CN211768801U - Chip transfer device - Google Patents

Abstract

The utility model relates to a LED encapsulation technical field discloses a chip transfer device. The automatic feeding device comprises a base, a first driving device and a swing arm, wherein a first material tray and a second material tray are arranged on the base, the first driving device is connected with the base, at least one swing arm is connected to the output end of the first driving device, the first driving device can drive the swing arm to rotate between the first material tray and the second material tray, a workpiece is arranged on the swing arm, a second driving device can drive the swing arm to move on the output end of the first driving device, and the feeding device can replace the second material tray connected to the base. Owing to the combined action through first drive arrangement, second drive arrangement, the swing arm can drive the relative first charging tray of work piece and second charging tray and remove and rotate for the chip that is located on the first charging tray can be shifted to the second charging tray by the efficient on, and change the second charging tray through loading attachment, can be under the circumstances of not shutting down, the work that the chip shifted is accomplished to the efficient.

Description

Chip transfer device

Technical Field

The utility model belongs to the technical field of the LED encapsulation technique and specifically relates to a chip shifts device is related to.

Background

With the development of LED chip packaging technology, the transfer of the tiny chip becomes a focus of attention of manufacturers, and since the tiny chip process is difficult to be manually operated, how to complete the transfer of the tiny chip by a machine with high efficiency becomes a key point of research and development.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a, can.

Provided is a chip transfer apparatus including:

a first base;

swing arm structure, first charging tray and second charging tray: the swing arm structure at least comprises two swing arms, a workpiece is arranged on each swing arm, a first material tray is connected with a first base, a second material tray can move relative to the first base, and the swing arms can rotate relative to the first base and are used for transferring materials from the first material tray to the second material tray;

the first visual recognition device is positioned above the second material tray, a working window of the first visual recognition device faces the second material tray, and the second visual recognition device is positioned on a track of the workpiece rotating from the first material tray to the second material tray and used for collecting position information of materials on the workpiece.

As an improvement of the technical scheme, the automatic feeding device further comprises a third visual recognition device, the second visual recognition device is positioned above the first material tray, and a working window of the third visual recognition device faces the first material tray.

As a further improvement of the technical scheme, the device comprises a second base of a first driving device, the second base is connected with the first base, the output end of the first driving device penetrates through the second base, four swing arms are circumferentially arrayed on the output end of the first driving device, and the first driving device drives the swing arms to rotate between a first material tray and a second material tray.

As the further improvement of the technical scheme, the material picking and placing device further comprises a first driving device, a second base and a pressing device, the second base is connected with the first base, a plurality of first sliding rails are arranged on the output end of the first driving device, the swing arm can move along the first sliding rails, the first driving device drives the swing arm to rotate between the first material disc and the second material disc, the pressing device is arranged above the first material disc and the second material disc, the pressing device can penetrate through the second base, and the driving swing arm moves along the first sliding rails and is used for picking or placing materials.

As a further improvement of the above technical solution, the pressing device includes a second driving device, a housing of the second driving device is connected to the second base, and an output end of the second driving device can penetrate through the second base to drive the swing arm to slide on the first slide rail;

or the pressing device comprises a second driving device and a rotating part, the rotating part is connected with the output end of the second driving device and driven by the second driving device to rotate, the rotating part is provided with a trigger end, and at least part of the trigger end can penetrate through the second base to be contacted with the swing arm so as to push the swing arm to move relative to the second base;

or, the push-down device includes second drive arrangement, rotates piece and first connecting piece, is equipped with the second slide rail on the second base, rotates the piece and is connected with second drive arrangement's output to being driven by second drive arrangement and rotating, being equipped with the trigger end on the rotation piece, the first connecting piece that is triggered by the trigger end can remove along the second slide rail, promotes the swing arm and removes along the second base.

As a further improvement of the technical scheme, the device further comprises a first driving device and an air slip ring, all swing arms are connected to the output end of the first driving device, the air slip ring comprises a channel, an opening at one end of the channel is connected with a workpiece through a pipeline, the other end of the channel is used for being connected with a negative pressure device, and the air slip ring is sleeved on the output shaft of the first driving device.

