CN116618335A - A chip incoming inspection system and an automatic inspection method based on the chip - Google Patents

Abstract

The invention discloses a chip incoming material detection system and an automatic chip detection method based on the same. The chip incoming material detection system includes: linear conveying equipment, rotating conveying equipment, grabbing manipulators, chip detection execution equipment, defective product storage containers and qualified products. Product output equipment; linear conveying equipment includes: conveyor chain, chain drive mechanism and positioning tooling. The positioning tooling is installed on the conveyor chain. The positioning tooling is used to position and place chips. The conveyor chain is driven by the chain drive mechanism. The positioning groove of the chip faces the conveyor chain The conveying direction, and the end of the chip hangs out from the edge of the positioning tool; the rotary conveying device includes: a rotary table and a rotary drive mechanism, the rotary table is rotatably installed on the output end of the linear conveying device, and the rotary table is driven to rotate by the rotary drive mechanism. The chip incoming inspection system and the chip automatic inspection method based on the same solve the problem in the prior art that the automatic discharge of chip defective products cannot be realized.

Description

A chip incoming inspection system and chip automatic inspection method based on it

technical field

The invention relates to equipment for chip production, in particular to a chip incoming material detection system and an automatic chip detection method based on the same.

Background technique

As shown in FIG. 1 , the chip includes: a chip body 11 and pins 12 , the chip body 11 is provided with a built-in circuit, and the built-in circuit is electrically connected to the external pin 12 for connecting to an external circuit. The chip body 11 is recessed to form a positioning groove 13, and the positioning groove 13 is a semi-cylindrical structure. Since each pin 12 is different, that is, the pin 12 far away from the positioning groove 13 and the pin 12 close to the positioning groove 13 Many functions are different. In order to facilitate the subsequent installation in the external circuit, the positioning groove 13 is necessary to facilitate the identification of different pins 12 . Different chip types have different chip widths, and the distance d between the pins 12 on both sides is also different.

With the development of science and technology, chips are used more and more frequently in our lives, and many electrical equipment need to use chips, so the production volume of chips is relatively large. In order to ensure the quality of the chip, it is necessary to test the chip. If a single chip is tested, the production efficiency will be greatly reduced, and it cannot meet the requirements of rapid modern production. Therefore, how to realize the automatic detection of the chip after automatic delivery is the topic discussed in this application.

The Chinese patent discloses a feeding mechanism of a chip detection device with an application number of CN202120811911.8. The feeding mechanism of the chip detection device includes a support table, and a detection platform is slidably connected to the top of the support table. One side of the surface is fixed with a socket, and the middle part of the upper surface of the detection table is fixed with a feeding plate. One side is provided with a chip tape, and the feeding mechanism includes a rotating shaft, a sprocket, a chain, a motor, a guide frame, a first slide rail, a moving block, a connecting column, a connecting rod and a vacuum suction nozzle.

Although the feeding mechanism of the above-mentioned chip detection device can realize positioning and conveying of chips, it still has the disadvantage that it cannot realize the automatic discharge of defective chips, and manual discharge of defective chips is required, resulting in a decrease in production efficiency.

Contents of the invention

The present invention provides a chip incoming material detection system and an automatic chip detection method based on the same, which solves the problem in the prior art that the automatic discharge of defective chips cannot be realized.

To achieve the above object, the present invention adopts the following technical solutions:

The invention first discloses a chip incoming inspection system, including: linear conveying equipment, rotating conveying equipment, grasping manipulator, chip detection execution equipment, defective product storage container and qualified product output equipment; the linear conveying equipment includes: conveying chain , chain drive mechanism and positioning tooling, positioning tooling is installed on the conveyor chain, and the positioning tooling is used to position and place chips. Hanging out; the rotary conveying equipment includes: a rotary table and a rotary drive mechanism, the rotary table can be rotatably installed on the output end of the linear conveying equipment, and the rotary table is driven to rotate by the rotary drive mechanism; chip detection execution equipment, residual The defective product storage container and the qualified product output device, and the chip detection execution device are located in front of the defective product storage container and the qualified product output device; at least three grasping manipulators are installed on the rotary table, and the grasping manipulators are used to grasp chips.

