Efficient multi-shaft flexible wobble plate machine

Abstract

The efficient multi-shaft flexible wobble plate machine comprises a feeding mechanism arranged on a machine table, a material plate transplanting mechanism is arranged on one side of the feeding mechanism, a wobble plate mechanism is arranged above the feeding mechanism, a first CCD camera and a first LED light source are arranged above the wobble plate mechanism, and a defective product recycling box is arranged between the feeding mechanism and the material plate transplanting mechanism. A display is arranged above the tray transplanting mechanism, and a keyboard is arranged on the front side of the tray transplanting mechanism. The full-automatic chip placing machine has the advantages of high material sucking efficiency, high material sucking precision, high disc placing efficiency, high disc placing precision, tidy disc placing and good disc loading effect, and solves the problems of low disc loading efficiency, poor disc loading precision, high labor intensity of workers and high labor service cost of enterprises caused by the fact that chips are placed on a material disc manually in the prior art; and the problems of low taking efficiency, low tray loading efficiency, poor tray loading effect and high tray loading cost of the chips due to the fact that a mechanical arm is adopted to suck the chips and place the chips on an empty tray in the existing chip tray loading equipment in the market are solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of disk placing machine, especially to a high -efficient multi -shaft flexible disk placing machine. BACKGROUND

[0002] With the development of science and technology, the demand for chips on the market is getting bigger and bigger, and the chips need to be regularly stored to prevent loss or damage during storage and transportation. In order to store the chips well to prevent damage during storage or transportation, the chips need to be stored in trays. The traditional way of storing chips in trays is manual. The manual tray loading operation has low efficiency, poor precision, high labor intensity of workers and high labor cost of enterprises. Later, some chip tray loading equipment appeared on the market, which used a mechanical hand to replace manual tray loading. The mechanical hand can only suck, convey and load one chip at a time. The chip supply is often stacked together, and the mechanical hand is prone to error when positioning and sucking the chip, resulting in unsuccessful chip sucking, low work efficiency, poor chip picking precision and poor chip picking effect. At the same time, most of the empty trays of the chip tray loading machine are prone to deviation when loading chips on the conveying line, resulting in inaccurate chip placement in the empty tray by the mechanical hand, uneven chip placement on the tray, poor chip tray loading effect, low tray loading efficiency and high tray loading cost. SUMMARY

[0003] The utility model discloses a high -efficient multi -shaft flexible disk placing machine which overcomes the defects of the prior art.

[0004] In order to solve the above technical problems, the utility model adopts the following technical scheme: the high -efficient multi -shaft flexible disk placing machine includes the machine table, the machine table is equipped with the feeding mechanism for chip supply, one side of the feeding mechanism is equipped with the tray transplanting mechanism for tray supply, transplanting and stacking recovery of the tray, the tray transplanting mechanism is equipped with the tray placing mechanism above the feeding mechanism, the tray placing mechanism is used for sucking the chip from the feeding mechanism and placing it on the tray transplanting mechanism, the tray placing mechanism is equipped with the first CCD camera for detecting the direction of the chip on the tray placing mechanism and the first LED light source for providing illumination for the first CCD camera, the tray transplanting mechanism is equipped with the chip appearance detection mechanism for detecting whether the appearance of the chip is qualified and the defective product recovery box for defective product recovery between the feeding mechanism and the tray transplanting mechanism, the tray transplanting mechanism is equipped with the display above, and the tray transplanting mechanism is equipped with the keyboard in front side.

[0005] By adopting the technical scheme, the tray transfer mechanism realizes automatic feeding and conveying of empty trays, positioning of empty trays before the chips are loaded, and stacking and recycling of full trays. When the feeding mechanism, the first CCD camera, the tray placing mechanism, and the chip appearance detection mechanism cooperate to realize automatic feeding, batch precise suction, placing for detection, adjustment of placement, appearance detection, recycling of defective products, and precise placement of good products into empty trays, the device has the advantages of high suction efficiency, high suction precision, high tray placing efficiency, high tray placing precision, neat tray placing, and good tray loading effect. The process of loading chips into empty trays is fully automated, and no manual intervention is required, which reduces labor costs and production costs. The device effectively solves the problems of low tray loading efficiency, poor tray loading precision, high labor intensity, and high labor costs of enterprises caused by traditional manual chip loading. It also solves the problems of low chip picking efficiency, low tray loading efficiency, poor tray loading effect, and high tray loading cost caused by the fact that the mechanical hand of the existing chip tray loading device can only pick up, convey, and load one chip at a time, and the empty tray is prone to deviation when loading chips on the conveying line.

[0006] Preferably, the feeding mechanism comprises a first linear vibrator and a second linear vibrator arranged adjacent to each other, the first linear vibrator is provided with a hopper, and the second linear vibrator is provided with a sieve tray. The hopper is L-shaped, one end of the hopper is provided with a feeding port, a limiting plate is arranged on the feeding port, and an adjusting slot is arranged on the limiting plate to adjust the gap between the bottom of the limiting plate and the feeding port. The limiting plate is installed on the feeding port by screws and the adjusting slot.

