CN113903683A - Ceramic copper-clad plate positioning and placing device - Google Patents
Ceramic copper-clad plate positioning and placing device Download PDFInfo
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- CN113903683A CN113903683A CN202111044905.5A CN202111044905A CN113903683A CN 113903683 A CN113903683 A CN 113903683A CN 202111044905 A CN202111044905 A CN 202111044905A CN 113903683 A CN113903683 A CN 113903683A
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67259—Position monitoring, e.g. misposition detection or presence detection
- H01L21/67265—Position monitoring, e.g. misposition detection or presence detection of substrates stored in a container, a magazine, a carrier, a boat or the like
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/67005—Apparatus not specifically provided for elsewhere
- H01L21/67242—Apparatus for monitoring, sorting or marking
- H01L21/67288—Monitoring of warpage, curvature, damage, defects or the like
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67706—Mechanical details, e.g. roller, belt
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67703—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations
- H01L21/67721—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations between different workstations the substrates to be conveyed not being semiconductor wafers or large planar substrates, e.g. chips, lead frames
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/68—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment
- H01L21/681—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for positioning, orientation or alignment using optical controlling means
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/683—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping
- H01L21/6838—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for supporting or gripping with gripping and holding devices using a vacuum; Bernoulli devices
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Abstract
The invention discloses a positioning and placing device for a ceramic copper-clad plate, and belongs to the technical field of power semiconductors. The automatic feeding device comprises a rack 1, a visual detection positioning mechanism 2, a tray-carrying drawing mechanism 3, a basket-lifting mechanism 4, a defective product placing mechanism 5, a rotary feeding mechanism 6 and a tray-carrying transmission mechanism 7. And a rotating disc type feeding mechanism is adopted, so that the production efficiency is improved. The lower camera and the upper camera can detect the defects of the incoming copper clad laminate and ensure the quality of the final product. The suction head can rotate, and the suction head can meet the requirements of products with different specifications and sizes. The ceramic copper-clad plate is placed in a positioning mode of visual detection, so that the product can be accurately placed in the carrying tray. The suction head adopts a vacuum suction mode with a cross slotted gasket to suck materials, so that the accurate suction of the materials can be ensured, and the materials can not be scratched. The carrying disc conveying track can adjust the distance, can be compatible with carrying discs with different widths, and achieves multiple purposes.
Description
Technical Field
The invention belongs to the technical field of power semiconductors, and particularly relates to a positioning and placing device for a ceramic copper-clad plate.
Background
The IGBT, i.e., the power semiconductor device, has a wide application in various aspects of the national defense industry and the national economy, and the market demand of the power semiconductor is increasing in a well-injection manner with the rise of new energy industries, electric vehicles and other emerging industries. In order to improve the quality and production efficiency of power semiconductor devices, it is urgently needed to change the production and manufacturing mode of the current power semiconductor enterprises.
The DBC, namely the ceramic copper clad laminate, is one of core components of a power semiconductor device, plays a role in bearing a power chip and conducting heat generated in the working process of the device, and plays a vital role in ensuring the normal work of the device.
As a first step of power semiconductor packaging, how to put DBC into a production line and ensure that finished products do not fail due to contact of personnel with the products in a loading process is a problem to be solved urgently in the current IGBT packaging process.
The prior general scheme is that manual picking and placing are carried out, the production efficiency is low, errors are easily caused by manual operation, the copper-clad plate is easily polluted, and the quality and the service life of a final product are influenced; the ceramic copper-clad plate has various types, is easy to confuse in the production process, and is difficult to identify and distinguish the quality of the copper-clad plate, so that defective products flow into the next procedure, and production is wasted. General automatic feeding product in market is the simple copper-clad plate that snatchs and places on the assembly line, can't inspect the supplied materials, and places the precision and can't guarantee, and the easy fish tail of pottery copper-clad plate to lead to a great deal of problems such as product scrapping.
Disclosure of Invention
The invention aims to provide a positioning and placing device for a ceramic copper-clad plate, which is used for placing the ceramic copper-clad plate in a carrying disc after the ceramic copper-clad plate is sucked by a sucking disc, so that the next procedure can be conveniently carried out, and the problems in the production are solved.
The invention is realized by the following technical scheme:
the utility model provides a pottery copper-clad plate location placer, includes 1 frame, 2 visual detection positioning mechanism, 3 year dish extraction mechanism, 4 basket elevating system, 5 defective products placement mechanism, 6 rotatory feed mechanism, 7 year dish conveying positioning mechanism.
