CN106629037A - Non-shutdown various-IC picking device - Google Patents

Abstract

The invention discloses a non-shutdown various-IC picking device which comprises an IC picking mechanism, a servo motor X-Y-Z-direction work platform, servo motor X-Y-Z-direction work platform mounting racks, a feeding mechanism and a servo motor X-direction work platform A and B mounting rack base. The IC picking mechanism is mounted on the servo motor X-Y-Z-direction work platform; the servo motor X-Y-Z-direction work platform is mounted on the servo motor X-Y-Z-direction work platform mounting racks; and the feeding mechanism is mounted on the servo motor X-direction work platform A and B mounting rack base. The non-shutdown various-IC picking device is used for picking ICs in a small fixed area, the stability and success rate of IC picking are guaranteed, IC picking in the shortest distance is guaranteed, the IC picking time is shortened, and the efficiency of the device is improved; and stable non-shutdown same-type IC production is achieved by means of left area feeding and right area feeding, and stable non-shutdown IC production can be achieved as long as movable IC feeding mechanism bodies are additionally arranged.

Description

One kind is capable of achieving various IC and does not shut down pick device

Technical field

The present invention relates to COG makes process device IC feeder equipment technical fields, more particularly, to a kind of achievable manyPlant IC and do not shut down pick device.

Background technology

In existing technology, the IC feed mechanisms of COG equipment are one of its important mechanisms, and at home and abroad equipment supplier existsThen matched somebody with somebody in mechanical mechanism using IC material tray type feedings are put side by side in the single big workbench of fixation mostly on techniqueThe action for manually sending IC and pickup IC is imitated under conjunction；It has the disadvantage that：1. prior art great majority are using single feedingPlatform carries out IC feedings, when there is replacing IC charging trays after the completion of the pickup of single batch IC, it is necessary to which shutdown is reloaded, and it is unnecessary to wasteTime, reduce production efficiency；2. during pickup IC, using Non-contact vacuum nozzle pick IC, fixed charging tray lifeProduce platform area excessive, because the originals such as machining accuracy difference and warpage thus result in platform and nonideal horizontality, causeDifference on each IC existence position height, in the case where pickup is highly constant, after being easily caused IC leakages pickup or IC pickupsDrop or manipulator meets IC in pick process, cause charging tray vibrations to make whole disk IC location dislocations and cannot normally produce；3.Existing single material conveying platform is only a kind of IC feedings of model, it is impossible to meet needs to two kinds of IC or various IC simultaneouslyThe Production requirement of feeding, it is impossible to while feeding, can only increase equipment or secondary production.

The content of the invention

Stable can realize that various IC do not shut down the pick device of pickup it is an object of the present invention to provide a kind of.

To reach above-mentioned purpose, the present invention adopts following technical proposals：The present invention provides a kind of achievable various IC and does not stopMachine pick device, including IC mechanism for picking, servo motor XYZ workbenches, servo motor XYZ workbench installing racks, feedingMechanism and servo motor X workbench A, B installing rack bases, the IC mechanism for picking is arranged on the servo motor XYZ worksMake on platform, the servo motor XYZ workbenches are arranged on the servo motor XYZ workbench installing racks, described to watchDriving force of the motor XYZ workbenches for needed for moving on tri- directions of IC mechanism for picking offer X, Y, Z, the servo are providedMotor XYZ workbenches installing rack is arranged on servo motor X workbenches A, B installing rack base one end top, described to sendMaterial mechanism is arranged on servo motor X workbenches A, B installing rack base, the IC mechanism for picking and the feed mechanismIt is used in conjunction with each other；The feed mechanism includes movable type IC feed mechanisms A and movable type IC feed mechanism B, the movementFormulas I C feed mechanism A and the portable IC feed mechanisms B include left region material conveying platform and right region material conveying platform.

