CN101920795A - Disk-feeding braider and classified gripping method thereof - Google Patents

Abstract

The invention discloses a disk-feeding braider and a classified gripping method thereof. The braider comprises a tray conveying device, a tray separating device, a top surface scanning surface, a three-dimensionally scanning device, a double-gripper classified gripping device, an unaccepted product collecting device, a hollow tray stacking device and a braid packaging device, wherein the tray conveying device is used for conveying a tray; the tray separating device is used for separating the tray onto the tray conveying device; the top surface scanning surface is used for scanning the top surface of an integrated circuit block in the conveyed tray; the three-dimensionally scanning device is used for three-dimensionally scanning the bottom surface and the side face of the integrated circuit board; the double-gripper classified gripping device is used for gripping the top surface-scanned and/or three-dimensionally scanned integrated circuit board in a classified way and comprises a first classified gripping device and a second classified gripping device; the unaccepted product collecting device is used for receiving the integrated circuit board of which the scanning result is unqualified; the hollow tray stacking device is used for stacking a conveyed hollow tray on which classified gripping is finished; and the braid packaging device is used for packaging and winding the integrated circuit board of which the top surface scanning and three-dimensionally scanning results are qualified. The disk-feeding braider and the corresponding classified gripping method have the characteristic of high work efficiency.

Description

A kind of disk-feeding braider and classified gripping method thereof

Technical field

The present invention relates to a kind of disk-feeding braider that can finish integrated circuit block conveying, detection, classified gripping and braid packaging process, and the classified gripping method of this disk-feeding braider.

Background technology

Braider is widely used in the braid encapsulation of the integrated circuit block (hereinafter to be referred as integrated circuit block) of IC industry.Described braider can be divided into a bowl formula feeding braider, tubular type feeding braider and disk-feeding braider by the mode of feeding process bearing integrated piece.

Described bowl formula feeding braider is applicable to the braid encapsulation of smallclothes integrated circuit block, is characterized in that the smallclothes integrated package can directly pour in the bowl-shape hopper of likeness in form, by the vibration feeding mode granule integrated package auto arrangement input braid package position is encapsulated.This feeding style makes and has collision mutually and friction between the integrated circuit block, therefore is not suitable for the braid encapsulation of high-end product.

Described tubular type feeding braider is applicable to integrated circuit block medium-sized or the band limb, be characterized in can be simultaneously by many pipes to the braid feeding.Because the feeding process is difficult to carry out online detection, the braid encapsulation of therefore having relatively high expectations also is unsuitable for adopting.

Described disk-feeding braider is applicable to the braid encapsulation of large, medium and small integrated circuit block, disk-feeding braider is not only applicable to the IC industry, also can be used as universal electric industries such as resistance, electric capacity and use, the disc type braider of IC industry can be realized the conversion braid encapsulation of products of different specifications.

The disc type braider of Shi Yonging had single stage type not have to detect braider and single stage type has the detection braider in recent years, wherein, single stage type is meant that braider can only braid encapsulates a kind of product of specification, after the product specification conversion, need again more exchange device, do not have detection and be meant that product does not carry out any detection before encapsulation, this can make off-grade enter the braid packaging process, causes damage to next process.The shortcoming of this braider is that the production product specification is single, production efficiency low (be generally 1000/h) and package quality not high.

A kind of disc type braider with detection is arranged again in recent years, can realize the detection that braid is preceding, but still there are the following problems for this braider: pallet carries that accuracy of positioning is relatively poor, the integrated circuit block handgrip is single, the heat-sealing effect is relatively poor, relatively poor to the comformability of the integrated circuit block of different size, no braid automatic disconnecting device, therefore, braid quality and production efficiency still obviously do not improve.

Summary of the invention

The objective of the invention is to address the above problem, the disk-feeding braider of a kind of effective raising braid quality and production efficiency is provided.

The technical solution used in the present invention is: a kind of disk-feeding braider comprises

Tray conveying device, it comprises back and front supporting guide rail and the pallet pusher that is installed on the bench board; The inboard of described back and front supporting guide rail is provided with the pallet slideway that pallet slides that is used to support respect to one another thereon; Described pallet pusher is between the back and front supporting guide rail, and the pallet that is used to promote on it slides along the direction of back and front supporting guide rail;

The pallet disengagement gear, it is arranged on the The initial segment of back and front supporting guide rail, and described pallet disengagement gear is used for the stacked orlop pallet of putting pallet thereon from top to bottom is separated to described pallet slideway;

The end face scanner unit, it comprises the end face scanner and drives the reciprocating in the horizontal direction horizontal scan of described end face scanner travel mechanism; The contiguous described pallet disengagement gear of described horizontal scan travel mechanism, and be installed on the top of described tray conveying device, the vibration-direction of described end face scanner is vertical with the throughput direction of pallet pusher;

Two handgrip classified gripping devices, it is supported on the first and second classified gripping devices on the bench board with comprising parallel to each other, relative and co-altitude; The described first and second classified gripping devices include pick-and-place mechanism and drive the reciprocating in the horizontal direction handgrip horizontal mobile mechanism of described pick-and-place mechanism, the contiguous end face scanner unit of the handgrip horizontal mobile mechanism of the described first classified gripping device, two handgrip horizontal mobile mechanisms all are positioned at the top of described tray conveying device, and the vibration-direction of pick-and-place mechanism all the throughput direction with the pallet pusher is vertical; Described pick-and-place mechanism comprises the handgrip unit and drives the handgrip lifting unit that described handgrip unit moves up and down that described handgrip unit has at least two suction nozzles; The axis of all suction nozzles of the described first and second classified gripping devices all is positioned at the vertical perpendicular of throughput direction same and the pallet pusher;

The stereoscanning device, it is installed in a side of described tray conveying device, and on the position between the described first and second classified gripping devices, the axis of the camera lens of described stereoscanning device is positioned on the perpendicular at place, suction nozzle axis;

The off gauge gathering-device, it comprises the off gauge pallet and drives the horizontal transfer mechanism of pallet that described off gauge pallet moves back and forth; Described pallet horizontal mobile mechanism is installed in the opposite side of described tray conveying device, described off gauge pallet to move back and forth direction consistent with the throughput direction of pallet pusher; Described off gauge pallet is included in it and moves back and forth end face detection nonconformity pallet and the three-dimensional nonconformity pallet that detects that parallel arranged is provided with on the direction;

The empty pallet piling apparatus, it is arranged on the termination section of back and front supporting guide rail, on the position of the contiguous second classified gripping device; Described empty pallet piling apparatus is used for putting thereon the empty pallet on the described pallet slideway is stacked; And,

The braid packaging system, it is arranged on an end of described pair of handgrip classified gripping device, and be positioned at the homonymy of tray conveying device with described stereoscanning device, the suction nozzle of described pair of handgrip classified gripping device be movable to the braid packaging system under the drive of handgrip horizontal mobile mechanism one carry runner the braid tail band the groove present position directly over.

Preferably, described handgrip unit is fixedly mounted on the handgrip lifting unit by its component suction nozzle adapter plate; Described handgrip unit comprises the roll adjustment assembly, but and the parallel arranged fixedly component suction nozzle and the roll adjustment component suction nozzle that are provided with, described fixedly component suction nozzle carries a suction nozzle as fixing suction nozzle, but but described roll adjustment component suction nozzle carries a suction nozzle conduct roll adjustment suction nozzle; Described fixedly component suction nozzle is fixedly mounted on the described component suction nozzle adapter plate by fixing suction nozzle adapter plate; Described roll adjustment assembly comprises roll adjustment motor, roll adjustment slide rail, roll adjustment slide plate and roll adjustment adapter plate, described roll adjustment motor and component suction nozzle adapter plate are connected, described roll adjustment slide rail is packed on the component suction nozzle adapter plate, described roll adjustment slide plate can be laterally slidably with the sliding connection of roll adjustment slide rail, described roll adjustment adapter plate and roll adjustment slide plate are connected, the end of the motor shaft of described roll adjustment motor has screw rod, and the screw rod of described motor shaft is connected with roll adjustment adapter plate screw thread fit.

Preferably, described fixedly component suction nozzle also comprises fixedly suction nozzle vacuum air-channel joint and fixedly suction nozzle lift cylinder; Described fixedly suction nozzle lift cylinder is packed in fixedly on the suction nozzle adapter plate; Described fixedly suction nozzle is communicated with fixing suction nozzle vacuum air-channel joint by fixing suction nozzle gas circuit connecting panel; Described fixedly suction nozzle gas circuit connecting panel by fixing suction nozzle lift cylinder connecting panel and fixedly the piston rod moving up and down of suction nozzle lift cylinder be connected.

Preferably, but but but described roll adjustment component suction nozzle also comprises roll adjustment suction nozzle vacuum air-channel joint and roll adjustment suction nozzle lift cylinder; But described roll adjustment suction nozzle lift cylinder is packed on the roll adjustment adapter plate; But but but described roll adjustment suction nozzle be communicated with roll adjustment suction nozzle vacuum air-channel joint by roll adjustment suction nozzle gas circuit connecting panel; But but but the moving up and down piston rod of described roll adjustment suction nozzle gas circuit connecting panel by roll adjustment suction nozzle lift cylinder connecting panel and roll adjustment suction nozzle lift cylinder be connected.

Preferably, described pallet pusher comprises two cover single-stage pallet pushers, respectively as being used for and being delivered to the end face scanner unit from the isolated pallet of described pallet disengagement gear, and the prime pusher of all integrated circuit block end faces scannings in the pallet is finished in cooperation, and be used for will finish the pallet of end face scanning be delivered to two handgrip classified gripping device places and cooperate and finish classified gripping, and the empty pallet that will finish classified gripping is delivered to the back level pusher of empty pallet piling apparatus.

Preferably, described single-stage pallet pusher comprises the pallet clamping mechanism and drives the delivery device that described pallet clamping mechanism moves along the direction of back and front supporting guide rail; Described pallet clamping mechanism comprises the clamping mechanism adapter plate and is installed in the straight moving chuck component on the described clamping mechanism adapter plate and swings chuck component that described pallet clamping mechanism is installed on the delivery device by the clamping mechanism adapter plate; Described straight moving chuck component comprises straight moving chuck and drives the straight moving chuck cylinder that straight moving chuck is done dipping and heaving that described straight moving chuck cylinder is packed on the end of described clamping mechanism adapter plate; Described swing chuck component comprises the swing chuck and changes the swing chuck and the straight swing chuck cylinder that moves the angular relationship between the chuck, described swing chuck is articulated on the swing chuck mount pad that is packed on the described clamping mechanism adapter plate other end, and described swing chuck is relative with straight moving chuck on the propelling movement direction of delivery device; Described swing chuck cylinder is installed on the clamping mechanism adapter plate, and an end of the piston rod of described swing chuck cylinder and a chuck connecting rod is connected, the other end of described chuck connecting rod and the lower hinge of swinging chuck.

Preferably, described pallet disengagement gear comprises pallet feed bin, pallet separation device and tray support mechanism; Described charging tray feed bin comprise be installed in before on the supporting guide two angle steel and be installed in two angle steel on the supporting guide of back, the notch of four angle steel all is internally in four jiaos of charging tray feed bins that position; Described pallet separation device is installed between the back and front supporting guide rail, and it comprises the pallet separating plate and drives the separating plate lifting mechanism that described pallet separating plate is done dipping and heaving; Described tray support mechanism comprise be installed in before on the supporting guide at least one tray support assembly and be installed at least one described tray support assembly on the supporting guide of back, described tray support assembly comprises flexible tray and drive the tray cylinder that described flexible tray stretches into or withdraw on the direction vertical with the throughput direction of pallet pusher in the pallet feed bin outside the pallet feed bin;

Preferably, described empty pallet piling apparatus comprises empty pallet feed bin, empty pallet accumulation mechanism and empty pallet supporting mechanism; Described empty charging tray feed bin comprise be installed in before on the supporting guide two angle steel and be installed in two angle steel on the supporting guide of back, the notch of four angle steel all is internally in four jiaos of empty charging tray feed bins that position; Described empty pallet is piled up mechanism and is installed between the back and front supporting guide rail, and it comprises that empty pallet is piled up plate and the described empty pallet of drive is piled up the accumulation plate lifting mechanism that plate is done dipping and heaving; Described empty pallet supporting mechanism comprises at least one the empty pallet supporting component that is installed on the preceding supporting guide and at least one the described empty pallet supporting component that is installed on the supporting guide of back, described tray support assembly comprise the tray mount pad and with described tray mount pad pivotally attached tray, between the base plate of described tray and tray mount pad separately return springs is installed.

