CN113120609B - Chip disk replacing equipment - Google Patents
Chip disk replacing equipment Download PDFInfo
- Publication number
- CN113120609B CN113120609B CN202110305373.XA CN202110305373A CN113120609B CN 113120609 B CN113120609 B CN 113120609B CN 202110305373 A CN202110305373 A CN 202110305373A CN 113120609 B CN113120609 B CN 113120609B
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- Prior art keywords
- tray
- changing
- module
- disc
- suction nozzle
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Classifications
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/035—Stacking of articles by adding to the top of the stack from above with a stepwise downward movement of the stack
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/026—De-stacking from the top of the stack with a stepwise upward movement of the stack
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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
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
Abstract
The invention discloses a chip tray changing device which comprises at least two tray changing tray conveying rails and at least two tray changing modules, wherein the at least two tray changing tray conveying rails are arranged on the tray changing trays; the disc changing and charging tray conveying track comprises a disc changing and charging tray main frame, a charging tray conveying device and a charging tray positioning device, wherein the charging tray conveying device is installed on the disc changing and charging tray main frame and used for conveying a general charging tray or a special charging tray to move on the disc changing and charging tray main frame; the disc changing module comprises a disc changing moving frame and a disc changing gripper, the disc changing moving frame is used for driving the disc changing gripper to move, and the disc changing gripper can grip a single chip or grip at least two chips in an opening-closing and interval-adjusting mode. The chip tray changing equipment can change the chips on the general material tray into the special material tray and also can change the chips on the special material tray into the general material tray; the tray is adaptively positioned in the station; the disc changing gripper can be opened and closed to adjust the distance; the disc replacing efficiency of the chip is effectively improved.
Description
Technical Field
The invention relates to the technical field of disk changing of semiconductor integrated circuit chips, in particular to a chip disk changing device.
Background
In the production and manufacturing process of semiconductor integrated circuit chips, because of numerous links and delicate and complex process, part of chips are damaged in the manufacturing process, and if the damaged chips and normal chips are put into the market at the same time, the confusion of the market is caused, so that the chips need to be detected before entering the market. The traditional chip detection process belongs to a labor-intensive process, a detector picks up a chip by using tweezers fingers, places the chip on a testing machine and then manually presses the chip to obtain chip data, the traditional chip detection process is gradually eliminated in the current market, the current most advanced detection mode is to simulate manual detection action through detection equipment and detect the chip, the efficiency is greatly improved, the chip is picked up by using a mechanical gripper, the chip is quick and accurate, but the detection equipment needs to use a special chip tray to load the chip so as to enable the mechanical gripper to pick up and place the chip, the chip is generally loaded by using some general trays in the production process, the existing device for transferring the chip between some general trays and the special tray has limited efficiency in the operation process and cannot be adjusted according to the distance of the tray loading unit cells and cannot be adapted to the outer size of different trays for adaptive positioning adjustment, and is inconvenient.
Disclosure of Invention
The purpose of the invention is: the chip tray changing equipment can adapt to different tray sizes and efficiently change the trays among the trays.
In order to solve the technical problem, the invention provides a chip disk replacing device
The chip tray changing equipment comprises at least two tray changing tray conveying rails and at least two tray changing modules;
the disc changing and charging tray conveying track comprises a disc changing and charging tray main frame, a charging tray conveying device and a charging tray positioning device, wherein the charging tray conveying device is installed on the disc changing and charging tray main frame and used for conveying a general charging tray or a special charging tray to move on the disc changing and charging tray main frame;
the tray changing module comprises a tray changing moving frame and a tray changing gripper, the tray changing moving frame is used for driving the tray changing gripper to move horizontally, the tray changing gripper can grip a single chip or grip at least two chips in a folding and unfolding mode with adjustable intervals, and the tray changing module is used for transferring the chips from a general tray to a special tray or transferring the chips from the special tray to the general tray.
As a preferred scheme of the invention, the material tray conveying device comprises a material tray conveying belt and a conveying driver, the material tray positioning device comprises a material tray blocking module, a back-pushing clamping module and a side-pushing clamping module, the material tray blocking module and the back-pushing clamping module are respectively arranged at the middle station of the main tray changing track frame in tandem, and the side-pushing clamping module is arranged at the side edge of the middle station of the main tray changing track frame.
As a preferable scheme of the invention, the tray blocking module comprises a blocking base, a blocking cylinder, a blocking frame, a blocking sheet, a blocking slide rail and a blocking slide block, wherein the blocking base is L-shaped, the blocking cylinder and the blocking slide rail are respectively vertically installed on two sides of the blocking base, the blocking frame is a right-angle plate, the upper end of the blocking frame is connected with a piston rod of the blocking cylinder, the inner side surface of the lower end of the blocking frame is connected with the blocking slide block and is in sliding connection with the blocking slide rail, and the blocking sheet is installed on the outer side surface of the blocking frame.
As a preferred scheme of the present invention, the backward-pushing clamping module includes a backward-pushing clamping base, a backward-pushing cylinder, a tapping cylinder, a backward push rod, and a tapping head, the backward-pushing cylinder and the tapping cylinder are horizontally installed on the backward-pushing clamping base in the same direction, the backward push rod is connected to a piston rod of the backward-pushing cylinder, the tapping head is connected to a piston rod of the tapping cylinder, and a tapping plate protrudes from the backward-pushing clamping base.
As a preferable aspect of the present invention, the side-push clamping module includes a side-push cylinder, a side-push base, and a side-push rod, the side-push base is fixed to the main frame of the disc-changing track, the side-push cylinder is fixed to the side-push base, and a piston rod of the side-push cylinder is connected to the side-push rod 333.
