CN219324479U - Feeding device and sorting machine for integrated circuit products - Google Patents

Abstract

The utility model relates to a feeding device and a sorting machine for integrated circuit products. This loading attachment includes: the feeding module is provided with a feeding level, an identification level and a material taking level which are sequentially arranged; the visual identification system is matched with the feeding module along the first direction and corresponds to the identification position of the feeding module; the material taking and placing module is matched with the material feeding module along the first direction and corresponds to the material taking position of the material feeding module; and the empty disc module is matched with the feeding module along the first direction, the empty disc module corresponds to the identification position of the feeding module, and the visual identification system is misplaced with the empty disc module along the first direction. The feeding device can realize visual identification, is favorable for realizing automatic feeding, and has higher space utilization rate and higher circulation efficiency.

Description

Feeding device and sorting machine for integrated circuit products

Technical Field

The utility model relates to the technical field of automatic equipment, in particular to a feeding device and a sorting machine for integrated circuit products.

Background

Integrated Circuit (IC) products also require testing, screening, packaging, etc. after manufacture. Testing of integrated circuit products may be performed using Automatic Test Equipment (ATE), and it is often desirable to group integrated circuit products having the same level of performance into the same group (BIN) after knowing the performance of the tested integrated circuit products.

In the process of mass production, different processes can be realized by different devices, and then each device may need to be provided with a feeding device conforming to the process performed by the device. For example, it is desirable to implement automated grouping of integrated circuit products, and when there are more groupings to be configured for a sorting process-oriented sorter, it is often necessary to provide a longer pipeline for feeding. Meanwhile, the integrated circuit products in batches can be placed by means of a placing device such as a material tray, and some empty material trays can be caused after the tested integrated circuit products are subjected to light extraction. These longer assembly lines can occupy factory building space, increase charging tray transportation time, reduce circulation efficiency.

Disclosure of Invention

Based on the above, it is necessary to provide a feeding device and a sorting machine for integrated circuit products aiming at the problem of high-efficiency automatic split charging of the integrated circuit products.

In one aspect, the present utility model provides a loading apparatus for an integrated circuit product, the loading apparatus comprising: the feeding module is provided with a feeding level, an identification level and a material taking level which are sequentially arranged; the visual identification system is matched with the feeding module along the first direction and corresponds to the identification position of the feeding module; the material taking and placing module is matched with the material feeding module along the first direction and corresponds to the material taking position of the material feeding module; and the empty disc module is matched with the feeding module along the first direction, the empty disc module corresponds to the identification position of the feeding module, and the visual identification system is misplaced with the empty disc module along the first direction.

According to the feeding device for the integrated circuit, the empty disc module is integrated in the identification position, so that the feeding module is exquisite in structure and compact in arrangement space; the tray containing the integrated circuit products to be grouped has high integration level of the carried route, high time utilization rate and space utilization rate of the identification position, and short total distance from the material taking position to the material supplying position. The feeding device is compact in structure, high in space utilization rate, high in circulation efficiency and short in material transportation time. In addition, the feeding device can realize visual identification and is beneficial to automatic sorting.

In some embodiments, a visual recognition system includes an avoidance power mechanism, a camera driven by the avoidance power mechanism and movable in a first direction, and an adjustable light source disposed opposite the camera in the first direction.

By the arrangement, the accuracy of the visual identification system can be improved, the space utilization efficiency can be improved, and the safe operation of the feeding device is ensured.

In some embodiments, the feed module includes a feed tray mechanism, a traveling mechanism, and a first tray conveyance mechanism. Illustratively, a feed tray mechanism is located at the feed level, the feed tray mechanism comprising: the feeding jacking power mechanism, the feeding supporting plate and the feeding tray separating mechanism are driven by the feeding jacking power mechanism and are movable along the first direction, the feeding supporting plate is located at a feeding level, the feeding tray separating mechanism is matched with the feeding supporting plate along the first direction, and the feeding tray separating mechanism is suitable for bearing at least one tray for containing integrated circuit products and is used for separating the tray closest to the feeding supporting plate from the rest trays. Illustratively, the effective travel of the travel mechanism passes through the feed location and the identification location, the travel mechanism comprising: the device comprises a driving transmission power mechanism, a driving synchronous belt driven by the driving transmission power mechanism, a driving lifting mechanism and a driving tray connected to the driving synchronous belt, wherein the stroke of the driving tray passes through a feeding position and a recognition position and is driven by the driving lifting mechanism to move along a first direction. Illustratively, the effective stroke of the first tray conveying mechanism overlaps with the effective stroke of the travelling mechanism, and the effective stroke of the first tray conveying mechanism passes through the material taking position, the first tray conveying mechanism includes: the first conveying power mechanism and the first conveying synchronous belt driven by the first conveying power mechanism are used for realizing the effective stroke of the first tray conveying mechanism.

The feeding tray mechanism, the travelling mechanism and the first tray conveying mechanism can realize the functions of the feeding module in a relay manner, reduce the waiting time of the mechanism, improve the operation efficiency, stably move the tray and realize good matching with other modules or external materials.

In some embodiments, the pick-and-place module comprises: the manipulator assembly is driven by the driving assembly. The drive assembly illustratively includes a first drive mechanism that drives the second drive mechanism and a second drive mechanism that drives the manipulator assembly, the drive direction of the first drive mechanism intersecting the drive direction of the second drive mechanism. Illustratively, the robot assembly includes: the device comprises at least two suction nozzle assemblies, an adjusting assembly, at least two lifting assemblies and at least two suction nozzle sensors, wherein the adjusting assembly is used for adjusting the distance between at least one suction nozzle assembly and other suction nozzle assemblies, the lifting assemblies are used for adjusting the positions of the corresponding suction nozzle assemblies along the first direction, and the suction nozzle sensors are used for detecting the positions of the corresponding suction nozzle assemblies along the first direction.

The lifting assemblies and the suction nozzle assemblies can work simultaneously or independently, so that repeated picking and discharging travel time is saved, the hourly output of the equipment is ensured, and the sorting efficiency can be improved; the flexible feeding capability of the feeding device is improved, and integrated circuit products with different sizes are picked up; the multi-station motion effect of single adjusting component control is achieved, the synchronism of a plurality of suction nozzle components is achieved, the manufacturing cost can be reduced, and the consistency of the suction space of the integrated circuit products can be guaranteed.

The utility model provides in another aspect a sorter for integrated circuit products, the sorter comprising: the feeding device; the material disc storage module is provided with a first effective travel for circulation between the feeding module and the material disc storage module; the material taking and discharging device comprises a plurality of material receiving modules, wherein the effective stroke of the material taking and discharging modules of the material loading device passes through the plurality of material receiving modules; the empty disc supply module is matched with the material receiving modules along the first direction and is provided with a second effective travel for circulation between the material disc storage module and the material receiving modules; and the control system is in communication connection with the feeding device, the empty disc collecting module, the empty disc supplying module, the material taking and discharging module and the visual identification system.

The sorter for integrated circuit products provided by the utility model can visually identify and automatically sort, so that automatic grouping is realized, and the sorter has better production efficiency. By arranging the functional modules of each system, each station is compact; the visual recognition system is separated from the material taking and placing module, so that the material taking and placing module can be prevented from waiting in a vacant state, and meanwhile, the material supplying and collecting tray module and the material taking and placing module are used for carrying trays and materials respectively, so that the whole sorting machine is effectively guaranteed to have higher efficiency and higher output per hour, and the production pulsation can be balanced through the tray storage module. In addition, the number of the material receiving modules of the sorting machine can be expanded, and the sorting machine is suitable for an automatic flexible production line.

In some embodiments, the arrangement direction of the feed, identification and pick-up bits is a second direction, the second direction intersecting the first direction; the material receiving module is provided with a first material receiving tray position, a first flow position and a first material placing position which are arranged along a second direction, wherein the first material receiving tray position and the material placing position are arranged in parallel along a third direction and are positioned on the same side of the empty tray module along the second direction, the empty tray module corresponds to the first flow position, and the material taking and placing module corresponds to the first material placing position.

So set up, receive the material module and can be through supplying empty dish module and getting the blowing module and with the take-up dish storage module and the good coupling of feed module, this sorter overall structure is compact, space utilization is high.