Preferably, described braid packaging system comprises a cover or two cover single-stage braid packaging systems, and described single-stage braid packaging system comprises the braid feedway that is installed on the braid encapsulation adapter plate, two braid hot sealing devices, braid automatic cutting means, braid cover tape feed wheel, braid tail band feed wheel and braid winding wheels;

The throughput direction of described braid feedway is consistent with the vibration-direction of described pick-and-place mechanism, and the braid tail band of drawing from described braid tail band feed wheel is sent into it by the initiating terminal of braid feedway and carried runner;

Described two braid hot sealing devices are installed on the both sides of the conveying runner of braid feedway relative to one another, the hot knife of two braid hot sealing devices lay respectively at the heat-sealing position of carrying the braid both sides of carrying in the runner directly over;

Described braid cover tape feed wheel is installed on the top of described braid feedway, and is positioned at the place ahead of braid hot sealing device on the throughput direction of braid feedway;

The clearing end of the contiguous described braid feedway of described braid automatic cutting means; The braid that described braid feedway is drawn is flowed out between the cutting knife of described braid automatic cutting means and cutting knife base; And,

Described braid winding wheel is positioned at the place ahead of braid automatic cutting means on the throughput direction of braid feedway, the braid that the warp-knit tape automatic cutting means flows out is guided on the braid winding wheel;

If described braid packaging system comprises the described single-stage braid packaging system of a cover, then it carries the stationkeeping of runner on the throughput direction of tray conveying device;

If described braid packaging system comprises the described single-stage braid packaging system of two covers, then two cover single-stage braid packaging systems are parallel being installed on the described braid encapsulation adapter plate on the vibration-direction of pick-and-place mechanism; Described braid packaging system also comprises the station switching mechanism, and described station switching mechanism comprises switch guide, switches cylinder and switches slide block;

Described switch guide is being packed on the throughput direction of tray conveying device on the switching mechanism adapter plate, described switching mechanism adapter plate is connected on the position vertical with described bench board, a perpendicular slide block adapter plate is connected on the bottom surface of described braid encapsulation adapter plate, described switching slide block is packed on the slide block adapter plate, described switching slide block and switch guide sliding connection; Described switching cylinder is packed on the switching mechanism adapter plate, and the piston rod of described switching cylinder and slide block adapter plate are connected, and the sense of motion of the piston rod of switching cylinder is consistent with the throughput direction of tray conveying device; The position of the conveying runner of described two cover single-stage braid packaging systems can be moved on the throughput direction of tray conveying device.

Preferably, described braid feedway comprises conductance width quick adjusting mechanism, and described conductance width quick adjusting mechanism comprises:

The forward and backward guide rail that be arranged in parallel;

Be snug fit at two right conductance plates installation slide blocks that the left conductance plates of two blocks of described forward and backward guide rail are installed slide blocks and are snug fit at described forward and backward guide rail respectively respectively;

Parallel with forward and backward guide rail being arranged at revolved screw rod by what bearing seat supported between two guide rails;

Be fixed on the screw handle that revolves that revolves screw rod one end;

By screw thread fit in the left-handed nut with opposite sense screw thread and the right handed unt of revolving on the screw rod; And,

Be fixed in left conductance plate and the right conductance plate that is fixed on aforementioned two right conductance plates installation slide blocks and the right handed unt on aforementioned two left conductance plates installation slide blocks and the left-handed nut; Form described conveying runner between described left conductance plate and the right conductance plate.

Another object of the present invention provides a kind of classified gripping method of above-mentioned disk-feeding braider, comprises the steps:

Step 1: electric control system is controlled described pallet disengagement gear and will be positioned in its all pallets of holding on the pallet slideway that undermost pallet is placed on tray conveying device; Described pallet pusher pushes to end face scanner unit 2 places with the pallet on it and carry out step 2;

Step 2: electric control system control end face scanner unit carries out end face scanning to all integrated circuit blocks in the pallet; Specifically scanning process is,

Step 201: when the delegation integrated circuit block in the described pallet arrive the end face scanner unit the 2D scanning lens under the time, control pallet pusher stops to push, described 2D scanning lens begins under the drive of horizontal scan travel mechanism the integrated circuit block on the current line to be scanned in turn one by one, and writes down the end face scanning result of each integrated circuit block; After finishing the scanning of current line, electric control system judges that whether current line is last column of pallet, then enters step 202, if not if then enter step 203;

Step 202: electric control system control pallet pusher is fed forward pallet, make the next line integrated circuit block arrive the end face scanner unit the 2D scanning lens under, completing steps 201;

Step 203: electric control system control pallet pusher is carried this pallet to two handgrip classified gripping devices place, carry out step 3;

Step 3: the first and second classified gripping devices of controlling described pair of handgrip classified gripping device are alternately finished the classified gripping of all integrated circuit blocks in the pallet; Specifically the classified gripping process is,

Step 301: when the delegation's integrated circuit block in the described pallet arrives the below of suction nozzle of the first and second classified gripping devices, electric control system control pallet pusher stops to push, the first and second classified gripping devices alternately hold continuously arranged integrated circuit block in succession by the suction nozzle of the two, spacing between the adjacent suction nozzle of described first, second classified gripping device when grasping all with the adjacent integrated circuit block of the every row of pallet between spacing consistent, and independently carry out classified gripping separately according to identical sorting technique; Described sorting technique is if the end face scanning result of the integrated circuit block that holds is nonconformity, carry out step 302; If it is qualified that the end face scanning result of the integrated circuit block that holds is, carry out step 303; If the end face scanning result part of the integrated circuit block that holds is qualified, carry out step 304; After finishing the classified gripping of current line, electric control system judges that whether current line is last column of pallet, then enters step 305, if not if then enter step 306;

Step 302: directly the end face of its all integrated circuit block pick-and-places that hold to the off gauge gathering-device detected in the nonconformity pallet;

Step 303: directly its all integrated circuit blocks that hold are grabbed and deliver to stereoscanning device place, and at the camera lens that makes the stereoscanning device under the effect of handgrip horizontal mobile mechanism to moving to the stereoscanning that integrated circuit block directly over it comprises bottom surface and side one by one in turn, and record stereoscanning result; If the stereoscanning result is all qualified, then carry out step 303a; Part is qualified as a result as if stereoscanning, then carries out step 303b;

Step 303a: directly with its all integrated circuit block pick-and-places that hold to the groove that is arranged in the braid tail band on the braid packaging system;

Step 303b: with its stereoscanning that holds as a result nonconformity and up-to-standard integrated circuit block respectively pick-and-place to the solid of off gauge gathering-device detect the groove that the neutralization of nonconformity pallet is arranged in the braid tail band on the braid packaging system;

Step 304: directly its all integrated circuit blocks that hold are grabbed and deliver to stereoscanning device place, and at the camera lens that makes the stereoscanning device under the effect of handgrip horizontal mobile mechanism to moving to the stereoscanning that the up-to-standard integrated circuit block of end face scanning result directly over it comprises bottom surface and side one by one in turn, and record stereoscanning result; If the stereoscanning result of the up-to-standard integrated circuit block of end face scanning result is also qualified, then carry out step 304a; If the stereoscanning of the up-to-standard integrated circuit block of end face scanning result is nonconformity as a result, then carry out step 304b;

Step 304a: the inferior-quality integrated circuit block pick-and-place of end face scanning result to end face is detected in the nonconformity pallet, with the up-to-standard integrated circuit block pick-and-place of stereoscanning result to the groove that is arranged in the braid tail band on the braid packaging system;

Step 304b: detect in the nonconformity pallet end face scanning result nonconformity and the inferior-quality integrated circuit block difference of stereoscanning result pick-and-place to end face and three-dimensional the detection in the nonconformity pallet;

Step 305: electric control system is controlled described pallet pusher pallet is fed forward, and makes the next line integrated circuit block arrive the below of the suction nozzle of the first and second classified gripping devices and completing steps 301;

Step 306: electric control system is controlled described pallet pusher empty pallet is fed forward to empty pallet piling apparatus place.

Beneficial effect of the present invention is:

1, of the present invention pair of handgrip classified gripping device has the first and second handgrip classified gripping devices, for the suction nozzle that makes the two can all be arranged in pallet carry the delegation's integrated circuit block put in place directly over, all suction nozzles are positioned at same perpendicular, and (promptly the first handgrip classified gripping device and the second handgrip classified gripping device are under the off working state, all suction nozzles are positioned at linearly formula arrangement), the technical program can avoid the two to move interference when the oscillating sort pick-and-place integrated circuit block by separately handgrip lifting unit of control, and has effectively improved pick-and-place efficient;

2, pallet pusher of the present invention comprises prime and back level pusher, and the conveying task is finished in segmentation, the work efficiency that cooperates two handgrip classified gripping devices further to improve;

If 3, braid packaging system of the present invention comprises two cover single level of encapsulation devices, make another set of single level of encapsulation device switch to the encapsulation station rapidly in the time of then can using in the braid of a cover single level of encapsulation device, so, can not influence the work efficiency of other device, whole work efficiency is further improved;

4, but described pick-and-place mechanism can be by the fixing transverse pitch between component suction nozzle and the roll adjustment component suction nozzle of roll adjustment assembly adjustment, and then makes it to satisfy at any time the requirement of the flute pitch of the pallet integrated circuit block spacing of different size and different size braid tail band; The width-adjustable of the conveying runner of described braid feedway can adapt to the braid of different size.Therefore, after changing product specification, but disk-feeding braider of the present invention only need change pallet, braid, adjustment carry the width of runner and fixedly the spacing between component suction nozzle and the roll adjustment component suction nozzle get final product, have adaptable characteristics.

Description of drawings

Fig. 1 a, 1b, 1c and 1d are respectively perspective view, birds-eye view, lateral plan and the local structure scheme drawing of disc type IC braider of the present invention;

Fig. 2 a is the perspective view of tray conveying device shown in Fig. 1 a;

Fig. 2 b is the perspective view of pallet pusher shown in Fig. 2 a;

Fig. 2 c is the perspective view of the single-stage pallet pusher of pallet pusher shown in the composition diagram 2b;

Fig. 2 d is the perspective view of pallet clamping mechanism shown in Fig. 2 c;

Fig. 3 is the perspective view of pallet disengagement gear shown in Fig. 1 a;

Fig. 4 is the perspective view of end face scanner unit shown in Fig. 1 a;

Fig. 5 a is the composition structural representation of two handgrip classified gripping devices shown in Fig. 1 a;

Fig. 5 b is the perspective view of the second classified gripping device shown in Fig. 5 a;

Fig. 5 c is the structural representation of pick-and-place mechanism shown in Fig. 5 b;

Fig. 5 d is the partial schematic diagram of handgrip unit among Fig. 5 c;

Fig. 6 is the perspective view of off gauge gathering-device shown in Fig. 1 d;

Fig. 7 a, 7b and 7c are respectively perspective view, birds-eye view and the lateral plan of braid packaging system shown in Fig. 1 a;

Fig. 8 a, 8b and 8c are respectively perspective view, front view and the lateral plan of braid hot sealing device shown in Fig. 7 a;

Fig. 9 a and 9b are respectively the lateral plan and the perspective view of braid automatic cutting means shown in Fig. 7 a;

Figure 10 a is the structural representation of the left and right conductance plate of braid feedway shown in Fig. 7 a;

Figure 10 b is the structural perspective of the conductance width quick adjusting mechanism of braid feedway shown in Fig. 7 a;

Figure 10 c is the constructional drawing after the structure among Figure 10 b is installed left and right conductance plate.

The specific embodiment

Below in conjunction with accompanying drawing disk-feeding braider of the present invention is described further.

Shown in Fig. 1 a, 1b, 1c and 1d, disk-feeding braider of the present invention comprises tray conveying device 4, pallet disengagement gear 1a, end face scanner unit 2, two handgrip classified gripping device 5, stereoscanning device 3, off gauge gathering-device 6, empty pallet piling apparatus 1b, and braid packaging system A.Electric control system B is used to control coordination between above-mentioned each device.

