CN211945309U - Device multi-claw clamping mechanism, transfer device and piece shifting equipment - Google Patents

Abstract

The utility model relates to a device multi-claw clamping mechanism, a transfer device and a piece shifting device, wherein the multi-claw clamping mechanism comprises a fixed plate, a plurality of fixed arms, a plurality of finger cylinders and a plurality of fixed blocks; the fixed arms are respectively parallel and are respectively connected with the fixed plate; the finger cylinders are connected with the fixed arms in a one-to-one correspondence manner; every the finger cylinder includes cylinder body and two clamping jaws, the cylinder body with the fixed arm is connected, two the clamping jaw respectively connects one the fixed block, two form between the fixed block with TO device matches and the spacing chamber that can open and shut. Fixture just can replace the manual work TO the direct contact of TO device, has avoided causing damage or potential damage TO the TO device, can transfer a plurality of TO devices of centre gripping simultaneously moreover, has also improved the letter sorting of TO device and has dialled a efficiency and accuracy.

Description

Device multi-claw clamping mechanism, transfer device and piece shifting equipment

Technical Field

The utility model relates to a semiconductor device production facility technical field especially relates to a device multitooch fixture, transfer device and piece equipment of dialling.

Background

The TO packaging system is a device which is common and widely used in the semiconductor field. After the TO device is manufactured, the TO device needs TO be arranged on a test board for quality test, and after the test is finished, qualified products and unqualified products need TO be sorted and pulled. Once a piece shifting error occurs, an unqualified TO device enters a qualified product, a series of functions of a subsequent TO device can be affected, and therefore the piece shifting operation is very important. Present letter sorting group work is mainly after the test finishes, sorts through the manual work and dials the piece, and this is not only inefficient, and manual operation uniformity is poor moreover, often produces damage or potential damage TO the TO device.

Therefore, it is desirable to provide a device multi-jaw clamping mechanism, a transfer device and a toggle device to solve the deficiencies of the prior art.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the prior art, the utility model provides a device multi-claw fixture, transfer device and piece shifting equipment.

A device multi-jaw clamping mechanism comprises a fixing plate, a plurality of fixing arms, a plurality of finger cylinders and a plurality of fixing blocks;

the fixed arms are respectively parallel and are respectively connected with the fixed plate;

the finger cylinders are connected with the fixed arms in a one-to-one correspondence manner;

every the finger cylinder includes cylinder body and two clamping jaws, the cylinder body with the fixed arm is connected, two the clamping jaw respectively connects one the fixed block, two form between the fixed block with TO device matches and the spacing chamber that can open and shut.

Further, the fixing arm comprises a main arm and an L-arm, the L-arm comprises a first plate and a second plate which are perpendicular to each other and connected, the first plate is perpendicular to one end of the main arm, the length of the second plate is smaller than that of the main arm, and the second plate and the main arm are on the same side of the first plate;

the finger cylinder is connected with one side of the second plate far away from the main arm, and a clamping jaw of the finger cylinder can translate in a direction close to or far away from the second plate.

Furthermore, a first sliding block is arranged on one side, far away from the L-shaped arm, of the main arm, and a first sliding rail perpendicular to the main arm is arranged on the fixing plate;

and the fixed arms are respectively connected with the first sliding rail in a sliding manner through the matching of the first sliding block and the first sliding rail.

The device further comprises a distance adjusting plate and a lifting piece, wherein the fixed end of the lifting piece is connected with the fixed plate, and the lifting end of the lifting piece is connected with the distance adjusting plate;

the distance adjusting plate is parallel to the fixing plate and provided with a plurality of second sliding rails, and the distance between the plurality of second sliding rails gradually increases or decreases along the extending direction of the main arm;

and one side of the main arm, which is far away from the fixed plate, is provided with a second sliding block, and the plurality of main arms are respectively in one-to-one corresponding sliding connection with the plurality of second sliding rails through the second sliding blocks.

Furthermore, the L-shaped arm is connected with a monitoring board, a distance sensor is arranged on the monitoring board, and the distance sensor is used for detecting the distance between the monitoring board and the fixed block.

Furthermore, an opening for a support leg of the TO device TO pass through is formed in one end, far away from the finger cylinder, of the limiting cavity.

Furthermore, one end of the opening, which is close TO the limiting cavity, extends TO the periphery of the limiting cavity TO form an annular clamping groove, and the size and the shape of the clamping groove are matched with those of the TO device.

