TWI497641B - A picking unit, a grading device for the picking unit, and a picking method - Google Patents

Description

Picking unit, grading device for applying picking unit, and picking method

The invention provides a picking unit capable of improving the use efficiency, a grading device for applying the picking unit, and a picking method.

Please refer to the first and second figures, which are conventional pick-up units, including a transposition mechanism and a plurality of first and second diverters, wherein the transposition mechanism is fixed to the left frame 11 to fix a plurality of first motors 12 Each of the first motors 12 is coupled to the first drive plate 14 of the Y-direction chute 141 by the first pulley set 13, and the Y-direction chute 141 of each of the first drive plates 14 is available for the roller of the first picker 15 151 is slid, and a plurality of second motors 17 are fixed on the right frame 16 , and each of the second motors 17 is connected to the second drive plate 19 of the Y-direction chute 191 by the second pulley set 18 , and each of the second transmissions The Y-direction chute 191 of the plate 19 is slidable by the roller 201 of the second picker 20, and the third motor 21 is disposed on one side of the left side frame 11 for driving the third pulley disposed in the Y direction. The first sliding plate 23 is connected to the first sliding plate 23, and the first sliding seat 231 and the left sliding rail 111 are matched with each other between the first sliding plate 23 side and the left side frame 11. The other side of the plate 23 is coupled to the second sliding plate 25 by a linking member 24, and the second sliding plate 25 is disposed between the second sliding plate 25 and the right side frame 16. The right sliding rail 161; when adjusting the Y-direction spacing of the first and second pickers 15, 20, the third motor 21 can be controlled to drive the first sliding plates 23 to shift in the Y direction via the third pulley set 22, the first sliding The plate 23 is displaced along the left sliding rail 111 by the first sliding seat 231, and the second sliding plate 25 is synchronously displaced by the linking member 24, and the second sliding plate 25 is displaced along the right sliding rail 161 by the second sliding seat 251. The first and second diverters 15 and 20 can be adjusted in the Y direction to adjust the spacing; however, the transposition mechanism is not provided with the design that the first and second diverters 15 and 20 can be adjusted in the X direction, so that The first and second diverters 15 and 20 can only adjust the spacing in the Y direction, and the third motor 21 drives the displacement of the first sliding plate 23 by the third pulley set 22, and is driven by the linking member 24 to enable the first When the two sliding plates 25 are displaced, the first sliding plate 23 and the second sliding plate 25 are subjected to different forces, so that the second sliding seat 251 of the second sliding plate 25 is likely to be jammed when displaced on the right sliding rail 161. The first and second pickers 15 and 20 are displaced, and the first and second pulley sets 13 and 18 are respectively When the plurality of rows of hoppers are installed between the first and second hoppers 15 and 20, there is no common transmission component between the first and second pulley sets 13 and 18. The related transmission components of the additional rows of hoppers, such as the motor and the pulley set, will not be effectively disposed on the frame in a small volume, which makes it difficult to add missing hoppers.

A first object of the present invention is to provide a picking unit comprising a frame, a first indexing mechanism, a second indexing mechanism, a plurality of column moving modules, a central control module, a power source control interface, and a picking and detecting module. The first transposition mechanism is provided with a first power source for driving at least one first mounting member for the first direction displacement, and the second transposition mechanism is provided with a second power source for driving at least one The second mounting member of the two-direction displacement, and the first and second mounting members are staggered and have a height difference, and the plurality of moving modules with the pickers are respectively installed on the first mounting member And connecting at least one column of the moving module to the second mounting member, the central control module is provided with a data storage unit for storing parameter data required for transferring the electronic component, and the actual moving position of each mechanism can be corrected and returned to the program execution center. The recovery mechanism with the same position is set, the power source control interface is used to control various attributes of each power source, and the pick-up detection module is used to detect the state of the moving module to pick up the electronic components, and transmit the detection signal to the central control. Group, to enhance the practical benefits of the use of performance.

A second object of the present invention is to provide a pick-up unit, wherein the first and second mounting members of the pick-up unit are staggered in the first and second directions and have a height difference, and can be directly on the first frame member. Adding a moving module to achieve practical benefits in response to different digging operations.

A third object of the present invention is to provide a pick-up unit, wherein the pick-up unit is provided with at least one magnetic spacer for reducing the magnetic quality of the electronic component test quality and improving the use efficiency.

A fourth aspect of the present invention provides a grading apparatus for applying a pick-up unit, wherein the machine is provided with a first loading device, a second loading device, a testing device, and a handling device, wherein the first loading device is For accommodating at least one electronic component to be tested, the second charging device is for accommodating at least one electronic component to be tested, and the testing device is provided with at least one test circuit board for testing the test piece for testing electronic components and carrying The device is provided with at least one pick-up unit for transporting electronic components, which has the practical benefit of improving the use efficiency.

A fifth object of the present invention is to provide a picking method, wherein the picking device is located above a container for holding an electronic component, and the central control module determines whether the picker of the picking device corresponds to the electronic component to be picked up and the analysis device. Picking up the environmental state, and sending out the picking action signal, the picking device and the carrying mechanism receive the picking action signal, and the carrying mechanism drives the picking device to perform at least one third direction large stroke displacement according to the step set by the picking action signal, and the picking device according to the picking action signal The set step controls at least one of the pickers to pick up the electronic components to reduce the number of times the picker is displaced in the third direction, thereby prolonging the component life of the picking device, and applying different picking patterns to improve the convenience of the picking operation.

