CN111268409A - Automatic plastic packaging system and automatic plastic packaging process by utilizing cooperative robot - Google Patents
Automatic plastic packaging system and automatic plastic packaging process by utilizing cooperative robot Download PDFInfo
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- CN111268409A CN111268409A CN201911186477.2A CN201911186477A CN111268409A CN 111268409 A CN111268409 A CN 111268409A CN 201911186477 A CN201911186477 A CN 201911186477A CN 111268409 A CN111268409 A CN 111268409A
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- Prior art keywords
- feeding
- automatic
- resin
- fixedly connected
- guide rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/08—Sorting according to size measured electrically or electronically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/18—Preventing escape of dust
Abstract
The invention discloses an automatic plastic packaging system utilizing a cooperative robot, which comprises a plastic packaging press, an automatic die brushing machine, an automatic chip arranging machine, an automatic resin arraying and loading machine, a flow channel punching machine, a chip packaging finished product detecting and collecting all-in-one machine, an automatic die brushing dust collecting cabinet, a cooperative robot and an upper computer. The invention can realize the automatic plastic packaging process after simply improving the original conventional equipment, thereby effectively reducing the cost.
Description
Technical Field
The invention belongs to a semiconductor plastic package chip packaging process, and particularly relates to an automatic packaging system and an automatic packaging process for applying a cooperative robot to a semiconductor package product.
Background
With the development of semiconductor packaging products towards integration and systematization, the requirements on the quality and efficiency of the semiconductor packaging products are continuously improved, and the requirements of various factories on the automation of packaging equipment are increasingly improved. At present, the market demands not only a full-automatic packaging system, but also a great deal of manual packaging process equipment, and the main reason of the automatic packaging system and the current automatic packaging system are expensive whether imported or made in China. In short time, the existing manual packaging process equipment cannot be completely replaced. The system which can be matched with the original manual packaging process equipment to realize the automatic packaging process flow is urgently needed in the market, the management requirements of the current automatic factory are met, the problem of difficult labor recruitment in the current market is solved, the problem of manual repetitive work is solved, and the qualification rate of products is improved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic packaging system and an automatic packaging process by utilizing a cooperative robot.
The technical scheme adopted by the invention is as follows: an automatic plastic packaging system utilizing a cooperative robot comprises a plastic packaging press, an automatic die brushing machine, an automatic chip arranging machine, an automatic resin arraying and loading machine, a flow channel punching machine, a chip packaging finished product detecting and collecting all-in-one machine, an automatic die brushing dust collecting cabinet, the cooperative robot and an upper computer; the cooperation robot grabs the automatic resin feeding rack and places the automatic resin feeding rack in each module for processing, and the cooperation robot and the automatic resin feeding rack perform handshake communication; the upper computer controls the plastic packaging press, the automatic die brushing machine, the automatic die arranging machine, the automatic resin arraying loader, the flow channel punching machine, the chip packaging finished product detecting and collecting all-in-one machine, the cooperation robot and the automatic die brushing dust collecting cabinet through signals; the upper computer comprises a control display module and an integrated master control module, and the integrated master control module is located in the chip packaging finished product detection and collection integrated machine.
As a further improvement of the invention, the automatic resin feeding rack comprises a rack frame, a plurality of groups of resin material barrels are arranged on the rack frame, a guide rail assembly is also arranged on the rack frame, the rack frame is connected with a guide rail connecting plate through the guide rail assembly, and the guide rail connecting plate is connected with a blanking cylinder; at least two connecting rods are fixedly connected to the guide rail connecting plate, and a feeding baffle is fixedly connected to each connecting rod; a transverse groove is formed in the resin material barrel, a light through hole is formed in the resin material barrel, the feeding baffle is connected below the material rack frame, and one side of the feeding baffle extends into the transverse groove of the resin material barrel; two sides of the rack frame are fixedly connected with an opposite photoelectric sensor, and the opposite photoelectric sensor is matched with the light through hole; still be equipped with the inspection hole with lead frame pilot pin looks adaptation on the work or material rest frame, be equipped with the probe fixed block in the inspection hole, the probe is passed through spring coupling probe to the probe fixed block, be equipped with the probe apron on the inspection hole, be equipped with the through-hole with probe looks adaptation on the probe apron, work or material rest frame both sides are equipped with the probe detection sensor with probe looks adaptation.
As a further improvement of the invention, the guide rail assembly comprises a guide rail and a sliding block, and the guide rail connecting plate is matched with the sliding block, so that the guide rail connecting plate can be controlled by the air cylinder to slide back and forth on the guide rail.