In some embodiments, the receiving module comprises: the receiving tray mechanism and the second tray conveying mechanism. Illustratively, the receiving tray mechanism is located at a first receiving tray position, the receiving tray mechanism comprising: the device comprises a receiving jacking power mechanism, a receiving supporting plate and a receiving tray mechanism, wherein the receiving supporting plate is driven by the receiving jacking power mechanism and is movable along a second direction, the receiving supporting plate is located at a first receiving tray position, the receiving tray mechanism is matched with the receiving supporting plate along a first direction, and the receiving tray mechanism is used for enabling a tray, which is transmitted by the receiving supporting plate and is used for containing integrated circuit products, to pass through unidirectionally and is suitable for bearing at least one tray. Illustratively, the second tray conveyance mechanism is configured to: having a first transfer stroke from a first stream index to a first discharge level and having a second transfer stroke from the first discharge level to a first take-up tray level, the second tray transfer mechanism comprising: the second conveying power mechanism and the second conveying synchronous belt driven by the second conveying power mechanism are used for realizing a first conveying stroke and a second conveying stroke.

By means of the arrangement, the sorting machine can automatically and continuously collect each group of separated integrated circuit products, and can stably and reliably convey the trays in different stages.

In some embodiments, the separator further comprises a manual take-up module. Illustratively, the effective travel of the pick and place module is through a manual take-up module. Illustratively, the arrangement direction of the feed, identification and pick-up bits is a second direction, the second direction intersecting the first direction; the stock disc storage module comprises a first stock disc storage module and a second stock disc storage module, wherein the first stock disc storage module, the feeding module, the plurality of material receiving modules, the manual material receiving module and the second stock disc storage module are sequentially arranged along a third direction, the third direction is intersected in the first direction, and the third direction is intersected in the second direction. Illustratively, the effective travel of the take-up disc module passes through the feed module and the first stock disc storage module; the effective travel of the empty disc supplying module passes through the second material disc storage module, the manual material receiving module and the material receiving modules. The empty disc receiving module can be used for forming an empty disc receiving module.

Through setting up two charging tray storage modules of both sides and setting up receipts empty tray module and supply empty tray module, shortened the effective stroke of every module, improved charging tray transport efficiency then, reduced the latency of visual identification system and feed module. In addition, the manual material taking module is expanded, so that the sorting machine is rich in functions, flexible in use and capable of improving the safety and reliability of automatic sorting.

In some embodiments, the first inventory storage module has a take-up position and a second stream index aligned in a second direction, and the second inventory storage module has a supply position and a third stream index aligned in the second direction; the receiving disc position, the feeding disc position and the feeding bit are positioned on the same side of the receiving disc module along the second direction; the effective travel of the empty disc module passes through the second flow transposition and the effective travel of the empty disc module passes through the third flow transposition.

The arrangement is beneficial to the cooperation of the sorting machine and external equipment or operators, and ensures the working efficiency of the sorting machine.

In some embodiments, the first stock disc storage module comprises: the device comprises a first conveying power mechanism, a first conveying synchronous belt driven by the first conveying power mechanism and a tray mechanism for receiving empty trays, wherein the synchronous stroke of the first conveying synchronous belt passes through a second circulation position and a tray receiving position. Illustratively, the empty tray mechanism includes: the collecting tray lifting power mechanism is positioned at the collecting tray position and driven by the collecting tray lifting power mechanism, and the collecting tray mechanism is matched with the collecting tray supporting plate along the first direction, and is used for enabling a tray which is transmitted by the collecting tray supporting plate and is used for containing integrated circuit products to pass through unidirectionally and is suitable for bearing at least one tray. Illustratively, the second stock disc storage module includes: the second conveying power mechanism, the second conveying synchronous belt driven by the second conveying power mechanism and the empty tray supplying mechanism, and the synchronous stroke of the second conveying synchronous belt passes through the tray supplying position and the third rotation position. Illustratively, the empty tray supply mechanism includes: the empty-feeding tray jacking power mechanism, the empty-feeding tray supporting plate which is positioned at the tray feeding position and driven by the empty-feeding tray jacking power mechanism and the tray feeding and separating mechanism are suitable for bearing at least one tray and separating the tray closest to the empty-feeding tray supporting plate from the rest trays. Illustratively, the take-up disc module includes: the device comprises a first flow rotating force mechanism, a first flow synchronous belt driven by the first flow rotating force mechanism, a first clamping jaw power mechanism connected with the first flow synchronous belt and a first clamping jaw driven by the first clamping jaw power mechanism, wherein the effective stroke of the empty disc module is the stroke of the first clamping jaw moving along with the first flow synchronous belt. Illustratively, the empty tray supply module includes: the device comprises a second rotating force mechanism, a second rotating synchronous belt driven by the second rotating force mechanism, a second clamping jaw power mechanism connected with the second rotating synchronous belt and a second clamping jaw driven by the second clamping jaw power mechanism, wherein the effective stroke of the empty disc module is the stroke of the second clamping jaw moving along with the second rotating synchronous belt.

The setting like this, the charging tray storage module can realize the function of feed tray and receipts charging tray steadily, balances the quantity fluctuation that the multiunit selected separately, guarantees the high-efficient operation of sorter.

In some embodiments, the manual receiving module has a second receiving tray position, a fourth flow position and a second discharging position, wherein the second receiving tray position and the feeding position of the feeding module are positioned on the same side of the receiving tray module along the second direction, the feeding tray module corresponds to the fourth flow position, and the taking and discharging module corresponds to the second discharging position.

The manual material receiving module can be well coupled into the sorting flow, so that the sorting efficiency is ensured. In addition, the separator has compact structure and high space utilization rate, and can ensure enough manual operation space.

In some embodiments, the manual receiving module includes a lift bin mechanism, a third tray transport mechanism, a tray pushing mechanism, and a recovery mechanism. Illustratively, the jacking bin mechanism is located at the second receiving tray, and the jacking bin mechanism includes a bin jacking power mechanism, a bin driven by the bin jacking power mechanism and movable along a first direction, and a bin sensor for monitoring the bin. Illustratively, the third tray conveyance mechanism is configured to: a third tray conveying mechanism having a third conveying stroke from the fourth flow transposition to the second discharge position and a fourth conveying stroke from the second discharge position to the fourth flow transposition, the third tray conveying mechanism comprising: the conveying device comprises a third conveying power mechanism and a third conveying synchronous belt driven by the third conveying power mechanism, wherein the third conveying synchronous belt is used for realizing a third conveying stroke and a fourth conveying stroke. Illustratively, the tray pushing mechanism is for partially pushing out the trays within the bin to the fourth stream indexing. Illustratively, the recovery mechanism is used to divert the tray from the fourth stream completely back into the bin.

By the arrangement, the equipment length can be effectively shortened, the material receiving efficiency can be improved, and the grouping quantity can be increased in a limited space. The operation of the sorting machine is safe, and the product containing capacity of many unconventional groups is high.

Drawings

FIG. 1 is a schematic isometric view of a sorter for integrated circuit products provided by the present utility model;

FIG. 2 is a schematic isometric perspective view of a sorter for integrated circuit products provided by the present utility model; FIG. 3 is a top view of FIG. 2; FIG. 4 is a schematic top view of a carrier system and empty tray supply module in a sorter for integrated circuit products according to the present utility model;

FIG. 5 is a schematic diagram of a feed module in a sorter for integrated circuit products according to the present utility model; FIG. 6 is an enlarged view of a portion of FIG. 5; FIG. 7 is a schematic view of a feed tray mechanism in a sorter for integrated circuit products according to the present utility model; FIG. 8 is a schematic diagram of a drive mechanism in a sorter for integrated circuit products according to the present utility model; fig. 9 is a schematic structural view of a first tray conveying mechanism in a sorter for integrated circuit products according to the present utility model;

fig. 10 is a schematic structural diagram of a receiving module in a sorting machine for integrated circuit products according to the present utility model; fig. 11 is a partial enlarged view of fig. 10.

FIG. 12 is a schematic diagram of a manual feed module in a sorter for integrated circuit products according to the present utility model;

FIG. 13 is a schematic view of the structure of the pushing tray mechanism and the recycling mechanism in the sorter for integrated circuit products according to the present utility model;

FIG. 14 is a schematic diagram of a tray handling module and a empty tray supply module in a sorter for integrated circuit products according to the present utility model; FIG. 15 is an enlarged view of a portion of FIG. 14;

FIG. 16 is a schematic diagram of a pick-and-place module in a sorter for integrated circuit products according to the present utility model; FIG. 17 is a schematic diagram of a manipulator assembly in a sorter for integrated circuit products according to the present utility model; FIG. 18 is a schematic view of a lift assembly in a sorter for integrated circuit products according to the present utility model; FIG. 19 is a schematic front view of a robotic assembly in a sorter for integrated circuit products provided by the present utility model;

fig. 20 is a schematic structural diagram of a visual recognition system in a sorter for integrated circuit products according to the present utility model.