Shown in Fig. 2 a, described tray conveying device 4 comprises preceding supporting guide 41a and the back supporting guide 41b that is installed on the bench board C, and pallet pusher 42.The inboard of described back and front supporting guide rail is provided with the pallet slideway 411 that pallet slides that is used to support respect to one another thereon, and described pallet slideway 411 can be the right angle step structure, can the pallet that slide thereon be positioned in both sides; Described pallet pusher 42 is between the back and front supporting guide rail, and the pallet that is used to promote on it slides along the direction of back and front supporting guide rail.

Shown in Fig. 2 a, described pallet disengagement gear 1a is arranged on the The initial segment of back and front supporting guide rail, and described pallet disengagement gear 1a is used for the stacked orlop pallet of putting pallet thereon from top to bottom is separated to pallet slideway 411.

Described end face scanner unit 2 comprises the end face scanner and drives the reciprocating in the horizontal direction horizontal scan of described end face scanner travel mechanism; The described horizontal scan contiguous described pallet disengagement gear 1a of travel mechanism, and be installed on the top of described tray conveying device 4, the vibration-direction of described end face scanner 2 is vertical with the throughput direction of pallet pusher 4, and then described end face scanner 2 can be in turn one by one to carrying the delegation's integrated circuit block that puts in place to carry out end face scanning through pallet pusher 4 under the drive of horizontal scan travel mechanism.

Be supported on the first classified gripping device 5A and the second classified gripping device 5B on the bench board as pair handgrip classified gripping device 5 as described in Fig. 5 a with comprising parallel to each other, relative and co-altitude, the described first classified gripping device 5A closes on end face scanner unit 2 one sides, and the described second classified gripping device 5B closes on empty pallet piling apparatus 1b one side.The described first and second classified gripping devices include the pick-and-place mechanism 51 shown in Fig. 5 c and drive as described in the reciprocating in the horizontal direction handgrip horizontal mobile mechanism of pick-and-place mechanism.Two handgrip horizontal mobile mechanisms all are positioned at the top of described tray conveying device 4, and the vibration-direction of pick-and-place mechanism 51 all the throughput direction with pallet pusher 42 is vertical; Described pick-and-place mechanism 51 comprises the handgrip unit and drives the handgrip lifting unit that described handgrip unit moves up and down that described handgrip unit has at least two suction nozzles; The axis of all suction nozzles of the described first and second classified gripping devices all is positioned at the vertical perpendicular of throughput direction same and pallet pusher 42, make the suction nozzle of the suction nozzle of the classified gripping device 5A that wins and the second classified gripping device 5B can be arranged in simultaneously pallet carry certain line integrated circuit piece of putting in place directly over.The described first and second classified gripping devices are avoided contingent movement interference between the two the handgrip unit by handgrip lifting unit separately.

Described stereoscanning device 3 is installed in a side of described tray conveying device 4, and on the position between the described first and second classified gripping devices, the axis of the camera lens of described stereoscanning device 3 is positioned on the perpendicular at place, suction nozzle axis, and the entrained integrated circuit block of suction nozzle that makes described camera lens can be displaced downwardly to the drive at the handgrip horizontal mobile mechanism above the camera lens carries out stereoscanning.

Described off gauge gathering-device 6 comprises the off gauge pallet and drives the horizontal transfer mechanism of pallet that described off gauge pallet moves back and forth.Described pallet horizontal mobile mechanism is installed in the opposite side of described tray conveying device 4, described off gauge pallet to move back and forth direction consistent with the throughput direction of pallet pusher 42; Described off gauge pallet is included in it and moves back and forth end face detection nonconformity pallet and the three-dimensional nonconformity pallet that detects that parallel arranged is provided with on the direction.

Described empty pallet piling apparatus 1b is arranged on the termination section of back and front supporting guide rail, on the position of the contiguous second classified gripping device 5B. and described pallet disengagement gear 1b is used for stacked the putting thereon of empty pallet on the described pallet slideway 411.

Described braid packaging system A is arranged on an end of two handgrip classified gripping devices 5, and be positioned at the homonymy of tray conveying device 4 with described stereoscanning device 3, being used to of described braid packaging system A carries the braid of braid to carry the line of centers of runner to be positioned at the perpendicular at suction nozzle place, the throughput direction that runner is carried in described braid and described pick-and-place mechanism 51 to move back and forth direction consistent, make the first and second classified gripping devices end face scanning result and all up-to-standard integrated circuit block of stereoscanning result can be delivered to the groove that is arranged in the braid tail band on the braid conveying runner.

In order to enhance productivity further, shown in Fig. 2 b, described pallet pusher 42 can comprise two cover single-stage pallet pushers, respectively as being used for and being delivered to end face scanner unit 2 from the isolated pallet of described pallet disengagement gear 1a, and the prime pusher 42a of all integrated circuit block end faces scannings in the pallet is finished in cooperation, and be used for will finish the pallet of end face scanning be delivered to two handgrip classified gripping device 5 places and cooperate and finish classified gripping, and the empty pallet that will finish classified gripping is delivered to the back level pusher 42b of empty pallet piling apparatus 1b.Like this, described prime pusher 42a can return the position separated pallet of reception of pallet disengagement gear 1a and carry after end face scanning is finished in cooperation, then a level pusher 42b cooperates to finish can return with prime pusher 42a behind the classified gripping and joins, effectively reduced the wait time of each device of disk-feeding braider of the present invention, made that the linking between each operation is compact more.

Shown in Fig. 2 c, described single-stage pallet pusher comprises pallet clamping mechanism 421 and drives the delivery device that described pallet clamping mechanism moves along the direction of back and front supporting guide rail.

As described in Fig. 2 d, described pallet clamping mechanism 421 comprises clamping mechanism adapter plate 421a and is installed in the straight moving chuck component on the described clamping mechanism adapter plate 421a and swings chuck component.

Described straight moving chuck component comprises straight moving chuck cylinder 4211 and straight moving chuck 4212.Described straight moving chuck cylinder 4211 is packed on the end of described clamping mechanism adapter plate 421a, and its piston rod straight up; Described straight moving chuck 4212 is connected with the piston rod of straight moving chuck cylinder 4211, and then directly moving chuck cylinder 4211 can drive straight moving chuck 4212 and do dipping and heaving.

Described swing chuck component comprises swing chuck cylinder 4214 and swing chuck 4215.Described swing chuck 4215 is articulated on the swing chuck mount pad 4216, and this swing chuck mount pad 4216 is packed on the described clamping mechanism adapter plate 421a other end.Described swing chuck cylinder 4214 is installed on the clamping mechanism adapter plate 421a, and its piston rod stretches over against swing chuck 4215.The piston rod of described swing chuck cylinder 4214 and an end of chuck connecting rod 4217 are connected, the other end of described chuck connecting rod 4217 and the lower hinge of swinging chuck 4215.When starting swing chuck cylinder 4214, the flexible of its piston rod can drive 4215 swings of swing chuck, when the piston rod of swing chuck cylinder 4214 is retracted to the shortest position, swing chuck 4215 will be rocked to level attitude or near level attitude, promptly unclamp the position of pallet to the outside of pallet clamping mechanism; When the piston rod of swing chuck cylinder 4214 reaches the longest position, swing chuck 4215 will be rocked to the upright position to the inboard of pallet clamping mechanism or near the upright position, promptly cooperate the position that clamps pallet with straight moving chuck 4212.Described swing chuck 4215 is relative with straight moving chuck 4212 on the propelling movement direction of delivery device.

For the ease of installing, described swing chuck mount pad 4216 can be provided with one " U " type notch, and the bottom of described swing chuck 4215 embeds in this notch, and described swing chuck is hinged with swing chuck mount pad 4216 in the middle by a straight pin 4213.The bottom of described swing chuck 4215 has one notch is installed, and the other end of described chuck connecting rod 4217 stretches in the installation notch of swing chuck 4215, and by the lower hinge of straight pin with swing chuck 4215.

The afterbody of described swing chuck cylinder 4214 can link to each other with oscillating cylinder adapter plate 4210 on being packed in clamping mechanism adapter plate 421a by cylindrical hinge 4219.

The work engineering of described pallet clamping mechanism 421 is as follows:

When pallet clamping mechanism 421 need unclamp the pallet that has clamped, start the straight moving chuck cylinder 4211 and the swing chuck cylinder 4214 of pallet clamping mechanism, straight moving chuck cylinder 4211 makes straight moving chuck 4212 vertically drop to extreme lower position, swing chuck cylinder 4214 makes swing chuck 4215 swing to level attitude laterally, and then pallet breaks away from and clamps and be supported on separately on the pallet slideway 411, to wait for the operation of next station.

When pallet clamping mechanism 421 arrives the below that needs clamping propelling movement pallet, at first start straight moving chuck cylinder 4211 and make the straight chuck 4212 that moves protrude upward and block pallet one end, start swing chuck cylinder 4214 afterwards and make swing chuck 4215 swing to the upright position to the inside and clamp pallet.

Shown in Fig. 2 c, described delivery device comprises pushing slide rail 4223 and pushing is with transfer assembly synchronously.Described propelling movement slide rail 4223 and synchronous band transfer assembly parallel being installed on the pusher adapter plate 4222 on the propelling movement direction of single-stage pallet pusher, described pallet clamping mechanism is slidingly installed with propelling movement slide rail 4223 by its clamping mechanism adapter plate 421a.Described propelling movement is with transfer assembly to comprise servomotor 4221, synchronizing wheel 4224 synchronously and is with 4225 synchronously.Described clamping mechanism adapter plate 421a be with 4225 to be connected synchronously, and then it is reciprocating to drive pallet clamping mechanism 421 under the effect that pushes band transfer assembly synchronously.

As mentioned above, in order to finish the handing-over between the two, according to the size of pallet, described prime pusher 42a and back level are packed on the corresponding position by pusher adapter plate 4222 separately.In the present embodiment, described prime pusher 42a is installed in initiating terminal from forward and backward supporting guide to the position the end face scanner unit 2 and the first classified gripping device 5A, and described back level pusher 42 is installed on the position the clearing end from end face scanner unit 2 to the back and front supporting guide rail.In the present embodiment, described prime pusher 42a and back level pusher 42b are respectively adjacent to back supporting guide 41b and preceding supporting guide 41a.

In order to finish the work that separates pallet, as shown in Figure 3, described pallet disengagement gear 1a comprises pallet feed bin 11, pallet separation device and tray support mechanism.Described charging tray feed bin 11 comprise be installed in before on the supporting guide 41a two angle steel and be installed in two angle steel on the supporting guide 41b of back, the notch of four angle steel all is internally in four jiaos of charging tray feed bins that position.Described pallet separation device is installed between the back and front supporting guide rail, and it comprises pallet separating plate 13 and drives the separating plate lifting mechanism that described pallet separating plate 13 is done dipping and heaving.Described tray support mechanism comprise be installed in before on the supporting guide 41a at least one tray support assembly and be installed at least one described tray support assembly on the supporting guide 41b of back, described tray support assembly comprises flexible tray 12 and drive the tray cylinder 15 that described flexible tray 12 stretches into or withdraw on the direction vertical with the throughput direction of pallet pusher 4 in pallet feed bin 11 outside pallet feed bin 11.Originally be in the example, on described preceding supporting guide 41a and the back supporting guide 41b two tray support assemblies be installed respectively

Described separating plate lifting mechanism can be lifting mechanism commonly used in any mechanical field, and in the present embodiment, described separating plate lifting mechanism comprises lifting motor 110 and sides nut 18.Described lifting motor 110 is installed on the motor mounting plate 17, described motor mounting plate 17 is installed in the below of back and front supporting guide rail by support 16, the threaded motor shaft 19 of described lifting motor 110 passes motor mounting plate 17 and is connected with sides nut 18 screws thread fit, and then changing rotatablely moving of motor shaft the dipping and heaving of sides nut into, described sides nut 18 is connected with the pallet separating plate 13 that is positioned at its top.

In order to judge the lifting position of pallet separating plate 13 by electric control system B, signal generation plate 111 is installed on the described sides nut 18, on the described support 16 induction of signal switch 112 is installed, therefore, when described signal generation plate 111 when doing dipping and heaving with sides nut 18, if between the induction of signal switch 112 that signal generation plate 111 inserts on the relevant position, then signal generation plate 111 receives the light receiving plate of blocking signal inductive switch 112 signal of light expelling plate, therefore, induction of signal switch 112 can send corresponding motor message to electric control system B, and electric control system B will control the corresponding motion of lifting motor 110 generations after receiving motor message.