Preferably, the grabbing manipulator includes: a grabbing upper arm, a grabbing lower arm, an arm drive mechanism, a grabbing seat, a horizontal telescopic cylinder and a vertical telescopic cylinder, and the grabbing upper arm and the grabbing lower arm are all mounted on the grabbing seat , the grabbing lower arm can move in the vertical direction relative to the grabbing seat, the grabbing lower arm is installed at the output end of the arm driving mechanism, the arm driving mechanism is installed in the grabbing seat, and the grabbing seat is connected to the piston of the horizontal telescopic cylinder The rod, the horizontal telescopic cylinder drives the grab seat to move in the radial direction of the rotary table, the horizontal telescopic cylinder shell is installed on the output end of the vertical telescopic cylinder, the vertical telescopic cylinder drives the horizontal telescopic cylinder to move in the vertical direction, and the vertical telescopic cylinder Mounted on the edge of a horizontal turntable.

Preferably, the positioning tool includes: foot positioning pins and a middle support mechanism, the foot positioning pins are provided with positioning holes for inserting chip pins, and the middle support mechanism is used to support the bottom surface of the chip body.

Preferably, the middle support mechanism includes: a first support block, a second support block and an adjustment and positioning assembly, the first support block and the second support block are installed on the mounting seat, and the first support block and the second support block can be opposite The mounting base moves in the Z direction, the adjusting and positioning assembly is connected to the installation places of the first supporting block and the second supporting block, and the adjusting and positioning assembly is used to position the first supporting block and the second supporting block on the mounting base.

Preferably, the first support block and the second support block are detachably connected to the positioning pins of the feet.

Preferably, a lifting limit assembly is installed on the first support block and the second support block, and the lift limit assembly is connected to the first support block or the second support block by holding the spring, and a The positioning part, under the force of the spring, the lifting limit assembly cooperates with the positioning part to limit the movement of the first support seat or the second support seat relative to the installation seat in the Z direction.

Preferably, the chip detection execution equipment includes: a detection workbench, a positioning backing plate, a middle support platform, an inner support mechanism, an edge pressing block, a conductive sheet, a wire, a pressing drive mechanism and a detection control box, and the top surface of the detection workbench A positioning backing plate is installed, and the positioning backing plate is provided with a protruding groove, the depth of which is less than the length of the chip pins. There are two pairs of middle supporting mechanism and edge pressing block, and the two pairs of middle supporting mechanism and edge pressing block are respectively used to press the pins on both sides of the chip. The middle supporting mechanism supports the side of the pin close to the center of the chip, and the edge pressing block It can move away from or close to the center of the chip relative to the detection table. The edge pressing block is connected to the output end of the pressing drive mechanism, and the pressing driving mechanism is used to drive the edge pressing block to move away from or close to the middle support mechanism. A conductive sheet is installed on the side of the edge pressing block close to the middle support mechanism, the conductive sheet is used for contacting with the pins, and the conductive sheet is connected to the detection control box through wires.

Preferably, the conductive sheet includes: flexible wires and elastic pads, flexible wires are installed on the elastic pads, the flexible wires are perpendicular to the pins located in the positioning grooves, the flexible wires are electrically connected to the wires, and the soft core wires are used to connect with the leads. For foot contact, elastic pads are mounted on edge compression blocks.

Preferably, the intermediate support mechanism includes: an intermediate support block and a bidirectional drive cylinder, the two output ends of the bidirectional drive cylinder are respectively connected to the two intermediate support blocks, and the two intermediate support blocks are respectively arranged corresponding to the two edge pressing blocks.

The invention also discloses an automatic chip detection method, which includes the following steps: S1, manually placing the chip on the positioning tool; S2, driving the conveyor chain to move circularly on the linear conveying device, and then driving the chip on the positioning tool to the linear conveying device At the same time, the rotary conveying equipment rotates the grasping manipulator to the position aligned with the output end of the linear conveying equipment; S3, the grasping manipulator grabs the chip on the output end of the linear conveying equipment; S4, rotates The conveying equipment drives the grasping manipulator to rotate, and rotates the grasping manipulator with the chip clamped to the position aligned with the chip detection execution device; S5, releases the chip from the grasping manipulator, and the chip falls on the chip detection execution device; S6, the chip After the detection execution device powers on the chip, it detects the chip and judges whether the chip is qualified. If the chip is qualified, then proceed to steps S7 and S9. If it is unqualified, proceed to steps S7 and S8; Execute the chip on the device; S8, the rotary conveying device drives the grabbing manipulator to rotate, and releases the chip when the grabbing manipulator is aligned with the defective product storage container; S9, the rotating conveying device drives the grabbing manipulator to rotate, and the grabbing manipulator and the qualified product output device Release the chip when aligned.

