A tape and reel machine

Abstract

This utility model discloses a tape and reel machine, which includes a lower frame, a feeding mechanism, a peeling mechanism, a first vision positioning mechanism, a packaging mechanism, a suction mechanism, a second vision positioning mechanism, a third vision positioning mechanism, a receiving mechanism, and a control system. The first vision positioning mechanism determines the target picking position of the electronic component; the second vision positioning mechanism determines the target feeding position of the carrier tape cavity. After the suction mechanism picks up the component and before placing it, the third vision positioning mechanism takes a quick snapshot of the component on the suction mechanism to determine the actual positional deviation of the component relative to the suction mechanism. Based on the target feeding position and the actual positional deviation, the control system calculates a corrected feeding position and controls the suction mechanism to place the component according to this corrected position. This utility model can eliminate triple errors in the picking, feeding, and gripping processes, significantly improving packaging accuracy and yield.

Description

[Technical Field] This utility model relates to the field of electronic component packaging technology, and in particular to a tape and reel machine. [Background Technology] Tape and reel machines are commonly used equipment in electronic manufacturing. Their function is to automatically place electronic components into the cavity of the carrier tape and cover and seal it to form a tray that is easy to use in subsequent surface mount technology (SMT) processes.

[0003] With the increasing miniaturization and precision of electronic components, and the ever-increasing market demands for production efficiency, the placement accuracy of tape and reel machines under high-speed operation has been severely challenged.

[0004] Existing tape and reel machines have shortcomings in achieving component alignment. Some traditional tape and reel machines rely mainly on high-precision mechanical structures and stepper control to feed the carrier tape and pick up components. However, during high-speed operation, factors such as mechanical wear, minute deformation of materials (such as the carrier tape), inconsistent initial positions of components in the tape, and vibrations during high-speed picking and transfer can all lead to cumulative errors in the final placement position.

[0005] To improve accuracy, some existing technologies may employ vision systems to position the carrier tape cavity or detect the position of incoming materials. However, in the high-speed "grab-transfer-place" cycle, various dynamic, real-time positional deviations are still difficult to compensate for effectively and comprehensively. This results in a final packaging yield that fails to meet high standards, especially when handling tiny components. [Utility Model Content] The purpose of this invention is to provide a tape and reel machine that solves the technical problem that existing tape and reel machines, when operating at high speeds, cannot fully compensate for the cumulative positional deviations generated in multiple stages, including component picking, carrier tape positioning, and component gripping and transfer, resulting in insufficient mounting accuracy and stability.

[0007] This utility model is achieved through the following technical solution: A tape and reel machine includes a lower frame and also includes... The feeding mechanism, located on one side of the lower frame, includes a first feeding mechanism for supplying carrier tape with cavities and a second feeding mechanism for supplying rolls of material encapsulated with electronic components. A stripping mechanism, located on the lower frame, is configured to act on the roll to strip and transition the electronic components within the roll. A first vision positioning mechanism is provided on the lower frame and is configured to determine the target picking position of the electronic component after it has been peeled off from the peeling mechanism. A packaging mechanism is provided on the lower frame and configured to seal the carrier tape after the electronic component is placed into the cavity of the carrier tape; A material-grabbing mechanism, located on the lower frame, is configured to pick up electronic components stripped from the roll from the target material-grabbing position and transfer them into the cavity of the carrier tape on the packaging mechanism; A second vision positioning mechanism is provided on the lower frame and configured to determine the target feeding position of the carrier tape cavity on the packaging mechanism; A third vision positioning mechanism is located on the lower frame and is configured to take a picture of the electronic component on the suction mechanism after the suction mechanism picks up the electronic component and places it in front of the packaging mechanism, so as to determine the actual positional deviation of the electronic component relative to the suction mechanism. A receiving mechanism, located on the lower frame and downstream of the packaging mechanism, is used to collect the carrier tape after it has been sealed by the packaging mechanism. The control system is communicatively connected to the material suction mechanism, the first vision positioning mechanism, the second vision positioning mechanism, and the third vision positioning mechanism. The control system is configured to: calculate a corrected material feeding position based on the target material feeding position and the actual position deviation, and control the material suction mechanism to place the electronic component at the corrected material feeding position. The packaging mechanism is further configured to seal the carrier tape after the feeding mechanism places the electronic component onto the cavity of the carrier tape.

[0008] As described above, the tape feeding machine has a mounting shaft on the lower frame, and the first visual positioning mechanism is mounted on the upper part of the mounting shaft. The first visual positioning mechanism includes a first mounting block connected to the mounting shaft, the first mounting block being connected to a first mounting shaft, a first imaging device being mounted on the first mounting shaft, and a first light source device mounted on the mounting shaft being mounted below the first imaging device, wherein the light direction of the first light source device is toward the target material picking position after being peeled off on the peeling mechanism. As described above, the tape and reel machine has a mounting shaft on the lower frame, and the second vision positioning mechanism is mounted on the upper part of the mounting shaft; The second visual positioning mechanism includes a second mounting block connected to the mounting shaft, the second mounting block being connected to a second mounting shaft, the second mounting shaft being provided with a second mounting base, the upper part of the second mounting base being equipped with a second imaging device, and the lower part being equipped with a second light source device corresponding to the second imaging device, wherein the light direction of the second light source device is towards the target material placement position on the packaging mechanism; As described above, in the tape and reel machine, the third visual positioning mechanism includes a third mounting block disposed on the lower frame and located between the packaging mechanism and the peeling mechanism. A third adjusting plate is mounted on the third mounting block, and a fixed frame is tunably connected to the third adjusting plate. A third imaging device is mounted on the fixed frame, and a third light source device is also mounted on the upper part of the third adjusting plate, located above and corresponding to the third imaging device. The light direction of the third light source device is towards the third imaging device.

[0009] As described above, in the tape and reel machine, the suction mechanism includes a drive base fixedly connected to the lower frame. The drive base is provided with a Y-axis displacement device, an X-axis sliding support is slidably connected to the Y-axis displacement device, an X-axis displacement device is provided on the X-axis sliding support, a Z-axis sliding support is slidably connected to the X-axis displacement device, a Z-axis mounting plate is fixedly connected to the Z-axis sliding support, and a plurality of suction devices capable of Z-axis displacement are provided on the Z-axis mounting plate.