As a further improvement of the invention, a quick-change connector mounting plate is further arranged on the rack frame, a quick-change connector fixing plate is fixedly connected to the quick-change connector mounting plate, and the quick-change connector fixing plate is fixedly connected to the quick-change connector.
As a further improvement of the invention, the automatic resin arraying loader comprises a feeding bin, a vibrating disc feeder, a feeding mechanism, a jacking mechanism and an arraying manipulator; a feeding bin is arranged above the vibrating disc feeding machine, and the vibrating disc feeding machine is connected with the feeding mechanism; the resin material enters a jacking station through a vibrating disc feeder and a feeding mechanism, the jacking mechanism jacks the resin material to a working surface, and then the resin material is put into a charging basket through an alignment manipulator, and a charging basket assembly is arranged on the alignment manipulator.
As a further improvement of the invention, the feeding mechanism comprises a bottom plate, a profile bracket is fixedly connected to the bottom plate, an upper supporting plate is fixedly connected to the profile bracket, a feeding platform is fixedly connected between the profile brackets, and the feeding platform is positioned below the upper supporting plate; the upper supporting plate is fixedly connected with a jacking track assembly, a jacking maintaining cylinder, a height measuring sensor and a feeding adjusting block assembly; the bottom of the feeding platform is fixedly connected with a feeding motor, and the feeding motor is connected with a feeding guide rail assembly through a feeding synchronous belt assembly and a connecting block; the feeding guide rail assembly comprises two sliding blocks, guide rail connecting plates are fixedly connected to the sliding blocks respectively, and a guide block and a resin material push plate are mounted on two sides of each guide rail connecting plate respectively; the feeding platform is provided with a bottom carrier roller for conveying resin materials and a guide cylinder mounting plate, the guide cylinder mounting plate is fixedly connected with a guide cylinder, and the guide cylinder is in transmission connection with a guide block.
As a further improvement of the invention, the feeding platform is also provided with a weighing assembly, a blanking block and a waste material removing assembly, the waste material removing assembly comprises a waste material slide way, a waste material baffle and a waste material box, the waste material slide way is positioned below the blanking block, the waste material box is positioned below the waste material slide way, and the two sides of the waste material box are provided with the waste material baffles.
The jacking mechanism comprises a jacking bottom plate, a jacking mounting plate vertically and fixedly connected to the jacking bottom plate and jacking side plates positioned on two sides of the jacking bottom plate, a jacking motor is fixedly connected to the jacking bottom plate, a jacking guide rail assembly and a jacking synchronous pulley assembly are arranged on the jacking mounting plate, and the jacking guide rail assembly is connected with the jacking synchronous pulley assembly; the jacking guide rail component is fixedly connected with a push shaft mounting plate, one end of the push shaft mounting plate is connected with the jacking guide rail component, and the other end of the push shaft mounting plate is fixedly connected with a push shaft.
As a further improvement of the invention, the charging bucket assembly comprises a charging bucket assembly mounting plate, a guide needle fixing block is fixedly connected in the middle of the charging bucket assembly mounting plate, a plurality of guide needles are fixedly connected on the guide needle fixing block, and the guide needles penetrate through the guide needle fixing block and extend; the two sides of the charging bucket assembly mounting plate are respectively and fixedly connected with an air cylinder adjusting plate, the air cylinder adjusting plate is fixedly connected with an air cylinder mounting plate, and the air cylinder mounting plate is fixedly connected with a clamping air cylinder and a supporting air cylinder; a charging bucket detection sensor is fixedly connected to the cylinder adjusting plate, and a supporting shaft is fixedly connected to the tail end of the supporting cylinder.
The invention has the following beneficial effects: .
Drawings
FIG. 1 is a process flow diagram of the present invention.
Fig. 2 is a schematic diagram of an automated plastic packaging system according to the present invention.
Fig. 3 is a top view of the automated plastic packaging system of the present invention.
Fig. 4 is a schematic view of an automatic resin feeding rack according to the present invention.
Fig. 5 is a top view of the automatic resin dispensing rack of the present invention.
Fig. 6 is a bottom view of the automatic resin feeding rack of the present invention.
Fig. 7 is a side view of an automatic resin dispensing rack of the present invention.
Fig. 8 is an enlarged view of fig. 7 at B.
FIG. 9 is a schematic view of an automatic resin alignment loader of the present invention.
FIG. 10 is a schematic view of the feed mechanism of the automatic resin alignment loader of the present invention.
Fig. 11 is an enlarged view of fig. 10 at a.