Furthermore, a plurality of supporting foot holes are formed in the edge of the opening, the supporting foot holes are formed by extending from the edge of the opening TO the inside of the fixing block, and the plurality of supporting foot holes are matched with a plurality of supporting feet of the TO device.

Furthermore, a semi-limiting cavity is arranged on one side of each fixed block, which is opposite to the other fixed block;

when the two fixing blocks are tightly attached, the two semi-limiting cavities form the limiting cavity.

Further, every keeping away from of fixed block the one end of pointing the cylinder all is equipped with the slope chamfer, two the slope chamfer of fixed block constitute to spacing sunken groove of dodging in chamber.

Based on the same invention concept, the utility model also provides a device transfer device, including the device multi-claw fixture.

Further, the three-dimensional moving support comprises a first guide rail in the X direction, a second guide rail in the X direction, a third guide rail in the Y direction, a fourth guide rail in the Y direction, a fifth guide rail in the Z direction and a sixth guide rail in the Z direction, wherein the third guide rail is in sliding connection with the first guide rail and the second guide rail respectively;

the device multi-claw clamping mechanism is connected with the fifth guide rail in a sliding manner, and the sixth guide rail is connected with the suction nozzle in a sliding manner;

the X direction, the Y direction and the Z direction are vertical to each other.

Based on the same inventive concept, the utility model also provides a device shifting device, including the device transfer device.

The device further comprises a first conveying mechanism, a second conveying mechanism and a third conveying mechanism, wherein the conveying directions of the first conveying mechanism, the second conveying mechanism and the third conveying mechanism are all X directions;

the first conveying mechanism and the third conveying mechanism are respectively arranged at two sides of the second conveying mechanism; the first conveying mechanism is used for conveying a test carrier provided with a plurality of TO devices, the second conveying mechanism is used for conveying a packaging carrier, and the third conveying mechanism is used for conveying a supplement carrier.

Further, the conveying device further comprises a bad area, and the bad area is arranged between the first conveying mechanism and the second conveying mechanism.

The technical scheme of the utility model compare with closest prior art and have following advantage:

the multi-jaw clamping mechanism provided by the technical scheme of the utility model can drive two fixed blocks connected with the multi-jaw clamping mechanism to relatively approach or keep away from the multi-jaw clamping mechanism through the relative movement between the two clamping jaws of the finger cylinder, the limiting cavity formed between the two fixed blocks is gradually closed in the approaching process, and the limiting cavity formed between the two fixed blocks is gradually opened in the keeping away process; the limiting cavity is matched with the TO device, and the TO device can enter the limiting cavity through opening and closing of the limiting cavity TO finish clamping operation of the TO device; the fixing plate is connected with a plurality of fixing arms, and each fixing arm is connected with a finger cylinder, so that the fixing plate can drive the position of the whole clamping mechanism to move, namely, the fixing plate can drive the finger cylinders and the fixing blocks connected with the finger cylinders to move; accomplish centre gripping operation and position removal back in succession, open spacing chamber again, place the TO device in new position department, fixture just so can replace the artifical direct contact TO the TO device, has avoided causing damage or potential damage TO the TO device, can transfer a plurality of TO devices of centre gripping simultaneously moreover, has also improved the letter sorting of TO device and has dialled a efficiency and accuracy.

Drawings

Fig. 1 is a front view of a device multi-jaw clamping mechanism provided by the present invention (fixed plate not shown);

fig. 2 is a side view of a device multi-jaw clamping mechanism provided by the present invention (fixed plate not shown);

fig. 3 is a schematic structural diagram of components above a fixed arm in the multi-jaw clamping mechanism of the present invention;

fig. 4 is a partially enlarged view of a portion a of fig. 3;

FIG. 5 is a side view of the components of the multi-jaw clamping mechanism of the present invention above a fixed arm;

fig. 6 is a schematic structural diagram of the device shifting apparatus provided by the present invention.