A kind of above-mentioned achievable various IC do not shut down pick device, and portable IC feed mechanisms A includes that servo motor X worksPlatform A, material conveying platform fixed plate A, left region material conveying platform A, right region material conveying platform A, IC charging tray fixed block and spring leaf, instituteServo motor X workbenches A is stated on servo motor X workbenches A, B installing rack base, the material conveying platform is consolidatedFixed board A is arranged on the servo motor X workbench A, the left region material conveying platform A and right region material conveying platform AIn the material conveying platform fixed plate A, the IC charging trays fixed block is arranged on the left region material conveying platform A and the right sideThe side of region material conveying platform A, the spring leaf is arranged on the breach of the IC charging trays fixed block.

A kind of above-mentioned achievable various IC do not shut down pick device, and portable IC feed mechanisms B includes that servo motor X worksPlatform B, material conveying platform fixed plate B, left region material conveying platform B, right region material conveying platform B, IC charging tray fixed block and spring leaf, instituteServo motor X workbenches B is stated on servo motor X workbenches A, B installing rack base, the material conveying platform is consolidatedFixed board B is arranged on the servo motor X workbench B, the left region material conveying platform B and right region material conveying platform BIn material conveying platform fixed plate B, the IC charging trays fixed block is arranged on the left region material conveying platform B and the right regionThe side of material conveying platform B, the spring leaf is arranged on the breach of the IC charging trays fixed block.

A kind of above-mentioned achievable various IC do not shut down pick device, and the servo motor X workbenches A drives the feedingPlatform fixed plate A provides driving force for the X-direction movement of the left region material conveying platform A and the right region material conveying platform A.

A kind of above-mentioned achievable various IC do not shut down pick device, and the servo motor X workbenches B drives the feedingPlatform fixed plate B provides driving force for the Y-direction movement of the left region material conveying platform B and the right region material conveying platform B.

A kind of above-mentioned achievable various IC do not shut down pick device, the portable IC feed mechanisms A and the movable typeIC feed mechanism B structures are identical and on servo motor X workbenches A, B installing rack base, the servo motor XInclude that base and servo motor X workbenches A, B on the base are installed on workbench A, B installing rack baseFrame.

A kind of above-mentioned achievable various IC do not shut down pick device, and the servo motor X workbenches A includes servomotorAnd leading screw, the servomotor and leading screw drive connection, described leading screw one end is fixedly mounted on the servo motor X on the baseOn workbench A.B installing racks.

A kind of above-mentioned achievable various IC do not shut down pick device, servo motor X workbenches A, B installing rack baseLeading screw mounting groove is offered, one end of the leading screw mounting groove is provided with leading screw locating piece；The portable IC feed mechanisms A andThe bottom of the portable IC feed mechanisms B is provided with drive block, and the female through hole of tool is offered on the drive block；One end of the leading screw through in the through hole, the other end of the leading screw through the axis hole on the leading screw locating piece with it is describedThe clutch end connection of servomotor；The servomotor drives the drive block to install in the leading screw by the leading screwMove back and forth in groove.

A kind of above-mentioned achievable various IC do not shut down pick device, and the IC mechanism for picking includes IC pickup suction nozzles, suction nozzleInstalling plate, drive mechanism and Z axis installing plate, the IC pickups suction nozzle is arranged on the suction nozzle installing plate, the suction nozzle peaceDress plate is arranged in the drive mechanism, and the drive mechanism is arranged on the Z axis installing plate；The drive mechanism includes watchingTake motor, motor mount, shaft coupling, screw mandrel mounting seat, Z axis drive block, feed screw nut's seat, adjusting lever A, extension spring, tuneWhole bar B, guide rail A, guide rail B, limited block and guide rail limited block, the guide rail B and the guide rail limited block are arranged on the Z axisInstalling plate lower end, the guide rail B is arranged on the guide rail limited block top, and the motor mount is installed installed in the Z axisPlate upper end, the servomotor is arranged on the motor mount, and the shaft coupling is arranged on the servomotor lower end, instituteScrew mandrel mounting seat is stated installed in the servomotor lower end, the Z axis drive block is arranged on the screw mandrel mounting seat lower end, describedFeed screw nut's seat is arranged on the Z axis drive block and positioned at the guide rail B tops, and the guide rail A is fixedly mounted on the silkOn stem nut seat, the adjusting lever A is arranged on the suction nozzle installing plate, and the adjusting lever B is arranged on feed screw nut's seatBottom, the two ends of the extension spring are separately mounted on the adjusting lever A and the adjusting lever B, and the limited block is arranged onFeed screw nut's seat top, the suction nozzle installing plate is arranged on the guide rail A；The screw mandrel mounting seat and the motor are pacifiedDress seat is separately mounted on the Z axis installing plate, and the female through hole of tool is offered on the Z axis drive block, and leading screw is passed throughIn the through hole, leading screw is connected with the screw mandrel mounting seat through the axis hole in the leading screw mounting seat with locking nut, screw mandrelOne end is connected with the clutch end of the servomotor with shaft coupling, and the servomotor is done by the Z axis drive blockLower motion.