FIG. 12 is a schematic view of the jacking mechanism of the automatic resin alignment loader of the present invention.
FIG. 13 is a schematic view of a bucket assembly of the automatic resin alignment loader of the present invention.
Fig. 14 is a schematic view of a bucket assembly support cylinder of the present invention.
Shown in the figure: 1 plastic package press, 2 automatic die brushing machine, 3 automatic die arranging machine, 4 automatic resin arraying loader, 5 punching flow channel machine, 6 chip package product detection all-in-one machine, 7 cooperative robot, 8 control display module, 9 automatic die brushing dust collection cabinet, 11 resin material barrel, 12 blanking cylinder, 13 guide rail connecting plate, 14 correlation photoelectric sensor, 15 material rack frame, 21 guide rail, 22 slide block, 23 connecting rod, 24 material feeding baffle, 31 probe fixing block, 32 probe, 33 spring, 34 probe cover plate, 35 probe detection sensor, 36 quick-change connector mounting plate, 37 quick-change connector fixing plate, 38 quick-change connector, 42 vibration disc feeder, 43 feeding bin, 45 arraying mechanical arm, 46 feeding mechanism, 47 jacking mechanism, 48 dust collection assembly, 412 working surface, 458 material barrel assembly, 461 bottom plate, 462 profile bracket, 463 upper supporting plate, 464 height measurement sensor, 465 jacking guide rail component, 466 jacking maintaining cylinder, 467 feeding adjusting block component, 471 jacking bottom plate, 472 jacking side plate, 473 jacking mounting plate, 474 jacking motor, 475 jacking guide rail component, 476 jacking synchronous belt component, 477 pushing shaft mounting plate, 478 pushing shaft, 4581 charging basket component mounting plate, 4582 guiding needle fixing block, 4583 guiding needle, 4584 air cylinder adjusting plate, 4586 clamping cylinder, 4587 supporting cylinder, 4588 charging basket detecting sensor, 4589 supporting shaft, 4611 charging platform, 4612 feeding motor, 4613 charging synchronous belt component, 4614 connecting block, 4615 feeding guide rail component, 4616 guide rail connecting plate, 4617 resin material pushing plate, 4618 bottom supporting roller, 4619 weighing component, 4620 guiding air cylinder mounting plate, 4621 guide cylinder, 4622 guide block, 4623 blanking block, 4625 waste slideway, 4626 waste baffle, 4627 waste box, 4651 pushing fixed block and 4652 pushing rod.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in the figure, the automatic plastic packaging system using the cooperative robot comprises a plastic packaging press 1, an automatic die brushing machine 2, an automatic chip arranging machine 3, an automatic resin arraying and loading machine 4, a flow channel punching machine 5, a chip packaging finished product detecting and collecting all-in-one machine 6, an automatic die brushing dust collecting cabinet 9, a cooperative robot 7 and an upper computer; the cooperation robot grabs the automatic resin feeding rack and places the automatic resin feeding rack in each module for processing, and the cooperation robot and the automatic resin feeding rack perform handshake communication; the upper computer controls a plastic packaging press 1, an automatic die brushing machine 2, an automatic die arranging machine 3, an automatic resin arraying loader 4, a flow channel punching machine 5, a chip packaging finished product detecting and collecting all-in-one machine 6, a cooperation robot 7 and an automatic die brushing dust collecting cabinet 9 through signals; the upper computer comprises a control display module 8 and an integrated master control module, and the integrated master control module is positioned in the chip packaging finished product detecting and collecting all-in-one machine 6.
The invention realizes the whole automatic packaging process by utilizing the work of the cooperative robot, the equipment used in each packaging process can use the original equipment, the equipment is well distributed around the cooperative robot so as to ensure that the cooperative robot can realize the grabbing and placing functions, and the automation of the whole packaging process is realized by matching with a specially designed automatic resin feeding rack.
