CN117465798B - Automatic box opening machine for packaging line and working method - Google Patents
Automatic box opening machine for packaging line and working method Download PDFInfo
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- CN117465798B CN117465798B CN202311834059.6A CN202311834059A CN117465798B CN 117465798 B CN117465798 B CN 117465798B CN 202311834059 A CN202311834059 A CN 202311834059A CN 117465798 B CN117465798 B CN 117465798B
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- box
- box opening
- clamping
- opening
- lifting
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- 238000004806 packaging method and process Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 16
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 claims abstract description 127
- 229910052710 silicon Inorganic materials 0.000 claims abstract description 127
- 239000010703 silicon Substances 0.000 claims abstract description 127
- 238000013459 approach Methods 0.000 claims abstract description 15
- 235000012431 wafers Nutrition 0.000 claims description 112
- 230000005540 biological transmission Effects 0.000 claims description 17
- 239000002390 adhesive tape Substances 0.000 claims description 5
- 239000006260 foam Substances 0.000 description 9
- 230000003028 elevating effect Effects 0.000 description 4
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
The invention provides an automatic box opening machine for a packaging line and a working method thereof, wherein the automatic box opening machine is provided with box opening transfer equipment, box opening grabbing equipment, a first box opening lifting rotating mechanism, a box opening first clamping device, a box opening second clamping device and a box opening second lifting device; the first box opening lifting and rotating mechanism drives a box body containing the silicon wafer to approach to the box opening transferring equipment, the box opening transferring equipment is used for removing a second side cover of the box body, after the second side cover of the box body is removed, the two box opening second clamping devices clamp the silicon wafer and clamp the silicon wafer simultaneously through the box opening grabbing equipment, and the box opening second lifting device drives the box opening first clamping device to move relative to the two box opening second clamping devices so as to separate the silicon wafer from the first side cover of the box body; the second clamping device for opening the box releases the clamping of the silicon wafer, and the box-opening grabbing equipment takes out the silicon wafer, so that the working efficiency is high.
Description
Technical Field
The invention relates to the technical field of silicon wafer packaging, in particular to an automatic box opening machine for a packaging line and a working method.
Background
The silicon chip belongs to fragile article, in order to avoid damaging in the transportation, adopts the foam box that has upper cover and lower cover to pack the silicon chip, before sorting and packing the silicon chip, need take out the silicon chip from the foam box, opens the foam box and take out the silicon chip through the manual work at present, work efficiency is low.
For example, in the chinese application No. 201920224369.9, the patent document with publication date 2019.11.26 discloses a device for automatically removing sealing tape from a foam box, wherein one end of a discharge conveyor line in the conveying direction is provided with a discharging recovery platform, and the inside of an outer frame of the device comprises a positioning and clamping conveyor line and a triaxial cover opening manipulator; after the equipment cuts the foam box, the upper cover of the foam box is removed through the instrument, and then the silicon wafer is output for feeding, but in the equipment, the foam box with the silicon wafer is conveyed to a manual operation platform after the upper cover of the foam box is removed through the cover opening manipulator, and the silicon wafer needs to be manually taken out and the empty foam box is recovered, so that the whole process operation of opening the box and taking out the silicon wafer is complex, and the working efficiency is low.
Disclosure of Invention
The invention provides an automatic box opening machine for a packaging line and a working method thereof, wherein a second side cover of a box body is removed through automatic equipment, silicon wafers in the box body are separated from a first side cover of the box body, and then the silicon wafers are taken out, so that the working efficiency is high.
In order to achieve the above purpose, the invention provides a technical scheme that: the automatic box opening machine for the packaging line comprises a box opening rack, wherein box opening overturning equipment, box opening grabbing equipment and box opening transferring equipment are arranged on the box opening rack, the box opening overturning equipment is arranged on one side of the box opening rack, and the box opening grabbing equipment is arranged on the other side of the box opening rack and opposite to the box opening overturning equipment; the box opening transfer device is arranged above the box opening overturning device.
The box opening overturning equipment comprises a first box opening lifting rotating mechanism, and a box opening clamping mechanism is arranged on the first box opening lifting rotating mechanism; the box opening clamping mechanism comprises a box opening second lifting device, a box opening first clamping device and two box opening second clamping devices; two open box second clamping devices and open box second elevating gear all set up on first open box lifting rotation mechanism, open box first clamping device set up at the output of open box second elevating gear, open box second elevating gear drive open box first clamping device and open box second clamping device and remove relatively.
The first box opening clamping device is used for clamping a first side cover of the box body, and the second box opening clamping devices are oppositely arranged and used for clamping a second side cover of the box body; the first box opening lifting rotating mechanism drives a box body containing the silicon wafer to approach to the box opening transferring equipment, the box opening transferring equipment is used for removing a second side cover of the box body, and the box opening first clamping device moves relative to the two box opening second clamping devices to separate the silicon wafer from the first side cover of the box body.
The box opening grabbing device comprises a second box opening lifting rotating mechanism, and a box opening grabbing device is arranged on the second box opening lifting rotating mechanism.
The box opening grabbing device comprises a box opening third clamping device, an avoidance area is arranged between the two box opening second clamping devices, the box opening third clamping device moves in the avoidance area and is used for clamping the silicon wafer, and the clamping direction of the box opening third clamping device is perpendicular to the clamping direction of the box opening second clamping device.
