Automatic processing equipment based on angle-adjustable feeding module

Abstract

The utility model discloses an automatic processing equipment based on angle adjustable type feeding module, including frame, set up transmission device and taking material device on the frame, the taking material device at least includes angle adjustable type feeding module, and the angle of clamping subassembly can be adjusted to make the angle of clamping subassembly can be adjusted, and the clamping part in two sets of clamping jaw of clamping subassembly extends along the vertical direction, and the clamping of product is realized when two mutually approaching movements, when taking material processing, the angle of clamping subassembly can be adjusted according to the attitude of product on product carrier, so that the clamping part of two clamping jaws can mutually cooperate and carry out the clamping of product from the opposite side of product, can adapt to the clamping processing of various special moulding products, and also can transmit product carrier according to the regular path, be favorable to the simplification of overall equipment and the reduction of cost.

Description

Technical Field

[0001] This utility model relates to the field of automatic processing technology, specifically to an automatic processing equipment based on an angle-adjustable feeding module. Background Technology

[0002] In existing technologies, semiconductor components typically require multiple processing steps to complete. However, these components are usually small in size and irregular in structure, and are typically placed in carriers. These carriers are then transported to the loading positions of different processing equipment, where a picking device retrieves them from the carriers and transfers them to the processing station for further processing. However, the positions and orientations of the slots holding the semiconductor components in the carriers are fixed. In different processing equipment, the semiconductor components often need to be placed in different orientations at the processing station. Therefore, for different processing equipment, the carriers need to be specifically designed so that they are transported to the corresponding loading positions in a specific direction, allowing the picking device to retrieve the semiconductor components one by one. This results in different transport routes for the carriers in different processing equipment along the entire production line, preventing the processing equipment from being arranged sequentially, occupying factory space, and complicating the control of each part, thus affecting overall production efficiency. Utility Model Content

[0003] The purpose of this invention is to provide an automated processing equipment based on an angle-adjustable feeding module to solve one or more problems in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is: an automatic processing equipment based on an angle-adjustable feeding module, the automatic processing equipment including a base, a transmission device and a picking device disposed on the base, the base being provided with a transmission table and a worktable, the transmission table and the worktable being disposed at a distance from each other in a first direction; the transmission device having a transmission track extending along a second direction perpendicular to the first direction for transmitting product carriers, the picking device being movable along the first direction, and the picking device including at least an angle-adjustable feeding module. The feeding module includes a feeding seat, a clamping seat, and a clamping assembly disposed on the clamping seat. The clamping seat is rotatably mounted on the feeding seat about a rotation center line extending in a vertical direction. The feeding seat is provided with a drive motor for driving the clamping seat to rotate. The clamping assembly includes two jaws disposed on the clamping seat, each jaw having a clamping portion extending in a vertical direction, and the clamping assembly further includes a clamping drive for driving at least one of the jaws to move such that the two clamping portions move closer to or further away from each other.

[0005] In some embodiments, the two grippers are slidably disposed on the gripping seat, the direction of the grippers sliding is perpendicular to the rotation center line, and the gripping drive is configured to drive the two grippers to move closer to each other or further apart.

[0006] In other embodiments, the two grippers are a first gripper and a second gripper, wherein the first gripper is fixedly disposed on the gripper base, the second gripper is slidably disposed on the gripper base, the sliding direction of the second gripper is perpendicular to the rotation center line, and the gripping drive is configured to drive the second gripper to move relative to the first gripper.

[0007] In some embodiments, the clamping portion of the gripper has a clamping surface extending in a vertical direction, and the clamping surfaces of the clamping portions of the two grippers are arranged opposite to each other and parallel to each other.

[0008] In some embodiments, the gripper includes a connecting portion extending in a vertical direction and a limiting portion connected between the connecting portion and the clamping portion, wherein the connecting portion is slidably connected to the clamping seat, and the distance between the two connecting portions is smaller than the distance between the two clamping portions.

[0009] In some embodiments, the limiting portion has a horizontally extending limiting surface, which is connected to the clamping surface to form an inverted L-shape.

[0010] In some embodiments, the two clamping surfaces are arranged with overlapping projection portions on a projection plane parallel to the clamping surfaces.