The material rack frame is provided with a plurality of groups of resin material barrels 11, the material rack frame 15 is further provided with a blanking air cylinder 12, the tail end of the blanking air cylinder is connected with a guide rail connecting plate 13, the left side and the right side of the material rack frame 1 are respectively provided with a guide rail assembly 2, each guide rail assembly comprises a guide rail 21 and a sliding block 22, and the guide rail connecting plate 13 is connected with the sliding block 22 so that the guide rail can slide back and forth on the guide rail through air cylinder control. All be provided with the cross slot in every resin storage bucket 11, install three connecting rods 23 on the guide rail connecting plate 13, transversely install on the connecting rod and throw material baffle 24 the same with resin storage bucket row number, throw material baffle 24 and install in the cross slot of work or material rest frame 1 below and baffle one side insert resin storage bucket, throw material layer board 24 and follow connecting rod 23 and move together. The correlation photoelectric sensors 14 with the same row number of resin storage bucket are installed to the work or material rest frame 15 left and right sides, have seted up logical unthreaded hole on the resin storage bucket 11, and the resin material does not fall into the die cavity of mould when putting in the resin material and can realize detecting through foretell correlation photoelectric sensor. The position that corresponds each lead frame locating pin of mould on work or material rest frame 15 sets up the inspection hole, probe fixed block 31 inserts in the inspection hole of work or material rest frame 1, probe 32 comprises diameter for 6mm and diameter for two cylinders of 3mm, the cylinder of diameter 3mm is installed up in probe fixed block 31, the spring 33 that the inner circle diameter is 3.5mm is installed to probe 32 top, probe apron 34 is installed on work or material rest frame 1, probe apron 34 intermediate position is opened has the pass through, make probe 32 can pass through. The probe detection sensor 35 is arranged at each row of probe positions of the rack frame, when the lead frame is in place, the lead frame positioning pins are inserted into holes at the bottoms of the probes, the probes 32 are in the lowest state under the action of spring force, and the probe detection sensors 35 are not shielded from light; when the lead frame is not positioned, the lead frame positioning pin in the die is shielded by the unset lead frame to jack the probe 32 by overcoming the spring force, and the probe detection sensor 35 is shielded at the moment. The material rack frame 1 is provided with a quick-change connector mounting plate 36, a quick-change connector fixing plate 37 is vertically arranged on the quick-change connector plate, and the two plates are connected through reinforcing ribs. The quick-change connector is controlled by an air source, and a steel ball in the quick-change connector can be pushed open during ventilation, so that the quick-change connector is loosened, the aim of separating from the robot is fulfilled, and an electric signal and an air source are provided. Meanwhile, the tail end of the quick-change connector 48 is provided with a heat insulation plate made of heat insulation materials, so that the influence of high temperature in the mold on the normal work of the robot is prevented.
The automatic resin work or material rest of puting in of this structure, its both sides shine the optical sensor and be used for detecting whether resin falls into inside the mould, and its below probe is used for detecting the lead frame and whether goes into the position. The automatic resin feeding rack with the structure is connected with the quick-change connector on the robot through the quick-change connector, so that the automatic resin feeding rack is perfectly matched with the robot to use. The automatic resin feeding frame enhances the detection in the positioning of the resin and the lead frame, and reduces the rejection rate of products in the production process; meanwhile, the automation degree of the production process is increased by matching with an industrial robot, and the manual demand is reduced; the manual direct touch of the electronic element is avoided in the production process, and the qualification rate of the product is greatly improved.
The cooperative robot and the automatic resin feeding rack exchange information, both sides exchange data by adopting a fixed communication protocol, the cooperative robot and the automatic resin feeding rack perform handshake communication after being connected, and the cooperative robot performs self gas and electric work after receiving handshake information of the resin feeding rack. The system controls the cooperative robot and each unit through IP communication by the upper computer, the upper computer sends command words to start and stop, and the running state of each unit is fed back to the upper computer. And the cooperative robot and the upper computer determine the position of each beat through the position command word and control the running track and the speed of the cooperative robot.