Reference numerals illustrate: 1000. a separator; 1. a lower frame; 2. an upper frame; 3. a control system; 4. a load bearing system; 5. a stock disc storage module; 501. a first stock disc storage module; 502. a second stock disc storage module; 6. a feed module; 7. a material receiving module; 8. a circulation system; 9. a manual material receiving module; 10. a visual recognition system; 11. a empty disc module; 12. a take-up disc module; 13. a blank supply module; 14. taking and placing a material module; 15. a feed tray mechanism; 16. a driving mechanism; 17. a first tray conveyance mechanism; 18. a feeding jacking power mechanism; 19. a feeding synchronous belt; 20. a feed screw; 21. a feed pallet; 22. driving transmission power mechanism; 23. a driving synchronous belt; 24. a travelling crane tray; 25. a first conveying power mechanism; 26. a first conveying belt wheel; 27. a first conveying synchronous belt; 28. a receiving tray mechanism; 29. a second tray conveying mechanism; 30. a material receiving jacking power mechanism; 31. a material receiving supporting plate; 32. a second conveying power mechanism; 33. a second conveying synchronous belt; 34. a jacking bin mechanism; 35. a third tray conveying mechanism; 36. a pushing disc mechanism; 361. a pushing disc power mechanism; 362. a pushing block; 37. a recovery mechanism; 371. recovering the power mechanism; 372. recovering the blocks; 373. a gear-avoiding power mechanism; 38. a third conveying power mechanism; 39. a third conveying synchronous belt; 40. the bin lifts the power mechanism; 41. a feed bin screw rod; 42. a bin slide rail; 43. a storage bin; 44. a bin sensor; 45. a first conveyance power mechanism; 46. a first conveyance synchronous belt; 47. a first flow turning force mechanism; 48. a first transfer timing belt; 49. a first jaw power mechanism; 50. a first jaw; 51. a first driving mechanism; 52. a first drive rail; 53. a first drive power mechanism; 54. a second driving mechanism; 55. the second driving slide rail; 56. a second drive power mechanism; 57. a manipulator assembly; 58. a suction nozzle assembly; 581. a first nozzle assembly; 582. a second nozzle assembly; 583. a third nozzle assembly; 584. a fourth nozzle assembly; 59. an adjustment assembly; 60. a lifting assembly; 61. a suction nozzle sensor; 62. a lifting power mechanism; 63. lifting a synchronous belt; 64. lifting the sliding rail; 65. adjusting the sliding rail; 66. adjusting a motor; 67. adjusting the synchronous belt; 68. a first proportional synchronous belt; 69. a second proportional synchronous belt; 70. an avoidance power mechanism; 71. a camera; 72. an adjustable light source; 73. a feeding and separating disc mechanism; 74. a travelling crane lifting mechanism; 75. a collecting tray mechanism; 76. the empty disc is lifted up to the power mechanism; 77. and (5) a tray supporting plate is emptied.

Detailed Description

In order that the above objects, features and advantages of the utility model will be readily understood, a more particular description of the utility model will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model. The present utility model may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit of the utility model, whereby the utility model is not limited to the specific examples of embodiments disclosed below.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present utility model and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. For example, the first direction may also be referred to as a second direction, which may also be referred to as a first direction; the first flow index may be referred to as a second flow index and the second flow index may be referred to as a first flow index. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "connected," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be flexible connection or rigid connection along at least one direction; can be mechanically or electrically connected; either directly, indirectly, through intermediaries, or both, or in which case the intermediaries are present, or in which case the two elements are in communication or in which case they interact, unless explicitly stated otherwise. The terms "mounted," "disposed," "secured," and the like may be construed broadly as connected. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Referring to fig. 1, fig. 1 illustrates a sorter for integrated circuit products in an embodiment of the present utility model. Referring to fig. 2, fig. 2 shows a perspective view of a separator in an embodiment of the utility model. The sorter 1000 for integrated circuit products according to the present embodiment may include a carrying system 4, a visual recognition system 10, a empty tray module 11 and a pick-and-place module 14.

In some embodiments, the sorter 1000 may include a lower rack 1, an upper rack 2, and a control system 3. The lower frame 1 can provide mounting positions for other modules, and the relative positions of the modules are ensured. The upper frame 2 can be used for providing a working space and guaranteeing operation safety. The control system 3 may store or execute a computer program product for controlling the functional modules to perform actions, and the sorter 1000 in turn enables automatic sorting of integrated circuit products. By way of example, the control system 3 may comprise a plurality of control units in communication with each other, each control unit controlling one functional module.

As shown in fig. 1 and 2, an XYZ rectangular coordinate system can be established in the working space. For example, the Z-axis direction may be substantially parallel to the vertical direction and the XY-plane may be parallel to the horizontal plane. The Z-axis direction may be referred to as a first direction, the Y-axis direction may be referred to as a second direction, and the X-axis direction may be referred to as a third direction.

In one aspect, the inventory storage module 5, the supply module 6, and the take-up module 7 may be used to form the carrier system 4. When only one receiving module 7 is provided in the sorter 1000, the integrated circuit products can still be picked, but at least two receiving modules 7 are normally provided to realize a normal sorting process. In fig. 2, the separator 1000 is provided with ten receiving modules 7, but the present utility model is not limited thereto, and five, fifteen or more may be provided. Each of the functional modules of the inventory storage module 5, the supply module 6 and the plurality of receiving modules 7 can carry an inventory for holding integrated circuit products.

The visual recognition system 10 is arranged in cooperation with the feed module 6 in a first direction. Illustratively, the visual recognition system 10 is configured to: information identifying the integrated circuit product carried by the supply module 6. The information identified by visual recognition system 10 may include characteristic information for each integrated circuit product itself to facilitate sorting the integrated circuit products into a designated group; may include the location of each integrated circuit product in the tray; size information of each integrated circuit product, etc. may also be included, and may not be limited to such information.

The empty tray module 11 and the pick-and-place module 14 may also be referred to as a circulation system 8, where the circulation system 8 is used to transfer integrated circuit products or trays between functional modules of the carrier system 4. The circulation system 8 is arranged in cooperation with the carrier system 4 in a first direction.

Illustratively, the empty tray supply module 11 is cooperatively disposed with the carrier system 4 along a first direction, and the empty tray supply module 11 has a first effective travel for circulation between the supply module 6 and the inventory storage module 5, and a second effective travel for circulation between the inventory storage module 5 and the take-up module 7. The empty tray supply module 11 may be used to transfer trays between functional modules of the carrier system 4, each transfer path being referred to as an active stroke. For example, the aforementioned first effective stroke may refer to: the empty tray supply module 11 is capable of transferring trays from the feed module 6 to the tray storage module 5. The empty tray supply module 11 can transfer trays from the feed module 6 to the tray storage module 5. The empty disc supply module 11 can transfer the material disc from the material disc storage module 5 to the material receiving module 7, and the empty disc supply module 11 can have a plurality of second effective strokes due to the plurality of material receiving modules 7. The effective travel of the empty disc module 11 can be controlled by the control system 3.

Illustratively, the pick and place module 14 is disposed in cooperation with the carrier system 4 in a first direction, with an effective travel of the pick and place module 14 passing through the feed module 6 and the plurality of take-up modules 7. The pick and place module 14 may be used to transfer integrated circuit products between functional modules of the carrier system 4 and may accurately place the integrated circuit products into the trays. The pick and place module 14 may transfer integrated circuit products from the supply module 6 to a designated take-up module 7. The several effective strokes of the pick-and-place module 14 can be controlled by the control system 3. The control system 3 may control the pick and place module 14 in response to information identified by the visual identification system 10.

When the sorting machine 1000 provided by the utility model is used for sorting, full trays can be placed on the feeding module 6, and the full trays are identified by the visual identification system 10; the empty tray supplying module 11 can place empty trays from the tray storage module 5 to the tray receiving module 7 at the same step. After the full tray is identified, different integrated circuit products can be sorted by the taking and placing module 14 and placed into the tray carried by the receiving module 7; the next full tray can be identified at the same step. After the full tray is taken as an empty tray, the empty tray supply module 11 can transfer the empty tray from the feed module 6 to the tray storage module 5. In some alternative embodiments, the empty tray may be transferred to a receiving module 7 which is in need of refilling the empty tray.

Fig. 3 shows a loading device in a sorter for integrated circuit products. Fig. 4 shows the functional modules related to the transfer tray function.

In another aspect, the exemplary embodiment of the present utility model provides a loading device that includes a feed module 6, a visual recognition system 10, a pick and place module 14, and a take-up tray module 12. The visual recognition system 10, the pick-and-place module 14 and the take-up and pay-off tray module 12 are respectively arranged along the first direction in cooperation with the feeding module 6. The feeding module 6, the taking and placing module 14 corresponds to a taking position of the feeding module 6, and the empty disc module 12 and the visual recognition system 10 both correspond to a recognition position of the feeding module 6 and are staggered.

