CN217963636U - Chip testing and sorting machine - Google Patents

Abstract

The utility model discloses a chip testing and sorting machine, which comprises a first upper tray conveying mechanism, two first lower tray conveying mechanisms, a second lower tray conveying mechanism, a second upper tray conveying mechanism, a tray manipulator, a sorting manipulator and a visual detection device; the first feeding tray conveying mechanism is used for feeding a tray full of chips; the first discharging tray conveying mechanism is used for discharging a discharging tray fully loaded with sorting chips; the second discharging disc conveying mechanism is used for discharging a material disc fully loaded with sorting chips; the second feeding tray conveying mechanism is used for feeding unloaded trays; the visual detection device is used for photographing and detecting chips on the material tray; the tray manipulator is used for transferring trays; the sorting manipulator is used for transferring the chips. The utility model discloses automatic separation unloading chip behind accessible visual detection, it can realize the full automatization test, reduces workman's intensity of labour, improves production efficiency.

Description

Chip testing and sorting machine

Technical Field

The utility model relates to a semiconductor test sorter especially relates to a chip test sorter through automatic separation unloading behind the visual detection.

Background

Because the semiconductor or the chip has individual difference in the production process, the performance is high or low, the quality is good or bad, and the appearance has flaws, the chip needs to be sorted in time in the production process, thereby providing reference for subsequent production. However, in the prior art, testing and sorting of semiconductor or chips often requires manual assistance, such as requiring workers to place chips into a tester for testing with a tester, and after testing is completed, requiring workers to take out chips and place new chips for testing. And workers are required to manually classify the chips according to the measurement results after the test is finished. Therefore, the existing mode has low automation degree, high working strength of workers and low production efficiency, and is not beneficial to mass production.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a through chip test sorter of automatic separation unloading behind visual detection, it can realize the full automatization test, reduces workman's intensity of labour, improves production efficiency.

In order to achieve the purpose, the chip testing and sorting machine provided by the utility model comprises a first upper tray conveying mechanism, two first lower tray conveying mechanisms, a second lower tray conveying mechanism, a second upper tray conveying mechanism, a tray manipulator, a sorting manipulator and a visual detection device; the first feeding tray conveying mechanism, the first discharging tray conveying mechanism, the second discharging tray conveying mechanism and the second feeding tray conveying mechanism are sequentially arranged side by side; the first feeding tray conveying mechanism is used for feeding a tray full of chips; the first discharging tray conveying mechanism is used for discharging trays fully loaded with sorting chips; the second discharging tray conveying mechanism is used for discharging trays fully loaded with sorting chips; the second feeding tray conveying mechanism is used for feeding unloaded trays; the visual detection device is arranged above the middle part of the first feeding tray conveying mechanism so as to photograph and detect the chips on the feeding trays; the material tray manipulator stretches over the first material tray feeding mechanism to the second material tray feeding mechanism so as to transfer the material trays on the first material tray feeding mechanism to the two first material tray feeding mechanisms or transfer the material trays on the second material tray feeding mechanism to the second material tray feeding mechanism; the sorting manipulator stretches over the first feeding tray conveying mechanism and the second feeding tray conveying mechanism so as to transfer the chips on the trays of the two first blanking tray conveying mechanisms to each other or transfer the chips on the trays of the first blanking tray conveying mechanisms to the second blanking tray conveying mechanism.

Compared with the prior art, the utility model discloses a set up first charging tray conveying mechanism to the charging tray material loading that is full of the chip, then first charging tray conveying mechanism's middle part sets up visual detection device, utilizes visual detection device to carry out visual detection to the chip on the charging tray to can detect out the appearance difference of each chip. And then, arranging a first blanking disc conveying mechanism, a second blanking disc conveying mechanism and a second blanking disc conveying mechanism side by side, transferring an empty material disc from the second blanking disc conveying mechanism, transferring an empty material disc to the second blanking disc conveying mechanism by the material disc manipulator, transferring a full-load material disc to the first blanking disc conveying mechanism, and finally transferring chips on the material discs of the two first blanking disc conveying mechanisms to each other and transferring the chips on the material discs of the first blanking disc conveying mechanism to the second blanking disc conveying mechanism by the sorting manipulator. Therefore, the sorting manipulator can be controlled to sort the chips of the same type to the same material tray according to the visual detection device, the chips of different types are temporarily stored on the material trays of different material tray conveying mechanisms, and the first discharging tray conveying mechanism and the second discharging tray conveying mechanism can automatically discharge the material trays loaded with the chips of the same type after sorting is finished. Therefore, the utility model discloses chip testing sorter need not the manual work and detects and categorised, and whole process is from last charging tray, detection, sorting and the equal automatic completion of unloading, and degree of automation is high, greatly reduces intensity of labour, improves production efficiency.

