CN110733688A - device packaging equipment - Google Patents

Abstract

The invention relates TO device packaging equipment, which comprises a transmission mechanism, a second transmission mechanism, a third transmission mechanism, a three-dimensional grabbing mechanism and a controller, wherein a transmission mechanism and the third transmission mechanism are respectively arranged on two sides of the second transmission mechanism, an image acquisition part electrically connected with the controller is arranged at the starting point of an transmission mechanism, a transmission mechanism is used for conveying a test carrier provided with a plurality of TO devices, a second transmission mechanism is used for conveying a packaging carrier, a third transmission mechanism is used for conveying a supplementary material carrier, the three-dimensional grabbing mechanism is electrically connected with the controller, the three-dimensional grabbing mechanism can transfer the TO devices on the test carrier into a package loading body and transfer the TO devices on the supplementary material carrier into the package loading body, sorting, stirring and packaging procedures are automatically completed, the accuracy and the efficiency of sorting and stirring are very high, manual operation is isolated by all the procedures, damage or potential damage TO the TO devices is avoided, and the consistency of packaging is high.

Description

device packaging equipment

Technical Field

The invention relates to the technical field of semiconductor device production equipment, in particular to device packaging equipment.

Background

A TO packaging system is used as devices which are common in the field of semiconductors and are applied TO , after the TO devices are manufactured, the TO devices need TO be arranged on a test board for quality test, qualified products and unqualified products need TO be sorted and shifted after the test is finished, when shifting errors occur, the unqualified TO devices enter the qualified products, series functions of the follow-up TO devices can be affected, and therefore sorting and shifting work is very important.

Therefore, it is desirable to provide device packaging apparatuses to solve the deficiencies of the prior art.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides device packaging equipment.

a device packaging apparatus, comprising a th transport mechanism, a second transport mechanism, a third transport mechanism, a three-dimensional grasping mechanism, and a controller;

the th transmission mechanism and the third transmission mechanism are respectively arranged at two sides of the second transmission mechanism, an image acquisition piece electrically connected with the controller is arranged at the starting point of the th transmission mechanism, the th transmission mechanism is used for conveying a test carrier provided with a plurality of TO devices, the second transmission mechanism is used for conveying a packaging carrier, and the third transmission mechanism is used for conveying a supplementary material carrier;

the three-dimensional grabbing mechanism is electrically connected with the controller, and can transfer the TO devices on the test carriers into the package loading bodies and transfer the TO devices on the supplementary carriers into the package loading bodies.

, the transmission mechanism comprises two parallel conveyor belts with equal height, and the transmission mechanism is sequentially provided with a scanning area, a transfer area and a blanking area along the transmission direction;

the image acquisition part is arranged below the scanning area;

a positioning component is arranged below the transfer area, and can enable the test carrier to be separated from the th conveying mechanism and positioned above the transfer area;

an th pushing assembly is arranged below the blanking area, and the th pushing assembly can push the test carrier away from the th conveying mechanism.

, the positioning assembly comprises a jacking piece, a second jacking piece, a third jacking piece, a fourth jacking piece, a fifth jacking piece, a limiting plate arranged above the jacking piece, a second limiting plate arranged above the second jacking piece, a limiting cylinder arranged above the third jacking piece, a second limiting cylinder arranged above the fourth jacking piece and a positioning plate arranged on the fifth jacking piece, wherein the fifth jacking piece is arranged under the transfer area, the jacking piece and the third jacking piece are respectively arranged at the upstream and the downstream of the transfer area, and the second jacking piece and the fourth jacking piece are respectively arranged at two sides of the transfer area.

, the pushing assembly comprises a sixth jacking piece, a pushing plate arranged above the sixth jacking piece and a pushing piece arranged above the pushing plate;

the lifting direction of the sixth lifting piece is vertical to the conveying plane of the th conveying mechanism;

the pushing plate is parallel to the conveying plane of the th conveying mechanism;

the pushing direction of the pushing piece is parallel to the conveying direction of the th conveying mechanism.

, the second transmission mechanism includes a driving element, a transmission component, a storage component and a collection component;

the th driving element, the storage component and the collection component are arranged in sequence, and the th driving element is in driving connection with the conveying component and can drive the conveying component to pass through the storage component and the collection component;

the conveying assembly comprises a seventh jacking piece and a packaging carrier arranged above the seventh jacking piece, the seventh jacking piece can jack the packaging carrier from the storage assembly when being arranged in the storage assembly, and the seventh jacking piece can jack the packaging carrier into the collection assembly.

, the collecting component comprises a panel and a supporting leg arranged below the panel, wherein a plurality of limiting columns are arranged above the panel, each limiting column is provided with a sunken angle matched with the packaging carrier, and a collecting area for placing the packaging carrier is formed by the plurality of limiting columns in a surrounding mode;

the th panel is provided with a th through hole matched with the storage area, elastic buckles are arranged in the th recessed angle, the th recessed angle is also provided with a th groove used for accommodating the elastic buckles, the elastic buckles naturally extend out of the th groove, and the elastic buckles can be pushed into the th groove in the lifting process of the carrier;

the storage assembly comprises a second panel and a second supporting leg arranged below the second panel; a plurality of second limiting columns are arranged above the second panel, each second limiting column is provided with a second concave angle matched with the packaging carrier, and a storage area for placing the packaging carrier is formed by the second limiting columns in a surrounding mode;

the second panel is provided with a second through hole matched with the storage area, electric buckles are arranged in the second recessed corners, second grooves used for containing the electric buckles are further arranged in the second recessed corners, the controller is electrically connected with the electric buckles, and the controller can control the electric buckles to extend out of the second grooves or retract into the second grooves;

the bottom of the packaging carrier is provided with an edge surrounding the circumference of the packaging carrier.