[0010] As described above, in the tape-making machine, the adsorption device includes a Z-axis connecting plate assembled with the Z-axis mounting plate. A Z-axis drive motor is provided at the lower part of the Z-axis connecting plate. A drive wheel assembly that is driven and connected to the Z-axis drive motor is also provided on the Z-axis connecting plate. A guide rail is also provided on the Z-axis connecting plate. A slider is slidably connected to the guide rail. A suction bracket is fixedly connected to one end of the slider. A vacuum rotary suction nozzle is installed on the suction bracket.

[0011] As described above, the stripping mechanism of the tape feeding machine includes a stripping base mounted on the lower frame. Support plates are respectively provided on both sides of the stripping base. An active roller assembly is provided between the support plates on both sides. A top roller assembly is provided below the active roller assembly and abuts against it. A stripping bottom plate is provided at the upper end of the support plate. A vacuum suction plate is connected to the upper end of the stripping bottom plate. A plurality of vacuum ports are connected to one side of the vacuum suction plate. A guide plate for receiving the roll material is connected to one side of the vacuum suction plate. A receiving platform plate is connected to the other side of the vacuum suction plate. The stripping mechanism also includes a vacuum regulating valve located on the lower frame and connected to the plurality of vacuum interface pipes, and a control device located on the lower frame and electrically connected to the drive roller assembly; The active roller assembly includes a main roller disposed between the support plates on both sides and a tensioning motor disposed on one side of any of the support plates; The top roller assembly includes a secondary roller located below and in contact with the main roller, and the bottom of the secondary roller is provided with an adjustment mechanism for adjusting the contact pressure with the main roller.

[0012] As described above, in the tape feeding machine, the bottom of the stripping base on the lower frame is provided with a clearance position, so that part of the main body of the stripping base is suspended above the clearance position. The two sides of the suspended part of the stripping base are respectively provided with first slots. The adjustment mechanism includes a second slot provided on the support plate and corresponding to the first slot. An adjustment block matching it is slidably connected in the second slot. The auxiliary roller is provided between the two adjustment blocks. The bottom of each adjustment block is connected to an elastic element. The bottom of the elastic element is connected to an adjustment screw. The adjustment screw is connected to an adjustment nut. The adjustment nut abuts against the bottom end of the stripping base.

[0013] As described above, the packaging mechanism of the tape and reel machine includes a packaging base fixedly connected to the lower frame, a packaging side seat connected to the packaging base, a packaging platform on the packaging base, the packaging platform being disposed adjacent to the packaging side seat, a cover tape device cooperating with the first supply mechanism being connected to the upper part of the packaging side seat, a hot pressing device for sealing the carrier tape being installed on the packaging side seat, a first stepping mechanism located on one side of the packaging platform and cooperating with the cover tape device, acting on the carrier tape before sealing, and a second stepping mechanism located on the other side of the packaging platform, acting on the carrier tape after sealing.

[0014] As described above, in the tape and reel machine, the feeding mechanism includes a feeding bracket fixedly connected to the lower frame, and the feeding bracket is provided with the first supply mechanism and the second supply mechanism; The first supply mechanism includes a first feeding tray mounted on the feeding bracket for supplying a carrier belt with a cavity, and the first feeding tray is connected to a feeding motor; The second supply mechanism includes a non-powered tray mounted on the unloading bracket for supplying rolls of material containing electronic components. The second supply mechanism also includes a torque motor mounted on the unloading bracket, the torque motor being connected to a take-up shaft. After the rolls of material containing electronic components are peeled off by the peeling mechanism, the waste material is wound and recycled by the take-up shaft. Compared with the prior art, the present invention has the following advantages: This invention achieves comprehensive compensation for placement accuracy by setting up a first, second, and third visual positioning mechanism to work in concert, in conjunction with a specific closed-loop control system. The first visual positioning mechanism eliminates uncertainty in the component's incoming position; the second visual positioning mechanism eliminates uncertainty in the carrier tape cavity's position; and the third visual positioning mechanism, by "flying and snapping" the actual posture of the component after the suction mechanism grasps it, acquires in real time the "actual position deviation" introduced by the grasping action itself. The control system of this invention can integrate the above three visual information to calculate a truly accurate "corrected placement position." This eliminates the triple cumulative error introduced by the pick-up point, placement point, and the grasping process itself, and in particular, solves the major defect of existing technologies that cannot compensate for grasping posture deviations, thereby greatly improving the placement accuracy, operational stability, and final product yield of the tape and reel machine under high-speed operation. [Attached Image Description] To more clearly illustrate the technical solutions in the embodiments of the utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0016] Figure 1 This is a three-dimensional illustration of the embodiment. Figure 1 ; Figure 2 This is a three-dimensional illustration of the embodiment. Figure 2 ; Figure 3 This is a top view of this embodiment; Figure 4 This is an exploded view of this embodiment; Figure 5 This is a three-dimensional schematic diagram of the first, second, and third visual positioning mechanisms in this embodiment; Figure 6 This is a three-dimensional schematic diagram of the suction mechanism in this embodiment; Figure 7 This is a schematic diagram of the connection structure of multiple adsorption devices in this embodiment; Figure 8 This is a schematic diagram of the disassembly of a single adsorption device in this embodiment; Figure 9 This is a three-dimensional schematic diagram of the stripping mechanism in this embodiment. Figure 1 ; Figure 10 This is a three-dimensional schematic diagram of the stripping mechanism in this embodiment. Figure 2 ; Figure 11 This is a three-dimensional schematic diagram of the packaging mechanism in this embodiment; Figure 12 This is a three-dimensional schematic diagram of the feeding mechanism in this embodiment; Figure 13 This is a three-dimensional schematic diagram of the receiving mechanism in this embodiment.

Detailed Implementation Methods

[0018] This embodiment provides a tape and reel machine. This machine aims to solve the technical problem in the prior art where, during the high-speed gripping, transfer, and placement of electronic components into the carrier tape cavity, multiple factors accumulate, leading to low final mounting accuracy and reduced yield. These factors include initial positional deviations of the components in the roll, posture deviations generated during nozzle gripping, and positional deviations of the carrier tape cavity itself.