Preferably, the first feeding tray conveying mechanism comprises a track groove, a tray stacking clamp, a tray dividing mechanism, a chuck driving mechanism and a jacking mechanism, wherein the chuck mechanism is slidably arranged in the track groove, and the chuck driving mechanism is arranged in the track groove and drives the chuck mechanism to move along the track groove; the tray stacking fixture is arranged above the input end of the track groove and can stack trays, and the tray separating mechanism is arranged on the track groove and positioned at the bottom of the tray stacking fixture so as to separate two trays which are sequentially positioned at the lowest layer; the jacking mechanism is arranged below the track groove and located below the tray stacking clamp so as to drive the tray to be in the tray stacking clamp and to be transferred between the chuck mechanisms. Through setting up the mechanism of dividing the dish, can with the charging tray that is located the lowest layer in the charging tray piles up anchor clamps separates with other charging trays, and then can utilize climbing mechanism descends this charging tray to on the (holding) chuck mechanism. And the chuck driving mechanism is arranged in the track groove, so that the chuck mechanism can move along the direction of the track groove, the chuck mechanism is utilized to clamp the material tray, the material tray can realize linear movement output, the material tray can be sequentially conveyed to the visual detection device and the material tray manipulator, the purposes of automatic detection, automatic material tray feeding and automatic material tray transfer are realized, and the automation degree is high.

Specifically, the number of the chuck mechanisms and the chuck driving mechanisms is two, and the chuck mechanisms and the chuck driving mechanisms are symmetrically arranged on two opposite sides of the track groove. Through set up two (holding) chuck mechanisms and (holding) chuck actuating mechanism in the track, two sets of (holding) chuck mechanism and (holding) chuck actuating mechanism can the autonomous operation, reduces single (holding) chuck mechanism and makes a round trip once transports a charging tray required time to can improve the efficiency of charging tray material loading.

Specifically, the (holding) chuck mechanism includes pedestal, preceding (holding) chuck cylinder and back (holding) chuck cylinder, the pedestal connect in (holding) chuck actuating mechanism's output, preceding (holding) chuck cylinder set up in one end and the output of pedestal stretch out the pedestal, back (holding) chuck cylinder set up in the other end and the output of pedestal stretch out the pedestal, with the common centre gripping charging tray of output of preceding (holding) chuck cylinder. Through setting up preceding (holding) chuck cylinder and back (holding) chuck cylinder, can make the charging tray can be steadily fixed a position in the pedestal guarantees that (holding) chuck mechanism is removing the charging tray can not take place to shift, improves the accuracy that the charging tray was carried and was fixed a position.

Specifically, the chuck driving mechanism comprises a motor and a belt, wherein the motor is arranged at the bottom outside the track groove, and the belt is arranged in the track groove and connected with the motor.

Preferably, the visual inspection device comprises a bracket, a driving mechanism, a first camera, a second camera and a code scanner, wherein the driving mechanism is arranged on the bracket, and an output end of the driving mechanism is connected with the first camera so as to drive the first camera to be close to or far away from the material tray; the second camera is arranged on the support and located on one side deviated from the first camera, and the code scanner is arranged on the support and located on the same side as the first camera.

Preferably, the visual inspection device further includes a light source, the bracket extends outward from the same side as the first camera to form a mounting bracket, and the light source is disposed on a side of the mounting bracket facing the first camera. Through setting up the light source for the first camera is shot more accurately that detects, and detection efficiency is higher.

Preferably, the first lower tray conveying mechanism, the second upper tray conveying mechanism and the first upper tray conveying mechanism have the same structure.

Preferably, the tray manipulator comprises a first rack, a first transverse driving mechanism, a first vertical driving mechanism, a tray holding cylinder and a clamping jaw; the first transverse driving mechanism is arranged on the first rack, the output end of the first transverse driving mechanism is connected with the first vertical driving mechanism, and the first transverse driving mechanism drives the first vertical driving mechanism to transversely move; the output end of the first vertical driving mechanism is connected with the disc embracing cylinder and drives the disc embracing cylinder to vertically move, and the output end of the disc embracing cylinder is connected with the clamping jaws to drive the clamping jaws to clamp the material disc.