As a preferred scheme of the invention, both ends of the disc changing track main frame are provided with a material disc stacking limiting frame, a material disc jacking module and a material disc supporting module.
As a preferred scheme of the invention, the tray stacking and limiting frame comprises four upright right-angle strip plates, and the four right-angle strip plates are distributed at four corners of a rectangle.
As a preferred scheme of the invention, the charging tray jacking module is arranged below stations at two ends of the main tray changing track frame, the charging tray jacking module comprises a jacking driver, a jacking base, a jacking rack and a jacking guide rod mechanism, one end of the jacking driver and one end of the jacking guide rod mechanism are arranged on the jacking base, the lower side of the jacking rack is connected with the other end of the jacking guide rod mechanism, and the other end of the jacking driver is in driving connection with the jacking rack.
As a preferred scheme of the present invention, the tray supporting module includes a supporting driver, a supporting base and a supporting tray, the supporting driver is installed on the supporting base, and the supporting driver drives the supporting tray to move horizontally.
As a preferred scheme of the present invention, the disc-changing moving frame includes a disc-changing moving main frame, an arm bracket, a first disc-changing driver, a second disc-changing driver, and a disc-changing gripper connecting block, the disc-changing moving main frame and the arm bracket are horizontally disposed, the arm bracket is vertically and movably connected to the disc-changing moving main frame, the first disc-changing driver drives the arm bracket to move along the disc-changing moving main frame, the disc-changing gripper connecting block is movably connected to the arm bracket, and the second disc-changing driver drives the disc-changing gripper connecting block to move along the arm bracket.
As a preferred scheme of the present invention, the first disc changer is a motor tightly connected to the disc changer main frame, a motor shaft of the first disc changer drives the arm bracket to reciprocate through a synchronous belt, the second disc changer is a motor tightly connected to the arm bracket, and a motor shaft of the second disc changer drives the disc changer gripper connecting block to reciprocate through a synchronous belt;
as a preferable scheme of the invention, the arm support is movably connected with the disc changing movement main frame through a slide block guide rail, and the disc changing gripper connecting block is also movably connected with the arm support through a slide block guide rail.
As a preferable scheme of the present invention, the disc-changing moving frame further includes a disc-changing moving auxiliary frame, the disc-changing moving auxiliary frame is parallel to the disc-changing moving main frame, and both ends of the arm support are vertically and movably connected to the disc-changing moving main frame and the disc-changing moving auxiliary frame, respectively.
As a preferred scheme of the invention, two driven wheels are arranged on the disc-changing motion auxiliary frame and are connected with the other end of the arm bracket through a synchronous belt drive, and one driven wheel on the disc-changing motion auxiliary frame is linked with the driven wheel on the disc-changing motion main frame through a disc-changing linkage shaft.
As a preferred scheme of the invention, the disc changing gripper comprises a disc changing gripper back plate, a fixed suction nozzle module, an opening and closing driving module and a suction nozzle driving module, wherein the fixed suction nozzle module is fixedly connected with the disc changing gripper back plate, the opening and closing suction nozzle module is movably connected with the disc changing gripper back plate in a horizontally movable manner, the opening and closing driving module drives the opening and closing suction nozzle module to horizontally move, and the fixed suction nozzle module and the opening and closing suction nozzle module are both provided with suction nozzles driven to lift by the suction nozzle driving module.
As a preferred scheme of the invention, the tray changing gripper back plate is movably connected with the opening and closing suction nozzle module through a horizontal slider and slide rail mechanism, the opening and closing driving module comprises an opening and closing motor, an opening and closing belt wheel, an opening and closing driving belt and an opening and closing driven wheel, the opening and closing motor is fixedly connected with the tray changing gripper back plate, a motor shaft of the opening and closing motor is connected with the opening and closing belt wheel, the opening and closing driven wheel is rotatably mounted on the tray changing gripper back plate, two ends of the opening and closing driving belt are respectively connected with the opening and closing belt wheel and the opening and closing driven wheel, and the opening and closing driving belt is horizontally connected with the opening and closing suction nozzle module in a transmission manner.
As a preferable scheme of the present invention, the number of the opening and closing suction nozzle modules is at least two, the opening and closing belt wheels, the opening and closing driving belt and the opening and closing driven wheel are also at least two, respectively, a motor shaft of the opening and closing motor is connected in series with the at least two opening and closing belt wheels, the opening and closing driving belt and the opening and closing driven wheel are distributed up and down, and a diameter difference is formed between the opening and closing belt wheels.
As a preferred scheme of the present invention, the suction nozzle driving module has at least two suction nozzle driving modules and is respectively connected to the fixed suction nozzle module and the open-close suction nozzle module, each suction nozzle driving module includes a suction nozzle driving motor, a suction nozzle driving belt and two suction nozzle driving pulleys, the two suction nozzle driving pulleys are mounted on the tray changing gripper back plate one above the other, two ends of the suction nozzle driving belt are respectively connected to the two suction nozzle driving pulleys, the suction nozzle driving motor is fixedly connected to the tray changing gripper back plate, a motor shaft of the suction nozzle driving motor is connected to one of the suction nozzle driving pulleys, and the suction nozzle driving belts of the at least two suction nozzle driving modules respectively drive the fixed suction nozzle module and the open-close suction nozzle module.
As a preferred scheme of the present invention, the tray changing gripper back plate is further provided with at least two suction nozzle dropping protection members respectively connected to the fixed suction nozzle module and the opening and closing suction nozzle module, one end of each suction nozzle dropping protection member is connected to the tray changing gripper back plate, and the other end of each suction nozzle dropping protection member is connected to the fixed suction nozzle module or the opening and closing suction nozzle module.