[0007] By adopting the technical scheme, the chips are first poured into the hopper, the first linear vibrator vibrates the hopper to automatically supply chips to the sieve tray, the limiting plate limits the chips discharged from the feeding port to ensure that only one chip can lie flat between the bottom of the limiting plate and the feeding port, so that the stacked chips are blocked by the limiting plate to prevent a pile of chips from falling onto the sieve tray when the hopper supplies chips to the sieve tray, causing the chips on the sieve tray to stack and making it difficult to lay the chips flat one by one on the sieve tray. The second linear vibrator vibrates the sieve tray to make the chips lie flat one by one on the sieve tray for the tray placing mechanism to pick up, ensuring that the tray placing mechanism can accurately pick up chips from the sieve tray each time. This solves the problem of low chip picking efficiency and poor chip picking precision caused by the fact that the chips supplied by the existing chip tray loading device are often stacked together, causing errors and frequent unsuccessful chip picking.

[0008] As preferred, the chip appearance detection mechanism comprises a second CCD camera fixed on the machine table through a camera mounting seat, one side of the second CCD camera is provided with a fine adjustment support, a first linear guide rail is arranged on the side surface of the second CCD camera, the first linear guide rail is vertically arranged, first and second fine adjustment sliding tables are arranged at the upper and lower ends of the first linear guide rail respectively, a second LED light source is arranged on the first fine adjustment sliding table, a mirror mounting plate is transversely arranged on the second fine adjustment sliding table, and a mirror is arranged on the mirror mounting plate.

[0009] By adopting the above technical scheme, the second LED light source is positioned and adjusted by sliding on the first linear guide rail through the first fine adjustment sliding table, the mirror is positioned and adjusted by sliding on the first linear guide rail through the second fine adjustment sliding table, the second LED light source provides illumination for the chips conveyed by the tray placing mechanism, and the second CCD camera takes photos of the chips conveyed by the tray placing mechanism through the mirror to perform appearance detection to determine whether the chips are good products.

[0010] As preferred, the tray placing mechanism comprises an X-axis moving assembly, one end of the X-axis moving assembly is connected with a second linear guide rail, the second linear guide rail is fixed on the machine table through a guide rail support, the other end of the X-axis moving assembly is connected with a Y-axis moving assembly, the Y-axis moving assembly is fixed on the machine table through a moving assembly support, a tray placing support is arranged on the sliding part of the X-axis moving assembly, and a plurality of tray placing assemblies are arranged on the tray placing support.

[0011] Specifically, the tray placing assembly comprises a suction nozzle lifting driving device, a synchronous belt connecting seat, a suction nozzle lifting plate and a suction nozzle rotating driving device; the suction nozzle lifting driving device is arranged on the tray placing support, a driving synchronous wheel is arranged on the output end of the suction nozzle lifting driving device, a third linear guide rail is arranged on the front side surface of the tray placing support, the synchronous belt connecting seat is longitudinally and slidingly arranged on the front side surface of the tray placing support through the third linear guide rail, the suction nozzle lifting plate is arranged on the front side surface of the synchronous belt connecting seat, a driven synchronous wheel is arranged below the third linear guide rail and on the rear side surface of the suction nozzle lifting plate, the driving synchronous wheel is in transmission connection with the driven synchronous wheel through a synchronous belt, and the synchronous belt is connected and arranged with the synchronous belt connecting seat; a first photoelectric sensor is arranged above the third linear guide rail and on the front side surface of the tray placing support, a first sensing sheet matched with the first photoelectric sensor is arranged on the top of the synchronous belt connecting seat; a second photoelectric sensor is arranged on the suction nozzle lifting plate, the suction nozzle rotating driving device is fixed on the front side surface of the lower end of the suction nozzle lifting plate through a first mounting plate, a suction nozzle is arranged on the bottom of the suction nozzle rotating driving device, a vacuum connector is arranged on the top of the suction nozzle rotating driving device, the vacuum connector is integrally formed with the suction nozzle and is arranged in communication, the suction nozzle is connected with a vacuum system through the vacuum connector, and a second sensing sheet matched with the second photoelectric sensor is arranged on the vacuum connector.

[0012] By adopting the technical scheme, the X-axis moving assembly and the Y-axis moving assembly jointly cooperate to move and position the suction nozzle in a two-dimensional horizontal space, the suction nozzle lifting driving device drives the synchronous belt connecting seat and the suction nozzle lifting plate to jointly move up and down through the driving synchronous wheel, the synchronous belt and the driven synchronous wheel, the suction nozzle lifting plate drives the suction nozzle to move up and down through the first mounting plate to suck the chip from the sieve disc, the first photoelectric sensor detects the position of the first sensing sheet as the reference position of the suction nozzle lifting driving device to drive the suction nozzle to lift, the X-axis moving assembly, the Y-axis moving assembly and the disc arrangement assembly jointly cooperate to suck the chip from the sieve disc, the suction nozzle rotating driving device rotates the suction nozzle according to the direction of the sucked chip on the sieve disc detected by the first CCD camera to turn and arrange the chip, the second photoelectric sensor detects the position of the second sensing sheet as the reference position of the suction nozzle rotating driving device to rotate the suction nozzle, the X-axis moving assembly, the Y-axis moving assembly and the disc arrangement assembly jointly cooperate to deliver the chip to the upper side of the second LED light source, the second CCD camera takes a photo of the chip to detect the appearance of the chip to determine whether the chip is a good product, and the next operation can be performed according to the appearance detection result of the chip in the delivery by the second CCD camera; if the chip is detected as a defective product, the chip is placed on the defective product recycling box by the disc arrangement assembly for recycling; if the chip is detected as a good product, the X-axis moving assembly, the Y-axis moving assembly and the disc arrangement assembly jointly cooperate to place the chip on the tray of the tray transplanting mechanism to pack the chip, and a plurality of disc arrangement assemblies suck a plurality of chips and pack the chips on the tray, which has the advantages of high chip suction efficiency, high chip suction precision, high disc arrangement efficiency, high disc arrangement precision, good disc arrangement effect and high unloading and recycling efficiency, so as to solve the problem that the chip tray packing equipment on the market cannot simultaneously suck and arrange a plurality of chips and unload and recycle.