Preferably, the sorting manipulator comprises a second rack, a second transverse driving mechanism, a second vertical driving mechanism and a suction nozzle; the second transverse driving mechanism is arranged on the second rack, the output end of the second transverse driving mechanism is connected with the second vertical driving mechanism, the second transverse driving mechanism drives the second vertical driving mechanism to transversely move, and the output end of the second vertical driving mechanism is connected with the suction nozzle and drives the suction nozzle to vertically move, so that the suction nozzle sucks the chip.

Drawings

Fig. 1 is a perspective view of the chip testing and sorting machine of the present invention.

Fig. 2 is a top view of the chip testing sorter of the present invention.

Fig. 3 is a perspective view of the first feeding tray conveying mechanism of the chip testing and sorting machine of the present invention.

Fig. 4 is a top view of the first feeding tray conveying mechanism of the chip testing and sorting machine of the present invention.

Fig. 5 is a side view of the first feeding tray conveying mechanism of the chip testing and sorting machine of the present invention.

Fig. 6 is a structural diagram of a chuck mechanism of the first feeding tray conveying mechanism of the present invention.

Fig. 7 is a structural diagram of the tray dividing mechanism of the first feeding tray conveying mechanism of the present invention.

Fig. 8 is a perspective view of the visual inspection device of the chip testing and sorting machine of the present invention.

Fig. 9 is a perspective view of the sorting manipulator of the chip testing and sorting machine of the present invention.

Fig. 10 is a perspective view of a pitch changing mechanism of a sorting manipulator of the chip testing and sorting machine according to the present invention.

Fig. 11 is a perspective view of the tray robot of the chip testing and sorting machine of the present invention.

Detailed Description

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

As shown in fig. 1 and 2, the chip testing and sorting machine 100 of the present invention includes a first feeding tray conveying mechanism 1, two first feeding tray conveying mechanisms 2, a second feeding tray conveying mechanism 3, a second feeding tray conveying mechanism 4, a tray manipulator 5, a sorting manipulator 6 and a vision inspection device 7. The first feeding tray conveying mechanism 1, the two first discharging tray conveying mechanisms 2, the second discharging tray conveying mechanism 3 and the second feeding tray conveying mechanism 4 are sequentially arranged side by side. Second unloading dish conveying mechanism 3's quantity is a plurality of. The same ends of the first feeding tray conveying mechanism 1, the two first discharging tray conveying mechanisms 2, the second discharging tray conveying mechanism 3 and the second feeding tray conveying mechanism 4 are located in the feeding and discharging area 101, and the other ends of the first feeding tray conveying mechanism, the two first discharging tray conveying mechanisms 2, the second discharging tray conveying mechanism 3 and the second feeding tray conveying mechanism 4 are located far away from the feeding and discharging area 101. The first feeding tray conveying mechanism 1 is used for feeding trays full of chips. The first discharging tray conveying mechanism 2 is used for discharging trays fully loaded with sorting chips. The second blanking disc conveying mechanism 3 is used for blanking discs fully loaded with sorting chips; the second feeding tray conveying mechanism 4 is used for feeding unloaded trays. And the visual detection device 7 is arranged above the middle part of the first feeding tray conveying mechanism 1 to photograph and detect chips on the feeding tray. The charging tray manipulator 5 stretches across the first charging tray conveying mechanism 1 to the second charging tray conveying mechanism 4 and is located at the position far away from one end of the charging and discharging area 101, the charging tray manipulator 5 can transfer the charging tray on the first charging tray conveying mechanism 1 to two on the first discharging tray conveying mechanism 2 or transfer the charging tray of the second charging tray conveying mechanism 4 to the first discharging tray conveying mechanism 2 or the second discharging tray conveying mechanism 3. The sorting manipulator 6 spans from the first feeding tray conveying mechanism 1 to the second feeding tray conveying mechanism 4 and is positioned between the feeding tray manipulator 5 and the feeding and discharging area 101, the sorting manipulator 6 can transfer two chips on the feeding tray of the first discharging tray conveying mechanism 2 mutually or transfer the chips on the feeding tray of the first discharging tray conveying mechanism 2 to the second discharging tray conveying mechanism 3.