Wherein, 1-main arm; 2-L arm; 3-a monitoring board; 4-a distance sensor; 5-finger cylinder; 6, fixing blocks; 7-a first slider; 8-a second slide block; 9-a limiting cavity; 10-opening; 11-pin holes; 12-a leg; 13-inclined chamfering; 14-TO devices; 15-a first guide rail; 16-a second guide rail; 17-a third guide rail; 18-a fourth guide rail; 19-a first transfer mechanism; 20-a second transport mechanism; 21-a test carrier; 22-packaging the carrier; 23-a device multi-jaw clamping mechanism; 24-a support column; 25-a fifth guide rail; 26-a sixth guide rail; 27-a suction nozzle; 28-a feed supplement carrier; 29-a lifting member; 30-a distance adjusting plate; 31-a second slide rail; 32-a first slide rail; 33-third transport mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The utility model provides a device multi-jaw clamping mechanism, in particular TO a TO device multi-jaw clamping mechanism, which comprises a fixed plate, a plurality of fixed arms, a plurality of finger cylinders 5 and a plurality of fixed blocks 6; the fixed arms are respectively parallel and respectively connected with the fixed plates; the finger cylinders 5 are connected with the fixed arms in a one-to-one correspondence manner; each finger cylinder 5 comprises a cylinder body and two clamping jaws, the cylinder body is connected with the fixed arm, the two clamping jaws are respectively connected with one fixed block 6, and a limiting cavity 9 which is matched with the TO device 14 and can be opened and closed is formed between the two fixed blocks 6 connected with the same finger cylinder 5.

The two fixing blocks 6 connected with the finger cylinder 5 can be driven to relatively approach or separate from each other through the relative movement between the two clamping jaws of the finger cylinder 5, a limiting cavity 9 formed between the two fixing blocks 6 is gradually closed in the approaching process, and the limiting cavity 9 formed between the two fixing blocks 6 is gradually opened in the separating process; the limiting cavity 9 is matched with the TO device 14, and the TO device 14 can enter the limiting cavity 9 through opening and closing of the limiting cavity 9, so that the clamping operation of the TO device 14 is completed; the fixing plate is connected with a plurality of fixing arms, and each fixing arm is connected with a finger cylinder 5, so that the fixing plate can drive the position of the whole clamping mechanism to move, namely, the fixing plate can drive the plurality of finger cylinders 5 and the fixing blocks 6 connected with the finger cylinders to move; after accomplishing clamping operation and position removal in succession, open spacing chamber 9 again, place TO device 14 in new position department, fixture just so can replace the manual work TO the direct contact of TO device 14, avoided causing damage or potential damage TO TO device 14, can the multiple TO devices 14 of centre gripping simultaneously moreover shift, also improved TO device 14's letter sorting and dial a efficiency and accuracy.

In some embodiments of the present invention, the fixing arm includes a main arm 1 and an L arm 2, the L arm 2 includes a first plate and a second plate perpendicular to each other and connected to each other, the first plate is perpendicular to one end of the main arm 1, the length of the second plate is smaller than that of the main arm 1, and the second plate and the main arm 1 are on the same side of the first plate; a finger cylinder 5 is connected to the side of the second plate remote from the main arm 1, and the clamping jaw of the finger cylinder 5 can translate in a direction towards or away from the second plate. The L-shaped arm 2 and the main arm 1 form a U-shaped fixing arm, but the fixing arm has different functions at different positions, so that the length difference of two vertical edges of the U-shaped fixing arm is larger, the length of the main arm 1 is larger, the length of the second plate is smaller, the outer side of the main arm 1 is connected with a parent device, the outer side of the second plate is connected with a finger cylinder 5, and clamping jaws of the finger cylinder 5 are parallel clamping jaws, and the translation direction of the clamping jaws is close to and far away from the second plate.

In some embodiments of the present invention, a first slider 7 is disposed on one side of the main arm 1 away from the L-arm 2, and a first slide rail 32 perpendicular to the main arm 1 is disposed on the fixing plate; the fixed arms are respectively connected with the first sliding block 7 and the first sliding rail 32 in a sliding mode in a matching mode. The plurality of fixing arms are respectively connected with the first sliding rails 32 on the fixing plate, so that the position of each fixing arm can be adjusted by sliding in the first sliding rails 32, the first sliding rails 32 are selectively arranged in the horizontal direction, the main arms 1 of the fixing arms are in a vertical state, the first plate is in the horizontal direction, the second plate is in a vertical state, and the clamping jaws of the finger cylinders 5 are in a vertical state and are positioned below the cylinder body; the position of the corresponding limiting cavity 9 is adjusted by sliding each main arm 1, the positions of the plurality of fixing blocks 6 are adjusted, the fixing blocks 6 are used simultaneously, and when the plurality of TO devices 14 are clamped simultaneously, each grabbing unit (namely a unit which can clamp one TO device 14 and consists of one main arm 1, one finger cylinder 5 and two fixing blocks 6) is aligned and matched with the corresponding TO device 14 through sliding between the first sliding rail 32 and the main arm 1, so that the two grabbing units are clamped simultaneously and transferred simultaneously.

