CN217971572U - Coil to pipe flip-chip machine - Google Patents

Abstract

The utility model discloses a coil-to-coil reverse loading machine, which comprises a feeding area, a first tray cache mechanism, a second tray cache mechanism, a transfer mechanism, a jacking mechanism, a first visual detection device, a turntable mechanism, a first manipulator, a material pipe conveying mechanism and a second manipulator; the first material tray caching mechanism is used for storing and releasing material trays; the second material tray caching mechanism is used for receiving and storing material trays; the transfer mechanism is used for transferring the material tray; the jacking mechanism is used for lifting the material tray; the first visual detection device is used for detecting the chip; the turntable mechanism is used for transferring the chips; the first manipulator is used for transferring the chip; the material pipe conveying mechanism is arranged on one side of the turntable mechanism to output material pipes; the second manipulator is arranged between the turntable mechanism and the material pipe conveying mechanism. The utility model discloses can detect the chip in the charging tray and select separately to the flip-chip realizes full automated production to the material pipe, reduces intensity of labour, improves production efficiency.

Description

Coil to tube flip chip machine

Technical Field

The utility model relates to a dish is to tub machine of falling installation, especially relates to one kind and can detect the chip in the charging tray and select separately to the dish of the material intraductal of flip-chip is to tub machine of falling installation.

Background

In the production process of chips, the chips are generally loaded in a tray, and the chips need to be put into the tray from the tray for convenient storage or transportation, and because individual chips may be unqualified, the chips need to be detected when being transferred to sort out qualified and unqualified chips. In the prior art, chips in a material tray are generally taken out manually, then the chips are detected and sorted one by one, and finally the sorted chips are reloaded into a material pipe manually, so that the material tray is reversely arranged on the material pipe. However, the existing mode has low automation degree, high labor intensity and low production efficiency, and cannot meet the requirement of mass production.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a dish is to pipe machine of falling to install, it can detect the chip in the charging tray and select separately to the flip-chip realizes full automated production to the material pipe, reduces intensity of labour, improves production efficiency.

In order to achieve the purpose, the utility model provides a dish to pipe flip-chip machine comprises a feeding area, a first tray cache mechanism, a second tray cache mechanism, a transfer mechanism, a jacking mechanism, a first visual detection device, a turntable mechanism, a first manipulator, a material pipe conveying mechanism and a second manipulator; the feeding area is used for feeding a disc in place; the first material tray caching mechanism is used for storing and releasing material trays loaded with chips; the second material tray cache mechanism is used for receiving and storing unloaded material trays; the transfer mechanism is arranged among the feeding area, the first material tray caching mechanism and the second material tray caching mechanism, and is used for receiving the material trays on the first material tray caching mechanism and transferring the material trays to the lower part of the feeding area or the second material tray caching mechanism; the jacking mechanism is arranged on the transfer mechanism and used for bearing the material tray and driving the material tray to lift so as to jack the unloaded material tray onto the second material tray cache mechanism or receive the full-load material tray from the first material tray cache mechanism; the first visual detection device is arranged on one side of the feeding area to detect the chip; the turntable mechanism is arranged on one side of the first visual detection device to receive the chip and transfer the chip; the first mechanical arm is arranged between the feeding area and the first visual detection device and between the first visual detection device and the turntable mechanism, so that the chips are transferred from the material tray to the first visual detection device and from the first visual detection device to the turntable mechanism; the material pipe conveying mechanism is arranged on one side of the turntable mechanism to output material pipes which are unloaded and are obliquely arranged; the second manipulator is arranged between the turntable mechanism and the material pipe conveying mechanism so as to take the chips out of the turntable mechanism and load the chips into the material pipe.

Compared with the prior art, because the utility model discloses a set up first charging tray buffer memory mechanism and second charging tray buffer memory mechanism, utilize and shift mechanism and climbing mechanism and follow receive the charging tray that carries the chip on the first charging tray buffer memory mechanism, then follow the chip through first manipulator take out and shift to first visual detection device on the charging tray to can detect the chip, do for follow-up sorting and prepare. The chip is transferred to the rotary table mechanism from the first visual detection device through the first mechanical arm, so that the rotary table mechanism can drive the chip to be transferred to the position near the second mechanical arm in a stepping mode, the material pipe conveying mechanism is arranged to output an empty material pipe which is obliquely arranged, the chip is taken out of the rotary table mechanism through the second mechanical arm and is loaded into the material pipe, the chip can be inversely installed into the material pipe from the material disc after detection, manual operation is not needed in the whole process, full-automatic intelligent production is achieved, the labor intensity of workers is greatly reduced, and the production efficiency is effectively improved.