As a further improvement of the above technical solution, the device further includes a material guiding device and an adsorbing device, the material guiding device is used for guiding the second material tray into the adsorbing device, the adsorbing device is used for adsorbing the second material tray, the adsorbing device is movably connected with the first base, and the material guiding device is configured to be separated from the second material tray when the adsorbing device adsorbs the second material tray.

As a further improvement of the above technical solution, the material guiding device includes two material guiding plates, a gap for the adsorption device to adsorb the second material tray is formed between the two material guiding plates, each material guiding plate is provided with a chute, and the chutes of the two material guiding plates are arranged oppositely, and the two material guiding plates can move away from each other and separate from the second material tray;

or, the guide device includes two stock guides, is formed with the clearance that supplies adsorption equipment to adsorb the second charging tray between two stock guides, is equipped with the spout on every stock guide, and the spout is equipped with the opening that is used for the second charging tray to pass through relative second charging tray one side, and two stock guides can be the motion of keeping away from the open-ended direction to break away from the second charging tray.

As a further improvement of the technical scheme, the material storage device further comprises a material storage box and a first pushing device, wherein the first pushing device is positioned on the other side, opposite to the material guide device, of the material storage box, and the material guide device can push a second material tray in the material storage box to enter the material guide device.

As the further improvement of the technical scheme, still including removing the seat, the X axle construction, Y axle construction and R axle construction, the R axle construction includes fifth drive arrangement, be equipped with the third slide rail on the X axle construction, adsorption equipment installs on the R axle construction, R axle structural connection is on removing the seat, it can slide along the Y axle construction to remove the seat, Y axle drive knot can slide along the third slide rail, the X axle construction is connected with first base, fifth drive arrangement is located between the clearance of the third slide rail of removing the seat, make fifth drive arrangement's casing be located the below of removing the seat.

Has the advantages that: owing to the combined action through first drive arrangement, second drive arrangement, the swing arm can drive the relative first charging tray of work piece and second charging tray and remove and rotate for the chip that is located on the first charging tray can be shifted to the second charging tray by the efficient on, and change the second charging tray through loading attachment, can be under the circumstances of not shutting down, the work that the chip shifted is accomplished to the efficient.

Drawings

FIG. 1 is a schematic structural diagram of a first embodiment of a chip transfer device;

FIG. 2 is a schematic structural view of a first embodiment of the rotary transfer device of FIG. 1;

FIG. 3 is a schematic structural view of a second embodiment of the rotary transfer device of FIG. 1;

FIG. 4 is a schematic structural diagram of the feeding device in FIG. 1;

FIG. 5 is a schematic view of the structure of FIG. 4 at another angle;

fig. 6 is an enlarged view at a in fig. 5.

The device comprises a first driving device 101, an air slip ring 102, a second driving device 103, a first spring 104, a working piece 105, a swing arm 106, a rotating part 107, a second base 108, a second through hole 109, a first slide rail 110, a feeding device 111, a rotary transfer device 112, a first tray 114, a first visual recognition device 115, a second visual recognition device 116, a second tray 301, a first connecting piece 201, a second spring 202, a second tray 301, a material guide plate 302, a material guide device 303, a material storage box 304, a first push plate 305, a first pushing device 306, a material storage layer 307, a third driving device 308, a Y-axis structure 309, a second push plate 310, a first base 311, a multi-axis driving structure 312, an X-axis structure 313, a third slide rail 314, a second pushing device 315, a fifth driving device 316, a second connecting piece 317, a moving block 318, a fourth driving device 319, a chute 320, a sloping plate 321 and a moving seat 322.

Detailed Description

The conception and the resulting technical effects of the present invention will be described clearly and completely with reference to the following embodiments, so that the objects, features and effects of the present invention can be fully understood. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive labor based on the embodiments of the present invention all belong to the protection scope of the present invention.