The beneficial effects that set up above: when the box body after the adhesive tape is removed is conveyed between the two box opening second clamping devices, the second side covers of the box body are clamped by the two box opening second clamping devices, the first side covers of the box body are clamped by the box opening first clamping devices, and the first box opening lifting rotating mechanism drives the whole box body to approach to the box opening transferring equipment and drives the box body to rotate so that the box body faces to the box opening transferring equipment; in the moving process of the box body, the box body is clamped by the first box opening clamping device and the second box opening clamping device, so that the silicon wafer is prevented from falling off due to the separation of the first side cover and the second side cover of the box body, and the stability is good; when the box body is aligned, the two second clamping devices for opening the box are mutually away from each other to loosen the clamping of the second side covers of the box body, the second side covers of the box body are removed through the box opening transfer equipment, after the second side covers of the box body are removed, the two second clamping devices for opening the box are mutually close to clamp the silicon wafer in the box body, and the second lifting device for opening the box acts to drive the first clamping device for opening the box to move relative to the second clamping devices for opening the box so as to separate the silicon wafer from the first side covers of the box body; and taking out the silicon wafer separated from the box body through the box opening grabbing device.
Meanwhile, the box opening grabbing device is driven by the second box opening lifting rotating mechanism, lifting and rotating of the box opening grabbing device are achieved, the flexibility of the box opening grabbing device is good, an avoidance area is formed at the same time, the clamping direction of the box opening third clamping device is perpendicular to the clamping direction of the box opening second clamping device, avoidance between the box opening third clamping device and the box opening second clamping device is achieved, the two box opening second clamping devices and the box opening third clamping device cannot interfere with each other, the box opening grabbing device clamps the silicon wafer through the two box opening second clamping devices when clamping the silicon wafer, after the box opening third clamping device clamps the silicon wafer, the two box opening second clamping devices loosen clamping of the silicon wafer, the silicon wafer is prevented from falling off in the taking out process, the silicon wafer can be automatically opened through packaging equipment and is stably taken out from the box body after being aligned, the silicon wafer is transferred, the working efficiency is high, and the clamping stability is good.
Further, the first box opening lifting and rotating mechanism comprises a box opening first lifting device and a box opening first rotating device; the fixed end of the first box opening rotating device is connected with the output end of the first box opening lifting device, and the second box opening clamping device and the second box opening lifting device are arranged at the movable end of the first box opening rotating device.
The box opening clamping mechanism is driven to rotate through the first box opening rotating device, and the box opening clamping mechanism is driven to lift through the first box opening lifting device to drive the box body to be close to the box opening transferring equipment.
Further, two first box opening clamping devices are arranged, and the two first box opening clamping devices are symmetrically arranged along the height direction of the second box opening lifting device; the clamping direction of the first clamping device for opening the box is perpendicular to the clamping direction of the second clamping device for opening the box.
The first clamping device for opening the box is perpendicular to the clamping direction of the second clamping device for opening the box, and can clamp the box along the longitudinal direction and the transverse direction of the box; simultaneously, the box body is clamped by the two first clamping devices for opening the box, so that the stability is good.
Further, the first clamping device for opening the box comprises a first clamping fixing plate, a first clamping drive, a clamping transmission screw rod, a first clamping piece and a second clamping piece.
The output end of the first clamping drive is connected with a clamping transmission screw rod, a first clamping thread is arranged at one end, close to the first clamping drive, of the clamping transmission screw rod, a second clamping thread is arranged at one end, far away from the first clamping drive, of the clamping transmission screw rod, the first clamping thread is opposite to the second clamping thread in rotation direction, a first clamping piece is arranged on the first clamping thread through a screw rod nut and is in sliding connection with a first clamping fixing plate, and a first clamping piece is arranged on the second clamping thread through a screw rod nut and is in sliding connection with the first clamping fixing plate.
The first clamping screw thread and the second clamping screw thread are opposite in rotation direction, the first clamping drive drives the clamping transmission screw rod to rotate along a direction, and the first clamping piece I and the second clamping piece II are close to each other; the first clamping drive drives the clamping transmission screw rod to rotate along the other direction, and the first clamping piece I and the second clamping piece II are far away from each other; the structure is simple; the first clamping piece and the second clamping piece are close to each other to clamp the box body.
Further, the second clamping device for opening the box comprises a second clamping drive and a second clamping piece, the second clamping piece is connected with the output end of the second clamping drive, and the second clamping piece of the second clamping device for opening the box is arranged opposite to the second clamping piece of the second clamping device for opening the box; the bottom of the second clamping piece is provided with a first supporting plate.
The two second clamping pieces are close to each other to clamp the silicon wafer and the box body.
Further, the second box opening lifting rotating mechanism comprises a box opening third lifting device, a box opening first traversing device and a box opening second rotating device; the third box opening lifting device is arranged on the box opening rack, the fixed end of the first box opening traversing device is connected with the output end of the third box opening lifting device, the fixed end of the second box opening rotating device is connected with the output end of the first box opening traversing device, and the box opening grabbing device is arranged at the movable end of the second box opening rotating device.
Above setting, through opening box second rotary device drive division box grabbing device rotation, open box grabbing device lift is driven through division box third elevating gear, and division box first sideslip device drive division box grabbing device lateral shifting drives division box third clamping device and is close to division box tipping arrangement.
Further, the box opening grabbing device comprises a box opening fourth lifting device, the box opening fourth lifting device is fixedly arranged at the movable end of the box opening second rotating device, a box opening grabbing support is arranged at the movable end of the box opening fourth lifting device, and a box opening third clamping device is arranged on the box opening grabbing support.
The box opening grabbing device further comprises a box opening supporting device, the box opening supporting device comprises a box opening supporting driving device or a box opening supporting piece, the box opening supporting driving device is fixed on the movable end of the box opening second rotating device and connected with the box opening supporting piece, the box opening supporting driving device drives the box opening supporting piece to be close to or far away from the box opening third clamping device, and the distance between the box opening third clamping device and the box opening supporting device is adjusted to be used for supporting silicon wafers.