Preferably, the material pipe conveying mechanism comprises a base body, a material pipe stacking clamp, a material pushing piece, a transverse material pushing cylinder, a first clamping mechanism, a second clamping mechanism and a material receiving mechanism, and the base body is provided with a material receiving area and a material discharging area; the material pipe stacking clamp is arranged on the base body; the material pushing part is arranged on the base body in a sliding mode, the first clamping mechanism and the second clamping mechanism are respectively arranged on the material pushing part to clamp a material pipe, and the output end of the transverse material pushing cylinder is connected with the material pushing part to push the material pushing part to move between the lower portion of the material pipe stacking clamp and the material receiving area; the material receiving mechanism is in butt joint with the material pipe of the material receiving area so as to convey the chips to the material pipe. Through setting up material pipe and piling up anchor clamps and pushing away the material piece, set up first fixture and second fixture on pushing away the material piece, first fixture can the centre gripping be located the material pipe of material pipe piling up anchor clamps below, second fixture can the centre gripping be located the material pipe that connects on the material district to utilize horizontal material cylinder that pushes away can make it can push away a material pipe each time and can release to push away the material district, will connect the material pipe on the material district to push away the unloading district simultaneously, and then realize simultaneously a material pipe of material loading and a material pipe of unloading, effectively simplify the structure and the operating procedure of equipment. And the material receiving mechanism can be obliquely butted with the material pipe, so that the second mechanical arm can conveniently load the chip onto the material receiving mechanism, and the chip is introduced into the material pipe by using the material receiving mechanism, thereby achieving the purpose of inversely loading the chip into the material pipe.

Specifically, the material pipe conveying mechanism further comprises a third clamping mechanism and a translation driving mechanism, the third clamping mechanism is located on one side of the blanking area and used for clamping the material pipe, and an output end of the translation driving mechanism is connected with the material receiving mechanism so as to drive the material receiving mechanism to move between the material pipe located on the material receiving area and the material pipe located on the third clamping mechanism. The third clamping mechanism is used for clamping the material pipe, the translational driving mechanism is used for driving the material receiving mechanism to move, the material receiving mechanism can be in butt joint with the material pipe of the material receiving area or the material pipe on the third clamping mechanism, so that chips can be placed on different material pipes, the material receiving mechanism is controlled to move under the control of a control system according to a chip detection structure, and when the chips are qualified, the material receiving mechanism can be in butt joint with the material pipe of the material receiving area, so that the qualified chips are loaded into the material pipe of the material receiving area; when the chips are unqualified, the material receiving mechanism can be in butt joint with the material pipe on the third clamping mechanism, so that the unqualified chips are loaded into the material pipe on the third clamping mechanism; thus, the chips on the tray can be automatically sorted.

Specifically, receiving mechanism is including receiving the material cell body and positioning mechanism, receive the material cell body slope set up in, positioning mechanism set up in receive the delivery outlet of material cell body to open or close when making the output flexible the delivery outlet. Through setting up the material receiving groove body can supply the chip to export forward one by one, and combine positioning mechanism, positioning mechanism can stop the chip roll-off before the material receiving groove body docks the material pipe to can release behind the butt joint material pipe and be located the internal chip of material receiving groove, thereby with the cooperation of translation actuating mechanism reaches the purpose of selecting separately the chip.

Specifically, the material pipe stacking clamp is provided with a vertical stacking groove and a transverse discharging groove communicated with the stacking groove; the material pipes are stored in the material piling groove in an overlapping mode, and the material discharging groove can be used for enabling one material pipe located at the lowest portion to slide out transversely. Through setting up material piling groove and blown down tank, both can pile up the material pipe on material pipe piles up anchor clamps, can see the material pipe out one by one again to improve the smoothness nature of carrying, effectively avoid the phenomenon of card pipe.