In the description of the embodiments of the present invention, if an orientation description is referred to, for example, the directions or positional relationships indicated by "upper", "lower", "front", "rear", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, only for convenience of description and simplification of description, but not for indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the embodiments of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" on another feature, it can be directly disposed, fixed, or connected to the other feature or indirectly disposed, fixed, connected, or mounted on the other feature. In the description of the embodiments of the present invention, if "a plurality" is referred to, it means one or more, if "a plurality" is referred to, it means two or more, if "greater than", "less than" or "more than" is referred to, it is understood that the number is not included, and if "more than", "less than" or "within" is referred to, it is understood that the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.

As an embodiment, the chip transferring device includes a rotary transferring device 112 and a loading device 111, the rotary transferring device 112 includes a swing arm 106, a first tray 114 and a second tray 301, the swing arm 106 can move between the first tray 114 and the second tray 301, so as to complete the task of transferring the chips on the first tray 114 to the second tray 301, the loading device 111 includes a multi-axis driving structure 312, the second tray 301 can realize multi-direction and rotation and/or rotation through the multi-axis driving structure 312, and after the chips on the second tray 301 are stacked, the loading device 111 itself replaces the second tray 301 on the multi-axis driving structure 312, so as to continue the chip transferring.

The rotary transfer device 112 and the feeding device 111 will be described separately below.

A rotary transfer device:

referring to fig. 2, as an embodiment of the rotation transfer device, the rotation transfer device includes a first driving device 101, a plurality of working members 105 and an air slip ring 102, all the working members 105 are connected to an end of an output shaft of the first driving device 101, the air slip ring 102 is sleeved on the output shaft of the first driving device 101, the air slip ring 102 is located between a housing of the driving device and the end of the output shaft, the air slip ring 102 includes a plurality of channels, each channel is separately provided with an inlet and an outlet, the inlet is connected to a negative pressure device, the outlet is connected to the working members 105 through a pipeline, as an embodiment, the pipeline is made of a flexible material, the above structure has the beneficial effects that when the first driving device 101 drives the working members 105 located on the output shaft to rotate, the air slip ring 102 sleeved on the output shaft of the first driving device 101 synchronously rotates along with the working members, thereby allowing the flexible tubing connected between air slide ring 102 and workpiece 105 to rotate together, which reduces the possibility of individual tubing colliding and kinking or dropping as compared to a negative pressure device of the transmission that does not have air slide ring 102.

As an example, several workpieces 105 may share a single conduit, connecting to the channel of the same gas slide ring 102.

As an embodiment, the rotation transfer device in this embodiment further includes a plurality of swing arms 106, the output shaft of the first driving device 101 includes a plurality of first sliding rails 110, the first sliding rails 110 are arranged along the extending direction of the output shaft of the first driving device 101, each first sliding rail 110 is connected to a swing arm 106, the swing arm 106 can move along the first sliding rail 110, and each swing arm 106 is provided with at least one working piece 105.

As an example, the working members 105 on the same swing arm 106 can share the channel in the same air slip ring 102, and the beneficial effects of this structure are: the same chip can be adsorbed by a plurality of workpieces 105, or different chips can be adsorbed simultaneously; or some parts of the workpieces 105 share the same channel in the air slip ring 102, and the structure can be independently controlled through the air passage on the same swing arm 106, so that the working state of the workpieces 105 on the swing arm 106 can be adjusted according to the shape or size of the chip.

As another embodiment, several working members 105 located on different swing arms 106 can share a passage in the same air slip ring 102, and this structure can adapt to different sizes and shapes of chips through the mutual cooperation of different swing arms 106.

As an embodiment, the rotation transfer device further includes a second base 108 and a second driving device 103, a first through hole and a second through hole 109 are formed in the second base 108, an output shaft of the first driving device 101 is connected with an air slip ring 102 and then passes through the first through hole, an end of the output shaft is connected with a swing arm 106, a workpiece 105 is arranged on the swing arm 106, as shown in fig. 2, a rotating member 107 is sleeved on the second driving device 103, a trigger end is formed on the rotating member 107, and the swing arm 106 located below the second through hole 109 can be triggered through the second through hole 109 located on the second base 108, so that the swing arm 106 moves downward along the first sliding rail 110.