The whole process adopts the automatic operation of the cooperative robot, so the detection and the ordered work of each link are key. The automatic resin arraying loader is specially designed, a working face 412 is arranged above the frame, a vibration disc feeder 42 is arranged in the frame, a resin feeding bin 43 is arranged above the vibration disc feeder 42 and is installed at the rear part of the working face, and a dust collection assembly 48 is arranged below the vibration disc feeder 42; the working surface 412 is provided with an alignment manipulator 45, a resin feeding mechanism 46 is connected with the vibration disc feeder 42, and a resin jacking mechanism 47 and the resin feeding mechanism 46 are arranged on a mounting bottom plate which is arranged on the frame; resin material can be lifted to the working surface 412 by the resin lifting mechanism 47 and then dropped into the position of the material rack and material barrel by the alignment manipulator 45. The resin feed mechanism 46 includes: the support comprises a base plate 461, a profile bracket 462 and an upper support plate 463, wherein the profile bracket 462 is fixed on the base plate 461, and the upper support plate 463 is fixed on the profile bracket 462; the upper supporting plate 463 is provided with a feeding adjusting block component 467, a height measuring sensor 464, a jacking track component 465 and a jacking maintaining cylinder 466, the feeding adjusting block component 467 consists of a feeding adjusting block 4671 and feeding adjusting needles 4672, the upper part of the feeding adjusting block 4671 is of a funnel shape, the lower part of the feeding adjusting block 467 is provided with a large hole and four small holes which are distributed circumferentially, the feeding adjusting needles 4672 are inserted into the small holes and fixed through fastening screws on the side edge of the feeding adjusting block 4671, and the inscribed circle sizes of the four feeding adjusting needles are slightly larger than the diameter of the resin material; the height measuring sensor 464 is arranged above the resin detection station and used for detecting and judging the height of the resin material; the jacking rail assembly 465 consists of pushing fixing blocks 4651 and pushing rods 4652, the pushing fixing blocks are three in total, small holes are distributed on the periphery of a large hole in the middle, the pushing rods 4652 are inserted into the three pushing fixing blocks and fixed on the upper supporting plate 462, the jacking maintaining cylinder 466 is installed on one side of the jacking rail assembly 465, resin materials are clamped through the jacking maintaining cylinder 466 in the jacking process, and when the resin materials are accumulated to a certain number, the resin materials are pushed to a working surface together for next operation. Meanwhile, the resin material is transmitted by adopting the material push rod 4652, compared with the resin material transmitted by using a pipeline, the contact mode is changed from surface contact into line contact, and the generation amount of dust is greatly reduced. The resin feeding mechanism 46 also comprises a feeding platform 4611, a feeding motor 4612, a synchronous belt assembly 4613, a connecting block 4614, a feeding guide rail assembly 4615, a guide rail connecting plate 4616, a resin material pushing plate 4617, a bottom supporting shaft 4618, a weighing assembly 4619, a guide cylinder mounting plate 4620, a guide cylinder 4621, a guide block 4622, a blanking block 4623 and a waste removing assembly; the feeding platform 4611 is fixed on the section bar bracket, and the feeding motor 4612 is arranged on the bottom 4611 of the feeding platform. The feeding guide rail assembly comprises a guide rail and sliders which are arranged on the feeding platform, a synchronous belt assembly 4613 and a connecting block 4614 connect the feeding motor 4612 with the feeding guide rail assembly 4615, the feeding guide rail assembly 4615 comprises two sliders, guide rail connecting plates 4616 are respectively arranged on the two sliders, the side edges of the two guide rail connecting plates are respectively provided with a guide block 4622 and a resin material push plate 4617, and the rear side of the resin material push plate 4617 is provided with two needles for supporting the resin material conveyed by the vibrating disc feeder 42; bottom bracket 4618 is installed in the groove of material loading platform 4611, and the resin material can be carried on it, and guide cylinder mounting plate 4620 is installed on material loading platform 4611, and guide cylinder 4621 is fixed on guide cylinder mounting plate and is connected with guide block 4622. The feeding platform 4611 is divided into four stations which are respectively: blanking station, detection station, jacking station and rejection station, install resin weighing component 4619 on the detection station, blanking block 4623 is installed to blanking station department, and the hole that has than resin material diameter is opened on resin material push pedal and guide block and the blanking block. Install the waste material on blanking station below material loading platform 4611 and reject the subassembly, the waste material is rejected the subassembly and is included: the waste material slide 4625, the waste material baffle 4626, the waste material box 4627, set up the great interval groove in the middle of the waste material slide 4625, the waste material baffle 4626 is installed in the waste material box both sides, it has the kidney slot to open on it and can control the interval size from side to side, the waste material box 4627 is located the waste material slide below. The resin material falls into a resin material push plate 4617 through a feeding adjusting block component 467, the resin material push plate sends the resin material to a detection station through a feeding motor 4612, at the moment, a laser height measuring sensor 464 and a resin weighing component 4615 detect the height and the weight of the resin material, the resin material is pushed to a jacking station after the detection is finished, the resin material falls onto a push shaft 478 of a jacking mechanism 47 through a blanking block 4622, then the resin material push plate 4614 returns to continue to take the material, a guide cylinder 4621 drives a guide block 4622 to be pushed to a jacking position for the