A kind of above-mentioned achievable various IC do not shut down pick device, and the servo motor XYZ workbenches include floor, put downPlatform switching plate, X connecting plates, X-KK modules, X stage+module plates, Y-KK modules and Y stage installing plate, the IC mechanism for pickingIt is arranged on platform pinboard by the floor, the platform pinboard is arranged on the X connecting plates, the X connecting platesIt is connected with the X-KK modules drive block, the X-KK modules are arranged on the X stage+modules plate, the X stage+modules plateOn the X platforms connecting plate, the X platforms connecting plate is connected with the Y-KK modules drive block, the Y-KK modulesOn the Y stage installing plate, the Y stage installing plate is arranged on the servo motor XYZ workbench installing racks；Leading screw mounting groove is offered on the X-KK modules and Y-KK module screw mandrel mounting blocks, one end of the leading screw mounting groove is arrangedThere is leading screw locating piece, drive block is provided with the X-KK modules and Y-KK modules, offer with interior on the drive blockThe through hole of screw thread；Through in the through hole, the other end of the leading screw is through on the leading screw locating piece for one end of the leading screwAxis hole be connected with the clutch end of the servomotor；The servomotor drives the drive block to exist by the leading screwMove back and forth in the leading screw mounting groove.

Beneficial effects of the present invention are as follows：

One kind of the present invention is capable of achieving various IC does not shut down pick device IC is picked up in the domain of fixed cells and ensure that pickupThe stability and pickup success rate of IC, it is ensured that beeline pickup IC reduces the time of pickup IC, improves device efficiency；Left regionFeeding and right region feeding realize IC of the same race and do not shut down steady production, increase movable type IC feed mechanisms and achieve that kind of IC notShut down steady production；Mechanical mechanism flexibility of the present invention is strong, can be according to live actual production increase in demand feeding module, without the need for increasingPlus a whole set of feed mechanism, relative to domestic and international generic equipment identical function module device various IC feedings modules are realized in oneAchievable various IC of body do not shut down mechanism for picking, improve stabilization of equipment performance, save space.

Description of the drawings

The specific embodiment of the present invention is described in further detail below in conjunction with the accompanying drawings.

Fig. 1 is that the present invention is a kind of is capable of achieving the assembling structure schematic diagram that various IC do not shut down pick device；

Fig. 2 is that the present invention is a kind of is capable of achieving the assembling structure schematic diagram that various IC do not shut down pick device；

Fig. 3 is that the present invention is a kind of is capable of achieving the assembling structure schematic diagram Structure explosion diagram that various IC do not shut down pick device；

Fig. 4 does not shut down IC mechanism for picking assembling structure schematic diagram in pick device for a kind of achievable various IC of the present invention；

Fig. 5 does not shut down XYZ workbenches assembling structure schematic diagram in pick device for a kind of achievable various IC of the present invention.