[0013] Preferably, the tray transplanting mechanism comprises a transplanting support, a disc feeding assembly for feeding the tray to the belt conveying line is arranged on one end of the transplanting support, a disc collecting and stacking assembly is arranged on the other end of the transplanting support, a baffle lifting driving device is arranged below the middle of the transplanting support, a baffle is arranged on the output end of the baffle lifting driving device to block the movement of the tray, the baffle lifting driving device is fixed on the transplanting support through a first mounting frame, a push plate translation driving device is arranged on one side of the middle of the transplanting support, a push plate is arranged on the output end of the push plate translation driving device, the push plate translation driving device is fixed on the transplanting support through a second mounting plate, and a first arrival detection sensor is arranged on one side of the baffle lifting driving device.

[0014] By adopting the technical scheme, the empty tray stack is provided on the tray providing assembly, the tray providing assembly provides the empty tray to the belt conveying line, the belt conveying line conveys the empty tray, the first empty tray detection sensor detects that the empty tray is conveyed to the position, the baffle lifting driving device drives the baffle to be lifted to block the empty tray from advancing, the push plate translation driving device drives the push plate to extend to push the empty tray to the inside of the transplanting support, and the empty tray is fixed on the transplanting support, which ensures that the tray placing mechanism can accurately place the chips on the empty space of the tray when the empty tray is loaded with the chips; when the tray is full of the chips, the push plate translation driving device drives the push plate to retreat to release the tray, the baffle lifting driving device drives the baffle to be lowered to release the tray full of the chips, and when the tray is conveyed into the tray collecting assembly along the belt conveying line, the tray collecting assembly recycles and stacks the tray, which realizes the automatic completion of the tray providing, conveying, tray loading and fixing and full-tray recycling and the like, has the advantages of high tray loading or placing efficiency and neat tray loading or placing, and solves the problems of the chip tray loading equipment on the market, such as the deviation of the empty tray when the empty tray is loaded with the chips on the conveying line, the uneven chip loading, the poor loading effect and the low loading efficiency.

[0015] Specifically, the tray providing assembly comprises two tray providing supports provided on one end of the transplanting support, the two tray providing supports are mirror-symmetrically arranged, the outer sides of the two tray providing supports are respectively provided with a push plate translation driving device, the two push plate translation driving devices are respectively fixed on the two tray providing supports through a third mounting plate, the output ends of the two push plate translation driving devices are respectively provided with a side push plate, the bottom of at least one of the two tray providing supports is provided with an empty tray detection sensor, a bottom push plate is arranged between the two tray providing supports, the bottom of the bottom push plate is connected with a push plate lifting driving device, the push plate lifting driving device is fixed on the transplanting support through a fourth mounting plate, the bottom push plate is longitudinally slidably arranged on the fourth mounting plate through a plurality of straight guide rods, the lower end of at least one of the plurality of straight guide rods is provided with a limiting ring, the two sides of the fourth mounting plate are respectively provided with a full tray detection sensor for detecting whether the bottom push plate is loaded with the tray, and the two full tray detection sensors are respectively fixed on the transplanting support through a first sensor mounting plate.

[0016] By adopting the technical scheme, the material lack detection sensor automatically detects whether there is a lack of tray on the two tray support supports, the empty tray is placed on the two tray support supports, the two side supporting plates support the bottommost empty tray of the empty tray group (the empty tray group is formed by stacking a plurality of empty trays), the bottom supporting plate is driven to be raised by the supporting plate lifting driving device to support the bottommost empty tray of the empty tray group, the two supporting plate translation driving devices drive the side supporting plates to retreat to exit the support of the empty tray, the bottom supporting plate is driven to be lowered by the supporting plate lifting driving device to a height of one tray, the two supporting plate translation driving devices drive the side supporting plates to extend to support the next empty tray (i.e., the second last empty tray of the empty tray group from bottom to top), and the bottom supporting plate is driven to be lowered by the supporting plate lifting driving device to place the empty tray (i.e., the bottommost empty tray of the empty tray group) on the belt conveying line. When the material detection sensor detects the empty tray, the belt conveying line rotates to convey the empty tray. The method realizes automatic tray feeding of the belt conveying line and has the advantage of high tray feeding efficiency.

[0017] Specifically, the tray collecting assembly includes two tray collecting supports arranged on the other end of the transplanting support, and the two tray collecting supports are arranged in mirror symmetry. Each tray collecting support is provided with a plurality of check valves at the bottom for supporting the trays. At least one of the two tray collecting supports is provided with a full-tray detection sensor at the top for detecting whether the trays are stacked full. The full-tray detection sensor is fixed on the upper end of the tray collecting support through a second sensor mounting plate. A top plate is arranged between the two tray collecting supports, and the bottom surface of the top plate is connected with a top plate lifting driving device. The top plate lifting driving device is fixed on the transplanting support through a second mounting bracket. A second tray arrival detection sensor is arranged below one of the tray collecting supports away from the tray feeding assembly, and the second tray arrival detection sensor is fixed on the transplanting support through a second sensor bracket.