Referring to fig. 8, the vision inspection apparatus 7 includes a bracket 71, a driving mechanism 72, a first camera 73, a second camera 75 and a code scanner 76, wherein the driving mechanism 72 is disposed on the bracket 71, and an output end of the driving mechanism is connected to the first camera 73 to drive the first camera 73 to move up and down to approach or depart from the tray; the second camera 75 is disposed on the bracket 71 and located at a side away from the first camera 73, and the bar code scanner 76 is disposed on the bracket 71 and located at a same side as the first camera 73. The first camera 73 is a 2D camera for detecting the shape or position of the chip. The second camera 75 is a 3D camera for detecting the shape and position of the chip. The first camera 73 and the second camera 75 may cooperate to detect the shape and position of the chip. The scanner 76 can read the two-dimensional code data information of the chip to facilitate subsequent sorting. The visual inspection device 7 further includes a light source 74, a mounting bracket 711 extends outward from the same side of the bracket 71 as the first camera 73, and the light source 74 is disposed on a side of the mounting bracket 711 facing the first camera 73. By arranging the light source 74, the first camera 73 can photograph more accurately, and the detection efficiency is higher. The driving mechanism 72 adopts a mode that a motor drives a screw rod to enable the screw rod to drive a sliding block to slide.

As shown in fig. 3 to 5, the first feeding tray conveying mechanism 1 includes a track groove 11, a tray stacking fixture 12, a tray separating mechanism 13, a chuck mechanism 14, a chuck driving mechanism 15, and a jacking mechanism 16. The bottom of the track groove 11 is vertically through. The chuck mechanism 14 is slidably disposed in the track groove 11, and the chuck driving mechanism 15 is disposed in the track groove 11 and drives the chuck mechanism 14 to move along the track groove 11. The chuck driving mechanism 15 includes a servo motor 151 and a belt 152, the servo motor 151 is disposed at the outer bottom of the track groove 11, the output end of the servo motor 151 is connected to the belt pulley, and the belt 152 is wound between the two belt pulleys, so that the belt 152 is disposed in the track groove 11 and driven by the servo motor 151 to operate. The belt 152 is provided along the extending direction of the track groove 11. The tray stacking jig 12 is disposed above the input end of the track groove 11, that is, on the loading/unloading area 101, and the tray stacking jig 12 can stack trays. Specifically, the charging tray stacking jig 12 has four limiting columns 121 that are right angles, the limiting columns 121 are right angle steel, the limiting columns 121 are distributed at four corners to form square spaces with the same appearance of the charging tray, and the charging tray can be sequentially stacked in the space surrounded by the limiting columns 121. The chuck driving mechanism 15 is arranged in the track groove 11, so that the chuck mechanism 14 can move along the track groove 11, the chuck mechanism 14 is utilized to clamp the material tray, the material tray can be linearly moved and output, the material tray can be sequentially conveyed to the visual detection device 7 and the material tray manipulator 5, the purposes of automatic detection, automatic material tray feeding and automatic material tray transferring are achieved, and the automation degree is high.

Referring to fig. 3 and 7, the tray dividing mechanism 13 is disposed on the upper surface of the track groove 11 and at the bottom of the tray stacking fixture 12 to separate the trays at the lowest layer. The disc separating mechanisms 13 are symmetrically distributed on two opposite sides of the track groove 11. The disc separating mechanism 13 comprises a disc separating cylinder 131 and a disc separating inserting plate 132, wherein the output end of the disc separating cylinder 131 is connected with the disc separating inserting plate 132 to drive the disc separating inserting plate 132 to stretch and retract. By providing the tray separating mechanism 13, the tray located at the lowest layer in the tray stacking jig 12 can be separated from other trays, and the tray can be lowered onto the chuck mechanism 14 by using the jacking mechanism 16.

Referring to fig. 3 and 5, the lifting mechanism 16 is disposed below the track groove 11 and below the tray stacking fixture 12 to drive the tray to be transferred between the tray stacking fixture 12 and the chuck mechanism 14. The jacking mechanism 16 comprises a jacking cylinder 161 and a jacking plate 162, the jacking cylinder 161 is fixed below the track groove 11, and the output end of the jacking cylinder is connected with the jacking plate 162. To drive the lift plate 162 to rise or fall. The lift plate 162 may be raised into the tray stacking jig 12 when raised and lowered below the belt 152 of the chuck drive mechanism 15 when the lift plate 162 is lowered to place a tray on the chuck mechanism 14.

As shown in fig. 4 and 5, the number of the chuck mechanisms 14 and the chuck driving mechanisms 15 is two, and the chuck mechanisms and the chuck driving mechanisms are symmetrically disposed on two opposite sides of the track groove 11 and have the same structure. By arranging two chuck mechanisms 14 and two chuck driving mechanisms 15 in the track, the two chuck mechanisms 14 and two chuck driving mechanisms 15 can independently operate, and when the operation is staggered, namely one chuck mechanism 14 moves to a position far away from the upper and lower regions but does not return to the upper and lower regions 101, the tray can be transported by adopting the other chuck mechanism 14 and the other chuck driving mechanism 15. This reduces the time required for a single chuck mechanism 14 to transport one tray back and forth at a time, thereby improving the efficiency of tray loading.