The material basket lifting mechanism 4 drives the material basket to move up and down to convey the material basket and a carrying disc therein to a proper position, the material basket lifting mechanism 4 is arranged at one corner of the rack and comprises a fourth mounting plate 401, a fourth upper linear module 402, a fourth lower linear module 402, a fourth servo motor 403, a guide rail 404, a driving belt 405, a guide strip 406, a material basket platform 407, a synchronous belt wheel 408, a conveying belt 409 and a driving motor, the material basket lifting mechanism 4 is mounted on the rack through the mounting plate 401, the fourth mounting plate 401 is provided with the fourth upper linear module 402, the fourth guide rail 404 and the fourth linear module 402 driven by the fourth servo motor 403. A conveying belt 409 is arranged on the basket platform 407, and the conveying belt 409 is driven by a driving motor through a driving belt 405 and synchronous belt pulleys 408 on two sides;
a basket sensor is also disposed on the basket platform 407.
The bottom is provided with a driving motor through a motor mounting plate, and the driving synchronous belt can drive the material basket to advance to a specified position
The basket lifting mechanism works in the process that a basket 400 is placed on a conveying belt 409, a driving motor drives the double-drive conveying belt 409 through a driving belt 405 and synchronous belt pulleys 408 on two sides to convey the basket 400 to a proper position on a basket platform 407, and after a basket sensor determines that the basket 407 reaches the proper position, a servo motor 403 drives the basket platform 407 to ascend to the proper position along a guide rail 404 through an upper linear module 402 and a lower linear module 402.
The guide strips 406 ensure the orientation of the basket 400 on the basket platform.
The carrier disc extracting mechanism 3 takes out the carrier disc from the material basket, places the carrier disc on the carrier disc conveying mechanism 7, comprises a third mounting plate 301, a third guide rail 302, a gripper fixing plate 303, a lifting cylinder 304, a carrier disc pushing block 305, a pneumatic clamping jaw 306, a clamping jaw mounting plate 307, a linear module 308, a ribbed plate 309 and a third servo motor 310, and is fixedly mounted on the rack through the third mounting plate 301 and the two ribbed plates 309. The third linear module 308 and the third guide rail 302 are arranged on the third mounting plate 301, the third linear module 308 is driven by a third servo motor 310, a third lifting cylinder 304, a pneumatic clamping jaw 306 and a disc-carrying push block 305 form a disc-carrying gripper, the disc-carrying gripper is fixed on the lifting cylinder 304 through a clamping jaw fixing plate 307, and the third lifting cylinder 304 is mounted on a sliding block matched with the linear module 308 through a gripper fixing plate 303.
The working process of the tray-carrying extracting mechanism 3 is that after the material basket platform 407 reaches the loading position, the pneumatic clamping jaws 306 and the tray-carrying push block 305 of the tray-carrying extracting mechanism 3 are adjusted to be in proper positions through the linear module 308 and the lifting cylinder 304, the pneumatic clamping jaws 306 clamp the tray in the material basket, the tray is moved to the transmission mechanism, the pneumatic clamping jaws 306 release the tray, and the tray is placed on the tray-carrying conveying positioning mechanism 7.
The tray pushing block 305 is used for adjusting the tray position and ensuring the position of each tray to be consistent.
The tray conveying and positioning mechanism 7 conveys and positions the tray to the next process after the loaded ceramic copper-clad plate is placed, and comprises a fixed guide rail 701, a conveying belt 702, a tray 703, a ball screw 704, a screw nut 705, a hexagonal shaft assembly 706, a seventh driving motor 707, a tensioning wheel 708, a synchronous belt 709, a tray positioning assembly 710, a first fixed supporting seat 711, a sliding supporting seat guide rail 712, a sliding supporting seat 713, a sliding guide rail 714, a second fixed supporting seat 715, a conveying guide bar 716, a seventh servo motor 717 and a tray positioning hole 7031.
The carrier transport positioning mechanism 7 is fixed on the rack through a pair of first fixed support seat 711, second fixed support seat 715 and slide support seat 713 respectively, wherein the second fixed support seat 715 directly supports the fixed guide rail 701, the first fixed support seat 711 and the second fixed support seat 715 support the slide support seat 713 through the ball screw 704, the slide support seat 713 is internally provided with a screw nut 705 matched with the ball screw 704, the slide guide rail 714 is supported on the two slide support seats 713, the slide support seat guide rail 712 is arranged below the slide support seat 713, and the guide rail groove below the slide support seat 713 is matched with the slide support seat guide rail 712.
The seventh servo motor 717 is connected with the sliding guide rail 714 through a ball screw 704, a screw nut 705 and a sliding support seat 713, and can adjust the distance between the two conveying belts on the fixed guide rail 701 and the sliding guide rail 714 to adapt to loading discs with different sizes.