In figure：1- servo motor X workbench A, 2- servo motor X workbench B, the left region material conveying platform A of 3-, 4- are rightRegion material conveying platform A, 5- material conveying platform fixed plate A, 6-IC pickup suction nozzles, 7- servo motor XYZ workbenches, 8- servo motorsXYZ workbench installing racks, 9- servo motor X workbench A.B installing racks, 10- spring leafs, 11-IC charging tray fixed blocks, 12-IC mechanism for picking, the left region material conveying platform B of 13-IC charging tray A, 14-, the right region material conveying platform B of 15-, 16- material conveying platform fixed platesB, 17-IC charging tray B, 18- servo motor X workbench A, B installing rack bases, 19- servomotors, 20- shaft couplings, 21- screw mandrelsMounting seat, 22- guide rail A, 23- limited blocks, 24- suction nozzle installing plates, 25- motor mounts, 26-Z axle installing plates, 27-Z axles driveBlock, 28- feed screw nut's seat, 29- adjusting lever A, 30- extension springs, 31- adjusting lever B, 32- guide rail B, 33- guide rail limited blocks, 34-Y-KK modules, 35-Y stage+module plates, 36- floors, 37- be arranged on platform pinboard, 38-X connecting plates, 39-X-KK modules,40-X stage+module plates, 41-X platform connecting plates.

Specific embodiment

In order to be illustrated more clearly that the present invention, the present invention is done further with reference to preferred embodiments and drawingsIt is bright.Similar part is indicated with identical reference in accompanying drawing.It will be appreciated by those skilled in the art that below institute is concreteThe content of description is illustrative and be not restrictive, and should not be limited the scope of the invention with this.

As shown in Figures 1 to 5, the one kind in the present embodiment is capable of achieving various IC and does not shut down pick device, including IC pickupsMechanism 13, servo motor XYZ workbenches 7, servo motor XYZ workbenches installing rack 8, feed mechanism and servo motor XWorkbench A, B installing rack base 18, the IC mechanism for picking 13 is arranged on the servo motor XYZ workbenches 7, describedServo motor XYZ workbenches are arranged on the servo motor XYZ workbenches installing rack 8, the servo motor XYZ workPlatform 7 provides the driving force needed for moving on tri- directions of X, Y, Z, the servo motor XYZ works for the IC mechanism for picking 13Make stage+module frame 8 installed in one end top of servo motor X workbenches A, B installing rack base 18, the feed mechanismOn servo motor X workbenches A, B installing rack base 18, the IC mechanism for picking 13 and the feed mechanism phaseMutually use cooperatively；The feed mechanism includes movable type IC feed mechanisms A and movable type IC feed mechanism B, the movable typeIC feed mechanisms A and the portable IC feed mechanisms B include left region material conveying platform and right region material conveying platform.

The portable IC feed mechanisms A includes servo motor X workbench A1, material conveying platform fixed plate A 5, left regionMaterial conveying platform A3, right region material conveying platform A4, IC charging tray fixed block 11 and spring leaf 10, the servo motor X workbench A1On servo motor X workbenches A, B installing rack base 18, the material conveying platform fixed plate A 5 is arranged on described watchingTake on motor X workbench A1, the left region material conveying platform A3 and right region material conveying platform A4 is arranged on the feedingIn platform fixed plate A 5, the IC charging trays fixed block 11 is arranged on the left region material conveying platform A3 and the right region feeding is flatThe side of platform A4, the spring leaf 10 is arranged on the breach of the IC charging trays fixed block 11.

The portable IC feed mechanisms B includes servo motor X workbench B2, material conveying platform fixed plate B16, left regionMaterial conveying platform B14, right region material conveying platform B15, IC charging tray fixed block 11 and spring leaf 10, the servo motor X workbenchesB2 is arranged on servo motor X workbenches A, B installing rack base 18, and material conveying platform fixed plate B16 is arranged on instituteState on servo motor X workbench B2, the left region material conveying platform B14 and right region material conveying platform B15 is arranged on and sendIn material platform fixed plate B16, the IC charging trays fixed block 11 is arranged on the left region material conveying platform B14 and the right region is sentThe side of material platform B15, the spring leaf 10 is arranged on the breach of the IC charging trays fixed block 11.