Referring to fig. 6, the chuck mechanism 14 includes a seat 141, a front chuck cylinder 142 and a rear chuck cylinder 143, and the seat 141 is connected to the output end of the chuck driving mechanism 15 and slidably disposed in the track groove 11. The front chuck cylinder 142 is arranged at one end of the seat body 141, an output end of the front chuck cylinder 142 extends upwards out of the seat body 141, the rear chuck cylinder 143 is arranged at the other end of the seat body 141, an output end of the rear chuck cylinder 143 extends out transversely, the output end of the rear chuck cylinder 143 is further connected with a clamping block 1431, and the clamping block 1431 extends upwards out of the seat body 141 so as to clamp a tray together with the output end of the front chuck cylinder 142. Through setting up preceding (holding) chuck cylinder 142 and back (holding) chuck cylinder 143, can make the charging tray can be steadily fixed a position in the pedestal 141, guarantee (holding) chuck mechanism 14 and moving the charging tray can not take place to shift, improve the accuracy that the charging tray was carried and was fixed a position.

In addition, as shown in fig. 3, a sensing device (not shown) is disposed on a side of the track groove 11 facing the tray stacking fixture 12 to detect whether a tray is in the tray stacking fixture 12. And an induction device is arranged on one side of the track groove 11, which is opposite to the visual detection device 7, so as to detect whether a material tray is arranged on the visual detection device 7. And a height limit detection device 8 is arranged behind the visual detection device 7 and on the track groove 11, and the height limit detection device 8 is a height limit optical fiber to detect whether the height of the chip on the tray exceeds a set value. And an induction device is arranged on one side of the track groove 11, which is far away from the loading and unloading area 101, and is used for detecting whether a material tray is arranged at the end of the track groove 11.

The first blanking disc conveying mechanism 2, the second blanking disc conveying mechanism 3 and the second feeding disc conveying mechanism 4 are the same as the first feeding disc conveying mechanism 1 in structure. The different points are that the first feeding tray conveying mechanism 1 and the second feeding tray conveying mechanism 4 stack the feeding tray on the feeding tray stacking clamp 12, then separate the feeding tray at a lower layer through the feeding tray mechanism 13, then place the feeding tray on the chuck mechanism 14 through the jacking mechanism 16, and finally drive the chuck mechanism 14 to move through the chuck driving mechanism 15 to realize the feeding output of the feeding tray. The operations of the first and second lower tray conveying mechanisms 2 and 3 are reversed. It is after holding chuck mechanism 14 receives the charging tray, drive holding chuck mechanism 14 through holding chuck actuating mechanism 15 and remove, with the charging tray transfer the below that anchor clamps 12 were piled up to the charging tray, rethread climbing mechanism 16 with the charging tray jacking the bottom that anchor clamps 12 were piled up to the charging tray for the charging tray with other charging trays on the anchor clamps 12 are piled up together, utilize at last branch dish mechanism 13 supports this charging tray, make climbing mechanism 16 can leave, and then pile up the charging tray one by one on anchor clamps 12. In addition, first charging tray conveying mechanism 2 still includes buffer memory climbing mechanism (not shown in the figure) and buffer memory cylinder (not shown in the figure), buffer memory climbing mechanism is located the track groove is kept away from the below of the one end in last unloading district, the buffer memory cylinder set up in the track groove is kept away from go up the unloading district one end is served. When the trays are too much supplied and cannot be sorted, the buffer jacking mechanism can receive the trays and stack the trays.

As shown in fig. 11, the tray manipulator 5 includes a first frame 51, a first transverse driving mechanism 52, a first vertical driving mechanism 53, a tray holding cylinder 54, and a clamping jaw 55; the first transverse driving mechanism 52 is arranged on the first frame 51, and an output end of the first transverse driving mechanism is connected with the first vertical driving mechanism 53, and drives the first vertical driving mechanism 53 to move transversely; the output end of the first vertical driving mechanism 53 is connected with the disc holding cylinder 54 and drives the disc holding cylinder 54 to vertically move, and the output end of the disc holding cylinder 54 is connected with the clamping jaws 55 so as to drive the clamping jaws 55 to clamp the material disc.