As a supplement to the above embodiment, a set of second driving device 103 and second through hole 109 are respectively disposed above the first tray and the second tray, so that the swing arm 106 moving above the first tray 114 and the swing arm 106 moving above the second tray 301 can both complete the downward movement of the swing arm 106, the picking of the chips on the first tray 114 is completed, and the placement of the chips on the second tray 301 is completed.

As a supplement to the above embodiment, the second base 108 is further provided with a plurality of sets of second driving devices 103 and second through holes 109, and different work pieces 105 can cooperate together through the second driving devices 103 and the second through holes 109, and the work pieces 105 can also complete the discharging operation.

In addition to the above embodiments, there may be two swing arms 106 moving below the second through hole 109 at the same time, so that the movement of the two swing arms 106 is triggered by one trigger end.

As another embodiment, as shown in fig. 3, in the second embodiment, a second slide rail is further disposed on the second base 108, the rotary transfer device further includes a first connecting member 201, the first connecting member 201 is slidably connected to the second slide rail, and an activation end on the rotating member 107 can activate the first connecting member 201, so that the rotating member 107 slides on the second slide rail, so that at least a portion of the first connecting member 201 can pass through the second through hole 109 to activate the swing arm 106, thereby enabling the swing arm 106 to complete the downward movement.

As a supplement to the above embodiment, the rotation transfer device further includes a first spring 104 and a second spring 202, one end of the first spring 104 is connected to the second base 108 of the rotation member 107, and this structure has the following beneficial effects: 1. when the connecting member provides a pulling force, so that the first connecting member 201 can maintain a position on the first slide rail 110, and when the first connecting member 201 is not triggered by the trigger end, the first connecting member 201 can keep still relative to the first slide rail 110 due to the limit of the first slide rail 110 on the first connecting member 201 and the pulling force of the first spring 104; 2. when the trigger end triggers the first connecting part 201 to leave, the second spring 202 can drive the first connecting part 201 to reset. One end of the second spring 202 is connected with the output end of the second driving device 103, and the other end is connected with the swing arm 106, and the structure has the beneficial effects that: 1. a pulling force is provided for the swing arm 106 through the first spring 104, and the swing arm 106 can be static relative to the output end of the second driving device 103 when not triggered through the second slide rail and the first spring 104; 2. after the first connecting piece 201 triggers the swing arm 106, the swing arm 106 is driven to reset to the initial position.

The use method of the rotary transfer device 112 comprises the following steps:

firstly, the swing arm 106 and the workpiece 105 on the swing arm 106 are driven to rotate by the first driving device 101, when the swing arm 106 rotates to the position below the second through hole 109, the triggering end on the rotating part 107 rotating along with the second driving device 103 passes through the second through hole 109 to trigger the swing arm 106, so that the swing arm 106 moves downwards, then through the channel on the air slip ring 102, at least part of the workpiece 105 on the swing arm 106 below the second through hole 109 is selectively ventilated through the air slip ring 102, so that the workpiece 105 finishes the adsorption of the chip on the first tray 114, then along with the rotation of the rotating part 107, the triggering end rotates out of the second through hole 109, the swing arm 106 resets, and then continues to rotate along with the first driving device 101.

When the swing arm 106 rotates above the second tray 301, the second driving device 103 and the second through hole 109 (which may also include the first connecting element 201 and/or the rotating element 107) located above the second tray 301 can be pressed down by the second driving device 103, so that the swing arm 106 moves downward along the first sliding rail 110, thereby completing the chip placement.

As a supplement to the above embodiments, the positions of the work pieces 105 on all the swing arms 106 on the swing arms 106 may be the same or different, and it is only necessary to ensure that the distances from all the work pieces 105 to the output end of the first driving device 101 are equal, that is, all the work pieces 105 are located on the circumference centered on the output end of the first driving device 101, and this structure is convenient for the matching degree of each work piece 105 to be higher in the process of driving the plurality of swing arms 107 to rotate by the first driving device 101.

In addition to the above-described embodiment, the initial positions of all the swing arms 107 on the output side of the second drive device 103 are flush.

In addition to the two embodiments described above, the rotating element 107 is a cam or an eccentric.