Compared with the prior art, the present invention has the following beneficial effects:

1) In this application, a rotary conveying device, a grasping manipulator, a storage container for defective products, and a qualified product output device are added, so that the grasping manipulator can grab the chip located at the output end of the linear conveying device and bring it to the Chip detection execution equipment, defective product storage container and qualified product output device, so as to realize the detection of chip products, and after the detection, the defective product can be transported to the defective product storage container, and the qualified product can be transported to the qualified product output device, so that Realized the separate output of defective products and qualified products. In the whole process, there is no need to manually transfer defective products, which saves labor costs, improves the efficiency of material distribution, and then improves production efficiency.

2) In this application, the chip is transferred from the output end of the linear conveying device to the chip detection execution equipment by setting the grabbing robot. The chip detection execution equipment does not punch the chip pins, avoiding the damage of the pins after deformation, and ensuring the yield , reducing the waste of materials and reducing production costs.

Other advantages, objectives and features of the present invention will partly be embodied through the following descriptions, and partly will be understood by those skilled in the art through the research and practice of the present invention.

Description of drawings

Figure 1 is a schematic diagram of the structure of the chip.

FIG. 2 is a schematic structural diagram of a chip incoming inspection system.

Fig. 3 is an enlarged view of the rotary conveying device in Fig. 2 .

FIG. 4 is an enlarged view at point A in FIG. 3 .

Fig. 5 is a schematic diagram of the structure of the positioning tool.

Reference signs: sheet body 11, pin 12, positioning groove 13, linear conveying device 2, conveying chain 21, positioning tooling 22, foot positioning pin 220, first support block 221, second support block 222, adjustment and positioning assembly 23 , adjusting bolt 231, nut 232, lifting limit assembly 24, holding spring 25, mounting seat 26, positioning part 260, rotating conveying equipment 3, grabbing manipulator 4, grabbing upper arm 41, grabbing lower arm 42, grabbing seat 45. Horizontal telescopic cylinder 46, vertical telescopic cylinder 47, orientation detection mechanism 48, pressing block 481, lifting rod 482, pressing spring 483, detection block 484, infrared sensor 485, chip detection execution equipment 5, detection workbench 51 , extending into groove 510, positioning pad 52, middle support platform 53, inner support mechanism 54, edge pressing block 55, conductive sheet 56, wire 57, pressing drive mechanism 58, defective product storage container 6, qualified product output equipment7.

Detailed ways

In order to make the technical means, creative features, goals and functions achieved by the present invention clearer and easier to understand, the present invention will be further elaborated below in conjunction with the accompanying drawings and specific embodiments:

Example 1:

As shown in Figures 2 to 5, this embodiment discloses a chip incoming inspection system, including: linear conveying equipment 2, rotating conveying equipment 3, grasping manipulator 4, chip inspection execution equipment 5, and defective product storage container 6 and a qualified product output device 7; the linear conveying device 2 includes: a conveying chain 21, a chain drive mechanism (not shown in the figure) and a positioning tool 22, the conveying chain 21 is equipped with a positioning tool 22, and the positioning tool 22 is used for positioning and placing chips , the conveying chain 21 is driven by a chain drive mechanism, the positioning groove 13 of the chip faces the conveying direction of the conveying chain 21, and the end of the chip hangs out from the edge of the positioning tool 22; the rotary conveying device 3 includes: a rotary table and a rotary drive mechanism, and the rotary table can It is rotatably installed at the output end of the linear conveying device 2, and the rotary table is driven to rotate by the rotary drive mechanism; chip detection execution equipment 5, defective product storage container 6 and qualified product output device 7 are installed around the rotary table, and chip detection execution equipment 5 is located in front of the defective product storage container 6 and the qualified product output device 7; at least three grasping manipulators 4 are installed on the rotary table, and the grasping manipulators 4 are used to grasp chips.