As shown in fig. 9 and 10, the sorting robot 6 includes a second frame 61, a second horizontal driving mechanism 62, a second vertical driving mechanism 63, and a suction nozzle 64; the second transverse driving mechanism 62 is arranged on the second frame 61, and the output end of the second transverse driving mechanism is connected with the second vertical driving mechanism 63, and drives the second vertical driving mechanism 63 to move transversely, and the output end of the second vertical driving mechanism 63 is connected with the suction nozzle 64, and drives the suction nozzle 64 to move vertically, so that the suction nozzle 64 sucks the chip. The first transverse driving mechanism 62 and the second vertical driving mechanism 63 both adopt a form of electrically driving a screw rod slider to translate. The sorting manipulator 6 further comprises a pitch-changing mechanism 65, the pitch-changing mechanism 65 comprises a pitch-changing motor 651, a mounting frame 652, a driving plate 653 and a mounting frame 654, the mounting frame 652 is connected to the output end of the second vertical driving mechanism 63, the pitch-changing motor 651 is arranged on the mounting frame 652, the conveying end of the pitch-changing motor 651 is connected with the driving plate 653, the driving plate 653 is vertically and slidably arranged on the mounting frame 652, and a plurality of guide rails 6531 which radiate outwards are arranged on the side surface of the driving plate 653; the mounting frame body 654 is transversely slidably disposed on the mounting frame 652, one end of the mounting frame body 654 is slidably engaged with the guide rail 6531, the suction nozzle 64 is fixed on the mounting frame body 654, and the pitch-variable motor 651 drives the driving plate 653 to vertically move, so that the mounting frame bodies 654 are far away from or close to each other. Because the arrangement intervals of the chips on different types of trays may be different, the chips with different arrangement intervals can be clamped by the pitch varying mechanism 65, so that the sorting manipulator 6 can adapt to different trays, and the use convenience is improved. The sorting manipulator 6 comprises a third camera 66, the third camera 66 being a 3D camera. The third motor 66 is provided at the output of the second lateral drive mechanism 62 to move in synchronization with the suction nozzle 64. The third camera 66 is used to detect the position where the chip is placed, thereby facilitating chip sorting.

In summary, with reference to fig. 1 and fig. 2, the working principle of the chip testing handler 100 of the present invention is described in detail as follows:

firstly, a tray full of chips is manually placed on the tray stacking clamp 12 of the first tray feeding mechanism 1, and an empty tray is also manually placed on the second tray feeding mechanism 4. Then, the jacking mechanism 16 jacks up and bears the material tray, and the tray dividing mechanism 13 contracts to separate from the material tray. The jacking mechanism 16 then moves down a distance of one tray height. At this time, the tray separating cylinder 131 of the tray separating mechanism 13 extends, and the tray separating plate 132 is inserted between the lowest tray and the tray above the lowest tray, so that the tray at the lowest tray is separated from the tray at the previous tray. At this time, the jacking mechanism 16 drives the lowest tray to descend and make the tray supported on the seat 141, and at this time, the front chuck cylinder 142 and the rear chuck cylinder 143 sequentially extend to clamp and position the tray. The chuck driving mechanism 15 may drive the chuck mechanism 14 to move from one end of the upper and lower regions to the other end along the track groove 11. When the tray moves to the position below the vision detection device 7 and the sensing device senses the tray, the chuck driving mechanism 15 stops, and at this time, the vision detection device 7 photographs and detects the chips on the tray and records the result on a control system. Then, the chuck driving mechanism 15 drives the chuck mechanism 14 to move again, and after the height limit detection of the height limit optical fiber, the chuck mechanism 14 reaches the other end of the track groove 11, and the chuck mechanism 14 releases the tray. Meanwhile, the second feeding tray conveying mechanism 4 conveys an unloaded tray to the other end of the second feeding tray conveying mechanism, at the moment, the tray manipulator 5 transfers the unloaded tray to the second discharging tray conveying mechanism 3, transfers the tray of the first feeding tray conveying mechanism 1 to the first discharging tray conveying mechanism 2, and sequentially transfers the tray for multiple times, so that two first discharging tray conveying mechanisms 2 are provided with a tray fully loaded with chips, and the second discharging tray conveying mechanism 3 is provided with an unloaded tray. Then, the first lower tray conveying mechanism 2 and the second lower tray conveying mechanism 3 convey the respective trays to the lower side of the sorting manipulator 6. At this time, the sorting robot 6 sorts the chips. Specifically, the control system divides the chips into a plurality of types according to the detection result of the visual detection device 7, so as to control the sorting manipulator 6, place the first type of chip on a material tray on one of the first lower material tray conveying mechanisms 2, and place the second type of chip on a material tray on the other first lower material tray conveying mechanism 2; in addition, the third type of chips on the material trays of the two first lower material tray conveying mechanisms 2 are placed on the material tray of one second lower material tray conveying mechanism 3; and (3) placing the fourth type of chips on the material trays of the two first lower material tray conveying mechanisms 2 on the material tray of the other second lower material tray conveying mechanism 3, and repeating the steps in the same way, so that the same type of chips can be placed on the same material tray. After each tray is full, the tray is conveyed to one end of the loading and unloading area 101 by the corresponding unloading tray conveying mechanism on the tray, stacked on the tray stacking jig and waiting for taking out. When no material tray is arranged on the first lower material tray conveying mechanism 2, the material tray manipulator 5 transfers the full-load material tray on the first upper material tray conveying mechanism 1 to the first lower material tray conveying mechanism 2; when no material tray exists on the second discharging tray conveying mechanism 3, the material tray manipulator 5 transfers the empty material tray on the second feeding tray conveying mechanism 4 to the second discharging tray conveying mechanism 3, so that the sorting can be continuously carried out.