The feeding device provided by the utility model can be used for sorting and feeding, each station is compact, space positions are effectively utilized, the stroke is short, the efficiency is high, and the time is saved; the visual recognition system can recognize information of the integrated circuit product, so that the feeding device can be well applied to an automatic assembly line.

In the sorting machine provided by the utility model, the feeding device can be flexibly modified, and then the structure of the sorting machine can comprise the feeding device with the same design, or can be assembled by matching the receiving device and the stock disc storage module on the basis of the complete feeding device.

The separator for the integrated circuit products, provided by the utility model, has the advantages of compact structure and high working efficiency, can automatically separate the integrated circuit products, and is suitable for flexible production lines.

Fig. 3 also shows a receiving module, an empty tray supply module, and a tray storage module that cooperate with the loading module, as shown in fig. 3 and 4, in some embodiments, the sorter 1000 may have three regions along the Y-axis, a first region a, a second region B, and a third region C, respectively. The classifier 1000 may have other areas as well.

Illustratively, the feed module 6 has a feed level, a recognition level, and a take level arranged in the second direction. The feeding position is located in a first area A, the identification position is located in a second area B, and the material taking position is located in a third area C. As shown in fig. 3, the main body of the visual recognition system 10 is located in a second area B, the main body of the empty tray module 11 is located in the second area B, and the main body of the pick-and-place module 14 is located in a third area C. For the feeding module 6, the visual recognition system 10 corresponds to the recognition position, the empty disc module 11 corresponds to the recognition position, and the material taking and placing module 14 corresponds to the material taking position. Referring to fig. 2, the visual recognition system 10 is offset from the empty-supply tray module 11 in a first direction. The recognition position is located between the feeding position and the material taking position, so that the integration degree of the sorting machine 1000 can be improved, the module distance is shortened, the movement time of the mechanism is shortened, and the sorting efficiency is improved.

Fig. 5 shows the structure of the feed module. Fig. 6 is an enlarged view at D in fig. 5. Illustratively, the feed module 6 includes a feed tray mechanism 15, a crane mechanism 16, and a first tray conveyance mechanism 17. The feed tray mechanism 15 is located at the feed level. The effective travel of the driving mechanism 16 passes through the feed level and the identification level, in particular at least from the feed level to the identification level. The effective stroke of the first tray conveying mechanism 17 overlaps with the effective stroke of the travelling mechanism 16, and the effective stroke of the first tray conveying mechanism 17 passes through the material taking position. In other embodiments, one effective stroke of the first tray conveyor 17 may be the effective stroke of the bicycle mechanism 16 to the pick-up level. Alternatively, one effective stroke of the first tray conveying mechanism 17 may be from the recognition position to the material taking position, and the other may be from the material taking position back to the recognition position. When the sorting machine 1000 works, full trays can be carried by the feed tray mechanism 15 at a feed level, then conveyed to a recognition level by the travelling mechanism 16, and then conveyed to a material taking level by the first tray conveying mechanism 17; after being taken as an empty tray, the empty tray is transported back to the recognition site by the first tray transporting mechanism 17 and then transferred to the tray storage module 5 by the empty tray supply module 11. When the continuous operation is carried out, after the empty material trays are transferred, the next full material tray is conveyed to the identification position by the driving mechanism 16 for identification; alternatively, the next full tray may be identified as the pick and place module 14 picks up the material, and the full tray is retracted to the feed position by the crane 16 before the empty tray is retracted. The next full tray is usually identified faster, so that the position can be avoided in advance; if the identification is not completed, the empty tray module 11 can be still identified after the empty tray is removed, and then the full tray is conveyed to the material taking position, and the next full tray is identified.

As shown in fig. 5, 6, and 7, in some embodiments, the feed tray mechanism 15 includes: the feeding device comprises a feeding jacking power mechanism 18, a feeding screw rod 20 driven by the feeding jacking power mechanism 18, a feeding supporting plate 21 which is in power connection with the feeding screw rod 20 and is movable along a first direction, and a feeding dividing disc mechanism 73. Illustratively, the feed jacking power mechanism 18 includes a motor, and in turn the feed tray mechanism 15 may include a feed timing belt 19 to transmit the driving power of the motor to the feed screw 20. Alternatively, the feed lift power mechanism 18 may include a pneumatic motor or the like. The feed pallet 21 is movable in the Z-axis direction and is in dynamic connection with the feed screw 20. Illustratively, the axis of the feed screw 20 is along the Z-axis, and a nut is fixedly connected to the feed carrier 21, and the nut is in threaded engagement with the feed screw 20.

The feed tray mechanism 15 may be used to break up one tray from a stack of trays. As shown in fig. 5 and 6, the feed pallet 21 is positioned at the feed level, and the feed tray dividing mechanism 73 is disposed in cooperation with the feed pallet 21 in the first direction. The feed tray separation mechanism 73 may include at least one pair of inserts. The two opposite inserts can pass the tray placed from above downwards, and the feed tray 21 can be used for lifting the tray. When the sorting machine 1000 operates, after the tray separating mechanism 73 performs the tray separating operation, for example, after the insert block is inserted inward, the trays other than the lowest tray are carried by the tray separating mechanism 73, and the tray closest to the feed tray 21 is separated from the remaining trays and lifted by the feed tray 21. The feed tray 21 may be moved downwards, in which case the travelling mechanism 16 may be located in the middle of the feed tray 21, and its lifted full tray is then carried by the travelling mechanism 16. After the full tray is transported out of the feed position by the carriage mechanism 16, the feed pallet 21 may be moved upward and then used to lift the remaining trays carried by the feed tray separation mechanism 73. The feed tray separating mechanism 73 is adapted to carry at least one tray for holding integrated circuit products, to pass one tray again and to perform a tray separating action for separating the tray closest to the feed tray 21 from the remaining trays again.

Fig. 8 shows the structure of the travelling mechanism. Illustratively, the driving mechanism 16 may include: the driving device comprises a driving transmission power mechanism 22, a driving synchronous belt 23 driven by the driving transmission power mechanism 22, a driving lifting mechanism 74 and a driving tray 24 connected to the driving synchronous belt 23. The drive train 22 may be an electric motor or a pneumatic motor. When the driving synchronous belt 23 is driven to rotate by the driving power mechanism 22, the driving tray 24 can be driven to move along the Y-axis direction, and the driving power mechanism 22 can rotate forward or backward under the control of the control system 3, for example, so as to drive the driving tray 24 to reciprocate along the Y-axis direction. The travel of the travelling tray 24 passes through the feed and identification stations. The tray 24 may also be directly or indirectly driven to rise and fall in a first direction by the tray lift mechanism 74. The travelling tray 24 may be raised at the feed level to deliver full trays lifted by the feed trays 21, and lowered at the identification level to deliver identified full trays to the first tray transfer mechanism 17. Further, the travel tray 24 may remain in a raised state during the time that the full tray is being identified by the visual identification system 10.

As shown in fig. 9, the first tray conveyance mechanism 17 illustratively includes: a first conveyance power mechanism 25, and a first conveyance timing belt 27 driven by the first conveyance power mechanism 25. The first conveying timing belt 27 is used to realize an effective stroke of the first tray conveying mechanism 17. It is understandable that embodiments of toothed belts, flat belts, chain plates, etc. can be selected, and the synchronous belt is accurate in transmission and sensitive in response. The first conveying power mechanism 25 may be an electric motor, a pneumatic motor, or the like, and the first tray conveying mechanism 17 further includes: a first conveying belt wheel 26 which is engaged with the output shaft of the first conveying power mechanism 25 and can synchronously drive the first conveying synchronous belt 27. The first conveyor belt 27 may extend from the identification position to the pick-up position. The first conveying power mechanism 25 can be controlled by the control system 3 to drive the first conveying synchronous belt 27 to reciprocate. When the sorting machine 1000 operates, the first conveying synchronous belt 27 can convey full trays from the identification position to the material taking position, and can also convey empty trays from the material taking position to the identification position. The cooperation of the first tray conveying mechanism 17 and the travelling mechanism 16 ensures that each step is executed step by step and continuously and can be performed synchronously, and the conveying distance of each step is shorter, so that the working efficiency of the sorting machine 1000 is high.