qualified resin material, and the jacking mechanism jacks the resin material; for unqualified resin materials, the jacking mechanism 47 descends to the position of a waste material baffle 4626, the distance between the waste material baffles is larger than the diameter of the push shaft 478 and smaller than the diameter of the resin materials, and the unqualified resin materials slide into a waste material box along a waste material slide way 4625. Meanwhile, the bottom support shaft 618 is used for converting surface contact into line contact in the transmission process of each station, and dust is greatly reduced. The resin jack 47 includes: a jacking bottom plate 471, a side plate 472, a jacking mounting plate 473, a jacking motor 474, a jacking guide rail component 475, a jacking synchronous belt component 476, a push shaft mounting plate 477 and a push shaft 478, wherein the jacking bottom plate 471 and the jacking mounting plate 473 are arranged in a right-angle manner, the side plate 472 is arranged on two sides, the jacking motor 474 is arranged between the two side plates at the bottom of the jacking mounting plate, the jacking guide rail component 475 is arranged on the jacking mounting plate 473 and connected with the jacking synchronous belt component 476, the guide rail component is also provided with the push shaft mounting plate 477, the push shaft 478 is arranged on the push shaft mounting plate, the push shaft 478 is concentric with a, the pushing shaft 478 can be driven by the cooperation of the jacking motor 474 and the jacking synchronous belt assembly 476 to freely slide up and down in the jacking guide rail assembly 475, during the jacking process, the single resin material is sent to the position of a jacking maintaining cylinder 466, the single resin material is stored by the cylinder, when the resin material reaches a certain amount, the resin material is centrally lifted up into the material barrel assembly 458. A bucket assembly 458 is mounted on the robot, the bucket assembly including: a material barrel assembly mounting plate 4581, a guide pin fixing block 4582, a guide pin 4583, a cylinder adjusting plate 4584, a cylinder mounting plate 4585, a clamping cylinder 4586, a supporting cylinder 4587, a material barrel detection sensor 4588 and a support shaft 4589, the material barrel assembly mounting plate 4581 is mounted on a robot Z-axis cylinder, the guide pin fixing block 4582 is mounted in the middle of the material barrel assembly mounting plate 4581, two cylinder adjusting plates 4584 are mounted on two sides, a row of array mounting holes are formed in the side edge of the cylinder adjusting plate 4584, the cylinder mounting plate 4585 is mounted on the cylinder adjusting plate, the clamping cylinder 4586 is mounted on an upper cylinder mounting plate, the supporting cylinder 4587 is mounted on a lower cylinder mounting plate, the material barrel detection sensor 4588 is mounted on the front surface of the cylinder adjusting plate 4584, and the support. When the jacking mechanism 47 lifts the resin material upwards, the resin arraying manipulator 45 drives the screw rod and the slide block to move to a material taking position through the motor, the clamping cylinder 4586 and the supporting cylinder 4587 are in a withdrawing state at the moment, the jacking mechanism 47 jacks the resin material onto the supporting shaft 4589, the supporting cylinder 4587 clamps the resin material to support the resin material, and the jacking mechanism 47 descends. At this time, the resin aligning robot 45 is shifted to a designated feeding point, the clamping cylinder 4586 clamps the second resin material to the lower side, and the support cylinder releases the first resin material to drop. The resin arraying robot 45 moves to the second feeding point, in which process the support cylinder is extended, the clamping cylinder is released and the second resin material falls onto the trunnion. When the resin material is not detected by the material barrel detection sensor 4588, the resin arraying manipulator 45 returns to the material taking point to take the material.
The resin arraying loader with the structure can store a plurality of resin materials at one time in a 'magazine material storage' mode, so that the production efficiency is greatly improved; meanwhile, the contact mode of the resin material is changed from surface contact to line contact, so that the generation of dust is reduced; the filtering precision is improved to 5 microns by arranging the dust collection assembly; meanwhile, the resin material detection function is achieved, unqualified resin materials can be automatically detected and removed in the production process, and the product qualification rate is guaranteed.
In order to match the whole production process and realize the ordered work of all links, transfer tables are arranged on the automatic resin arraying loader and the automatic sheet arranging machine, the transfer tables of the automatic resin arraying loader are used for transferring empty resin material racks automatically, and the transfer tables of the automatic sheet arranging machine are used for transferring pressure plate material racks. Of course, the transfer platform can also be specially provided with a station for placing.
Through the improvement of the special equipment and the cooperation with conventional equipment, the whole packaging process of the semiconductor chip becomes very simple and highly automated, and the automatic plastic packaging process is a step I, wherein an automatic film arranging machine carries out shooting; secondly, conveying the LF support into a mold by a cooperative robot; conveying the automatic resin feeding rack into a mold by a cooperative robot; step four, the cooperation robot puts the mould into the plastic packaging press, the plastic packaging press closes the mould automatically, solidify the product; opening the mold of the plastic packaging press, and taking out the product by a cooperative robot; step six, the cooperative robot puts the product into a channel punching machine for product punching; step seven, putting the punched products into a chip packaging finished product detecting and collecting all-in-one machine by a cooperative robot; step eight, charging qualified products; and in the fifth step, after the cooperative robot takes out the product, the automatic mold brushing machine starts to clean the mold.