The two ball screws 704 are connected to a timing belt 709 through a tension pulley 708.
The seventh driving motor 707 is connected with the hexagonal shaft assembly 706 through a pulley, one end of the hexagonal shaft assembly 706 is connected with the conveyor belt 702 on the fixed guide rail 701 side, the other end of the hexagonal shaft assembly 706 is connected with the conveyor belt on the sliding guide rail 714 side through a shaft sleeve, the hexagonal shaft assembly 706 comprises a hexagonal shaft and a hexagonal shaft sleeve, the hexagonal shaft 706 is in sliding connection with the hexagonal shaft sleeve, the axial distance between the sliding guide rail 714 and the fixed guide rail 701 can be conveniently adjusted, and the carrier discs with different widths can be adapted.
The positioning mechanism 710 is fixed between two belts of the conveying mechanism on the rack and comprises a carrier disc stop 7101, a linear bearing 7102, a guide shaft 7103, a positioning tray 7104, a positioning pin 7105, a jacking cylinder 7106, a buffer device 7107, a limiting bolt 7108 and a bottom plate 7109, wherein the carrier disc stop 7101 is arranged in front of the working position of the carrier disc, the jacking cylinder 7106 is arranged on the rack 1, the four guide shafts 7103 can vertically and slidably arrange the positioning mechanism 710 below the working position of the carrier disc through the linear bearing 7102, the buffer device 7107 and the limiting bolt 7108 are arranged between the bottom plate 7109 and the rack 1, the piston of the jacking cylinder 7106 is connected with the positioning tray 7104, and the positioning pin 7105 is arranged on the tray;
the positioning pin 7105 is tapered so as to be matched with the positioning hole on the carrying disc to determine the position of the carrying disc.
The positioning mechanism 710 works in a way that after the loading disc is in place, the loading disc is blocked by the loading disc stop block 7101, the piston of the jacking cylinder 7106 extends out to jack up the positioning mechanism, after the positioning plate 7104 touches the loading disc, the positioning pin 7105 guides the positioning plate to finely adjust the position of the loading disc through the taper to realize the positioning of the tray, the buffer device 7107 buffers the jacking process of the positioning mechanism, and the limit bolt 7108 limits the jacking of the positioning mechanism to be not excessive.
The rotary feeding mechanism 6 is arranged on the rack 1 and comprises a sixth lifting driving motor 601, a sixth jacking module 602, a fork-shaped inductor 603, a material box fixing plate 604, a quick clamp 605, a correlation sensor 606, a working side material box 607, a waiting side material box 608 and a turntable motor 609;
the rotary feeding mechanism 6 is operated by manually placing the ceramic copper-clad plates to be fed in the material boxes on the material box fixing plate 604 in a stacking manner, after the material boxes on two sides are fully filled, the lifting driving motor 601 drives the lifting module 602 to lift to a proper height convenient for the sucking disc to suck, the sucking disc firstly sucks and moves the ceramic copper-clad plates of the material boxes 607 on the working side to the carrying disc, then the turntable motor 609 drives the material box fixing plate 604 to rotate, the material boxes 608 on the side to be fed are rotated to the working side, and the sucking disc sucks and moves the material boxes into the carrying disc.
The four corners of the magazine fixing plate 604 are respectively provided with a quick clamp 605 for fixing the ceramic copper clad plate magazine.
A plurality of sets of correlation sensors 606 are installed on both sides of the working side material box 607 for detecting whether the material in the working side material box 607 is completely taken out.
A plurality of photoelectric sensors are arranged below the material box 608 on the other side to be processed, and are used for detecting whether materials exist in the material box 608 on the side to be processed.
A fork sensor 603 for detecting whether the cartridge retaining plate 604 is rotated in place.
The visual detection positioning mechanism 2 has the functions of accurately placing the ceramic copper-clad plate in the rotary feeding mechanism 6 in a loading tray waiting for feeding through visual positioning and simultaneously detecting whether the back of the ceramic plate of the copper-clad plate is defective or not. Comprises a vertical column 201, a second left-right straight line module 202, a second front-back straight line module 203, a second upper-lower straight line module 204, a suction mechanism 205, an upper camera 206 and a lower camera 207;
the visual detection positioning mechanism 2 is installed on the rack through four upright posts 201, the suction mechanism 205 is adjusted in position through the second left and right straight line module 202, the second front and rear straight line module 203, the second upper and lower straight line module 204, the upper camera 206 is arranged on the suction mechanism 205, and the lower camera 207 is arranged between the carrier disc transmission mechanism 7 and the rotary feeding mechanism 6.