In addition to the two embodiments described above, the first drive device 101 and the second drive device 103 are both rotating electrical machines.

As a third embodiment, the third embodiment is different from the two embodiments in that the second driving device 103 is a linear motor, the rotating member 107 is omitted, and when the swing arm 106 rotates to the lower side of the second through hole 109, the output end of the second driving device 103 passes through the second through hole 109, and the swing arm 106 is triggered to move along the first sliding rail 110.

A feeding device:

referring to fig. 4 to 5, as an embodiment, the feeding device includes a first base 311, a third slide rail 314, an adsorption device (not shown), a third driving device 308, and a material guiding device 303 are disposed on the first base 311, the material guiding device 303 is connected to the first base 311, the adsorption device is capable of moving along the third slide rail 314, that is, the adsorption device is capable of moving along an X-axis direction extending from the third slide rail 314, so that the second tray 301 adsorbed by the adsorption device moves along the X-axis direction.

The material guide device 303 is used for guiding the second material tray 301 onto the adsorption device, and in the scheme, the second material tray 301 is of a flat plate structure. The avoiding position is arranged on the material guide device 303, the output end of the third driving device 308 is connected with the material guide device 303, the material guide device 303 is driven to move through the third driving device 308, the second material tray 301 can be separated from the avoiding position from the material guide device 303, and the structure is provided with the beneficial effects that the material guide device 303 is separated from the second material tray 301, and the weight of an object moving on the third slide rail 314 along with the adsorption device is reduced.

As an embodiment, as shown in fig. 4 and fig. 6, the material guiding device 303 includes two material guiding plates 302, each of the two material guiding plates 302 is provided with a chute 320, the two chutes 320 on the two material guiding plates 302 are oppositely disposed with a gap therebetween, and the upper ends of the two chutes 320 are provided with openings in an open state. The structure further comprises two third driving devices 308, each third driving device 308 is connected with one material guide plate 302, so that the two material guide plates 302 can move independently or simultaneously move towards the lower part of the second tray 301, and the second tray 301 can pass through an avoidance position formed by a gap between the two material guide plates 302 and an upper end opening of the sliding groove 320 on the material guide plates 302, so that the second tray 301 can be separated from the second tray 301.

The use method of the structure comprises the following steps: at first, two edges of the second material tray 301 are carried on the two sliding grooves 320, then the position of the adsorption device on the sliding rail is adjusted, the adsorption device is located below an avoidance position formed by the two material guide plates 302, the adsorption device completes the adsorption of the material tray 101 through the avoidance position, and after the adsorption device adsorbs the second material tray 301, the adsorption device drives the two third driving devices 308, so that the two material guide plates 302 move downwards simultaneously, and the material guide plates 302 are separated from the second material tray 301.

The beneficial effect of above-mentioned structure does: because the two material guide plates 302 are separated from the adsorption device and the second material tray 301 after the material guide function is completed, the weight of an object needing to move on the third slide rail 314 is reduced, and the phenomenon that the second material tray 301 is separated from the adsorption device due to the fact that the second material tray is too heavy and has large movement inertia is prevented.

As an embodiment, the feeding device further includes a storage box 304 and a first pushing device 306, the storage box 304 includes a plurality of storage layers 307 stacked in rows, each storage layer 307 stores one second tray 301, the first pushing device 306 is located on the other side of the storage box 304 opposite to the material guiding device 303, a first pushing plate 305 is provided on the first pushing device 306, the first pushing plate 305 can push to one side close to the material guiding device 303, and openings are provided on one sides of the storage layers 307 close to the material guiding device 303 and the first pushing device 306, so that the second tray 301 in the storage box 304 can be pushed by the first pushing plate 305 on the first pushing device 306, so that the second tray 301 is pushed to the chutes 320 of the two material guiding plates 302. With this structure, the second tray 301 in the magazine 304 can be transferred to the material guide plate 302.