[0018] By adopting the technical scheme, when the second tray arrival detection sensor detects that the full-tray tray (i.e., the tray full of chips) is conveyed to the position, the top plate lifting driving device drives the top plate to be raised to lift the full-tray tray. When the full-tray tray is lifted above the check valve, the top plate lifting driving device drives the top plate to be lowered to exit the support of the full-tray tray. The full-tray tray is supported by the check valves on the two tray collecting supports to complete the stacking and recovery of the full-tray tray. When the full-tray detection sensor detects that the full-tray trays are stacked on the two tray collecting supports, the top plate lifting driving device stops lifting the full-tray tray. After the full-tray trays on the two tray collecting supports are taken away, the full-tray tray is lifted again. The method realizes intelligent automatic stacking and recovery of the full-tray tray and has the advantages of high recovery efficiency and low recovery cost of the full-tray tray.

[0019] It should be noted that the first photoelectric sensor and the second photoelectric sensor can adopt a small groove type photoelectric proximity switch with a model EE-SX670, but are not limited thereto. The first arrival detection sensor and the second arrival detection sensor can adopt a proximity switch sensor with a model GX-8, but are not limited thereto.

[0020] As preferred, the display is provided with a control system for signal control of the chip appearance detection mechanism, the tray arranging mechanism, the tray moving mechanism and other components, and the control system is a PLC control system, but is not limited thereto. An operator can set or input various parameters for controlling the operation of each mechanism or component through a keyboard.

[0021] Compared with the prior art, the utility model has the advantages that: 1. The overall structural design has the advantages of high material suction efficiency, high material suction precision, high tray arranging efficiency, high tray arranging precision, neat tray arranging and good tray loading effect, which not only effectively solves the problems of low tray loading efficiency, poor tray loading precision, high labor intensity of workers and high labor cost of enterprises caused by traditional manual chip tray arranging, but also solves the problems of low material taking efficiency, low tray loading efficiency, poor tray loading effect and high tray loading cost caused by the fact that the chip tray loading equipment on the market can only suck, convey and load one chip at a time by using a mechanical hand and the chip is easy to deviate when loaded on an empty tray on a conveying line.

[0022] 2. The structure of the feeding mechanism is designed, so that the chips can be laid flat on the sieve tray one by one for the tray arranging mechanism to suck, preventing a pile of chips from falling on the sieve tray when the sieve tray is supplied with chips from the hopper, which ensures that the tray arranging mechanism can accurately suck multiple chips from the sieve tray at a time.

[0023] 3. The structures of the tray arranging mechanism and the chip appearance detection mechanism are designed respectively, and they are used in cooperation with the first CCD camera, so that the chip can be automatically detected in the arranging direction, adjusted in the arranging direction, detected in appearance and recycled as defective products according to the appearance detection result and accurately arranged in the tray as good products, each operation of which can arrange the chips in the tray in batches, greatly improving the chip tray arranging efficiency and ensuring that the chips are neatly arranged in the tray.

[0024] 4. The structure of the tray moving mechanism is designed, so that the empty tray can be automatically fed, conveyed, positioned before being loaded with chips and stacked and recycled as full trays, which improves the chip tray arranging precision and ensures good chip tray arranging effect. BRIEF DESCRIPTION OF DRAWINGS

[0025] For easy description, the utility model is described in detail by the following preferred embodiments and drawings.

[0026] Figure 1It is the perspective view of the high-efficient multi-shaft flexible tray placing machine.

[0027] Figure 2 It is the perspective view of the feeding mechanism of the high-efficient multi-shaft flexible tray placing machine.

[0028] Figure 3 It is the assembly perspective view of the chip appearance detection mechanism and the defective product recycling box of the high-efficient multi-shaft flexible tray placing machine.

[0029] Figure 4 It is the assembly perspective view of the tray placing mechanism, the chip appearance detection mechanism and the defective product recycling box of the high-efficient multi-shaft flexible tray placing machine.

[0030] Figure 5 It is the assembly perspective view of the multiple tray placing assemblies of the tray placing mechanism of the high-efficient multi-shaft flexible tray placing machine.

[0031] Figure 6 It is the enlarged perspective view of a single tray placing assembly of the tray placing mechanism of the high-efficient multi-shaft flexible tray placing machine.

[0032] Figure 7 It is the perspective view of the tray placing mechanism of the high-efficient multi-shaft flexible tray placing machine. Figure 6 different directions.

[0033] Figure 8 It is the perspective view of the tray placing mechanism of the high-efficient multi-shaft flexible tray placing machine.

[0034] Figure 9 It is the perspective view of the tray placing mechanism of the high-efficient multi-shaft flexible tray placing machine. Figure 8 different directions. DETAILED DESCRIPTION

[0035] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present application can be more thoroughly and completely understood.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the present application herein only for the purpose of describing the specific embodiments of the present application, and is not intended to limit the present application.