And , arranging multiple vacuum suction cups at the upper end of the carrier.

, the third transporting mechanism includes a second driving member and a supplement body connected to the second driving member, the supplement body is used for placing and positioning the supplement carrier.

, further comprising a defective area, the defective area being disposed between the th transport mechanism and the second transport mechanism;

the three-dimensional grabbing mechanism can transfer the TO devices on the test carrier into the bad area.

, further comprising a packaging area, wherein the packaging area is arranged between the second transmission mechanism and the third transmission mechanism;

the three-dimensional grabbing mechanism can transfer the packaging cover body in the packaging area to the packaging carrier.

Compared with the closest prior art, the technical scheme of the invention has the following advantages:

according TO the device packaging equipment provided by the technical scheme, the th transmission mechanism, the second transmission mechanism and the third transmission mechanism are used for continuously transmitting the test carrier, the packaging carrier and the material supplementing carrier respectively, the th image acquisition part at the starting point of the transmission mechanism can send various information of the TO devices on the test carrier TO the controller, the controller can control the three-dimensional grabbing mechanism TO transfer the qualified TO devices on the test carrier TO the packaging carrier, and the controller can control the three-dimensional grabbing mechanism TO take the qualified TO devices from the material supplementing carrier and supplement the qualified TO devices TO the vacant positions due TO the existence of the unqualified TO devices, so that sorting, shifting and packaging procedures are automatically completed, the accuracy and the efficiency of sorting and shifting are very high, the procedures are isolated from manual operation, damage or potential damage TO the TO devices is avoided, and the causing of packaging is high.

Drawings

FIG. 1 is a schematic view of the structure inside the dial cavity of the device packaging apparatus provided by the present invention;

FIG. 2 is a front view of the collection assembly provided by the present invention;

FIG. 3 is a top view of a collection assembly provided by the present invention;

FIG. 4 is a schematic structural diagram of a three-dimensional gripping mechanism provided by the present invention;

FIG. 5 is a front view of the TO device multi-jaw clamping mechanism provided by the present invention (fixed plate not shown);

FIG. 6 is a side view of the TO device multi-jaw clamping mechanism provided by the present invention (fixed plate not shown);

FIG. 7 is a schematic structural view of a TO device single jaw clamping mechanism provided by the present invention;

fig. 8 is a partially enlarged view of a portion a in fig. 7;

fig. 9 is a side view of a TO device single jaw clamping mechanism provided by the present invention.

The device comprises a main arm 1, an L arm 2, a monitoring plate 3, a distance sensor 4, a finger cylinder 5, a fixed block 6, a -th sliding block 7, a second sliding block 8, a limiting cavity 9, an opening 10, a supporting foot hole 11, a supporting foot 12, an inclined chamfer 13, a device 14, a -th guide rail 15, a second guide rail 16, a third guide rail 17, a fourth guide rail 18, a -th transmission mechanism 19, a second transmission mechanism 20, a test carrier 21, a package carrier 22, a multi-jaw clamp mechanism 23-TO device 24, a support column 25, a sixth guide rail 26, a seventh guide rail 26, a suction nozzle 27, a material supplementing carrier 28, a lifting piece 29, a distance adjusting pusher 30, a distance adjusting pusher plate 31-a second guide rail 31, a slide rail 32-a -third transmission mechanism 34-a fifth guide rail 34, a single-jaw clamp mechanism 35-TO device, a conveyor belt 36-37-38-a transfer area 38-a conveying plate 31, a second sliding rail 32-a third conveying mechanism 31, a third conveying mechanism 33-35-a third conveying mechanism 34-a fifth conveying mechanism 34, a third conveying mechanism 34, a fifth conveying mechanism 35-35, a second conveying mechanism, a third conveying mechanism, a second conveying mechanism 35-52, a third conveying mechanism, a fourth conveying mechanism.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention.

As shown in fig. 1 TO 9, the present invention provides kinds of device packaging apparatuses, specifically kinds of TO device packaging apparatuses, which include a dial shell 60, a th transport mechanism 19, a second transport mechanism 20, a third transport mechanism 33, a three-dimensional grasping mechanism and a controller, wherein a dial cavity is arranged in the dial shell 60, the th transport mechanism 19, the second transport mechanism 20, the third transport mechanism 33 and the three-dimensional grasping mechanism are arranged in the dial cavity, the th transport mechanism 19 and the third transport mechanism 33 are respectively arranged on both sides of the second transport mechanism 20, an image acquisition part 40 electrically connected with the controller is arranged at the starting point of the th transport mechanism 19, the th transport mechanism 19 is used for transporting a test carrier 21 containing a plurality of TO devices 14, the second transport mechanism 20 is used for transporting the package carrier 22, the third transport mechanism 33 is used for transporting a supplementary material carrier 28, the three-dimensional grasping mechanism is electrically connected with the controller, and the three-dimensional grasping mechanism can transfer the TO devices 14 on the test carrier 21 into the package carrier 22 and can transfer the supplementary material carrier 28 into the package carrier 22.

The test carrier 21, the packaging carrier 22 and the supplementary carrier 28 are respectively and continuously conveyed through the th conveying mechanism 19, the second conveying mechanism 20 and the third conveying mechanism 33, the image acquisition part 40 at the starting point of the th conveying mechanism 19 can send various information of the TO devices 14 on the test carrier 21 TO the controller, the controller can control the three-dimensional grabbing mechanism TO transfer the qualified TO devices 14 on the test carrier 21 TO the packaging carrier 22, due TO the vacant positions on the packaging carrier 22 caused by the existence of the unqualified TO devices 14, the controller can control the three-dimensional grabbing mechanism TO take the qualified TO devices 14 from the supplementary carrier 28 and then supplement the vacant positions, so that sorting, shifting and packaging procedures are automatically completed, the accuracy and efficiency of sorting and shifting are very high, all the procedures are isolated from manual operation, damage or potential damage TO the TO devices 14 is avoided, and the packaged consistency is high.