In order to make the present invention more fully understood by the reviewing committee, a preferred embodiment and a drawing will be described in detail as follows: Please refer to FIG. 3, which is an embodiment of a picking unit applied to an electronic component grading device. The electronic component grading device includes a machine table 30, a first loading device 40, a second loading device 50, a testing device 60, a conveying device 70, and a disk arranging device 80. The first loading device 40 is disposed on the machine table 30. In order to accommodate at least one electronic component to be tested, in the embodiment, the first loading device 40 is provided with at least one container for the electronic component to be tested, the container is a tray 41; the second loading device 50 is configured The machine 30 is configured to receive at least one electronic component that is inspected. In this embodiment, the second loading device 50 is provided with at least one container for holding the electronic component, the container is a tray 51; The 60 series is provided with at least one test circuit board 61 of the test stand 62 for testing electronic components; the transport device 70 is provided with at least one pick-up unit for transporting electronic components. In the present embodiment, the transport device 70 Attached to one of the test devices 60 A loading stage 71 and a first discharging stage 72 are respectively configured to carry the electronic components to be tested/completed, and the second loading stage 73 and the second discharging are provided on the other side of the testing device 60. The loading platform 74 is configured to carry the electronic components to be tested/tested, and the carrying device 70 is provided with a first picking unit 75 and a second picking unit 76. The first picking unit 75 is connected to the first and second materials. The electronic components to be tested are transferred between the stages 71, 73 and the first loading device 40, and the second picking unit 76 is transferred between the first and second discharge stages 72, 74 and the second loading device 50. The electronic component, and the carrying device 70 are provided with a first presser 77 and a second pressor 78 at the test device 60. The first presser 77 is attached to the first inlet and discharge stages 71 and 72. And the test device 60 transfers the electronic component to be tested/completed, and the second pressor 78 transfers the electronic component to be tested/tested between the second input and discharge loading stations 73 and 74 and the testing device 60. The other transporting device 70 is provided with a detecting mechanism capable of detecting the state in which the first and second loading stages 71 and 73 are placed on the electronic component, and further, the detecting means includes the detecting interface and the sensor, and the detecting means The interface is used to receive the sensing signal of the sensor, and the sensing signal is analyzed and discriminated, and the sensing result is transmitted to the central control module, and the sensor can be set on the machine 30 for the first picking. The unit 75 detects the first and second loading stages 71 and 73 when the electronic components are respectively placed in the first and second loading stages 71 and 73, and continuously analyzes and senses the sensing signals by using the detecting interface. Once the change is made, the electronic components on the first and second loading stages 71, 73 can be judged to be tilted. If the signal does not change, it is judged that the electronic components are not tilted so that the first and second loading stages are 71, 73 after the first pick-up unit 75 leaves the electronic component, that is, the electronic component is quickly carried to the testing device 60, which can effectively improve the prior art, and wait for the pick-up unit to rise and reset before performing the sensing loss, and the carrying efficiency is improved. Therefore, there is a significant improvement; the disc placement device 80 is configured to receive the empty tray of the first loading device 40 and to replenish the empty tray to the second loading device 50 for containing the completed electronic components.