Grabbing manipulator 4 comprises: grabbing upper arm 41, grabbing lower arm 42, arm drive mechanism, grabbing seat 45, horizontal telescopic cylinder 46 and vertical telescopic cylinder 47, grabbing upper arm 41, grabbing lower arm 42 are all installed on On the grabbing seat 45, the lower arm 42 can move vertically relative to the grabbing seat 45, and the lower arm 42 is installed on the output end of the arm driving mechanism, and the arm driving mechanism is installed in the grabbing seat 45. Get seat 45 and be connected to the piston rod of horizontal telescopic cylinder 46, horizontal telescopic cylinder 46 drives grabbing seat 45 to move radially on the turntable, horizontal telescopic cylinder 46 shells are installed on the output end of vertical telescopic cylinder 47, vertical telescopic cylinder 47 drives the horizontal telescopic cylinder 46 to move in the vertical direction, and the vertical telescopic cylinder 47 is installed on the edge of the horizontal rotary table. The end of the chip body 11 is clamped between the grasping upper arm 41 and the grasping lower arm 42, and the horizontal telescopic cylinder 46 is vertically telescopic in order to realize the ability to grasp and release the chip when there is a position difference in the radial direction of the rotary table. The cylinder 47 is for grabbing or releasing chips when there are position differences in the vertical direction.

Since the chip needs to be positioned through the positioning groove 13, in this application, an orientation detection mechanism 48 is installed on the grasping upper arm 41, and the orientation detection mechanism 48 is used to detect the position of the end of the chip provided with the positioning groove 13.

The orientation detection mechanism 48 includes: a pressing block 481, a lifting rod 482, a pressing spring 483, a detection block 484, and an infrared sensor 485. The pressing block 481 is used to press into the chip positioning groove 13, and the pressing block 481 is located at the grab Between the upper arm 41 and the grasping lower arm 42, the pressing block 481 is fixed to the lifting rod 482, and the lifting rod 482 passes through the grasping upper arm 41, and the grasping upper arm 41 is used to guide the lifting rod 482 to move in the vertical direction, and the lifting rod 482 passes through the grasping upper arm 41 to move vertically. The top of 482 is fixed to the detection block 484, and an infrared sensor 485 is installed below the detection block 484. The lifting rod 482 passes through the pressing spring 483, and the pressing spring 483 is used to press the pressing block 481 into the chip positioning groove 13. The elevating rod 482 cannot rotate relative to the grasping upper arm 41 , that is, the elevating rod 482 can only be raised and lowered relative to the grasping upper arm 41 .

When the grasping manipulator 4 grasps the chip located at the output end of the linear conveying device 2, first, the horizontal telescopic cylinder 46 is extended, and then the grasping upper arm 41 and the grasping lower arm 42 are extended above and below the end of the chip. , grasp the side wall of the grasping seat 45 between the upper arm 41 and the lower arm 42 and the end face of the chip, so as to realize whether the pressing block 481 can be inserted into the positioning groove 13 when the positioning groove 13 is oriented correctly. Inside. Then, the arm drive mechanism drives the grabbing lower arm 42 to move up, thereby realizing the cooperation of the grabbing lower arm 42 and the grabbing upper arm 41 to clamp the chip. When clamping, if there is a positioning groove 13 at the end of the chip, press it Block 481 is placed in the positioning groove 13, and the distance between the detection block 484 and the infrared sensor 485 is relatively small; Pressed on the top surface of the chip body 11, the distance between the detection block 484 and the infrared sensor 485 is relatively large, thereby realizing the detection of the orientation of the chip, so as to facilitate the positioning of the chip.

The positioning tool 22 includes: a foot positioning pin 220 and a middle support mechanism. The foot positioning pin 220 is provided with a positioning hole for inserting the chip pin 12 , and the middle support mechanism is used to support the bottom surface of the chip body 11 . The middle support mechanism only plays the role of supporting the chip body 11 of the chip. The pin positioning pin 220 is for positioning the chip pin 12, thereby positioning the chip.

The middle support mechanism includes: a first support block 221, a second support block 222 and an adjustment positioning assembly 23, the first support block 221 and the second support block 222 are installed on the mounting seat 26, the first support block 221 and the second support block 222 can move in the Z direction relative to the mounting base 26, and the adjustment and positioning assembly 23 is connected to the installation place of the first support block 221 and the second support block 222, and the adjustment and positioning assembly 23 is used to connect the first support block 221 and the second support block Block 222 is positioned on mount 26 . Since the chips have different models, the chip widths are different. In order to adapt to different chips, an adjustment positioning assembly 23 is provided to adjust the distance between the first support block 221 and the second support block 222, and then adjust the first support block. 221 and the width of the supporting surface formed by the second supporting block 222 is adapted to chips with different widths.