In embodiments of the present invention, the transport mechanism 19 includes two parallel and equal-height transport belts 36, the 0 transport mechanism 19 is sequentially provided with a scanning area 37, a transfer area 38 and a blanking area 39 along its transport direction, the image capturing device 40 is disposed below the scanning area 37, a positioning component is disposed below the transfer area 38, the positioning component can separate the test carrier 21 from the st transport mechanism 19 and position the test carrier above the transfer area 38, a th pushing component is disposed below the blanking area 39, the th pushing component can push the test carrier 21 away from the st transport mechanism 19, after the test is completed, the surface of the test carrier 21 is printed with a two-dimensional code storing the test result, the test result mainly includes a work order number, a product model number, a test carrier 21 number and information of the qualified or not of the TO-device 14 at each position on the test carrier 21, when the test carrier 21 is transported on the 19 of the th transport mechanism 19, the test carrier 21 is lapped on the two transport belts 36, sequentially passes through the scanning area 37, the transfer area 38 and the transfer area 39, when the test carrier 21 passes through the scanning area 37, the scan area, the test carrier 21 is transported TO the testing carrier 21, the testing carrier 21 is captured by the three-dimensional code capturing and the three-dimensional sorting carrier 14, the test carrier 14 is captured and then transported TO the test carrier 14 after the test carrier 21 is taken and the test carrier 21 is transported TO the test carrier 14, and the test carrier 14 after the test carrier 21 is transported by the test carrier 21, the test carrier 21 is transported by the three-dimensional sorting mechanism 387 transport mechanism.

In some embodiments of of the invention, the positioning assembly includes a third lifting element, a second lifting element, a third lifting element, a fourth lifting element and a fifth lifting element, a limiting plate 41 disposed above the th lifting element, a second limiting plate 42 disposed above the second lifting element, a 2 limiting cylinder 43 disposed above the third lifting element, a second limiting cylinder 44 disposed above the fourth lifting element and a positioning plate disposed on the fifth lifting element, the fifth lifting element is disposed under the transfer area 38, the lifting element and the third lifting element are respectively disposed upstream and downstream of the transfer area 38, the second lifting element and the fourth lifting element are respectively disposed at two sides of the transfer area 38, during lifting of the fifth lifting element, the positioning plate connected with the fifth lifting element lifts the test carrier 21 to separate the test carrier from the two conveyor belts 36, then the lifting element and the third lifting element, while the th limiting cylinder 43 extends to enable the test carrier 6343 to be in the second spacing cylinder 43 and the second spacing cylinder 43 to be connected with the second spacing cylinder to enable the second lifting element to be lifted in a balanced manner, thereby enabling the test carrier to be conveniently and stably transferred to the second spacing cylinder 43, and the second lifting element to be transferred to a stable spacing cylinder 19.

In embodiments of the present invention, the pushing assembly includes a sixth jacking member, a pushing plate 46 disposed above the sixth jacking member, and a pushing member 47 disposed above the pushing plate 46, the jacking direction of the sixth jacking member is perpendicular to the conveying plane of the -th transport mechanism 19, the pushing plate 46 is parallel to the conveying plane of the -th transport mechanism 19, the pushing direction of the pushing member 47 is parallel to the conveying direction of the -th transport mechanism 19, the sixth jacking member drives the pushing plate 46 to jack up the test carrier 21 to separate from the two conveyor belts 36, the pushing member 47 is upstream of the test carrier 21, the pushing member 47 can selectively push an air cylinder, and then the air cylinder pushes the test carrier 21 to gradually load and unload the test carrier from the pushing plate 46, and after completion, the sixth jacking member drives the pushing plate 46 to descend below the conveyor belts 36.

In embodiments of the present invention, the second transporting mechanism 20 includes a driving element 49, a transporting element 50, a storing element 51 and a collecting element 52, the driving element 49, the storing element 51 and the collecting element 52 are sequentially disposed, the driving element 49 is drivingly connected to the transporting element 50 and drives the transporting element 50 to pass through the storing element 51 and the collecting element 52, the transporting element 50 includes a seventh lifting element and a picking element disposed above the seventh lifting element, the seventh lifting element can lift the picking element to pick the packaging carrier 22 from the storing element 51 when being disposed in the storing element 51, and the seventh lifting element can lift the picking element to place the packaging carrier 22 into the collecting element 52 when being disposed in the collecting element 52.

The th driving component 49 can be a motor, etc. which can be drivingly connected with the conveying component 50 through a lead screw, and can drive the seventh lifting component of the conveying component 50 TO advance or retreat along a direction parallel TO the conveying direction of the th conveying mechanism 19, when the carrier passes through the storage component 51, the carrier is taken out of the storage component, and then stops at a position which is in line with the of the transfer area 38 of the th conveying mechanism 19, the TO device 14 is transferred, after the transfer is completed, if the feeding is needed, the carrier continues TO advance forward TO a position which is in line with the of the feeding carrier 28 of the third conveying mechanism 33, the feeding of the TO device 14 is performed, after the filling of the TO device 14 is completed, the conveying component 50 advances into the collecting component 52, the packaging carrier 22 full of the TO device 14 is placed into the collecting component 52, so that times of the conveying process of the packaging carrier 22 is completed, and then the conveying component 50 retreats into the storage component 51 TO take the packaging carrier 22 again.