The box opening grabbing support is driven to move through the box opening fourth lifting device, the distance between the box opening third clamping device and the box opening supporting piece is adjusted, the box opening third clamping device approaches to the box opening supporting piece, the box opening supporting piece contacts with the bottom of the silicon wafer, and the silicon wafer is supported, so that the box opening grabbing device stably clamps the silicon wafer; meanwhile, the box opening supporting piece is further connected with a box opening supporting drive, and the distance between the box opening supporting piece and the box opening third clamping device is independently adjusted through the box opening supporting drive so as to adapt to silicon wafers of different specifications.
Further, the box opening grabbing device further comprises two box opening fourth clamping devices, the two box opening fourth clamping devices are symmetrically arranged relative to the box opening third clamping device, and the box opening third clamping devices are perpendicular to the clamping directions of the two box opening fourth clamping devices.
The fourth clamping device for opening the box comprises a fourth clamping drive and a fourth clamping piece, the fourth clamping drive is fixedly arranged on the box-opening grabbing bracket, the movable end of the fourth clamping drive is connected with the fourth clamping piece, and the fourth clamping piece of the fourth clamping device for opening the box is arranged opposite to the fourth clamping piece of the fourth clamping device for opening the box; a second supporting plate is arranged on the top of the fourth clamping piece.
The silicon wafer clamped by the box opening grabbing device is clamped for the second time through the box opening fourth clamping device; simultaneously, the third clamping device for opening the box is perpendicular to the clamping direction of the fourth clamping devices for opening the box; and then the silicon wafer taken out can be clamped along the transverse and longitudinal directions, and the stability is good.
Further, the box opening transferring equipment comprises a box opening transferring lifting device, a box opening transferring traversing device and a box opening transferring clamping device; the box opening transferring and traversing device is fixedly arranged on the box opening rack, the box opening transferring and lifting device is arranged at the output end of the box opening transferring and traversing device, and the box opening transferring and clamping device is arranged at the output end of the box opening transferring and lifting device.
The box opening transferring and clamping device moves in the avoidance area and is used for clamping the box body, and the box opening transferring and traversing device is used for driving the box opening transferring and clamping device to be close to or far away from the box opening overturning equipment.
The box opening transferring and clamping device is driven to be close to the box opening overturning equipment through the box opening transferring and lifting device, and the second side cover of the box body is clamped through the box opening transferring and clamping device; the box opening transferring and clamping device is driven by the box opening transferring and traversing device to be far away from the box overturning equipment.
The invention also provides a working method of the automatic box opening machine for the packaging line, which comprises the following steps:
s1, conveying the box body from which the adhesive tape is removed to a position between the two box opening second clamping devices.
S2, second clamping pieces of the two-open-box second clamping device are close to each other to clamp a second side cover of the box body, and first clamping pieces of the two-open-box first clamping device are close to each other to clamp a first side cover of the box body.
S3, the first box opening lifting rotating mechanism drives the whole box body to approach the box opening transferring equipment and drives the box body to rotate, so that the second side cover of the box body faces the box opening transferring equipment.
S4, when the box body moves to the top of the first box opening lifting and rotating mechanism, S5 is performed.
S5, approaching the box body by the box opening transferring clamping device of the box opening transferring equipment.
S6, after the box opening transfer clamping device clamps the second side cover of the box body, S7 is carried out.
S7, the second clamping pieces of the two-open-box second clamping device are mutually separated and loosened to clamp the second side cover of the box body.
S8, the box opening transferring and clamping device drives the second side cover of the box body to be far away from the box overturning equipment.
S9, the second box opening lifting rotating mechanism drives the box opening grabbing device to approach the silicon wafer.
S10, second clamping pieces of the two-box-opening second clamping device are close to each other to clamp two ends of a silicon wafer; and the third clamping device for opening the box clamps the two sides of the silicon wafer.
S11, the second box opening lifting device acts to drive the first box opening clamping device to move relative to the second box opening clamping devices so as to separate the silicon wafer from the first side cover of the box body.
S12, the second clamping pieces of the two box opening second clamping devices are mutually separated and loosened to clamp the silicon wafer; the third clamping device drives the silicon chip separated from the box body to leave the box overturning equipment.
S13, after the silicon wafer is separated from the box opening overturning equipment, S14 is carried out.
S14, the fourth clamping pieces of the two-box opening fourth clamping device are close to each other to clamp the silicon wafer.
The fourth box opening lifting device drives the box opening grabbing support to move towards the box opening supporting piece, so that the bottom of the silicon wafer is abutted with the box opening supporting piece; the open box supporting piece and the second supporting plate clamp the silicon wafer along the height direction of the silicon wafer.
S15, the box opening grabbing equipment transfers the silicon wafer to the next station.
According to the method, when the box body is moved, the box body is clamped through the two box opening second clamping devices and the two box opening first clamping devices along the length direction and the width direction of the box body, the moving stability of the box body is improved, when the silicon wafer is separated from the second side cover of the box body, the two box opening second clamping devices and the box opening third clamping devices clamp the silicon wafer at the same time, under the action of the box opening second lifting device, the box opening first clamping devices are driven to move, the box opening first clamping devices drive the second side cover of the box body to be separated from the silicon wafer, the silicon wafer does not move, the impact force born by the silicon wafer is reduced, after the silicon wafer is taken out of the box opening overturning equipment, the two box opening fourth clamping devices clamp the two ends of the silicon wafer, and the actions of the box opening grabbing equipment and the box opening overturning equipment cannot interfere with each other; meanwhile, when the silicon wafer is transferred, the silicon wafer is clamped along the height direction of the silicon wafer, so that the silicon wafer is respectively clamped from three axial directions, and the stability is good.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a perspective view of an open box overturning device, an open box grabbing device and an open box transferring device in the invention.
Fig. 3 is a schematic perspective view of the open box overturning device in the invention.
Fig. 4 is an exploded view of the open box flipping apparatus of the present invention.