As a supplement to the above embodiment, the material storage device further includes a fourth driving device 319, a second connecting member 317 and a moving block 318, an output end of the fourth driving device 319 is connected to the connecting block, one side of the second connecting member 317 is connected to the first base 311, the other side of the second connecting member 317 is provided with a fourth slide rail (not shown), one end of the moving block 318 is connected to the material storage box 304, and the other end of the moving block can slide along the fourth slide rail, so that the material storage box 304 can be moved up and down by driving of the fourth driving device 319, and thus positions of the material storage layers 307 on the material storage box 304 relative to the first pushing device 306 and the material guide plate 302 are adjusted, and thus the second material trays 301 located in different material storage layers 307 can be pushed onto the material guide plate 302.

As shown in fig. 6, the chute 320 has an inclined plate 321 on a side adjacent to the storage box 304, and the inclined plate gradually decreases from a side away from the storage box 304 to a side adjacent to the storage box 304, so that when the second tray 301 is pushed by the storage box 304 onto the guide plate 302, the transition can be better completed.

As an embodiment, the loading device further includes a second pushing device 315, and a second pushing plate 310 in the second pushing device 315 can move along the direction in which the third sliding rail 314 extends, so as to push the second tray 301 on the adsorbing device into the storage box 304, thereby completing the homing of the second tray 301.

In addition to the above embodiment, the third driving device 308 can drive the material guide plate 302 to move in the Y-axis direction, and the second tray 301 can be moved away from the material guide plate 302.

As a supplement to the above technical solution, the feeding device further includes a moving seat 322 and a multi-axis driving structure 312, the multi-axis driving structure 312 includes an X-axis structure 313, a Y-axis structure 309, and an R-axis structure, the R-axis structure includes a fifth driving device 316, a third sliding rail 314 is disposed on the X-axis structure 313, the adsorption device is mounted on the R-axis structure, so that the adsorption device is driven by the fifth driving device 316 to rotate, the R-axis structure is located on the moving seat 322, the moving seat 322 can slide along the Y-axis structure 309, the Y-axis structure 309 can slide along the third sliding rail 314 on the X-axis structure 313, and the X-axis structure 313 is connected to the first base 311. The above structure enables the second tray 301 to rotate in the X-axis, Y-axis and R-axis directions.

As a supplement to the above embodiment, as shown in fig. 1, a fifth slide rail is disposed on the moving seat 322, the fifth slide rail is used for the second pushing plate 110 to move, so as to push the material on the material guiding plate 302 into the material storage box 304, the fifth driving device 316 is located between the gaps of the two side rails of the fifth slide rail, and the housing of the fifth driving device 316 is located below the third slide rail. This kind of structure compares in the R axle and sets up in the top of fifth track, and the beneficial effect than fifth track upwards protruding structure does: 1. the center of gravity of the whole multi-axis driving structure 312 is lowered, and the stability is enhanced; 2. because the rotating motor is large in size, if the rotating motor is arranged on the X axis, the rotating motor is easy to interfere with the material storage box 304 in the feeding process, and in the above structure, because the fifth driving device 316 sinks below the third slide rail 314, the phenomenon can be effectively avoided.

The use method of the device comprises the following steps:

first, the two third driving devices 308 are adjusted so that the chutes 320 on the third driving devices 308 are located at the positions where the second trays 301 are placed, and the suction devices are driven to move to the avoiding positions formed by the two material guide plates 302.

Then, the second tray 301 in the magazine 304 is pushed to the material guiding plate 302 by the first pushing plate 305 on the first pushing device 306, and in this step, if the position of the magazine 304 needs to be adjusted, the magazine 304 is driven to move up and down by the fourth driving device 319, so that the second tray 301 in different material storage layers 307 in the magazine 304 can be transferred to the material guiding device 303.

After the second tray 301 is conveyed to the material guide plate 302, the adsorption device adsorbs the bottom of the second tray 301 through the avoiding position on the material guide plate 302, and then the material guide plate 302 is separated from the second tray 301 through the two third driving devices 308, and then the adsorption device drives the second tray 301 to start working under the driving of the multi-shaft driving structure 312.

After the second tray 301 is used, the adsorption device drives the second tray 301 to move to the position where the second tray 301 is loaded onto the guide plate 302, and then drives the second push plate 310 of the second pushing device 315 to push the second tray 301, so that the second tray 301 can enter the storage box 304 to complete the whole set of actions.