The first support block 221 and the second support block 222 are detachably connected to the foot positioning pin 220 . Because the chips have different types, there are different types of positioning pins, and the positioning holes of different types of positioning pins have different sizes to adapt to different types of chips.

Both the first support block 221 and the second support block 222 are equipped with a lifting limit assembly 24, and the lift limit assembly 24 is connected to the first support block 221 or the second support block where it is by holding the spring 25. A positioning part 260 is installed on it, and under the elastic force of the retaining spring 25, the lifting limit assembly 24 cooperates with the positioning part 260 to limit the movement of the first support base or the second support base relative to the installation base 26 in the Z direction. The setting of the lifting limit assembly 24 has realized that when the first support block 221 and the second support block 222 are adjusted, only the foot positioning pin 220 is installed in place, and the distance between the first support block 221 and the second support block 222 can be adjusted. The distance ensures that the foot positioning pin 220 must be installed before the first support block 221 and the second support block 222 are adjusted.

There are two mounting bases 26 , the first supporting block 221 is installed on one mounting base 26 , and the second supporting block 222 is mounting base 26 on the other mounting base 26 . The mounting seat 26 is directly mounted on the chain link of the conveying chain 21 through a screw rod and a nut 232 .

The adjustment and positioning assembly 23 includes: an adjustment bolt 231, a nut 232 and an intermediate block (not shown in the figure), the intermediate block is supported by two mounting seats 26, and the intermediate block is clamped between the first support block 221 and the second support block 222, The adjusting bolt 231 passes through the first supporting block 221 and the second supporting block 222 , the adjusting bolt 231 is threaded with a nut 232 , and the big end of the adjusting bolt 231 and the nut 232 cooperate to clamp the first supporting block 221 and the second supporting block 222 . Corresponding to different types of chips, there are middle blocks with different widths, so as to locate the distance between the first support block 221 and the second support block 222 , and the bottom of the middle block is inserted between the first support block 221 and the second support block 222 .

The lifting limit assembly 24 includes: a lifting block, the lifting block is located in the mounting seat 26, the lifting block can be lifted relative to the mounting seat 26, and the lifting block is fixed to the first supporting block 221 and the second supporting block 222 where it is by holding the spring 25. The block can engage with the positioning part 260 , the positioning part 260 is a rack mounted on the mounting base 26 , and the retaining spring 25 is used to keep the lifting block engaged with the positioning part 260 . The foot positioning pin 220 passes through the first support block 221 and the second support block 222 where it is located, and the bottom end of the foot positioning pin 220 is used to press the lifting block away from the positioning portion 260 .

The chip detection execution equipment 5 comprises: a detection workbench 51, a positioning backing plate 52, a middle support platform 53, an inner support mechanism 54, an edge pressing block 55, a conductive sheet 56, a wire 57, a pressing driving mechanism 58 and a detection control box ( Not shown in the figure), the top surface of the detection workbench 51 is equipped with a positioning backing plate 52, and the positioning backing plate 52 is provided with a protruding groove 510, and the depth of the protruding groove 510 is less than the length of the chip pin 12, and the protruding groove 510 is provided for the chip pin 12 stretches in, on the positioning backing plate 52, the inside support mechanism 54 and the edge pressing block 55 are installed, and the inside support mechanism 54 and the edge pressing block 55 have two pairs, and two pairs of inside support mechanisms 54 and the edge pressing block 55 use respectively To compress the pins 12 on both sides of the chip, the inner support mechanism 54 supports the side of the pins 12 close to the center of the chip, and the edge pressing block 55 can move away from or close to the center of the chip relative to the detection workbench 51. 55 is connected to the output end of the compression drive mechanism 58, the compression drive mechanism 58 is used to drive the edge compression block 55 to move away from or near the direction of the inner support mechanism 54, and the edge compression block 55 is installed on the side near the middle support mechanism. The conductive sheet 56 is used to contact the pin 12 , and the conductive sheet 56 is connected to the detection control box through a wire 57 .

After the intermediate support mechanism supports the chip, the end of the chip provided with the positioning groove 13 is close to the rotary table, and the end of the chip hangs out from the intermediate support mechanism for the grasping manipulator 4 to grasp the chip.

The depth of the insertion groove 510 is relatively shallow, and the entrance of the insertion groove 510 is an open trumpet-shaped structure, so that when the chip is released by the grasping robot 4, the inner wall of the insertion groove 510 has a certain function of guiding the chip pin 12 , so that the chip pins 12 can fully fall into the protruding groove 510, so as to accurately position the chip.

