2D and 3D visual inspection system for chip DB and gold wire WB and material box conveying 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 material box conveying mechanism of the 2D and 3D visual inspection system. The material box conveying mechanism comprises a material box feeding frame (105), and the material box feeding frame (105) comprises a material box conveying platform (106). A movable material box limiting plate (107) and a fixed material box limiting plate (108) which are perpendicular to the material box conveying platform (106) are further arranged on the material box feeding frame (105), the length direction of the movable material box limiting plate (107) and the length direction of the fixed material box limiting plate (108) are arranged in the material box conveying direction, and the movable material box limiting plate (107) and the fixed material box limiting plate (108) are arranged in parallel and can move towards or away from the fixed material box limiting plate (108). The material box conveying device can be suitable for conveying material boxes of different models and different widths, so that the material boxes of various models can be conveyed to the next station in a good posture, and it is guaranteed that follow-up work is smoothly, stably and accurately carried out.

Description

Technical Field

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

[0002] DB is the abbreviation of "Die Bond", which means die bonding, that is, pasting the die onto the Lead Frame, which can be understood as pasting the chip onto 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, which can be understood as connecting the chip and the PCB through gold wires or aluminum wires by equipment. These are two processes in the front-end of semiconductor packaging and testing.

[0003] DB and WB need to be tested to determine whether the products are qualified. During the detection process, generally, the material trays need to be placed in the cassettes, and then the materials in each material tray are detected. However, the cassettes actually have various different models, and it is difficult for the conventional detection systems to convey cassettes of different models. Summary of the Utility Model

[0004] Aiming at the problem of conveying cassettes of different models in the vision detection mechanism for chip DB and wire bond WB, the utility model provides a 2D and 3D vision detection system for chip DB and wire bond WB and a cassette conveying mechanism thereof.

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

[0006] Due to the adoption of the above technical solutions, the utility model has remarkable technical effects:

[0007] The cassette conveying mechanism includes a cassette loading rack, and the cassette loading rack includes a cassette conveying platform; an adjustable cassette limiting plate and a fixed cassette limiting plate perpendicular to the cassette conveying platform and with the length direction along the cassette conveying direction are further arranged on the cassette loading rack. The adjustable cassette limiting plate is arranged parallel to the fixed cassette limiting plate and can move towards or away from the fixed cassette limiting plate. The adjustable cassette limiting plate, the fixed cassette limiting plate and the cassette conveying platform together form a cassette placement groove.

[0008] Preferably, a limiting plate driving mechanism for driving the movement of the adjustable cassette limiting plate is installed on the cassette loading rack. The limiting plate driving mechanism includes a limiting plate driving motor and a limiting plate driving lead screw connected to the motor shaft of the limiting plate driving motor. The adjustable cassette limiting plate is connected to the limiting plate driving lead screw through a lead screw nut.

[0009] Preferably, a limit plate driving mounting frame for mounting a limit plate driving mechanism is installed on the cartridge loading rack. The limit plate driving mounting frame includes two mounting frame support plates fixed at the edge of the cartridge conveying platform and arranged in parallel with each other, and a mounting frame top plate arranged on the tops of the two mounting frame support plates. The limit plate driving mechanism is arranged on the mounting frame top plate.

[0010] The structural design, installation position design, etc. of the limit plate driving mechanism are all relatively reasonable, which can realize the effective movement of the movable cartridge limit plate, and there is no interference in the movement between each component, the position layout is reasonable, the structure is compact, and the occupied space is small.

[0011] Preferably, limit plate driving slide rails are also arranged on the mounting frame top plate on both sides of the limit plate driving lead screw. The top of the movable cartridge limit plate is connected with a limit plate driving seat. The limit plate driving lead screw is connected to the middle of the limit plate driving seat. Both ends of the limit plate driving seat are provided with driving seat sliding grooves that cooperate with the limit plate driving slide rails for sliding.

[0012] Preferably, a cartridge conveying belt is arranged at the cartridge conveying platform. The two ends of the cartridge conveying platform along the conveying direction of the cartridge conveying belt respectively form a cartridge inlet end and a cartridge outlet end. The setting of the cartridge conveying belt can enable the cartridge to be automatically conveyed to the next working station on the cartridge conveying platform, effectively improving the automation degree of the loading process.