As another example, in this embodiment, after being driven by the corresponding third driving device 308, the two material guiding plates 302 move in directions away from each other, so that a gap between the two material guiding plates 302 is increased, and the material guiding plates 302 move away from the second tray 301.

As another embodiment, the first pushing device 306 is not included in this embodiment, but a material dropping device is included, and the material dropping device is located above the material guiding device 303, and can put a tray onto the material guiding device 303 through an opening facing the material guiding device 303.

As another embodiment, in this embodiment, the used second tray 301 is not pushed into the magazine 304, but the second tray 301 is pushed to other equipment by the second pushing plate 310 for recycling or use.

As an embodiment, the chip transferring apparatus further includes a first visual positioning device 115, a second visual positioning device 116 and a third visual positioning device (not shown), the first visual positioning device 115 is located above the second tray 301, and a working window of the first visual positioning device 115 faces the second tray 301 for identifying the position of the second tray 301, the third visual positioning device is located above the first tray 114, and a working window of the third visual positioning device faces the first tray 114, and can determine the position of the chip in the first tray 114, so that the workpiece 105 on the swing arm 106 can suck the target chip, the second visual positioning device 116 is located on the track of the workpiece 105 in the rotation of the swing arm 106 from the first tray 114 to the second tray 301, and the working window of the second visual positioning device 116 faces upward as shown in fig. 1, so that when the workpiece 105 on the swing arm 106 swings to the second visual positioning device 116, the position error of the workpiece 105 when picking up the chip in the first tray 114 can be judged, and the position of the second tray 301 can be identified by the first visual positioning device 115, so that the chip can be positioned on the preset position of the second tray 301 through the movement and rotation of the second tray 301 positioned on the multi-shaft driving structure 312, and the position and angle accuracy can be ensured.

In summary, the use method of the chip transfer device comprises: firstly, a swing arm 106 is driven by a first driving device 101 to move to the upper part of a first tray 114, the position of a target chip is identified by a third visual positioning device, the swing arm 106 is driven by a second driving device 103 to move downwards on a first slide rail 110, so that the accurate picking of the chip on the first tray 114 by a workpiece 105 is completed, then the workpiece is driven by the first driving device 101 to move to the upper part of a second visual positioning device 116, the position error of the chip on the workpiece 105 at the moment is identified and obtained by the second visual positioning device 116, then the swing arm 106 continues to rotate, when the swing arm 106 rotates to the upper part of the second tray 301, the position of the second tray 301 is judged by the first visual positioning device 115, and the position error of the chip on the workpiece is combined with the second visual positioning device 116, the position of the swing arm 106 relative to the second tray 301 is adjusted through the multi-axis driving structure 312, and then the swing arm 106 is driven by the second driving device 103 located above the second tray 301 to complete the downward sliding motion on the first slide rail 110, so as to complete the motion of accurately placing the chip on the second tray 301.

After the chips on the second tray 301 are placed, the second tray 301 is driven by the adsorption device to slide along the third slide rail 314 and move towards the direction close to the material storage box 304, then the material guide plate 302 is lifted by the driving of the third driving device 308 to support the second tray 301, and the second tray 301 on the adsorption device is pushed into the material storage box 304 by the second push plate 310 on the multi-axis driving structure 312 under the guidance of the chute 320 on the material guide plate 302, and then the fourth driving device 319 is driven to adjust the height of the material storage box 304, and then the second tray 301 on the other layer of the material storage box 304 is pushed into the adsorption device by the material guide plate 302 through the first push plate 305, so that the second tray 301 on the multi-axis driving structure 312 can continue to work.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims (10)

1. A chip transfer apparatus, comprising:

a first base;

swing arm structure, first charging tray and second charging tray: the swing arm structure at least comprises two swing arms, a workpiece is arranged on each swing arm, the first material tray is connected with the first base, the second material tray can move relative to the first base, and the swing arms can rotate relative to the first base and are used for transferring materials from the first material tray to the second material tray;

the first visual recognition device is located above the second material tray, a working window of the first visual recognition device faces the second material tray, and the second visual recognition device is located on a track where the workpiece rotates from the first material tray to the second material tray and is used for collecting position information of materials on the workpiece.