The suction mechanism 205 comprises an upper cylinder 2051 and a lower cylinder 2052, a suction head 2052 is provided with an internal hole, is connected with a vacuum system and can suck a copper-clad ceramic plate, a polyether ethyl ketone gasket 20521 is arranged below the suction head, and a cross-shaped open slot 20522 is formed in the middle of the suction head.
The working process of the visual detection positioning mechanism 2 is as follows: after the suction mechanism 205 is adjusted to a proper position through the left and right linear modules 202, the front and rear linear modules 203 and the upper and lower linear modules 204, the suction mechanism 205 sucks the ceramic copper-clad plate in the work side material box of the rotary feeding mechanism, the upper camera arranged on the suction mechanism 205 takes pictures of the front side of the ceramic copper-clad plate and moves to the position above the lower camera 206, the lower camera 206 takes pictures of the back side of the ceramic copper-clad plate, whether the ceramic copper-clad plate is defective or not is judged according to pictures of the two sides, the accurate placing position of the ceramic copper-clad plate in the carrying tray is determined according to the pictures of the upper camera, the carrying tray without defects is placed, and the defective product placing mechanism 5 is placed if the defect exists.
The defective products placement mechanism 5 is used for placing a defective ceramic copper-clad plate detected by a camera, and comprises a supporting plate 501, a conveying belt 502, a correlation sensor 503 and a fifth driving motor 504, wherein the mechanism is installed on the frame 1 through the supporting plate 501, the fifth driving motor 504 is connected with the conveying belt 502, and the correlation sensor 503 is arranged on two sides of the conveying belt 502.
The defective product placing mechanism 5 is operated in such a way that a defective product detected by the suction mechanism of the visual detection positioning mechanism 2 is placed on the conveying belt 502, the driving motor 504 drives the conveying belt 502, and when the opposite-jet sensor 503 detects a defective product, the defective product is manually taken away.
The invention has the following beneficial effects:
1. by adopting the rotating disc type feeding mechanism, while the material box on one side is normally sucked, the material box on the other side can be filled with the ceramic copper-clad plate in advance, the material box on the other side can be rotatably switched to the material box on the other side to continue working after the material box on the other side is completed, the normal operation of the equipment is not influenced by the material feeding switching, and the production efficiency is improved.
2. The lower camera and the upper camera can be used for detecting the defects of the copper-clad plate of the incoming material, so that the quality of the final product is ensured, and the quality loss caused by the poor incoming material can not be generated.
3. The suction head can rotate, can change the direction of placing of ceramic copper-clad plate, the product requirement of adaptable different specification and size.
4. The ceramic copper-clad plate is placed in a positioning mode of visual detection, so that the product can be accurately placed in the carrying tray.
5. The suction head adopts a vacuum suction mode with a cross slotted gasket to suck materials, so that the accurate suction of the materials can be ensured, and the materials can not be scratched.
6. The carrying disc conveying track can adjust the distance, can be compatible with carrying discs with different widths, and achieves multiple purposes.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the basket lift mechanism 4 of the present invention;
FIG. 3 is a schematic view of the carrier disk extraction mechanism 3 of the present invention;
FIG. 4 is a schematic view of the positioning mechanism 7 for carrying the disc of the present invention;
FIG. 5 is a positioning mechanism in the boat transfer station 7 of the present invention;
FIG. 6 is a schematic view of the rotary feed mechanism 6 of the present invention;
FIG. 7 is a schematic view of the visual inspection positioning mechanism 2 of the present invention;
fig. 8 is a schematic view of the suction mechanism in the visual inspection positioning mechanism 2 of the present invention;
fig. 9 is a schematic view of the defective product placement mechanism 5 of the present invention;
in the figure: 1-a rack, 2-a visual detection positioning mechanism, 3-a carrying disc extracting mechanism, 4-a material basket lifting mechanism, 5-a defective product placing mechanism, 6-a rotary feeding mechanism and 7-a carrying disc conveying positioning mechanism;
201-upright column, 202-second left-right straight line module, 203-second front-back straight line module, 204-second upper-lower straight line module, 205-suction mechanism, 206-upper camera, 207-lower camera;
301-a third mounting plate, 302-a third guide rail, 303-a gripper fixing plate, 304-a third lifting cylinder, 305-a pallet pushing block, 306-a pneumatic clamping jaw, 307-a clamping jaw mounting plate, 308-a linear module, 309-a rib plate and 310-a third servo motor;