The conductive sheet 56 includes: flexible wires and elastic pads, flexible wires are installed on the elastic pads, the flexible wires are perpendicular to the pins 12 located in the positioning groove 13, the flexible wires are electrically connected to the wires 57, and the soft core wires are used to connect with the leads. The feet 12 are in contact, and the elastic pad is installed on the edge pressing block 55 . The conductive sheet 56 is prevented from crushing the chip pins 12 , and the elastic pad can make the flexible wires more tightly wrapped with the pins 12 .

The intermediate support mechanism includes: an intermediate support block and a two-way drive cylinder, the two output ends of the two-way drive cylinder are respectively connected to the two intermediate support blocks, and the two intermediate support blocks are respectively arranged corresponding to the two edge pressing blocks 55 .

The defective product storage container 6 is a barrel structure capable of accepting chips. The qualified product output device 7 is a conveyor belt. After the chip is placed on the conveyor belt by the grasping manipulator 4, the conveyor belt can transport each chip to the packaging station in turn.

When detecting the chip, firstly, the grasping manipulator 4 releases the chip, the chip pin 12 is guided through the entrance of the insertion groove 510, and then enters the insertion groove 510, and the chip movement is positioned and installed; then, the bidirectional drive cylinder drives the middle Support block, middle support block can support chip pin 12 inner side from side; Then, compress drive mechanism 58 (compress drive mechanism 58 can be air cylinder) drive edge compress block 55, edge compress block 55 will conductive sheet 56 Pressing on the pin 12 of the chip realizes the connection of power to the chip, thereby controlling the operation of the chip and realizing the detection of the chip.

In this application, at first, in order to realize the automatic capture of unqualified chips for convenience, a linear conveying device 2 is provided, and a positioning tool 22 is provided to transport the chips; The tooling 22 hangs out, so the positioning hole positioning chip pin 12 in the foot positioning pin 220 is set, and the middle support mechanism can support the chip body 11 of the chip, which facilitates the grabbing of the grabbing manipulator 4; and then, in order to adapt to different types of chips , the foot positioning pin 220 is set and can be disassembled and adjusted, the middle support mechanism can be adjusted, and the inner support mechanism 54 can also adapt; and then, in order to avoid missing the foot positioning pin 220, the middle part can only be adjusted after the foot positioning pin 220 is installed. Supporting mechanism; and then, in order to realize continuous detection and improve detection efficiency, the grasping manipulator 4 is driven by the rotating conveying device 3 and rotates to the chip detection execution device 5, the defective product storage container 6 and the qualified product output device in turn. 7. A plurality of grasping manipulators 4 can be executed at the same time, which improves production efficiency; and then, the orientation detection mechanism 48 on the grasping manipulator 4 is set at the same time, so as to realize whether the position of the chip positioning groove 13 is required during the process of grasping and moving The orientation of the chip is ensured, and the time in the grasping and transfer process is sufficient for detection, thereby avoiding the need to reserve time for detecting the orientation of the chip and improving production efficiency; finally, the structure in the chip detection execution device 5 is designed to realize cooperation Clamp the chip pin 12, and then electrically connect it to the detection control box, so that the detection control box realizes chip function detection by clamping the chip pin 12, avoiding the deformation of the pin 12 caused by the need to punch the chip pin 12, and improving the Chip pass rate.

Example 2:

Based on the structure of the chip incoming detection system in Embodiment 1, this embodiment discloses a chip automatic detection method, including the following steps: S1, manually placing the chip on the positioning tool 22; S2, driving the conveying chain on the linear conveying device 2 21 circular movement, and then drive the chip on the positioning tool 22 to the output end of the linear conveying device 2; at the same time, the rotating conveying device 3 rotates the grasping manipulator 4 to a position aligned with the output end of the linear conveying device 2; S3 1. The grasping manipulator 4 grasps the chip located on the output end of the linear conveying device 2; S4, the rotating conveying device 3 drives the grasping manipulator 4 to rotate, and rotates the grasping manipulator 4 clamped with the chip to the chip detection execution device 5 Aligned position; S5, release the chip by grabbing manipulator 4, and the chip falls on the chip detection execution device 5; S6, after the chip detection execution device 5 powers on the chip, detect the chip to determine whether the chip is qualified, if the chip is qualified , then proceed to steps S7 and S9, if unqualified, then proceed to steps S7 and S8; S7, the grasping manipulator 4 grasps the chip located on the chip detection execution device 5; S8, the rotating conveying device 3 drives the grasping manipulator 4 to rotate, The chip is released when the grasping manipulator 4 is aligned with the defective product storage container 6; S9, the rotating conveying device 3 drives the grasping manipulator 4 to rotate, and the chip is released when the grasping manipulator 4 is aligned with the qualified product output device 7.