Fig. 10 shows the structure of the receiving module. Fig. 11 is an enlarged view at E in fig. 10. Illustratively, the receiving module 7 has a first receiving tray position, a first flow index and a first discharging position, which are arranged along the second direction, the first receiving tray position corresponds to the first area a, the first flow index corresponds to the second area B, and the first discharging position corresponds to the third area C. Referring to fig. 3 and 4, the first receiving tray position and the feeding tray position are located on the same side of the feeding empty tray module 11 in the second direction. The second effective stroke of the empty tray module 11 passes through the first flow transposition, and the effective stroke of the material taking and placing module 14 passes through the first material placing position. The first flow position for throwing and discharging the empty material tray is positioned between the first material receiving tray position and the first material discharging position, so that the movement distance of the empty material tray at the material receiving module 7 can be shortened, the conveying efficiency is improved, and the higher space utilization rate is ensured.

Illustratively, the receiving module 7 includes a receiving tray mechanism 28 and a second tray conveyor mechanism 29.

The second tray conveyance mechanism 29 includes: a second conveyance power mechanism 32, and a second conveyance timing belt 33 driven by the second conveyance power mechanism 32. The second conveyor power mechanism 32 may be a motor. The second conveying belt 33 may extend in the Y-axis direction past the first discharging position, the first flow index, and the first receiving tray position. The second conveying power mechanism 32 can drive the second conveying synchronous belt 33 to reciprocate under the control of the control system 3, and the second conveying synchronous belt 33 is used for conveying the material trays. Empty trays carried by the synchronizing position, for example, of the second conveyor belt 33, can be indexed from the first stream to the first discharge level; the trays carried in the synchronizing position of the second conveying timing belt 33 in the reverse direction may be from the first discharging position to the first receiving tray position, and the trays may contain integrated circuit products divided into the same group. In other words, the second tray conveyance mechanism 29 is configured to: having a first conveying path from the first flow index to the first discharge level and having a second conveying path from the first discharge level to the first take-up tray level.

The receiving tray mechanism 28 is located at the first receiving tray position, and the receiving tray mechanism 28 may include: a material collecting and lifting power mechanism 30, a material collecting supporting plate 31 and a material collecting tray mechanism 75. The receiving pallet 31 is located at the first receiving tray position and is movable in the first direction. The collecting tray mechanism 75 is disposed in cooperation with the collecting tray 31 in the first direction. The receiving pallet 31 may be driven by the receiving lifting power mechanism 30, and the receiving pallet 31 may be lower than the receiving tray mechanism 75 when lowered, and higher than the receiving tray mechanism 75 when raised. The second tray conveying mechanism 29 can lift the side edge of the tray to convey the tray to the first receiving tray position, and the tray can be positioned on the receiving tray 31; the receiving tray 31 may lift the middle of the tray to above the receiving tray mechanism 75. The tray receiving mechanism 75 is configured to pass trays conveyed by the tray receiving plate 31 in one direction and is adapted to carry at least one tray. The tray collecting mechanism 75 may include at least one pair of turning blocks, and the tray may move upward between the pair of turning blocks disposed opposite to each other, then be lifted by the turning blocks, and cannot fall down, and the tray lifted onto the tray collecting mechanism 75 may lift the tray collected first. The stack of trays may hold the same set of integrated circuit products. The material receiving jacking power mechanism 30 can be an air cylinder, and the air cylinder transmission structure has small vibration, so that the material vibration problem in the disc receiving process can be reduced.

As shown in fig. 12 and referring to fig. 2-4, in an exemplary embodiment, the sorter 1000 further includes a manual take-up module 9. Along the X-axis direction, a manual receiving module 9 may be arranged at the side of the receiving module 7 facing away from the feeding module 6. The manual receiving module 9 has a second receiving tray position, a fourth flow position and a second discharging position, wherein the second receiving tray position corresponds to the first area a, the fourth flow position corresponds to the second area B, and the second discharging position corresponds to the third area C. The second receiving tray position and the feeding position of the feeding module 6 may be located on the same side of the feeding empty tray module 11 along the Y-axis direction. The second effective stroke of the empty disc module 11 is subjected to fourth flow transposition, and the effective stroke of the material taking and placing module 14 is subjected to the second material placing position of the manual material receiving module 9.

The manual receiving module 9 may include a lifting bin mechanism 34, a third tray conveyor mechanism 35, a tray pushing mechanism 36, and a recovery mechanism 37. The lifting bin mechanism 34 is located at the second receiving tray position. The material circulation route of the manual material receiving module 9 is similar to that of the material receiving module 7.

In some embodiments, the third tray conveyor 35 is configured to: with a third conveying stroke from the fourth stream indexing to the second discharge level and with a fourth conveying stroke from the second discharge level to the second take-up tray level. Illustratively, the third tray conveyance mechanism 35 includes: a third conveyance power mechanism 38, and a third conveyance timing belt 39 driven by the third conveyance power mechanism 38. The third conveyor power mechanism 38 may be an electric motor. The third conveyor belt 39 may extend past the second discharge level and the fourth stream indexing. The third conveying power mechanism 38 can be controlled by the control system 3 to drive the third conveying synchronous belt 39 to reciprocate so as to realize a third conveying stroke and a fourth conveying stroke. When the sorting machine 1000 operates, the empty tray receiving module 11 can put empty trays into the fourth flow position, the third conveying synchronous belt 39 conveys the empty trays to the second placing position, the taking and placing module 14 can put some integrated circuit products which are specially grouped into the empty trays, and then the third conveying synchronous belt 39 conveys the trays containing the integrated circuit products back to the fourth flow position.

Illustratively, the jacking bin mechanism 34 includes a bin jacking power mechanism 40, a bin screw 41 driven by the bin jacking power mechanism 40, a bin 43 in power connection with the bin screw 41 and movable in a second direction, and a bin sensor 44 for monitoring the bin 43. The bin lift power mechanism 40 may include a motor that may be in power connection with a bin screw 41 via a timing belt or gear set. The bin lifting power mechanism 40 can be controlled by the control system 3 to drive the bin screw 41 to rotate. The axis of the bin screw 41 may be disposed along the Z-axis, and the jacking bin mechanism 34 may include a bin slide rail 42 disposed along the Z-axis. The magazine 43 can be slidably connected to the magazine rail 42 and can be fixedly connected with, for example, a spindle nut. The screw nut is in threaded engagement with the bin screw 41 and is movable in the Z-axis direction due to rotation of the bin screw 41.

The bin 43 may include multiple layers of storage locations, such as ten layers, each layer of storage locations may be used to store trays, and may flexibly receive materials for various special groupings, thereby improving the receiving efficiency of the sorter 1000, and increasing the number of groupings in a limited space. The magazine 43 is controllably raised and lowered to align the desired storage level with the third conveyor belt 39 in the height direction. Illustratively, the lifting bin mechanism 34 further includes a bin sensor 44, the bin sensor 44 being operable to detect the presence of a tray in each level of storage locations. The classifier 1000 can accurately judge the condition of the feeding and discharging tray of the stock bin 43.

As shown in fig. 13 and referring to fig. 12, the tray pushing mechanism 36 is used to partially push trays in the magazine 43 corresponding to the third tray conveying mechanism 35 out of the magazine 43, while the retrieving mechanism 37 is used to fully move the fourth stream of indexed trays back into the magazine 43. Illustratively, the push disc mechanism 36 includes a push disc power mechanism 361 and a push block 362. The tray pushing power mechanism 361 may include a motor for driving the pushing block 362 to move in the Y-axis direction and may be used to push out the tray in the magazine 43 by, for example, a size of 2/3. The retrieval mechanism 37 may include a retrieval power mechanism 371, a retrieval block 372, and a avoidance power mechanism 373. The recovery power mechanism 371 may include a motor that drives the recovery block 372 in the Y-axis direction and is used to move the trays completely back into the bin 43. The avoidance power mechanism 373 is configured to drive the recovery block 372 to move in the Z direction to avoid possible transfer to the fourth stream indexed tray when the recovery block 372 is far from the bin 43.

As shown in fig. 14 and referring to fig. 2 to 4, the stock disc storage module 5 includes a first stock disc storage module 501 and a second stock disc storage module 502. The first inventory storage module 501, the feeding module 6, the plurality of receiving modules 7, the manual receiving module 9 and the second inventory storage module 502 are sequentially arranged along the third direction, and may take the left-to-right direction as the positive direction of the X axis in fig. 2, alternatively, the foregoing modules may be sequentially arranged along the negative direction of the X axis. For example, the third direction may intersect the first direction and the third direction may intersect the second direction.