[0013] Preferably, the cartridge loading rack includes a loading rack bottom plate and two loading rack side plates. The loading rack bottom plate and the two loading rack side plates jointly form a belt transmission mechanism installation groove. A belt transmission mechanism is installed in the belt transmission mechanism installation groove. The belt transmission mechanism includes a belt transmission motor, a plurality of spaced belt input wheels connected to the output shaft of the belt transmission motor, and belt output wheels arranged in one-to-one correspondence with the belt input wheels. The cartridge conveying belt is installed between the belt input and the corresponding belt output wheels. A belt extension groove for the cartridge conveying belt to extend out is arranged on the cartridge conveying platform. The upper end surface of the cartridge conveying belt is higher than the upper end surface of the cartridge conveying platform. The structural design of the cartridge loading rack makes the installation position of its belt transmission mechanism reasonable, ensuring the automatic transportation of the cartridge, and at the same time facilitating the subsequent cartridge clamping mechanism to extend into the lower part of the cartridge to grab the cartridge.

[0014] Preferably, at least one cartridge stop plate is arranged on the loading rack bottom plate and at the cartridge outlet end. The cartridge stop plate is arranged between adjacent belt input wheels. The setting of the cartridge stop plate can realize the stop of the cartridge at the code scanning station, ensure smooth and accurate code scanning, and at the same time provide a guarantee for the grasping stability of the cartridge in the next process.

[0015] Preferably, a cartridge barcode reader capable of scanning the cartridges on the cartridge conveying platform is provided on the side plate of the loading rack. The setting of the cartridge barcode reader can realize the barcode scanning detection of the cartridges. Its specific working principle is the barcode scanning detection of the existing conventional cartridge barcode reader, and then the classification of good cartridges and defective cartridges is realized.

[0016] Preferably, a barcode reader mounting bracket is installed on the side plate of the loading rack. The barcode reader mounting bracket includes a vertical long strip plate fixed on the side plate of the loading rack and a horizontal long strip plate installed on the vertical long strip plate. A vertical long groove and a horizontal long groove 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 groove through a fastening nut, and the cartridge barcode reader is installed in the horizontal long groove through a fastening nut. The structural design of the barcode reader mounting bracket can make the position of the cartridge barcode reader adjustable, and then enable it to perform better alignment and scanning of the cartridges, ensuring the accuracy and efficiency of barcode scanning.

[0017] A 2D and 3D vision inspection system for chip DB and wire bonding WB includes the aforementioned cartridge conveying mechanism.

[0018] In order to solve the above technical problems, the present utility model is solved by the following technical solutions:

[0019] The present utility model has significant technical effects due to the adoption of the above technical solutions:

[0020] By providing a cartridge placement groove with adjustable width, the present utility model can adjust the width of the cartridge placement groove according to the actual width of the cartridge during cartridge feeding, and then adapt to the conveying of cartridges of different models and widths, so that cartridges of various models can be transported to the next working station in a better posture, ensuring the smooth, stable and accurate progress of subsequent work. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of Embodiment 1 of the present invention.

[0022] Figure 2 It is Figure 1 The schematic structural diagram of the loading mechanism in

[0023] Figure 3 It is Figure 2 The schematic structural diagram of the cartridge transport rack in

[0024] Figure 4 It is Figure 3 The partial enlarged view of

[0025] Figure 5 It is Figure 2 The schematic structural diagram of the cartridge conveying mechanism in

[0026] Figure 6 It isFigure 5 Schematic diagram of the structure of the middle limit plate driving mounting bracket.

[0027] Figure 7 It is Figure 5 Schematic diagram of the structure of the middle material box loading rack.

[0028] Figure 8 It is Figure 5 Schematic diagram of the structure of the middle material tray pushing mechanism.

[0029] Figure 9 It is Figure 8 Schematic diagram of the lower part structure.

[0030] Figure 10 It is Figure 1 Schematic diagram of the structure of the middle material tray detection mechanism.

[0031] Figure 11 It is Figure 10 Schematic diagram of the structure of the 2D camera adjustment mechanism in the middle.