Referring to Figures 3, 4, 5, and 6, the first and second picking units 75 and 76 of the present invention respectively include a frame, a first indexing mechanism, a second indexing mechanism, a plurality of column moving modules, and a central control. The module, the power source control interface, and the pick-up detection module are exemplified by the first pick-up unit 75. The frame 751 can be fixed or driven by the carrier mechanism to perform at least one direction of large stroke displacement, for example, as the first direction. (X direction) and the second direction (Y direction) or the third direction (Z direction) displacement. In this embodiment, the frame 751 is mounted on the carrier mechanism 756, and the carrier mechanism 756 is provided on the carrier frame 7561. For the driving source of the motor 7562, the motor 7562 drives the transmission group which can be the third-direction screw threaded set 7563, and drives the frame 751 to move in the third direction of the larger stroke by the third-direction screw threaded set 7563. An indexing mechanism 752 is provided with at least one first power source for driving at least one first transmission component. In this embodiment, the first power source is assembled with the frame 751 and is provided with a first transmission group 7522. The first motor 7521 is configured to drive a first transmission member 7523 disposed in a second direction The two ends of the first transmission member 7523 respectively drive the first actuator to be actuated. In this embodiment, the two ends of the first transmission member 7523 are respectively coupled to the outside of the frame 751 and can be driven by the first belt transmissions 7524A and 7524B. a first actuator disposed in a first direction, and a first mounting member disposed in the first direction between the two first actuators. In this embodiment, between the first belt drivers 7524A and 7524B The first mounting member 7525 is disposed in the second direction and is a sliding rail, and the first mounting member 7525A disposed in the second direction is disposed on the frame 751 to adjust each moving module. The first direction spacing reference member is further provided with a first auxiliary sliding structure between the first mounting member 7525 and the frame 751 for assisting the first mounting member 7525 to be smoothly displaced. In this embodiment, the first The auxiliary sliding structure is disposed between the two ends of each of the first mounting members 7525 and the frame 751, and the first sliding seats 7526A and 7526B and the first sliding rails 7527A and 7527B are disposed in a first direction. The other transposition mechanism is provided with a brake device capable of assisting the precise positioning of each moving module. In the embodiment, the first brake 7528 is disposed on the rotating shaft of the first motor 7521 to assist the first motor 7521 to stop rotating, and the inertia effect can be reduced to accurately position the moving module; the second transposition mechanism is At least one second power source is provided for driving at least one second transmission member. In this embodiment, the second power source of the second indexing mechanism 753 is assembled with the frame 751 and is provided with the second transmission group. The second motor 7531 of the 7532 is configured to drive a second transmission member 7533 disposed in a first direction. The two ends of the second transmission member 7533 respectively drive the second actuator to operate, and the second actuators are provided with at least a second mounting member that can be displaced in the second direction, and the second mounting member and the first mounting member are staggered and have a height difference. In this embodiment, the second transmitting member 7533 is two The second end of the frame 751 is coupled to the second belt drive 7534A, 7534B and is disposed in a second direction. The second belt drive 7534A, 7534B is coupled to provide a first connection. a second mounting member 7535 oriented in the direction of the slide rail, and a second mounting member 7535 Each of the first mounting members 7525 and 7525A is staggered and has a height difference, and a second auxiliary sliding structure is disposed between the second mounting member 7535 and the frame 751 for assisting the second mounting member 7535. In the present embodiment, the second auxiliary sliding structure is disposed between the two ends of the second mounting member 7535 and the frame 751, and is respectively provided with a second sliding seat 7536A which is disposed in the second direction. , the 7536B and the second sliding rails 7537A, 7537B, and the second second shifting mechanism is provided with a brake device capable of assisting the precise positioning of each of the moving modules. In this embodiment, the second motor 7531 has a second rotating shaft. The brake device 7538 is used to assist the second motor 7531 to stop the rotation positioning, and the inertia effect can be reduced to accurately position the moving module; the plurality of column moving modules are respectively provided with at least one material for transferring the electronic components. And assembling the first mounting members 7525 and 7525A of the first indexing mechanism, so that at least one moving module of each column is driven by the first indexing mechanism to adjust the first direction spacing, wherein at least one column of the moving module is coupled with the second The mounting member 7535 is driven by the second transposition mechanism to adjust the second In the present embodiment, two rows of the first moving module 754 and the second moving module 755 are provided, and the first moving modules 754 are respectively fixed on the first mounting members 7525 and 7525A. The first carrier 7541 is configured to assemble the first driving source. In the embodiment, the first driving source is provided with the first driving motor 7542 to drive at least one of the third direction and is the first pulley group 7543. In a transmission group, the first pulley set 7543 can drive at least one first picker 75545 of the first pick-up member 75451 for third direction displacement, and further, the first drive motor 7542 can feed the torque electronic signal to the central control module. For determining whether the first picker 7545 has an abnormal condition that does not fall to the preset pick-and-place operation height, in the embodiment, the first picker 7545 is configured to connect the first pulley set 7543 and is in the first The first connecting member 75452 is disposed in three directions, and an auxiliary sliding structure is disposed between the two ends of the first connecting member 75452 and the first bearing plate 7541 to prevent the two ends of the first connecting member 75452 from swaying and being smoothly displaced. The auxiliary slip mechanism is attached to one end of the first connecting member 75452 The first bearing plate 7541 is provided with a sliding portion and a sliding portion, and the other end of the first connecting member 75452 is slidably coupled to the sliding portion of the first carrier 7541. In this embodiment, One end of the first connecting member 75452 is provided with a sliding portion which can be the first sliding seat 7546, and a guiding portion which can be the first sliding rail 7547 is provided on the first bearing plate 7541 for the first sliding seat 7546. The sliding displacement is further provided, and the sliding portion of the first sliding sleeve 7548 is disposed at a position of the first bearing plate 7541 relative to the other end of the first connecting member 75452, and the first connecting member 75452 is slidably displaced, and the first feeding material is The device 7545 is provided with a floating mechanism for making the first pick-up member 75451 a third direction buffer floating displacement, so as to prevent the first pick-up member 75451 from crushing the electronic component. In the embodiment, the floating mechanism is attached to the first picker. A first chamber 75454 is disposed in the first body 75453 of the 7545. The first chamber 75454 is connected to the first air suction conduit 75455 and is provided with a first pick-up member 75451 having a first elastic member. The first elastic member can be For the first spring 75456, the first pick-up member 75451 is displaced in the third direction in the first chamber 75454 for picking up the electrons. And mounting a first grounding wire on the first moving module 754 to direct static electricity directly to the ground through the machine 30 to increase the grounding effect, thereby preventing electronic components from being damaged and increasing the yield, in this embodiment. The first grounding wire 7549 is assembled on the first picker 7545; each of the second moving module 755 is fixed on the first mounting member 7525, 7525A with a first sliding member 75511 and a second sliding The second bearing plate 7551 of the moving member 75512, the first sliding member 75511 can be slidably disposed on the second mounting member 7525, and the second sliding member 75512 can be slidably disposed on the second mounting member 7535, and the second bearing The plate 7551 is equipped with a second driving source. In this embodiment, the second driving source is provided with a second driving motor 7552 to drive at least one second transmission group disposed in the third direction and being the second pulley group 7553. The second pulley group 7553 can drive at least one second picker 7555 of the second picking member 75551 for the third direction displacement. Further, the second driving motor 7552 can feed the torque electronic signal to the central control module for judgment. Whether the second picker 7555 has an abnormality that does not fall to the preset pick-and-place operation height In this embodiment, the second picker 7555 is provided with a second connecting member 75552 that is coupled to the second pulley set 7553 and disposed in the third direction. The two ends of the second connecting member 75552 and the second supporting plate 7551 An auxiliary sliding structure is arranged to prevent the two ends of the second connecting member 75552 from swaying and being smoothly displaced. The auxiliary sliding mechanism is disposed between the end of the second connecting member 75552 and the second supporting plate 7551. The sliding portion and the sliding portion are engaged, and the other end of the second connecting member 75552 is slidably coupled to the sliding portion of the second carrier 7551. In this embodiment, the second connecting member 75552 is installed at one end of the second connecting member 75552. There is a sliding portion which can be the second sliding seat 7556, and a guiding portion which can be the second sliding rail 7575 is provided on the second bearing plate 7551 for sliding displacement of the second sliding seat 7556, and the second bearing The position of the plate 7551 is opposite to the other end of the second connecting member 75552. The sliding portion of the second sliding sleeve 7558 is provided for sliding displacement of the second connecting member 75552, and the second picker 7555 is configured to be second. The picking member 75551 is used as a floating mechanism of the third direction buffer floating displacement to prevent the second picking member 75551 from crushing the electronic component. In this embodiment, the floating mechanism is disposed in the second body 75553 of the second picker 7555, and the second chamber 75554 is connected to the second air suction line 75555, and is assembled to have a second The second pick-up member 75551 of the elastic member, the second elastic member may be the second spring 75556, so that the second pick-up member 75551 can be displaced in the third direction in the second chamber 75554 for picking up the electronic component, and second A second grounding wire is mounted on the moving module 755 to direct static electricity directly to the ground through the machine 30 to increase the grounding effect, thereby preventing damage to the electronic components and increasing the yield. In this embodiment, the second layer is The second grounding line 7559 is mounted on the hopper 7755; the central control module includes a data storage unit and a recovery mechanism, and the data storage unit is used for storing parameter data required for transferring the electronic components. In this embodiment, the central control module The speed of the control power source is non-equal speed, and the data storage unit stores the non-equal speed parameter data required for the transfer electronic component, so that the non-equal speed parameter data is used each time the speed of the control power source is executed. Constant velocity parameter The data is consistent with the actual implementation of the power source to solve the problem that the actual operating position of the conventional power source is inconsistent with the preset position of the program execution, resulting in the power source often needing to be corrected, so that the load is reduced and the life is lost. The actual movement position of each mechanism can be restored to the same position as the program execution. Further, the recovery mechanism is provided with a sensor for sensing the difference between the actual position of each mechanism and the execution of the preset position of the program. The external force causes deformation or looseness, so that the actual moving position of each mechanism is inconsistent with the position set by the program execution, and the recovery mechanism performs the correcting action, so that the actual moving position of each mechanism is consistent with the position set by the program execution, and the displacement accuracy is increased; The power source control interface is provided with at least one processing unit that connects the central control module and the power source, and uses the processing unit to control various attributes of the power source and data calculations, such as the force curve, torque or position of the motor. Improve the need for conventional central control modules by individually controlling the motor Counting huge data, when the processing unit is overburdened too much, it will cause the data processing operation to stop, and there will be problems in the operation of the power source. Therefore, the power source control interface is used to individually process the relevant information about controlling the power source operation, and at the same time, it will be processed. The feedback data is transmitted to the power source and the central control module for operation to reduce the computing load of the central control module, so that the power source is operated more accurately and quickly; the pick-up detection module is provided with at least one detectable The moving module picks up the detector of the state of the electronic component, and the detecting device transmits the detecting signal to the central control module. Further, the picking and detecting module is provided with the detection of the position of the electronic component on the image capturing module. The detector can be a CCD for detecting whether the electronic component is offset, and transmitting the detection signal to the central control module, so that the central control module controls the movement module to perform the position deviation correction action, and the first The pick-up unit is provided with at least one magnetic spacer for reducing the magnetic influence. In this embodiment, it is external to the first pick-up device 75. A magnetic spacer 758 is provided to reduce the magnetic quality of the electronic component test.