Preferably, the first manipulator comprises a base frame, a first servo motor, a swing arm, a first connecting block, a slider, a second connecting block and a pair of first suction nozzles, the base frame is provided with an arc-shaped track groove and a transverse track, the first servo motor is arranged on the base frame, an output end of the first servo motor is connected with one end of the swing arm, the other end of the swing arm is pivoted with a center shaft of the first connecting block, and the center shaft of the first connecting block is slidably arranged in the arc-shaped track groove; the first connecting block is provided with a vertical guide rod, the vertical guide rod is vertically and slidably arranged on the sliding block, the sliding block is slidably arranged on the transverse rail, the second connecting block is connected with the vertical guide rod, and the two first suction nozzles are respectively arranged at two ends of the second connecting block. The center shaft of the first connecting block is arranged in the arc-shaped track groove in a sliding mode, the vertical guide rod on the first connecting block is arranged on the sliding block in a sliding mode, and meanwhile the second connecting block is connected to the vertical guide rod, so that the swing arm is utilized to drive the first connecting block to move on the arc-shaped track groove, the second connecting block can move upwards firstly, then horizontally and finally downwards, the first suction nozzle can drive a chip to be transferred from one position to another position, the whole transfer process only needs the first servo motor to rotate by a certain angle, and the control is very simple and convenient.

Preferably, the second manipulator includes a base, a second servo motor, a rotating arm, a telescopic device and a second suction nozzle, the second servo motor is disposed on the base, and an output end of the second servo motor is connected to the rotating arm, and the telescopic device is disposed on the rotating arm, and an output end of the telescopic device is connected to the second suction nozzle.

Preferably, the turntable mechanism comprises a stepping motor and a turntable, and an output end of the stepping motor is connected with the turntable to drive the turntable to rotate in a stepping manner.

Preferably, the first tray caching mechanism and the second tray caching mechanism have the same structure; the first tray caching mechanism comprises a tray stacking clamp and a telescopic device, the tray stacking clamp is used for containing the tray, and the telescopic device is arranged on two opposite sides of the lower portion of the tray stacking clamp to open the tray stacking clamp to allow the tray to enter and exit. Therefore, full-load trays can be taken out of the first tray caching mechanism one by one, or unloaded trays can be placed in the second tray caching mechanism one by one.

Preferably, the tray-to-tray pipe transfer machine further comprises a second detection device, and the second detection device is arranged on one side of the turntable mechanism to detect the chip on the turntable mechanism. The second detection device can be arranged to perform second detection on the chip to prepare for subsequent sorting.

Drawings

Fig. 1 is a perspective view of the coil-to-coil upender of the present invention.

Figure 2 is a top view of the present invention coil-to-tube upender.

Figure 3 is a side view of the coil-to-coil upender of the present invention.

Fig. 4 is a perspective view of the material pipe conveying mechanism of the coil-to-pipe reverse loading machine according to the present invention.

Figure 5 is a perspective view of a first robot of the present invention of a reel-to-reel machine.

Fig. 6 is a perspective view of a second manipulator and a turntable mechanism of the pipe racking machine according to the present invention.

Fig. 7 is a perspective view of the first tray buffer mechanism, the second tray buffer mechanism and the transfer mechanism of the pipe-to-pipe reverse-mounting machine of the present invention.

Detailed Description

In order to explain the technical contents, structural features, and effects of the present invention in detail, the following description is given in conjunction with the embodiments and the accompanying drawings.