[0032] Figure 12 It is Figure 10 Schematic diagram of the structure of the 3D camera adjustment mechanism in the middle.

[0033] Figure 13 It is Figure 10 Schematic diagram of the structure of the middle material tray conveying mechanism.

[0034] Figure 14 It is Figure 13 Partial enlarged view of the fixed conveying rack or the movable conveying rack in the middle.

[0035] Figure 15 It is Figure 14 Schematic diagram of the structure of the middle track guiding plate.

[0036] Figure 16 It is Figure 10 Schematic diagram of the structure of the middle jaw driving mechanism.

[0037] Figure 17 It is Figure 10 Schematic diagram of the structure of the middle inkjet positioning mechanism. Specific embodiments

[0038] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0039] Embodiment 1

[0040] This embodiment provides a 2D and 3D vision detection system for chip DB and wire bonding WB, as Figures 1 - 17As shown in the figure, it includes a cartridge transplanting mechanism and a tray detection mechanism 3. The cartridge transplanting mechanism includes a loading mechanism 11 and an unloading mechanism 12, and the tray detection mechanism 3 is arranged between the loading mechanism 11 and the unloading mechanism 12.

[0041] As Figures 1 - 9 shown, both the loading mechanism 11 and the unloading mechanism 12 include a cartridge loading and unloading rack 13 and a cartridge transport rack 14 that are spaced apart in the horizontal direction. At the cartridge loading and unloading rack 13, there are respectively a cartridge loading position 101 and a cartridge unloading position 102 that are spaced apart in the vertical direction. The cartridge loading and unloading rack 13 includes a cartridge conveying mechanism 17 arranged at the cartridge loading position 101. The cartridge conveying mechanism 17 includes a cartridge loading rack 105. The cartridge loading and unloading rack 13 also includes a cartridge unloading rack arranged below the cartridge loading rack 105. The cartridge loading position 101 and the cartridge unloading position 102 are respectively arranged at the cartridge loading rack 105 and the cartridge unloading rack. Both the cartridge loading position 101 and the cartridge unloading position 102 are provided with a cartridge placement groove 112 that is open at the upper end and the end facing the cartridge transport rack 14.

[0042] On the loading mechanism 11 and the unloading mechanism 12 and located between the cartridge loading and unloading rack 13 and the cartridge transport rack 14, there are respectively formed a tray placing position 15 and a tray receiving position 16. At the cartridge transport rack 14 of the loading mechanism 11 and the unloading mechanism 12, there is provided a cartridge gripping mechanism 104. The cartridge gripping mechanism 104 can move in the vertical direction and the horizontal direction to transport the cartridge at the cartridge loading position 101 to the tray receiving position 16 and to transport the cartridge at the tray placing position 15 to the cartridge unloading position 102.

[0043] In this embodiment, the cartridge transport rack 14 includes a transport horizontal rack 201 and a transport vertical rack 202. The transport vertical rack 202 can move horizontally on the transport horizontal rack 201 towards or away from the cartridge loading and unloading rack 13. The cartridge gripping mechanism 104 includes a gripping claw mounting plate 203.

[0044] Among them, in order to realize the movement of the cartridge 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 transport horizontal rack 201, and a mounting plate driving mechanism is provided on the transport vertical rack 202.

[0045] Among them, the vertical frame driving mechanism includes a vertical frame driving motor 216 and a vertical frame driving lead screw 217 connected to the motor shaft of the vertical frame driving motor 216. The bottom of the transportation vertical frame 202 is connected to the vertical frame driving lead screw 217 through a vertical frame driving nut. The vertical frame movement slide rail 215 is arranged on both sides of the vertical frame 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 grasping claw mounting plate 203 is connected to the mounting plate driving lead screw 219 through a mounting plate driving nut.

[0046] In this embodiment, a movable grasping claw 204 and a fixed grasping claw 205 are arranged up and down on the grasping claw mounting plate 203. The movable grasping claw 204 can move towards or away from the fixed grasping claw 205. The grasping claw mounting plate 203 is mounted on the transportation vertical frame 202 and can make a vertical reciprocating motion on the transportation vertical frame 202.