[0019] As attached Figures 1-13 As shown, the tape and reel machine in this embodiment includes a lower frame 1. The lower frame 1 is the structural foundation and installation platform of the entire equipment, used to support and fix other functional mechanisms. In specific manufacturing practices, the lower frame 1 can be constructed using high-rigidity industrial aluminum profiles or a welded structure of steel plates that have undergone stress relief treatment to ensure the overall stability and vibration resistance of the equipment during high-speed operation.

[0020] The lower frame 1 is equipped with a feeding mechanism 2, a peeling mechanism 3, a first vision positioning mechanism 4, a packaging mechanism 5, a suction mechanism 6, a second vision positioning mechanism 7, a third vision positioning mechanism 8, a receiving mechanism 9, and a control system.

[0021] Specifically, the feeding mechanism 2 is located on one side of the lower frame 1, for example, at the starting end of the equipment. The feeding mechanism 2 is responsible for supplying the two main materials required for packaging. It includes a first supply mechanism 21 for supplying carrier tape with pre-formed cavities, and a second supply mechanism 22 for supplying rolls of material packaged with electronic components.

[0022] The peeling mechanism 3 is mounted on the lower frame 1, positioned along the material output path of the second supply mechanism 22. The peeling mechanism 3 is configured to act on the roll of material. This roll typically consists of a base strip carrying electronic components and a protective film covering it. The function of the peeling mechanism 3 is to automatically peel the protective film from the base strip, exposing the electronic components within the roll and allowing them to be transitionally placed at a predetermined, grippable station.

[0023] The first visual positioning mechanism 4 is mounted on the lower frame 1, and its field of view covers the workstation where the electronic components are temporarily placed on the stripping mechanism 3. The first visual positioning mechanism 4 is configured to image the workstation and determine the precise coordinates of the target picking position of the electronic components after they have been stripped from the stripping mechanism 3 through image processing.

[0024] The packaging mechanism 5 is mounted on the lower frame 1 and is located on the conveyor path of the carrier tape. The packaging mechanism 5 is configured to carry the carrier tape from the first supply mechanism 21 and to perform a sealing action on the carrier tape after the electronic component is precisely placed into the cavity of the carrier tape.

[0025] The material suction mechanism 6 is mounted on the lower frame 1. In this embodiment, the material suction mechanism 6 can be a high-precision multi-axis motion mechanism, such as a Cartesian coordinate manipulator or a SCARA robot with XYZR (horizontal, vertical, and rotational) motion capabilities. The material suction mechanism 6 is configured to respond to commands from the control system, first moving to the target picking position determined by the first vision positioning mechanism 4, grasping the electronic components stripped from the roll material through its end-capsule suction terminal, and then quickly transferring them to the cavity of the carrier tape on the packaging mechanism 5.

[0026] The second visual positioning mechanism 7 is mounted on the lower frame 1, and its field of view covers the carrier tape cavity on the packaging mechanism 5 where the electronic component will be received. The second visual positioning mechanism 7 is configured to image the carrier tape cavity before the component is placed, so as to determine the precise coordinates of the carrier tape cavity on the packaging mechanism 5 in real time, i.e., the target placement position.

[0027] The third visual positioning mechanism 8 is mounted on the lower frame 1, and its physical position can be located between the peeling mechanism 3 and the packaging mechanism 5, and along the movement trajectory of the suction mechanism 6 between picking up and placing the electronic component. The third visual positioning mechanism 8 is configured to perform high-speed dynamic imaging of the electronic component carried by the suction mechanism 6 during its movement after the suction mechanism 6 picks up the electronic component and before placing it into the packaging mechanism 5; this is commonly referred to in the art as "flying photography." The purpose of flying photography is to detect and determine in real time the actual positional deviation of the center or feature point of the electronic component relative to the suction mechanism 6 (e.g., the center of the suction nozzle) after it is adsorbed. This deviation may include translational and rotational deviations.

[0028] The receiving mechanism 9 is located on the lower frame 1 and at the downstream material outlet of the packaging mechanism 5. It is used to collect and wind the finished product carrier tape after it has been sealed by the packaging mechanism 5.

[0029] This embodiment also includes a control system (not shown), which may be, for example, a programmable logic controller (PLC), an industrial control computer (ICC), or a dedicated motion controller. This control system is communicatively connected to the driver of the suction mechanism 6, the first visual positioning mechanism 4, the second visual positioning mechanism 7, and the image processing unit of the third visual positioning mechanism 8 via electrical signals or an industrial bus.

[0030] The control system, the core of high-precision placement, is configured to execute a closed-loop compensation logic: First, the control system obtains the target pick-up position from the first vision positioning mechanism 4 and controls the suction mechanism 6 to pick it up. Second, the control system obtains the target unloading position of the carrier tube cavity from the second vision positioning mechanism 7. Next, during the movement of the suction mechanism 6 carrying the component, the control system triggers the third vision positioning mechanism 8 to perform a snapshot and obtain the actual positional deviation of the component relative to the suction mechanism 6. Then, based on the target unloading position (from the second vision positioning mechanism 7) and the actual positional deviation (from the third vision positioning mechanism 8), the control system calculates a final, compensated, corrected unloading position in real time using a built-in algorithm. Finally, the control system controls the suction mechanism 6 to precisely place the electronic component at the corrected unloading position.

[0031] Meanwhile, the packaging mechanism 5 is further configured to seal the carrier tape under the coordination of the control system after the feeding mechanism 6 places the electronic component into the cavity of the carrier tape thereon, for example by heat-sealing the cover tape to the edge of the carrier tape with a hot press head.

[0032] With the above structure, the tape and reel machine in this embodiment utilizes three independent vision systems to eliminate the positional uncertainty of the pick-up point, the positional uncertainty of the unload point, and the posture uncertainty introduced by the gripping process itself. By calculating and correcting the unload position through closed-loop control, the packaging accuracy of electronic components and the reliability of equipment operation are greatly improved.