Referring to fig. 1 to fig. 3 and fig. 7, a tray-to-tray flip-chip machine 100 of the present invention includes a material tube conveying mechanism 1, a first tray buffer mechanism 2, a second tray buffer mechanism 3, a transfer mechanism 4, a jacking mechanism 5, a first visual inspection device 6, a second inspection device 7, a turntable mechanism 8, a first manipulator 9, a second manipulator 10, and a feeding area 110; the loading area 110 is used for placing the feeding disc 200 in place; the first tray caching mechanism 2 is used for storing and releasing the tray 200 loaded with the chip; the second tray cache mechanism 3 is used for receiving and storing the unloaded tray 200; the transfer mechanism 4 is arranged among the feeding area 110, the first tray cache mechanism 2 and the second tray cache mechanism 3, and is used for receiving the trays on the first tray cache mechanism 2 and transferring the trays 200 to the lower part of the feeding area 110 or the second tray cache mechanism 3; the jacking mechanism 5 is arranged on the transfer mechanism 4 and is used for bearing the charging tray 200 and driving the charging tray 200 to lift so as to jack the unloaded charging tray 200 onto the second charging tray caching mechanism 3 or receive the fully loaded charging tray 200 from the first charging tray caching mechanism 2; the first visual inspection device 6 is arranged on one side of the loading area 110 to inspect the chip; the turntable mechanism 8 is arranged on one side of the first visual inspection device 6 to receive the chip and transfer the chip; the first manipulator 9 is disposed between the feeding area 110 and the first visual inspection device 6 and between the first visual inspection device 6 and the turntable mechanism 8, so that the chips are transferred from the tray 200 to the first visual inspection device 6 and from the first visual inspection device 6 to the turntable mechanism 8; the second detection device 7 is disposed on one side of the turntable mechanism 8 to detect the chip on the turntable mechanism 8. The first visual detection device 6 and the second detection device 7 are both CCD cameras. The second detection device 7 can be used for carrying out second detection on the chip to prepare for subsequent sorting. The material pipe conveying mechanism 1 is arranged on one side of the turntable mechanism 8 to output a material pipe 300 which is unloaded and is obliquely arranged; the second manipulator 10 is disposed between the turntable mechanism 8 and the material tube conveying mechanism 1, so as to take out the chips from the turntable mechanism 8 and load the chips into the material tube 300.

As shown in fig. 4, the material tube conveying mechanism 1 includes a base 11, a material tube stacking fixture 12, a material pushing member 13, a transverse material pushing cylinder 14, a first clamping mechanism 15, a second clamping mechanism 16, and a material receiving mechanism 17, where the base 11 is provided with a material receiving area 111 and a material discharging area 112. The material pipe stacking clamp 12 is arranged on the base body 11; the material pushing member 13 is slidably disposed on the base 11, and the first clamping mechanism 15 and the second clamping mechanism 16 are respectively disposed on the material pushing member 13 to clamp the material pipe. The first clamping means 15 and the second clamping means 16 may be in the form of cylinder driven clamping jaws. The output end of the transverse pushing cylinder 14 is connected with the pushing part 13 to push the pushing part 13 to move between the lower part of the material pipe stacking clamp 12 and the material receiving area 111. The receiving mechanism 17 is in butt joint with the material pipe of the receiving area 111 so as to convey the chips to the material pipe. Through setting up material pipe and piling up anchor clamps 12 and pushing away material piece 13, push away and set up first fixture 15 and second fixture 16 on the material piece 13, first fixture 15 can the centre gripping be located the material pipe and pile up the material pipe of anchor clamps 12 below in the material pipe, second fixture 16 can the centre gripping be located the material pipe on material receiving area 111, thereby utilize horizontal material cylinder 14 that pushes away to make it can push away material piece 13 each time and can release a material pipe to material receiving area 111, push away the material pipe on material receiving area 111 to unloading area 112 simultaneously, and then realize simultaneously one material pipe of material loading and one material pipe of unloading, effectively simplify the structure and the operating procedure of equipment. And by arranging the material receiving mechanism 17, the material receiving mechanism 17 can be obliquely butted with the material pipe, so that the second manipulator 10 can conveniently load the chip onto the material receiving mechanism 17, and the chip is introduced into the material pipe by using the material receiving mechanism 17, thereby achieving the purpose of inversely loading the chip into the material pipe.

Referring to fig. 4, the material tube conveying mechanism 1 further includes a third clamping mechanism 18 and a translation driving mechanism 19, the third clamping mechanism 18 is located at one side of the blanking area 112, the third clamping mechanism 18 is used for clamping and positioning an empty material tube, and an output end of the translation driving mechanism 19 is connected to the material receiving mechanism 17 to drive the material receiving mechanism 17 to move between the material tube located on the material receiving area 111 and the material tube located on the third clamping mechanism 18. The translation driving mechanism 19 is realized in a mode that a sliding block is driven by an air cylinder to slide, and the sliding block drives the material receiving mechanism 17 to move. The third clamping mechanism 18 is realized in a mode that the clamping blocks are driven by the air cylinders to clamp the material pipe. The third clamping mechanism 18 is used for clamping the material tubes, and the translational driving mechanism 19 is used for driving the material receiving mechanism 17 to move, so that the material receiving mechanism 17 can be in butt joint with the material tubes in the material receiving area 111, or in butt joint with the material tubes on the third clamping mechanism 18, and chips can be placed on different material tubes. Therefore, the material receiving mechanism 17 is controlled to move under the control of the control system according to the structure of the chip detection. When the chips are qualified, the material receiving mechanism 17 can be butted with the material pipe of the material receiving area 111, so that the qualified chips are loaded into the material pipe of the material receiving area 111. When the chips are unqualified, the material receiving mechanism 17 can be in butt joint with the material pipe on the third clamping mechanism 18, so that the unqualified chips are loaded into the material pipe on the third clamping mechanism 18, and the chips on the material tray can be automatically sorted.