Described pallet separating plate 13 is positioned at the top of prime pusher 42a, has the gap of passing through for the straight top of moving chuck 4212 and swing chuck 4215 of prime pusher 42a between described pallet separating plate 13 and the back supporting guide 41b.

The working process of described pallet disengagement gear 1a is:

By artificial (if when braider of the present invention is connected with manufacturing line, then by automatic conveying device) pallet that integrated circuit block will be housed is put on the pallet feed bin 11 of pallet disengagement gear 1a (once can put the 15-30 dish usually), four angles of pallet are by four upright angle steel location, and the bottom surface is held by the flexible tray 12 of tray support mechanism.Under the drive of the lifting motor 110 of pallet separation device, when pallet separating plate 13 upwards holds up whole pallet in the pallet feed bin 11, flexible tray 12 is being withdrawn outside the pallet disengagement gear under 15 effects of tray cylinder separately, the pallet that this moment, pallet separating plate 13 was held in the feed bin moves down, when moving to certain position, flexible tray is shot out under the effect of separately tray cylinder, insert in the work socket between bottom two pallets, hold all pallets that remove lowermost tray, realized the charging tray separation.Nethermost pallet continues to move down under the drive of pallet separating plate 13, on the pallet slideway 411 that pallet is placed on forward and backward support rails, the prime pusher 42a of waiting tray pusher 42 with pallet be pushed to end face scanner unit 2 below scan.

As shown in Figure 4, the end face scanner of described end face scanner unit 2 comprises 2D scanning lens 29, and the below of described 2D scanning lens 29 is equipped with camera lens pull ring 210, and the below of described camera lens pull ring 210 is equipped with light source generator 211; Described end face scanner is connected with horizontal scan travel mechanism by sliding panel 24.Described horizontal scan travel mechanism is installed on the bench board C by support 28, and it comprises motor 21 and lead screw transmission assembly 23, and described motor 21 is connected with the leading screw of lead screw transmission assembly 23 by coupler 22.Described sliding panel 24 is connected with the parts moving linearly of lead screw transmission assembly 23.Described lead screw transmission assembly 23 can be installed in the transmission cover plate 27, the side plate sliding connection of described sliding panel 24 and transmission cover plate 27.In addition, described end face scanner unit 2 can also comprise towing chain mechanism, and described towing chain mechanism comprises dee 26 and the drag chain 25 on the top board that is packed in transmission cover plate 27; One end of described drag chain 25 is packed in the dee 26, and the other end and sliding panel 24 are connected.

Shown in Fig. 5 c, the pick-and-place mechanism 51 of described pair of handgrip classified gripping device 5 comprises handgrip unit and handgrip lifting unit, and described handgrip lifting unit drives the handgrip unit and moves up and down apace.Described handgrip unit has at least two suction nozzles, all suction nozzles of all suction nozzles of the wherein said first classified gripping device 5A and the second classified gripping device 5B all are being positioned at same perpendicular, promptly by adjusting the orientation of described pair of handgrip classified gripping device 5, the suction nozzle of the suction nozzle of the first classified gripping device 5A and the second classified gripping device 5B can be arranged in simultaneously pallet line integrated circuit piece directly over.

In a preferred embodiment, described handgrip unit has two suction nozzles, and shown in Fig. 5 d, described handgrip unit comprises the roll adjustment assembly, but and the fixedly component suction nozzle and the roll adjustment component suction nozzle of parallel arranged setting.Described handgrip unit is installed on the handgrip lifting unit by its component suction nozzle adapter plate 5116.Described fixedly component suction nozzle is fixedly mounted on the component suction nozzle adapter plate 5116 by fixing suction nozzle adapter plate 5117.Described roll adjustment assembly comprises roll adjustment actuator, roll adjustment slide rail 5120, roll adjustment slide plate 5121 and roll adjustment adapter plate 5122.Described roll adjustment actuator and component suction nozzle adapter plate 5116 are connected, and this roll adjustment actuator can be packed on the erection support that is connected with component suction nozzle adapter plate 5116; Described roll adjustment slide rail 5120 is packed on the component suction nozzle adapter plate 5116, described roll adjustment slide plate 5121 and 5120 sliding connections of roll adjustment slide rail, and this roll adjustment slide plate 5121 can laterally slide along roll adjustment slide rail 5120; Described roll adjustment adapter plate 5122 is connected with roll adjustment slide plate 5121, described roll adjustment actuator can drive roll adjustment adapter plate 5122 and slide in the horizontal, but described roll adjustment component suction nozzle is installed on the roll adjustment adapter plate 5122, but and then by starting the fixedly transverse pitch between component suction nozzle and roll adjustment component suction nozzle of roll adjustment actuator adjustment.In the present embodiment, described roll adjustment actuator is selected roll adjustment motor 5114, and the end of the motor shaft 5113 of described roll adjustment motor 5114 has screw rod, and the screw rod of described motor shaft 5113 is connected with roll adjustment adapter plate 5122 screws thread fit; Described roll adjustment actuator also can be selected cylinder class actuator.

But in order effectively to control the position of the required adjustment of described roll adjustment component suction nozzle, cross travel control inductor 5118 shown in Fig. 5 d can be installed on the described roll adjustment slide plate 5121, in the roll adjustment process, cross travel control inductor 5118 can be sent to control system with displacement signal, and control system can make the stop motion of roll adjustment actuator in position accurately according to the spacing demand.

Shown in Fig. 5 d, described fixedly component suction nozzle comprises fixedly suction nozzle 518, fixedly suction nozzle vacuum air-channel joint 518b and fixing suction nozzle lift cylinder 517.Described fixedly suction nozzle lift cylinder 517 is packed in fixedly on the suction nozzle adapter plate 5117; Described fixedly suction nozzle 518 is communicated with fixing suction nozzle vacuum air-channel joint 518b by fixing suction nozzle gas circuit connecting panel 518a; Described fixedly suction nozzle gas circuit connecting panel 518a is connected by the fixing suction nozzle lift cylinder connecting panel 516 and the fixing piston rod of suction nozzle lift cylinder 517, and making fixedly under the drive of fixing suction nozzle lift cylinder 517, suction nozzle 518 moves up and down.

But but but but described roll adjustment component suction nozzle comprises roll adjustment suction nozzle 519 roll adjustment suction nozzle vacuum air-channel joint 519b and roll adjustment suction nozzle lift cylinder (not shown).But described roll adjustment suction nozzle lift cylinder is packed on the roll adjustment adapter plate 5122; But but but described roll adjustment suction nozzle 519 be communicated with roll adjustment suction nozzle vacuum air-channel joint 519b by roll adjustment suction nozzle gas circuit connecting panel 519a; But but but described roll adjustment suction nozzle gas circuit connecting panel 519a be connected by roll adjustment suction nozzle lift cylinder connecting panel 5111 piston rod with roll adjustment suction nozzle lift cylinder, but but roll adjustment suction nozzle 519 is moved up and down.

At this, but described fixedly component suction nozzle and roll adjustment component suction nozzle can have identical structure.

Described handgrip lifting unit can adopt existing any structure that the handgrip unit moves up and down that drives, and in the present embodiment, shown in Fig. 5 c, described handgrip lifting unit comprises handgrip lifting motor 511, handgrip leading screw 513 and handgrip lead screw transmission nut 514.Described handgrip lifting motor 511 is in transmission connection by coupler 5115 and handgrip leading screw 513, described handgrip lead screw transmission nut 514 cooperates installation with handgrip leading screw 513, and then rotatablely moving of handgrip leading screw 513 is converted to the straight-line motion of handgrip lead screw transmission nut 514.Described component suction nozzle adapter plate 5116 is connected by lifting unit connecting panel 515 and handgrip lead screw transmission nut 514, and then moves up and down apace by handgrip lifting motor 511 drive handgrip unit.

Shown in Fig. 5 b, described handgrip horizontal mobile mechanism can comprise synchronous band transfer assembly, horizontal slide rail 5214 and cross slide 529.Described horizontal slide rail 5214 is packed on the handgrip assembly adapter plate 5217, and described handgrip assembly adapter plate 5217 is supported on the bench board by the handgrip column 5215 of both sides; Described cross slide 529 and laterally slide rail 5214 sliding connections; Described synchronous band transfer assembly is installed on the handgrip assembly adapter plate 5217, and being with synchronously of described cross slide 529 and band transfer assembly synchronously is 523 affixed; Described pick-and-place mechanism 51 is fixedly mounted on the described cross slide 529 by the leading screw cover plates 512 of encapsulation handgrip leading screw 513.Wherein, described synchronous band transfer assembly comprises handgrip parallel motion motor 521, synchronizing wheel 522 and is with 523 synchronously.During 521 actions of handgrip parallel motion motor, will drive pick-and-place mechanism 51 parallel motions by being with 523 synchronously.

Set one between the described first classified gripping device 5A and the second classified gripping device 5B plane of symmetry is installed, the handgrip assembly adapter plate 5217 of the two is all parallel with the described installation plane of symmetry, and equidistant with this installation plane of symmetry.The handgrip horizontal mobile mechanism of the described first classified gripping device 5A and the second classified gripping device 5B can be installed on the handgrip assembly adapter plate 5217 symmetrically with respect to the plane of symmetry is installed; And the pick-and-place mechanism of the described first classified gripping device 5A and the second classified gripping device 5B also can be installed on separately the handgrip horizontal mobile mechanism symmetrically with respect to the described installation plane of symmetry.All suction nozzles of the described first classified gripping device 5A and the second classified gripping device 5B all are positioned on the described installation plane of symmetry.

The described first classified gripping device 5A and the second classified gripping device 5B can also all be provided with towing chain mechanism, and shown in Fig. 5 b, described towing chain mechanism comprises dee 538 and the drag chain 535 that is installed in the dee 538.Described dee 538 is fixedly mounted on the handgrip assembly adapter plate 5217; One end of described drag chain 535 is fixed on the dee 538, and the other end can be fixed on the handgrip lifting motor 511 of handgrip lifting unit.

The working process of described pair of handgrip classified gripping device 5 is as follows:

In the time of when the first line integrated circuit piece in the pallet arrives two handgrip classified gripping devices 5 under the conveying of back level pusher 42b below, but the roll adjustment suction nozzle 519 of its first classified gripping device 5A and fixing suction nozzle 518 move down under the effect of separately suction nozzle lift cylinder, when but roll adjustment suction nozzle 519 and fixing suction nozzle 518 contact with integrated circuit block, but open fixedly suction nozzle vacuum air-channel joint 518b and roll adjustment suction nozzle vacuum air-channel joint 519b, but make roll adjustment suction nozzle 519 and fixing suction nozzle 518 hold first and second integrated circuit blocks of first row in the pallet respectively; After the extracting, upwards reset immediately but fix with roll adjustment suction nozzle lift cylinder; Meanwhile, start the handgrip lifting motor 511 of the first classified gripping device, make its handgrip whole unit segment distance that moves up, so that be unlikely to move interference when removing to grasp third and fourth integrated circuit block of the row of first in first pallet in the handgrip unit of the second classified gripping device 5B.

If the end face scanning result equal nonconformity of two integrated circuit blocks before extracting, then start the handgrip parallel motion motor 521 of the first classified gripping device 5A, drive its pick-and-place mechanism by synchronous band transfer assembly and make integrated circuit block move to the top that end face detects the nonconformity pallet; Meanwhile, start the handgrip lifting motor 511 of the first classified gripping device, integrated circuit block is moved down, and the horizontal transfer mechanism of the pallet of off gauge gathering-device 6 also will start, the room and the integrated circuit block that make end face detect the nonconformity pallet align, at this moment, but close fixedly suction nozzle vacuum air-channel joint 518b and roll adjustment suction nozzle vacuum air-channel joint 519b, integrated circuit block will rely on deadweight to fall into end face and detect the nonconformity pallet.

If two integrated circuit blocks are all qualified at the end face scanning result, then start the handgrip parallel motion motor 521 of the first classified gripping device 5A, drive the stereoscanning that bottom surface and side are accepted to comprise in camera lens top that its pick-and-place mechanism makes integrated circuit block move to stereoscanning device 3 by synchronous band transfer assembly.If the stereoscanning result is all qualified, this synchrodrive moves on, and integrated circuit block is moved to above the groove of braid tail band, if the spacing between two adjacent grooves of the spacing of two integrated circuit interblocks holding and braid tail band is different, start roll adjustment motor 5114, but but make the spacing and the spacing between the braid adjacent grooves of 518 of roll adjustment suction nozzle 519 and fixing suction nozzles consistent by roll adjustment suction nozzle lift cylinder; Meanwhile, start the handgrip lifting motor 511 of the first classified gripping device 5A, integrated circuit block is moved down, but fixing and roll adjustment suction nozzle lift cylinder also starts cooresponding suction nozzle is moved down, but and close fixedly suction nozzle vacuum air-channel joint 518b and roll adjustment suction nozzle vacuum air-channel joint 519b, the integrated circuit block deadweight falls into the interior wait of the groove braid encapsulation of braid tail band.