As a preferred scheme of the present invention, the suction nozzle dropping protection member is a tension spring, an upper end of the tension spring is connected to an upper end of the back plate of the disc changing gripper, and a lower end of the tension spring is connected to the fixed suction nozzle module or the opening and closing suction nozzle module.
As a preferred scheme of the present invention, the opening and closing suction nozzle module includes a second suction nozzle module lower mounting seat, a second suction nozzle module upper mounting seat, a second suction nozzle module main frame, and an opening and closing transverse guide rod, the second suction nozzle module lower mounting seat is horizontally movably connected to the disk-changing gripper back plate through a slider slide rail mechanism, the second suction nozzle module upper mounting seat is connected to the disk-changing gripper back plate through a slider slide rail mechanism, the second suction nozzle module main frame is connected to the second suction nozzle module lower mounting seat through a slider slide rail mechanism, the opening and closing transverse guide rod is horizontally installed on the second suction nozzle module upper mounting seat, and the second suction nozzle module main frame is connected to the opening and closing transverse guide rod in a sliding manner.
In a preferred embodiment of the present invention, the upper end of the second suction nozzle module main frame is clamped to the opening/closing transverse guide rod by two rotation pins, the upper end of the second suction nozzle module main frame is connected to the suction nozzle dropping protection member, the second suction nozzle module upper mounting base is connected to the suction nozzle driving belt, and the second suction nozzle module lower mounting base is connected to the opening/closing driving belt.
As a preferable aspect of the present invention, the fixed nozzle module includes a first nozzle module lower mounting seat, a first nozzle module upper mounting seat, and a first nozzle module main frame, the first nozzle module lower mounting seat is connected to the first nozzle module main frame in a liftable manner by a slider slide mechanism, the upper end of the first nozzle module main frame is connected to the nozzle drop protector, the first nozzle module upper mounting seat is fixedly connected to the first nozzle module main frame, the first nozzle module upper mounting seat is connected to the nozzle driving belt, and the first nozzle module lower mounting seat is fixedly connected to the disk-changing gripper back plate.
Compared with the prior art, the chip disk replacing equipment has the beneficial effects that: the movement of replacing the chips on the general material tray into the special material tray can be realized, and the movement of replacing the chips on the special material tray into the general material tray can also be realized; the material tray can be adaptively positioned in the station, and the position of the chip on the material tray can be guided by beating; the tray changing gripper can be opened and closed, is suitable for chips or trays with various specifications, and has high flexibility; a plurality of grippers can simultaneously perform a disc changing process, so that the disc changing efficiency of the chip is effectively improved; the disc changing moving frame ensures that the disc changing gripper has high moving and positioning precision and good moving stability; the tray changing tray conveying track can be used for changing the tray or the conveying direction of the changing direction, the flexibility is good, the material feeding position and the material discharging position at two ends of the track are designed into a stacking structure, a large number of trays can be fed at one time, and the feeding time and the material taking time of workers are saved.
Drawings
FIG. 1 is a schematic view of the overall mounting structure of an embodiment of the present invention;
FIG. 2 is a schematic view of an assembly structure of the tray changing tray transportation rail in the invention;
FIG. 3 is a schematic view of an assembly structure of the tray blocking module of the present invention;
FIG. 4 is a schematic view of an assembly structure of the backward clamping module according to the present invention;
FIG. 5 is a schematic view of an assembly structure of the side-push clamping module of the present invention;
FIG. 6 is an enlarged view of a portion of the structure at A in FIG. 2;
FIG. 7 is a schematic view of an assembly structure of the tray lifting module according to the present invention;
FIG. 8 is a schematic view of an assembly structure of the tray support module of the present invention;
FIG. 9 is a schematic view of an assembly structure of the tray changing motion frame according to the present invention;
FIG. 10 is a schematic view of an assembly of the disc changer grip of the present invention;
FIG. 11 is a schematic view of an assembly structure of the opening/closing driving module of the present invention;
FIG. 12 is a schematic view of an assembly structure of the nozzle driving module according to the present invention;
FIG. 13 is a schematic view of an assembly structure of the open/close suction nozzle module of the present invention;
in the figure, 21, a disc-changing track main frame; 22. a tray transport device; 221. a tray conveyor belt; 222. a transport drive; 23. a disc changing moving frame; 231. a disc changing movement main frame; 232. a disc changing kinematic subframe; 233. an arm support; 234. a first disc changer drive; 235. a second disc changer drive; 236. a disc changing gripper connecting block; 24. a disc changing gripper; 241. a disc-changing gripper back plate; 242. fixing a suction nozzle module; 243. opening and closing the suction nozzle module; 2431. a second suction nozzle module lower mounting seat; 2432. a mounting seat is arranged on the second suction nozzle module; 2433. a second suction nozzle module main frame; 2434. opening and closing the transverse guide rod; 244. an opening and closing driving module; 2441. an opening and closing motor; 2442. a belt wheel is opened and closed; 2443. an opening and closing driving belt; 2444. opening and closing the driven wheel; 245. a suction nozzle driving module; 2451. a suction nozzle driving motor; 2452. a suction nozzle driving belt; 2453. the suction nozzle drives the belt pulley;
31. a tray blocking module; 311. a blocking base; 312. a blocking cylinder; 313. a blocking frame; 314. a blocking sheet; 315. blocking the sliding rail; 316. a blocking slide block; 32. a backward pushing clamping module; 321. pushing the clamping base backwards; 3211. knocking the plate; 322. a back push cylinder; 323. knocking the cylinder; 324. a rear push rod; 325. a knocking head; 33. a side-push clamping module; 331. a side push cylinder; 332. laterally pushing the base; 333. a side push rod;
41. the material tray is stacked on the limiting frame; 42. a tray jacking module; 421. a jacking driver; 422. jacking a base; 423. jacking a rack; 424. a jacking guide rod mechanism; 43. the material tray supporting module; 431. A support driver; 432. a support base; 433. and supporting the supporting block.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, either fixedly connected, detachably connected, or integrally connected, unless otherwise explicitly stated or limited; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it is to be further understood that the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the machine or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. It should be understood that the terms "first", "second", etc. are used herein to describe various information, but the information should not be limited to these terms, which are only used to distinguish one type of information from another. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information, without departing from the scope of the present invention.