In some embodiments of the present invention, the device further comprises a distance adjusting plate 30 and a lifting member 29, wherein the fixed end of the lifting member 29 is connected to the fixed plate, and the lifting end of the lifting member 29 is connected to the distance adjusting plate 30; the distance adjusting plate 30 is parallel to the fixing plate, the distance adjusting plate 30 is provided with a plurality of second sliding rails 31, and the distance between the plurality of second sliding rails 31 gradually increases or decreases along the extending direction of the main arm 1; one side of the main arm 1 far away from the fixed plate is provided with a second sliding block 8, and the plurality of main arms 1 are in one-to-one corresponding sliding connection with the plurality of second sliding rails 31 through the second sliding blocks 8. The distance adjusting plate 30 can be lifted along with the lifting member 29, and during the lifting process of the distance adjusting plate 30, since the main arm 1 is fixed in position in the vertical direction, the distance adjusting plate can only slide in the horizontal direction, and along with the lifting of the distance adjusting plate 30, the positions of the positions at the same height as the second slide rail 31 and the second slide block 8 are changed, or the mutual distance between the main arms 1 is increased, or the mutual distance between the main arms 1 is decreased; therefore, the lifting of the distance adjusting plate 30 can control the plurality of main arms 1 TO slide in the second sliding rails 31 respectively, so that the distance between the main arms 1 is adjusted, the automatic control of the positions and the mutual distances of a plurality of grabbing units (namely, a unit which is composed of one main arm 1, one finger cylinder 5 and two fixed blocks 6 and can clamp one TO device 14) is realized, and the adjusting speed and the adjusting precision are improved.

The utility model discloses an in some embodiments, L arm 2 is connected with control board 3, is equipped with distance sensor 4 on the control board 3, and distance sensor 4 is used for detecting the distance between control board 3 and fixed block 6. The monitoring board 3 can set up in the below of first board, on the position relative with the second board, and distance sensor 4 sets up on monitoring board 3, and its direction of detection is towards fixed block 6, and it can judge the distance between two fixed blocks 6 through the distance that detects fixed block 6 and distance sensor 4, namely can judge the condition of opening and shutting of spacing chamber 9.

In some embodiments of the present invention, the end of the limiting cavity 9 away from the finger cylinder 5 is provided with an opening 10 for the foot 12 of the TO device 14 TO pass through. The TO devices 14 generally comprise a main body and radial support legs 12 arranged below the main body, and when the TO devices 14 are intensively placed on a test board, the support legs 12 are inserted into specific containing holes for positioning and limiting; spacing chamber 9 is mainly used for the restriction and holds the main part of TO device 14, and the stabilizer blade 12 of TO device 14 then the accessible is predetermine opening 10 and is run through and stretch out spacing chamber 9, has reduced the volume in spacing chamber 9 like this greatly, makes the TO device 14 more stable in the position in spacing chamber 9 moreover, and difficult the removal has strengthened the centre gripping effect.

In some embodiments of the present invention, the end of the opening 10 close TO the spacing cavity 9 extends TO its periphery TO form an annular clamping groove, and the size and shape of the clamping groove are matched with the TO device 14. The function of opening 10 is that the stabilizer blade 12 that supplies the TO device 14 stretches out, restricts the main part of TO device 14 simultaneously in spacing chamber 9, and TO device 14 at this moment is in a suspension state, and the position of TO device 14 on vertical direction has obtained the restriction by the effect of gravity promptly, and the position on the horizontal direction does not obtain accurate restriction, and even vertical direction, when whole fixture takes place TO rock or when violent actions such as upset, the position of its vertical direction still can not guarantee stability. The clamping groove is formed at the upper end of the opening 10, the peripheral edge of the clamping groove is matched with the shape and size of the body of the TO device 14, the body of the TO device 14 can be just embedded in the clamping groove, the operation of clamping requires that the two fixing blocks 6 are far away from the clamping groove TO approach the clamping groove, the body of the TO device 14 is limited in the limiting cavity 9 in the process of gradually closing the limiting cavity 9, the whole TO device 14 is suspended in the limiting cavity 9, then the two fixing blocks 6 are controlled by the finger cylinder 5 TO be far away from the body of the TO device 14 and fall into the clamping groove, and then the two fixing blocks are quickly approached TO clamp the TO device 14 in the clamping groove, so that the vertical direction and the horizontal direction of the TO device 14 are limited, and the position of the TO device 14 is quite stable no matter what violent actions are carried out in the follow-up process by the clamping mechanism.