It is the left region material conveying platform A3 that the servo motor X workbenches A1 drives the material conveying platform fixed plate A 5Driving force is provided with the X-direction movement of the right region material conveying platform A4.

It is the left region material conveying platform that the servo motor X workbenches B2 drives material conveying platform fixed plate B16The Y-direction movement of B14 and the right region material conveying platform B15 provides driving force.

The portable IC feed mechanisms A is identical with the portable IC feed mechanisms B structure and installed in the servo18 on motor X workbench A, B installing rack bases, 18 include base on servo motor X workbenches A, B installing rack baseAnd servo motor X workbench A, B installing rack 9 on the base.

The servo motor X workbenches A1 includes servomotor and leading screw, the servomotor and leading screw drive connection,Described leading screw one end is fixedly mounted on the servo motor X workbench A.B installing racks 9 on the base.

Servo motor X workbenches A, B installing rack base 18 offers leading screw mounting groove, the leading screw mounting grooveOne end is provided with leading screw locating piece；The bottom of the portable IC feed mechanisms A and the portable IC feed mechanisms B is respectively provided withThere is drive block, the female through hole of tool is offered on the drive block；One end of the leading screw is described through in the through holeThe other end of leading screw is connected through the axis hole on the leading screw locating piece with the clutch end of the servomotor；The servoMotor drives the drive block to move back and forth in the leading screw mounting groove by the leading screw.

The IC mechanism for picking includes IC pickup suction nozzles 6, suction nozzle installing plate 24, drive mechanism and Z axis installing plate 26, instituteState IC pickup suction nozzles 6 to be arranged on the suction nozzle installing plate 24, the suction nozzle installing plate 24 is arranged in the drive mechanism, instituteState drive mechanism to be arranged on the Z axis installing plate 26；The drive mechanism includes servomotor 19, motor mount 25, connectionAxle device 20, screw mandrel mounting seat 21, Z axis drive block 27, feed screw nut's seat 28, adjusting lever A29, extension spring 30, adjusting lever B31,Guide rail A22, guide rail B32, limited block 23 and guide rail limited block 33, the guide rail B32 and the guide rail limited block 33 are arranged onThe lower end of Z axis installing plate 26, the guide rail B32 is arranged on the top of guide rail limited block 33, and the motor mount 25 is pacifiedThe upper end of Z axis installing plate 26 is mounted in, the servomotor 19 is arranged on the motor mount 25, and the shaft coupling 20 is pacifiedThe lower end of the servomotor 19 is mounted in, the screw mandrel mounting seat 21 is arranged on the lower end of the servomotor 19, the Z axis drive block27 are arranged on the lower end of screw mandrel mounting seat 21, and feed screw nut's seat 28 is arranged on the Z axis drive block 27 and positioned at instituteGuide rail B32 tops are stated, the guide rail A22 is fixedly mounted on feed screw nut's seat 28, the adjusting lever A29 is arranged on describedOn suction nozzle installing plate 24, the adjusting lever B31 is arranged on the bottom of feed screw nut's seat 28, the two ends point of the extension spring 30An Zhuan not be on the adjusting lever A29 and the adjusting lever B31, the limited block 23 is arranged on feed screw nut's seat 28Portion, the suction nozzle installing plate 24 is arranged on the guide rail A22；The screw mandrel mounting seat 21 and the motor mount 25 are distinguished26 on the Z axis installing plate, the female through hole of tool is offered on the Z axis drive block 27, leading screw passes through describedIn through hole, leading screw is connected with the screw mandrel mounting seat 21 through the axis hole in the leading screw mounting seat 21 with locking nut, screw mandrelOne end is connected with the clutch end shaft coupling 20 of the servomotor 19, and the servomotor 19 is driven by the Z axisBlock 27 moves up and down.