It should be understood by those skilled in the art that the protection scheme of the present invention is not limited to the above-mentioned embodiments, and various permutations, combinations and modifications can be made on the above-mentioned embodiments without departing from the spirit of the present invention, and the modifications are within the scope of the present invention.
Claims (10)
1. An automatic plastic packaging system utilizing a cooperative robot is characterized by comprising a plastic packaging press (1), an automatic die brushing machine (2), an automatic die arranging machine (3), an automatic resin arraying and loading machine (4), a flow channel punching machine (5), a chip packaging finished product detecting and collecting all-in-one machine (6), an automatic die brushing dust collecting cabinet (9), a cooperative robot (7) and an upper computer; the cooperation robot grabs the automatic resin feeding rack and places the automatic resin feeding rack in each module for processing, and the cooperation robot and the automatic resin feeding rack perform handshake communication; the upper computer controls a plastic packaging press (1), an automatic die brushing machine (2), an automatic die arranging machine (3), an automatic resin arraying loader (4), a flow channel punching machine (5), a chip packaging finished product detecting and collecting all-in-one machine (6), a cooperative robot (7) and an automatic die brushing dust collection cabinet (9) through signals; the upper computer comprises a control display module (8) and an integrated master control module, and the integrated master control module is positioned in the chip packaging finished product detection and collection all-in-one machine (6).
2. The automatic plastic packaging system using the cooperative robot as claimed in claim 1, wherein the automatic resin feeding rack comprises a rack frame (15), the rack frame (15) is provided with a plurality of groups of resin material barrels (11), the rack frame (15) is further provided with a guide rail assembly, the rack frame (15) is connected with a guide rail connecting plate (13) through the guide rail assembly, and the guide rail connecting plate (13) is connected with a blanking cylinder (12); at least two connecting rods (23) are fixedly connected to the guide rail connecting plate (13), and feeding baffles (24) are fixedly connected to the connecting rods (23); a transverse groove is formed in the resin charging barrel (11), a light through hole is formed in the resin charging barrel (11), the feeding baffle plate (24) is connected below the material rack frame (15), and one side of the feeding baffle plate (24) extends into the transverse groove of the resin charging barrel (11); two sides of the rack frame (15) are fixedly connected with an opposite photoelectric sensor (14), and the opposite photoelectric sensor (14) is matched with the light through hole; still be equipped with the inspection hole with lead frame pilot pin looks adaptation on work or material rest frame (15), be equipped with probe fixed block (31) in the inspection hole, probe (32) are connected through spring (33) in probe fixed block (31), be equipped with probe apron (34) on the inspection hole, be equipped with the through-hole with probe (32) looks adaptation on probe apron (34), work or material rest frame (15) both sides are equipped with probe detection sensor (35) with probe (32) looks adaptation.
3. The automated plastic packaging system with the aid of the cooperative robot as claimed in claim 2, wherein the guide rail assembly comprises a guide rail (21) and a slide block (22), and the guide rail connecting plate (13) is adapted to the slide block (22) so as to be controlled by a cylinder to slide back and forth on the guide rail.
4. An automated plastic packaging system using a cooperating robot as claimed in any one of claims 1 to 3, characterized in that a quick-change connector mounting plate (36) is further disposed on the rack frame (15), a quick-change connector fixing plate (37) is fixedly connected to the quick-change connector mounting plate (36), and the quick-change connector fixing plate (37) is fixedly connected to the quick-change connector (38).
5. The automated plastic packaging system using the cooperative robot as claimed in claim 1, wherein the automated resin arraying loader (4) comprises a feeding bin (43), a vibrating disc feeder (42), a feeding mechanism (46), a jacking mechanism (47) and an arraying manipulator (45); a feeding bin (43) is arranged above the vibration disc feeder (42), and the vibration disc feeder (42) is connected with a feeding mechanism (46); the resin material enters a jacking station through a vibration disc feeder (42) and a feeding mechanism (46), the resin material is jacked to a working surface (412) by a jacking mechanism (47), and then is thrown into a charging bucket by an alignment manipulator (45), and a charging bucket assembly (458) is arranged on the alignment manipulator (45).