Referring to fig. 1, a chip tray changing apparatus according to an embodiment of the present invention includes tray changing tray transportation rails and tray changing modules, where at least two tray changing tray transportation rails are arranged side by side in parallel, the tray changing modules may span over the tray changing tray transportation rails, the two tray changing tray transportation rails are respectively used for placing and transporting a general tray and a special tray, and the tray changing modules are used for transferring chips from the general tray to the special tray or from the special tray to the general tray; through the cooperation of the disc changing tray conveying track and the disc changing module, the chips on a plurality of general trays can be continuously and correspondingly changed into a plurality of special trays, and the chips on a plurality of special trays can also be continuously and correspondingly changed into a plurality of general trays;
the disc changing and charging tray conveying track comprises a disc changing and charging tray main frame 21, a charging tray conveying device 22 and a charging tray positioning device, wherein the charging tray conveying device is installed on the disc changing and charging tray main frame 21 and used for carrying a general charging tray or a special charging tray to move on the disc changing and charging tray main frame 21, the charging tray positioning device is used for positioning the general charging tray or the special charging tray at a station, the charging trays can be conveyed on the disc changing and charging tray conveying track one by one, and the charging trays with different sizes are positioned at the station in a self-adaptive manner to continuously transfer chips;
the disc changing module comprises a disc changing moving frame 23 and a disc changing gripper 24, the disc changing moving frame 23 is used for driving the disc changing gripper 24 to horizontally move above the disc changing disc conveying track, the disc changing gripper 24 is used for lifting and grabbing single chips on a single general disc or a special disc or grabbing at least two chips on the general disc or the special disc in a manner of opening and closing to adjust the distance, the chip placing distances of different discs can be adjusted by the disc changing gripper 24 in real time when discs are changed, so that the chips can be correctly picked and placed every time, and the disc changing efficiency of multiple chips is effectively improved.
Referring to fig. 2 and 6, the tray transportation device 22 illustratively includes a tray transportation belt 221 and a transportation driver 222, the tray transportation belt 221 is installed on the tray changing track main frame 21 and is driven by the transportation driver 222 to operate, and the tray transportation belt 221 carries a special tray or a general tray and correspondingly drags along the tray changing track main frame 21.
Referring to fig. 2 and 6, for example, the disc change track main frame 21 is a rectangular frame, and the two disc transport belts 221 are rotatably mounted on two inner side wall surfaces of the disc change track main frame 21, respectively; the transportation driver 222 comprises a motor, a motor belt wheel and a track belt wheel, the motor belt wheel is connected with the motor, one end of the material tray transportation belt 221 is matched and sleeved with the track belt wheel, the motor belt wheel and the track belt wheel on one side are connected and driven through a transmission belt, meanwhile, the track belt wheel on two sides are connected through a wheel shaft, so that the motor is started, namely, the motor is linked to drive the material tray transportation belt 221 to rotate, and when a general material tray or a special material tray is placed in the tray changing track main frame 21, the material tray transportation belt 221 on two sides is naturally supported and driven.
Referring to fig. 2, illustratively, the tray positioning device includes a tray blocking module 31, a back-pushing clamping module 32 and a side-pushing clamping module 33, the tray blocking module 31 and the back-pushing clamping module 32 are respectively installed at the middle station of the tray-changing track main frame 21 in tandem, the side-pushing clamping module 33 is installed at the side of the middle station of the tray-changing track main frame 21, when a tray is transported to the station, the tray blocking module 31 firstly blocks the tray, the back-pushing clamping module 32 presses and clamps the tray from the other side of the tray, the side-pushing clamping module 33 presses and clamps the tray from the side to the other side of the tray-changing track main frame 21, so that the tray is positioned at the station, the back-pushing clamping module 32 and the side-pushing clamping module 33 can realize pressing operation through a power cylinder, an electric push rod or a rotating and moving movable mechanism, etc., and the tray blocking module 31 can move to the corresponding position to block the tray through the movable mechanism.
Referring to fig. 2 and 3, for example, the tray blocking module 31 includes a blocking base 311, a blocking cylinder 312, a blocking frame 313, a blocking plate 314, a blocking slide rail 315 and a blocking slide block 316, where the blocking base 311 is L-shaped, the blocking cylinder 312 and the blocking slide rail 315 are respectively vertically installed on two sides of the blocking base 311, the blocking frame 313 is a right-angle plate, the upper end of the blocking frame is connected to a piston rod of the blocking cylinder 312, the lower end inner side surface of the blocking frame 313 is connected to the blocking slide block 316 and is in sliding connection with the blocking slide rail 315, and the blocking plate 314 is installed on the lower end outer side surface of the blocking frame 313, so that when the tray blocking module 31 extends upwards out of the blocking plate 314 from the middle lower portion of the tray changing track main frame 21, a tray can be blocked.