[0037] Reference will now be made to the drawings, in which Figure 1As shown, the utility model discloses a high -efficient multi -shaft flexible swing tray machine, including the machine table 1, be equipped with the feeding mechanism 2 of the chip feeding on the machine table 1, the feeding mechanism 2 one side is equipped with the tray transplanting mechanism 3 for tray supply, transplanting and stacking recovery, the feeding mechanism 2 top is equipped with the tray swing mechanism 4 from the feeding mechanism 2 and is placed to the tray transplanting mechanism 3 on chip suction, the tray swing mechanism 4 top is equipped with the first CCD camera 5 for detecting the swing direction of chip on the tray swing mechanism 4 and the first LED light source 6 of the illumination of the photograph of first CCD camera 5, the feeding mechanism 2 and the tray transplanting mechanism 3 between are equipped with the chip appearance detection mechanism 7 of detecting whether the appearance of chip is qualified and the defective product recovery box 8 for defective product recovery, the tray transplanting mechanism 3 top is equipped with the display 9, and the tray transplanting mechanism 3 front side is equipped with the keyboard 10.

[0038] Referring to Figure 2 As shown, the feeding mechanism 2 includes the first linear vibrator 21 and the second linear vibrator 22, the first linear vibrator 21 is provided with a hopper 23, the second linear vibrator 22 is provided with a sieve tray 24, the hopper 23 is L-shaped, one end of the hopper 23 is provided with a feeding port 25, the feeding port 25 is provided with a limiting plate 26, the limiting plate 26 is provided with an adjusting slot 27 for adjusting the gap between the bottom of the limiting plate 26 and the feeding port 25, and the limiting plate 26 is obliquely installed on the feeding port 25 through screws and the adjusting slot 27.

[0039] Referring to Figure 3 As shown, the chip appearance detection mechanism 7 includes a second CCD camera 71, the second CCD camera 71 is fixed on the machine table 1 through a camera mounting seat 72, one side of the second CCD camera 71 is provided with a fine adjustment support 73, a first linear guide rail 74 is installed on one side of the fine adjustment support 73 facing the second CCD camera 71, the first linear guide rail 74 is vertically arranged, first and second fine adjustment sliding tables 75 and 76 are respectively arranged at the upper and lower ends of the first linear guide rail 74, a second LED light source 77 is installed on the first fine adjustment sliding table 75, a mirror mounting plate 78 is transversely installed on the second fine adjustment sliding table 76, and a mirror 79 is installed on the mirror mounting plate 78.

[0040] Referring to Figure 4 to Figure 5 As shown, the tray swing mechanism 4 includes an X-axis moving assembly 41, one end of the X-axis moving assembly 41 is connected with a second linear guide rail 42, the second linear guide rail 42 is fixed on the machine table 1 through a guide rail support 43, the other end of the X-axis moving assembly 41 is connected with a Y-axis moving assembly 44, the Y-axis moving assembly 44 is fixed on the machine table 1 through a moving assembly support 45, a tray swing support 46 is installed on the sliding part of the X-axis moving assembly 41, and a plurality of tray swing assemblies 47 are arranged on the tray swing support 46.

[0041] In the embodiment, the X-axis moving assembly 41 and the Y-axis moving assembly 44 are each provided as at least two linear guides, a servo motor and a ball screw, each linear guide being provided with a sliding part (i.e. a sliding block), and the servo motor being in transmission connection with the ball screw. In other embodiments, the X-axis moving assembly 41 and the Y-axis moving assembly 44 can also be provided as at least two linear guides and a cylinder, and are not limited to this.

[0042] Referring to Figure 6 to Figure 7 As shown in the figure, the swing disc assembly 47 comprises a suction nozzle lifting driving device 471, a synchronous belt connecting seat 472, a suction nozzle lifting plate 473 and a suction nozzle rotating driving device 474; the suction nozzle lifting driving device 471 is mounted on the swing disc support 46, the output end of the suction nozzle lifting driving device 471 is provided with a driving synchronous wheel 475, the front side of the swing disc support 46 is provided with a third linear guide 476, the synchronous belt connecting seat 472 is longitudinally slidably mounted on the front side of the swing disc support 46 through the third linear guide 476, the suction nozzle lifting plate 473 is mounted on the front side of the synchronous belt connecting seat 472, a driven synchronous wheel 477 is arranged below the third linear guide 476, the driven synchronous wheel 477 is mounted on the rear side of the suction nozzle lifting plate 473, the driving synchronous wheel 475 is in transmission connection with the driven synchronous wheel 477 through a synchronous belt 478, and the synchronous belt 478 is connected and mounted with the synchronous belt connecting seat 472; a first photoelectric sensor 479 is arranged above the third linear guide 476, the first photoelectric sensor 479 is mounted on the front side of the swing disc support 46, and the top of the synchronous belt connecting seat 472 is provided with a first sensing sheet 4701 which is used in cooperation with the first photoelectric sensor 479; a second photoelectric sensor 4702 is arranged on the suction nozzle lifting plate 473, the suction nozzle rotating driving device 474 is fixed on the front side of the lower end of the suction nozzle lifting plate 473 through a first mounting plate 4703, the bottom of the suction nozzle rotating driving device 474 is provided with a suction nozzle 4704, the top of the suction nozzle rotating driving device 474 is provided with a vacuum connector 4705, the vacuum connector 4705 is integrally formed with the suction nozzle 4704 and is in communication, the suction nozzle 4704 is connected with a vacuum system through the vacuum connector 4705, and the vacuum connector 4705 is provided with a second sensing sheet 4706 which is used in cooperation with the second photoelectric sensor 4702. In the embodiment, the suction nozzle lifting driving device 471 is a servo motor, and the suction nozzle rotating driving device 474 is a rotating motor.