While S3 is running, the following step S3' is carried out. Step S3' includes: step S31', the orientation detection mechanism 48 located at the grasping manipulator 4 detects whether the orientation of the chip is qualified, that is, it is judged whether the positioning groove 13 is in the clamping position, and if If qualified, then proceed to step S4; if unqualified, then proceed to step S10, the rotary conveying device 3 drives the grasping manipulator 4 to rotate to the input end towards the wrong output device (which can be a conveyor belt, positioned beside the qualified product output device 7), and grabs Take manipulator 4 to release the chip to the input facing the error output device.

Finally, it is noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be carried out Modifications or equivalent replacements without departing from the spirit and scope of the technical solution of the present invention shall be covered by the claims of the present invention.

Claims (10)

1. A chip incoming material detection system, comprising: the device comprises a linear conveying device (2), a rotary conveying device (3), a grabbing manipulator (4), a chip detection executing device (5), a defective product storage container (6) and a qualified product output device (7);

the linear conveyance device (2) comprises: the chip positioning device comprises a conveying chain (21), a chain driving mechanism and a positioning tool (22), wherein the positioning tool (22) is arranged on the conveying chain (21), the positioning tool (22) is used for positioning and placing chips, the conveying chain (21) is driven by the chain driving mechanism, a positioning groove (13) of the chips faces to the conveying direction of the conveying chain (21), and the end parts of the chips are suspended from the edges of the positioning tool (22);

the rotary transport apparatus (3) comprises: the rotary table and the rotary driving mechanism are rotatably arranged at the output end of the linear conveying equipment (2), and the rotary table is driven to rotate by the rotary driving mechanism;

a chip detection executing device (5), a defective product storage container (6) and a qualified product output device (7) are arranged around the rotating table, and the chip detection executing device (5) is positioned in front of the defective product storage container (6) and the qualified product output device (7);

at least three grabbing manipulators (4) are arranged on the rotating table, and the grabbing manipulators (4) are used for grabbing chips.

2. A chip incoming material detection system according to claim 1, characterized in that the gripping robot (4) comprises: snatch upper arm (41), snatch lower arm (42), arm actuating mechanism, snatch seat (45), horizontal telescopic cylinder (46) and vertical telescopic cylinder (47), snatch upper arm (41), snatch lower arm (42) and all install on snatch seat (45), snatch lower arm (42) and can snatch seat (45) relatively and move in vertical direction, snatch lower arm (42) and install the output at arm actuating mechanism, arm actuating mechanism installs in snatch seat (45), snatch seat (45) and be connected to the piston rod of horizontal telescopic cylinder (46), horizontal telescopic cylinder (46) drive snatch seat (45) and move in the radial direction of revolving stage, horizontal telescopic cylinder (46) shell is installed at the output of vertical telescopic cylinder (47), vertical telescopic cylinder (47) drive horizontal telescopic cylinder (46) are in vertical direction motion, vertical telescopic cylinder (47) are installed on horizontal edge.

3. The chip incoming material detection system according to claim 1, wherein the positioning fixture (22) comprises: the pin positioning pin (220) and the middle supporting mechanism are used for supporting the bottom surface of the chip middle piece body (11), and positioning holes are formed in the pin positioning pin (220) and are used for allowing the chip pins (12) to be inserted into the positioning holes.

4. A chip incoming material detection system according to claim 3, wherein the central support mechanism comprises: the device comprises a first supporting block (221), a second supporting block (222) and an adjusting and positioning assembly (23), wherein the first supporting block (221) and the second supporting block (222) are installed on an installation seat (26), the first supporting block (221) and the second supporting block (222) can move in the Z direction relative to the installation seat (26), the adjusting and positioning assembly (23) is connected to the installation position of the first supporting block (221) and the second supporting block (222), and the adjusting and positioning assembly (23) is used for positioning the first supporting block (221) and the second supporting block (222) on the installation seat (26).