Fig. 5 is a schematic perspective view of a supporting device in the present invention.
Fig. 6 is a schematic perspective view of a first clamping device for opening a box according to the present invention.
Fig. 7 is a schematic view of a clamping drive screw in accordance with the present invention.
Fig. 8 is a schematic perspective view of a second clamping device for opening a box according to the present invention.
Fig. 9 is a schematic perspective view of an open-box gripping apparatus of the present invention.
Fig. 10 is an exploded view of the open box gripping device of the present invention.
Fig. 11 is a schematic perspective view of an open-box transfer apparatus in the present invention.
Fig. 12 is a schematic structural view of a case used in the present invention.
FIG. 13 is a flow chart of the method of operation of the present invention.
Reference numerals:
a0, a box opening rack; a1, opening a box overturning device; a11, a first box opening lifting and rotating mechanism; a12, a box opening clamping mechanism; a13, opening a first lifting device of the box; a14, opening a first rotating device; a15, opening a second lifting device; a16, opening a first clamping device; a161, a first clamping and fixing plate; a162, a first clamping drive; a163, clamping a transmission screw rod; a164, a first clamping piece I; a165, a first clamping piece II; a17, opening a second clamping device; a170, avoiding area; a171, second clamping driving; a172, a second clamping piece; a173, a first supporting plate; a18, a supporting device; a181, supporting and fixing the bracket; a182, supporting and driving; a183, supporting the moving piece; a2, opening the box and grabbing equipment; a21, a second box opening lifting and rotating mechanism; a22, a box opening grabbing device; a23, opening a box third lifting device; a24, opening the first traversing device of the box; a25, opening a second rotating device; a26, opening a box third clamping device; a27, a fourth lifting device for opening the box; a271, opening the box to grasp the bracket; a28, opening a fourth clamping device; a281, fourth clamping driving; a282, fourth clamping member; a283, a second supporting plate; a29, opening the box and supporting the device; a291, carrying out box opening bearing driving; a292, open box support; a3, opening the box and transferring equipment; a31, opening the box and transferring and lifting device; a32, opening the box, transferring and traversing device; a33, opening the box, transferring and clamping device; a4, a box body; a41, a first side cover; a42, a second side cover.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 12, an automatic box opening machine for a packaging line is used for opening and taking out a silicon wafer from a box body A4 filled with the silicon wafer, wherein the box body A4 comprises a first side cover a41 and a second side cover a42, the first side cover a41 and the second side cover a42 are separated along the height direction of the box body A4 to realize box body opening, the automatic box opening machine comprises a box opening rack A0, and a box opening overturning device A1, a box opening grabbing device A2 and a box opening transferring device A3 are arranged on the box opening rack A0. The box opening overturning device A1 is arranged on one side of the box opening rack A0, and the box opening grabbing device A2 is arranged on the other side of the box opening rack A0 and opposite to the box opening overturning device A1; the open cassette transferring apparatus A3 is disposed above the open cassette reversing apparatus A1.
The box opening overturning equipment A1 comprises a first box opening lifting rotating mechanism A11, and a box opening clamping mechanism A12 is arranged on the first box opening lifting rotating mechanism A11; the first box opening lifting and rotating mechanism A11 comprises a box opening first lifting device A13 and a box opening first rotating device A14; the fixed end of the first box opening rotating device A14 is connected with the output end of the first box opening lifting device A13.
As shown in fig. 1 and 4, the open box clamping mechanism a12 includes an open box second lifting device a15, two open box first clamping devices a16, and two open box second clamping devices a17. The first box opening and rotating device A14 drives the box opening and clamping mechanism A12 to rotate, and the first box opening and lifting device A13 drives the box opening and clamping mechanism A12 to lift so as to drive the box body to be close to or far away from the box transferring equipment A3.
In this embodiment, the first box opening lifter a13 and the second box opening lifter a15 are linear driving modules, and the first box opening rotator a14 is a rotator.
The two first box opening clamping devices A16 are symmetrically arranged along the height direction of the second box opening lifting device A15; the two box opening second clamping devices A17 are symmetrically arranged along the height direction of the box opening second lifting device A15; the clamping direction of the first box opening clamping device A16 is perpendicular to the clamping direction of the second box opening clamping device A17.
The two box opening second clamping devices A17 and the box opening second lifting devices A15 are arranged on the movable end of the box opening first rotating device A14, the two box opening first clamping devices A16 are arranged at the output end of the box opening second lifting devices A15, and the box opening second lifting devices A15 drive the box opening first clamping devices A16 to move relative to the box opening second clamping devices A17.
The two-open-box first clamping device A16 is used for clamping a first side cover of the box body, and the two-open-box second clamping device A17 is oppositely arranged for clamping a second side cover of the box body; the first clamping device A16 for opening the box is perpendicular to the clamping direction of the second clamping device A17 for opening the box, and can clamp the box along the longitudinal direction and the transverse direction of the box; simultaneously, the box body is clamped by the two first box opening clamping devices A16, so that the stability is good.
The first box opening lifting rotating mechanism A11 drives the box body containing the silicon wafers to approach the box opening transferring equipment A3, the box opening transferring equipment A3 is used for removing the second side cover of the box body, and the box opening first clamping device A16 moves relative to the two box opening second clamping devices A17 to separate the silicon wafers from the first side cover of the box body.
As shown in fig. 9, the open box grasping apparatus A2 includes a second open box lifting and rotating mechanism a21, and an open box grasping device a22 is provided on the second open box lifting and rotating mechanism a 21. The second box opening lifting and rotating mechanism A21 drives the box opening grabbing device A22 to lift and rotate, and the box opening grabbing device A22 is good in flexibility.
