CN213583729U - Double-workbench packaging equipment - Google Patents
Double-workbench packaging equipment Download PDFInfo
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- CN213583729U CN213583729U CN202022814372.1U CN202022814372U CN213583729U CN 213583729 U CN213583729 U CN 213583729U CN 202022814372 U CN202022814372 U CN 202022814372U CN 213583729 U CN213583729 U CN 213583729U
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Abstract
The utility model relates to a double-workbench packaging device, which adopts a double-workbench mode, and a first workbench and a second workbench are packaged alternately, thereby greatly improving the feeding speed of a material plate; and first workstation relies on first flitch storehouse and first unloading manipulator of going up to go up to unload, and the second workstation relies on second flitch storehouse and the unloading manipulator of going up to go up, and it is fast to go up the unloading.
Description
Technical Field
The utility model relates to an encapsulation equipment technical field especially relates to a two workstation encapsulation equipment.
Background
The efficiency of the existing packaging equipment can not meet the requirement, a single workbench is generally used, the feeding and discharging time of the single workbench is long, and a packaging manipulator needs to wait for feeding of a material plate. And the feeding of the core plates is generally replaced manually, so that each core plate needs to be replaced manually after being used up, the waiting time is long, the working efficiency is low, and the cost is increased invisibly.
SUMMERY OF THE UTILITY MODEL
In view of the above circumstances, it is necessary to provide a dual-stage packaging apparatus that improves work efficiency.
In order to solve the technical problem, the utility model discloses a technical scheme be: a dual stage encapsulation apparatus comprising: the flitch rail is arranged along the X axis; the first flitch bin is connected with a first Z-axis moving mechanism, is positioned at one end of the flitch track and is provided with a plurality of layers of first accommodating grooves communicated along an X axis; the second flitch bin is connected with a second Z-axis moving mechanism, is positioned at the other end of the flitch track and is provided with a plurality of layers of second accommodating grooves communicated along the X axis; the first workbench moves along the flitch rail and takes materials from the first flitch bin; the second workbench moves along the flitch rail and takes materials from the second flitch bin; the first feeding and discharging mechanical arm is arranged on one side of the flitch track, moves along an X axis, pushes a flitch in the first flitch bin to the first workbench and pushes the packaged flitch back to the first flitch bin, and a first notch for the first feeding and discharging mechanical arm to stretch into and be conducted along the X axis is formed in one side, facing the first feeding and discharging mechanical arm, of the first accommodating groove; the second feeding and discharging mechanical arm is arranged on one side of the flitch track, moves along the X axis, pushes the flitch in the second flitch bin to the second workbench and pushes the packaged flitch back to the second flitch bin, and a second notch for the second feeding and discharging mechanical arm to stretch into and be conducted along the X axis is formed in one side, facing the second feeding and discharging mechanical arm, of the second accommodating groove; the packaging manipulator is used for packaging the flitch on the first workbench or the second workbench at the middle position of the flitch rail; and the first workbench and the second workbench alternately move to the middle position of the packaging manipulator for packaging.
Furthermore, the first workbench is connected with a first Y-axis moving platform, and the second workbench is connected with a second Y-axis moving platform.
Further, the packaging manipulator comprises a first industrial camera which is used for collecting the data to the first workbench or the second workbench.
The encapsulation manipulator picks up the chip from the core plate material table and encapsulates the chip onto the flitch on the first workbench or the second workbench.
Furthermore, the core plate material table comprises an R-axis adjusting mechanism for rotatably adjusting the position of the core plate.
Furthermore, the core plate material table also comprises an XY double-shaft moving mechanism.
Furthermore, the packaging mechanical arm comprises a ZR double-shaft mechanism and a packaging arm, and two ends of the packaging arm are respectively provided with a suction claw for picking up a chip.
Furthermore, the packaging positions of the first workbench and the second workbench and the loading position of the core plate material platform are symmetrically arranged with the rotation center of the packaging arm.