[0011] In some embodiments, the gripper further includes a buffer pad fixedly disposed on the gripping portion, the buffer pad covering the gripping surface.

[0012] In some embodiments, the material handling device further includes a movable base, which is movably disposed on the base along the first direction, and the feeding base of the feeding module is vertically mounted on the movable base.

[0013] In some embodiments, the material handling device further includes a vision module configured to acquire the position of the product on the product carrier, wherein the vision module is signal-connected to the drive motor.

[0014] In some embodiments, the material handling device is provided with multiple sets of spaced-apart components along the second direction.

[0015] Due to the application of the above technical solution, this utility model has the following advantages: The automatic processing equipment based on the angle-adjustable feeding module of this utility model, wherein the feeding module can rotate around the rotation center line extending in the vertical direction, so that the angle of the clamping component can be adjusted. At the same time, the clamping parts of the two sets of jaws of the clamping component extend in the vertical direction. When the two move closer to each other, they achieve clamping of the product. During material handling, the angle of the clamping component can be adjusted according to the posture of the product on the product carrier, so that the clamping parts of the two jaws can cooperate with each other to clamp the product from opposite sides. It can adapt to the clamping and processing of products with various special shapes. At the same time, it also makes the design of the product carrier more flexible, and it is no longer necessary to transfer the product carrier according to the distribution of the product on the carrier. Correspondingly, it also avoids the complexity of the structure and layout of the processing equipment, which is conducive to the simplification of the overall equipment and the reduction of costs. Attached Figure Description

[0016] To more clearly illustrate the technical solution of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of the automatic processing device of this utility model; Figure 2 for Figure 1 A schematic diagram of the assembly structure of the material handling device and the machine base in an automatic processing device; Figure 3 for Figure 1 A schematic diagram of the overall structure of the feeding module in an automatic processing device; Figure 4 for Figure 3 A schematic diagram of the overall structure of the feeding module from another perspective; Figure 5 for Figure 3 A three-dimensional structural diagram of the feeding module clamping the product; Figure 6 for Figure 5 A schematic diagram of the side view structure; In the attached diagrams above: 10. Base; 101. First crossbeam; 102. Second crossbeam; 20. Conveying device; 30. Material handling device; 301. Moving seat; 302. Loading module; 40. Product; 401. Side view; 1. Feeding seat; 2. Drive motor; 3. Clamping seat; 31. Turntable; 32. Guide block; 33. Connecting column; 34. Guide groove; 4. Gripper; 41. Clamping part; 41a. Clamping surface; 42. Connecting part; 43. Limiting part; 43a. Limiting surface; 44. Buffer pad. Detailed Implementation

[0018] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art. It should be noted that the description of these embodiments is for the purpose of aiding understanding the present invention, but does not constitute a limitation thereof. Furthermore, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0019] See Figure 1 An automated processing device based on an angle-adjustable feeding module is shown, used to remove products 40 one by one from a product carrier and transfer the products 40 to a processing station for processing. The automated processing device includes a base 10, a conveying device 20 and a picking device 30 mounted on the base 10. The base 10 is equipped with a conveyor table and a worktable. The conveyor table is used to arrange the conveying device 20 to convey the product carrier, and the worktable is used to arrange the processing station to cooperate with the processing device to process the products. The conveyor table and the worktable are spaced apart in a first direction. The conveying device 20 has a conveying track extending in a second direction perpendicular to the first direction, along which the product carrier is conveyed in the second direction. The picking device 30 is movable in the first direction to pick up the product 40 from the product carrier and transfer it to the worktable for processing.

[0020] Referring to the accompanying drawings, in this embodiment, the material handling device 30 has two sets arranged at intervals along a second direction. The two sets of material handling devices 30 are independent of each other, forming a dual-station material handling process on the machine base 10. The material handling device 30 includes a movable base 301 and an angle-adjustable feeding module 302 disposed on the movable base 301. The movable base 301 is movable on the machine base 10 along a first direction to drive the feeding module 302 to change position along the first direction. Here, the movable base 301 is also movable on the machine base 10 along a second direction to facilitate material handling by positioning it with the product carrier in the second direction. Here, the base 10 has a first crossbeam 101 extending in a first direction and a second crossbeam 102 extending in a second direction. The movable seat 301 is slidably disposed on the second crossbeam 102 in the second direction, and the second crossbeam 102 is slidably disposed on the first crossbeam 101 in the first direction. In this way, the position adjustment of the movable seat 301 in the second direction and its reciprocating movement relative to the base 10 in the first direction are realized.