Referring to FIGS. 7 and 8, when performing the detecting operation, the conveying device 70 controls the displacement of the first picking unit 75 to the first loading device 40, and the first picking unit 75 can be regarded as the tray 41 of the first loading device 40. The spacing between the electronic components 91 and 92 is adjusted, and the first and second directions of the first and second feeders 7545 and 7555 are adjusted. The central control module of the first picking unit 75 can be combined with the power source control interface to control the first change. The speed of the first motor 7521 of the position mechanism 752 is non-equal speed and various attributes, and the stored non-equal speed parameter data is consistent with the result actually executed by the first motor 7521, and the first motor 7521 passes through the first transmission group. The first transmission member 7523 is driven to rotate, and the two ends of the first transmission member 7523 are synchronously driven to drive the first belt transmissions 7524A and 7524B, so that the two first belt transmissions 7524A and 7524B drive the plurality of first mounting members 7525. Simultaneously shifting in the first direction, so that each of the first mounting members 7525 drives the first and second moving modules 754 and 755 to be displaced in the first direction, and each of the second moving modules 755 can be used along the second sliding member 75512. The second frame is 7535 displacement, and each first The first sliding seat 7526A, 7526B of the two ends 7225A and 7526B are synchronously driven to slide along the two first sliding rails 7527A and 7527B, respectively, so as to prevent unevenness of the first sliding blocks 7526A and 7526B, so that the first mounting is performed. The member 7525 can drive the first and second shifting modules 754 and 755 to be smoothly displaced, thereby adjusting the first direction spacing of each of the first and second diverters 7545 and 7555; refer to Figures 9 and 10 for adjusting the first. When the second hoppers 7545 and 7755 are spaced apart from each other, the second motor 7531 of the second indexing mechanism 753 can be driven to rotate the second transmission member 7533 via the second transmission group 7532, and the two ends of the second transmission member 7533 The second belt drive 7534A, 7534B is synchronously driven, so that the two second belt drives 7534A, 7534B drive the two ends of the second mounting member 7535 to be displaced in the second direction, because the second moving module 755 is The second sliding member 75512 is slidably coupled to the second mounting member 7535, so that the second mounting member 7535 can drive the second moving module 755 to be displaced in the second direction, and the second moving module 755 can utilize the first The sliding member 75511 is displaced along the first mounting member 7525, and the second mounting member 7535 is synchronously disposed. The second sliding blocks 7536A and 7536B at the two ends of the movable side are respectively slid along the second second sliding rails 7537A and 7537B, so that the second moving module 755 is smoothly displaced, thereby adjusting the second hoppers 7555 and the first hopper 7554. The second direction spacing; referring to FIG. 11 , the first picking unit 75 can control the motor 7562 of the carrier mechanism 756 to pass the third after adjusting the first and second directions of the first and second pickers 7545 and 7555. The direction screw screw set 7563 drives the frame 751 to be displaced in the third direction, and the frame 751 drives the first and second diverters 7545 and 7555 to rotate in the third direction of the large stroke to the tray 41 with the electronic component. The first picking unit 75 can control the first and second motors 7542 and 7552 of the first and second moving modules 754 and 755 to be driven by the first and second transmission groups 7543 and 7553. The first and second connecting members 75452 and 75552 can respectively drive the first and second feeders 7552 and 75552 to perform the third direction displacement respectively, and the first and second connecting members 75452 and 75552 respectively respectively. The electronic components 90, 91 are picked up on the disk 41 due to the first and second feeders 7545, 7555 When the electronic components 90, 91 are micro-pressed by the first and second pick-up members 75451 and 75551, the first and second pick-up members 75451 and 75551 are subjected to the reaction force of the electronic components 90, 91, and the reaction force can make the first The two pick-up members 75451 and 75551 are respectively displaced upward in the third direction in the first and second chambers 75454 and 75554, and compress the first and second springs 75456 and 75556 to perform a buffer floating displacement to avoid pressure loss electronic components. 90, 91, if one of the pickers (such as the first picker 7545) does not fall to the preset pick-and-place height, the electronic control first drive motor 7542 can be used to determine the torque electronic signal to determine whether the abnormality is abnormal Occurs, so you don't need to install a lot of sensors to achieve the purpose. After judging the abnormality, you can quickly fine-tune the pick-and-place height of the first picker 7545 and warn the user to achieve the convenience of improving the convenience of the work. Benefits; please refer to FIG. 13 , after the reclaiming, the CCD of the pick-up detection module can be used to image the electronic components 90 and 91 on the first and second transfer modules 754 and 755 to detect the electronic component 90 , 91 is offset, if not, A picking unit 75 can view the first and second spacings of the receiving slots of the first loading stage 71, and then control the first and second moving modules 754 and 755 to adjust the first and second directions, and the electronic components to be tested. The components 90, 91 are placed on the first loading stage 71, and the detecting mechanism can place the electronic components 90, 91 into the first loading stage 71 when the first and second moving modules 754, 755 are placed. , the first loading stage 71 can be detected immediately, because the sensor of the detecting mechanism is continuous detection, and the detecting interface continuously receives the sensing signal of the sensor, and can immediately sense the sensor. The signal is used to determine whether the placement state of the electronic components 90, 91 is abnormal, so as to effectively reduce the time that the sensor waits for detection, and the conventional sensing technology must wait for the pickup unit to perform a third direction rise and reset before sensing. The operation increases the waiting time of the sensor. Therefore, the detecting mechanism can use the sensor and the detecting interface to improve the detecting performance. If it is detected that the electronic components 90 and 91 are not tilted, the first input can be made. The material stage 71 is quickly after the first pick-up unit 75 leaves the electronic components 90, 91. The electronic component 90, 91 is sent to the test device 60; referring to Fig. 14, the first loading stage 71 is used for the first direction displacement to carry the electronic components 90, 91 to be tested to the test device 60, A presser 77 takes out the electronic components 90, 91 to be tested at the first loading stage 71, and loads the electronic components 90, 91 into the test socket 62 of the testing device 60 to perform a test operation. The test circuit board 61 of the test device 60 transmits the test signal to the tester, and the tester transmits the test result to the central control device; see Figure 15, after the test operation, the first pressor 77 is tested. The tested electronic components 90, 91 are taken out in the holder 62, and the completed electronic components 90, 91 are transferred and placed on the first discharge stage 72; see Fig. 16, the first discharge stage 72 That is, the measured electronic components 90, 91 are loaded. Since the design of the second picking unit 76 is the same as the first picking unit 75, the second picking unit 76 can control the first and second moving modules 764, 765 to adjust the first and second. Directional spacing, and the measured electronic components 90, 91 are taken out on the first discharge stage 72 and displaced to At the second loading device 50, the second picking unit 76 controls the first and second moving modules 764 and 765 to adjust the first and second directions, and according to the test result, the completed electronic components 90 and 91 are placed in the first In the tray 51 of the two-feed device 50, the sorting and collecting operation is completed.