[0043] Referring to Figure 8 and Figure 9As shown, the tray transplanting mechanism 3 comprises a transplanting support 30, the transplanting support 30 is respectively provided with a belt conveying line 31, one end of the transplanting support 30 is provided with a tray feeding assembly 32 for feeding the tray 11 to the belt conveying line 31, the other end of the transplanting support 30 is provided with a tray collecting and stacking assembly 33 for collecting and stacking the tray 11, the lower middle part of the transplanting support 30 is provided with a baffle lifting driving device 34, the output end of the baffle lifting driving device 34 is provided with a baffle 35 for blocking the movement of the tray 11, the baffle lifting driving device 34 is fixed on the transplanting support 30 through a first mounting frame 36, one side of the middle part of the transplanting support 30 is provided with a push plate translation driving device 37, the output end of the push plate translation driving device 37 is provided with a push plate 38, the push plate translation driving device 37 is fixed on the transplanting support 30 through a second mounting plate 39, one side of the baffle lifting driving device 34 is provided with a first feeding detection sensor 391, the first feeding detection sensor 391 is fixed on the transplanting support 30 through a first sensor support 392. In this embodiment, the baffle lifting driving device 34 is a pneumatic cylinder, and the push plate translation driving device 37 is a sliding table pneumatic cylinder.

[0044] Specifically, the tray feeding assembly 32 comprises two tray feeding supports 320 provided on one end of the transplanting support 30, the two tray feeding supports 320 are mirror-symmetrically arranged, the outer sides of the two tray feeding supports 320 are respectively provided with a supporting plate translation driving device 321, the two supporting plate translation driving devices 321 are respectively fixed on the two tray feeding supports 320 through a third mounting plate 322, the output ends of the two supporting plate translation driving devices 321 are respectively provided with a side supporting plate 323, the bottom of at least one of the two tray feeding supports 320 is provided with a lack-of-material detection sensor 324, a bottom supporting plate 325 is arranged between the two tray feeding supports 320, the bottom of the bottom supporting plate 325 is connected with a supporting plate lifting driving device 326, the supporting plate lifting driving device 326 is fixed on the transplanting support 30 through a fourth mounting plate 327, the bottom supporting plate 325 is longitudinally slidably arranged on the fourth mounting plate 327 through a plurality of linear guide rods 328, the lower end of at least one of the plurality of linear guide rods 328 is provided with a limiting ring 329, the two sides of the fourth mounting plate 327 are respectively provided with a material detection sensor 3291 for detecting whether the tray 11 is loaded on the bottom supporting plate 325, the two material detection sensors 3291 are respectively fixed on the transplanting support 30 through a first sensor mounting plate 3292. In this embodiment, the supporting plate lifting driving device 326 is a pneumatic cylinder.

[0045] Specifically, the tray collecting assembly 33 includes two tray collecting supports 330 arranged on the other end of the transplanting support 30, and the two tray collecting supports 330 are arranged in mirror symmetry, and the bottom of each tray collecting support 330 is provided with a plurality of check valves 331 for supporting the trays 11, and the top of at least one of the two tray collecting supports 330 is provided with a full-tray detection sensor 332 for detecting whether the trays 11 are full, the full-tray detection sensor 332 is fixed on the upper end of the tray collecting support 330 through a second sensor mounting plate 333, a top plate 334 is arranged between the two tray collecting supports 330, the bottom surface of the top plate 334 is connected with a top plate lifting driving device 335, the top plate lifting driving device 335 is fixed on the transplanting support 30 through a second mounting bracket 336, and a second material arrival detection sensor 337 is arranged below the tray collecting support 330 away from the tray supply assembly 32, and the second material arrival detection sensor 337 is fixed on the transplanting support 30 through a second sensor bracket 338. In the embodiment, the top plate lifting driving device 335 is a pneumatic cylinder.

[0046] Referring to Figure 1 to Figure 9 The working principle of the efficient multi-axis flexible tray placing machine is as follows: the chips are first filled in the hopper 23 of the feeding mechanism 2, the first linear vibrator 21 of the feeding mechanism 2 vibrates the hopper 23 to supply the chips to the sieve tray 24, the limiting plate 26 limits the chips discharged through the feeding port 25 to ensure that the gap between the bottom of the limiting plate 26 and the feeding port 25 can only supply one chip to lie flat, and the stacked chips are blocked by the limiting plate 26 to prevent a stack of chips from falling onto the sieve tray 24 when the hopper 23 supplies the chips to the sieve tray 24; after the chips are discharged from the hopper 23 to the sieve tray 24, the second linear vibrator 22 vibrates the sieve tray 24 to make the chips lie flat on the sieve tray 24 for the tray placing mechanism 4 to suck, which ensures that the tray placing mechanism 4 can accurately suck the chips from the sieve tray 24 each time.

[0047] All the tray placing assemblies 47 of the tray placing mechanism 4 can move horizontally and vertically under the common driving of the X-axis moving assembly 41 and the Y-axis moving assembly 44, when the suction nozzle lifting driving device 471 (servo motor) in the tray placing assembly 47 drives the synchronous belt connecting seat 472 and the suction nozzle lifting plate 473 to move up and down through the driving synchronous pulley 475, the synchronous belt 478 and the driven synchronous pulley 477, the suction nozzle lifting plate 473 drives the suction nozzle 4704 to move up and down through the first mounting plate 4703 to suck the chips from the sieve tray 24, the first CCD camera 5 automatically photographs and detects the direction of the chips on the tray placing mechanism 4, so that the suction nozzle rotating driving device 474 (rotary motor) can adjust the direction of the chips according to the direction of the chips sucked by the suction nozzle 4704 of the tray placing mechanism 4 to make the chips be adjusted to the right direction.