[0033] Furthermore, as an optional implementation, to ensure that the first visual positioning mechanism 4 can stably and clearly image the target material picking position, this embodiment specifically defines its installation structure. The lower frame 1 is provided with one or more vertical or horizontal mounting shafts 11. These mounting shafts 11 are, for example, precision guide rails, industrial profile columns, or specially customized metal rods, and are securely fixed to the lower frame 1 by flanges or connectors. The upper part of the mounting shaft 11 is used to mount the first visual positioning mechanism 4, providing it with a stable mounting reference and keeping it away from low-level vibration sources that may be generated during equipment operation.

[0034] Specifically, the first visual positioning mechanism 4 includes a first mounting block 41 connected to the mounting shaft 11. The first mounting block 41 can be an L-shaped or U-shaped connector, which can be fixed to any desired height or position on the mounting shaft 11 by locking bolts or a clamping mechanism. The first mounting block 41 is connected to a first mounting shaft 42, which can be a horizontal rod that allows for fine-tuning of the camera's horizontal position.

[0035] A first imaging device 43 is provided on the first mounting axis 42. The first imaging device 43 is the core component for realizing visual positioning. It can be a high-resolution industrial CCD or CMOS camera, which is mounted on the first mounting axis 42 by an adjustable clamp or gimbal to facilitate precise adjustment of its shooting field of view.

[0036] To facilitate the imaging of the first imaging device 43, a first light source device 44 is mounted on the mounting shaft 11 below the first imaging device 43. This arrangement, where the light source is separate from the camera and located below the camera, constitutes a top lighting structure. The light direction of the first light source device 44 is precisely adjusted to face the target material removal position on the peeling mechanism 3 after peeling. This lighting method aims to uniformly illuminate the surface of the electronic components from above, making their outlines and features clearly visible in the first imaging device 43.

[0037] More specifically, in this embodiment, the first light source device 44 is preferably a linear light source. A linear light source can provide high-brightness, uniform, strip-shaped illumination, which is ideal for illuminating a linearly arranged queue of electronic components awaiting grasping on the peeling mechanism 3, helping the vision system to more accurately identify the center coordinates of the components. In other alternative embodiments, depending on the surface reflectivity of the electronic components, the light source may also be a ring light source or a strip light source.

[0038] Furthermore, as an optional implementation, the installation method of the second visual positioning mechanism 7 has been optimized to achieve stable and accurate imaging of the carrier cavity. The lower frame 1 is also equipped with a mounting shaft 11. This mounting shaft 11 can be the same rod shared with the first visual positioning mechanism 4, or it can be a separate rod independently set for the second visual positioning mechanism 7, ensuring that its installation position is directly aligned with the target feeding area of ​​the packaging mechanism 5. The second visual positioning mechanism 7 is mounted on the upper part of the mounting shaft 11.

[0039] Specifically, the second visual positioning mechanism 7 includes a second mounting block 71 connected to the mounting shaft 11. The second mounting block 71 is connected to a second mounting shaft 72, providing a degree of freedom for position adjustment. A second mounting base 73 is provided on the second mounting shaft 72.

[0040] This second mounting base 73 is designed as an integrated bracket, with a second imaging device 74 mounted on its upper part. The second imaging device 74 can also be a high-resolution industrial CCD or CMOS camera, while a second light source device 75 corresponding to the second imaging device 74 is mounted on its lower part. This structure, which integrates the camera and light source on the same base 73, facilitates unified installation and debugging, and ensures that the relative positions of the light source and the camera remain constant.

[0041] The light direction of the second light source device 75 is precisely set to face the target feeding position on the packaging mechanism 5, that is, to vertically illuminate the carrier tube cavity where the component is to be placed.

[0042] In this embodiment, the second light source device 75 is preferably a ring-shaped light source. The advantage of using a ring-shaped light source is that it can provide uniform and shadow-free illumination around the lens axis of the camera. This illumination characteristic is extremely beneficial for observing and extracting the edge contour of the carrier cavity, minimizing reflection interference, and helping the vision algorithm to more stably and accurately identify the cavity center, thereby providing the control system with accurate target feeding position coordinates.

[0043] Furthermore, as an optional implementation, the third visual positioning mechanism 8 includes a third mounting block 81 disposed on the lower frame 1, with its physical position located between the packaging mechanism 5 (dispensing point) and the peeling mechanism 3 (picking point). This position is chosen so that it is directly aligned with the movement path of the suction mechanism 6 between picking up and dispensing materials.

[0044] A third adjusting plate 82 is mounted on the third mounting block 81. A fixing bracket 83 is adjustablely connected to the third adjusting plate 82. The term "adjustable connection" here can be understood in the art as being achieved through a long strip-shaped through hole and a fastening bolt, or through a fine-tuning screw mechanism. Its purpose is to precisely fine-tune the spatial position of the fixing bracket 83 to ensure that the center of the camera's field of view mounted on it is precisely aligned with the movement trajectory of the suction mechanism 6.

[0045] A third imaging device 84 is mounted on the mounting bracket 83. This imaging device can be an industrial camera with high frame rate and global shutter characteristics to ensure that clear, motion-free images are captured during high-speed movement (flying shots).

[0046] In order to achieve accurate imaging of the components, a third light source device 85 is also installed on the upper part of the third adjustment plate 82, which is located above the third imaging device 84 and corresponds to it.

[0047] The most crucial configuration is that the light direction of the third light source device 85 is set towards the third imaging device 84. This arrangement, with the light source above the device and the camera below it, and the light shining directly onto the camera, constitutes what is commonly referred to in the art as a backlighting or contour lighting system.

[0048] The advantage of this backlighting is that when the feeding mechanism 6 carries the electronic component between the third light source device 85 and the third imaging device 84, the third imaging device 84 captures not the surface features of the component, but a high-contrast, clear component outline (silhouette). This method eliminates visual interference caused by the component's surface material, color, texture, or reflection, allowing the visual algorithm to extract the component's actual center position and rotation angle from the outline with extremely high stability and accuracy, thereby calculating the most accurate actual position deviation.

[0049] Furthermore, as an optional implementation, in order to achieve high-speed, precise movement of the material suction mechanism 6 in three-dimensional space to perform a series of actions from material picking, slapping, to material unloading, the material suction mechanism 6 includes a drive base 61 fixedly connected to the lower frame 1. This drive base 61 is typically a robust gantry frame or cantilever bracket, providing a stable mounting reference for the entire motion system.