Referring to fig. 4, the receiving mechanism 17 includes a receiving slot 171 and a positioning mechanism 172, the receiving slot 171 is disposed in an inclined manner, and the positioning mechanism 172 is disposed at an output port of the receiving slot 171, so that the output port is opened or closed when the output port is extended or retracted. The positioning mechanism 172 is an air cylinder, and the output end of the air cylinder extends out and can extend into the material receiving groove 171 to block the chip. Through setting up the material receiving groove body 171 can supply the chip to export forward one by one, and combine positioning mechanism 172, positioning mechanism 172 can be in material receiving groove body 171 blocks the chip roll-off before not butting the material pipe to can release the chip that is located material receiving groove body 171 behind the butt joint material pipe, thereby with translation actuating mechanism 19 cooperates, reaches the purpose of sorting the chip.

As shown in fig. 4, the tube stacking jig 12 is provided with a vertical material piling slot 121 and a horizontal material discharging slot 122 communicated with the material piling slot 121; the tubes are stacked in the stacking chute 121, and the discharge chute 122 allows one of the tubes located at the lowest portion to slide out laterally. Through setting up material piling groove 121 and blown down tank 122, both can pile up the material pipe on material pipe piles up anchor clamps 12, can send out the material pipe again one by one to improve the smoothness nature of carrying, effectively avoid the phenomenon of card pipe.

Referring to fig. 5, the first manipulator 9 includes a base frame 91, a first servo motor 92, a swing arm 93, a first connecting block 94, a slider 95, a second connecting block 96, and a pair of first suction nozzles 97, the base frame 91 is provided with an arc-shaped rail groove 911 and a transverse rail 912, the first servo motor 92 is disposed on the base frame 91, an output end of the first servo motor is connected to one end of the swing arm 93, another end of the swing arm 93 is pivotally connected to a central shaft of the first connecting block 94, and the central shaft of the first connecting block 94 is slidably disposed in the arc-shaped rail groove 911; first connecting block 94 is equipped with vertical guide rod 941, vertical guide rod 941 set up vertically with sliding in slider 95, slider 95 set up slidingly in horizontal track 912, second connecting block 96 with vertical guide rod 941 is connected, two first suction nozzle 97 set up respectively in the both ends of second connecting block 96. Through with first connecting block 94's axis set up in with sliding in the arc track groove 911, will again vertical guide rod 941 on the first connecting block 94 set up in with sliding on the slider 95, connect second connecting block 96 in vertical guide rod 941 simultaneously, consequently utilize swing arm 93 drives first connecting block 94 is in move on the arc track groove, can make second connecting block 96 can first rebound, horizontal migration again, last downstream, therefore, can make first suction nozzle 97 can drive the chip and shift to another position from a position on, whole transfer process only need first servo motor 92 rotate certain angle can, control is got up very simply, convenient.

Referring to fig. 6, the second robot 10 includes a base 101, a second servo motor 102, a rotating arm 103, a telescopic device 104 and a second suction nozzle 105, the second servo motor 102 is disposed on the base 101, and an output end of the second servo motor is connected to the rotating arm 103, the telescopic device 104 is disposed on the rotating arm 103, and an output end of the telescopic device is connected to the second suction nozzle 105. The rotating arm 103 is driven by the second servo motor 102 to rotate for a certain angle on a vertical plane, and the second suction nozzle 105 is driven by the telescopic device 104 to extend out of the inlet of the material receiving groove body 171, so that the chip can fall into the material receiving groove body 171 after the chip is released by the second suction nozzle 105 and can slide downwards under the action of gravity. The expansion device 104 may be a pneumatic cylinder.