[0048] The second CCD camera 71 of the chip appearance detection mechanism 7 takes a photo of the chip to detect the appearance of the chip to determine whether the chip is a good product, so that the tray placing mechanism 4 can recycle the defective product or place the good product according to the chip appearance detection result of the second CCD camera 71. When the chip is detected as a defective product, the tray placing assembly 47 of the tray placing mechanism 4 is driven by the X-axis moving assembly 41 and the Y-axis moving assembly 44 to place the defective chip into the defective product recycling box 8 for recycling. When the chip is detected as a good product, the tray placing assembly 47 of the tray placing mechanism 4 is driven by the X-axis moving assembly 41 and the Y-axis moving assembly 44 to transfer the good chip to the tray transplanting mechanism 3 for batch tray loading.

[0049] The tray feeding assembly 32 of the tray transplanting mechanism 3 is stacked with empty trays, and the tray feeding assembly 32 feeds the empty trays to the belt conveying line 31. The belt conveying line 31 conveys the empty trays. When the first tray feeding detection sensor 391 detects that the empty tray is conveyed to the position, the baffle lifting driving device 34 (cylinder) drives the baffle 35 to rise to block the advance of the empty tray, and the push plate translation driving device 37 (slide cylinder) drives the push plate 38 to extend to push the empty tray tightly to the inside of the transplanting support 30. The empty tray is fixed on the transplanting support 30, so that the tray placing assembly 47 of the tray placing mechanism 4 can accurately place the good chip on the empty space of the tray 11 under the joint driving of the X-axis moving assembly 41 and the Y-axis moving assembly 44. The design of multiple tray placing assemblies 47 realizes the simultaneous suction of multiple chips and the simultaneous placement of multiple chips on the tray 11, so as to realize the batch placement of chips on the tray and greatly improve the tray placing efficiency of the chips.

[0050] When the tray is full of chips, the push plate translation driving device 37 (slide cylinder) drives the push plate 38 to retreat to loosen the tray, and the baffle lifting driving device 34 (cylinder) drives the baffle 35 to lower to release the tray full of chips, so that the belt conveying line 31 can convey the full tray to the tray collecting assembly 33 for recycling and stacking. At this time, the tray placing operation for one tray is completed, and the cycle is repeated.

[0051] The overall structural design not only realizes automatic loading and conveying of the empty tray, positioning of the empty tray before the chip is loaded, and stacking and recycling of the full tray, but also realizes a series of operations such as automatic loading of the chip one by one, batch precise suction, placement and detection, placement and adjustment, appearance detection, recycling of defective products, and precise placement of good products into the empty tray. The device has the advantages of high suction efficiency, high suction precision, high tray placement efficiency, high tray placement precision, neat tray placement, and good tray loading effect. The process of loading the chip into the empty tray is fully automated, and no manual intervention is required. The device effectively solves the problems of low tray loading efficiency, poor tray loading precision, high labor intensity of workers, and high labor cost of enterprises caused by traditional manual chip placement. The device also solves the problems of low chip loading efficiency, low tray loading efficiency, poor tray loading effect, and high tray loading cost caused by the fact that the chip loading device on the market can only suction, convey, and load one chip at a time, and the empty tray is prone to deviation during chip loading on the conveying line.

[0052] The above embodiments are only one example of the present application and are not intended to limit the implementation and scope of the present application. Any technical solution that is the same as or equivalent to the content described in the claims of the present application should be included within the scope of protection of the present application.

Claims

1. A high-efficiency multi-axis flexible swivel plate machine, comprising a machine base, characterized in that: The machine is equipped with a feeding mechanism for chip feeding. On one side of the feeding mechanism is a tray transfer mechanism for tray feeding, transfer, and stacking recycling. Above the feeding mechanism is a tray placement mechanism that picks up chips from the feeding mechanism and places them on the tray transfer mechanism. Above the tray placement mechanism is a first CCD camera for detecting the orientation of the chips on the tray placement mechanism and a first LED light source for illuminating the first CCD camera. Between the feeding mechanism and the tray transfer mechanism is a chip appearance inspection mechanism for detecting whether the chip appearance is qualified and a defective product recycling box for recycling defective products. Above the tray transfer mechanism is a display, and on the front side of the tray transfer mechanism is a keyboard.

2. The high-efficiency multi-axis flexible swivel plate machine according to claim 1, characterized in that: The feeding mechanism includes a first linear vibrator and a second linear vibrator arranged adjacent to each other. The first linear vibrator is equipped with a hopper, and the second linear vibrator is equipped with a screen plate. The hopper is L-shaped and has a feeding port at one end. A limiting plate is provided on the feeding port. The limiting plate has an adjusting slot for adjusting the gap between the bottom of the limiting plate and the feeding port. The limiting plate is obliquely installed on the feeding port by screws and the adjusting slot.