401-a fourth mounting plate, 402-a fourth upper and lower linear module, 403-a fourth servo motor, 404-a fourth guide rail, 405-a driving belt, 406-a guide strip, 407-a basket platform, 408-a synchronous pulley and 409-a conveying belt;
501-a support plate, 502-a conveyor belt, 503-a correlation sensor, 504-a fifth driving motor;
601-a sixth driving motor, 602-a sixth jacking module, 603-a fork-shaped inductor, 604-a material box fixing plate, 605-a quick clamp, 606-a correlation sensor, 607-a working side material box, 608-a waiting side material box and 609-a turntable motor;
701-a fixed guide rail, 702-a conveying belt, 703-a carrying disc, 704-a ball screw, 705-a screw nut, 706-a hexagonal shaft assembly, 707-a seventh driving motor, 708-a tensioning wheel, 709-a synchronous belt, 710-a carrying disc positioning assembly, 711-a first fixed supporting seat, 712-a sliding supporting seat guide rail, 713-a sliding supporting seat, 714-a sliding guide rail, 715-a second fixed supporting seat, 716-a conveying guide strip, 717-a seventh servo motor and 7031-a carrying disc positioning hole;
7101-carrying disc stop block, 7102-linear bearing, 7103-guide shaft, 7104-positioning tray, 7105-positioning pin, 7106-seventh jacking cylinder, 7107-buffer device, 7108-limit bolt, 7109-bottom plate;
the invention relates to a positioning and placing device for a ceramic copper-clad plate, which comprises a rack 1, a visual detection positioning mechanism 2, a carrying disc extracting mechanism 3, a material basket lifting mechanism 4, a defective product placing mechanism 5, a rotary feeding mechanism 6 and a carrying disc conveying positioning mechanism 7.
The material basket lifting mechanism 4 drives the material basket to move up and down to convey the material basket and a carrying disc therein to a proper position, the material basket lifting mechanism 4 is arranged at one corner of the rack and comprises a mounting plate 401, an upper linear module 402, a lower linear module 402, a servo motor 403, a guide rail 404, a driving belt 405, a guide strip 406, a material basket platform 407, a synchronous belt wheel 408, a conveying belt 409 and a driving motor, the material basket lifting mechanism 4 is mounted on the rack through the mounting plate 401, the upper linear module 402, the lower linear module 402 and the guide rail 404 are arranged on the mounting plate 401, and the linear module 402 is driven by the servo motor 403. A conveying belt 409 is arranged on the basket platform 407, and the conveying belt 409 is driven by a driving motor through a driving belt 405 and synchronous belt pulleys 408 on two sides;
guide strips 406 are also arranged on two sides of the material basket platform 407;
a basket sensor is also disposed on the basket platform 407.
The bottom is provided with a driving motor through a motor mounting plate, and the driving synchronous belt can drive the material basket to advance to a specified position.
The carrier disc extracting mechanism 3 has the function of taking out the carrier disc from the material basket and placing the carrier disc on the carrier disc conveying mechanism 7, and comprises a 301 mounting plate, 302 guide rails, 303 gripper fixing plates, 304 lifting cylinders, 305 carrier disc push blocks, 306 pneumatic clamping jaws, 307 clamping jaw mounting plates, 308 linear modules, 309 rib plates and 310 servo motors, and the mechanism is fixedly mounted on a rack through the mounting plate 301 and the two rib plates 309. The linear module 308 and the guide rail 302 are arranged on the mounting plate 301, the linear module 308 is driven by a servo motor 310, the lifting cylinder 304, the pneumatic clamping jaw 306 and the disc-carrying push block 305 form a disc-carrying gripper, the disc-carrying gripper is fixed on the lifting cylinder 304 through a clamping jaw fixing plate 307, and the lifting cylinder 304 is mounted on a sliding block matched with the linear module 308 through a gripper fixing plate 303.
The tray carrying and conveying positioning mechanism accurately positions the tray, and the tray carrying and conveying mechanism is conveyed to the next process after the loaded ceramic copper-clad plate is placed, and comprises a fixed guide rail 701, a conveying belt 702, a tray carrying 703, a ball screw 704, a screw nut 705, a hexagonal shaft assembly 706, a driving motor 707, a tensioning wheel 708, a synchronous belt 709, a tray carrying positioning assembly 710, a first fixed supporting seat 711, a sliding supporting seat guide rail 712, a sliding supporting seat 713, a sliding guide rail 714, a second fixed supporting seat 715, a conveying guide bar 716, a servo motor 717 and a tray carrying positioning hole 7031.
The conveying and positioning mechanism 7 is fixed on the frame through a pair of first fixed support seat 711, second fixed support seat 715 and slide support seat 713 respectively, wherein the second fixed support seat 715 directly supports the fixed guide rail 701, the first fixed support seat 711 and the second fixed support seat 715 support the slide support seat 713 through the ball screw 704, the slide support seat 713 is internally provided with a screw nut 705 matched with the ball screw 704, the slide guide rail 714 is supported on the two slide support seats 713, the slide support seat guide rail 712 is arranged below the slide support seat 713, and the guide rail groove below the slide support seat 713 is matched with the slide support seat guide rail 712.