Referring to FIG. 17, which is another embodiment of the first pick-up unit of the present invention, the first pick-up unit 75 is provided with a first and second indexing mechanism 752, 753 on the frame 751, and is required for visual operation. And adding a plurality of first, second, and third moving modules 754, 755, and 757, that is, assembling the plurality of first, second, and third moving modules 754 on the first mounting member 7525 of the first indexing mechanism 752, 755, 757, the first moving module 754 is fixed to the first mounting member 7525, and the second and third moving modules 755, 757 are respectively provided with the first sliding member on the first mounting member 7525. The sliding members 75511 and 75711 are configured such that the first mounting member 7525 can drive the first, second, and third moving modules 754, 755, and 757 to be displaced in the first direction, and the second shifting mechanism 753 is used to drive the first belt. Between the 7534A and the 7534B, two second mounting members 7535A and 7535B are disposed in the first direction and are the sliding rails, and the two second mounting members 7535A and 7535B are interlaced with the first mounting members 7525. With the height difference, the second mounting member 7535A can be slidably placed on the second sliding member 75512 of the second moving module 755, and the second mounting member 7535B is available. The second sliding member 75712 of the third moving module 757 is slidably disposed, so that the second mounting members 7535A and 7535B can drive the second and third moving modules 755 and 757 to be second with respect to the first moving module 754. The directional displacement makes it easy to amplify the moving module, so as to facilitate the practical benefit of improving the performance of the application in response to different digging operations.