The servo motor XYZ workbenches include floor 36, platform pinboard 37, X connecting plates 38, X-KK modules 39, XStage+module plate 40, Y-KK modules 34 and Y stage installing plate 35, the IC mechanism for picking is arranged on flat by the floor 36On platform switching plate 37, the platform pinboard 37 is arranged on the X connecting plates 38, the X connecting plates 38 and the X-KK mouldsGroup 39 drive blocks connection, the X-KK modules 39 are arranged on the X stage+modules plate 40, and the X stage+modules plate 40 is installedOn the X platforms connecting plate 41, the X platforms connecting plate 41 is connected with the drive block of Y-KK modules 34, the Y-KK mouldsGroup 34 is arranged on the Y stage installing plate 35, and the Y stage installing plate 35 is arranged on the servo motor XYZ workbenchesOn installing rack 8；Leading screw mounting groove, the leading screw mounting groove are offered on the X-KK modules and Y-KK module screw mandrel mounting blocksOne end be provided with leading screw locating piece, drive block is provided with the X-KK modules and Y-KK modules, open on the drive blockIt is provided with the female through hole of tool；Through in the through hole, the other end of the leading screw passes through the silk for one end of the leading screwAxis hole on thick stick locating piece is connected with the clutch end of the servomotor；The servomotor drives institute by the leading screwState drive block to move back and forth in the leading screw mounting groove.

Operation principle of the present invention is：A kind of stable achievable various IC do not shut down mechanism for picking, are picked up using a set of ICMechanism 13, is equipped with one group or two groups (multigroup) movable type IC feed mechanism, and per group of movable type IC feed mechanism has left region to sendMaterial platform and right region material conveying platform, on left region material conveying platform and right region material conveying platform multiple IC charging trays can be all placed；IC mechanism for picking 13 and one group or the left region material conveying platform of two sets mobile IC feed mechanisms and entering for right region material conveying platformFeeding material cooperates and is picked up；When left region material conveying platform feeding, right region material conveying platform is removed from mechanism right side, thisWhen manually can place IC charging trays on right region material conveying platform；When right region feeding, left region material conveying platform is from mechanism left sideRemove, now manually can place IC charging trays on left region material conveying platform；Left and right material conveying platform interaction is carried out, to realize not stoppingMachine feeding, to a kind of IC feedings one group of movable type IC feed mechanism need to be only used, and to two kinds of IC feedings two groups of IC feeders are usedStructure.

Portable IC feed mechanisms include servo motor X workbenches, material conveying platform fixed plate, left region material conveying platform,Right region material conveying platform, 2 IC charging trays fixed blocks and 14 spring leafs, material conveying platform is fixed fixed plate and is worked in servo motor XOn platform, 14 spring leafs are arranged on 2 IC charging tray fixed blocks, and two IC charging tray fixed blocks are separately mounted to left region feedingOn platform and right region material conveying platform, left region material conveying platform and right region material conveying platform are respectively mounted and are fixed on material conveying platform and consolidateThe left and right sides of fixed board, IC charging trays are placed on left region material conveying platform and right region material conveying platform.

Portable IC feed mechanisms when servo motor X workbenches drive feeding, left region material conveying platform and right regionMaterial conveying platform overall can be moved left and right, and the distance of a mobile IC magazine every time；When servo motor driven material conveying platform X toWhen progressively moving to the right, right region material conveying platform can be removed from feed mechanism right side, now can be enterprising in right region material conveying platformPedestrian's work places IC magazines；When on left region material conveying platform all of IC all it is picked finish after, material conveying platform is to phase negative sideTo movement, start to draw the IC on right region material conveying platform, meanwhile, left region material conveying platform can progressively be moved from feed mechanism left sideGo out, manually can place IC charging trays on left region material conveying platform.Left and right material conveying platform interaction is carried out, to realize not shutting down sendingMaterial.

Portable IC feed mechanisms carry out in the X direction step-by-step movement and move left and right by servo motor driven material conveying platform, oftenSecondary movement only feeds the distance of an IC charging tray, hence in so that IC mechanism for picking can pick up an IC (IC charging tray in zonuleScope), it is ensured that IC mechanism for picking move distances are most short, improve pickup velocity；Simultaneously because pickup scope is in an IC charging trayWithin, it is to avoid the excessive problem of difference in height between whole material conveying platform IC and vacuum slot, because pickup area is bigger,The flatness of material conveying platform, deform and assemble it is bad etc. the difference in height between IC can be caused too big, can affect IC pick up intoPower.