The empty tray supply module 11 includes an empty tray supply module 12 and an empty tray supply module 13. The effective travel of the empty tray module 12 corresponds to the feed module 6 and the first tray storage module 501. The effective travel of the empty tray supply module 13 corresponds to the second stock tray storage module 502 and the plurality of stock collecting modules 7, and the effective travel of the empty tray supply module 13 also corresponds to the manual stock collecting module 9. The empty disc collecting module 12 and the empty disc supplying module 13 are arranged to independently carry out disc supplying and disc collecting, so that the action stroke is shortened, the disc taking and placing precision is ensured, and the carrying efficiency is improved.

The first inventory storage module 501 and the second inventory storage module 502 are similar in structure. The first inventory storage module 501 has a take-up position and a second stream index arranged in a second direction, the take-up position being located in a first region a and the second stream index being located in a second region B. The second inventory storage module 502 has a supply of trays arranged in the second direction, which may be in the first region a, and a third stream of trays arranged in the second direction, which may be in the second region B. The effective stroke of the empty disc module 12 corresponds to the second flow indexing, and the effective stroke of the empty disc module 13 corresponds to the third flow indexing.

Illustratively, the take-up position, the supply position, and the supply position are located on the same side of the supply take-up module 11 in the second direction. The operation on the same side is more convenient. In other embodiments, the receiving tray and the supplying tray can be positioned on the other side along the second direction; or the first inventory storage module 501 and the second inventory storage module 502 are placed along the third direction, and the take-up position and the supply position are located in the second area B.

Fig. 15 is an enlarged view at F in fig. 14. As shown in fig. 14 and 15, the empty tray module 12 includes: the first rotating force mechanism 47, a first rotating synchronous belt 48 driven by the first rotating force mechanism 47, a first jaw power mechanism 49 connected to the first rotating synchronous belt 48, and a first jaw 50 driven by the first jaw power mechanism 49. The first indexing mechanism 47 may comprise a motor and the first indexing timing belt 48 may extend in the X-axis direction past the identification position of the second indexing and feed module 6. The effective travel of the take-up disc module 12 is the travel of the first jaw 50 along with the movement of the first transfer timing belt 48. In operation of the sorter 1000, the first jaw 50 may be moved to the identification position to then grip an empty tray, and then the first jaw 50 may be moved with the empty tray to the second stream index and the empty tray may be ejected to the first tray storage module 501. The first clamping jaw power mechanism 49 can comprise an air cylinder, and the air cylinder drives the first clamping jaw 50 to open and close to take and put the material tray, so that the material tray taking and putting action is stable, and the clamping force is adjustable.

The first stock disc storage module 501 includes: the first conveying power mechanism 45, the first conveying synchronous belt 46 driven by the first conveying power mechanism 45 and the empty tray mechanism. The empty tray mechanism may have a similar structural and operational design as the receiving tray mechanism 28. The first handling power mechanism 45 may comprise a motor. The first handling timing belt 46 extends past a second stream indexing and take-up position from which its synchronized position carrying empty trays can be driven to the take-up position for transporting the empty trays to the take-up position. The empty tray mechanism includes: a take-up tray lifting power mechanism 76, a take-up tray supporting plate 77 positioned at the take-up position and driven by the take-up tray lifting power mechanism 76, and a take-up tray collecting mechanism (not shown). The empty tray mechanism may have a similar structural and operational design as the collection tray mechanism 28 and the collection tray mechanism may have a similar structural and operational design as the collection tray mechanism 75. The take-up pan lift power mechanism 76 may include an air cylinder. In operation, the empty tray conveyed by the first conveying synchronous belt 46 is located above the empty tray supporting plate 77, and the empty tray jacking power mechanism 76 can jack up the empty tray supporting plate 77 and jack up the empty tray. The collecting tray mechanism is arranged along the first direction in cooperation with the collecting tray supporting plate 77, and is used for enabling the trays transferred by the collecting tray supporting plate 77 to pass through unidirectionally and is suitable for bearing at least one tray. The take-up tray pallet 77 is controllably lowered after the take-up action.

The empty tray module 13 includes: the second rotating force mechanism, the second rotating synchronous belt driven by the second rotating force mechanism, the second clamping jaw power mechanism connected with the second rotating synchronous belt and the second clamping jaw driven by the second clamping jaw power mechanism are used for the effective stroke of the empty disc module 13 to be the stroke of the second clamping jaw moving along with the second rotating synchronous belt. The movement path of the second clamping jaw can be from the third flow position of the second magazine memory module 502 to the first flow position of any of the receiving modules 7 and also to the fourth flow position of the manual receiving module 9. The first clamping jaw 50 and the second clamping jaw respectively and independently carry out tray conveying, so that the running stroke of the first clamping jaw 50 is reduced, the tray conveying efficiency is improved, and the waiting time of the visual recognition system 10 and the feeding module 6 is shortened. The second flow turning force mechanism may comprise an electric motor and the second jaw power mechanism may comprise an air cylinder.

The second stock disc storage module 502 includes: the second conveying power mechanism, the second conveying synchronous belt driven by the second conveying power mechanism and the empty tray supplying tray mechanism. The empty tray mechanism may have a similar structural and operational design as the feed tray mechanism 15. The empty tray supplying tray mechanism includes: the empty-disc-supplying jacking power mechanism, the empty-disc-supplying supporting plate and the disc-supplying and separating mechanism are positioned at the disc-supplying position and driven by the empty-disc-supplying jacking power mechanism. The tray supply and separation mechanism is suitable for carrying at least one tray and is used for separating the tray closest to the empty tray supply supporting plate from the rest trays. The empty-supplying disc lifting power mechanism can comprise an air cylinder and can be used for driving the empty-supplying disc supporting plate to descend. When the device works, an empty tray for lifting the empty tray supporting plate falls on the second conveying synchronous belt, and then the empty tray is conveyed out of the tray feeding position by the second conveying synchronous belt; the empty tray supplying supporting plate ascends again to lift the rest trays borne by the tray supplying and separating mechanism, and the tray supplying and separating mechanism is utilized to separate the next empty tray. The second handling belt may extend past the supply spool and the third indexing. The second conveyance power mechanism may include a motor and may be controlled by the control system 3. The synchronous position of the second carrying synchronous belt carrying empty trays can controllably move from the tray position to the third flow position.

Illustratively, the tray feeding position, the tray receiving position and the tray receiving position are matched with the robot to realize automatic loading and unloading of the tray, and the height of the lower rack 1 can be designed according to the matching requirement of the robot.

Fig. 16 shows the pick and place module 14. In some embodiments, the pick and place module 14 comprises: a drive assembly and a robot assembly 57 driven by the drive assembly. The drive assembly may include a first drive mechanism 51 and a second drive mechanism 54 for effecting movement of the robotic assembly 57 in the XY plane.

Illustratively, the first drive mechanism 51 drives the second drive mechanism 54, and the second drive mechanism 54 drives the robot assembly 57. The driving direction of the first driving mechanism 51 intersects with the driving direction of the second driving mechanism 54. As shown in fig. 16, the first drive mechanism 51 may include a first drive slide rail 52 and a first drive power mechanism 53. The second driving mechanism 54 may be slidably connected to the first driving rail 52, and the sliding direction may be along the X-axis direction. The first drive power mechanism 53 may include a motor, and may be connected to the second drive mechanism 54 using, for example, a timing belt. The first driving mechanism 51 can drive the second driving mechanism 54 to move in the X-axis direction. The second drive mechanism 54 may include a second drive slide 55 and a second drive power mechanism 56. The manipulator assembly 57 may be slidably connected to the second driving rail 55 and the sliding direction may be along the Y-axis direction. The second drive power mechanism 56 may include a motor and may be coupled to the robot assembly 57 using, for example, a timing belt. The second drive mechanism 54 may drive the robot assembly 57 to move in the Y-axis direction.

Referring to fig. 17, the robot assembly 57 includes: at least two suction nozzle assemblies 58, an adjustment assembly 59, at least two lift assemblies 60, and at least two suction nozzle sensors 61. Illustratively, the robotic assembly 57 includes eight nozzle assemblies 58, which correspondingly may include eight lift assemblies 60 and eight nozzle sensors 61. It should be understood that the number of suction nozzle assemblies 58 in the classifier 1000 provided by the present utility model is not limited thereto. These nozzle assemblies 58 can operate simultaneously or independently, saving time in repeated pick-and-place strokes, and ensuring hourly throughput of the classifier 1000. The adjusting assembly 59 is used for adjusting the interval between at least one nozzle assembly 58 and other nozzle assemblies 58, and the lifting assembly 60 is used for adjusting the position of the corresponding nozzle assembly 58 along the first direction. The nozzle sensors 61 are used to detect the position of the corresponding nozzle assembly 58 in the first direction.