Referring to FIG. 18, it is a picking method of the present invention, comprising the following steps: Step 100: The picking device is located above a container for holding electronic components. In this embodiment, the container may be a tray for holding electronic components, and the picking device The driving mechanism drives the displacement to the top of the tray for holding the electronic component; Step 101: The central control module determines whether the picking device of the picking device corresponds to the picking environment state of the electronic component to be picked up and the analysis picker, and sends out the picking action In this embodiment, the central control module can determine whether each of the pickers of the picking device corresponds to the electronic component to be picked up, and sends the picking action signal, if yes, step 102 is performed, if not, step 106 is performed; Step 102: The central control module determines that each of the pickers of the picking device corresponds to the electronic component to be picked up, and sends the first picking action signal. Step 103: The picking device and the carrying mechanism receive the picking action signal. In this embodiment, the picking device And the carrier mechanism receives the first picking action signal; step 104: the carrier mechanism drives according to the first picking action signal The pick-up device performs at least one third-direction large-stroke displacement. In the embodiment, the carrier mechanism drives the pick-up device to perform a third-direction displacement of the large stroke, so that the pickers of the pick-up device directly contact the electronic components to be picked up, so that the pick-up device directly contacts the electronic components to be picked up. The picking device does not need to control the picking member of the picker to make a third direction displacement of the small stroke, but can reduce the number of times of picking and related components to improve the service life of the picking device; Step 105: The picking device controls at least according to the picking action signal a picker picks up the electronic component; in this embodiment, since the picker of the picker has contacted the electronic component to be picked up, the electronic component can be directly picked up; and step 106: when the central control module judges each of the picking devices When the pickers do not all correspond to the electronic components to be picked up, the central control module can further determine whether the pick-up device corresponds to the electronic components to be picked up by the pick-up device, and there is an obstruction under the other part of the pick-up device. The obstruction may be an electronic component of another size type or a side frame of the tray, etc., if there is an obstruction, perform step 107, if If there is no obstruction, step 115 is performed; step 107: the central control module determines that a part of the pick-up device corresponds to the electronic component to be picked up, and another part of the picker has an obstruction underneath, and sends the second pick-up Actuation signal; Step 108: The pick-up device and the transport mechanism receive the second pick-up action signal; Step 109: The carrier mechanism drives the pick-up device to perform at least one direction displacement to adjust the position of each pick-up device of the pick-up device, in this embodiment The carrying mechanism can drive the picking device to shift in the first direction and adjust the position of each of the pickers; Step 110: Whether part of the picking device of the picking device has avoided the obstruction, if yes, execute step 111, if not Step 113: Step 111: If a part of the pick-up device has avoided the obstruction, the carrier mechanism can drive the pick-up device to perform a third-direction displacement of the large stroke; Step 112: The pick-up device operates according to the pick-up signal control unit The picker picks up the electronic component; in this embodiment, since the pick-up part of the pick-up device has contacted the electronic component to be picked up, the electronic component can be directly picked up; Step 113: If some of the pickers of the picking device do not avoid the obstruction, the carrying mechanism drives the picking device to shift to the appropriate position above the container in the third direction of the large stroke; Step 114: The picking device drives the partial picking The device is displaced in the third direction of the small stroke to pick up the electronic components in the container; Step 115: If the central control module further determines that some of the pickers of the picking device correspond to the electronic components to be picked up, and the other part is dips There is no obstruction under the device, the central control module sends a third pick-up action signal; step 116: the pick-up device and the carrier mechanism receive the third pick-up action signal; step 117: the carrier mechanism drives the pick-up device to make the third direction of the large stroke Displacement; Step 118: A part of the pick-up device picks up the electronic components; therefore, the picking method of the present invention can be applied to different picking modes, except that the carrier is equipped with a pick-up device to drive the picker for the big and small strokes. The three-direction displacement is to pick up the electronic components, and the carrier mechanism can drive the pick-up device to shift in the third direction of the large stroke, so that the pick-up device is paralyzed Directly picks up the electronic component feeder for picking up and down times of displacement in a third direction, means to extend the life of the pickup element, thereby enhancing the convenience of the pickup operation.