In embodiments of the present invention, the collecting assembly 52 includes a panel 56 and a 1 supporting leg 55 disposed under the 0 panel 56, wherein a plurality of 3 position-limiting posts 57 are disposed over the 2 panel 56, each 4 position-limiting post 57 is provided with a recessed corner 58 matched with the packaging carrier 22, the plurality of position-limiting posts 57 surround a collecting area for placing the packaging carrier 22, the panel 56 is provided with a through hole matched with the storage area, the recessed corner 58 is provided with a resilient catch 59, the recessed corner is further provided with a groove for accommodating the resilient catch 59, the resilient catch 59 naturally extends out of the groove, the resilient catch 59 can be pushed into the groove during the lifting process of the carrier, and the bottom of the packaging carrier 22 is provided with a rim surrounding the circumference thereof.

, the area surrounded by the concave corner 58 is the collecting area, and there is a th through hole under the collecting area for the package carrier 22 to pass through, during the process that the seventh lifting member of the conveying assembly 50 takes the package carrier to lift up the package carrier 22, the edge of the package carrier 22 can push the elastic buckle 59 to the th groove when passing through the area surrounded by the elastic buckle 59, then the elastic buckle 59 loses the pushing force and pops up the th groove after the whole package carrier 22 passes through the elastic buckle 59, and the package carrier 22 cannot push the elastic buckle 59 to the th groove from the top, so the package carrier 22 is limited above the elastic buckle 59, so that package carriers 22 are transferred to this point again and lifted up to pass through the elastic buckle 59, and then the originally collected package carrier 22 is lifted up, and the newly transferred package carrier 22 is placed at the lowest layer of the package carrier 22, and the cycle is repeated until the collecting assembly 52 is fully collected.

In embodiments of the present invention, the storage module 51 includes a second panel and a second support leg disposed below the second panel, a plurality of second position-limiting pillars are disposed above the second panel, each of the second position-limiting pillars has a second recessed corner matching with the package carrier 22, the plurality of second position-limiting pillars surround a storage area for placing the package carrier 22, the second panel has a second through hole matching with the storage area, the second recessed corner has an electric buckle therein, the second recessed corner has a second groove for accommodating the electric buckle, the controller is electrically connected to the electric buckle, the controller can control the electric buckle to extend out of the second groove or retract into the second groove, and the bottom of the package carrier 22 has a rim surrounding the circumference thereof.

The area surrounded by the second recessed corner is a storage area, and a second through hole is formed below the storage area for the packaging carrier 22 to pass through, the electric buckle extends out of the second groove, the electric buckle supports the edge of the bottom of the packaging carrier 22, so that a plurality of empty standby packaging carriers 22 are stored above the electric buckle, a seventh jacking piece of the conveying assembly 50 firstly drives the picking carrier to support the packaging carrier 22, then the electric buckle is contracted into the second groove, at the moment, the seventh jacking piece drives the picking carrier and the plurality of layers of packaging carriers 22 thereon to descend, and finally after the edge of the bottom of the layers of packaging carriers 22 passes through the height of the electric buckle, the electric buckle is controlled to extend out of the second groove, so that in the process that the seventh jacking piece continues to descend, the bottommost packaging carrier 22 is picked along with the picking carrier, and the packaging carrier 22 on the second layer from the last is limited by the electric buckle, so that the conveying assembly 50 can pick up the packaging carriers 22 by .

In the embodiments of the present invention, the upper end of the carrier is provided with a plurality of vacuum suction cups, which are connected TO a vacuum pump through vacuum tubes, so that the vacuum suction cups can firmly suck the packaging carrier 22 by vacuuming when the package carrier 22 is taken out, thereby ensuring the accurate position of the packaging carrier 22 during the processes of removing, transferring, placing into the TO device 14, collecting, etc., and completing all procedures related TO the package carrier by matching with other components.

In embodiments of the present invention, the third transmission mechanism 33 includes a second driving member 53 and a feeding body 54 connected TO the second driving member 53, the feeding body 54 is used for placing and positioning the feeding carrier 28, the feeding carrier 28 is used for temporarily storing qualified TO devices 14 for feeding vacant positions in the packaging carrier 22, the feeding body 54 can be the same as the carrier-taking structure, a vacuum chuck can be arranged above the feeding body 54, so that the feeding body 54 can be firmly fixed, and can be stably positioned and reliably functions in all national layers for transferring and taking the TO devices 14, the second driving member 53 can also select a motor or a motor, and then is in driving connection with the feeding body 54 through a screw rod, and a concave position can be arranged on the feeding body 54 on the basis of the arrangement of the chuck, so that the concave position of the chuck is lower than other positions, not only fixing can be completed, but also positioning can be completed, and of course, other forms of positioning or fixing can also be adopted.

In some embodiments of the present invention, the defective area 48 is further included, the defective area 48 is located between the transport mechanism 19 and the second transport mechanism 20, and the three-dimensional grasping mechanism can transfer TO devices 14 on the test carrier 21 into the defective area 48, where both qualified and unqualified TO devices 14 are present on the test carrier 21, the qualified TO devices 14 are of course used for transferring into the packaging carrier 22 and then performing the subsequent packaging process, but the unqualified TO devices 14 also need TO be pulled out of the test carrier 21 TO complete the unloading of the test carrier 21, while the three-dimensional grasping mechanism is in a mode of grasping TO devices 14 each time, when unqualified TO devices 14 are grasped, the unqualified TO devices 14 are transferred TO the defective area 48, and the three-dimensional grasping mechanism is in a mode of grasping multiple TO devices 14 each time, when unqualified TO devices 14 are grasped, the unqualified TO devices 14 need TO be transferred TO the defective area 48 before transferring the qualified TO devices 14 TO the packaging carrier 22 of the second transport mechanism 20, and the second transport mechanism is arranged between the defective area 48 and the second transport mechanism 20, the second transport mechanism .