Referring to fig. 6, the turntable 82 mechanism 8 includes a stepping motor 81 and a turntable 82, and an output end of the stepping motor 81 is connected to the turntable 82 to drive the turntable to rotate in a stepping manner.

Referring to fig. 7, the first tray buffering mechanism 2 and the second tray buffering mechanism 3 have the same structure; first charging tray buffer memory mechanism 2 includes that the charging tray piles up anchor clamps 21 and telescoping device 22, charging tray piles up anchor clamps 21 and is used for the holding the charging tray, telescoping device 104 set up in the relative both sides of the below that anchor clamps 21 were piled up to the charging tray, in order to open charging tray piles up anchor clamps 21 and supplies the charging tray business turn over. Therefore, full-load trays can be taken out of the first tray caching mechanism 2 one by one, or unloaded trays can be placed in the second tray caching mechanism 3 one by one. The utility model discloses in, because first charging tray buffer memory mechanism 2 is used for releasing full-load charging tray, consequently, telescoping device 22 adopts the flexible mode of cylinder drive lug, and when the release charging tray, the lug returns and contracts, and when blockking the charging tray and release downwards, the lug stretches out. And because the second tray buffer mechanism 3 only needs to receive the empty tray, and does not need to release the tray, the expansion device 22 can be designed as an overturning block which overturns upwards to avoid the tray, and a torsion spring is arranged to drive the overturning block to automatically overturn downwards after the tray enters the tray stacking fixture 21 so as to stop the tray.

Referring to fig. 7, the transfer mechanism 4 includes a transverse translation mechanism 41, a first sliding platform 42, a longitudinal translation mechanism 43 and a second sliding platform 44, an output end of the transverse translation mechanism 41 is connected to the first sliding platform 42 to drive the first sliding platform 42 to transversely translate, the longitudinal translation mechanism 43 is disposed on the first sliding platform 42, and an output end of the longitudinal translation mechanism is connected to the second sliding platform 44 to drive the second sliding platform 44 to longitudinally translate; the jacking mechanism 5 is arranged on the second sliding platform 44. The transverse translation mechanism 41 and the longitudinal translation mechanism 43 can be realized by adopting a mode of driving a screw nut by a motor. The jacking mechanism 5 is driven by the transverse translation mechanism 41 and the longitudinal translation mechanism 43, so that the material tray can reach any area on the plane, and therefore, the material tray can be transferred among the first manipulator 9, the first material tray cache mechanism 2 and the second material tray cache mechanism 3, and the material tray is conveyed.

The flip-chip principle of the present invention, a reel-to-reel flip-chip machine 100, is described in detail below with reference to the above figures, as follows:

firstly, a tray full of chips is stacked on the first tray cache mechanism 2, and then the transfer mechanism 4 is used for driving the jacking mechanism 5 to transfer to the position below the first tray cache mechanism 2. The jacking mechanism 5 ascends to approach the material tray. At this point, the telescoping device 22 retracts so that the tray is carried on the jacking mechanism 5, the jacking mechanism 5 lowers by the height of one tray, and then the telescoping device 104 extends to block a second tray. At this time, a full tray can be placed on the lifting mechanism 5. Thereafter, the transfer mechanism 4 transfers the tray onto the loading area 110. At this time, a suction nozzle of the first manipulator 9 sucks the chip on the tray and places the chip on the detection position of the first visual detection device 6. If the loading is continuously performed, while one suction nozzle of the first manipulator 9 sucks the chip on the tray and transfers the chip to the first vision inspection device 6, the other suction nozzle simultaneously sucks the chip from the first vision inspection device 6 and transfers the chip to the turntable 82. The stepping motor 81 drives the turntable 82 to rotate step by step, so as to drive the chip to pass through the second detection device 7, and the second detection device 7 detects the chip. The turntable 82 then brings the chip to the vicinity of the second robot 10. Then, the second manipulator 10 is started, and the second servo motor 102 drives the rotating arm 103, so that the rotating arm 103 drives the expansion device 104 and the second suction nozzle 105 to rotate above the chip. The retractable device 104 drives the second suction nozzle 105 to extend to suck the chip. Then, the second servo motor 102 drives the rotating arm 103 to rotate, so that the second suction nozzle 105 rotates by a certain angle to be close to the inlet of the material receiving slot body 171, then the expansion device 104 drives the second suction nozzle 105 to extend out, the second suction nozzle 105 drives the chip to be aligned with the inlet of the material receiving slot body 171, and the chip is released, so that the chip slides into the material receiving slot body 171 under the action of gravity and is blocked by the positioning mechanism 172. Meanwhile, the material pipe conveying mechanism 1 conveys a material pipe. Specifically, the first clamping mechanism 15 clamps a material pipe located at the lowest layer below the material piling slot 121, the transverse material pushing cylinder 14 is started, and the transverse material pushing cylinder 14 pushes the material pushing member 13 to move, so that the material pipe reaches the material receiving area 111. Then, the receiving mechanism 17 is butted with the material pipe. After docking, the positioning mechanism 172 is activated and releases the chip, so that the chip slides down into the material tube of the receiving area 111 under the action of gravity. By analogy, chips can be continuously loaded into the material receiving tubes of the material receiving area 111.