The utility model discloses in, if the chip kind is less when, for example when only falling into two kinds of types, only need use first material dish conveying mechanism 1, two material dish conveying mechanism 4 can in first material dish conveying mechanism 2 and the second. Specifically, a full-load tray is loaded on the first feeding tray conveying mechanism 1, and a no-load tray is loaded on the second feeding tray conveying mechanism 4. And the full-load trays are transferred to one of the first lower tray conveying mechanisms 2 by using the tray manipulator 5, and the empty trays are transferred to the other first lower tray conveying mechanism 2 by using the tray manipulator 5. And then, the same type of chips are placed on the empty charging tray by using the sorting manipulator 6 until the empty charging tray is filled with the same type of chips, and after only the same type of chips exist in the initially full-loaded charging tray, the two first discharging tray conveying mechanisms 2 respectively discharge the respective charging trays.

Compared with the prior art, the utility model discloses a set up first charging tray conveying mechanism 1 to the charging tray material loading that is full of the chip, then the middle part of first charging tray conveying mechanism 1 sets up visual detection device 7, utilizes visual detection device 7 to carry out visual detection to the chip on the charging tray to can detect out the appearance difference of each chip. And then, by arranging the first lower tray conveying mechanism 2, the second lower tray conveying mechanism 3 and the second upper tray conveying mechanism 4 side by side, an empty tray on the second upper tray conveying mechanism 4 is utilized, an empty tray is transferred to the second lower tray conveying mechanism 3 by the tray manipulator 5, a full-load tray is transferred to the first lower tray conveying mechanism 2, and finally, chips on the trays of the two first lower tray conveying mechanisms 2 are mutually transferred by the sorting manipulator 6, and the chips on the trays of the first lower tray conveying mechanisms 2 are transferred to the second lower tray conveying mechanism 3. Therefore, the sorting manipulator 6 can be controlled by the visual detection device 7 to sort the chips of the same type into the same material tray, the chips of different types are temporarily stored on the material trays of different material tray conveying mechanisms, and the first material tray conveying mechanism 2 and the second material tray conveying mechanism 3 can automatically discharge the material trays loaded with the chips of the same type after the sorting is finished. Therefore, the utility model discloses chip testing sorter 100 need not the manual work and detects and categorised, and whole process is from last charging tray, detection, sorting and the equal automatic completion of unloading, and degree of automation is high, greatly reduces intensity of labour, improves production efficiency.

The above disclosure is only a preferred embodiment of the present invention, and certainly, the scope of the present invention should not be limited thereto, and therefore, the scope of the present invention is not limited to the above embodiments.