[0050] The drive base 61 is equipped with a Y-axis displacement device 62. This Y-axis displacement device 62 defines the motion axis of the suction mechanism 6 in the length direction of the equipment, and can be driven by a high-precision ball screw module, a synchronous belt module, or a linear motor. An X-axis sliding support 63 is slidably connected to the Y-axis displacement device 62, and this support 63 is the Y-axis motion slide.

[0051] The X-axis sliding support 63 is equipped with an X-axis displacement device 64. This X-axis displacement device 64 defines the motion axis in the width direction, and its structure is similar to that of the Y-axis displacement device 62. It can be driven by a high-precision ball screw module, synchronous belt module, or linear motor. The Y-axis displacement device 62 and the X-axis displacement device 64 together constitute a high-precision XY-plane Cartesian coordinate motion platform, enabling components mounted on it to reach any coordinate point in the horizontal plane.

[0052] The X-axis displacement device 64 is slidably connected to a Z-axis sliding support 65, which is the X-axis motion slide. A Z-axis mounting plate 66 is fixedly connected to the Z-axis sliding support 65. Therefore, the Z-axis mounting plate 66 can move at high speed in the XY plane under the drive of the control system.

[0053] The key feature is that the Z-axis mounting plate 66 is equipped with multiple adsorption devices 67 capable of Z-axis displacement. Each adsorption device 67 has independent vertical lifting and lowering capabilities.

[0054] The advantages of this structure are as follows: First, the XY gantry or cantilever structure ensures high rigidity and high speed in horizontal positioning; second, the installation of multiple adsorption devices 67 enables the tape-making machine to achieve a "multi-adsorption" function, that is, to grab multiple electronic components from the stripping mechanism 3 at one time, and then place them into multiple carrier cavities sequentially or simultaneously when moving above the packaging mechanism 5, thereby greatly improving the production efficiency and throughput of the equipment.

[0055] Furthermore, as previously described, multiple such adsorption devices 67 can be mounted on the Z-axis mounting plate 66. Each adsorption device 67 includes a Z-axis connecting plate 671 that is assembled with the Z-axis mounting plate 66. The Z-axis connecting plate 671 forms the mounting base for a single adsorption device. A Z-axis drive motor 672, which can be a miniaturized stepper motor or servo motor, is provided at the lower part of the Z-axis connecting plate 671, dedicated to driving the Z-axis (vertical) movement of the single adsorption device.

[0056] The Z-axis connecting plate 671 is also provided with a drive wheel set 673 that is connected to the Z-axis drive motor 672. The drive wheel set 673 can be a miniature synchronous belt pulley set or a gear transmission mechanism, and its function is to convert the rotational motion of the Z-axis drive motor 672 into linear motion.

[0057] To ensure the accuracy and stability of the Z-axis motion, the Z-axis connecting plate 671 is also provided with a guide rail 674, such as a set of miniature linear guide rails. A slider 675 that is precisely matched to the guide rail 674 is slidably connected to it.

[0058] One end of the slider 675 is fixedly connected to a suction bracket 676. Simultaneously, the slider 675 is also connected to the transmission part (e.g., a timing belt) of the drive wheel set 673. Thus, when the Z-axis drive motor 672 starts, its power is transmitted to the slider 675 through the drive wheel set 673, driving the slider 675 to perform a smooth and precise Z-axis lifting and lowering motion along the guide rail 674.

[0059] Finally, a conventional vacuum rotary nozzle 677 is mounted on the suction holder 676. This vacuum rotary nozzle 677 is an end effector that performs gripping and placement. It is connected to an external vacuum source (not shown) to generate negative pressure at the nozzle tip, thereby reliably adsorbing electronic components.

[0060] On the other hand, the vacuum rotary nozzle can rotate precisely around its own central axis (i.e., the R-axis). This R-axis movement is subject to closed-loop control of the control system, which aims to precisely correct the angular orientation of the component before it is placed into the packaging mechanism 5 based on the actual positional deviation (especially the angular deviation) of the component detected by the third vision positioning mechanism 8 described above, so as to ensure that the component can fall into the cavity of the carrier tape in the correct orientation.

[0061] Furthermore, as an optional implementation, the stripping mechanism 3 includes a stripping base 31 disposed on the lower frame 1. Sturdy support plates 32 are respectively provided on both sides of the stripping base 31.

[0062] Between the support plates 32 on both sides, an active roller assembly 33 is provided. Below the active roller assembly 33, a top roller assembly 34 is provided to abut against it. These two roller assemblies constitute a traction mechanism for the waste strip of the roll (i.e., the protective film), which peels the protective film off the bottom strip of the carrier element by pressing and rotating.

[0063] At the upper end of the support plate 32, in the area where the peeling action occurs, a peeling base plate 35 is provided. A vacuum suction plate 36 is connected to the upper end of the peeling base plate 35. The vacuum suction plate 36 is a key platform for carrying the bottom belt of the component, and multiple vacuum interfaces 37 are connected to one side for connecting an external vacuum source.

[0064] To guide the material, a guide plate 38 is connected to one side of the vacuum suction plate 36 (i.e., the material inlet end) to facilitate receiving the rolled material. A receiving platform plate 39 is connected to the other side of the vacuum suction plate 36 (i.e., the material outlet end). This receiving platform plate 39 is the "target material picking position" mentioned earlier in this embodiment. After the protective film is peeled off, the electronic components will remain on this platform, awaiting the photographing by the first visual positioning mechanism 4 and the gripping by the suction mechanism 6. The vacuum suction plate 36 and the receiving platform plate 39 together provide a flat and stable reference plane.

[0065] To achieve precise control of the stripping process, the stripping mechanism 3 also includes a vacuum regulating valve 3a mounted on the lower frame 1 and connected to the plurality of vacuum ports 37 via pipes. This vacuum regulating valve 3a is used to precisely control the suction force or start / stop of the vacuum suction plate 36, ensuring that the component base strip is firmly adsorbed onto the platform without displacement. Simultaneously, it also includes a control device 3b mounted on the lower frame 1 and electrically connected to the drive roller assembly 33. This control device 3b (which can be a motor driver or controller) is used to control the rotational speed and tension of the drive roller assembly 33.