In the embodiments of the present invention, the package storage assembly further comprises a packaging region 61, the packaging region 61 is disposed between the second transport mechanism 20 and the third transport mechanism 33, the three-dimensional grasping mechanism can transfer the packaging cover in the packaging region 61 TO the packaging carrier 22, the packaging carrier 22 is a packaging box or the like, the box cover needs TO be opened during the process of placing the TO device 14, but when the TO device 14 is filled, the packaging box needs TO be covered, the box cover is a packaging cover, and the packaging cover is stored in the packaging region 61 and can be manually stored and replenished, therefore, the packaging carrier 22 stored in the storage assembly 51 is the packaging carrier 22 without the box cover, and the packaging carrier 22 stored in the collection assembly 52 is the packaging carrier 22 comprising the box cover.

In embodiments of the present invention, the three-position grasping mechanism comprises a three-dimensional moving support, a TO device single-claw holding mechanism 35, a TO device multi-claw holding mechanism 23 and a suction nozzle 27 respectively connected TO the three-dimensional moving support, the three-dimensional moving support can control the TO device single-claw holding mechanism 35 TO move in the X direction, the Y direction and the Z direction respectively, the three-dimensional moving support can control the TO device multi-claw holding mechanism 23 TO move in at least directions, the TO device multi-claw holding mechanism 23 TO move in at least directions and the suction nozzle 27 TO move in at least directions respectively.

The TO device single-claw clamping mechanism 35, the TO device multi-claw clamping mechanism 23 and the suction nozzle 27 can be controlled TO move in at least directions respectively through the three-dimensional moving support, namely the two clamping mechanisms and the suction nozzle 27 can move TO positions in a three-dimensional space, and the two clamping mechanisms and the suction nozzle 27 have the functions of clamping and grabbing the TO device 14 at the same time, so that the TO device 14 can be automatically transferred under the continuous operation of clamping, transferring and placing, the direct contact of workers on the TO device 14 is replaced, and the damage or potential damage TO the TO device 14 is avoided.

In embodiments of the present invention, the three-dimensional moving frame comprises a X-direction guide rail 15, a second X-direction guide rail 16, a Y-direction third guide rail 17 slidably connected TO the Y-direction guide rail 15 and the 16Y-direction guide rail 18 slidably connected TO the Y-direction guide rail 15 and the 16Y-direction guide rail 16, a Z-direction fifth guide rail 34 slidably connected TO the third guide rail 17, a Z-direction sixth guide rail 25 slidably connected TO the third guide rail 17, and a Z-direction seventh guide rail 26 slidably connected TO the fourth guide rail 18, a TO device single-claw clamp mechanism 35 slidably connected TO the fifth guide rail 34, a TO device multi-claw clamp mechanism 23 slidably connected TO the sixth guide rail 25, and a suction nozzle 27 slidably connected TO the seventh guide rail 26, a transport mechanism 19, a second transport mechanism 20, and a third transport mechanism 33 all disposed between the Y-direction guide rail 15 and the second guide rail 16, and a transport mechanism 19, a second transport mechanism 20, and a third transport mechanism 33 all in X-direction, Y direction, and Y direction are perpendicular TO each other.

The X-direction of the three-dimensional moving rack can be horizontal and transverse, the Y-direction can be horizontal and longitudinal, the Z-direction can be vertical, the guide 15 and the second guide 16 are both horizontal and transverse guides, both ends of which are supported by the supporting columns 24 TO a height of , the third guide 17 and the fourth guide 18 are both horizontal and longitudinal guides, and both are lapped on the two horizontal and transverse guides, and both can slide on the guide 15 and the second guide 16 along the horizontal and transverse directions, the fifth guide 34 is a vertical guide, and is itself arranged on the third guide 17 and can slide along the horizontal and longitudinal directions, then the TO device single-claw clamping mechanism 35 is arranged on the fifth guide 34 and can slide along the vertical direction, the sixth guide 25 is a vertical guide, and is itself arranged on the third guide 17 and can slide along the horizontal and longitudinal directions, then the TO device multi-claw clamping mechanism 23 is arranged on the sixth guide 25 and can slide along the vertical direction, the seventh guide 26 is a vertical guide and is arranged on the third guide 17 and can slide along the horizontal and longitudinal directions, and then the TO device multi-claw clamping mechanism 23 is arranged on the sixth guide 25 and can slide along the vertical guide, and can slide TO device clamping mechanism 14 and can be used for sorting of the three-dimensional devices, thus the sorting process, the three-dimensional sorting of the devices 14, the devices can be used for sorting, the devices, and the sorting process, and the sorting process can be more efficiently.

In the embodiments of the invention, the TO device single-claw clamping mechanism 35 comprises a fixed arm, a finger cylinder 5 and two fixed blocks 6, the finger cylinder 5 comprises a cylinder body and two clamping jaws, the cylinder body is connected with the end of the fixed arm, the two clamping jaws are correspondingly connected with the two fixed blocks 6 , a limiting cavity 9 matched with the TO device 14 and capable of being opened and closed is formed between the two fixed blocks 6, the two fixed blocks 6 connected with the finger cylinder 5 can be driven TO relatively approach or separate from each other through relative movement between the two clamping jaws of the finger cylinder 5, the limiting cavity 9 formed between the two fixed blocks 6 is gradually closed in the approaching process, the limiting cavity 9 formed between the two fixed blocks 6 is gradually opened in the separating process, the limiting cavity 9 is matched with the TO device 14, the TO device 14 can enter the limiting cavity 9 through opening and closing of the limiting cavity 9, the clamping operation of the finger device 14 is completed, the fixed arm connected with the cylinder body of the finger cylinder 5 can drive the position of the whole clamping mechanism TO move, after the clamping operation and the position movement are successively completed, the TO device is placed at a new position of the TO device 14, and the TO device 14 can be directly damaged, and the TO device 14, thus the potential device 14 can be directly avoided, and the damage TO be directly avoided.