The servo motor 717 is connected with the sliding guide rail 714 through a ball screw 704, a screw nut 705 and a sliding support seat 713, and the distance between the two conveying belts on the fixed guide rail 701 and the sliding guide rail 714 is adjusted, so that the servo motor 717 can adapt to loading discs with different sizes.
The two ball screws 704 are connected to a timing belt 709 through a tension pulley 708.
The driving motor 707 is connected with the hexagonal shaft assembly 706 through a belt pulley, one end of the hexagonal shaft assembly 706 is connected with the conveyor belt 702 on the fixed guide rail 701 side, the other end of the hexagonal shaft assembly 706 is connected with the conveyor belt on the sliding guide rail 714 side through a shaft sleeve, the hexagonal shaft assembly 706 comprises a hexagonal shaft and a hexagonal shaft sleeve, the hexagonal shaft is in sliding connection with the hexagonal shaft sleeve, the axial distance between the sliding guide rail 714 and the fixed guide rail 701 can be conveniently adjusted, and the disc loader is suitable for disc loaders with different widths.
The positioning mechanism 710 is fixed between two belts of the conveying mechanism on the rack and comprises a carrier disc stop 7101, a linear bearing 7102, a guide shaft 7103, a positioning tray 7104, a positioning pin 7105, a jacking cylinder 7106, a buffer device 7107, a limiting bolt 7108 and a bottom plate 7109, wherein the carrier disc stop 7101 is arranged in front of the working position of the carrier disc, the jacking cylinder 7106 is arranged on the rack 1, the four guide shafts 7103 can vertically and slidably arrange the positioning mechanism 710 below the working position of the carrier disc through the linear bearing 7102, the buffer device 7107 and the limiting bolt 7108 are arranged between the bottom plate 7109 and the rack 1, the piston of the jacking cylinder 7106 is connected with the positioning tray 7104, and the positioning pin 7105 is arranged on the tray;
the positioning pin 7105 is tapered so as to be matched with the positioning hole on the carrying disc to determine the position of the carrying disc.
The working process of the carrier disc transmission mechanism comprises the steps that after a carrier disc is in place, a carrier disc stop block 7101 blocks the carrier disc, a piston of a jacking cylinder 7106 extends out, a positioning mechanism is jacked up, after a positioning plate 7104 touches the carrier disc, the positioning plate is guided by a positioning pin 7105 through taper to finely adjust the position of the carrier disc, positioning of a tray is achieved, a buffer device 7107 buffers the jacking process of the positioning mechanism, and a limiting bolt 7108 limits jacking of the positioning mechanism to be not excessive.
The rotary feeding mechanism 6 is arranged on the frame 1 and comprises a lifting driving motor 601, a jacking module 602, a forked sensor 603, a material box fixing plate 604, a quick clamp 605, a correlation sensor 606, a working side material box 607, a waiting side material box 608 and a turntable motor 609;
the four corners of the magazine fixing plate 604 are respectively provided with a quick clamp 605 for fixing the ceramic copper-clad plate magazine.
A plurality of sets of correlation sensors 606 are installed on both sides of the working side material box 607 for detecting whether the material in the working side material box 607 is completely taken out.
A plurality of photoelectric sensors are arranged below the material box 608 on the other side to be processed, and are used for detecting whether materials exist in the material box 608 on the side to be processed.
A fork sensor 603 for detecting whether the cartridge retaining plate 604 is rotated in place.
The visual detection positioning mechanism 2 has the functions of accurately placing the ceramic copper-clad plate in the rotary feeding mechanism 6 in a loading tray waiting for feeding through visual positioning and simultaneously detecting whether the back of the ceramic plate of the copper-clad plate is defective or not. Comprises a vertical column 201, a left and right linear module 202, a front and back linear module 203, an upper and lower linear module 204, a suction mechanism 205, an upper camera 206 and a lower camera 207;
visual detection positioning mechanism 2 installs in the frame through 4 stands 201, and suction means 205 realizes position adjustment through controlling sharp module 202, preceding sharp module 203, upper and lower sharp module 204 about through, goes up camera 206 and sets up on suction means 205, and lower camera 207 sets up between year dish transmission device 7 and rotatory feed mechanism 6.
The suction mechanism 205 comprises an upper cylinder 2051 and a lower cylinder 2052, a suction head 2052 is provided with an internal hole, is connected with a vacuum system and can suck a copper-clad ceramic plate, a polyether ethyl ketone gasket 20521 is arranged below the suction head, and a cross-shaped open slot 20522 is formed in the middle of the suction head.