Claims (10)

1. A chip testing sorter, comprising: the automatic sorting machine comprises a first feeding tray conveying mechanism, two first discharging tray conveying mechanisms, a second discharging tray conveying mechanism, a second feeding tray conveying mechanism, a tray manipulator, a sorting manipulator and a visual detection device; the first feeding tray conveying mechanism, the first discharging tray conveying mechanism, the second discharging tray conveying mechanism and the second feeding tray conveying mechanism are sequentially arranged side by side; the first feeding tray conveying mechanism is used for feeding trays full of chips; the first discharging tray conveying mechanism is used for discharging a discharging tray fully loaded with sorting chips; the second discharging disc conveying mechanism is used for discharging a material disc fully loaded with sorting chips; the second feeding tray conveying mechanism is used for feeding unloaded trays; the visual detection device is arranged above the middle part of the first feeding tray conveying mechanism so as to photograph and detect chips on the feeding tray; the material tray manipulator stretches over the first material tray feeding mechanism to the second material tray feeding mechanism so as to transfer the material trays on the first material tray feeding mechanism to the two first material tray feeding mechanisms or transfer the material trays on the second material tray feeding mechanism to the second material tray feeding mechanism; the sorting manipulator stretches over the first feeding tray conveying mechanism and the second feeding tray conveying mechanism so as to transfer the chips on the trays of the two first blanking tray conveying mechanisms to each other or transfer the chips on the trays of the first blanking tray conveying mechanisms to the second blanking tray conveying mechanism.

2. The chip testing handler of claim 1, wherein: the first feeding tray conveying mechanism comprises a track groove, a tray stacking clamp, a tray separating mechanism, a chuck driving mechanism and a jacking mechanism, wherein the chuck mechanism is slidably arranged in the track groove, and the chuck driving mechanism is arranged in the track groove and drives the chuck mechanism to move along the track groove; the tray stacking fixture is arranged above the input end of the track groove and can stack trays, and the tray separating mechanism is arranged on the track groove and positioned at the bottom of the tray stacking fixture so as to separate two trays which are sequentially positioned at the lowest layer; the jacking mechanism is arranged below the track groove and located below the tray stacking clamp so as to drive the tray to be in the tray stacking clamp and to be transferred between the chuck mechanisms.

3. The chip testing handler of claim 2, wherein: the number of the chuck mechanisms and the chuck driving mechanisms is two, and the chuck mechanisms and the chuck driving mechanisms are symmetrically arranged on two opposite sides of the track groove.

4. The chip testing handler of claim 2 or 3, wherein: the chuck mechanism comprises a seat body, a front chuck cylinder and a rear chuck cylinder, the seat body is connected with the output end of the chuck driving mechanism, the front chuck cylinder is arranged at one end of the seat body, the output end of the seat body extends out of the seat body, the rear chuck cylinder is arranged at the other end of the seat body, the output end of the seat body extends out of the seat body, and the seat body and the output end of the front chuck cylinder jointly clamp the charging tray.

5. The chip testing handler of claim 2 or 3, wherein: the chuck driving mechanism comprises a motor and a belt, the motor is arranged at the bottom outside the track groove, and the belt is arranged in the track groove and connected with the motor.

6. The chip testing handler of claim 1, wherein: the visual detection device comprises a support, a driving mechanism, a first camera, a second camera and a code scanner, wherein the driving mechanism is arranged on the support, and the output end of the driving mechanism is connected with the first camera so as to drive the first camera to be close to or far away from the material tray; the second camera is arranged on the support and located on one side deviated from the first camera, and the code scanner is arranged on the support and located on the same side as the first camera.

7. The chip testing handler of claim 6, wherein: the visual detection device further comprises a light source, the support and the first camera extend outwards from the same side to the outside to form an installation support, and the light source is arranged on one side, facing the first camera, of the installation support.

8. The chip testing handler of claim 1, wherein: the first blanking disc conveying mechanism, the second blanking disc conveying mechanism and the second feeding disc conveying mechanism are the same as the first feeding disc conveying mechanism in structure.

9. The chip testing handler of claim 1, wherein: the charging tray manipulator comprises a first rack, a first transverse driving mechanism, a first vertical driving mechanism, a tray holding cylinder and a clamping jaw; the first transverse driving mechanism is arranged on the first rack, the output end of the first transverse driving mechanism is connected with the first vertical driving mechanism, and the first transverse driving mechanism drives the first vertical driving mechanism to transversely move; the output end of the first vertical driving mechanism is connected with the disc holding cylinder and drives the disc holding cylinder to vertically move, and the output end of the disc holding cylinder is connected with the clamping jaws to drive the clamping jaws to clamp the material disc.

10. The chip testing handler of claim 1, wherein: the sorting manipulator comprises a second rack, a second transverse driving mechanism, a second vertical driving mechanism and a suction nozzle; the second transverse driving mechanism is arranged on the second rack, the output end of the second transverse driving mechanism is connected with the second vertical driving mechanism and drives the second vertical driving mechanism to transversely move, and the output end of the second vertical driving mechanism is connected with the suction nozzle and drives the suction nozzle to vertically move, so that the suction nozzle sucks the chip.

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