If two integrated circuit blocks qualified nonconformity when end face scan of holding, carry out stereoscanning above then shifting out the camera lens that pallet arrives stereoscanning device 3 outward by the first classified gripping device 5A.If the stereoscanning result of the up-to-standard integrated circuit block of end face scanning result is also qualified, just earlier the inferior-quality end face that is sent to of end face scanning result is detected in the nonconformity pallet, the more up-to-standard integrated circuit block of stereoscanning result is sent in the groove of braid tail band; If the up-to-standard stereoscanning result of end face scanning result is nonconformity but, just earlier the inferior-quality end face that is sent to of end face scanning result is detected in the nonconformity pallet, the more inferior-quality integrated circuit block of stereoscanning result is sent to three-dimensional the detection in the nonconformity pallet.

First classified gripping device 5A of described pair of handgrip classified gripping device and the suction nozzle of the second classified gripping device 5B are all arranged on same perpendicular, but all can be under the drive of separately handgrip lifting motor 511 implementation space dislocation crank motion, therefore, the first classified gripping device 5A and the second classified gripping device 5B can replace and carry out work incessantly, and the single handgrip of efficiency ratio doubles.

As shown in Figure 6, the end face of described off gauge pallet detects nonconformity pallet 69 and the three-dimensional nonconformity pallet 610 that detects all is positioned on the tray substrate 62, locate mode is being as the criterion with the three-dimensional position of detecting nonconformity pallet 610 by fixed roof surface detection nonconformity pallet 69, in the present embodiment, described tray substrate 62 is provided with and is positioned at end face and detects nonconformity tray position periphery, and a plurality of location backing pin 63 that is positioned at three-dimensional detection nonconformity tray position periphery, at this, also can adopt the habitual structure that clamps.The horizontal transfer mechanism of described pallet comprises slide plate 67, slide rail 68 and strap drive assembly synchronously, and described slide plate 67 is packed on the bottom surface of tray substrate 62, and with described slide rail sliding connection, described slide plate 67 is connected with the synchronous band of strap drive assembly synchronously.Described synchronous strap drive assembly also comprises driving motor 61 and is used to install the synchronizing wheel of synchronous band.In the present embodiment, described synchronous band, synchronizing wheel and slide rail 68 all are arranged in transmission component cover plate 67, with respect to described pair of handgrip classified gripping device 5, described slide rail 68 is positioned at the inboard of synchronous band, described slide plate 67 is positioned at the inboard of transmission component cover plate 67, slide plate 67 stretches in the transmission component cover plate 67 and described slide rail 68 sliding connections, and is connected with synchronous band.The photoelectricity limiting device 66 of the shift position that is used to control the off gauge pallet is installed on the interior plate of described transmission component cover plate 67.In addition, described off gauge gathering-device 6 can also comprise towing chain mechanism, and described towing chain mechanism comprises dee and drag chain 64, wherein, described dee is installed in the outside of transmission component cover plate 67, and an end of drag chain 64 is packed in the dee, and the other end is connected on the bottom surface of tray substrate 62.

In order to finish the accumulation work of empty pallet, described empty pallet piling apparatus comprises empty pallet feed bin, empty pallet accumulation mechanism and empty pallet supporting mechanism, wherein, the structure of described empty pallet feed bin and pallet feed bin 11, and described empty pallet pile up the structure of mechanism and pallet separation device can be identical respectively, be described empty charging tray feed bin comprise be installed in before on the supporting guide 41a two angle steel and be installed in two angle steel on the supporting guide 41b of back, the notch of four angle steel all is internally in four jiaos of empty charging tray feed bins that position; Described empty pallet is piled up mechanism and is installed between the back and front supporting guide rail, and it comprises that empty pallet is piled up plate and the described empty pallet of drive is piled up the accumulation plate lifting mechanism that plate is done dipping and heaving.The difference of described empty pallet piling apparatus and pallet disengagement gear is on the supporting mechanism, shown in Fig. 2 a, described empty pallet supporting mechanism comprises at least one the empty pallet supporting component that is installed on the preceding supporting guide 41a and at least one the described empty pallet supporting component that is installed on the supporting guide 41b of back, described tray support assembly comprise the tray mount pad and with described tray mount pad pivotally attached tray, be described tray can be in the empty pallet feed bin or outside rotate, between the base plate of described tray and tray mount pad separately return springs is installed, as spring.In the present embodiment, on described preceding supporting guide 41a and the back supporting guide 41b two empty pallet supporting components are installed respectively.

Described empty pallet is piled up the top that plate is positioned at back level pusher 42b, has the gap of passing through for the straight top of moving chuck 4212 and swing chuck 4215 of back level pusher 42b between described empty pallet accumulation plate and the preceding supporting guide 42a.

The working process of described empty pallet piling apparatus is:

Drive empty pallet and push away on piling up in the process that plate rises the empty pallet that puts in place piling up the plate lifting mechanism, in the propelling movement process that makes progress, when empty pallet is run into the tray that is installed on the forward and backward support rails, described tray will rotate outside the empty pallet feed bin under the thrust of empty pallet that move up, and allow empty pallet rise and pass through; When empty pallet rises to certain altitude, tray just goes back to original position and forms holding state under the effect of its elastic force, when accumulation plate lifting mechanism drive empty pallet accumulation plate moves downward, empty pallet just is supported in the empty pallet feed bin by tray, pushes so repeatedly to realize that empty pallet piles up one by one.After accumulation is bought securities with all one's capital, can send signal, notify the workman to take away.

Described braid packaging system A comprises at least one cover single-stage braid packaging system, shown in Fig. 7 a, 7b and 7c, described single-stage braid packaging system comprises braid feedway A9, two braid hot sealing device A7, braid automatic cutting means A8, braid cover tape feed wheel A3, braid tail band feed wheel A6 and braid winding wheel A5.

Shown in Figure 10 c, braid tail band A2 comprises tail band portion that is positioned at the middle part and the opotism portion that is connected in the tail band both sides, described tail band portion is provided with the groove that is used to place integrated circuit block of equidistant arrangement, and described opotism portion is provided with the braid hole of equidistant arrangement.The braid that is used for the encapsulated integrated circuit piece comprises described braid tail band A2 and covering braid cover tape thereon.

Described braid feedway A9 comprises left conductance plate 910 shown in Figure 10 a and 10c and the right conductance plate 911 that is installed on the braid encapsulation adapter plate A1, the parallel arranged setting on the vibration-direction of the pick-and-place mechanism 51 of described pair of handgrip classified gripping device 5 of described left and right conductance plate leaves the raceway groove that is used for ccontaining described tail band portion between the two.The inboard of left and right conductance plate is respectively arranged with the left end difference 910a and the right end difference 911a of " L " type, the end face of the low end difference of left side end difference 910a and right end difference 911a is used to support the opotism portion of braid tail band A2, the side of the high end difference of the two and the side of low end difference are respectively applied for opotism portion and tail band portion are positioned, described left end difference 910a and right end difference 911a and runner are formed for carrying the conveying runner of braid jointly, and the throughput direction of promptly described braid feedway A9 is consistent with the vibration-direction of pick-and-place mechanism 51.(being on the end face of high end difference of left end difference 910a and right end difference 911a) can fixedly mount left opotism pressing plate 914 and the right opotism pressing plate 915 that is positioned at directly over the opotism portion respectively on the end face of described left and right conductance plate, opotism portion is sandwiched between the end face and left opotism pressing plate 914 and right opotism pressing plate 915 of low end difference of left end difference 910a and right end difference 911a, to guarantee that braid tail band A2 remains horizontal linear and carries.

In order to make described braid feedway A9 can adapt to the braid of all size, described braid feedway also comprises width of flow path quick adjusting mechanism 9, with reference to Figure 10 b and 10c, the fast adjusting mechanism 9 of described conductance width is mainly by right handed unt 99, and guide rail 93 revolves screw shaft bearing 94, revolve screw handle 95, right conductance plate is installed slide block 98, revolves screw rod 97, and left conductance plate is installed by slide block 96 and left-handed nut 92 is formed.Described guide rail 93 is installed on the braid encapsulation adapter plate A1.

Wherein, left conductance plate 910 is packed in left conductance plate slide block 96 and left-handed nut 92 is installed, and promptly has the nut of levogyrate inner thread, on; Right conductance plate 911 is packed in right conductance plate slide block 98 and right handed unt 99 is installed, and promptly has the nut of dextrorotation negative thread, on.Revolve the width that screw handle 95 can quick adjusting be carried runner by adjustment, to obtain satisfactory result.The two supports that revolves screw rod 97 is revolving on the screw shaft bearing 94, and left conductance plate is installed slide block 96, and right conductance plate install slide block 98 and with corresponding guide rail 93 separately be accurate sliding connection.Screw handle 95 is revolved in rotation, revolve screw rod 97 will drive on it with the left and right spin nut 92 and 99 that its accurate spiral cooperates do relative to or from moving, drive the left and right conductance plate be connected with it simultaneously and do corresponding moving, be packed on the left and right conductance plate and can guarantee that with the slide block of guide rail 93 accurate bearing fits left and right conductance plate can remain the conformability of conductance width when relatively moving.Certainly, here, the left and right meaning and do not lie in the hand of spiral of qualification in the left and right spin nut 92,99, only opposite with the direction of indication two nut inner threads, thereby when screw rod rotated, both can move in the opposite direction.

The method of adjustment of described conductance width quick adjusting mechanism is: according to the width of braid tail band, screw handle 95 is revolved in suitable rotation makes the broadening of conveying runner, again up with the groove mouth of braid tail band A2,, the opotism portion of tail band portion both sides is supported on the low stage portion of left and right conductance plate down at the bottom of the groove.Slowly rotate again and revolve screw handle 95 and make the side of high stage portion and opotism portion close, make the tail band portion on the whole length of conductance and the contacts side surfaces of low stage portion till suitable degree, can finish adjustment, can carry out braid after the adjustment and encapsulate.

In the present embodiment, described guide rail 93 comprises and lays respectively at former rail and the rear rail that revolves screw rod 97 both sides, a left conductance plate all is installed on described former rail and the rear rail slide block 96 and a right conductance plate installation slide block 98 are installed, make and adjusting spacing, the spacing between left conductance plate 910 and the right conductance plate 911 remains on whole piece and carries on the runner and can be consistent.

Described braid feedway A9 comprises also and is used to draw the trailer coupling that braid is fed forward that described trailer coupling comprises the braid that is used traction pinwheel A91 and the braid pinch roller A92 shown in Fig. 7 c.Described braid traction pinwheel is installed on the below of left conductance plate 910, and be exposed to the end face of the low end difference of left conductance plate 910 slightly by the introducing notch that is provided with on its low end difference, the needle body of braid traction pinwheel is cooperated with braid hole in the opotism portion, described braid traction wheel rotates under the drive of drive motor, and then drive braid tail band moves together with the braid cover tape that covers thereon.Described braid pinch roller A92 is installed on the left conductance plate, described braid pinch roller is provided with circular groove, the position of described circular groove be positioned at braid traction pinwheel A91 directly over, the needle body that makes described braid draw pinwheel A91 passes the braid hole and inserts in this circular groove, the external cylindrical surface at the position of the circular groove both sides of braid pinch roller is then pushed down the atresia position of braid opotism portion, to guarantee the steady conveying of braid.At this, those skilled in the art should be understood that, described braid traction pinwheel also can be installed on the below of right conductance plate 911, the below of perhaps left and right conductance plate all is equipped with braid traction pinwheel, as long as guaranteeing the two does to rotate synchronously, as axle mounting, correspondingly, described braid pinch roller A92 should draw the pinwheel pairing with braid and use.

Described braid tail band feed wheel A6 can be installed in the below of braid encapsulation adapter plate A1, and the braid tail band on it is introduced from the initiating terminal of carrying runner and carried runner.In order to guarantee the accuracy of feed, the tail band braid of drawing from described braid tail band feed wheel A6 is introduced via one-level tail band guide roller at least and is carried runner, in the present embodiment, shown in Fig. 7 a to 7c, the initiating terminal of described conveying runner is equipped with one-level tail band guide roller A61.