The second box opening lifting and rotating mechanism A21 comprises a box opening third lifting device A23, a box opening first traversing device A24 and a box opening second rotating device A25; the box opening third lifting device A23 is arranged on the box opening frame, the fixed end of the box opening first traversing device A24 is connected with the output end of the box opening third lifting device A23, the fixed end of the box opening second rotating device A25 is connected with the output end of the box opening first traversing device A24, and the box opening grabbing device A22 is arranged at the movable end of the box opening second rotating device A25. The box opening grabbing device A22 is driven to rotate through the box opening second rotating device A25, the box opening grabbing device A22 is driven to ascend and descend through the box opening third lifting device A23, the box opening grabbing device A22 is driven to transversely move through the box opening first traversing device A24, and the box opening third clamping device A26 is driven to be close to the box opening overturning equipment A1.
Referring to fig. 2, 4 and 10 together, an avoidance area a170 is provided between the two open-box second clamping devices a17, and the open-box gripping device a22 includes an open-box third clamping device a26 and an open-box fourth lifting device a27. The fourth box opening lifting device A27 is fixedly arranged at the movable end of the second box opening rotating device A25, the box opening grabbing support A271 is arranged at the movable end of the fourth box opening lifting device A27, and the third box opening clamping device A26 is arranged on the box opening grabbing support A271.
In the embodiment, the third box opening lifting device A23, the first box opening traversing device A24 and the fourth box opening lifting device A27 are linear driving modules, and the second box opening rotating device A25 is a rotating device; the third open box clamping device A26 has the same structure as the first open box clamping device A16.
The third clamping device A26 for opening the box moves in the avoiding area A170 and is used for clamping the silicon wafer, and the clamping direction of the third clamping device A26 for opening the box is perpendicular to the clamping direction of the second clamping device A17 for opening the box. The avoidance between the box opening third clamping device A26 and the box opening second clamping device A17 is realized, so that the two box opening second clamping devices A17 and the box opening third clamping device cannot interfere with each other, meanwhile, when the box opening grabbing device A22 clamps a silicon wafer, the silicon wafer can be clamped by the two box opening second clamping devices A17, and after the third clamping device clamps the silicon wafer, the two box opening second clamping devices A17 loosen the clamping of the silicon wafer, so that the silicon wafer is prevented from falling off in the taking-out process.
Referring to fig. 4 and 5, the open-box clamping mechanism a12 further includes a supporting device a18, the supporting device a18 including a supporting fixed bracket a181, a supporting drive a182, and a supporting mover a183; in this embodiment, the support driving a182 is a linear driving module. The support fixing support A181 is arranged at the output end of the box opening second lifting device A15, a support moving piece A183 is arranged in the support fixing support A181 in a penetrating way, a support driving A182 is arranged on the support fixing support A181 and is connected with the support moving piece A183, the support driving A182 drives the support moving piece A183 to move relative to the support fixing support A181, and before the first box opening lifting rotating mechanism A11 moves the box body, the support moving piece A183 is driven to move downwards to be in butt joint with the first side cover of the box body; and then after the first box opening lifting rotating mechanism A11 drives the box body to rotate, the bottom of the box body is supported through the supporting moving piece A183, so that the stable lifting of the box body is realized.
Referring to fig. 6 and 7 together, the two-open-box first clamping devices a16 are both arranged on the supporting and fixing bracket a 181; the first clamping device A16 for opening the box comprises a first clamping fixing plate A161, a first clamping driving A162, a clamping transmission screw A163, a first clamping piece A164 and a second clamping piece A165. In this embodiment, the first clamping drive a162 is a motor.
The output end of the first clamping driving screw A162 is connected with a clamping transmission screw A163, a first clamping thread A1631 is arranged at one end, close to the first clamping driving screw A162, of the clamping transmission screw A163, a second clamping thread A1632 is arranged at one end, far away from the first clamping driving screw A162, of the clamping transmission screw A163, the rotation directions of the first clamping thread A1631 and the second clamping thread A1632 are opposite, in the embodiment, the first clamping thread A1631 is a right-handed thread, and the second clamping thread A1632 is a left-handed thread.
The first clamping member a164 is disposed on the first clamping screw a1631 by a screw nut (not shown) and slidably connected to the first clamping fixing plate a161, and the second clamping member a165 is disposed on the second clamping screw a1632 by a screw nut (not shown) and slidably connected to the first clamping fixing plate a 161. In this embodiment, the first clamping member a164 is connected to the first clamping and fixing plate a161, and the second clamping screw a1632 is connected to the first clamping and fixing plate a161 by a slide rail and a slide block.
The rotation direction of the first clamping thread A1631 is opposite to that of the second clamping thread A1632, the first clamping drive A162 drives the clamping transmission screw rod A163 to rotate along a direction, and the first clamping piece A164 and the first clamping piece A165 are close to each other; the first clamping drive A162 drives the clamping transmission screw A163 to rotate along the other direction, and the first clamping piece A164 and the second clamping piece A165 are far away from each other; the structure is simple; the first clamping member A164 and the second clamping member A165 are close to each other to clamp the box body.
As shown in fig. 8, the second clamping device a17 for opening a box comprises a second clamping driving device a171 and a second clamping piece a172, the second clamping piece a172 is connected with the output end of the second clamping driving device a171, and the second clamping piece a172 of one second clamping device a17 for opening a box is opposite to the second clamping piece a172 of the other second clamping device a17 for opening a box; a first support plate a173 is provided at the bottom of the second clamping member a 172. The second clamping driving part A171 drives the second clamping parts A172 to move, and the two second clamping parts A172 are close to each other to clamp the silicon wafer or the box body. Through setting up first backup pad A173, before first division box lifting rotation mechanism A11 drive box body is rotatory, carries out the bearing through the bottom of first backup pad A173 to the box body, realizes the steady rising of box body.