In some embodiments of the present invention, the edge of the opening 10 is provided with a plurality of supporting leg holes 11, the supporting leg holes 11 are formed by extending from the edge of the opening 10 into the fixed block 6, and the plurality of supporting legs 12 of the plurality of supporting leg holes 11 and the TO device 14 are matched. It has been described above that the legs 12 of the TO device 14 are gradually separated from each other in the direction away from the main body thereof TO form the radial legs 12, the snap-fit arrangement can facilitate the passage of the legs 12, and the arrangement of the leg holes 11 is more adapted TO the position and shape of the legs 12, the position of which corresponds TO the legs 12 one by one, so that the legs 12 of the TO device 14 can be more accurately avoided TO prevent the damage TO the legs 12 during the process of closing the limit cavities 9 by the fixing blocks 6 approaching each other, and the clamping and positioning of the TO device are facilitated.

In some embodiments of the present invention, a half-limit cavity is disposed on a side of each fixed block 6 opposite to another fixed block 6; when the two fixing blocks 6 are tightly attached, the two semi-limiting cavities form a limiting cavity 9. Two spacing half chambeies are exactly the half of spacing chamber 9, be the sunken of the inside extension formation of fixed block 6 promptly, two are sunken TO be spacing chamber 9 together, spacing chamber 9 can run through whole fixed block 6 in the direction perpendicular with fixed block 6 direction of motion, in the direction of fixed block 6 motion, be sunken form, consequently two fixed blocks 6 are at the in-process of centre gripping TO device 14, can observe through spacing chamber 9 both sides, the convenience of operation is improved, the accuracy of centre gripping has been increased.

The utility model discloses an in some embodiments, the one end of keeping away from finger cylinder 5 of every fixed block 6 all is equipped with slope chamfer 13, and the groove of dodging to spacing chamber 9 is sunken is constituteed to the slope chamfer 13 of two fixed blocks 6. When the TO devices 14 are arranged on the test board, the support legs 12 are inserted into the corresponding holes of the test board, the mounting positions on the test board corresponding TO each TO device 14 are conical or truncated cone-shaped protrusions, then, the side walls of the protrusions are provided with insertion holes, when the TO devices 14 are arranged on the test board, the support legs 12 are inserted into the insertion holes on the side walls, and the main body is placed above the protrusions; when the two fixing blocks 6 respectively clamp the TO device 14 from two sides, the two inclined chamfers 13 can avoid the bulge on the mounting position, so that the matching degree of the clamping mechanism and the test board is further improved.

Based on the same inventive concept, the utility model also provides a device transfer device, including device multi-jaw fixture 23. The transfer device can drive the device multi-claw clamping mechanism TO clamp and transfer the TO device 14, and is suitable for being applied TO sorting and shifting operations of the TO device 14.

In some embodiments of the present invention, the three-dimensional moving rack further comprises a three-dimensional moving rack, the three-dimensional moving rack comprises a first guide rail 15 in the X direction, a second guide rail 16 in the X direction, a third guide rail 17 in the Y direction slidably connected to the first guide rail 15 and the second guide rail 16, a fourth guide rail 18 in the Y direction slidably connected to the first guide rail 15 and the second guide rail 16, a fifth guide rail 25 in the Z direction slidably connected to the third guide rail 17, and a sixth guide rail 26 in the Z direction slidably connected to the fourth guide rail 18; the device multi-claw clamping mechanism is connected with the fifth guide rail 25 in a sliding mode, and the sixth guide rail 26 is connected with the suction nozzle 27 in a sliding mode; the X direction, the Y direction and the Z direction are vertical to each other. The X direction in the three-dimensional moving support can be horizontal and transverse, the Y direction can be horizontal and longitudinal, and the Z direction can be vertical; the first guide rail 15 and the second guide rail 16 are both horizontal and transverse guide rails, and both ends of the horizontal and transverse guide rails are supported to a certain height by a support column 24; the third guide rail 17 and the fourth guide rail 18 are both horizontal longitudinal guide rails, are overlapped on the two horizontal transverse guide rails, and can slide on the first guide rail 15 and the second guide rail 16 along the horizontal transverse direction; the fifth guide rail 25 is a vertically oriented guide rail which is itself disposed above the third guide rail 17 and slidable in the horizontal longitudinal direction, and then the device multi-jaw holding mechanism is disposed on the fifth guide rail 25 and slidable in the vertical direction; the sixth guide rail 26 is a vertically oriented guide rail and is itself provided on the fourth guide rail 18 and slidable in the horizontal longitudinal direction, and then the suction nozzle 27 is provided on the sixth guide rail 26 and slidable in the vertical direction. Therefore, the positions of the multi-claw clamping mechanism and the suction nozzle 27 of the device can be flexibly adjusted and transferred in three dimensions by sliding the third guide rail 17, the fourth guide rail 18, the fifth guide rail 25, the sixth guide rail 26, the multi-claw clamping mechanism and the suction nozzle 27, and the clamping, picking and placing functions of the clamping mechanism and the functions of the suction nozzle 27 can be applied TO the sorting and shifting process of the TO device 14, so that damage or potential damage TO the TO device 14 is avoided, and meanwhile, the sorting and shifting efficiency and accuracy of the TO device 14 are improved.