Described braid cover tape feed wheel A3 is arranged on the top of braid feedway A9, braid cover tape on the described braid cover tape feed wheel A3 can be introduced the braid runner by the multistage cover tape roller A31 shown in Fig. 7 c, and cover above the groove of described braid tail band, forming packing has the braid of integrated circuit block, and described braid is constantly carried to braid hot sealing device A7 place under the drive of trailer coupling.

Described braid hot sealing device A7 is positioned at the rear that the braid cover tape is introduced the position on the throughput direction of braid feedway A9.Shown in Fig. 8 a, 8b and 8c, described braid hot sealing device A7 is mainly by one-level cylinder piston rod 71, jam nut 72, circular nut 73, one-level cylinder 74, one-level cylinder erecting frame 75, secondary cylinder erecting frame 76, secondary cylinder erecting frame slide block 77, slide rail 78, hot knife erecting frame 79, hot knife erecting frame slide block 710, temperature booster 711, hot knife 712, secondary adaptor union 713, secondary cylinder 714, one-level adaptor union 715, temperature controller 716 compositions such as grade.

One-level cylinder 74 is packed on the one-level cylinder erecting frame 75, the upper end of one-level cylinder piston rod 71 is connected for spiral with circular nut 73, in the time will adjusting the hot knife height, unclamp jam nut 72, unscrew circular nut 73, start one-level cylinder 74, when making hot knife adjust to correct position, immediately circular nut 73 is rotate in place and jam nut 72 is put in place, afterwards, when braid is sealed, the piston top that remains one-level cylinder 74 is unidirectional air feed state, this air feed both can keep the working stability of hot knife, and the pressure of scalable hot knife plays buffer action again.

The lower end of secondary cylinder 714 is packed on the lower faceplate of secondary cylinder erecting frame 76, the top that forms secondary cylinder 714 links to each other with the lower end piston rod of one-level cylinder 74 by one-level adaptor union 715, when the piston rod of one-level cylinder 74 is done when adjusting up and down, one-level adaptor union 715 can drive secondary cylinder erecting frame 76 makes secondary cylinder 714 do adjustment up and down, to realize the height adjustment of hot knife.Stability when guaranteeing secondary cylinder 714 up-and-down movements, install on the secondary cylinder erecting frame 76 of secondary cylinder 714 secondary cylinder erecting frame slide block 77 all the time with slide rail 78 sliding connections.

Hot knife 712 and temperature booster 711 are packed on the hot knife erecting frame 79, the piston rod of secondary cylinder 714 links to each other with hot knife erecting frame 79 by secondary adaptor union 713, can drive the hot knife up-and-down movement during piston rod up-and-down movement of secondary cylinder 714, realize the braid heat-sealing.Stability when guaranteeing the hot knife up-and-down movement, install on the hot knife erecting frame 79 of hot knife 712 hot knife erecting frame slide block 710 all the time with slide rail 78 sliding connections.

Accurately providing and effectively control of heat-sealing temperature can be provided for hot knife 712 and temperature booster 711 and temperature controller 716 adjacent compact installations.

The working process of described braid hot sealing device A7 is as follows:

When a collection of new braid need seal, at first according to the sealing-in requirement of braid, unclamp jam nut 72, unscrew circular nut 73, start one-level cylinder 74, make hot knife adjust to suitable position height, immediately circular nut 73 is rotate in place then and jam nut 72 is put in place, and make the piston top of one-level cylinder 74 remain the air inlet state.According to braid sealing-in requirement, configure temperature controlling range simultaneously.

Afterwards, braid is in the stepping drive process of packaging system aciculiform roller, and secondary cylinder 714 starts according to instruction, pump fast, for example up and down about stroke 2mm, with the step motion beat coordination of braid, be braid stepping when advancing, hot knife leaves the braid upward movement; When the braid stepping stopped, hot knife moved downward braid is contacted heat-sealing, realized the orderly heat-sealing of braid.

When needs are changed braid tail band and braid cover tape or during because of accidental shutdown; the electromagnetic valve commutation (not shown) of control one-level cylinder 74; gas raises hot knife from the piston bottom air inlet of one-level cylinder 74, so that change braid tail band, braid cover tape or discharge fault.After finishing, start reset button, braid heat-sealing work is as above carried out in heat-sealing once more.

Two described braid hot sealing device A7 are installed in respectively on the left and right conductance plate over against ground each other, make that two braid hot sealing device A7 can be in the spacing between the hot knife of adjusting the two under the effect of width of flow path quick adjusting mechanism 9 with left and right conductance plate, so the hot knife that can guarantee the two lay respectively at all the time the braid both sides the heat-sealing position directly over.

The characteristics of described braid hot sealing device are as follows:

At first, the heat-sealing campaign of adjustment of the hot knife position of braid hot sealing device and hot knife is realized by one-level cylinder 74 and secondary cylinder 714.

Secondly, in the normal heat seal process of hot knife, the piston top of one-level cylinder 74 remains the air inlet state, and this state plays stable and buffering effect to the motion of hot knife.

Once more, guide rail 78 is guide piecees that secondary cylinder erecting frame 76 and hot knife erecting frame 79 are realized motion, can guarantee the straight reciprocating motion of hot knife all-the-time stable.

At last,, temperature information is provided accurately and timely can for temperature-controlling system, is controlled at all the time in the suitable range of temperatures with the temperature that guarantees hot knife at the other temperature sensor that is provided with higher sensitivity of temperature booster.

Described braid automatic cutting means A8 is installed on the position of the clearing end that is close to described braid feedway A9, promptly on the throughput direction of braid feedway A9, be positioned at the place ahead of braid hot sealing device A7, described trailer coupling is installed on the termination section of braid feedway A9, between braid hot sealing device A7 and braid automatic cutting means A8.Shown in Fig. 9 a and 9b, described braid automatic cutting means A8 is mainly by cutting knife cylinder 81, cutting knife cylinder mounting plate 82, riser 83, the anti-arch frame 84 of braid, braid deflector roll 85, push type broach spring 86, cutting knife base 87, cutting knife 88, cutting knife fixing body 89, pilot sleeve 810, the axis of guide 811, cutting knife cylinder piston rod 812 and base 813 are formed.

The body supports frame of this braid automatic cutting means A8 is by cutting knife cylinder mounting plate 82, and riser 83 and base 813 are formed.Cutting knife cylinder 81 lower surfaces be packed in cutting knife cylinder mounting plate 82 above, the hole that the piston rod 812 of cutting knife cylinder 81 passes cutting knife cylinder mounting plate 82 middle parts is connected with the cutting knife fixing body 89 that is arranged on below the base plate, be fixed with two axis of guides 811 on the cutting knife fixing body 89, the axis of guide 811 is bearing fit with two pilot sleeves 810 that are packed on the cutting knife cylinder mounting plate 82, when cutting knife fixing body 89 and cutting knife 88 mounted thereto thereof are driven when realizing cutting braid by the piston rod 812 of cutting knife cylinder 81, can play directional tagging, thereby remain the directed operating stably of cutting knife.Cutting knife 88 usefulness bolts are packed on the cutting knife fixing body 89; Cutting knife base 87 is packed on the riser 83 by strengthening gusset etc., be fixed with an anti-arch frame 84 of reverse U shape braid above the cutting knife base 87, can not produce excessive warpage and can fit with the upper surface of cutting knife base preferably from the braid that this anti-arch frame 84 passes through in order to guaranteeing, be convenient to that cutting knife 88 move from the top down and braid is cut off in 87 cooperations of cutting knife base.In addition, can suitably press close to cutting knife base 87 (helping cutting off braid) all the time, be provided with push type broach spring 86 in the two sides of cutting knife for making cutting knife 88.

A shape picture portal frame of cutting knife 88, top is the blade that certain inclination angle (being convenient to cut) arranged with level, both sides respectively have slotted hole, one end of bolt passes the side that slotted hole is packed in cutting knife base 87, the other end cover Upper gasket of bolt, push type broach spring 86 get final product to correct position with nut tightening again.

Braid deflector roll 85 is installed on the bent plate that is connected with riser 83, to carrying out transporting forward from the braid of flowing out between anti-arch frame 84 of braid and the cutting knife base 87.

During installation, the notch between anti-arch frame 84 of described braid and the cutting knife base 87 is relative with the conveying runner of braid feedway A9, and feasible braid of exporting from braid feedway A9 is directly from flowing out between anti-arch frame 84 of braid and the cutting knife base 87.

The working process of described braid automatic cutting means A8 is as follows: the braid of having finished encapsulation task is from flowing out between anti-arch frame 84 of braid and the cutting knife base 87, by the progressively rolling of braid winding wheel A5 of back, when rolling is completely rolled up, electric control system B sends full volume signal, the cutting knife cylinder 81 that obtains signal starts immediately, push away cutting knife fixing body 89 and cutting knife 88 downward rapid movement mounted thereto thereof by its piston rod 812, unite with cutting knife base 87 braid is cut off, the cutting knife 88 of finishing the cut-out task is just oppositely driven by cutting knife cylinder 81 immediately and resets, and cuts task to wait for braid next time.

The whole process that cuts is simple and direct fast, and the braid encapsulation work continues (need not shut down) all the time.After braid is cut off, the braid of back continues from flowing out between anti-arch frame 84 of braid and the cutting knife base 87, and operating personal can take off the braid (time of getting the braid volume is very short) of rolling rapidly, and the traction of the termination of the braid that will flow out is fixed on the braid winding wheel A5 again, proceeds rolling.

The characteristics of described braid automatic cutting means A8 are: at first, need not shut down the production efficiency height when braid is cut off; Secondly, braid automatic cutting means cutoff length is accurate, helps the back operation and uses; Once more, be provided with the push type broach spring, can guarantee that cutting knife has suitable relative position with the cutting knife base all the time; At last, be provided with the anti-arch frame of braid, it can guarantee from anti-arch frame of braid and the braid passed through above the cutting knife base a suitable location status is arranged, and is beneficial to cutting knife and cuts off.

Described braid winding wheel A5 is positioned at the place ahead of braid automatic cutting means A8 on the throughput direction of braid feedway A9, described braid winding wheel A5 finishes rolling work under the drive of winding motor.Shown in Fig. 7 c, the braid of flowing out from the braid automatic cutting means can be guided on the braid winding wheel A5 by one-level braid roller A51 at least.

Since after volume braid tail band and a braid cover tape is being used to complete, need to carry out artificial on volume, this will delay the regular hour, in order not influence the normal operation of braider other devices except that the braid packaging system, also in order further to increase work efficiency, shown in Fig. 7 a to 7c, braid packaging system A of the present invention comprises the above-mentioned single-stage braid packaging system of two covers, two cover single-stage braid packaging systems with the vibration-direction of pick-and-place mechanism 51 on parallel being installed on the braid encapsulation adapter plate A1.For finish two cover single-stage braid packaging systems at the encapsulation station that carries out work and on carrying out volume on carry out fast speed between the volume station and switch, described braid packaging system also comprises the station switching mechanism, shown in Fig. 7 a to 7c, described station switching mechanism comprises switch guide, switches cylinder A10 and switches slide block.Described switch guide is being packed on the throughput direction of tray conveying device on the switching mechanism adapter plate A16, described switching mechanism adapter plate A16 is connected on the position vertical with bench board C, a perpendicular slide block adapter plate is connected on the bottom surface of described braid encapsulation adapter plate A1, described switching slide block is packed on the slide block adapter plate, described switching slide block and switch guide sliding connection.Described switching cylinder A10 is packed on the switching mechanism adapter plate A16, and piston rod and the slide block adapter plate of described switching cylinder A10 are connected, and the sense of motion of piston rod is consistent with the throughput direction of tray conveying device.From the above mentioned, under the effect of station switching mechanism, can drive two cover single-stage braid packaging systems and on the throughput direction of tray conveying device, move, thus can make two handgrip classified gripping devices 5 pick-and-place mechanism 51 can through end face detects and the three-dimensional direct pick-and-place of all up-to-standard integrated circuit block that detects to being arranged in wherein a groove that overlaps the braid tail band A2 on the conveying runner of single-stage braid packaging system.When volume braid tail band on being in the encapsulation station and braid cover tape use up, described electric control system B just can start the station switching mechanism, fast the another set of single-stage braid packaging system of having finished volume is switched to the encapsulation station, the then pushed supreme volume station of this cover single-stage braid packaging system is gone up volume, prepares for entering the encapsulation station next time.