The core plate feeding and discharging manipulator comprises an XR double-shaft mechanism and is provided with two groups of picking mechanisms which are symmetrical about the rotation center of an R shaft; the core plate feeding and discharging manipulator comprises a Z-axis lifting mechanism, or the core plate feeding bin and the core plate discharging bin are respectively connected with a Z-axis lifting mechanism.
Further, still include to the second industry camera of core board material platform collection.
The beneficial effects of the utility model reside in that: the mode of double working tables is adopted, the first working table and the second working table are alternately packaged, and the feeding speed of the material plate is greatly improved; and first workstation relies on first flitch storehouse and first unloading manipulator of going up to go up to unload, and the second workstation relies on second flitch storehouse and the unloading manipulator of going up to go up, and it is fast to go up the unloading.
Drawings
Fig. 1 is a schematic structural diagram of a dual-workbench packaging device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another direction of a double-workbench packaging device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of another direction of the double-workbench packaging device according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a flitch track of a dual-workbench packaging device according to an embodiment of the present invention.
Description of reference numerals:
100. a flitch rail; 201. a first flitch feed bin; 210. a first Z-axis moving mechanism;
220. a first receiving groove; 221. a first notch; 202. a second flitch feed bin;
230. a second Z-axis moving mechanism; 240. a second receiving groove; 241. a second notch;
301. a first table; 310. a first Y-axis moving mechanism; 302. a second table;
320. a second Y-axis moving mechanism; 401. a first feeding and discharging manipulator;
402. a second feeding and discharging manipulator; 500. packaging the mechanical arm; 510. a ZR dual-axis mechanism;
520. a package arm; 601. a first industrial camera; 602. a second industrial camera; 700. a core plate material table;
710. an R-axis adjusting mechanism; 720. an XY biaxial movement mechanism; 810. feeding the core plate into a storage bin;
820. a core plate discharging bin; 830. a core plate feeding and discharging manipulator; 831. an XR dual-axis mechanism;
832. a pickup mechanism; 840. z-axis lifting mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the following description, with reference to the accompanying drawings and embodiments, will explain the present invention in further detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Referring to fig. 1 to 4, a dual-stage encapsulation apparatus includes: a flitch rail 100 arranged along an X-axis; the first flitch bin 201 is connected with a first Z-axis moving mechanism 210, is positioned at one end of the flitch track 100, and is provided with a plurality of layers of first accommodating grooves 220 communicated along an X axis; the second flitch bin 202 is connected with a second Z-axis moving mechanism 230, is positioned at the other end of the flitch track 100, and is provided with a plurality of layers of second accommodating grooves 240 communicated along the X axis; a first working table 301 which moves along the flitch rail 100 and takes materials from the first flitch bin 201; a second working table 302 moving along the flitch rail 100 to take the material from the second flitch bin 202; the first feeding and discharging manipulator 401 is arranged on one side of the flitch track 100, moves along the X axis, pushes flitches in the first flitch bin 201 to the first workbench 301 and pushes the packaged flitches back to the first flitch bin, and a first notch 221 for the first feeding and discharging manipulator 401 to extend into and conduct along the X axis is arranged on one side, facing the first feeding and discharging manipulator 401, of the first accommodating groove 220; a second loading and unloading manipulator 402, which is disposed at one side of the flitch track 100, moves along the X-axis, pushes the flitch in the second flitch bin 202 to the second workbench 302, and pushes the encapsulated flitch back to the second flitch bin, and a second notch 241, into which the second loading and unloading manipulator 402 extends and which is conducted along the X-axis, is disposed at one side of the second accommodating groove 240 facing the second loading and unloading manipulator 402; the encapsulating manipulator 500 encapsulates the flitch on the first workbench 301 or the second workbench 302 at the middle position of the flitch rail 100; wherein the first table 301 and the second table 302 are alternately moved to a middle position where the packing robot 500 performs packing.