As shown in fig. 9 and 10, the open box grasping device a22 further comprises an open box fourth clamping device a28 and an open box supporting device a29; the open box support device a29 includes an open box support drive a291 and an open box support a292, and in this embodiment, the open box support drive a291 is a linear drive module. The box opening bearing driving device A291 is fixed on the movable end of the box opening second rotating device A25 and is connected with the box opening bearing A292, the box opening bearing driving device A291 drives the box opening bearing A292 to be close to or far away from the box opening third clamping device A26, and the distance between the box opening third clamping device A26 and the box opening bearing A29 is adjusted to be used for bearing silicon wafers.
The box opening grabbing bracket A271 is driven to move through the box opening fourth lifting device A27, the distance between the box opening third clamping device A26 and the box opening supporting piece A292 is adjusted, the box opening third clamping device A26 approaches to the box opening supporting piece A292, the box opening supporting piece A292 contacts with the bottom of a silicon wafer to support the silicon wafer, and therefore the box opening grabbing device A22 stably clamps the silicon wafer; meanwhile, the box opening support A292 is also connected with the box opening support driving A291, and the distance between the box opening support A292 and the box opening third clamping device A26 is independently adjusted through the box opening support driving A291 so as to adapt to silicon wafers with different specifications.
The two open box fourth clamping devices A28 are arranged, the two open box fourth clamping devices A28 are symmetrically arranged relative to the open box third clamping device A26, and the open box third clamping device A26 is perpendicular to the clamping direction of the two open box fourth clamping devices A28. The silicon wafer clamped by the open box grabbing device A22 is clamped for the second time through the open box fourth clamping device A28; simultaneously, the clamping directions of the box opening third clamping device A26 and the two box opening fourth clamping devices A28 are vertical; and then the silicon wafer taken out is clamped along the transverse and longitudinal directions, so that the stability is good.
The fourth clamping device a28 for opening the box comprises a fourth clamping drive a281 and a fourth clamping member a282, the fourth clamping drive a281 being in this embodiment a cylinder. The fourth clamping drive A281 is fixedly arranged on the box opening grabbing bracket A271, the movable end of the fourth clamping drive A281 is connected with the fourth clamping piece A282, and the fourth clamping piece A282 of one box opening fourth clamping device A28 is arranged opposite to the fourth clamping piece A282 of the other box opening fourth clamping device A28; a second support plate a283 is provided on top of the fourth clamp member a 282. Through setting up second backup pad A283, under the combined action of second backup pad A283 and division box bearing A292, press from both sides tight silicon chip along the direction of height of silicon chip, promote division box grabbing device A22 and press from both sides the stability of getting the silicon chip.
As shown in fig. 3 and 11, the open cassette transferring apparatus A3 includes an open cassette transferring lifting device a31, an open cassette transferring traversing device a32, and an open cassette transferring gripping device a33; in the embodiment, the box opening transferring lifting device A31 and the box opening transferring traversing device A32 are both linear driving modules; the box opening transferring and clamping device A33 is an air cylinder clamping hand.
The box opening transferring and traversing device A32 is fixedly arranged on the box opening rack A0, the box opening transferring and lifting device A31 is arranged at the output end of the box opening transferring and traversing device A32, and the box opening transferring and clamping device A33 is arranged at the output end of the box opening transferring and lifting device A31. The box opening transferring and clamping device A33 moves in the avoiding area A170 and is used for clamping a box body, and the box opening transferring and traversing device A32 is used for driving the box opening transferring and clamping device A33 to be close to or far away from the box opening overturning equipment A1.
The box opening transferring and clamping device A33 is driven to be close to the box opening overturning equipment A1 by the box opening transferring and lifting device A31, and the box opening transferring and clamping device A33 clamps the second side cover of the box body; the open cassette transfer gripping device a33 is driven by the open cassette transfer traversing device a32 to move away from the cassette reversing apparatus A1.
When the box body after the adhesive tape is removed is conveyed between two box opening second clamping devices A17, the second side cover of the box body is clamped by the two box opening second clamping devices A17, the first side cover of the box body is clamped by the box opening first clamping device A16, and the first box opening lifting rotating mechanism A11 drives the whole box body to approach to the box opening transferring equipment A3 and drives the box body to rotate so that the box body faces to the box opening transferring equipment A3; in the moving process of the box body, the box body is clamped by the first box opening clamping device A16 and the second box opening clamping device A17, so that the silicon wafer is prevented from falling off due to the separation of the first side cover and the second side cover of the box body, and the stability is good; after the box body is aligned, the two box opening second clamping devices A17 are mutually far away to loosen the clamping of the second side cover of the box body, the second side cover of the box body is removed through the box opening transferring equipment A3, after the second side cover of the box body is removed, the two box opening second clamping devices A17 are mutually close to clamp the silicon wafer in the box body, the box opening second lifting device A15 acts to drive the box opening first clamping device A16 to move relative to the two box opening second clamping devices A17 so as to separate the silicon wafer from the first side cover of the box body; and taking out the silicon wafer separated from the box body through the box opening grabbing device A22.
As shown in fig. 1-12 and 13, the method of operating an automatic box opener for a packaging line comprises the steps of:
s1, conveying the box body from which the adhesive tape is removed to a position between the two box opening second clamping devices A17.
S2, the second clamping pieces A172 of the two box opening second clamping devices A17 are close to each other to clamp the second side cover of the box body, and the first clamping piece A164 and the first clamping piece A165 of the two box opening first clamping devices A16 are close to each other to clamp the first side cover of the box body.
S3, the first box opening lifting rotating mechanism A11 drives the whole box body to approach the box opening transferring device A3 and drives the box body to rotate, so that the second side cover of the box body faces the box opening transferring device A3.
S4, when the box body moves to the top of the first box opening lifting and rotating mechanism A11, S5 is performed.