Based on the same inventive concept, the utility model also provides a device shifting device, including the device transfer device.

In some embodiments of the present invention, the present invention further comprises a first conveying mechanism 19, a second conveying mechanism 20, and a third conveying mechanism 33, wherein the conveying directions of the first conveying mechanism 19, the second conveying mechanism 20, and the third conveying mechanism 33 are all X directions; the first conveying mechanism 19 and the third conveying mechanism 33 are respectively arranged at two sides of the second conveying mechanism 20; the first transport mechanism 19 is used TO transport a test carrier 21 containing a plurality of TO devices 14, the second transport mechanism 20 is used TO transport a package carrier 22, and the third transport mechanism 33 is used TO transport a supplement carrier 28.

In some embodiments of the present invention, the device further comprises a bad area, and the bad area is disposed between the first conveying mechanism 19 and the second conveying mechanism 20.

Piece equipment is dialled TO TO device 14, the TO device 14 that need will survey on testing panel sorts, distinguish certified products and defective area, and sort TO different positions in addition, that is TO say shift the defective products TO the defective area, shift the certified products TO packing carrier 22 on, treat packing carrier 22 and carry out the packing after filling up, can carry out the packing of certified products in succession, the packing of product has been accomplished simultaneously promptly TO the piece in-process is dialled in the letter sorting, utilize the multijaw fixture that this application provided, transfer device and dialling equipment carry out the piece and pack, not only improve the letter sorting of TO device 14 and dial an efficiency and packing efficiency, and the accuracy of letter sorting dial is improved, damage and the potential damage TO TO device 14 that very easily takes place when also having avoided manual operation. Specifically, the first transfer mechanism 19, the second transfer mechanism 20, and the third transfer mechanism 33 are disposed between the first guide rail 15 and the second guide rail 16 of the three-dimensional moving frame, and are disposed at a lower position relative TO the three-dimensional moving frame, for example, may be disposed at the same height as the bottom end of the support column 24 supporting the first guide rail 15 and the second guide rail 16 or lower than the bottom end of the support column 24, then the first transfer mechanism 19 continuously transfers the test carrier 21, the test carrier 21 is filled with the TO devices 14, and a mechanism or a component capable of acquiring information of the TO devices 14 on the test carrier 21 is disposed at the starting point of the first transfer mechanism 19, that is, after the TO devices 14 start TO be transferred on the first transfer mechanism 19, the number of the TO devices 14 thereon and the pass/fail information of each TO device 14 are acquired, and at the same time, the second transfer mechanism 20 continuously transfers the packaging carrier 22, The third transport mechanism 33 continuously transports the supplement carrier 28, and the first transport mechanism 19, the second transport mechanism 20 and the third transport mechanism 33 all have mechanisms or components capable of pausing and positioning the test carrier 21, the package carrier 22 and the supplement carrier 28 thereon at predetermined positions; and the second conveying mechanism 20 also has two mechanisms or components, which can respectively position the packaging carrier 22 at two different positions, and the position of the first conveying mechanism 19 for positioning the test carrier 21, the first position of the second conveying mechanism 20 for positioning the packaging carrier 22 and the defective area are positioned on the same straight line, the second position of the second conveying mechanism 20 for positioning the packaging carrier 22 and the position of the third conveying mechanism 33 for positioning the supplementary material carrier 28 are positioned on the same straight line, and the two straight lines are horizontal and longitudinal straight lines, so that the flow of the piece shifting device is roughly as follows when the piece shifting device is in operation: first, the first transport mechanism 19 acquires the TO device 14 information on the test carrier 21 and positions it at a predetermined position, while the second transport mechanism 20 transports and positions the package carrier 22 at a first predetermined position, that is, in line with the position where the test carrier 21 is positioned, and the third transport mechanism 33 transports and positions the supplement carrier 28 at a