Referring to fig. 2 and 4, for example, the back-pushing clamping module 32 includes a back-pushing clamping base 321, a back-pushing cylinder 322, a tapping cylinder 323, a back push rod 324 and a tapping head 325, the back-pushing cylinder 322 and the tapping cylinder 323 are horizontally installed on the back-pushing clamping base 321 in the same direction, the back push rod 324 is connected to a piston rod of the back-pushing cylinder 322, the tapping head 325 is connected to a piston rod of the tapping cylinder 323, a tapping plate 3211 protrudes from the back-pushing clamping base 321, the tapping cylinder 323 drives the tapping head 325 to tap the tapping plate 3211, so that after a tray is blocked by the tray blocking module 31, the back-pushing cylinder 322 drives the back push rod 324 to move horizontally to press the tray against the tray blocking module 31 to realize back-pushing clamping, and then the tapping cylinder drives the tapping head 325 to tap the tapping plate 3211 horizontally, therefore, the material tray can be vibrated by pushing the clamping module 32 backwards, the chips which are skewed or improperly placed in the material tray can be vibrated to the correct position, the knocking speed and the knocking frequency can be set, the chips which are originally arranged at the specified position cannot be knocked over due to the fact that the knocking force is too large, and the chips cannot be knocked down due to the fact that the knocking force and the frequency are not enough.
Referring to fig. 2 and 5, for example, the side-push clamping module 33 includes a side-push cylinder 331, a side-push base 332, and a side-push rod 333, the side-push base 332 is fixed opposite to the tray changing track main frame 21, the side-push cylinder 331 is fixed on the side-push base 332, a piston rod of the side-push cylinder 331 is connected to the side-push rod 333, and the side-push rod 333 is driven by the side-push cylinder 331 to push against one side edge of a general-purpose or special-purpose tray, so that the other side edge of the general-purpose or special-purpose tray is tightly attached to a side plate of the tray changing track main frame 21; the blocking base 311 and the backward pushing clamping base 321 may be fixed to the main disk changing rail frame 21 or a machine table or a frame where the device is located.
Referring to fig. 2 and 6, exemplarily, the both ends of trade dish track body frame 21 all are provided with the charging tray and pile up spacing 41, charging tray jacking module 42, charging tray supporting module 43, and general charging tray or special charging tray can be followed the charging tray piles up spacing 41 and piles up and place on the arbitrary end of trade dish track body frame 21, charging tray jacking module 42 can be with charging tray jack-up or fall down, the cooperation charging tray supporting module 43 single can hang up the charging tray of top, and the charging tray can be from piling up and giving out or piling up one by one at any one end of trade dish track body frame 21, simultaneously charging tray conveyer 22 charging tray can two-way pile up the release and pile up the collection again, realize two-way transportation.
Referring to fig. 2 and 6, exemplarily, the charging tray piles up spacing 41 and includes four upright right angle slats, four the right angle slat is the four corners distribution of rectangle, works as charging tray jacking module 42 is followed the charging tray trade a set track body frame 21 jack-up can four the four corner correspondence right angle slat rises, perhaps piles up the charging tray again and follows four the right angle slat is transferred one by one to the charging tray can be followed spacing 41 is piled up to the charging tray and is gone up and down to realize piling up and collect or release, because the both ends of trading a set track body frame 21 all have four respectively the right angle slat, preferably, lean on the right angle slat of outer one side than lean on interior one side short, very conveniently get and put the charging tray of piling up.
Referring to fig. 2, 6 and 7, for example, the tray jacking module 42 is disposed below the stations at two ends of the tray changing track main frame 21, the tray jacking module 42 includes a jacking driver 421, a jacking base 422, a jacking stage 423 and a jacking guide rod mechanism 424, one end of the jacking driver 421 and one end of the jacking guide rod mechanism 424 are mounted on the jacking base 422, the lower side of the jacking stage 423 is connected with the other end of the jacking guide rod mechanism 424, the other end of the jacking driver 421 is connected with the jacking stage 423 in a driving manner, the jacking base 422 can be mounted below two ends of the tray changing track main frame 21, the jacking driver 421 can be a power cylinder or a motor, preferably, the jacking driver 421 is a motor and is connected with the jacking stage 423 through a roller screw mechanism or other transmission mechanism for converting rotational motion into linear motion, meanwhile, the jacking guide rod mechanism 424 assists in guiding the jacking rack 423 to stably lift.
Referring to fig. 2 and 8, illustratively, the tray support module 43 includes a support driver 431, a support base 432 and a support pad 433, the supporting driver 431 can be a power cylinder or an electric telescopic rod, the supporting driver 431 is installed on the supporting base 432, the supporting driver 431 drives the supporting bracket 433 to move horizontally, when the tray jacking module 42 supports the tray to lift, the supporting block 433 moves backwards to avoid clamping a specially-arranged bayonet of the tray from the lower part, after the material tray goes up and down, the supporting block 433 extends out of a bayonet which is specially arranged corresponding to the material tray, thereby supporting the stacked trays and the tray support module 43 can put down the tray or jack up the next tray below the stacked trays, the support actuator 431 is preferably a pneumatic cylinder, the support base 432 is preferably L-shaped, the front end of the supporting block 433 is preferably provided with a bayonet in which a shovel-shaped supporting sheet is matched with and inserted into the side edge of the material tray.
Referring to fig. 9, exemplarily, the disc-changing moving frame 23 includes a disc-changing moving main frame 231, an arm bracket 233, a first disc-changing driver 234, a second disc-changing driver 235, and a disc-changing gripper connection block 236 for connecting the disc-changing gripper 24, the disc-changing moving main frame 231 and the arm bracket 233 are horizontally disposed, the arm bracket 233 is vertically and movably connected to the disc-changing moving main frame 231, the first disc-changing driver 234 drives the arm bracket 233 to move along the disc-changing moving main frame 231, the disc-changing gripper connection block 236 is movably connected to the arm bracket 233, the second disc-changing driver 235 drives the disc-changing gripper connection block 236 to move along the arm bracket 233, the disc-changing moving main frame 231 is perpendicular to the disc-changing disc transportation rail, the arm bracket 233 is parallel to the disc-changing disc transportation rail, so that the moving direction of the disc-changing gripper connection block 236 is the same as the disc-changing transportation rail, the moving direction of the arm bracket 233 is perpendicular to the disc changing tray transportation rail, thereby constituting a biaxial horizontal movement, and the disc changing gripper 24 is connected to the disc changing gripper connection block 236 so as to be horizontally movable.