[0021] The loading module 302 is vertically movable on the movable seat 301. The movable seat 301 is equipped with a lifting drive mechanism, which is a cylinder, to drive the loading module 302 to pick up or place the product 40 downwards, and to raise its height during the reciprocating motion in the first direction to facilitate the transfer of the product 40.

[0022] See Figures 3 to 6 As shown, the loading module 302 includes a loading seat 1, a clamping seat 3, and a clamping assembly disposed on the clamping seat 3. The loading seat 1 is used to connect with the moving seat 301 so that the loading module 302 can move up and down relative to the moving seat 301 as a whole. The clamping seat 3 is rotatably mounted on the loading seat 1 about a rotation center line X extending in the vertical direction. The loading seat 1 is provided with a drive motor 2 for driving the clamping seat 3 to rotate. The clamping assembly includes two grippers 4 disposed on the clamping seat 3. Each gripper 4 has a clamping part 41 extending in the vertical direction. The clamping assembly also includes a clamping drive member for driving at least one gripper 4 to move so that the two clamping parts 41 move closer or further away from each other.

[0023] The product 40 has at least two oppositely arranged sides 401 for cooperating with two clamping parts 41 of the clamping assembly. When the two jaws 4 are correspondingly clamped on the two sides 401, the product 40 can be clamped and fixed. Therefore, when the product carrier is transported to the picking position on the conveyor table along the second direction, according to the orientation of the product 40 on the product carrier, the drive motor 2 drives the clamping seat 3 to rotate around the rotation center line X, so that the direction of the spacing between the two clamping parts 41 is parallel to the direction of the spacing between the two sides 401 on the product 40. Then, the position is adjusted by the movement of the entire loading module 302 along the first direction and / or the second direction, so that the two sides 401 of the product 40 are just located between the two clamping parts 41. Subsequently, the clamping assembly is driven to move downward, so that the two grippers 4 can move to the outside of the two sides 401, that is, so that the product 40 is located between the two grippers 4. Then, the clamping drive unit works to drive the grippers 4 to move, so that the two clamping parts 41 move closer together, so that the two clamping parts 41 cooperate with the two sides 401 respectively, and the product 40 can be clamped, thereby realizing the picking operation.

[0024] In this way, for products with special shapes 40, there are more options for their arrangement on the product carrier. Designers can design the product carrier according to the specific shape of the product 40, so that the same product carrier can hold as many products 40 as possible, without having to restrict the specific structure of the product carrier to a specific direction to accommodate the transfer and material handling. At the same time, the product carrier does not need to be transferred according to a special path due to the distribution of products on the carrier. Correspondingly, it also avoids the complexity of the structure and layout of the processing equipment, which is conducive to the simplification of the overall equipment and the reduction of costs.

[0025] In this embodiment, two grippers 4 are slidably disposed on the clamping base 3, with the sliding direction of the grippers 4 perpendicular to the rotation center line X. The clamping drive is configured to drive the two grippers 4 to move closer to each other or further apart, so that the clamping assembly switches between a clamping state and a releasing state. Specifically, the clamping drive can be two sets of drive cylinders that cooperate with each other to drive the two grippers 4 to slide accordingly. In other embodiments, the two grippers 4 can be divided into a first gripper and a second gripper. The first gripper is fixedly disposed on the clamping base 3, and the second gripper is slidably disposed on the clamping base 3, with the sliding direction of the second gripper perpendicular to the rotation center line X. The clamping drive is configured to drive the second gripper to move relative to the first gripper. In this case, the clamping drive can be only one set of drive cylinders, but during clamping alignment, the entire loading module 302 needs to be moved in coordination so that the clamping part 41 of the first gripper can correspond to one of the side surfaces 401 on the product 40.