In examples of the invention, the fixed arm comprises a main arm 1 and an L arm 2, the L arm 2 comprises a th plate and a second plate which are perpendicular to each other and connected, the th plate is perpendicular to the end of the main arm 1, the length of the second plate is smaller than that of the main arm 1, the second plate is on the same side of the th plate with the main arm 1, the finger cylinder 5 is connected with the side of the second plate far away from the main arm 1, the clamping jaw of the finger cylinder 5 can move in a direction close to or far away from the second plate in a translation mode, the L arm 2 and the main arm 1 form a U-shaped fixed arm, but due to the different effects of different positions of the fixed arm, the length difference of two vertical edges of the U-shaped fixed arm is large, the length of the main arm 1 is large, the length of the second plate is small, the outer side of the main arm 1 is connected with a parent device, the outer side of the second plate is connected with the finger cylinder 5, and the clamping jaw of the finger cylinder 5 is parallel.

In the embodiments of the invention, the TO device multi-jaw clamping mechanism 23 comprises a fixing plate, a plurality of fixing arms, a plurality of finger cylinders 5 and a plurality of fixing blocks 6, the plurality of fixing arms are respectively connected with the fixing plate in parallel, the plurality of finger cylinders 5 are correspondingly connected with the plurality of fixing arms, each finger cylinder 5 comprises a cylinder body and two clamping jaws, the cylinder body is connected with the fixing arms, the two clamping jaws are respectively connected with fixing blocks 6, a limiting cavity 9 matched with the TO device 14 and capable of being opened and closed is formed between the two fixing blocks 6 connected with finger cylinders 5, the two fixing blocks 6 connected with the finger cylinders 5 can be driven TO relatively close TO or far away by relative movement between the two clamping jaws of the finger cylinders 5, the limiting cavity 9 formed between the two fixing blocks 6 is gradually closed in the closing process, the limiting cavity 9 formed between the two fixing blocks 6 is gradually opened in the far process, the limiting cavity 9 is matched with the TO device 14, the TO device 14 can enter the TO cavity 9 through opening and closing of the limiting cavity 9, the TO device 14, the clamping operation is completed, the TO devices 14 can be moved TO replace the TO devices 14, the whole clamping mechanism 14, the TO devices 14 can be moved, the fixing plates and the fixing plates 14 can be moved, the fixing arms and the clamping mechanism can be moved, the fixing plates 14 can be replaced by manual devices 14, the fixing arms, the fixing mechanisms, the fixing arms and the fixing plates 14, the fixing arms, the fixing devices 14 can be moved, the fixing arms and the fixing arms can be moved, the fixing devices 14 can be moved, the fixing plates 14 can be moved, and the.

In examples of the invention, the fixed arm comprises a main arm 1 and an L arm 2, the L arm 2 comprises a th plate and a second plate which are perpendicular to each other and connected, the th plate is perpendicular to the end of the main arm 1, the length of the second plate is smaller than that of the main arm 1, the second plate is on the same side of the th plate with the main arm 1, the finger cylinder 5 is connected with the side of the second plate far away from the main arm 1, the clamping jaw of the finger cylinder 5 can move in a direction close to or far away from the second plate in a translation mode, the L arm 2 and the main arm 1 form a U-shaped fixed arm, but due to the different effects of different positions of the fixed arm, the length difference of two vertical edges of the U-shaped fixed arm is large, the length of the main arm 1 is large, the length of the second plate is small, the outer side of the main arm 1 is connected with a parent device, the outer side of the second plate is connected with the finger cylinder 5, and the clamping jaw of the finger cylinder 5 is parallel.

In embodiments of the present invention, the side of the main arm 1 away from the L-arm 2 is provided with a th sliding block 7, the fixing plate is provided with a th sliding rail 32 perpendicular TO the main arm 1, a plurality of fixing arms are slidably connected with the th sliding block 7 and the th sliding rail 32 respectively, the plurality of fixing arms are connected with the th sliding rail 32 on the fixing plate respectively, so that the position of each fixing arm can be adjusted by sliding in the th sliding rail 32, the th sliding rail 32 is selectively arranged in the horizontal direction, the main arm 1 of the fixing arm is in the vertical state, the th plate is in the horizontal direction, the second plate is in the vertical state, the clamping jaws of the finger cylinder 5 are in the vertical state and under the cylinder body, the position of the corresponding limiting cavity 9 of each main arm 1 is adjusted by sliding, the positions of the pairs of fixing blocks 6 are adjusted, when the pairs of fixing blocks 6 are used simultaneously and the plurality of TO devices 14 are clamped simultaneously, the pair of the fixing blocks 6 (i.e.e. the main arm 1, , the main arm and the two TO devices are aligned TO clamp the two TO devices 14 simultaneously, and the two TO clamp the fixing blocks are aligned TO clamp the devices 14 simultaneously.

In some embodiments of the present invention , the distance adjusting device further comprises a distance adjusting plate 30 and a lifting member 29, a fixed end of the lifting member 29 is connected TO the fixed plate, a lifting end of the lifting member 29 is connected TO the distance adjusting plate 30, the distance adjusting plate 30 is parallel TO the fixed plate, the distance adjusting plate 30 is provided with a plurality of second slide rails 31, a distance between the plurality of second slide rails 31 gradually increases or decreases along an extending direction of the main arm 1, the main arm 1 is provided with a second slider 8 on a side away from the fixed plate, the plurality of main arms 1 are respectively connected with the plurality of second slide rails 31 in a sliding manner through the second slider 8, the distance adjusting plate 30 can be lifted and lowered along with the lifting member 29, the distance adjusting plate 30 is lifted and lowered because the main arm 1 is fixed in a vertical direction, the distance adjusting plate can only slide in a horizontal direction, and positions at equal heights of the second slide rails 31 and the second slider 8 are also changed along with the lifting and lowering of the distance adjusting plate 30, or distances between the plurality of main arms 1 are increased, and the distance adjusting plate 30 can be controlled by a plurality of the sliding cylinders 54, thereby the main arm 14 and the main arm 14 can be controlled by the lifting device.