Defective products placement mechanism 5 is used for placing the bad pottery copper-clad plate that the camera detected, including backup pad 501, conveyer 502, to penetrating inductor 503, driving motor 504, this mechanism passes through backup pad 501 to be installed on frame 1, and driving motor 504 connects conveyer 502, to penetrating inductor 503 setting on conveyer 502 both sides.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (5)
1. A positioning and placing device for a ceramic copper-clad plate is characterized by comprising a rack (1), a visual detection positioning mechanism (2), a carrying disc extracting mechanism (3), a material basket lifting mechanism (4), a defective product placing mechanism (5), a rotary feeding mechanism (6) and a carrying disc transmission mechanism (7);
the material basket lifting mechanism (4) is arranged at one corner of the rack and comprises a fourth mounting plate (401), a fourth upper linear module, a fourth lower linear module (402), a fourth servo motor (403), a fourth guide rail (404), a driving belt (405), a guide strip (406), a material basket platform (407), a synchronous belt wheel (408) and a fourth conveying belt (409), the material basket lifting mechanism (4) is mounted on the rack through the fourth mounting plate (401), the fourth mounting plate (401) is provided with the fourth upper linear module, the fourth lower linear module (402) and the fourth guide rail (404), the fourth linear module (402) is driven by the fourth servo motor (403), the material basket platform (407) is provided with the fourth conveying belt (409), and the driving motor drives the fourth conveying belt (409) through the driving belt (405) and the synchronous belt wheels (408) on two sides;
a basket inductor is further arranged on the basket platform (407);
a driving motor is installed at the bottom of the material basket platform (407) through a motor installation plate and can drive the synchronous belt to drive the material basket to move forward to a specified position;
the tray extracting mechanism (3) comprises a third mounting plate (301), a third guide rail (302), a gripper fixing plate (303), a third lifting cylinder (304), a tray pushing block (305), a pneumatic clamping jaw (306), a clamping jaw mounting plate (307), a third linear module (308), a rib plate (309) and a third servo motor (310), the device is fixedly arranged on the rack through a third mounting plate (301) and two rib plates (309); a third linear module (308) and a third guide rail (302) are arranged on a third mounting plate (301), the third linear module (308) is driven by a third servo motor (310), a third lifting cylinder (304), a pneumatic clamping jaw (306) and a carrying disc pushing block (305) form a carrying disc gripper, the tray-carrying gripper is fixed on a third lifting cylinder (304) through a clamping jaw fixing plate (307), and the third lifting cylinder (304) is installed on a sliding block matched with a third linear module (308) through a gripper fixing plate (303);
the disc carrying transmission mechanism (7) comprises a fixed guide rail (701), a conveying belt (702), a carrying disc (703), a ball screw (704), a screw nut (705), a hexagonal shaft assembly (706), a seventh driving motor (707), a tensioning wheel (708), a synchronous belt (709), a disc carrying positioning assembly (710), a first fixed supporting seat (711), a sliding supporting seat guide rail (712), a sliding supporting seat (713), a sliding guide rail (714), a second fixed supporting seat (715), a conveying guide strip (716), a seventh servo motor (717) and a disc carrying positioning hole (7031);
the conveying and positioning mechanism (7) is fixed on the rack through a pair of first fixed supporting seats (711), a second fixed supporting seat (715) and a sliding supporting seat (713) respectively, wherein the second fixed supporting seat (715) directly supports the fixed guide rail (701), the first fixed supporting seat (711) and the second fixed supporting seat (715) support the sliding supporting seat (713) through a ball screw (704), a screw nut (705) matched with the ball screw (704) is arranged in the sliding supporting seat (713), the sliding guide rail (714) is supported on the two sliding supporting seats (713), a sliding supporting seat guide rail (712) is arranged below the sliding supporting seat (713), and a guide rail groove below the sliding supporting seat (713) is in sliding fit with the sliding supporting seat guide rail (712);
the seventh servo motor (717) is connected with the sliding guide rail (714) through a ball screw (704), a screw nut (705) and a sliding support seat (713), and the distance between the two conveying belts on the fixed guide rail (701) and the sliding guide rail (714) is adjusted, so that the device is adaptable to loading discs of different sizes;
a seventh driving motor (707) is connected with the hexagonal shaft assembly (706) through a belt pulley, the hexagonal shaft assembly (706) comprises a hexagonal shaft and a hexagonal shaft sleeve, one end of the hexagonal shaft assembly (706) is connected with the conveying belt (702) on the fixed guide rail (701) side, the other end of the hexagonal shaft assembly (706) is connected with the conveying belt on the sliding guide rail (714) side through the hexagonal shaft sleeve, and the hexagonal shaft is in sliding connection with the hexagonal shaft sleeve, so that the axial distance between the sliding guide rail (714) and the fixed guide rail (701) can be conveniently adjusted, and the loading discs with different widths can be adapted;