A double-workbench mode is adopted, the first workbench 301 and the second workbench 302 are alternately packaged, and the feeding speed of the flitch is greatly improved; and first workstation 301 relies on first flitch storehouse and first unloading manipulator 401 to go on unloading, and second workstation 302 relies on second flitch storehouse and second unloading manipulator 402 to go on unloading, and unloading is fast.
Referring to fig. 1-2 and 4, the first worktable 301 is connected to a first Y-axis moving platform, and the second worktable 302 is connected to a second Y-axis moving platform. The arrangement of the first Y-axis moving platform and the second Y-axis moving platform can facilitate adjustment of the packaging position, and the packaging manipulator 500 is matched for packaging.
Referring to fig. 1, 2 and 3, the packaging robot 500 includes a first industrial camera 601 that captures an image to the first stage 301 or the second stage 302. Set up first industry camera 601, avoid encapsulation position dislocation, improve the degree of accuracy of encapsulation.
Referring to fig. 1 to 3, the encapsulating robot 500 further includes a core plate material table 700 located on a side of the encapsulating robot 500 opposite to the flitch rail 100, and the encapsulating robot 500 picks up the chip from the core plate material table 700 and encapsulates the chip onto the flitch on the first workbench 301 or the second workbench 302.
Referring to fig. 2 and 3, the core plate material table 700 includes an R-axis adjusting mechanism 710 for rotatably adjusting the position of the core plate. The R-axis adjusting mechanism 710 is arranged to conveniently adjust the circumferential position of the chip on the core plate material table 700, and facilitate the picking of the packaging manipulator 500.
Referring to fig. 2 and 3, the core plate stage 700 further includes an XY biaxial movement mechanism 720. The XY double-axis moving mechanism 720 is provided, so that the core plate material table 700 can move along the X axis and the Y axis, and the packaging manipulator 500 is conveniently matched.
Referring to fig. 1 to 3, the packaging robot 500 includes a ZR dual-axis mechanism 510 and a packaging arm 520, and two suction claws for picking up a chip are respectively disposed at two ends of the packaging arm 520. I.e., the packaging arm 520 is driven to move and rotate to pick up the chip and place the chip on the flitch for packaging through R-axis rotation and Z-axis movement. Typically, the Z-axis movement is coupled to the R-axis rotation, which is coupled to the encapsulation arm 520.
Referring to fig. 3, the encapsulating positions of the first table 301 and the second table 302 and the feeding position of the core board material table 700 are symmetrically arranged with respect to the rotation center of the encapsulating arm 520. The chip can be placed on the material plate from the core plate by rotating the packaging arm 520 by one hundred eighty degrees, and the packaging can be completed twice by rotating the packaging arm by three hundred sixty degrees, so that the packaging efficiency is greatly improved.
Referring to fig. 2 and 3, the core board loading and unloading robot further includes a core board loading bin 810, a core board unloading bin 820, and a core board loading and unloading robot 830, the core board loading and unloading robot picks up a core board from the core board loading bin 810 to the core board material table 700 and moves the core board having the picked-up core board to the core board unloading bin 820, the core board loading and unloading robot 830 includes an XR dual-axis mechanism, and the core board loading and unloading robot 830 includes two groups of picking mechanisms 832 having rotational symmetry about an R axis; the core board loading and unloading manipulator 830 includes a Z-axis lifting mechanism 840, or the core board loading bin 810 and the core board unloading bin 820 are respectively connected to a Z-axis lifting mechanism 840. After one group of picking mechanisms 832 of the core plate loading and unloading manipulator 830 picks up the core plates from the core plate loading bin 810 and moves in place through the X axis, the other group of picking mechanisms 832 picks up the core plates which have been picked up by the core plate loading bin 810 on the core plate material table 700, the R axis rotates, the core plates picked up from the core plate loading bin 810 are placed on the core plate material table 700, the R axis rotates again, and the empty core plates are placed in the core plate unloading bin 820 by matching with the X axis movement. Generally, the core board feeding magazine 810 and the core board discharging magazine 820 are disposed along the Y axis and are symmetrical to the X axis of the core board feeding and discharging robot 830. Preferably, the core plate feeding bin 810 and the core plate discharging bin 820 are respectively connected with a Z-axis lifting mechanism 840, so that the feeding and discharging speed of the core plates can be increased.