Referring to fig. 9, for example, the first disc changer 234 is a motor tightly connected to the disc changer main frame 231, a motor shaft of the motor is connected to an end of the arm support 233 through a synchronous belt, the motor shaft of the first disc changer 234 drives the arm support 233 to reciprocate through the synchronous belt, the first disc changer 234 is disposed at one end of the disc changer main frame 231, a driven wheel is disposed at the other end of the disc changer main frame 231, the synchronous belt can be tensioned and pulled through a motor and a driven wheel, which saves cost, the first disc changer 234 can be a cylinder, a hydraulic cylinder or an electric telescopic rod, the second disc changer 235 is a motor tightly connected to the arm support 233, a motor shaft of the motor is connected to the disc changer gripper connection block 236 through a synchronous belt, and the synchronous belt of the second disc changer 235 drives the disc gripper connection block 236 to reciprocate through a motor shaft of the disc changer 236 In a similar way, the arm bracket 233 is also provided with a driven wheel which is matched with a motor to tension and pull a synchronous belt; the arm support 233 is movably connected with the disc changing movement main frame 231 through a slider guide rail, the disc changing gripper connecting block 236 is also movably connected with the arm support 233 through a slider guide rail, or the disc changing gripper 24 is connected with the disc changing gripper connecting block 236 and is movably connected with the arm support 233 through a slider guide rail, so that the movement accuracy and stability are realized.
Referring to fig. 9, the disc-changing motion frame 23 further includes a disc-changing motion sub-frame 232, the disc-changing motion sub-frame 232 is parallel to the disc-changing motion main frame 231, two ends of the arm support 233 are vertically movably connected to the disc-changing motion main frame 231 and the disc-changing motion sub-frame 232, respectively, and the arm support 233 has a better support structure and moves more smoothly since the arm support 233 is supported by the disc-changing motion main frame 231 in parallel.
Referring to fig. 9, exemplarily, two driven wheels are arranged on the disc-changing motion auxiliary frame 232 and are connected to the other end of the arm support 233 through a synchronous belt drive, one driven wheel on the disc-changing motion auxiliary frame 232 is linked with the driven wheel on the disc-changing motion main frame 231 through a disc-changing linkage shaft 237, so that the two ends of the arm support 233 can be driven to move synchronously only through the driving of the first disc-changing driver 234, and the arm support 233 is also movably connected to the disc-changing motion auxiliary frame 232 through a slider guide rail.
Referring to fig. 10, for example, the tray changing gripper 24 includes a tray changing gripper back plate 241, a fixed suction nozzle module 242, an opening and closing suction nozzle module 243, an opening and closing driving module 244 and a suction nozzle driving module 245, the tray changing gripper back plate 241 is fixedly connected to the tray changing gripper connecting block 236, the tray changing gripper 24 is movably connected to the arm bracket 233, the fixed suction nozzle module 242 is fixedly connected to the tray changing gripper back plate 241, the opening and closing suction nozzle module 243 is movably connected to the tray changing gripper back plate 241 in a horizontally movable manner, the opening and closing driving module 244 drives the opening and closing suction nozzle module 243 to horizontally move, the fixed suction nozzle module 242 and the opening and closing suction nozzle module 243 are both provided with suction nozzles driven to lift by the suction nozzle driving module 245, and the opening and closing driving module 244 and the suction nozzle driving module 245 can be driven by a hydraulic cylinder or an air cylinder to linearly reciprocate, the tray changing gripper 24 can automatically open and close and grip a plurality of trays according to the chip placing position specification even if the chip placing position distance difference between the general tray and the special tray is different, the tray changing gripper 24 can also be correspondingly adjusted, and can flexibly perform efficient actions of simultaneously gripping a plurality of chips.
Referring to fig. 10 and 11, for example, the tray-changing gripper back plate 241 is movably connected to the opening and closing suction nozzle module 243 through a horizontal slider-slide rail mechanism, the opening and closing driving module 244 includes an opening and closing motor 2441, an opening and closing belt wheel 2442, an opening and closing driving belt 2443 and an opening and closing driven wheel 2444, the opening and closing motor 2441 is fixedly connected to the tray-changing gripper back plate 241, a motor shaft of the opening and closing motor 2441 is connected to the opening and closing belt wheel 2442, the opening and closing driven wheel 2444 is rotatably mounted on the tray-changing gripper back plate 241, two ends of the opening and closing driving belt 2443 are respectively connected to the opening and closing belt wheel 2442 and the opening and closing driven wheel 2444, and the opening and closing driving belt 2443 is horizontally connected to the opening and closing suction nozzle module 243, so the opening and closing motor 2441 can easily drive the opening and closing suction nozzle module 243 to open and close the fixed suction nozzle module 242, and the opening and closing motor 2441 can also be connected to a horizontal lead screw, and the opening and closing suction nozzle module 243 is connected with the screw rod through a nut in a matching manner to realize transmission.
Referring to fig. 10 and 11, for example, the opening and closing nozzle modules 243 have at least two parallel, the opening and closing belt wheel 2442, the opening and closing driving belt 2443 and the opening and closing driven wheel 2444 are respectively and correspondingly provided with at least two, a motor shaft of the opening and closing motor 2441 is connected in series with at least two opening and closing belt wheels 2442, the opening and closing driving belt 2443 and the opening and closing driven wheel 2444 are distributed up and down, and the opening and closing belt wheels 2442 have diameter differences corresponding to the distance differences between the connected opening and closing nozzle module 243 and the fixed nozzle module 242, since the difference in the diameters of the expanding and contracting pulleys 2442 causes a difference in the moving speed of the expanding and contracting drive belt 2443, the diameter difference of the opening and closing belt wheel 2442 is designed through corresponding distance and speed calculation, at least two opening and closing nozzle modules 243 can be opened and closed at equal speed and equal distance with respect to the fixed nozzle module 242.