S5, the box opening transferring clamping device A33 of the box opening transferring equipment A3 approaches to the box body.
S6, after the box opening transfer clamping device A33 clamps the second side cover of the box body, S7 is performed.
S7, the second clamping pieces A172 of the two box opening second clamping devices A17 are far away from each other to loosen the clamping of the second side cover of the box body.
S8, the box opening transfer clamping device A33 drives the second side cover of the box body to be far away from the box overturning equipment A1.
S9, the second box opening lifting and rotating mechanism A21 drives the box opening grabbing device A22 to approach the silicon wafer.
S10, second clamping pieces A172 of two box opening second clamping devices A17 are close to each other to clamp two ends of a silicon wafer; the open box third clamping device A26 clamps two sides of the silicon wafer.
S11, the second box opening lifting device A15 acts to drive the first box opening clamping device A16 to move relative to the second box opening clamping devices A17 so as to separate the silicon wafer from the first side cover of the box body.
S12, the second clamping pieces A172 of the two box opening second clamping devices A17 are far away from each other and are loosened to clamp the silicon wafer; the third clamping device A26 drives the silicon wafer separated from the box body to leave the box overturning equipment A1.
S13, after the silicon wafer is separated from the box opening overturning equipment, S14 is carried out.
S14, the fourth clamping pieces A282 of the two box opening fourth clamping devices A28 are close to each other to clamp the silicon wafer, and the box opening fourth lifting device A27 drives the box opening grabbing support A271 to move towards the box opening support A292, so that the bottom of the silicon wafer is abutted to the box opening support A292; the open box supporting piece and the second supporting plate clamp the silicon wafer along the height direction of the silicon wafer.
S15, the box opening grabbing device A2 transfers the silicon wafer to the next station.
According to the method, when the box body is moved, the box body is clamped through the two box opening second clamping devices A17 and the two box opening first clamping devices A16 along the length direction and the width direction of the box body, the moving stability of the box body is improved, when the silicon wafer is separated from the second side cover of the box body, the two box opening second clamping devices A17 and the box opening third clamping devices A26 clamp the silicon wafer at the same time, under the action of the box opening second lifting devices, the box opening first clamping devices are driven to move, the box opening first clamping devices A16 drive the second side cover of the box body to be separated from the silicon wafer, the silicon wafer is not moved, the impact force on the silicon wafer is reduced, and after the silicon wafer is taken out of the box opening overturning equipment, the two box opening fourth clamping devices clamp the two ends of the silicon wafer, so that actions of the box opening grabbing equipment and the box opening overturning equipment cannot interfere with each other; meanwhile, when the silicon wafer is transferred, the silicon wafer is clamped along the height direction of the silicon wafer, so that the silicon wafer is respectively clamped from three axial directions, and the stability is good.
Claims (8)
1. An automatic box opening machine for a packaging line is characterized in that: the box opening and grabbing device is arranged on the other side of the box opening frame and is opposite to the box opening and overturning device; the box opening transfer device is arranged above the box opening overturning device;
the box opening overturning equipment comprises a first box opening lifting rotating mechanism, and a box opening clamping mechanism is arranged on the first box opening lifting rotating mechanism; the box opening clamping mechanism comprises a box opening second lifting device, a box opening first clamping device and two box opening second clamping devices; the two box opening second clamping devices and the box opening second lifting device are arranged on the first box opening lifting rotating mechanism, the box opening first clamping device is arranged at the output end of the box opening second lifting device, and the box opening second lifting device drives the box opening first clamping device to move relative to the box opening second clamping device;
the first box opening clamping device is used for clamping a first side cover of the box body, and the second box opening clamping devices are oppositely arranged and used for clamping a second side cover of the box body; the first box opening lifting rotating mechanism drives a box body containing the silicon wafer to approach to the box opening transferring equipment, the box opening transferring equipment is used for removing a second side cover of the box body, and the box opening first clamping device moves relative to the two box opening second clamping devices to separate the silicon wafer from the first side cover of the box body;
the box opening grabbing device comprises a second box opening lifting rotating mechanism, and a box opening grabbing device is arranged on the second box opening lifting rotating mechanism; the second box opening lifting rotating mechanism comprises a box opening third lifting device, a box opening first traversing device and a box opening second rotating device; the box opening third lifting device is arranged on the box opening rack, the fixed end of the box opening first traversing device is connected with the output end of the box opening third lifting device, the fixed end of the box opening second rotating device is connected with the output end of the box opening first traversing device, and the box opening grabbing device is arranged at the movable end of the box opening second rotating device;
the box opening grabbing device comprises a box opening third clamping device, an avoidance area is arranged between the two box opening second clamping devices, the box opening third clamping device moves in the avoidance area and is used for clamping the silicon wafer, and the clamping direction of the box opening third clamping device is perpendicular to the clamping direction of the box opening second clamping devices;
the box opening grabbing device comprises a box opening fourth lifting device, the box opening fourth lifting device is fixedly arranged at the movable end of the box opening second rotating device, a box opening grabbing bracket is arranged at the movable end of the box opening fourth lifting device, and a box opening third clamping device is arranged on the box opening grabbing bracket;
the box opening grabbing device further comprises a box opening supporting device, the box opening supporting device comprises a box opening supporting driving device and a box opening supporting piece, the box opening supporting driving device is fixed on the movable end of the box opening second rotating device and connected with the box opening supporting piece, the box opening supporting driving device drives the box opening supporting piece to be close to or far away from the box opening third clamping device, and the distance between the box opening third clamping device and the box opening supporting device is adjusted to be used for supporting silicon wafers.
2. An automatic box opener for a packaging line according to claim 1, characterized in that: the first box opening lifting and rotating mechanism comprises a box opening first lifting device and a box opening first rotating device; the fixed end of the first box opening rotating device is connected with the output end of the first box opening lifting device, and the second box opening clamping device and the second box opening lifting device are arranged at the movable end of the first box opening rotating device.