In embodiments of the present invention, the L-arm 2 is connected to a monitor board 3, a distance sensor 4 is disposed on the monitor board 3, and the distance sensor 4 is used to detect the distance between the monitor board 3 and a fixed block 6. the monitor board 3 can be disposed under the th board and opposite to the second board, and the distance sensor 4 is disposed on the monitor board 3, and the detection direction thereof faces the fixed block 6, which can determine the distance between the two fixed blocks 6 by detecting the distance between the fixed block 6 and the distance sensor 4, that is, can determine the opening and closing condition of the spacing cavity 9.

In embodiments of the invention, an opening 10 for allowing the support leg 12 of the TO device 14 TO pass through is arranged at the end of the limiting cavity 9 far away from the finger cylinder 5. the TO device 14 generally comprises a main body and the support legs 12 arranged below the main body and in a radial shape, when the TO device 14 is intensively placed on the test board, the support legs 12 are inserted into a specific containing hole TO be positioned and limited, the limiting cavity 9 is mainly used for limiting and containing the TO device 14, and the support legs 12 of the TO device 14 can penetrate through the preset opening 10 and extend out of the limiting cavity 9, so that the volume of the limiting cavity 9 is greatly reduced, the position of the TO device 14 in the limiting cavity 9 is more stable, the TO device is not easy TO move, and the clamping effect is enhanced.

In the embodiments of the invention, the end of the opening 10 near the limiting cavity 9 extends TO the periphery TO form an annular clamping groove, the size and shape of the clamping groove are matched with those of the TO device 14, the opening 10 is used for allowing the support leg 12 of the TO device 14 TO extend out and simultaneously limiting the main body of the TO device 14 in the limiting cavity 9, the TO device 14 is in a suspension state, namely the position of the TO device 14 in the vertical direction is limited by gravity, the position in the horizontal direction is not limited accurately, even in the vertical direction, when the whole clamping mechanism shakes or overturns and other violent actions occur, the position in the vertical direction still cannot ensure stability, the clamping groove is used for forming steps at the upper end of the opening 10, the peripheral edge of the clamping groove is matched with the shape and size of the main body of the TO device 14, the main body of the TO device 14 can be just embedded in the clamping groove, the operation of the TO device 14 needs two fixing blocks 6 TO be far from the near TO the limiting cavity, the main body of the TO device 14 is gradually closed, the TO device 14 falls into the limiting cavity 14 in the horizontal direction, and then the whole clamping mechanism is controlled TO be in the horizontal direction, and then the TO device 14 is quickly suspended in the horizontal direction, and the TO device 14, and the whole clamping mechanism is controlled TO be in the horizontal direction, and then the TO device 14, and the clamping mechanism is moved TO be clamped by the clamping mechanism, and then the clamping mechanism, and the device 14, and then the device 14, and the device 14 is controlled.

In the embodiments of the invention, the rim of the opening 10 is provided with a plurality of leg holes 11, the plurality of leg holes 11 matching with the plurality of legs 12 of the TO device 14. it has been described above that the legs 12 of the TO device 14 are gradually spaced apart from each other in a direction away from the main body thereof TO form radial legs 12, the snap fit arrangement can facilitate passage of the legs 12, and the leg holes 11 are more closely matched TO the position and shape of the legs 12 corresponding TO the position of the legs 12 , so that during the process of closing the spacing cavities 9 by the mounting blocks 6, the legs 12 of the TO device 14 can be more accurately retracted TO prevent damage thereto and facilitate the positioning of the clamping thereof.

In embodiments of the invention, semi-limiting cavities 9 are arranged on sides of each fixing block 6 opposite TO the other fixing blocks 6, when the two fixing blocks 6 are tightly attached, the two semi-limiting cavities 9 form the limiting cavity 9, the two limiting semi-cavities are halves of the limiting cavity 9, namely, the fixing block 6 extends inwards TO form a recess, the two recesses are combined at TO form the limiting cavity 9, the limiting cavity 9 can penetrate through the whole fixing block 6 in the direction perpendicular TO the moving direction of the fixing block 6, and the limiting cavity is in a recessed form in the moving direction of the fixing block 6, so that the two fixing blocks 6 can be observed through two sides of the limiting cavity 9 in the process of clamping the TO device 14, the operation convenience is improved, and the clamping accuracy is improved.

In embodiments of the present invention, each fixing block 6 has an inclined chamfer 13 at the end far away from the finger cylinder 5, and the inclined chamfers 13 of the two fixing blocks 6 form an avoiding groove recessed toward the limiting cavity 9. when the TO devices 14 are disposed on the test board, the TO devices 14 are inserted into corresponding holes of the test board through the support legs 12, and the mounting positions on the test board corresponding TO each TO devices 14 are all conical or truncated cone-shaped protrusions, and then the side walls of the protrusions are provided with insertion holes, when the TO devices 14 are disposed on the test board, the support legs 12 are inserted into the insertion holes on the side walls, and the main body is placed above the protrusions, and when the TO devices 14 are respectively clamped by the two fixing blocks 6 from both sides, the two inclined chamfers 13 can avoid the protrusions on the mounting positions, so that the matching degree of the clamping mechanism and the test board is higher.

It is noted that, herein, relational terms such as "," "second," and the like are used solely to distinguish entities or operations from another entities or operations without necessarily requiring or implying any actual such relationship or order between such entities or operations.