Referring to fig. 10 and 12, exemplarily, the nozzle driving module 245 has at least two nozzle driving modules and is respectively connected to the fixed nozzle module 242 and the opening and closing nozzle module 243, the nozzle driving module 245 includes a nozzle driving motor 2451, a nozzle driving belt 2452 and two nozzle driving pulleys 2453, the two nozzle driving pulleys 2453 are installed on the tray changing gripper back plate 241 one above the other, two ends of the nozzle driving belt 2452 are respectively connected to the two nozzle driving pulleys 243, the nozzle driving motor 2451 is fixedly connected to the rear side of the tray changing gripper back plate 241, a motor shaft of the nozzle driving motor 2451 is connected to one of the nozzle driving pulleys 243, the nozzle driving belts 2452 of at least two nozzle driving modules 245 are respectively connected to drive the fixed nozzle module 242 and the opening and closing nozzle module 243, thereby driving the fixed nozzle module 242 or the opening and closing nozzle module 243 to move up and down, the lifting is very fast.
Referring to fig. 10, for example, the tray changing gripper back plate 241 is further provided with at least two suction nozzle dropping protectors 246 respectively connected to the fixed suction nozzle module 242 and the opening and closing suction nozzle module 243, one end of each suction nozzle dropping protector 246 is connected to the tray changing gripper back plate 241, the other end of each suction nozzle dropping protector 246 is connected to the fixed suction nozzle module 242 or the opening and closing suction nozzle module 243, the suction nozzle dropping protector 246 correspondingly buffers the fixed suction nozzle module 242 or the opening and closing suction nozzle module 243 when the fixed suction nozzle module 242 or the opening and closing suction nozzle module 243 is lifted, so as to avoid hard collision, impact and damage to the chip, the suction nozzle dropping protector 246 is preferably a tension spring, the upper end of the tension spring is connected to the upper end of the tray changing gripper back plate 241, the lower end of the tension spring is connected to the fixed suction nozzle module 242 or the opening and closing suction nozzle module 243, and when the power of the equipment is lost and the power is supplied, the suction nozzle dropping protector 246 can vertically and elastically pull to prevent the fixed suction nozzle module 242 or the opening and closing suction nozzle module 243 from being disconnected The module 243 is lowered too fast by gravity to prevent the suction nozzle from being instantaneously lowered to cause collision or damage, and the suction nozzle drop protector 246 may also be a brake.
Referring to fig. 10 and 13, for example, the opening and closing nozzle module 243 includes a second nozzle module lower mounting base 2431, a second nozzle module upper mounting base 2432, a second nozzle module main frame 2433, and an opening and closing transverse guide rod 2434, the second nozzle module lower mounting base 2431 is horizontally movably connected to the tray-changing gripper back plate 241 through a slider-slide mechanism, the second nozzle module upper mounting base 2432 is connected to the tray-changing gripper back plate 241 through a slider-slide mechanism, the second nozzle module main frame 2433 is connected to the second nozzle module lower mounting base 2431 through a slider-slide mechanism, the opening and closing transverse guide rod 2434 is horizontally installed on the second nozzle module upper mounting base 2432, the second nozzle module main frame 2433 is slidably connected to the opening and closing transverse guide rod 2434, preferably, the upper end of the second nozzle module main frame 2433 is connected to the opening and closing transverse guide rod 2434 through two rotating pins, when the opening and closing nozzle module 243 horizontally opens and closes, the upper and lower portions of the second nozzle module main frame 2433 can both move horizontally and move up and down smoothly, the upper end of the second nozzle module main frame 2433 is connected to the nozzle drop protection member 246, the second nozzle module upper mounting seat 2432 is connected to the nozzle driving belt 2452, the second nozzle module lower mounting seat 2431 is connected to the opening and closing driving belt 2443, and the air nozzle is mounted at the lower end of the second nozzle module main frame 2433.
Referring to fig. 10, for example, the fixed nozzle module 242 includes a lower first nozzle module mounting seat, an upper first nozzle module mounting seat, and a first nozzle module main frame, and the structure of the opening and closing nozzle module 243 is the same, the lower first nozzle module mounting seat is connected to the first nozzle module main frame through a slider slide rail mechanism in a liftable manner, the upper end of the first nozzle module main frame is connected to the nozzle dropping protection member 246, and the nozzle is installed at the lower end of the first nozzle module main frame, while the upper first nozzle module mounting seat is fixedly connected to the first nozzle module main frame, and the lower first nozzle module mounting seat is fixedly connected to the disc-changing grip back plate 241.