In order to improve the switching accuracy of described station switching mechanism, described switch guide comprises switch guide A11 and following switch guide A14, correspondingly, described switching slide block comprises the upward switching slide block A18 that cooperates installation with last switch guide A11, and cooperates the following switching slide block A17 that installs with following switch guide A14.Described switching cylinder is between upper and lower switch guide.

Institute's book station switching mechanism can also comprise the switching towing chain mechanism, described switching towing chain mechanism comprises dee A13 and drag chain A12, described dee A13 is positioned at the below of switch guide A11 down, and an end of described drag chain is packed among the dee A13, and the other end and slide block adapter plate are connected.

In the present embodiment, described bench board C is installed on the end face of electrical control cabinet, and described electric control system B is installed in the electrical control cabinet, and described switching mechanism adapter plate A16 and dee A13 all can be packed on the sidewall of electrical control cabinet.

Total working process of disk-feeding braider of the present invention is:

Step 1: electric control system B controls described pallet disengagement gear 1a and will be positioned in its all pallets of holding on the pallet slideway 411 that undermost pallet is placed on tray conveying device 4; Described prime pusher 42a accurately locatees the pallet on it by its pallet clamping mechanism 421, and the pallet on it is pushed to end face scanner unit 2 places carry out step 2;

All integrated circuit blocks in 2 pairs of pallets of step 2: electric control system B control end face scanner unit carry out end face scanning; Specifically scanning process is,

Step 201: when the delegation integrated circuit block in the described pallet arrive end face scanner unit 2 the 2D scanning lens under the time, electric control system B control prime pusher 42a stops to push, described 2D scanning lens begins under the drive of horizontal scan travel mechanism the integrated circuit block on the current line to be scanned in turn one by one, and writes down the end face scanning result of each integrated circuit block; After finishing the scanning of current line, electric control system B judges that whether current line is last column of pallet, then enters step 202, if not if then enter step 203;

Step 202: electric control system B control prime pusher 42a is fed forward pallet, make the next line integrated circuit block arrive end face scanner unit 2 the 2D scanning lens under, completing steps 201;

The pallet clamping mechanism of step 203: electric control system B control prime pusher 42a unclamps the pallet (this pallet will be supported on the pallet slideway 411) on it, carry to two handgrip classified gripping devices 5 places after clamping this pallet by the pallet clamping mechanism of back level pusher 42b again, carry out step 3; Described prime pusher 42a unclamps the position of returning pallet disengagement gear 1a behind the pallet on it immediately carry out step 1;

Step 3: the first and second classified gripping devices of controlling described pair of handgrip classified gripping device are alternately finished the classified gripping of all integrated circuit blocks in the pallet; Specifically the classified gripping process is,

Step 301: when the delegation's integrated circuit block in the described pallet arrives the below of suction nozzle of the first and second classified gripping devices, control back level pusher 42b stops to push, the first and second classified gripping devices alternately hold continuously arranged integrated circuit block (during extracting in succession by the suction nozzle of the two, spacing between the adjacent integrated circuit block with every row of the spacing between the adjacent suction nozzle equates), and independently carry out classified gripping separately according to identical sorting technique; Described sorting technique is if the end face scanning result of the integrated circuit block that holds is nonconformity, carry out step 302; If it is qualified that the end face scanning result of the integrated circuit block that holds is, carry out step 303; If the end face scanning result part of the integrated circuit block that holds is qualified, carry out step 304; After finishing the classified gripping of current line, electric control system B judges that whether current line is last column of pallet, then enters step 305, if not if then enter step 306;

Step 302: directly its all integrated circuit block pick-and-places that hold to the end face of off gauge gathering-device 6 is detected in the nonconformity pallet 69;

Step 303: directly its all integrated circuit blocks that hold are grabbed and deliver to stereoscanning device 3 places, and at the camera lens that makes stereoscanning device 3 under the effect of handgrip horizontal mobile mechanism to moving to the stereoscanning that integrated circuit block directly over it comprises bottom surface and side one by one in turn, and record stereoscanning result; If the stereoscanning result is all qualified, then carry out step 303a; Part is qualified as a result as if stereoscanning, then carries out step 303b;

Step 303a: directly in the groove with the braid tail band A2 of its all integrated circuit block pick-and-places that hold to the single-stage braid packaging system that is on the encapsulation station, make end face scanning and all up-to-standard integrated circuit block of stereoscanning result enter step 4;

Step 303b: with its stereoscanning that holds as a result nonconformity and up-to-standard integrated circuit block respectively pick-and-place to the solid of off gauge gathering-device detect in the groove that the neutralization of nonconformity pallet is in the braid tail band A2 on the single-stage braid packaging system on the encapsulation station, make end face scanning and all up-to-standard integrated circuit block of stereoscanning result enter step 4;

Step 304: directly its all integrated circuit blocks that hold are grabbed and deliver to stereoscanning device place, and at the camera lens that makes stereoscanning device 3 under the effect of handgrip horizontal mobile mechanism to moving to the stereoscanning that the up-to-standard integrated circuit block of end face scanning result directly over it comprises bottom surface and side one by one in turn, and record stereoscanning result; If the stereoscanning result of the up-to-standard integrated circuit block of end face scanning result is also qualified, then carry out step 304a; If the stereoscanning of the up-to-standard integrated circuit block of end face scanning result is nonconformity as a result, then carry out step 304b;

Step 304a: the inferior-quality integrated circuit block pick-and-place of end face scanning result to end face is detected in the nonconformity pallet, to the groove that is in the braid tail band A2 on the single-stage braid packaging system that encapsulates on the station, make end face scanning and all up-to-standard integrated circuit block of stereoscanning result enter step 4 the up-to-standard integrated circuit block pick-and-place of stereoscanning result;

Step 304b: detect in the nonconformity pallet 69 end face scanning result nonconformity and the inferior-quality integrated circuit block difference of stereoscanning result pick-and-place to end face and three-dimensional the detection in the nonconformity pallet 610;

The described back of step 305: an electric control system B control level pusher 42b is fed forward pallet, makes the next line integrated circuit block arrive the below of the suction nozzle of the first and second classified gripping devices and completing steps 301;

The described back of step 306: electric control system B control level pusher 42b is fed forward empty pallet, when arriving empty pallet piling apparatus 1b place, the pallet clamping mechanism 421 of described back level pusher 42b unclamps the pallet on it, and the delivery position that immediately returns with prime pusher 42a joins; Released empty pallet is finished accumulation into the empty pallet feed bin by empty pallet piling apparatus 1b.

Step 4: encapsulation step, detailed process is:

Step 401: the braid tail band that carries integrated circuit block covers and forms braid after warp-knit tape cover tape feed is taken turns the braid cover tape of A3 introducing, this braid constantly is sent to braid hot sealing device A7 and seals under the drive of trailer coupling, the braid after the heat-sealing constantly arrives braid winding wheel A5 place via braid automatic cutting means A8 and carries out rolling under the drive of trailer coupling; After braid winding wheel A5 completely rolls up, enter step 402; When a volume braid uses, enter step 403;

Step 402, described electric control system B starts braid automatic cutting means A8, makes its cutting knife move down the cut-out braid;

Step 403, described electric control system B starts the station switching mechanism, makes the single-stage braid packaging system that is in the encapsulation station move to the volume station, encapsulates and make another single-stage braid hot sealing device move to the encapsulation station.

Only being preferred embodiment of the present invention in sum, is not to be used for limiting practical range of the present invention.Be that all equivalences of doing according to the content of the present patent application claim change and modification, all should belong to technology category of the present invention.

Claims (10)

1. a disk-feeding braider is characterized in that: comprise

Tray conveying device, it comprises back and front supporting guide rail and the pallet pusher that is installed on the bench board; The inboard of described back and front supporting guide rail is provided with the pallet slideway that pallet slides that is used to support respect to one another thereon; Described pallet pusher is between the back and front supporting guide rail, and the pallet that is used to promote on it slides along the direction of back and front supporting guide rail;

The pallet disengagement gear, it is arranged on the The initial segment of back and front supporting guide rail, and described pallet disengagement gear is used for the stacked orlop pallet of putting pallet thereon from top to bottom is separated to described pallet slideway;

The end face scanner unit, it comprises the end face scanner and drives the reciprocating in the horizontal direction horizontal scan of described end face scanner travel mechanism; The contiguous described pallet disengagement gear of described horizontal scan travel mechanism, and be installed on the top of described tray conveying device, the vibration-direction of described end face scanner is vertical with the throughput direction of pallet pusher;

Two handgrip classified gripping devices, it is supported on the first and second classified gripping devices on the bench board with comprising parallel to each other, relative and co-altitude; The described first and second classified gripping devices include pick-and-place mechanism and drive the reciprocating in the horizontal direction handgrip horizontal mobile mechanism of described pick-and-place mechanism, the contiguous end face scanner unit of the handgrip horizontal mobile mechanism of the described first classified gripping device, two handgrip horizontal mobile mechanisms all are positioned at the top of described tray conveying device, and the vibration-direction of pick-and-place mechanism all the throughput direction with the pallet pusher is vertical; Described pick-and-place mechanism comprises the handgrip unit and drives the handgrip lifting unit that described handgrip unit moves up and down that described handgrip unit has at least two suction nozzles; The axis of all suction nozzles of the described first and second classified gripping devices all is positioned at the vertical perpendicular of throughput direction same and the pallet pusher;

The stereoscanning device, it is installed in a side of described tray conveying device, and on the position between the described first and second classified gripping devices, the axis of the camera lens of described stereoscanning device is positioned on the perpendicular at place, suction nozzle axis;

The off gauge gathering-device, it comprises the off gauge pallet and drives the horizontal transfer mechanism of pallet that described off gauge pallet moves back and forth; Described pallet horizontal mobile mechanism is installed in the opposite side of described tray conveying device, described off gauge pallet to move back and forth direction consistent with the throughput direction of pallet pusher; Described off gauge pallet is included in it and moves back and forth end face detection nonconformity pallet and the three-dimensional nonconformity pallet that detects that parallel arranged is provided with on the direction;

The empty pallet piling apparatus, it is arranged on the termination section of back and front supporting guide rail, on the position of the contiguous second classified gripping device; Described empty pallet piling apparatus is used for putting thereon the empty pallet on the described pallet slideway is stacked; And,

The braid packaging system, it is arranged on an end of described pair of handgrip classified gripping device, and be positioned at the homonymy of tray conveying device with described stereoscanning device, the suction nozzle of described pair of handgrip classified gripping device be movable to the braid packaging system under the drive of handgrip horizontal mobile mechanism one carry runner the braid tail band the groove present position directly over.

2. disk-feeding braider according to claim 1, it is characterized in that: described pallet pusher comprises two cover single-stage pallet pushers, respectively as being used for and being delivered to the end face scanner unit from the isolated pallet of described pallet disengagement gear, and the prime pusher of all integrated circuit block end faces scannings in the pallet is finished in cooperation, and be used for will finish the pallet of end face scanning be delivered to two handgrip classified gripping device places and cooperate and finish classified gripping, and the empty pallet that will finish classified gripping is delivered to the back level pusher of empty pallet piling apparatus.

3. disk-feeding braider according to claim 2 is characterized in that: described single-stage pallet pusher comprises the pallet clamping mechanism and drives the delivery device that described pallet clamping mechanism moves along the direction of back and front supporting guide rail; Described pallet clamping mechanism comprises the clamping mechanism adapter plate and is installed in the straight moving chuck component on the described clamping mechanism adapter plate and swings chuck component that described pallet clamping mechanism is installed on the delivery device by the clamping mechanism adapter plate; Described straight moving chuck component comprises straight moving chuck and drives the straight moving chuck cylinder that straight moving chuck is done dipping and heaving that described straight moving chuck cylinder is packed on the end of described clamping mechanism adapter plate; Described swing chuck component comprises the swing chuck and changes the swing chuck and the straight swing chuck cylinder that moves the angular relationship between the chuck, described swing chuck is articulated on the swing chuck mount pad that is packed on the described clamping mechanism adapter plate other end, and described swing chuck is relative with straight moving chuck on the propelling movement direction of delivery device; Described swing chuck cylinder is installed on the clamping mechanism adapter plate, and an end of the piston rod of described swing chuck cylinder and a chuck connecting rod is connected, the other end of described chuck connecting rod and the lower hinge of swinging chuck.