[0066] Specifically, the active roller assembly 33 includes a main roller 331 disposed between the support plates 32 on both sides, and a tensioning motor 332 disposed on one side of any of the support plates 32. The tensioning motor 332 (e.g., a stepper motor or a servo motor) drives the main roller 331 to rotate through a transmission mechanism, providing the active force for stripping the main waste.

[0067] Accordingly, the top roller assembly 34 includes a secondary roller 341 located below and abutting against the main roller 331. The bottom of the secondary roller 341 is provided with an adjustment mechanism for adjusting the contact pressure between the secondary roller 341 and the main roller 331. This ensures sufficient friction to clamp and pull the waste material protective film, while preventing excessive pressure that could increase the transmission load or damage the film material.

[0068] Furthermore, as an optional implementation, to facilitate the installation and operation of the adjustment mechanism, a clearance position 12 is provided on the lower frame 1 corresponding to the bottom position of the stripping base 31. This clearance position 12 can be a U-shaped opening or a recessed groove, and its function is to allow a portion of the main body of the stripping base 31 (especially the portion where the adjustment mechanism is located) to be suspended above the clearance position 12. This suspension structure provides the necessary physical space for the installation of the adjustment mechanism components and subsequent manual adjustment operations.

[0069] The material stripping base 31 has first slots 311, such as U-shaped slots, on both sides (left and right) of its suspended portion. Correspondingly, the adjustment mechanism includes a second slot 321 disposed on the support plate 32 and corresponding to the first slots 311.

[0070] An adjusting block 322, precisely matched to the second slot 321, is slidably connected within it. As described above, the bearings or shafts at both ends of the auxiliary roller 341 are installed between these two adjusting blocks 322, which are respectively located on the two side support plates 32. Therefore, the vertical position of the adjusting block 322 determines the vertical position of the auxiliary roller 341.

[0071] Each of the adjusting blocks 322 is connected to a spring element 323 at its bottom. This spring element 323 is preferably a compression spring or a set of disc springs, used to provide an adjustable upward lifting force. An adjusting screw 324 is connected to the bottom of each spring element 323.

[0072] The rod of the adjusting screw 324 passes through the first slot 311 on the stripping base 31 and is threadedly connected to the adjusting nut 325. The key assembly relationship is that the adjusting nut 325 is located at the bottom end of the stripping base 31, with its upper surface abutting against the bottom surface of the stripping base 31. When it is necessary to adjust the pressure of the top roller, the operator can use the space provided by the clearance 12 to rotate the adjusting screw 324 (or adjusting nut 325) from below. Since the adjusting nut 325 abuts against the bottom end of the stripping base 31, the rotation will cause the adjusting screw 324 to undergo axial displacement (rising or falling). This displacement directly changes the compression of the elastic element 323, thereby precisely changing the elastic force applied to the adjusting block 322. This elastic force is ultimately transmitted to the auxiliary roller 341, causing it to press against the upper main roller 331 with a controllable and stable pressure.

[0073] Furthermore, as an optional implementation, the packaging mechanism 5 includes a packaging base 51 fixedly connected to the lower frame 1, and a packaging side seat 52 connected to the packaging base 51 by bolts or welding.

[0074] The packaging base 51 is provided with a flat packaging platform 53. This packaging platform 53 is the main working area for carrying the carrier tape. The carrier tape is precisely positioned on this platform and sequentially undergoes cavity positioning by the second vision positioning mechanism 7, component placement by the suction mechanism 6, and subsequent thermo-sealing. The packaging platform 53 is arranged adjacent to the packaging side seat 52.

[0075] A conventional cover tape device 54 is connected to the upper part of the packaging side seat 52. The cover tape device 54 is used to supply the cover tape required for packaging and precisely guide it above the packaging platform 53. The device 54 functions in conjunction with the first supply mechanism 21 (the supplied carrier tape) to ensure that the cover tape is covered on the carrier tape with the component installed at the correct time.

[0076] The encapsulation side seat 52 is also equipped with a thermoforming device 55 for sealing the carrier tape. The thermoforming device 55 typically includes one or more Z-axis liftable thermoforming heads. After the electronic component is placed into the cavity and the cover tape is covered, the thermoforming device 55 operates to heat-melt and bond the edge of the cover tape to the edge of the carrier tape at a preset temperature, pressure, and time, thereby sealing the electronic component.

[0077] To enable intermittent movement of the carrier tape on the packaging platform 53, two stepping mechanisms are also provided on the packaging base 51. Specifically, a first stepping mechanism 56 is provided on one side of the packaging platform 53 (i.e., the upstream or inlet side), which connects and cooperates with the cover tape device 54 and acts on the carrier tape before sealing; at the same time, a second stepping mechanism 57 is provided on the other side of the packaging platform 53 (i.e., the downstream or outlet side), which acts on the carrier tape after sealing.

[0078] These two stepping mechanisms can be either servo motor-driven ratchet and pawl mechanisms commonly used in the field, or sprocket-driven mechanisms utilizing carrier tape positioning holes. Under the coordination of the control system, they operate synchronously, together forming a precision carrier tape transport system. This ensures that the carrier tape advances precisely by a fixed step distance (e.g., the spacing of one cavity) each time, and remains stationary at the moments of second visual positioning, component placement, and thermoforming sealing, guaranteeing high-precision placement and high-quality sealing.

[0079] In one specific implementation, the cover tape device 54 may include a cover tape feeding shaft or feeding tray for mounting the cover tape. The feeding shaft may be equipped with a tensioning device, such as a spring-loaded swing arm mechanism or a friction damper, to apply a constant and slight tension to the cover tape as it is fed out, to prevent the cover tape from loosening or wrinkling.

[0080] Downstream of the cover tape feeding shaft, one or more sets of guide rollers may be provided. These guide rollers form a precise material guiding path. The end of this path is precisely guided onto the packaging platform 53 and located directly upstream of the hot pressing device 55 (i.e., the material inlet side).

[0081] The workflow is as follows: the carrier tape (loaded with components) from the first supply mechanism 21 is on the packaging platform 53; while the cover tape from the cover tape device 54 is guided by the aforementioned guide rollers and covers the carrier tape directly above it.