Referring to fig. 2 and 3, a second industrial camera 602 is further included for collecting the core plate material table 700. The accuracy of the packaging mechanical arm 500 for picking up the chip is improved, and the position of the core plate can be adjusted by matching with the R-axis adjusting mechanism 710.
It can be understood that the utility model discloses a X axle, Y axle, Z axle are two liang of vertically three directions in the rectangular coordinate system of space, and the R axle is around the rotatory direction of Z axle.
It can be understood that the utility model discloses the removal of X axle, Y axle and Z axle is linear movement mechanism, including linear mechanism such as motor lead screw, cylinder push rod, motor rail block belt, rail block, specifically can select as required. The R-axis is a rotating mechanism, generally driven by a motor, and can be matched with a reducer, a gearbox, a right-angle converter, a one-hundred-eighty degree conversion mechanism and the like as required, for example, the R-axis adjusting mechanism 710 is a mode that the motor is matched with a toothed belt and a toothed ring. For example, the X-axis movement of the flitch rail 100 and the first or second work table 301 or 302, the X-axis movement of the first loading and unloading manipulator 401, the X-axis movement of the second loading and unloading manipulator 402, the first Y-axis movement platform, the second Y-axis movement platform, the XY-dual-axis movement mechanism 720, the first Z-axis movement mechanism 210, the second Z-axis movement mechanism 230, and the XZR movement mechanisms are the guide rail and slider cooperation, and can be driven by a motor or an air cylinder, and the motor generally cooperates with a lead screw slider, a toothed belt and a slider rack, and the slider can cooperate with a guide rail, a guide groove, or a guide rod for guiding assistance.
It will be appreciated that pick-up of the chip is typically by suction, i.e. by a vacuum chuck. The core plate can be picked up by adopting an adsorption mode or a clamping mode, and the clamping mode is matched with the air cylinder for clamping, preferably, the adsorption mode is adopted, namely, the picking mechanism 832 adopts a vacuum suction head mode.
To sum up, the utility model provides a double-workbench packaging device, which adopts the double-workbench mode, the first workbench and the second workbench are packaged alternately, and the feeding speed of the material plate is greatly improved; and first workstation relies on first flitch storehouse and first unloading manipulator of going up to go up to unload, and the second workstation relies on second flitch storehouse and the unloading manipulator of going up to go up, and it is fast to go up the unloading. The feeding and discharging of the core plate are also carried out by matching the core plate feeding bin and the core plate discharging bin with the core plate feeding and discharging manipulator, the traditional manual replacement of the material plate is replaced, and the efficiency and the speed are high. And the first industrial camera and the second industrial camera are matched, so that the accuracy and precision are high.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description in any form, and although the present invention has been disclosed with reference to the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make modifications or changes equivalent to the equivalent embodiment of the above embodiments without departing from the scope of the present invention.