3. An automatic box opener for a packaging line according to claim 1, characterized in that: the two first box opening clamping devices are symmetrically arranged along the height direction of the second box opening lifting device; the clamping direction of the first clamping device for opening the box is perpendicular to the clamping direction of the second clamping device for opening the box.
4. An automatic box opener for a packaging line according to claim 3, characterized in that: the first clamping device for opening the box comprises a first clamping fixing plate, a first clamping drive, a clamping transmission screw rod, a first clamping piece I and a second clamping piece II;
the output end of the first clamping drive is connected with a clamping transmission screw rod, a first clamping thread is arranged at one end, close to the first clamping drive, of the clamping transmission screw rod, a second clamping thread is arranged at one end, far away from the first clamping drive, of the clamping transmission screw rod, the first clamping thread is opposite to the second clamping thread in rotation direction, a first clamping piece is arranged on the first clamping thread through a screw rod nut and is in sliding connection with a first clamping fixing plate, and a first clamping piece is arranged on the second clamping thread through a screw rod nut and is in sliding connection with the first clamping fixing plate.
5. An automatic box opener for a packaging line according to claim 3, characterized in that: the second clamping device for opening the box comprises a second clamping drive and a second clamping piece, the second clamping piece is connected with the output end of the second clamping drive, and the second clamping piece of one second clamping device for opening the box is arranged opposite to the second clamping piece of the other second clamping device for opening the box; the bottom of the second clamping piece is provided with a first supporting plate.
6. An automatic box opener for a packaging line according to claim 1, characterized in that: the box opening grabbing device further comprises two box opening fourth clamping devices, the two box opening fourth clamping devices are symmetrically arranged relative to the box opening third clamping device, and the box opening third clamping device is perpendicular to the clamping direction of the two box opening fourth clamping devices;
the fourth clamping device for opening the box comprises a fourth clamping drive and a fourth clamping piece, the fourth clamping drive is fixedly arranged on the box-opening grabbing bracket, the movable end of the fourth clamping drive is connected with the fourth clamping piece, and the fourth clamping piece of the fourth clamping device for opening the box is arranged opposite to the fourth clamping piece of the fourth clamping device for opening the box; a second supporting plate is arranged on the top of the fourth clamping piece.
7. An automatic box opener for a packaging line according to claim 1, characterized in that: the box opening transfer equipment comprises a box opening transfer lifting device, a box opening transfer traversing device and a box opening transfer clamping device; the box opening transferring and traversing device is fixedly arranged on the box opening rack, the box opening transferring and lifting device is arranged at the output end of the box opening transferring and traversing device, and the box opening transferring and clamping device is arranged at the output end of the box opening transferring and lifting device;
the box opening transferring and clamping device moves in the avoidance area and is used for clamping the box body, and the box opening transferring and traversing device is used for driving the box opening transferring and clamping device to be close to or far away from the box opening overturning equipment.
8. A method of operating an automatic box opener for a packaging line according to any one of claims 1-7, characterized by: the method comprises the following steps:
s1, conveying the box body from which the adhesive tape is removed to a position between two second clamping devices for opening the box;
s2, the second clamping pieces of the two box opening second clamping devices are close to each other to clamp the second side cover of the box body, and the first clamping piece I and the first clamping piece II of the two box opening first clamping devices are close to each other to clamp the first side cover of the box body;
s3, the first box opening lifting rotating mechanism drives the whole box body to approach to the box opening transferring equipment and drives the box body to rotate, so that a second side cover of the box body faces to the box opening transferring equipment;
s4, when the box body moves to the top of the first box opening lifting and rotating mechanism, S5 is carried out;
s5, approaching the box body by the box opening transferring clamping device of the box opening transferring equipment;
s6, after the box opening transfer clamping device clamps the second side cover of the box body, S7 is carried out;
s7, the second clamping pieces of the two box opening second clamping devices are mutually separated and loosened to clamp the second side cover of the box body;
s8, the box opening transfer clamping device drives the second side cover of the box body to be far away from the box overturning equipment;
s9, the second box opening lifting rotating mechanism drives the box opening grabbing device to approach the silicon wafer;
s10, second clamping pieces of the two-box-opening second clamping device are close to each other to clamp two ends of a silicon wafer; the third clamping device is opened to clamp the two sides of the silicon wafer;
s11, the second box opening lifting device acts to drive the first box opening clamping device to move relative to the second box opening clamping devices so as to separate the silicon wafer from the first side cover of the box body;
s12, the second clamping pieces of the two box opening second clamping devices are mutually separated and loosened to clamp the silicon wafer; the third clamping device drives the silicon wafer separated from the box body to leave the box overturning equipment;
s13, after the silicon wafer is separated from the box opening overturning equipment, S14 is carried out;
s14, the fourth clamping pieces of the two-box opening fourth clamping device are close to each other to clamp the silicon wafer; the fourth box opening lifting device drives the box opening grabbing support to move towards the box opening supporting piece, so that the bottom of the silicon wafer is abutted with the box opening supporting piece; the open box supporting piece and the second supporting plate clamp the silicon wafer along the height direction of the silicon wafer;
s15, the box opening grabbing equipment transfers the silicon wafer to the next station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311834059.6A CN117465798B (en) | 2023-12-28 | 2023-12-28 | Automatic box opening machine for packaging line and working method |
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| CN202311834059.6A CN117465798B (en) | 2023-12-28 | 2023-12-28 | Automatic box opening machine for packaging line and working method |
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| CN117465798B true CN117465798B (en) | 2024-04-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117699185B (en) * | 2024-02-06 | 2024-05-14 | 广州蓝海机器人系统有限公司 | Silicon wafer packaging line and working method |
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