Two groups of feed mechanisms are adopted in portable IC feed mechanisms, different model can be placed on two groups of feed mechanismsIC, realizes two kinds of IC pickups and supply；When three kinds of IC are needed, only the 3rd group of movable type IC feed mechanism need to have side by side been placed bothCan；If necessary to a greater variety of IC supplies, continue to increase movable type IC feed mechanisms；Due to per group of movable type IC feed mechanismAll it is independent, and can realizes not shutting down feeding.

IC mechanism for picking includes that the IC pickup suction nozzles 6 being provided with for drawing the vacuum hole of IC are fixed on suction nozzle installing plateOn 24, suction nozzle installing plate 24 is arranged on the slide block of guide rail A22, and guide rail A22 is fixed on feed screw nut's seat 28, and lock has spiral shellThe adjusting lever A29 of nail is arranged on suction nozzle installing plate 23, and the adjusting lever B31 that locking has screw is fixed on feed screw nut's seat 28, is drawnStretch the two ends of spring 30 respectively with adjusting lever A29 on screw and adjusting lever B31 on mode connects for screw, limited block 23 is arranged on silkOn stem nut seat 28, feed screw nut's seat 28 is arranged on Z axis drive block 27 and is arranged on guide rail B32, and guide rail B32 is arranged on ZIn axle installing plate 26, guide rail limited block 33 is arranged on Z axis installing plate 26, screw mandrel mounting seat 21 and horse in the IC mechanism for pickingIt is separately mounted to 26 on Z axis installing plate up to mounting seat 25；The female through hole of tool is offered on Z axis drive block 27, leading screw is wornCross in the through hole, the leading screw is connected with screw mandrel mounting seat 21 through the axis hole in leading screw mounting seat 21 with locking nut,Described screw mandrel one end is connected with the clutch end shaft coupling 20 of servomotor 19；Servomotor 19 is driven by the leading screwDrive block 27 moves up and down

Servo motor XYZ workbenches include X-KK modules 39, Y-KK modules 34, Z workbenches and servo motor XYZ worksMake stage+module frame 8, Z axis installing plate 26 is arranged on platform pinboard 37 by floor 36, and platform pinboard 37 connects installed in XOn fishplate bar 38, X connecting plates 38 are connected with the drive block of X-KK modules 39, and X-KK modules 39 are arranged on X stage+modules plate 40, and X puts downPlatform installing plate 40 is arranged on X platforms connecting plate 41, and X platforms connecting plate 41 is connected with the drive block of Y-KK modules 34, Y-KK modules34 be arranged on Y stage installing plate 35 on, the two ends of Y stage installing plate 35 respectively with two servo motor XYZ workbenches installing racks 8Connection, servo motor XYZ workbenches installing rack 8 is arranged on IC mechanism for picking on equipment, the X-KK modules 39 and Y-KKLeading screw mounting groove is offered on screw mandrel mounting blocks in module 34, one end of the leading screw mounting groove is provided with leading screw positioningBlock；Drive block is provided with the X-KK modules 39 and Y-KK modules 34, tool is offered on the drive block femaleThrough hole；Through in the through hole, the other end of the leading screw is through the axis hole on the leading screw locating piece for one end of the leading screwIt is connected with the clutch end of the servomotor；The servomotor drives the drive block in the silk by the leading screwMove back and forth in thick stick mounting groove.