If a failed chip is found in the detection process, an empty tube can be manually clamped on the third clamping mechanism 18. When the unqualified chip falls into the material receiving groove 171, the translation driving mechanism 19 drives the material receiving mechanism 17 to move to be in butt joint with the material pipe on the third clamping mechanism 18. Thereby guiding the defective chip into the feed tube of the third clamping mechanism 18.

When the material receiving pipe is full, the first clamping mechanism 15 releases the material receiving pipe and then resets. Then, the first clamping mechanism 15 clamps an empty material tube on the material tube stacking clamp 12, and the second clamping mechanism 16 comes to the material receiving area 111 and clamps the material tube fully loaded on the material receiving area 111. Then, the transverse pushing cylinder 14 is started again, so that the material pipe on the second clamping mechanism 16 moves to the blanking area 112, the empty material pipe on the first clamping mechanism 15 moves to the material receiving area 111 to continue to be connected and disconnected, and when the actions are repeatedly performed, the material pipe on the blanking area 112 is squeezed into a blanking frame, and therefore the material pipe can be collected and transported away.

When the chips of the charging tray are all taken away, the transfer mechanism 4 drives the unloaded charging tray to move to the position below the second charging tray caching mechanism 3, at the moment, the jacking mechanism 5 jacks the empty charging tray and approaches the charging tray stacking fixture 21, so that the charging tray jacks up the turnover block, when the material pipe enters the charging tray stacking fixture 21, the turnover block automatically resets and extends out, the charging tray can be prevented from sliding down, and the charging tray is cached in the charging tray stacking fixture 21 and can be conveniently transported away after being filled with the materials.

Compared with the prior art, because the utility model discloses a set up first charging tray buffer gear 2 and second charging tray buffer gear 3, utilize transfer mechanism 4 and climbing mechanism 5 to follow receive the charging tray that carries the chip on the first charging tray buffer gear 2, then follow the chip through first manipulator 9 again take out on the charging tray and transfer to first visual detection device 6 to can detect the chip, prepare for follow-up sorting. The chip is transferred from the first visual inspection device 6 to the rotary table 82 mechanism 8 by the first manipulator 9, so that the rotary table 82 mechanism 8 can drive the chip to be transferred to the vicinity of the second manipulator 10 in a stepping mode, the empty and obliquely arranged material pipe is output by the material pipe conveying mechanism 1, the chip is taken out from the rotary table 82 mechanism 8 by the second manipulator 10 and is loaded into the material pipe, and the chip can be inverted from the material tray to the material pipe after being detected.

The above disclosure is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereto, and the same changes and modifications as the claims of the present invention are also included.

Claims (10)

1. A coil-to-tube upender machine, comprising:

the feeding area is used for feeding the disc in place;

the first material tray caching mechanism is used for storing and releasing the material trays loaded with the chips;

the second material tray caching mechanism is used for receiving and storing the unloaded material trays;

the transfer mechanism is arranged among the feeding area, the first material tray caching mechanism and the second material tray caching mechanism, and is used for receiving the material trays on the first material tray caching mechanism and transferring the material trays to the lower part of the feeding area or the second material tray caching mechanism;

the jacking mechanism is arranged on the transfer mechanism and used for bearing the material tray and driving the material tray to lift so as to jack the unloaded material tray onto the second material tray caching mechanism or receive the fully loaded material tray from the first material tray caching mechanism;