predetermined position; at this time, the third guide rail 17 slides TO the upper part of the straight line where the defective area is located, then the fifth guide rail 25 slides TO the upper part of the test board, the multi-claw clamping mechanism slides on the fifth guide rail 25 TO move up and down, a plurality of TO devices 14 on the test board are simultaneously clamped and pulled up, after the plurality of TO devices 14 are clamped, if the plurality of TO devices 14 comprise defective products, the fifth guide rail 25 slides TO the upper part of the defective area on the third guide rail 17, then the multi-claw clamping mechanism descends along the fifth guide rail 25, opens the grabbing unit (i.e. the unit which can clamp one TO device 14 and consists of one main arm 1, one finger cylinder 5 and two fixed blocks 6) clamping the defective products, places the defective products in the defective area, then the fifth guide rail 25 slides TO the upper part of the material supplementing carrier 28, then the multi-claw clamping mechanism descends and places the remaining plurality of TO devices 14 in the material supplementing carrier 28, until the feed carrier 28 is filled (or not full, but substantially full, but only lacking a few defective products); after the feeding carrier 28 is full, the next multi-claw clamping mechanism needs TO place the remaining qualified TO devices 14 in the packaging carrier 22 after picking up the plurality of TO devices 14 and placing the defective devices in the defective areas (if all the TO devices are qualified, the step of placing the defective devices in the defective areas is not needed), so that the packaging carrier 22 is basically full or full (if defective devices occur during the placement process, the position of the defective devices is empty, the packaging carrier 22 is basically full, and if no defective devices occur during the placement process, the packaging carrier is completely full), then the second conveying mechanism 20 conveys the packaging carrier 22 TO a second positioned empty position, namely, the position is in the same straight line with the position of the feeding carrier 28, then the sixth guide rail 26 slides TO the position above the feeding carrier 28, the suction nozzle 27 descends, sucks up the TO devices 14 in the feeding carrier 28, and transfers the TO the empty position of the packaging carrier 22, if there are many vacancies, the suction nozzle 27 is required to perform a plurality of transfers. In the above-mentioned picking process, every time the TO devices 14 on the test carrier 21 are all taken away, the position restriction on the test carrier 21 is released, and then the test carrier 21 is gradually separated from the first conveying mechanism 19, and then a new test carrier 21 is put into the first conveying mechanism 19 and is successively acquired and positioned by the first conveying mechanism; in the above-described pick-up process, every time the position on the package carrier 22 is filled with the TO devices 14, the position restriction on the package carrier 22 is released, and then it is gradually moved away from the second conveyance mechanism 20, and a new package carrier 22 is immediately placed on the second conveyance mechanism 20 and positioned TO a predetermined position; the defective products in the defective area are cleared in time so that the defective products can be received at any time.

It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (15)

1. A device multi-claw clamping mechanism is characterized by comprising a fixing plate, a plurality of fixing arms, a plurality of finger cylinders (5) and a plurality of fixing blocks (6);

the fixed arms are respectively parallel and are respectively connected with the fixed plate;

the finger cylinders (5) are connected with the fixed arms in a one-to-one correspondence manner;

every finger cylinder (5) include cylinder body and two clamping jaws, the cylinder body with the fixed arm is connected, two the clamping jaw respectively connects one fixed block (6), two form spacing chamber (9) that match and can open and shut with TO device (14) between fixed block (6).

2. Device multi-jaw gripper according to claim 1, characterized in that the fixed arm comprises a main arm (1) and an L-arm (2), the L-arm (2) comprising a first plate and a second plate perpendicular to each other and connected, the first plate being connected perpendicular to one end of the main arm (1), the second plate having a length smaller than the length of the main arm (1), the second plate being on the same side of the first plate as the main arm (1);

the finger cylinder (5) is connected with one side of the second plate far away from the main arm (1), and a clamping jaw of the finger cylinder (5) can translate in a direction close to or far away from the second plate.