the positioning mechanism (710) is fixed between two belts of the conveying mechanism on the rack and comprises a carrying disc stop block (7101), a linear bearing (7102), a guide shaft (7103), a positioning tray (7104), a positioning pin (7105), a jacking cylinder (7106), a buffering device (7107), a limiting bolt (7108) and a bottom plate (7109), wherein the carrying disc stop block (7101) is arranged in front of the working position of the carrying disc, the jacking cylinder (7106) is arranged on the rack (1), the positioning device (710) is arranged below the working position of the carrying disc by the four guide shafts (7103) in a vertically sliding mode through the linear bearing (7102), the buffering device (7107) and the limiting bolt (7108) are arranged between the bottom plate (7109) and the rack (1), the piston of the jacking cylinder (7106) is connected with the positioning tray (7104), and the positioning pin (7105) is arranged on the tray;
the rotary feeding mechanism (6) is arranged on the rack (1) and comprises a sixth lifting driving motor (601), a sixth jacking module (602), a fork-shaped inductor (603), a material box fixing plate (604), a quick clamp (605), a correlation sensor (606), a working side material box (607), a material box (608) to be worked on, and a turntable motor (609), wherein the sixth lifting driving motor (601) is connected with the jacking module (602);
the four corners of the material box fixing plate (604) are respectively provided with a quick clamp (605) for fixing the ceramic copper-clad plate material box;
a plurality of groups of correlation sensors (606) are arranged on two sides of the working side material box (607) and used for detecting whether the material in the working side material box (607) is completely taken out;
a plurality of photoelectric sensors are arranged below the material box (608) at the side to be processed and used for detecting whether materials exist in the material box (608) at the side to be processed;
a fork sensor (603) for detecting whether the cartridge retaining plate (604) is rotated into position;
the visual detection positioning mechanism (2) comprises an upright post (201), a second left-right straight line module (202), a second front-back straight line module (203), a second upper-lower straight line module (204), a suction mechanism (205), an upper camera (206) and a lower camera (207);
the visual detection positioning mechanism (2) is installed on the rack through four upright posts (201), the suction mechanism (205) is used for realizing position adjustment through a second left-right straight line module (202), a second front-back straight line module (203) and a second upper-lower straight line module (204), the upper camera (206) is arranged on the suction mechanism (205), and the lower camera (207) is arranged between the carrying disc transmission mechanism (7) and the rotary feeding mechanism (6);
the suction mechanism (205) comprises a second upper cylinder (2051) and a second lower cylinder (2052), a rotary suction head (2052) is internally provided with a hole, is connected with a vacuum system and can suck the copper-clad ceramic plate;
defective products placement mechanism (5) are used for placing the bad pottery copper-clad plate that the camera detected, including backup pad (501), conveyer (502), correlation inductor (503), fifth driving motor (504), and this mechanism passes through backup pad (501) and installs in frame (1), and conveyer (502) are connected in fifth driving motor (504), and correlation inductor (503) set up on conveyer (502) both sides.
2. The positioning and placing device for the ceramic copper-clad plate according to claim 1, wherein guide strips (406) are further arranged on two sides of the basket platform (407).
3. The positioning and placing device for the ceramic copper-clad plate according to claim 1, wherein the two ball screws (704) are connected with a synchronous belt (709) through a tension wheel (708).
4. The positioning and placing device for the ceramic copper-clad plate according to claim 1, wherein the positioning pin (7105) has a taper so as to be matched with the positioning hole on the carrier tray to determine the position of the carrier tray.
5. The positioning and placing device for the ceramic copper-clad plate according to claim 1, wherein a polyether ethyl ketone gasket (20521) is installed below the rotary suction head (2062), and a cross-shaped slot (20522) is formed in the middle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111044905.5A CN113903683A (en) | 2021-09-07 | 2021-09-07 | Ceramic copper-clad plate positioning and placing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111044905.5A CN113903683A (en) | 2021-09-07 | 2021-09-07 | Ceramic copper-clad plate positioning and placing device |
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| Publication Number | Publication Date |
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| CN113903683A true CN113903683A (en) | 2022-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111044905.5A Withdrawn CN113903683A (en) | 2021-09-07 | 2021-09-07 | Ceramic copper-clad plate positioning and placing device |
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| CN (1) | CN113903683A (en) |
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