[知知]

11. . . Left frame

111. . . Left side rail

12. . . First motor

13. . . First pulley set

14. . . First drive plate

141. . . Y direction chute

15. . . First feeder

151. . . Wheel

16. . . Right side frame

161. . . Right side rail

17. . . Second motor

18. . . Second pulley set

19. . . Second drive plate

191. . . Y direction chute

20. . . Second feeder

201. . . Wheel

twenty one. . . Third motor

twenty two. . . Third pulley set

twenty three. . . First sliding plate

231. . . First slide

twenty four. . . Linkage

25. . . Second sliding plate

251. . . Second slide

[this invention]

30. . . Machine

40. . . First loading device

41. . . Trays

50. . . Second loading device

51. . . Trays

60. . . Test device

61. . . Test board

62. . . Test stand

70. . . Handling device

71. . . First feeding stage

72. . . First discharge stage

73. . . Second feeding stage

74. . . Second discharge stage

75. . . First picking unit

751. . . frame

752. . . First transposition mechanism

7521. . . First motor

7522. . . First transmission group

7523. . . First transmission

7524A, 7524B. . . First belt drive

7525, 7525A. . . First set

7526A, 7526B. . . First slide

7527A, 7527B. . . First rail

7528. . . First brake

753. . . Second transposition mechanism

7531. . . Second motor

7532. . . Second transmission set

7533. . . Second transmission

7534A, 7534B. . . Second belt drive

7535, 7535A, 7535B. . . Second set

7536A, 7536B. . . Second slide

7537A, 7537B. . . Second slide

7538. . . Second brake

754. . . First moving module

7541. . . First board

7542. . . First drive motor

7543. . . First pulley set

7545. . . First feeder

75451. . . First pickup

75452. . . First link

75453. . . First ontology

75454. . . First chamber

75455. . . First suction line

75456. . . First spring

7546. . . First slide

7547. . . First rail

7548. . . First sliding sleeve

7549. . . First ground wire

755. . . Second moving module

7551. . . Second board

75511. . . First slip

75512. . . Second slip

7552. . . Second drive motor

7553. . . Second pulley set

7555. . . Second feeder

75551. . . Second pickup

75552. . . Second link

75553. . . Second ontology

75554. . . Second chamber

75555. . . Second suction line

75556. . . Second spring

7556. . . Second slide

7557. . . Second slide

7558. . . Second sliding sleeve

7559. . . Second ground wire

756. . . Carrier

7561. . . Carrier

7562. . . motor

7563. . . Third direction screw screw set

757. . . Third moving module

75711. . . First slip

75712. . . Second slip

758. . . Magnetic spacer

76. . . Second picking unit

764. . . First moving module

765. . . Second moving module

77. . . First press

78. . . Second press

80. . . Disk setting device

91, 92. . . Electronic component

101~118. . . step

Figure 1: Schematic diagram of the pick-up unit of the conventional handling device (1).

Figure 2: Schematic diagram of the pick-up unit of the conventional handling device (2).

Fig. 3 is a schematic view showing the configuration of each device of the classifying device of the present invention.

Figure 4: Appearance of the pickup unit of the present invention.

Figure 5: A bottom view of the pickup unit of the present invention.

Figure 6 is a partial schematic view of the pickup unit of the present invention.

Figure 7: Schematic diagram of the use of the grading device of the present invention (1).

Figure 8 is a schematic view showing the use of the first pick-up unit of the present invention (1).

Figure 9 is a schematic view showing the use of the first pick-up unit of the present invention (2).

Figure 10: Schematic diagram of the use of the first pick-up unit of the present invention (3).

Figure 11: Schematic diagram of the use of the first pick-up unit of the present invention (4).

Figure 12: Schematic diagram of the use of the first pick-up unit of the present invention (5).

Figure 13: Schematic diagram of the use of the grading device of the present invention (2).

Figure 14: Schematic diagram of the use of the grading device of the present invention (3).

Figure 15: Schematic diagram of the use of the grading device of the present invention (4).

Figure 16: Schematic diagram of the use of the grading device of the present invention (5).

Figure 17 is a view showing another embodiment of the first pickup unit of the present invention.

Figure 18 is a block diagram of the pickup method of the present invention.

75. . . First picking unit

751. . . frame

752. . . First transposition mechanism

7521. . . First motor

7522. . . First transmission group

7523. . . First transmission

7524A, 7524B. . . First belt drive

7525, 7525A. . . First set

7526A, 7526B. . . First slide

7527A, 7527B. . . First rail

7528. . . First brake

753. . . Second transposition mechanism

7531. . . Second motor

7532. . . Second transmission set

7533. . . Second transmission

7534A, 7534B. . . Second belt drive

7535. . . Second set

7536A, 7536B. . . Second slide

7537A, 7537B. . . Second slide

7538. . . Second brake

754. . . First moving module

7545. . . First feeder

755. . . Second moving module

75512. . . Second slip

7555. . . Second feeder

758. . . Magnetic spacer

Claims (12)