[0026] See Figures 3 to 6 As shown, in this embodiment, the gripping portion 41 of the gripper 4 has a gripping surface 41a extending in the vertical direction. The gripping surfaces 41a of the gripping portions 41 of the two grippers 4 are arranged opposite to each other and parallel to each other, so as to cooperate with the two sides 401 of the product 40 respectively. Specifically, the gripper 4 also includes a connecting portion 42 extending in the vertical direction, and a limiting portion 43 connecting the connecting portion 42 and the gripping portion 41. The connecting portion 42 is slidably connected to the gripping seat 3, and the distance between the two connecting portions 42 is smaller than the distance between the two gripping portions 41. The limiting portion 43 has a horizontally extending limiting surface 43a, which is connected to the gripping surface 41a to form an inverted L-shape. When the gripping surface 41a cooperates with the side 401 of the product 40, the limiting surface 43a cooperates with the upper surface of the product 40 to limit and position it.

[0027] For specific settings, please refer to Figure 5As shown, the clamping base 3 includes a turntable 31, guide blocks 32, and connecting posts 33. The turntable 31 is a disc with the rotation center line X as its axis. The loading base 1 is provided with a turntable (not shown in the figure) that slides with the turntable 31. The output shaft of the drive motor 2 is connected to the turntable 31 in a transmission manner, so that the turntable 31 rotates under the guidance of the turntable, and the angle control accuracy is better. The guide blocks 32 are arranged at intervals below the turntable 31. Two sets of grippers 4 are slidably installed on the guide blocks 32 respectively. The guide blocks 32 are also provided with guide grooves 34 to provide the connecting parts 42 of the grippers 4 for sliding guidance. The connecting posts 33 are fixedly connected between the turntable 31 and the guide blocks 32 in the vertical direction. There are multiple connecting posts 33, which form a space between each other to facilitate the arrangement of clamping drive components.

[0028] In this embodiment, the clamping surfaces 41a of the two grippers 4 are partially overlapped on a projection plane parallel to the clamping surfaces 41a. That is, the two clamping surfaces 41a have different sizes or are staggered. This is primarily to accommodate the specific structural shape of the product 40 and avoid interference with the structure on the side 401. The grippers 4 also include a buffer pad 44 fixedly disposed on the clamping base 3. This buffer pad 44 covers the clamping surfaces 41a to provide cushioning when the grippers 4 contact the product 40, preventing damage to the product 40.

[0029] In this embodiment, for a specific product carrier and the product 40 supported thereon, the products 40 are arranged in an array in the various acupoints of the product carrier with the same posture. That is, the angle between the distribution direction of the two sides 401 of each product 40 and the second direction is a fixed value. When picking up the material, the user can control the drive motor 2 to rotate a fixed angle according to the above-mentioned fixed angle value, so that the direction of the distance between the two clamping parts 41 always remains parallel to the distribution direction of the two sides 401. When releasing the material, the user can control the drive motor 2 to rotate another fixed angle as needed to place the product 40 on the processing table in a preset posture. In other words, the angle of rotation of the drive motor 2 is a fixed value when picking up the product 40 from the product carrier and when placing the product 40 on the worktable, which is simple and convenient to control.

[0030] In other embodiments, when the arrangement of the products 40 on the product carrier is not fixed, the picking device 30 further includes a vision module (not shown in the figure). The vision module is configured to obtain the position of the products 40 on the product carrier, and the vision module is signal-connected to the drive motor 2. Before each picking, the drive motor 2 is rotated by a corresponding angle according to the position of the products 40 in the product carrier, so that the gripper 4 corresponds to the angle of the products 40.

[0031] In summary, the automatic processing equipment based on the angle-adjustable feeding module of this utility model, wherein the clamping part 41 of the clamping component extends vertically and the two clamping parts 41 move closer to each other to clamp the product 40. At the same time, the angle of the feeding module can be adjusted. During the material handling process, the angle of the clamping component can be adjusted according to the posture of the product on the product carrier, so that the clamping parts 41 of the two grippers 4 can cooperate with each other to clamp the product 40 from opposite sides. This is particularly important for clamping products 40 with special shapes. At the same time, this also makes the setting of the various accommodating holes of the product carrier more flexible, allowing the same product carrier to hold as many products 40 as possible. At the same time, the product carrier and feeding path can be transferred in a relatively regular and compact way, without the need to follow a special path for transferring the product carrier and arranging the feeding path due to the distribution of products on the carrier. Correspondingly, it also avoids the complexity of the structure and layout of the processing equipment, which is conducive to the simplification of the overall equipment and the reduction of costs.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art. In the event of any contradiction or inconsistency between the definitions used herein and those contained in other published documents, the definitions used herein shall prevail.