4. disk-feeding braider according to claim 1 is characterized in that: described pallet disengagement gear comprises pallet feed bin, pallet separation device and tray support mechanism; Described charging tray feed bin comprise be installed in before on the supporting guide two angle steel and be installed in two angle steel on the supporting guide of back, the notch of four angle steel all is internally in four jiaos of charging tray feed bins that position; Described pallet separation device is installed between the back and front supporting guide rail, and it comprises the pallet separating plate and drives the separating plate lifting mechanism that described pallet separating plate is done dipping and heaving; Described tray support mechanism comprise be installed in before on the supporting guide at least one tray support assembly and be installed at least one described tray support assembly on the supporting guide of back, described tray support assembly comprises flexible tray and drive the tray cylinder that described flexible tray stretches into or withdraw on the direction vertical with the throughput direction of pallet pusher in the pallet feed bin outside the pallet feed bin;

5. disk-feeding braider according to claim 1 is characterized in that: described empty pallet piling apparatus comprises empty pallet feed bin, empty pallet accumulation mechanism and empty pallet supporting mechanism; Described empty charging tray feed bin comprise be installed in before on the supporting guide two angle steel and be installed in two angle steel on the supporting guide of back, the notch of four angle steel all is internally in four jiaos of empty charging tray feed bins that position; Described empty pallet is piled up mechanism and is installed between the back and front supporting guide rail, and it comprises that empty pallet is piled up plate and the described empty pallet of drive is piled up the accumulation plate lifting mechanism that plate is done dipping and heaving; Described empty pallet supporting mechanism comprises at least one the empty pallet supporting component that is installed on the preceding supporting guide and at least one the described empty pallet supporting component that is installed on the supporting guide of back, described tray support assembly comprise the tray mount pad and with described tray mount pad pivotally attached tray, between the base plate of described tray and tray mount pad separately return springs is installed.

6. disk-feeding braider according to claim 1, described braid packaging system comprises a cover or two cover single-stage braid packaging systems, and described single-stage braid packaging system comprises the braid feedway that is installed on the braid encapsulation adapter plate, two braid hot sealing devices, braid automatic cutting means, braid cover tape feed wheel, braid tail band feed wheel and braid winding wheels;

The throughput direction of described braid feedway is consistent with the vibration-direction of described pick-and-place mechanism, and the braid tail band of drawing from described braid tail band feed wheel is sent into it by the initiating terminal of braid feedway and carried runner;

Described two braid hot sealing devices are installed on the both sides of the conveying runner of braid feedway relative to one another, the hot knife of two braid hot sealing devices lay respectively at the heat-sealing position of carrying the braid both sides of carrying in the runner directly over;

Described braid cover tape feed wheel is installed on the top of described braid feedway, and is positioned at the rear of braid hot sealing device on the throughput direction of braid feedway;

The clearing end of the contiguous described braid feedway of described braid automatic cutting means; The braid that described braid feedway is drawn is flowed out between the cutting knife of described braid automatic cutting means and cutting knife base; And,

Described braid winding wheel is positioned at the place ahead of braid automatic cutting means on the throughput direction of braid feedway, the braid that the warp-knit tape automatic cutting means flows out is guided on the braid winding wheel;

If described braid packaging system comprises the described single-stage braid packaging system of a cover, then it carries the stationkeeping of runner on the throughput direction of tray conveying device;

If described braid packaging system comprises the described single-stage braid packaging system of two covers, then two cover single-stage braid packaging systems are parallel being installed on the described braid encapsulation adapter plate on the vibration-direction of pick-and-place mechanism; Described braid packaging system also comprises the station switching mechanism, and described station switching mechanism comprises switch guide, switches cylinder and switches slide block;

Described switch guide is being packed on the throughput direction of tray conveying device on the switching mechanism adapter plate, described switching mechanism adapter plate is connected on the position vertical with described bench board, a perpendicular slide block adapter plate is connected on the bottom surface of described braid encapsulation adapter plate, described switching slide block is packed on the slide block adapter plate, described switching slide block and switch guide sliding connection; Described switching cylinder is packed on the switching mechanism adapter plate, and the piston rod of described switching cylinder and slide block adapter plate are connected, and the sense of motion of the piston rod of switching cylinder is consistent with the throughput direction of tray conveying device; The position of the conveying runner of described two cover single-stage braid packaging systems can be moved on the throughput direction of tray conveying device.

7. disk-feeding braider according to claim 6 is characterized in that: described braid feedway comprises conductance width quick adjusting mechanism, and described conductance width quick adjusting mechanism comprises

The forward and backward guide rail that be arranged in parallel;

Be snug fit at two right conductance plates installation slide blocks that the left conductance plates of two blocks of described forward and backward guide rail are installed slide blocks and are snug fit at described forward and backward guide rail respectively respectively;

Parallel with forward and backward guide rail being arranged at revolved screw rod by what bearing seat supported between two guide rails;

Be fixed on the screw handle that revolves that revolves screw rod one end;

By screw thread fit in the left-handed nut with opposite sense screw thread and the right handed unt of revolving on the screw rod; And,

Be fixed in left conductance plate and the right conductance plate that is fixed on aforementioned two right conductance plates installation slide blocks and the right handed unt on aforementioned two left conductance plates installation slide blocks and the left-handed nut; Form described conveying runner between described left conductance plate and the right conductance plate.

8. disk-feeding braider according to claim 1 is characterized in that: described handgrip unit is fixedly mounted on the handgrip lifting unit by its component suction nozzle adapter plate; Described handgrip unit comprises the roll adjustment assembly, but and the parallel arranged fixedly component suction nozzle and the roll adjustment component suction nozzle that are provided with, described fixedly component suction nozzle carries a suction nozzle as fixing suction nozzle, but but described roll adjustment component suction nozzle carries a suction nozzle conduct roll adjustment suction nozzle; Described fixedly component suction nozzle is fixedly mounted on the described component suction nozzle adapter plate by fixing suction nozzle adapter plate; Described roll adjustment assembly comprises roll adjustment motor, roll adjustment slide rail, roll adjustment slide plate and roll adjustment adapter plate, described roll adjustment motor and component suction nozzle adapter plate are connected, described roll adjustment slide rail is packed on the component suction nozzle adapter plate, described roll adjustment slide plate can be laterally slidably with the sliding connection of roll adjustment slide rail, described roll adjustment adapter plate and roll adjustment slide plate are connected, the end of the motor shaft of described roll adjustment motor has screw rod, and the screw rod of described motor shaft is connected with roll adjustment adapter plate screw thread fit.

9. disk-feeding braider according to claim 8 is characterized in that: described fixedly component suction nozzle also comprises fixedly suction nozzle vacuum air-channel joint and fixedly suction nozzle lift cylinder; Described fixedly suction nozzle lift cylinder is packed in fixedly on the suction nozzle adapter plate; Described fixedly suction nozzle is communicated with fixing suction nozzle vacuum air-channel joint by fixing suction nozzle gas circuit connecting panel; Described fixedly suction nozzle gas circuit connecting panel by fixing suction nozzle lift cylinder connecting panel and fixedly the piston rod moving up and down of suction nozzle lift cylinder be connected; Perhaps, but but but described roll adjustment component suction nozzle also comprises roll adjustment suction nozzle vacuum air-channel joint and roll adjustment suction nozzle lift cylinder; But described roll adjustment suction nozzle lift cylinder is packed on the roll adjustment adapter plate; But but but described roll adjustment suction nozzle be communicated with roll adjustment suction nozzle vacuum air-channel joint by roll adjustment suction nozzle gas circuit connecting panel; But but but the moving up and down piston rod of described roll adjustment suction nozzle gas circuit connecting panel by roll adjustment suction nozzle lift cylinder connecting panel and roll adjustment suction nozzle lift cylinder be connected.

10. according to the classified gripping method of each described disk-feeding braider in the claim 1 to 9, it is characterized in that, comprise the steps:

Step 1: electric control system is controlled described pallet disengagement gear and will be positioned in its all pallets of holding on the pallet slideway that undermost pallet is placed on tray conveying device; Described pallet pusher pushes to end face scanner unit 2 places with the pallet on it and carry out step 2;

Step 2: electric control system control end face scanner unit carries out end face scanning to all integrated circuit blocks in the pallet; Specifically scanning process is,

Step 201: when the delegation integrated circuit block in the described pallet arrive the end face scanner unit the 2D scanning lens under the time, control pallet pusher stops to push, described 2D scanning lens begins under the drive of horizontal scan travel mechanism the integrated circuit block on the current line to be scanned in turn one by one, and writes down the end face scanning result of each integrated circuit block; After finishing the scanning of current line, electric control system judges that whether current line is last column of pallet, then enters step 202, if not if then enter step 203;

Step 202: electric control system control pallet pusher is fed forward pallet, make the next line integrated circuit block arrive the end face scanner unit the 2D scanning lens under, completing steps 201;

Step 203: electric control system control pallet pusher is carried this pallet to two handgrip classified gripping devices place, carry out step 3;

Step 3: the first and second classified gripping devices of controlling described pair of handgrip classified gripping device are alternately finished the classified gripping of all integrated circuit blocks in the pallet; Specifically the classified gripping process is,

Step 301: when the delegation's integrated circuit block in the described pallet arrives the below of suction nozzle of the first and second classified gripping devices, electric control system control pallet pusher stops to push, the first and second classified gripping devices alternately hold continuously arranged integrated circuit block in succession by the suction nozzle of the two, spacing between the adjacent suction nozzle of described first, second classified gripping device when grasping all with the adjacent integrated circuit block of the every row of pallet between spacing consistent, and independently carry out classified gripping separately according to identical sorting technique; Described sorting technique is if the end face scanning result of the integrated circuit block that holds is nonconformity, carry out step 302; If it is qualified that the end face scanning result of the integrated circuit block that holds is, carry out step 303; If the end face scanning result part of the integrated circuit block that holds is qualified, carry out step 304; After finishing the classified gripping of current line, electric control system judges that whether current line is last column of pallet, then enters step 305, if not if then enter step 306;

Step 302: directly the end face of its all integrated circuit block pick-and-places that hold to the off gauge gathering-device detected in the nonconformity pallet;

Step 303: directly its all integrated circuit blocks that hold are grabbed and deliver to stereoscanning device place, and at the camera lens that makes the stereoscanning device under the effect of handgrip horizontal mobile mechanism to moving to the stereoscanning that integrated circuit block directly over it comprises bottom surface and side one by one in turn, and record stereoscanning result; If the stereoscanning result is all qualified, then carry out step 303a; Part is qualified as a result as if stereoscanning, then carries out step 303b;

Step 303a: directly with its all integrated circuit block pick-and-places that hold to the groove that is arranged in the braid tail band on the braid packaging system;

Step 303b: with its stereoscanning that holds as a result nonconformity and up-to-standard integrated circuit block respectively pick-and-place to the solid of off gauge gathering-device detect the groove that the neutralization of nonconformity pallet is arranged in the braid tail band on the braid packaging system;

Step 304: directly its all integrated circuit blocks that hold are grabbed and deliver to stereoscanning device place, and at the camera lens that makes the stereoscanning device under the effect of handgrip horizontal mobile mechanism to moving to the stereoscanning that the up-to-standard integrated circuit block of end face scanning result directly over it comprises bottom surface and side one by one in turn, and record stereoscanning result; If the stereoscanning result of the up-to-standard integrated circuit block of end face scanning result is also qualified, then carry out step 304a; If the stereoscanning of the up-to-standard integrated circuit block of end face scanning result is nonconformity as a result, then carry out step 304b;

Step 304a: the inferior-quality integrated circuit block pick-and-place of end face scanning result to end face is detected in the nonconformity pallet, with the up-to-standard integrated circuit block pick-and-place of stereoscanning result to the groove that is arranged in the braid tail band on the braid packaging system;

Step 304b: detect in the nonconformity pallet end face scanning result nonconformity and the inferior-quality integrated circuit block difference of stereoscanning result pick-and-place to end face and three-dimensional the detection in the nonconformity pallet;

Step 305: electric control system is controlled described pallet pusher pallet is fed forward, and makes the next line integrated circuit block arrive the below of the suction nozzle of the first and second classified gripping devices and completing steps 301;

Step 306: electric control system is controlled described pallet pusher empty pallet is fed forward to empty pallet piling apparatus place.

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