[0082] As mentioned earlier, when the first step-feeding mechanism 56 is activated, it primarily acts to pull the carrier tape below. Since the cover tape is already attached to the carrier tape at this time, as the carrier tape advances one step, it simultaneously "passively" pulls the cover tape out of the cover tape device 54 by a corresponding length. Subsequently, the first step-feeding mechanism 56 stops, and both the carrier tape and the cover tape remain stationary. At this time, the thermoforming device 55 installed on the packaging side seat 52 descends and, at a set temperature and pressure, thermally fuses the cover tape, which has already covered the carrier tape, to the edge of the carrier tape, thereby achieving a seal for the electronic components inside the cavity.

[0083] Furthermore, in a preferred embodiment, the feeding mechanism 2 includes a feeding bracket 23 fixedly connected to the lower frame 1. This feeding bracket 23 is the main mounting body of the material supply unit, and it is equipped with the first supply mechanism 21 and the second supply mechanism 22.

[0084] Specifically, the first supply mechanism 21 includes a first feeding tray 211 mounted on the feeding bracket 23, which carries the wound carrier tape with cavities. Unlike conventional unpowered feeding, the first feeding tray 211 is connected to a feeding motor 212. This feeding motor 212 (which can be a servo motor or a tension control motor) is controlled by a control system, and its function is to actively and smoothly feed the carrier tape and provide a constant pretension for the carrier tape entering the packaging mechanism 5, so as to cooperate with the intermittent stepping action in the packaging mechanism and prevent the carrier tape from deforming or positioning errors due to passive pulling.

[0085] The second supply mechanism 22 includes a non-powered tray 221 mounted on the unloading bracket 23, which carries the roll of material encapsulating electronic components. The unloading of this roll is passive, i.e., pulled by the peeling mechanism 3. Simultaneously, the second supply mechanism 22 also includes a torque motor 222 mounted on the unloading bracket 23, which is connected to a take-up shaft 223. Its function is that after the roll of material encapsulating electronic components is peeled off by the peeling mechanism 3, the resulting waste material (i.e., the peeled-off protective film) is guided to this location and wound back by the take-up shaft 223 under the constant tension provided by the torque motor 222, ensuring a smooth and reliable peeling process.

[0086] At the other end of the device, the take-up mechanism 9 includes: a take-up motor 91, such as a torque motor or servo motor, for providing winding power for the final finished carrier tape; a take-up reel 92, which is drively connected to the take-up motor 91, for winding the carrier tape sealed by the packaging mechanism 5; and a take-up arm 93.

[0087] The take-up arm 93 is pivotally mounted on the take-up mechanism 9, for example, by means of a rotating shaft mounted on the lower frame. The carrier tape output from the second stepping mechanism 57 of the packaging mechanism 5 is wound around one or more guide wheels mounted on the take-up arm 93 before being wound by the take-up reel 92.

[0088] When the packaging mechanism 5 intermittently feeds the carrier tape, the take-up motor 91 and take-up reel 92 continuously apply tension to maintain the tension. At this time, the swingable take-up arm 93 absorbs or releases the length of the carrier tape through its own swing, thereby buffering and maintaining the constant tension of the carrier tape. This ensures that the carrier tape is not subjected to excessive impact tension at the moment of stepping and stopping, guaranteeing the flatness and tightness of the finished product winding.

[0089] The above are implementation methods provided in conjunction with specific content, and it is not intended that the specific implementation of this application is limited to these descriptions. Any methods or structures that are similar to those of this application, or any technical deductions or substitutions made based on the concept of this application, should be considered within the scope of protection of this application.

Claims

1. A tape and reel machine, characterized in that, Including the lower rack (1), and also including The feeding mechanism (2) is located on one side of the lower frame (1) and includes a first feeding mechanism (21) for supplying carrier tape with a cavity and a second feeding mechanism (22) for supplying rolls of material encapsulated with electronic components. A stripping mechanism (3), located on the lower frame (1), is configured to act on the roll to strip the electronic components from the roll and place them in a transitional position. The first vision positioning mechanism (4) is located on the lower frame (1) and is configured to determine the target picking position of the electronic component after it has been peeled off by the peeling mechanism (3). The packaging mechanism (5) is located on the lower frame (1) and is configured to seal the carrier tape after the electronic component is placed into the cavity of the carrier tape; The material suction mechanism (6) is located on the lower frame (1) and is configured to pick up electronic components stripped from the roll from the target material pick-up position and transfer them to the cavity of the carrier tape on the packaging mechanism (5); The second visual positioning mechanism (7) is located on the lower frame (1) and is configured to determine the target feeding position of the carrier tape cavity on the packaging mechanism (5). The third vision positioning mechanism (8) is located on the lower frame (1) and is configured to take a picture of the electronic component on the suction mechanism (6) after the suction mechanism (6) picks up the electronic component and places it in front of the packaging mechanism (5) to determine the actual position deviation of the electronic component relative to the suction mechanism (6). The receiving mechanism (9) is located on the lower frame (1) and downstream of the packaging mechanism (5), and is used to collect the carrier tape after it has been sealed by the packaging mechanism (5). The control system is communicatively connected to the material suction mechanism (6), the first visual positioning mechanism (4), the second visual positioning mechanism (7) and the third visual positioning mechanism (8). The control system is configured to: calculate a corrected material feeding position based on the target feeding position and the actual position deviation, and control the material suction mechanism (6) to place the electronic component at the corrected feeding position. The packaging mechanism (5) is further configured to seal the carrier tape after the feeding mechanism (6) places the electronic component onto the cavity of the carrier tape.

2. The tape and reel machine according to claim 1, characterized in that, The lower frame (1) is provided with a mounting shaft (11), and the first visual positioning mechanism (4) is installed on the upper part of the mounting shaft (11). The first visual positioning mechanism (4) includes a first mounting block (41) connected to the mounting shaft (11), the first mounting block (41) is connected to a first mounting shaft (42), the first mounting shaft (42) is provided with a first imaging device (43), and a first light source device (44) mounted on the mounting shaft (11) is provided below the first imaging device (43). The light direction of the first light source device (44) is toward the target material picking position after being peeled off by the peeling mechanism (3).