5. The chip incoming material detection system according to claim 4, wherein the first support block (221) and the second support block (222) are detachably connected to the pin positioning pins (220).

6. The chip incoming material detection system according to claim 5, wherein a lifting limiting assembly (24) is installed on each of the first supporting block (221) and the second supporting block (222), the lifting limiting assembly (24) is connected to the first supporting block (221) or the second supporting block where the lifting limiting assembly is located through a retaining spring (25), a positioning portion (260) is installed on a mounting seat (26), and the lifting limiting assembly (24) and the positioning portion (260) cooperate to limit the movement of the first supporting seat or the second supporting seat where the lifting limiting assembly is located relative to the mounting seat (26) in the Z direction under the elastic force of the retaining spring (25).

7. A chip incoming material detection system according to any one of claims 1 to 6, characterized in that the chip detection execution device (5) comprises: the detection workbench (51), the positioning backing plate (52), the middle supporting table (53), the inner side supporting mechanism (54), the edge compressing block (55), the conducting strip (56), the conducting wire (57), the compressing driving mechanism (58) and the detection control box, the positioning backing plate (52) is arranged on the top surface of the detection workbench (51), the positioning backing plate (52) is provided with an extending groove (510), the depth of the extending groove (510) is smaller than the length of the chip pin (12), the extending groove (510) is used for extending the chip pin (12), the inner side supporting mechanism (54) and the edge compressing block (55) are arranged on the positioning backing plate (52), the inner side supporting mechanism (54) and the edge compressing block (55) are respectively used for compressing the pins (12) on two sides of the chip, one side of the inner side supporting mechanism (54) close to the center of the chip, the edge compressing block (55) can move relative to the detection workbench (51) in the direction far away from or close to the center of the chip, the edge compressing block (55) is connected to the output end of the compressing driving mechanism (58), the inner side supporting mechanism (54) and the edge compressing block (55) are used for driving the edge compressing mechanism (55) to move in the direction far from or close to the inner side supporting mechanism (54), and a conducting strip (56) is arranged on one side of the edge pressing block (55) close to the middle supporting mechanism, the conducting strip (56) is used for being in contact with the pins (12), and the conducting strip (56) is connected to the detection control box through a wire (57).

8. The chip incoming material detection system as defined in claim 7, wherein the conductive sheet (56) comprises: the flexible wire is perpendicular to the pins (12) in the positioning grooves (13), the flexible wire is electrically connected with the leads (57), the flexible wire is used for being in contact with the pins (12), and the elastic pad is arranged on the edge pressing block (55).

9. The chip incoming material detection system of claim 8, wherein the intermediate support mechanism comprises: the two output ends of the two-way driving cylinder are respectively connected to the two middle supporting blocks, and the two middle supporting blocks are respectively and correspondingly arranged with the two edge pressing blocks (55).

10. The automatic chip detection method is characterized by comprising the following steps of:

s1, manually placing a chip on a positioning tool (22);

s2, driving a conveying chain (21) to circularly move on the linear conveying equipment (2), and driving a chip on a positioning tool (22) to the output end of the linear conveying equipment (2); simultaneously, the rotary conveying device (3) rotates the grabbing manipulator (4) to a position aligned with the output end of the linear conveying device (2);

s3, grabbing a chip positioned at the output end of the linear conveying equipment (2) by a grabbing manipulator (4);

s4, the rotary conveying equipment (3) drives the grabbing manipulator (4) to rotate, and the grabbing manipulator (4) clamped with the chip rotates to a position aligned with the chip detection executing equipment (5);

s5, releasing the chip by the grabbing mechanical arm (4), and enabling the chip to fall on the chip detection execution equipment (5);

s6, after the chip is electrified, the chip detection execution equipment (5) detects the chip and judges whether the chip is qualified, if the chip is qualified, the steps S7 and S9 are carried out, and if the chip is unqualified, the steps S7 and S8 are carried out;

s7, grabbing a chip positioned on the chip detection execution equipment (5) by the grabbing mechanical arm (4);

s8, the rotary conveying equipment (3) drives the grabbing manipulator (4) to rotate, and the chips are released when the grabbing manipulator (4) is aligned with the defective product storage container (6);

s9, the rotary conveying equipment (3) drives the grabbing manipulator (4) to rotate, and the chips are released when the grabbing manipulator (4) is aligned with the qualified product output equipment (7).