3. The high-efficiency multi-axis flexible swivel plate machine according to claim 1, characterized in that: The chip appearance inspection mechanism includes a second CCD camera, which is fixed on the machine platform by a camera mounting bracket. A fine-tuning bracket is provided on one side of the second CCD camera. A first linear guide rail is mounted on the side of the fine-tuning bracket facing the second CCD camera. The first linear guide rail is vertically arranged. A first fine-tuning slide and a second fine-tuning slide are respectively provided at the upper and lower ends of the first linear guide rail. A second LED light source is mounted on the first fine-tuning slide. A reflector mounting plate is horizontally mounted on the second fine-tuning slide. A reflector is mounted on the reflector mounting plate.

4. The high-efficiency multi-axis flexible swivel plate machine according to claim 1, characterized in that: The plate-spinning mechanism includes an X-axis moving component, one end of which is connected to a second linear guide rail, which is fixed to the machine base by a guide rail bracket. The other end of the X-axis moving component is connected to a Y-axis moving component, which is fixed to the machine base by a moving component bracket. A plate-spinning bracket is mounted on the sliding part of the X-axis moving component, and a plurality of plate-spinning components are mounted on the plate-spinning bracket. The tray-stacking assembly includes a nozzle lifting drive device, a timing belt connector, a nozzle lifting plate, and a nozzle rotation drive device. The nozzle lifting drive device is mounted on the tray-stacking bracket. A driving timing pulley is located at the output end of the nozzle lifting drive device. A third linear guide rail is located on the front side of the tray-stacking bracket. The timing belt connector is longitudinally slidably mounted on the front side of the tray-stacking bracket via the third linear guide rail. The nozzle lifting plate is mounted on the front side of the timing belt connector. A driven timing pulley is located below the third linear guide rail and is mounted on the rear side of the nozzle lifting plate. The driving timing pulley is connected to the driven timing pulley via a timing belt. It is connected and installed with the synchronous belt connector; a first photoelectric sensor is provided above the third linear guide rail, and the first photoelectric sensor is installed on the front side of the swivel plate bracket. A first sensing plate that works with the first photoelectric sensor is installed on the top of the synchronous belt connector; a second photoelectric sensor is provided on the nozzle lifting plate; the nozzle rotation drive device is fixed to the front side of the lower end of the nozzle lifting plate through the first mounting plate; a nozzle is provided at the bottom of the nozzle rotation drive device; a vacuum connector is provided at the top of the nozzle rotation drive device; the vacuum connector is integrally formed with the nozzle and connected; a second sensing plate that works with the second photoelectric sensor is provided on the vacuum connector.

5. The high-efficiency multi-axis flexible swivel plate machine according to claim 1, characterized in that: The material tray transfer mechanism includes a transfer bracket, on which belt conveyors are respectively provided. One end of the transfer bracket is provided with a tray feeding assembly for feeding trays to the belt conveyors, and the other end of the transfer bracket is provided with a tray collecting assembly for collecting and stacking trays. A baffle lifting drive device is provided in the lower middle part of the transfer bracket. The output end of the baffle lifting drive device is provided with a baffle to block the movement of the trays. The baffle lifting drive device is fixed to the transfer bracket by a first mounting bracket. A push plate translation drive device is provided on one side of the middle part of the transfer bracket. The output end of the push plate translation drive device is provided with a push plate. The push plate translation drive device is fixed to the transfer bracket by a second mounting plate. A first material arrival detection sensor is provided on one side of the baffle lifting drive device. The first material arrival detection sensor is fixed to the transfer bracket by a first sensor bracket.

6. The high-efficiency multi-axis flexible swivel plate machine according to claim 5, characterized in that: The tray feeding assembly includes two tray feeding brackets mounted on one end of the transplanting support. The two tray feeding brackets are arranged in a mirror-symmetrical manner. Each of the two tray feeding brackets has a tray translation drive device on its outer side. The two tray translation drive devices are fixed to the two tray feeding brackets by a third mounting plate. Each of the two tray translation drive devices has a side tray on its output end. At least one of the two tray feeding brackets has a material shortage detection sensor on its bottom. A bottom support plate is provided between the two tray feeding brackets. A tray lifting drive device is connected to the bottom of the bottom support plate. The tray lifting drive device is fixed to the transplanting support by a fourth mounting plate. The bottom support plate is slidably mounted on the fourth mounting plate by a plurality of linear guide rods. At least one of the linear guide rods has a limiting ring on its lower end. Material presence detection sensors for detecting whether the bottom support plate is carrying a tray are provided on both sides of the fourth mounting plate. The two material presence detection sensors are fixed to the transplanting support by a first sensor mounting plate.

7. The high-efficiency multi-axis flexible swivel plate machine according to claim 5, characterized in that: The receiving assembly includes two receiving brackets located at the other end of the transplanting bracket. The two receiving brackets are arranged in a mirror-symmetrical manner. Each receiving bracket has several check valves at its bottom for supporting the material trays. At least one of the two receiving brackets has a full tray detection sensor on its top for detecting whether the material tray is full. The full tray detection sensor is fixed to the upper end of the receiving bracket by a second sensor mounting plate. A top plate is provided between the two receiving brackets. The bottom surface of the top plate is connected to a top plate lifting drive device. The top plate lifting drive device is fixed to the transplanting bracket by a second mounting bracket. A second material arrival detection sensor is located below the receiving bracket away from the feeding assembly. The second material arrival detection sensor is fixed to the transplanting bracket by a second sensor bracket.

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