[0047] Among them, a movable grasping claw driving mechanism is further provided on the grasping claw mounting plate 203. The movable grasping claw driving mechanism includes a grasping claw driving cylinder 206 and a grasping claw slide rail 207 that are both vertically arranged. The end of the piston rod of the grasping claw driving cylinder 206 is mounted with a grasping claw mounting seat 208 that is slidably connected to the grasping claw slide rail 207. The movable grasping claw 204 is fixed on the grasping claw mounting seat 208.

[0048] The fixed grasping claw 205 includes two parallel and spaced-apart support blocks 212. One end of the support block 212 is fixed on the grasping claw mounting plate 203, and the other end extends towards the cartridge transportation rack 14. The upper end surface of the extending end of the support block 212 towards the cartridge transportation rack 14 is configured with an L-shaped concave surface 213 for lifting the lower end of the cartridge. A rubber pad 214 is provided at the end surface of the movable grasping claw 204 facing the fixed grasping claw 205.

[0049] During the process of grasping the cartridge by the cartridge grasping mechanism 104, first insert the lower fixed grasping claw 205 into the lower end surface of the cartridge, and then move the upper movable grasping claw 204 downward so that the rubber pad 214 presses against the upper surface of the tray. The setting of the rubber pad 214 can not only increase buffering, reduce wear, but also increase friction and improve clamping stability. After the movable grasping claw 204 is clamped, under the combined action of the vertical frame driving mechanism and the mounting plate driving mechanism, first move the entire cartridge grasping 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.

[0050] 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 inside the buffer body 210 and the other end facing the gripper mounting seat 208.

[0051] 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.

[0052] 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 set along the cartridge conveying direction. The active cartridge limiting plate 107 and the fixed cartridge limiting plate 108 are arranged in parallel and can move towards or away from the fixed cartridge limiting plate 108. The active cartridge limiting plate 107, the fixed cartridge limiting plate 108 and the cartridge conveying platform 106 together form a cartridge placement groove 112. By setting the active cartridge limiting plate 107 and the fixed cartridge limiting plate 108, the adjustment 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 station.

[0053] 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.

[0054] In order to preferably 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.

[0055] 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.

[0056] In this embodiment, in order to realize the automatic transportation of the cartridges 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.

[0057] 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 wheels 127. A belt extension groove 128 for the cartridge conveying belt 119 to extend out 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.

[0058] 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 disposed between adjacent belt input wheels 126, so that the cartridge stop plate 129 can stop the cartridge to be detected. In this state, the cartridge needs to be detected. Therefore, a cartridge code reader 4 capable of scanning the cartridges on the cartridge conveying platform 106 is provided on the loading rack side plate 123. The cartridges are detected by the cartridge code reader 4. The cartridges with OK scanning flow to the next station through the cartridge grabbing mechanism 104, that is, the tray loading station; the cartridges with NG scanning are sent by the cartridge grabbing mechanism 104 to the cartridge unloading rack for discharging 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.

[0059] 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 plate 402 fixed on the side plate 123 of the loading rack and a horizontal long plate 403 installed on the vertical long plate 402. A vertical long slot 404 and a horizontal long slot 405 are respectively provided on the vertical long plate 402 and the horizontal long plate 403. One end of the horizontal long 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, thereby enabling the box reader 4 to better scan the boxes.

[0060] 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.

[0061] 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 tray to deform, thereby affecting the subsequent detection effect. By using the buffering method of combining the spring and the slide block for flexible pushing, damage to the tray during pushing can be effectively avoided.

[0062] 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.

[0063] 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 not only have both side arms of the U-shaped plate extend into the material box to push the tray in a wider material box, but also have a single side arm of the U-shaped plate extend into the material box to push the tray in a material box with a smaller width.

[0064] In order to enable the tray pushing fork 602 to better cooperate with the material 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.

[0065] 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.

[0066] 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 piece 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 piece 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.

[0067] 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.

[0068] 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 sequentially arranged. 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 correspondingly arranged with the 2D visual inspection camera 33 and the 3D visual inspection camera 34 respectively. The tray suction plate 8 corresponding to the 2D visual inspection camera 33 is made of a transparent material and a backlight is provided 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 perform ink dotting marks on defective products.