6. The system of claim 5, wherein the feeding mechanism (46) comprises a bottom plate (461), the bottom plate (461) is fixedly connected with a profile support (462), the profile support (462) is fixedly connected with an upper support plate (463), a feeding platform (4611) is fixedly connected between the profile supports (462), and the feeding platform (4611) is located below the upper support plate (463); a jacking track assembly (465), a jacking maintaining cylinder (466), a height measuring sensor (464) and a feeding adjusting block assembly (467) are fixedly connected to the upper supporting plate (463); the bottom of the feeding platform (4611) is fixedly connected with a feeding motor (4612), and the feeding motor (4612) is connected with a feeding guide rail component (4615) through a feeding synchronous belt component (4613) and a connecting block (4614); the feeding guide rail assembly (4615) comprises two sliding blocks, guide rail connecting plates (4616) are fixedly connected to the sliding blocks respectively, and guide blocks (4622) and resin material push plates (4617) are mounted on two sides of each guide rail connecting plate (4616) respectively; the feeding platform (4611) is provided with a bottom carrier roller (4618) for conveying resin materials and a guide cylinder mounting plate (4620), the guide cylinder mounting plate (4620) is fixedly connected with a guide cylinder (4621), and the guide cylinder is in transmission connection with a guide block (4622).
7. The automatic plastic packaging system using the cooperative robot as claimed in claim 6, wherein the feeding platform (4611) further comprises a weighing assembly (4619), a blanking block (4623) and a waste removing assembly, the waste removing assembly comprises a waste chute (4625), a waste baffle (4626) and a waste box (4627), the waste chute (4625) is located below the blanking block (4623), the waste box (4627) is located below the waste chute (4625), and the waste baffle (4626) is arranged on two sides of the waste box (4627).
8. The automatic plastic packaging system using the cooperative robot as claimed in claim 5, wherein the lifting mechanism (47) comprises a lifting bottom plate (471), a lifting mounting plate (473) vertically fixed on the lifting bottom plate and lifting side plates (472) located at two sides of the lifting bottom plate, the lifting bottom plate (471) is fixedly connected with a lifting motor (474), the lifting mounting plate (473) is provided with a lifting guide rail assembly (475) and a lifting synchronous pulley assembly (476), and the lifting guide rail assembly (475) is connected with the lifting synchronous pulley assembly (476); jacking guide rail subassembly (475) go up the rigid coupling and have push away axle mounting panel (477), push away axle mounting panel (477) one end and connect jacking guide rail subassembly (475), its other end rigid coupling pushes away axle (478).
9. The automated plastic packaging system with the aid of the cooperative robot as claimed in any one of claims 5 to 8, wherein the material barrel assembly (458) comprises a material barrel assembly mounting plate (4581), a guide pin fixing block (4582) is fixedly connected to the middle of the material barrel assembly mounting plate (4581), a plurality of guide pins (4583) are fixedly connected to the guide pin fixing block (4582), and the guide pins (4583) penetrate through the guide pin fixing block (4582) and extend; two sides of the charging bucket assembly mounting plate (4581) are respectively fixedly connected with an air cylinder adjusting plate (4584), the air cylinder adjusting plate (4584) is fixedly connected with an air cylinder mounting plate (4585), and the air cylinder mounting plate (4585) is fixedly connected with a clamping air cylinder (4586) and a supporting air cylinder (4587); a material barrel detection sensor (4588) is fixedly connected to the air cylinder adjusting plate (4584), and a support shaft (4589) is fixedly connected to the tail end of the support air cylinder (4587).
10. A packaging process using an automated plastic encapsulation system using a cooperating robot as claimed in claim 1, comprising the steps of,
firstly, shooting by an automatic film arranging machine;
secondly, conveying the LF support into a mold by a cooperative robot;
conveying the automatic resin feeding rack into a mold by a cooperative robot;
step four, the cooperation robot puts the mould into the plastic packaging press, the plastic packaging press closes the mould automatically, solidify the product;
opening the mold of the plastic packaging press, and taking out the product by a cooperative robot;
step six, the cooperative robot puts the product into a channel punching machine for product punching;
step seven, putting the punched products into a chip packaging finished product detecting and collecting all-in-one machine by a cooperative robot;
step eight, charging qualified products;
and in the fifth step, after the cooperative robot takes out the product, the automatic mold brushing machine starts to clean the mold.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911186477.2A CN111268409A (en) | 2020-03-25 | 2020-03-25 | Automatic plastic packaging system and automatic plastic packaging process by utilizing cooperative robot |
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| CN201911186477.2A CN111268409A (en) | 2020-03-25 | 2020-03-25 | Automatic plastic packaging system and automatic plastic packaging process by utilizing cooperative robot |
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