Referring to fig. 18, the lifting assembly 60 may include a lifting power mechanism 62, a lifting timing belt 63, and a lifting slide rail 64. The suction nozzle assembly 58 is slidably connected to the lifting slide rail, and the sliding direction is along the Z-axis direction, and the suction nozzle assembly 58 is also fixedly connected to the lifting synchronous belt 63. The lifting synchronous belt 63 can extend along the Z-axis direction, and is driven by the lifting power mechanism 62 to drive the suction nozzle assembly 58 and lift the suction nozzle assembly 58 along the Z-axis direction. The lift power mechanism 62 may include a motor. The suction nozzle assembly 58 is used for sucking the integrated circuit product, and when the integrated circuit product is in operation, the driving assembly can be controlled by the control system 3, and then the manipulator assembly 57 is moved to the corresponding position in the material taking position of the material supplying module 6, and the suction nozzle assembly 58 descends and sucks the specified integrated circuit product and ascends; and then the manipulator assembly is moved to the position of the discharging position of the corresponding receiving module 7, and the suction nozzle assembly 58 descends and releases the sucked integrated circuit products into the tray of the receiving module 7, so that the integrated circuit products are grouped.

Referring to fig. 18 and 19, illustratively, a plurality of suction nozzle assemblies 58 include: the first, second, third, and fourth nozzle assemblies 581, 582, 583, 584, which are sequentially disposed in the X-axis direction, are not limited thereto. Illustratively, the adjustment assembly 59 may include: at least one adjusting slide rail 65, an adjusting motor 66, an adjusting synchronous belt 67 and a first proportional synchronous belt 68. For example, the adjustment assembly 59 may also include a second proportional synchronous belt 69. The adjustment motor 66 may be other adjustment power mechanisms.

The first nozzle assembly 581 and the third nozzle assembly 583 are indirectly connected to the lifting and lowering timing belt 63 through one adjustment slide rail 65, respectively. The first nozzle assembly 581 is slidably connected with the adjusting slide rail 65, and the sliding direction is along the X-axis direction, so that the first nozzle assembly 581 and the adjusting slide rail 65 can be lifted along the Z-axis direction together with the lifting synchronous belt 63 corresponding to the first nozzle assembly 581. The third nozzle assembly 583 may be slidably connected to another adjusting rail 65 and the sliding direction is along the X-axis direction, and then the third nozzle assembly 583 and the adjusting rail 65 may be lifted along the Z-axis direction together with the third nozzle assembly 583 along with the lifting synchronous belt 63 of the corresponding lifting assembly 60.

The adjusting synchronous belt 67 can extend along the X-axis direction, and the adjusting motor 66 can drive the adjusting synchronous belt 67. For example, the adjustment timing belt 67 may be in power connection with the first and second proportional timing belts 68, 69 using a variable diameter shafting or other transmission mechanism. The first proportional synchronous belt 68 may have two sections turned back in the X-axis direction, one section may be fixedly connected with the first nozzle assembly 581 and the other section may be fixedly connected with the third nozzle assembly 583. The first nozzle assembly 581 and the third nozzle assembly 583 are reversely movable in the X-axis direction by the driving of the adjustment motor 66, and thus the distance between the two components with respect to the second nozzle assembly 582 is controllably adjusted. Illustratively, the second proportional synchronous belt 69 extends in the X-axis direction and is fixedly coupled to the fourth nozzle assembly 584. The fourth nozzle assembly 584 is indirectly connected with the lifting synchronous belt 63 corresponding to the fourth nozzle assembly 584 through an adjusting slide rail 65. Thus, the fourth nozzle assembly 584 is also movable in the X-axis direction under the driving of the adjustment motor 66, and thus its distance from the second nozzle assembly 582 is controllably adjusted. The rotational speed of the second proportional synchronous belt 69 may be different from the rotational speed of the first proportional synchronous belt 68. Illustratively, the direction of movement of the fourth nozzle assembly 584 may be the same as the direction of movement of the third nozzle assembly 583.

The sorting machine 1000 provided by the utility model realizes the linkage of the first suction nozzle assembly 581, the third suction nozzle assembly 583 and the fourth suction nozzle assembly 584 by configuring the manipulator assembly 57 of the picking and placing module 14, can adjust the spacing of the four suction nozzle assemblies, and is applied to sorting production of a plurality of integrated circuit products with different sizes. In addition, the material taking and placing module 14 has wide material taking and placing range and high efficiency. In the aspect of power source design, the three suction nozzle assemblies 58 are driven by one adjusting motor 66, so that the multi-station motion effect controlled by a single power motor is realized, the synchronism of the three suction nozzle assemblies 58 is realized, the motor cost is reduced, and the consistency of the suction intervals of chips is ensured.

As shown in fig. 20, in some embodiments, the visual recognition system 10 includes an avoidance power mechanism 70, a camera 71 driven by the avoidance power mechanism 70 and movable in a first direction, and an adjustable light source 72 disposed opposite the camera 71 in the first direction. The vision recognition system 10 is located in the recognition area and is dislocated with the empty disc module 11. The avoidance power mechanism 70 may include a motor that may drive the camera 71 down to more closely approximate a full tray, which may enhance recognition. Illustratively, the camera 71 is a line scan camera. When the sorter 1000 works, the travelling tray 24 drives the tray to move at a constant speed along the Y-axis direction, so that the line scanning camera can shoot integrated circuit products in the whole Zhang Liaopan, and then the identified tray can be conveyed to a material taking position. Pick and place module 14 may sort the integrated circuit products in response to information identified by visual identification system 10. During a sorting operation, the next full tray may be visually identified by the visual identification system 10 and the identified next full tray may be temporarily returned to the supply level by the crane 16. The empty trays obtained after sorting by the material taking and placing module 14 can be returned to the identification position, and the avoidance power mechanism 70 can drive the camera 71 to rise so as to avoid the empty tray module 11.

The technical features of the embodiments disclosed above may be combined in any way, and for brevity, all of the possible combinations of the technical features of the embodiments described above are not described, however, they should be considered as the scope of the description provided in this specification as long as there is no contradiction between the combinations of the technical features.

The above disclosed examples represent only a few embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the utility model. It should be noted that it will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the utility model, which is intended to be within the scope of the utility model as claimed. Accordingly, the scope of the utility model should be determined from the following claims.

Claims (10)

1. A loading attachment for integrated circuit product, its characterized in that includes:

a feeding module (6) which is provided with a feeding position, a recognition position and a fetching position which are sequentially arranged;

a visual identification system (10) which is matched with the feeding module (6) along a first direction, wherein the visual identification system (10) corresponds to an identification position of the feeding module (6);

The material taking and placing module (14) is matched with the material supplying module (6) along the first direction, and the material taking and placing module (14) corresponds to a material taking position of the material supplying module (6); and

the empty disc module (12) is matched with the feeding module (6) along the first direction, the empty disc module (12) corresponds to the identification position of the feeding module (6), and the visual identification system (10) is staggered with the empty disc module (12) along the first direction.

2. The feeding device according to claim 1, wherein the visual recognition system (10) comprises an avoidance power mechanism (70), a camera (71) driven by the avoidance power mechanism (70) and movable in the first direction, and an adjustable light source (72) arranged opposite to the camera (71) in the first direction.

3. The loading device according to claim 1, wherein the feed module (6) comprises a feed tray mechanism (15), a travelling mechanism (16) and a first tray conveying mechanism (17);

-said feed tray means (15) being located at said feed level, said feed tray means (15) comprising: a feeding jacking power mechanism (18), a feeding supporting plate (21) driven by the feeding jacking power mechanism (18) and movable along the first direction, and a feeding tray dividing mechanism (73), wherein the feeding supporting plate (21) is positioned at the feeding level, the feeding tray dividing mechanism (73) is matched with the feeding supporting plate (21) along the first direction, and the feeding tray dividing mechanism (73) is suitable for bearing at least one tray for containing the integrated circuit products and separating the tray closest to the feeding supporting plate (21) from the rest trays;

The effective travel of the travelling mechanism (16) passes through the feed level and the identification level, the travelling mechanism (16) comprising: the device comprises a driving transmission power mechanism (22), a driving synchronous belt (23) driven by the driving transmission power mechanism (22), a driving lifting mechanism (74) and a driving tray (24) connected to the driving synchronous belt (23), wherein the stroke of the driving tray (24) passes through the feeding position and the identification position and is driven by the driving lifting mechanism (74) to move along the first direction;

the effective stroke of the first tray conveying mechanism (17) is overlapped with the effective stroke of the driving mechanism (16), and the effective stroke of the first tray conveying mechanism (17) passes through the material taking position, and the first tray conveying mechanism (17) comprises: the device comprises a first conveying power mechanism (25) and a first conveying synchronous belt (27) driven by the first conveying power mechanism (25), wherein the first conveying synchronous belt (27) is used for realizing the effective stroke of the first tray conveying mechanism (17).