3. The tape and reel machine according to claim 1, characterized in that, The lower frame (1) is provided with a mounting shaft (11), and the upper part of the mounting shaft (11) is provided with the second visual positioning mechanism (7). The second visual positioning mechanism (7) includes a second mounting block (71) connected to the mounting shaft (11), the second mounting block (71) is connected to a second mounting shaft (72), the second mounting shaft (72) is provided with a second mounting base (73), the upper part of the second mounting base (73) is equipped with a second imaging device (74), and the lower part is equipped with a second light source device (75) corresponding to the second imaging device (74), wherein the light direction of the second light source device (75) is towards the target material feeding position on the packaging mechanism (5).

4. The tape and reel machine according to claim 1, characterized in that, The third visual positioning mechanism (8) includes a third mounting block (81) disposed on the lower frame (1) and located between the packaging mechanism (5) and the peeling mechanism (3). A third adjusting plate (82) is mounted on the third mounting block (81). A fixing frame (83) is tunably connected to the third adjusting plate (82). A third imaging device (84) is mounted on the fixing frame (83). A third light source device (85) is also mounted on the upper part of the third adjusting plate (82) and is located above and corresponding to the third imaging device (84). The light direction of the third light source device (85) is towards the third imaging device (84).

5. The tape and reel machine according to claim 1, characterized in that, The suction mechanism (6) includes a drive base (61) fixedly connected to the lower frame (1). The drive base (61) is provided with a Y-direction displacement device (62). An X-direction sliding support (63) is slidably connected to the Y-direction displacement device (62). An X-direction displacement device (64) is provided on the X-direction sliding support (63). A Z-direction sliding support (65) is slidably connected to the X-direction displacement device (64). A Z-direction mounting plate (66) is fixedly connected to the Z-direction sliding support (65). A plurality of suction devices (67) capable of Z-direction displacement are provided on the Z-direction mounting plate (66).

6. The tape and reel machine according to claim 5, characterized in that, The adsorption device (67) includes a Z-direction connecting plate (671) assembled with the Z-direction mounting plate (66). The lower part of the Z-direction connecting plate (671) is provided with a Z-direction drive motor (672). The Z-direction connecting plate (671) is also provided with a drive wheel assembly (673) that is connected to the Z-direction drive motor (672). The Z-direction connecting plate (671) is also provided with a guide rail (674). The guide rail (674) is slidably connected with a slider (675). One end of the slider (675) is fixedly connected to a suction bracket (676). A vacuum rotary suction nozzle (677) is installed on the suction bracket (676).

7. The tape and reel machine according to claim 1, characterized in that, The peeling mechanism (3) includes a peeling base (31) on the lower frame (1), with support plates (32) on both sides of the peeling base (31), an active roller assembly (33) between the support plates (32) on both sides, a top roller assembly (34) below the active roller assembly (33) and abutting against it, a peeling bottom plate (35) on the upper end of the support plate (32), a vacuum suction plate (36) connected to the upper end of the peeling bottom plate (35), a plurality of vacuum ports (37) connected to one side of the vacuum suction plate (36), a guide plate (38) for receiving the roll material connected to one side of the vacuum suction plate (36), and a receiving platform plate (39) connected to the other side of the vacuum suction plate (36). The stripping mechanism (3) further includes a vacuum regulating valve (3a) connected to the plurality of vacuum ports (37) on the lower frame (1) and a control device (3b) connected to the active roller assembly (33) on the lower frame (1). The active roller assembly (33) includes a main roller (331) disposed between the support plates (32) on both sides and a tensioning motor (332) disposed on one side of any of the support plates (32). The top roller assembly (34) includes a secondary roller (341) located below and in contact with the main roller (331), and the bottom of the secondary roller (341) is provided with an adjustment mechanism for adjusting the contact pressure with the main roller (331).

8. The tape and reel machine according to claim 7, characterized in that, The lower frame (1) is provided with a stripping base (31) and a clearance position (12) is provided at the bottom, so that part of the main body of the stripping base (31) is suspended above the clearance position (12). The two sides of the suspended part of the stripping base (31) are respectively provided with a first slot (311). The adjustment mechanism includes a second slot (321) provided on the support plate (32) and corresponding to the first slot (311). An adjustment block (322) matching it is slidably connected in the second slot (321). The auxiliary roller (341) is provided between the two adjustment blocks (322). An elastic element (323) is connected to the bottom of each adjustment block (322). An adjustment screw (324) is connected to the bottom of the elastic element (323). An adjustment nut (325) is connected to the adjustment screw (324). The adjustment nut (325) abuts against the bottom end of the stripping base (31).

9. The tape and reel machine according to claim 1, characterized in that, The packaging mechanism (5) includes a packaging base (51) fixedly connected to the lower frame (1), a packaging side seat (52) connected to the packaging base (51), a packaging platform (53) provided on the packaging base (51), the packaging platform (53) and the packaging side seat (52) being arranged adjacent to each other, a cover tape device (54) cooperating with the first supply mechanism (21) being connected to the upper part of the packaging side seat (52), a hot pressing device (55) for sealing the carrier tape being installed on the packaging side seat (52), a first stepping mechanism (56) located on one side of the packaging platform (53) and connected to the cover tape device (54) and acting on the carrier tape before sealing, and a second stepping mechanism (57) located on the other side of the packaging platform (53) and acting on the carrier tape after sealing.

10. The tape and reel machine according to claim 1, characterized in that, The feeding mechanism (2) includes a feeding bracket (23) fixedly connected to the lower frame (1), and the feeding bracket (23) is provided with the first supply mechanism (21) and the second supply mechanism (22). The first supply mechanism (21) includes a first feeding tray (211) mounted on the feeding bracket (23) for supplying a carrier belt with a cavity, and the first feeding tray (211) is connected to a feeding motor (212). The second supply mechanism (22) includes a non-powered tray (221) mounted on the unloading bracket (23) for supplying rolls of material containing electronic components. The second supply mechanism (22) also includes a torque motor (222) mounted on the unloading bracket (23). The torque motor (222) is connected to a take-up shaft (223). After the rolls of material containing electronic components are peeled off by the peeling mechanism (3), the waste material is wound and recycled by the take-up shaft (223).

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