2. The chip transfer device according to claim 1, further comprising a third visual recognition device, the second visual recognition device being located above the first tray, a working window of the third visual recognition device facing the first tray.

3. The chip transferring apparatus according to claim 1, further comprising a second base of the first driving device, wherein the second base is connected to the first base, an output end of the first driving device passes through the second base, four swing arms are circumferentially arrayed on the output end of the first driving device, and the first driving device drives the swing arms to rotate between the first tray and the second tray.

4. The chip transfer device according to claim 1, further comprising a first driving device, a second base and a pressing device, wherein the second base is connected to the first base, the output end of the first driving device is provided with a plurality of first sliding rails, the swing arm is capable of moving along the first sliding rails, the first driving device drives the swing arm to rotate between the first tray and the second tray, the pressing device is arranged above the first tray and the second tray, and the pressing device can penetrate through the second base to drive the swing arm to move along the first sliding rails for picking up or placing materials.

5. The chip transferring apparatus according to claim 4, wherein the pressing device comprises a second driving device, a housing of the second driving device is connected to the second base, an output end of the second driving device can pass through the second base, and the swing arm is driven to slide on the first slide rail;

or, the pressing device includes a second driving device and a rotating part, the rotating part is connected with an output end of the second driving device and is driven by the second driving device to rotate, the rotating part is provided with a trigger end, and at least part of the trigger end can penetrate through the second base to contact with the swing arm so as to push the swing arm to move relative to the second base;

or, the push down device includes second drive arrangement, rotates piece and first connecting piece, be equipped with the second slide rail on the second base, rotate the piece with second drive arrangement's output is connected, and by second drive arrangement drives and rotates, be equipped with trigger end on the rotation piece, quilt trigger end triggers first connecting piece can along the second slide rail removes, promotes the swing arm is followed the second base removes.

6. The chip transfer device according to claim 1, further comprising a first driving device and an air slip ring, wherein all the swing arms are connected to an output end of the first driving device, the air slip ring comprises a channel, an opening of one end of the channel is connected to the workpiece through a pipeline, the other end of the channel is used for being connected to a negative pressure device, and the air slip ring is sleeved on an output shaft of the first driving device.

7. The chip transferring apparatus according to claim 1, further comprising a guiding device and a suction device, wherein the guiding device is configured to guide the second tray into the suction device, the suction device is configured to suck the second tray, the suction device is movably connected to the first base, and the guiding device is configured to be separated from the second tray when the suction device sucks the second tray.

8. The chip transferring device according to claim 7, wherein the material guiding device comprises two material guiding plates, a gap for the adsorbing device to adsorb the second tray is formed between the two material guiding plates, each material guiding plate is provided with a sliding slot, the sliding slots of the two material guiding plates are oppositely arranged, and the two material guiding plates can move away from each other and are separated from the second tray;

or, the material guiding device includes two material guiding plates, two be formed with the confession between the material guiding plate adsorption equipment adsorbs the clearance of second charging tray is equipped with the spout on every material guiding plate, the spout is relative second charging tray one side is equipped with and is used for the opening that the second charging tray passes through, two the material guiding plate can be done keep away from the motion of open-ended direction, and break away from the second charging tray.

9. The chip transferring apparatus according to claim 7, further comprising a storage box and a first pushing device, wherein the first pushing device is located on the other side of the storage box opposite to the material guiding device, and the material guiding device can push the second tray in the storage box into the material guiding device.

10. The chip transferring apparatus according to claim 7, further comprising a moving base, an X-axis structure, a Y-axis structure and an R-axis structure, wherein the R-axis structure includes a fifth driving device, the X-axis structure is provided with a third slide rail, the suction device is mounted on the R-axis structure, the R-axis structure is connected to the moving base, the moving base can slide along the Y-axis structure, the Y-axis driving structure can slide along the third slide rail, the X-axis structure is connected to the first base, and the fifth driving device is located between gaps of the third slide rail of the moving base, so that a housing of the fifth driving device is located below the moving base.

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