A picking unit comprises: a frame; a first transposition mechanism: the frame is disposed on the frame, and is provided with at least one first transmission member driven by the first power source, and at least one end of the first transmission member drives the first actuator Actuating, and assembling, in the first actuator, at least one first mounting member that is displaced in a first direction; and a second transposition mechanism: disposed in the frame and configured with at least one second transmission driven by the second power source At least one end of the second transmission member drives the second actuator to operate, and the second actuator is equipped with at least one second mounting member displaced in the second direction, and the second mounting member and the first mounting member Interlaced; multi-column moving module: which is provided with at least one dipper for transferring electronic components, and is mounted on the first mounting member of the first transposition mechanism, so that at least one moving module of each column The first direction spacing is adjusted by the first indexing mechanism, wherein at least one column of the moving module is coupled to the second mounting member, and the second indexing mechanism is driven to adjust the second direction spacing; the central control module is configured to be at least A resource for storing the required parameters for transferring electronic components a storage unit, and a recovery mechanism capable of correcting the actual movement position of each mechanism to be consistent with the position set by the program execution; the power source control interface: a processing unit having at least one line connecting the central control module and the power source for controlling Each attribute of each power source; a pick-up detection module: is provided with at least one detecter that can detect the state of the moving component to pick up the electronic component, and the detector transmits the detection signal to the central control module. According to the picking unit of claim 1, wherein the first power source of the first displacement mechanism is provided with a first motor having a first transmission group on the frame, and is driven by the first transmission group. a first transmission member disposed in a second direction, the two ends of the first transmission member are respectively coupled to drive a first belt driver disposed in a first direction, and at least between the two first belt drivers a first mounting member disposed in a second direction for assembling the moving module, and a second power source of the second displacement mechanism is disposed on the frame and having a second motor having a second transmission group, and The second transmission group drives a second transmission member disposed in a first direction, and the two ends of the second transmission member are respectively coupled to drive a second belt transmission disposed in a second direction, and the second belt transmission is respectively The intervening device is provided with a second mounting member disposed in a first direction, and the second mounting member is staggered with the first mounting member and has a height difference. According to the picking unit of claim 2, wherein the moving module is respectively provided with a bearing plate capable of receiving a driving source, and driving at least one transmission group with a driving source, and the transmission group drives at least one pickup. The workpiece of the piece and the connecting piece is displaced in the third direction for picking and placing electronic components, and at least one column of the moving module is provided with a first sliding member and a second sliding member, and the first sliding member Sliding on the first mounting member, the second sliding member sliding on the second mounting member, and the picking device is provided with at least one picking member for picking up electronic components, and is provided for picking up The device is a floating mechanism for buffering the floating displacement in the third direction, and the other moving module is provided with an auxiliary sliding structure between the connecting member and the carrier of the skimmer to prevent the connecting member from being yawed. The picking unit according to the first aspect of the patent application scope is further included in the first and second shifting mechanisms respectively configured with first and second brakes capable of assisting the accurate positioning of the moving module. The pick-up unit according to the first aspect of the patent application is further included in the pick-up unit and provided with at least one magnetic spacer capable of reducing the magnetic-affected electronic component test. The picking unit of claim 1, wherein the frame is mounted on at least one carrier mechanism, and the carrier mechanism drives the frame to perform at least one third direction displacement. A picking unit according to claim 6 of the patent application, wherein the picking method is: a. the picking device is located above the container for holding the electronic component; b. the central control module determines whether the picking device of the picking device corresponds to the electronic component to be picked up And analyzing the picking environment state around the picker, and sending out the picking action signal; c. the picking device and the carrying mechanism receiving the picking action signal; d. the carrying mechanism driving the picking device according to the picking actuating signal to perform at least one third direction large stroke displacement; e. The picking device controls at least one picker to pick up the electronic component according to the picking action signal. According to the picking method of claim 7, wherein the central control module determines that each of the pickers of the picking device corresponds to the electronic component to be picked up, and sends the picking action signal, and the picking device and the carrying mechanism receive the picking action signal. The carrier mechanism drives the pick-up device to perform a third-direction displacement of the large stroke, and each of the pick-up devices picks up the electronic components. The picking method according to Item 7 of the patent application scope further includes the following steps: when the central control module determines that some of the pickers of the picking device correspond to the electronic components to be picked up, and there is another part of the picker below The obstruction sends a pick-up action signal, and the pick-up device and the transport mechanism receive the pick-up action signal, and the carrier mechanism drives the pick-up device to perform at least one direction displacement to adjust the position of each pick-up device of the pick-up device. According to the picking method of claim 9, the method further comprises the following steps: if a part of the picking device cannot avoid the obstruction, the carrying mechanism drives the picking device to shift in the third direction of the large stroke and is located in the container. In the upper position, the pick-up device drives a portion of the picker to shift in a third direction of the small stroke to pick up the electronic components. A grading device for applying a pick-up unit, comprising: a machine; a first loading device: configured on the machine for accommodating at least one electronic component to be tested; and a second loading device: configured on the machine The device is configured to be mounted on the machine, and is provided with at least one test circuit board for testing the electronic component; and the carrying device is disposed on the machine. And at least one picking unit according to item 1 of the patent application scope is used for transferring the electronic components. The grading device for applying the pick-up unit according to claim 11 of the patent application scope, further comprising a carrying device disposed on at least one side of the testing device for carrying the electronic component to be tested, and having a detectable loading platform a detecting mechanism for the state of the electronic component, the detecting mechanism includes a detecting interface and a sensor, and the detecting interface is configured to receive the sensing signal of the sensor, and determine the sensing signal, and sense The measurement results are transmitted to the central control module.