To sum up, the embodiment of the present invention provides a chip tray changing apparatus, which can change a chip on a general tray into a special tray, and also can change a chip on a special tray into a general tray; the material tray can be adaptively positioned in the station, and the position of the chip on the material tray can be guided by beating; the tray changing gripper can be opened and closed, is suitable for chips or trays with various specifications, and has high flexibility; a plurality of grippers can simultaneously perform a disc changing process, so that the disc changing efficiency of the chip is effectively improved; the disc changing moving frame ensures that the disc changing gripper has high moving and positioning precision and good moving stability; the tray changing tray conveying track can be used for changing the tray or the conveying direction of the changing direction, the flexibility is good, the material feeding position and the material discharging position at two ends of the track are designed into a stacking structure, a large number of trays can be fed at one time, and the feeding time and the material taking time of workers are saved.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. A chip disk replacement device is characterized in that: the tray changing machine comprises at least two tray changing tray conveying rails and at least two tray changing module groups;
the disc changing and charging tray conveying track comprises a disc changing and charging tray main frame, a charging tray conveying device and a charging tray positioning device, wherein the charging tray conveying device is installed on the disc changing and charging tray main frame and used for conveying a general charging tray or a special charging tray to move on the disc changing and charging tray main frame;
the tray changing module comprises a tray changing moving frame and a tray changing gripper, the tray changing moving frame is used for driving the tray changing gripper to move horizontally, the tray changing gripper can grip a single chip or grip at least two chips in a folding and unfolding mode with adjustable intervals, and the tray changing module is used for transferring the chips from a general tray to a special tray or transferring the chips from the special tray to the general tray.
2. The chip tray changing apparatus according to claim 1, wherein: the charging tray conveying device comprises a charging tray conveying belt and a conveying driver, the charging tray positioning device comprises a charging tray blocking module, a backward pushing clamping module and a side pushing clamping module, the charging tray blocking module and the backward pushing clamping module are respectively installed at the middle station position on the charging tray replacing track main frame in tandem, and the side pushing clamping module is installed at the side of the middle station position of the charging tray replacing track main frame.
3. The chip tray changing apparatus according to claim 2, wherein: the rear pushing and clamping module comprises a rear pushing and clamping base, a rear pushing cylinder, a knocking cylinder, a rear push rod and a knocking head, the rear pushing cylinder and the knocking cylinder are horizontally installed on the rear pushing and clamping base in the same direction, the rear push rod is connected with a piston rod of the rear pushing cylinder, the knocking head is connected with the piston rod of the knocking cylinder, and a knocking plate protrudes out of the rear pushing and clamping base.
4. The chip tray changing apparatus according to claim 2, wherein: trade a set track body frame's both ends all are provided with the charging tray and pile up spacing, charging tray jacking module, charging tray supporting module.
5. A chip tray changing apparatus according to any one of claims 1 to 4, wherein: the disc changing motion frame comprises a disc changing motion main frame, an arm support, a first disc changing driver, a second disc changing driver and a disc changing gripper connecting block, the disc changing motion main frame is horizontally arranged with the arm support, the arm support is vertically movably connected with the disc changing motion main frame, the first disc changing driver drives the arm support to move along the disc changing motion main frame, the disc changing gripper connecting block is movably connected to the arm support, and the second disc changing driver drives the disc changing gripper connecting block to move along the arm support.
6. The chip tray changing apparatus according to claim 5, wherein: the disc changing motion frame further comprises a disc changing motion auxiliary frame, the disc changing motion auxiliary frame is parallel to the disc changing motion main frame, and two ends of the arm support are vertically and movably connected with the disc changing motion main frame and the disc changing motion auxiliary frame respectively.
7. A chip tray changing apparatus according to any one of claims 1 to 4, wherein: the tray changing gripper comprises a tray changing gripper back plate, a fixed suction nozzle module, an opening and closing driving module and a suction nozzle driving module, the fixed suction nozzle module is fixedly connected with the tray changing gripper back plate, the opening and closing suction nozzle module can be movably connected with the tray changing gripper back plate in a horizontal moving mode, the opening and closing driving module drives the opening and closing suction nozzle module to horizontally move, and the fixed suction nozzle module and the opening and closing suction nozzle module are provided with suction nozzles which are driven to lift through the suction nozzle driving module.
8. The apparatus of claim 7, wherein: trade a set tongs backplate through horizontally slider slide rail mechanism swing joint open and close the suction nozzle module, open and close the drive module including opening and close the motor, open and close the band pulley, open and close the driving band and open and close from the driving wheel, open and close motor fixed connection trade a set tongs backplate, open and close the motor shaft connection open and close the band pulley, open and close and rotationally install from the driving wheel on trade a set tongs backplate, open and close the both ends of driving band and connect respectively open and close the band pulley with open and close from the driving wheel, just open and close the drive band horizontal transmission connection open and close the suction nozzle module.
9. The apparatus of claim 7, wherein: the tray changing gripper back plate is further provided with at least two suction nozzle falling protection pieces which are respectively connected with the fixed suction nozzle module and the opening and closing suction nozzle module, one end of each suction nozzle falling protection piece is connected with the tray changing gripper back plate, and the other end of each suction nozzle falling protection piece is connected with the fixed suction nozzle module or the opening and closing suction nozzle module.
10. The apparatus of claim 7, wherein: the opening and closing suction nozzle module comprises a second suction nozzle module lower mounting seat, a second suction nozzle module upper mounting seat, a second suction nozzle module main frame and an opening and closing transverse guide rod, the second suction nozzle module lower mounting seat is connected with the disc changing gripper back plate in a horizontally movable mode through a slider slide rail mechanism, the second suction nozzle module upper mounting seat is connected with the disc changing gripper back plate in a liftable and movable mode through a slider slide rail mechanism, the second suction nozzle module main frame is connected with the second suction nozzle module lower mounting seat in a liftable and movable mode through a slider slide rail mechanism, the opening and closing transverse guide rod is horizontally installed on the second suction nozzle module upper mounting seat, and the second suction nozzle module main frame is connected with the opening and closing transverse guide rod in a sliding mode.
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| CN202110305373.XA CN113120609B (en) | 2021-03-22 | 2021-03-22 | Chip disk replacing equipment |
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| CN202110305373.XA CN113120609B (en) | 2021-03-22 | 2021-03-22 | Chip disk replacing equipment |
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| CN113120609B true CN113120609B (en) | 2022-02-08 |
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