the first visual detection device is arranged on one side of the feeding area to detect the chip;

the turntable mechanism is arranged on one side of the first visual detection device and used for receiving the chip and transferring the chip;

the first mechanical arm is arranged between the feeding area and the first visual detection device and between the first visual detection device and the turntable mechanism so that the chips are transferred from the material tray to the first visual detection device and from the first visual detection device to the turntable mechanism;

the material pipe conveying mechanism is arranged on one side of the turntable mechanism and is used for outputting material pipes which are unloaded and are obliquely arranged;

and the second manipulator is arranged between the turntable mechanism and the material pipe conveying mechanism so as to take the chips out of the turntable mechanism and load the chips into the material pipe.

2. The pan-to-tube racking machine of claim 1, wherein: the material pipe conveying mechanism comprises a base, a material pipe stacking clamp, a material pushing piece, a transverse material pushing cylinder, a first clamping mechanism, a second clamping mechanism and a material receiving mechanism, and the base is provided with a material receiving area and a material discharging area; the material pipe stacking clamp is arranged on the base body; the material pushing part is arranged on the base body in a sliding mode, the first clamping mechanism and the second clamping mechanism are respectively arranged on the material pushing part to clamp a material pipe, and the output end of the transverse material pushing cylinder is connected with the material pushing part to push the material pushing part to move between the lower portion of the material pipe stacking clamp and the material receiving area; the material receiving mechanism is in butt joint with the material pipe of the material receiving area so as to convey the chips to the material pipe.

3. The pan-to-tube racking machine of claim 2, wherein: the material pipe conveying mechanism further comprises a third clamping mechanism and a translation driving mechanism, the third clamping mechanism is located on one side of the discharging area and used for clamping the material pipe, and the output end of the translation driving mechanism is connected with the material receiving mechanism so as to drive the material receiving mechanism to move between the material pipe located on the material receiving area and the material pipe located on the third clamping mechanism.

4. The reel-to-reel installation of claim 2, wherein: receiving mechanism is including connecing the material cell body and positioning mechanism, connect the material cell body slope set up in, positioning mechanism set up in connect the delivery outlet of material cell body to open or close when making the output flexible the delivery outlet.

5. The pan-to-tube racking machine of claim 2, wherein: the material pipe stacking clamp is provided with a vertical stacking groove and a transverse discharging groove communicated with the stacking groove; the material pipes are stored in the material piling groove in an overlapping mode, and the material discharging groove can be used for enabling one material pipe located at the lowest portion to slide out transversely.

6. The reel-to-reel installation of claim 1, wherein: the first manipulator comprises a base frame, a first servo motor, a swing arm, a first connecting block, a sliding block, a second connecting block and a pair of first suction nozzles, wherein an arc-shaped track groove and a transverse track are formed in the base frame; the first connecting block is provided with a vertical guide rod, the vertical guide rod is vertically and slidably arranged on the sliding block, the sliding block is slidably arranged on the transverse rail, the second connecting block is connected with the vertical guide rod, and the two first suction nozzles are respectively arranged at two ends of the second connecting block.

7. The pan-to-tube racking machine of claim 1, wherein: the second manipulator includes base, second servo motor, rotor arm, telescoping device and second suction nozzle, second servo motor set up in on the base and the output with the rotor arm is connected, the telescoping device set up in rotor arm and output with the second suction nozzle is connected.

8. The reel-to-reel installation of claim 1, wherein: the turntable mechanism comprises a stepping motor and a turntable, and the output end of the stepping motor is connected with the turntable to drive the turntable to rotate in a stepping manner.

9. The pan-to-tube racking machine of claim 1, wherein: the first tray caching mechanism and the second tray caching mechanism are identical in structure; first charging tray buffer memory mechanism includes that the charging tray piles up anchor clamps and telescoping device, the charging tray piles up anchor clamps and is used for the holding the charging tray, the telescoping device set up in the charging tray piles up the relative both sides of the below of anchor clamps, in order to open the charging tray piles up the anchor clamps and supplies the charging tray business turn over.

10. The pan-to-tube racking machine of claim 1, wherein: the tray-to-tray inverted tube assembling machine further comprises a second detection device, wherein the second detection device is arranged on one side of the turntable mechanism to detect the chip on the turntable mechanism.

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