3. The device multi-jaw clamping mechanism according to claim 2, characterized in that a first slide block (7) is arranged on one side of the main arm (1) far away from the L-arm (2), and a first slide rail (32) perpendicular to the main arm (1) is arranged on the fixed plate;

the fixed arms are respectively connected with the first sliding rail (32) in a sliding mode through the matching of the first sliding block (7).

4. The device multi-jaw clamping mechanism according to claim 3, further comprising a distance adjusting plate (30) and a lifting member (29), wherein a fixed end of the lifting member (29) is connected with the fixed plate, and a lifting end of the lifting member (29) is connected with the distance adjusting plate (30);

the distance adjusting plate (30) is parallel to the fixing plate, a plurality of second sliding rails (31) are arranged on the distance adjusting plate (30), and the distance between the plurality of second sliding rails (31) is gradually increased or decreased along the extending direction of the main arm (1);

one side of the main arm (1) far away from the fixed plate is provided with a second sliding block (8), and the plurality of main arms (1) are in one-to-one corresponding sliding connection with the plurality of second sliding rails (31) through the second sliding blocks (8) of the main arms respectively.

5. Device multi-jaw clamping mechanism according to claim 2, characterized in that the L-arm (2) is connected with a monitoring plate (3), a distance sensor (4) is arranged on the monitoring plate (3), and the distance sensor (4) is used for detecting the distance between the monitoring plate (3) and the fixed block (6).

6. Device multi-jaw gripper mechanism according TO claim 1, characterized in that the end of the limit chamber (9) remote from the finger cylinder (5) is provided with an opening (10) for the passage of the foot (12) of the TO device (14).

7. Device multi-jaw clamp according TO claim 6, characterized in that the end of the opening (10) close TO the stopper cavity (9) extends around it TO form a circular clamp groove, the size and shape of which match the TO device (14).

8. Device gripper according TO claim 6, characterized in that the edge of the opening (10) is provided with a plurality of leg holes (11), the leg holes (11) extending from the edge of the opening (10) into the fixture block (6), the plurality of leg holes (11) matching the plurality of legs (12) of the TO device (14).

9. Device multi-jaw clamping mechanism according to claim 1, characterized in that each fixing block (6) is provided with a semi-limiting cavity on the side opposite to the other fixing block (6);

when the two fixing blocks (6) are tightly attached, the two semi-limiting cavities form the limiting cavity (9).

10. The device multi-jaw clamping mechanism according to claim 9, characterized in that one end of each fixing block (6) far away from the finger cylinder (5) is provided with an inclined chamfer (13), and the inclined chamfers (13) of the two fixing blocks (6) form an avoiding groove sunken towards the limiting cavity (9).

11. A device transfer apparatus comprising a device multi-jaw gripping mechanism (23) according to any one of claims 1 to 10.

12. The device transfer apparatus according to claim 11, further comprising a three-dimensional moving rack including a first guide rail (15) in an X direction, a second guide rail (16) in an X direction, a third guide rail (17) in a Y direction slidably connected to the first guide rail (15) and the second guide rail (16), respectively, a fourth guide rail (18) in a Y direction slidably connected to the first guide rail (15) and the second guide rail (16), respectively, a fifth guide rail (25) in a Z direction slidably connected to the third guide rail (17), and a sixth guide rail (26) in a Z direction slidably connected to the fourth guide rail (18);

the device multi-jaw clamping mechanism is connected with the fifth guide rail (25) in a sliding mode, and the sixth guide rail (26) is connected with the suction nozzle (27) in a sliding mode;

the X direction, the Y direction and the Z direction are vertical to each other.

13. A device pick apparatus comprising a device transfer apparatus as claimed in claim 11 or 12.

14. The device dialing apparatus according to claim 13, further comprising a first conveying mechanism (19), a second conveying mechanism (20) and a third conveying mechanism (33), wherein conveying directions of the first conveying mechanism (19), the second conveying mechanism (20) and the third conveying mechanism (33) are all X directions;

the first conveying mechanism (19) and the third conveying mechanism (33) are respectively arranged at two sides of the second conveying mechanism (20); the first transport mechanism (19) is used for transporting a test carrier (21) provided with a plurality of TO devices (14), the second transport mechanism (20) is used for transporting a packaging carrier (22), and the third transport mechanism (33) is used for transporting a supplementary material carrier (28).

15. A device pick apparatus according to claim 14, further comprising a defective zone provided between the first transport mechanism (19) and the second transport mechanism (20).

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