Claims (10)
1. A dual stage encapsulation apparatus, comprising:
the flitch rail is arranged along the X axis;
the first flitch bin is connected with a first Z-axis moving mechanism, is positioned at one end of the flitch track and is provided with a plurality of layers of first accommodating grooves communicated along an X axis;
the second flitch bin is connected with a second Z-axis moving mechanism, is positioned at the other end of the flitch track and is provided with a plurality of layers of second accommodating grooves communicated along the X axis;
the first workbench moves along the flitch rail and takes materials from the first flitch bin;
the second workbench moves along the flitch rail and takes materials from the second flitch bin;
the first feeding and discharging mechanical arm is arranged on one side of the flitch track, moves along an X axis, pushes a flitch in the first flitch bin to the first workbench and pushes the packaged flitch back to the first flitch bin, and a first notch for the first feeding and discharging mechanical arm to stretch into and be conducted along the X axis is formed in one side, facing the first feeding and discharging mechanical arm, of the first accommodating groove;
the second feeding and discharging mechanical arm is arranged on one side of the flitch track, moves along the X axis, pushes the flitch in the second flitch bin to the second workbench and pushes the packaged flitch back to the second flitch bin, and a second notch for the second feeding and discharging mechanical arm to stretch into and be conducted along the X axis is formed in one side, facing the second feeding and discharging mechanical arm, of the second accommodating groove;
the packaging manipulator is used for packaging the flitch on the first workbench or the second workbench at the middle position of the flitch rail;
and the first workbench and the second workbench alternately move to the middle position of the packaging manipulator for packaging.
2. The dual-workbench encapsulation apparatus of claim 1, wherein a first Y-axis mobile platform is connected to said first workbench, and a second Y-axis mobile platform is connected to said second workbench.
3. The dual stage encapsulation apparatus of claim 1, wherein the encapsulation robot includes a first industrial camera that captures to the first stage or the second stage.
4. A dual-stage encapsulation apparatus according to claim 1, further comprising a core plate stage located on a side of the encapsulation robot facing away from the flitch rail, wherein the encapsulation robot picks up a chip from the core plate stage and encapsulates the chip onto the flitch on the first stage or the second stage.
5. The dual-workbench encapsulation apparatus of claim 4, wherein said core plate material table comprises an R-axis adjusting mechanism for rotatably adjusting the position of the core plate.
6. A twin-stage encapsulation apparatus according to claim 4, wherein the core plate stage further includes an XY biaxial movement mechanism.
7. The dual-workbench encapsulation apparatus of claim 4, wherein said encapsulation robot comprises a ZR dual-axis mechanism and an encapsulation arm, and both ends of said encapsulation arm are respectively provided with a suction claw for picking up a chip.
8. The double-table encapsulating apparatus according to claim 7, wherein the encapsulating positions of the first table and the second table and the loading position of the core board material table are arranged symmetrically with respect to the rotational center of the encapsulating arm.
9. The dual-workbench encapsulation apparatus according to claim 4, further comprising a core board loading bin, a core board unloading bin, and a core board loading and unloading robot, wherein the core board loading and unloading robot picks up a core board from the core board loading bin to the core board material table and moves the core board having picked up the core board to the core board unloading bin, the core board loading and unloading robot comprises an XR dual-axis mechanism, and the core board loading and unloading robot has two groups of picking mechanisms which are symmetrical about a rotational center of the R axis; the core plate feeding and discharging manipulator comprises a Z-axis lifting mechanism, or the core plate feeding bin and the core plate discharging bin are respectively connected with a Z-axis lifting mechanism.
10. The dual stage encapsulation apparatus of claim 4, further comprising a second industrial camera that captures the core sheet material stage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022814372.1U CN213583729U (en) | 2020-11-28 | 2020-11-28 | Double-workbench packaging equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022814372.1U CN213583729U (en) | 2020-11-28 | 2020-11-28 | Double-workbench packaging equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213583729U true CN213583729U (en) | 2021-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022814372.1U Active CN213583729U (en) | 2020-11-28 | 2020-11-28 | Double-workbench packaging equipment |
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|---|---|
| CN (1) | CN213583729U (en) |
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- 2020-11-28 CN CN202022814372.1U patent/CN213583729U/en active Active
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Address after: 518000 sixth floor, complex building, industrial zone, Hezhou fishery village, Hezhou community, Hangcheng street, Bao'an District, Shenzhen, Guangdong Province Patentee after: SHENZHEN AFFIX INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 518000 8th floor, building B, Huafeng Industrial Park, hanghang Road, Sanwei community, Hangcheng street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN AFFIX INTELLIGENT TECHNOLOGY Co.,Ltd. |