting seat (601) comprises a material tray pushing fork (602) mounted on the material fork mounting seat (601); one end of the material tray pushing fork (602) constitutes a material fork extending end (603) capable of extending into a material box for pushing out a single material tray in the material box, and the other end constitutes a material fork mounting end (604); a material fork buffer assembly is also mounted on the material fork mounting seat (601); the material fork buffer assembly comprises a material fork slide rail (605) arranged along the material tray pushing direction in the length direction and a material fork slider (606) capable of sliding along the material fork slide rail (605); the material tray pushing fork (602) is mounted on the material fork slider (606) and further comprises a buffer spring (607) arranged along the length direction of the material fork slide rail (605); the end of the buffer spring (607) can abut against the material fork slider (606) to buffer the movement of the material tray pushing fork (602).

2. The tray pushing mechanism according to claim 1, characterized in that: The material fork buffer assembly also includes a guide post (608) having one end fixed to the material fork mounting seat (601) and the other end inserted into the material fork slider (606). A sliding hole (609) is provided on the end surface of the material fork slider (606) away from the material fork extension end (603). The guide post (608) is slidably connected to the sliding hole (609). The buffer spring (607) is sleeved on the guide post (608).

3. The tray pushing mechanism according to claim 1, characterized in that: The material tray pushing fork (602) is in a U-shaped plate shape, and the U-shaped opening end is the material fork extension end (603).

4. The tray pushing mechanism according to claim 1, characterized in that: It also includes a first linear module (610) and a second linear module (611) for driving the material fork mounting seat (601) to move, the material 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 a horizontal plane along a direction perpendicular to the material tray pushing out direction, and the second linear module (611) can drive the material fork mounting seat (601) to move in a horizontal plane along the material tray pushing out direction.

5. The tray pushing mechanism according to claim 4, characterized in that: The first linear module (610) comprises a slide cylinder (612) and a linear module mounting plate (613) mounted on the slide cylinder (612); the second linear module (611) comprises 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 material fork mounting seat (601) is slidably connected to the mounting seat slide rail (615).

6. The tray pushing mechanism according to claim 5, characterized in that: The mounting seat driving plate (614) is provided with a mounting seat conveyor belt (616) arranged along the length direction of the mounting seat slide rail (615) in the transmission direction, a mounting seat driving wheel (617) and a mounting seat driving motor (618) for driving the mounting seat conveyor belt (616) to move, and an output belt connecting member (619) connected to the mounting seat conveyor belt (616) is provided on the material fork mounting seat (601).

7. A 2D and 3D visual inspection system for chip DB and gold wire WB, characterized in that: It includes the tray pushing mechanism described in any one of claims 1-6.

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