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

Claims (10)

1. apparatus for packaging devices, which comprises a transmission mechanism (19), a second transmission mechanism (20), a third transmission mechanism (33), a three-dimensional grabbing mechanism and a controller;

   the th transmission mechanism (19) and the third transmission mechanism (33) are respectively arranged at two sides of the second transmission mechanism (20), an image acquisition piece (40) electrically connected with the controller is arranged at the starting point of the th transmission mechanism (19), the th transmission mechanism (19) is used for conveying a test carrier (21) provided with a plurality of TO devices (14), the second transmission mechanism (20) is used for conveying a packaging carrier (22), and the third transmission mechanism (33) is used for conveying a supplementary material carrier (28);

   the three-dimensional gripping mechanism is electrically connected with the controller, and can transfer the TO devices (14) on the test carrier (21) into the packaging carrier (22) and transfer the TO devices (14) on the supplementary carrier (28) into the packaging carrier (22).
2. 2. Device packaging plant as in claim 1, characterised in that said -th conveying means (19) comprise two parallel and equal-height conveyor belts (36), said -th conveying means (19) being provided in its conveying direction in succession with a scanning zone (37), a transfer zone (38) and a blanking zone (39);

   the image acquisition part (40) is arranged below the scanning area (37);

   a positioning component is arranged below the transfer area (38), and can enable the test carrier (21) to be separated from the -th conveying mechanism (19) and positioned above the transfer area (38);

   an th pushing assembly is arranged below the blanking area (39), and the th pushing assembly can push the test carrier (21) away from the th conveying mechanism (19).
3. 3. The device packaging apparatus of claim 2, wherein the positioning assembly comprises an -th jacking piece, a second jacking piece, a third jacking piece, a fourth jacking piece, a fifth jacking piece, a -th limiting plate (41) arranged above the -th jacking piece, a second limiting plate (42) arranged above the second jacking piece, a -th limiting cylinder (43) arranged above the third jacking piece, a second limiting cylinder (44) arranged above the fourth jacking piece, and a positioning plate arranged on the fifth jacking piece, wherein the fifth jacking piece is arranged right below the transfer area (38), the -th jacking piece and the third jacking piece are respectively arranged at the upstream and downstream of the transfer area (38), and the second jacking piece and the fourth jacking piece are respectively arranged at two sides of the transfer area (38).
4. 4. The device packaging apparatus of claim 2, wherein said pushing assembly includes a sixth jack, a pushing plate (46) disposed above said sixth jack, and a pushing member (47) disposed above said pushing plate (46);

   the lifting direction of the sixth lifting piece is vertical to the conveying plane of the transmission mechanism (19);

   the push plate (46) is parallel to the conveying plane of the -th conveying mechanism (19);

   the pushing direction of the pushing piece (47) is parallel to the conveying direction of the -th conveying mechanism (19).
5. 5. The device packaging apparatus of claim 1, wherein said second transport mechanism (20) comprises a th drive member (49), a transport assembly (50), a storage assembly (51), and a collection assembly (52);

   the th driving element (49), the storage assembly (51) and the collection assembly (52) are arranged in sequence, the th driving element (49) is in driving connection with the conveying assembly (50) and can drive the conveying assembly (50) to pass through the storage assembly (51) and the collection assembly (52);

   the conveying assembly (50) comprises a seventh jacking piece and a package taking body arranged above the seventh jacking piece, the seventh jacking piece can jack the package taking body to take the package carrier (22) from the storage assembly (51) when the seventh jacking piece is arranged in the storage assembly (51), and the seventh jacking piece can jack the package taking body to place the package carrier (22) into the collection assembly (52) when the seventh jacking piece is arranged in the collection assembly (52).
6. 6. The device packaging apparatus of claim 5, wherein said collection assembly (52) comprises an th panel (56) and th support legs (55) disposed below said th panel (56), wherein a plurality of th retention posts (57) are disposed above said th panel (56), wherein each of said th retention posts (57) is provided with a th recessed corner (58) that mates with said packaging carrier (22), and wherein a plurality of said th retention posts (57) surround a collection area for placement of said packaging carrier (22);

   the th panel (56) is provided with a th through hole matched with the collection area, elastic buckles (59) are arranged in the th recessed corners (58), the th recessed corners (58) are also provided with th grooves used for containing the elastic buckles (59), the elastic buckles (59) naturally extend out of the th grooves, and the elastic buckles (59) can be pushed into the th grooves in the process of lifting the carrier;

   the storage assembly (51) comprises a second panel and a second support leg arranged below the second panel; a plurality of second limiting columns are arranged above the second panel, each second limiting column is provided with a second concave angle matched with the packaging carrier (22), and a storage area for placing the packaging carrier (22) is formed by the second limiting columns in a surrounding mode;

   the second panel is provided with a second through hole matched with the storage area, electric buckles are arranged in the second recessed corners, second grooves used for containing the electric buckles are further arranged in the second recessed corners, the controller is electrically connected with the electric buckles, and the controller can control the electric buckles to extend out of the second grooves or retract into the second grooves;

   the bottom of the packaging carrier (22) is provided with a rim around its circumference.
7. 7. The device packaging apparatus of claim 5, wherein the upper end of the carrier is provided with a plurality of vacuum cups.
8. 8. Device packaging apparatus according to claim 1, characterized in that the third transport means (33) comprises a second drive member (53) and a body of supplement (54) connected to the second drive member (53), the body of supplement (54) being adapted to place and position the supplement carrier (28).
9. 9. The device packaging apparatus of claim 1, further comprising a defective area (48), said defective area (48) being disposed between said -th transport mechanism (19) and said second transport mechanism (20);

   the three-dimensional grasping mechanism can transfer the TO devices (14) on the test carrier (21) into the defective area (48).
10. 10. The device packaging apparatus of claim 1, further comprising a packaging region (61), said packaging region (61) being disposed between said second transport mechanism (20) and said third transport mechanism (33);

    the three-dimensional gripping mechanism can transfer the packaging cover bodies in the packaging area (61) to the packaging carrier (22).

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