[0033] As indicated in this specification and claims, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, and these steps and elements do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0034] It is understood that in this disclosure, "multiple" refers to two or more, and other quantifiers are similar. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. The singular forms "a," "the," and "the" are also intended to include the plural forms unless the context clearly indicates otherwise.

[0035] It is further understood that the terms "first," "second," etc., are used to describe various types of information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another, and do not indicate a specific order or degree of importance. In fact, the expressions "first," "second," etc., are completely interchangeable. For example, without departing from the scope of this disclosure, first information can also be referred to as second information, and similarly, second information can also be referred to as first information.

[0036] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made based on the essence of this utility model should be covered within the scope of protection of this utility model.

Claims

1. An automated processing equipment based on an angle-adjustable feeding module, characterized in that: The automated processing equipment includes a base, a conveying device and a picking device mounted on the base. The base is equipped with a conveying table and a worktable, which are spaced apart in a first direction. The conveying device has a conveying track extending in a second direction perpendicular to the first direction to convey a product carrier. The picking device is movable along the first direction and includes at least an angle-adjustable feeding module. The feeding module includes a feeding seat, a clamping seat, and a clamping assembly disposed on the clamping seat. The clamping seat is rotatably mounted on the feeding seat about a rotation center line extending in a vertical direction. The feeding seat is provided with a drive motor for driving the clamping seat to rotate. The clamping assembly includes two jaws disposed on the clamping seat, each jaw having a clamping portion extending in a vertical direction, and the clamping assembly further includes a clamping drive for driving at least one of the jaws to move such that the two clamping portions move closer to or further away from each other.

2. The automatic processing equipment according to claim 1, characterized in that: The two grippers are slidably disposed on the gripping seat, and the direction of the grippers sliding is perpendicular to the rotation center line. The gripping drive is configured to drive the two grippers to move closer to each other or move further away from each other.

3. The automatic processing equipment according to claim 1, characterized in that: The two grippers are a first gripper and a second gripper, wherein the first gripper is fixedly disposed on the gripping seat, and the second gripper is slidably disposed on the gripping seat. The sliding direction of the second gripper is perpendicular to the rotation center line, and the gripping drive is configured to drive the second gripper to move relative to the first gripper.

4. The automatic processing equipment according to claim 1, characterized in that: The clamping portion of the gripper has a clamping surface extending in a vertical direction, and the clamping surfaces of the clamping portions of the two grippers are arranged opposite to each other and parallel to each other.

5. The automatic processing equipment according to claim 4, characterized in that: The gripper includes a connecting portion extending in a vertical direction and a limiting portion connected between the connecting portion and the clamping portion, wherein the connecting portion is slidably connected to the clamping seat, and the distance between the two connecting portions is smaller than the distance between the two clamping portions.

6. The automatic processing equipment according to claim 5, characterized in that: The limiting part has a horizontally extending limiting surface, which is connected to the clamping surface to form an inverted L-shape.

7. The automatic processing equipment according to claim 4, characterized in that: The two clamping surfaces are arranged with their projected portions overlapping on a projection plane parallel to the clamping surfaces.

8. The automatic processing equipment according to claim 4, characterized in that: The gripper also includes a buffer pad fixedly disposed on the gripping portion, the buffer pad covering the gripping surface.

9. The automatic processing equipment according to any one of claims 1 to 8, characterized in that: The material handling device further includes a movable base, which is movable on the machine base in the first direction, and the feeding base of the feeding module is vertically mounted on the movable base.

10. The automatic processing equipment according to claim 9, characterized in that: The material handling device further includes a vision module configured to acquire the position of the product on the product carrier, wherein the vision module is signal-connected to the drive motor; And / or, along the second direction, the material handling device is provided with multiple sets of spaced-out components.

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