[0069] 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 hollowed materials, and can make the edges of the hollow more clear. 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 mounting connectors of the backlight.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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 a tray edge support platform 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 the tray conveying track 51.

[0075] 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 limit 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 limit platform 507 together constitute a tray edge guiding groove 508; the lower end surface of the tray edge upper limit platform 507 includes a horizontal limit surface 509 parallel to the tray edge support platform 505 and an inclined guiding surface 510 provided at the starting end of the horizontal limit surface 509.

[0076] 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.

[0077] 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 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.

[0078] 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 filled, 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 to be further transported to subsequent stations.

[0079] In this embodiment, the movable gripper 52 is arranged on the side of the fixed conveyor frame 501, and further includes a gripper driving mechanism. The gripper driving mechanism includes a gripper linear motor module 512 whose length direction is arranged along the length direction of the tray conveying track 51. A gripper mounting seat 513 is installed on the gripper 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 gripper 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 drive.

[0080] When detecting defects, inkjet marking is required for defective products. Since the chips are small, the positioning requirements are precise, and the materials are very thin, when the gripper drags the materials over, relative sliding may occur between the gripper and the materials. Relying solely on the walking distance of the movable gripper 52 along the X-axis for positioning is inaccurate. Therefore, an inkjet positioning mechanism 7 is designed.

[0081] 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 arranged 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. The inkjet positioning plate 701 is connected to the piston rod of the fixed plate driving cylinder 704.

[0082] 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.

[0083] The inkjet positioning plate 701 is configured as a U-shaped plate with an open upper end. The inkjet positioning plate 701 is arranged below the tray support rod 522 and can move upward to a position where the tray support rod 522 is inside the inkjet positioning plate 701. The U-shaped plate configuration of the inkjet positioning plate 701 can prevent the tray support rod 522 from blocking the inkjet positioning plate 701 when the inkjet positioning plate 701 moves upward.

[0084] 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 matching 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 hole 707.

[0085] Positioning frame fixing plates 709 are further arranged at both ends of the bottom plate 702 of the positioning frame. A long slot 710 of the fixing plate for adjusting the installation height of the positioning frame fixing plate 709 is arranged vertically on the positioning frame fixing plate 709.

[0086] During the working process of the inkjet positioning mechanism 7, after adjusting the width of the tray conveying track 51, by loosening the fastening wrench 708, the entire positioning plate support 703 moves relative to the bottom plate 702 of the positioning frame 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 arranged in the middle of the tray conveying track 51. Since the tray is thin and has a certain flexibility, the tray support rod 522 supports the middle of the tray, which can avoid the middle 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 and the lower surface of the tray in line contact, reducing the risk of potential scratching of the product.

[0087] 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 inkjet at the defective part is completed, the inkjet positioning plate 701 descends, and the product is transported to the next working station.

[0088] 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.

[0089] 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 in the loading mechanism 11. Under the action of the material box conveying belt 119, it is transported to the lower part of the material box barcode reader 4 for barcode scanning and detection. The material box with a successful barcode scan flows to the tray placing station through the material box grasping mechanism 104; the material box with a failed barcode scan is sent to the material box discharging rack by the material box grasping mechanism 104 for discharging and manual processing.

[0090] Then, the tray pushing mechanism pushes the trays in the material box at the tray placing station one by one into the tray conveying track 51, and the empty material box is discharged from the lower layer;

[0091] Next, under the action of the moving gripper 52, the to-be-detected tray loaded with materials on the tray conveying track 51 is transported to the 2D vision detection station below the 2D vision detection camera 33 for 2D detection; after the 2D detection is completed, it is then transported to the 3D vision detection station below the 3D vision detection camera 34 for 3D detection;

[0092] After the vision detection is completed, 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 good product, it is directly transported to the blanking station.

[0093] At the blanking mechanism 12, an empty tray is manually placed at the loading position; after the empty tray 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;

[0094] Next, the moving gripper 52 pushes the detected products one by one into the empty tray at the product receiving position; after the empty tray at the product receiving position is full, it is placed by the tray gripping mechanism 104 at the lower full-tray blanking position 102, and after caching a certain number, it reminds the operator to take it out.