4. A loading device according to any one of claims 1 to 3, wherein the pick-and-place module (14) comprises: a drive assembly and a robot assembly (57) driven by the drive assembly;

The driving assembly comprises a first driving mechanism (51) and a second driving mechanism (54), the first driving mechanism (51) drives the second driving mechanism (54), the second driving mechanism (54) drives the manipulator assembly (57), and the driving direction of the first driving mechanism (51) is intersected with the driving direction of the second driving mechanism (54);

the robot assembly (57) includes: at least two suction nozzle assemblies (58), an adjusting assembly (59), at least two lifting assemblies (60) and at least two suction nozzle sensors (61), wherein the adjusting assembly (59) is used for adjusting the distance between at least one suction nozzle assembly (58) and other suction nozzle assemblies (58), the lifting assemblies (60) are used for adjusting the positions of the corresponding suction nozzle assemblies (58) along the first direction, and the suction nozzle sensors (61) are used for detecting the positions of the corresponding suction nozzle assemblies (58) along the first direction.

5. A sorter for integrated circuit products, comprising:

the loading device of any one of claims 1 to 4;

a stock disc storage module (5), wherein the empty disc module (12) has a first effective travel of circulation between the feed module (6) and the stock disc storage module (5);

A plurality of receiving modules (7), wherein the effective travel of the taking and placing modules (14) of the feeding device passes through the plurality of receiving modules (7);

the blank supply module (13) is matched with the plurality of material receiving modules (7) along the first direction, and the blank supply module (13) is provided with a second effective travel for circulation between the material disc storage module (5) and the material receiving modules (7); and

the control system (3) is in communication connection with the feeding device, the empty disc collecting module (12), the empty disc supplying module (13), the material taking and discharging module (14) and the visual identification system (10).

6. The sorter of claim 5, wherein the arrangement direction of the feed, identification, and take-out locations is a second direction that intersects the first direction;

the receiving module (7) is provided with a first receiving tray position, a first flow position and a first discharging position which are arranged along the second direction, the first receiving tray position and the feeding position are arranged in parallel along a third direction and are positioned on the same side of the receiving tray module (12) along the second direction,

the empty disc supply module (13) corresponds to the first flow transposition, and the material taking and placing module (14) corresponds to the first material placing position;

The material receiving module (7) comprises: a receiving tray mechanism (28) and a second tray conveying mechanism (29);

the material receiving tray mechanism (28) is located at the first material receiving tray position, and the material receiving tray mechanism (28) comprises: the device comprises a receiving jacking power mechanism (30), a receiving supporting plate (31) and a receiving tray mechanism (75), wherein the receiving supporting plate (31) is driven by the receiving jacking power mechanism (30) and can move along the second direction, the receiving supporting plate (31) is positioned at the first receiving tray position, the receiving tray mechanism (75) is matched with the receiving supporting plate (31) along the first direction, and the receiving tray mechanism (75) is used for enabling a tray which is transmitted by the receiving supporting plate (31) and is used for containing an integrated circuit product to pass through unidirectionally and is suitable for bearing at least one tray;

the second tray conveyance mechanism (29) is configured to: having a first conveying stroke from the first stream indexing to the first discharge level and having a second conveying stroke from the first discharge level to the first take-up tray level, the second tray conveying mechanism (29) comprising: a second conveying power mechanism (32) and a second conveying synchronous belt (33) driven by the second conveying power mechanism (32), wherein the second conveying synchronous belt (33) is used for realizing the first conveying stroke and the second conveying stroke.

7. The sorting machine according to claim 6, wherein the sorting machine further comprises a manual receiving module (9), the effective travel of the pick-and-place module (14) passing through the manual receiving module (9), the arrangement direction of the feed, identification and pick-up positions being a second direction, the second direction intersecting the first direction;

the stock disc storage module (5) comprises a first stock disc storage module (501) and a second stock disc storage module (502), the feeding module (6), the plurality of receiving modules (7), the manual receiving module (9) and the second stock disc storage module (502) are sequentially arranged along a third direction, the third direction is intersected with the first direction, and the third direction is intersected with the second direction;

the effective travel of the empty disc module (12) passes through the feeding module (6) and the first material disc storage module (501);

the effective travel of the empty disc supplying module (13) passes through the second material disc storage module (502), the manual material receiving module (9) and the material receiving modules (7);

the effective travel of the material taking and placing module (14) passes through the manual material receiving module (9).

8. The sorter of claim 7, wherein the first inventory storage module (501) has a take-up position and a second stream index aligned in the second direction, and the second inventory storage module (502) has a supply position and a third stream index aligned in the second direction;

The receiving tray position, the feeding tray position and the feeding tray position are positioned on the same side of the receiving tray module (12) along the second direction;

the effective travel of the empty tray module (12) passes through the second flow indexing, and the effective travel of the empty tray supply module (13) passes through the third flow indexing.

9. The sorter of claim 8, wherein the first stock disc storage module (501) comprises: a first conveyance power mechanism (45), a first conveyance timing belt (46) driven by the first conveyance power mechanism (45), and a empty tray mechanism, wherein the first conveyance timing belt (46) has a synchronous stroke passing through the second circulation position and the empty tray position,

the empty tray mechanism includes: the collecting tray lifting power mechanism (76), a collecting tray supporting plate (77) which is positioned at the collecting tray position and driven by the collecting tray lifting power mechanism (76) and a collecting tray mechanism are arranged along the first direction in a matched mode with the collecting tray supporting plate (77), and the collecting tray mechanism is used for enabling a tray which is transmitted by the collecting tray supporting plate (77) and is used for containing the integrated circuit products to pass through in a one-way mode and is suitable for bearing at least one tray;

the second stock disc storage module (502) includes: the second conveying power mechanism, the second conveying synchronous belt and the empty disc supply tray mechanism are driven by the second conveying power mechanism, the synchronous stroke of the second conveying synchronous belt passes through the disc supply position and the third rotation position,

The empty tray supplying tray mechanism comprises: the empty-supplying tray jacking power mechanism is positioned at the empty-supplying tray position and driven by the empty-supplying tray jacking power mechanism, and the tray supplying and separating mechanism is suitable for bearing at least one tray and separating the tray closest to the empty-supplying tray from the rest trays;

the empty tray module (12) comprises: a first rotating force mechanism (47), a first rotating synchronous belt (48) driven by the first rotating force mechanism (47), a first clamping jaw power mechanism (49) connected with the first rotating synchronous belt (48) and a first clamping jaw (50) driven by the first clamping jaw power mechanism (49), wherein the effective stroke of the empty disc module (12) is the stroke of the first clamping jaw (50) moving along with the first rotating synchronous belt (48);

the empty tray supply module (13) includes: the device comprises a second rotating force mechanism, a second rotating synchronous belt driven by the second rotating force mechanism, a second clamping jaw power mechanism connected with the second rotating synchronous belt and a second clamping jaw driven by the second clamping jaw power mechanism, wherein the effective stroke of the empty disc supply module (13) is the stroke of the second clamping jaw moving along with the second rotating synchronous belt.

10. The sorting machine according to claim 7, wherein the manual receiving module (9) has a second receiving tray position, a fourth flow index and a second discharge position arranged along the second direction, the second receiving tray position being on the same side of the feeding module (6) as the feeding position of the feeding module (12) along the second direction, the feeding module (13) corresponding to the fourth flow index, the picking and discharge module (14) corresponding to the second discharge position;

the manual receiving module (9) comprises a jacking bin mechanism (34), a third material disc conveying mechanism (35), a disc pushing mechanism (36) and a recycling mechanism (37),

the jacking bin mechanism (34) is positioned at the second receiving tray position, the jacking bin mechanism (34) comprises a bin jacking power mechanism (40), a bin (43) which is driven by the bin jacking power mechanism (40) and is movable along the first direction, and a bin sensor (44) for monitoring the bin (43),

the third tray conveying mechanism (35) is configured to: having a third transfer stroke from the fourth stream index to the second discharge level and having a fourth transfer stroke from the second discharge level to the fourth stream index, the third tray transfer mechanism (35) comprising: a third conveying power mechanism (38) and a third conveying synchronous belt (39) driven by the third conveying power mechanism (38), wherein the third conveying synchronous belt (39) is used for realizing the third conveying stroke and the fourth conveying stroke,

The tray pushing mechanism (36) is used for pushing the trays in the bin (43) to the fourth flow transposition partially,

the recovery mechanism (37) is used for completely moving the tray back into the bin (43) from the fourth flow position.

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