[0095] The whole process of this embodiment has a smooth flow and a reasonable layout between each station, and can better realize the automated operation in the whole detection process, and automatically classify the good products and bad products after detection.

[0096] 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.

[0097] 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 material box conveying mechanism is characterized by: The invention comprises a material box loading rack (105), wherein the material box loading rack (105) comprises a material box conveying platform (106); the material box loading rack (105) is also provided with a movable material box limiting plate (107) and a fixed material box limiting plate (108) which are perpendicular to the material box conveying platform (106) and arranged in the length direction along the material box conveying direction; the movable material box limiting plate (107) and the fixed material box limiting plate (108) are arranged in parallel with the fixed material box limiting plate (108) and can move toward or away from the fixed material box limiting plate (108); the movable material box limiting plate (107), the fixed material box limiting plate (108) and the material box conveying platform (106) together constitute a material box placement slot (112).

2. The material box conveying mechanism according to claim 1, characterized in that: A limit plate driving mechanism for driving the movable material box limit plate (107) to move is installed on the material box loading rack (105). The limit plate driving mechanism comprises a limit plate driving motor (109) and a limit plate driving screw (110) connected to the motor shaft of the limit plate driving motor (109). The movable material box limit plate (107) is connected to the limit plate driving screw (110) via a screw nut (111).

3. The material box conveying mechanism according to claim 2, characterized in that: A limit plate drive mounting frame (113) for mounting a limit plate drive mechanism is mounted on the material box loading frame (105); the limit plate drive mounting frame (113) comprises two mounting frame support plates (114) fixed at the edges of the material box conveying platform (106) and arranged parallel to each other, and a mounting frame top plate (115) arranged on top of the two mounting frame support plates (114); and the limit plate drive mechanism is arranged on the mounting frame top plate (115).

4. The material box conveying mechanism according to claim 3, characterized in that: The mounting frame top plate (115) is also provided with a limit plate driving rail (116) arranged on both sides of the limit plate driving screw (110); the top of the movable material box limit plate (107) is connected to the limit plate driving seat (117); the limit plate driving screw (110) is connected to the middle of the limit plate driving seat (117); and both ends of the limit plate driving seat (117) are provided with a driving seat slide groove (118) that cooperates with the limit plate driving rail (116) to slide.

5. The material box conveying mechanism according to claim 1, characterized in that: A material box conveying belt (119) is provided at the material box conveying platform (106), and two ends of the material box conveying platform (106) along the conveying direction of the material box conveying belt (119) respectively constitute a material box inlet end (120) and a material box outlet end (121).

6. The material box conveying mechanism according to claim 5, characterized in that: The material box loading rack (105) comprises 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 forming a belt transmission mechanism installation groove (124), a belt transmission mechanism being installed in the belt transmission mechanism installation groove (124), the belt transmission mechanism comprising a belt transmission motor (125), a plurality of belt input pulleys (126) arranged at intervals and connected to an output shaft of the belt transmission motor (125), and belt output pulleys (127) arranged one-to-one corresponding to the belt input pulleys (126), a material box conveying belt (119) being installed between the belt input pulleys and the corresponding belt output pulleys (127), a belt extension groove (128) through which the material box conveying belt (119) extends is provided on the material box conveying platform (106), and an upper end surface of the material box conveying belt (119) is higher than an upper end surface of the material box conveying platform (106).

7. The material box conveying mechanism according to claim 5, characterized in that: At least one material box baffle plate (129) is provided on the material loading rack bottom plate (122) and located at the material box outlet end (121), and the material box baffle plate (129) is arranged between adjacent belt input wheels (126).

8. The material box conveying mechanism according to claim 2, characterized in that: A material box code reader (4) capable of scanning a material box on the material box conveying platform (106) is provided on the side plate (123) of the loading rack.

9. The material box conveying mechanism according to claim 8, characterized in that: A barcode reader mounting frame (401) is mounted on the side plate (123) of the loading rack. The barcode reader mounting frame (401) comprises a vertical long strip plate (402) fixed on the side plate (123) of the loading rack and a horizontal long strip plate (403) mounted 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 to the vertical long slot (404) by a fastening nut. The material box barcode reader (4) is mounted in the horizontal long slot (405) by the fastening nut.

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

Images