As shown in Figures 1 to 5, the one kind in the present embodiment is capable of achieving various IC and does not shut down pick device to carry out feeding to ICWhen, fix after IC charging trays on the left region material conveying platform A3 or right regions material conveying platform A4 of IC feed mechanism A, by servo motor XWorkbench A1 drives left region material conveying platform A3 or right regions material conveying platform A4 first rows IC to feeding pickup point A；IC is picked upMechanism 12 is in servo motor XYZ workbenches 7 by being moved linearly to above IC feeding pickup point A, in servo horse in Y-directionWhen 1mm locates directly over first IC for dropping on feeding pickup point up to the movement of the Z-direction of XYZ workbenches 7, pick up in ICSuction nozzle 6 starts to be picked up first IC of first row in the presence of vacuum；IC mechanism for picking 12 works in servo motor XYZRise under driving in the Z-direction of platform 7 and complete IC pickups with the unloading position that moves to driven in Y-direction；IC mechanism for picking 7Second IC of feeding pickup point A is moved in the driving in the Y direction of servo motor XYZ workbenches 7 from unloading position just to go upStart to be picked up second IC at square 1mm；After first row IC has been picked up in IC charging trays, in servo motor X workbenchesSecondary series IC on the driving bottom left region material conveying platform A3 or right regions material conveying platform A4 of A1 moves to IC pickup point A, and IC is picked upTake mechanism 12 start to secondary series IC pick up, be so recycled to left region material conveying platform A3 or right regions material conveying platform A4 lastRow IC has been picked up.

Right region material conveying platform A4 drives feeding in servo motor X workbenches A1 to the IC on left region material conveying platform A3When remove from right side, now right region material conveying platform A4 feedings or operation of reloading and can not be affected without shutting downFeedings of the left region material conveying platform A3 to IC；After IC mechanism for picking 14 has picked up the IC on left region material conveying platform A3, servoMotor X workbenches A1 drives material conveying platform, the first row IC on the right region material conveying platform A4 that IC has been changed is driven and is movedMove to feeding pickup point, IC mechanism for picking 14 starts to begin to pick up the IC on right region material conveying platform A4, and now left region is sentMaterial platform 3 drives material conveying platform to remove from left side when moving in servo motor X workbenches A1, now can be without shutting downOperation of reloading is carried out to left region material conveying platform A3, and does not affect feedings of the right region material conveying platform A4 to IC.

When carrying out feeding to two kinds of IC, respectively on feed mechanism A and feed mechanism B the solid charging trays of IC determine block 11 tighten up a screw byU-shaped hole is fixed, and coordinates left region material conveying platform A3 and right region material conveying platform A4, left region material conveying platform B14 and right region to sendThe installing hole of diverse location is adjusted to correct position and fixed to IC charging tray A13 and IC charging tray B17 on material platform B15.Servo horseDriving force is provided up to X workbenches A1, allows first row IC on left region material conveying platform A3 or right regions material conveying platform A4 to be moved toFeeding pickup point A, servo motor X workbenches B2 provide driving force, allow left region material conveying platform B14 or right regions material conveying platformFirst row IC on B15 is moved to the pickup point B of feeding, and IC mechanism for picking 12 passes through Y side in servo motor XYZ workbenches 7First IC pros for being moved linearly to IC feedings to feeding pickup point A upwards, in the Z side of servo motor XYZ workbenches 7To movement drop to first IC of feeding pickup point A tops 1mm and locate when, pick up suction nozzle 6 in IC and start in the presence of vacuumFirst IC of feed mechanism A first rows is picked up；IC mechanism for picking 12 is in the Z-direction of servo motor XYZ workbenches 7Driving under rise and Y-direction on drive move to the pickup that unloading position completes the first IC；IC mechanism for picking 7 is in servoThe driving in the Y direction of motor XYZ workbenches 7 is moved to directly over first IC of feeding pickup point B from unloading position, is being watchedWhen the movement for taking the Z-direction of motor XYZ workbenches 7 drops to first IC tops 1mm of feeding pickup point B, inhale in IC pickupsMouth 6 starts to be picked up first IC of feed mechanism B first rows in the presence of vacuum；IC mechanism for picking 12 is in servo motorRise under driving in the Z-direction of XYZ workbenches 7 and Y-direction on drive and be moved to unloading position and complete picking up for second ICTake.IC mechanism for picking 7 is moved to feeding pickup point in the driving in the Y direction of servo motor XYZ workbenches 7 from unloading positionAfter the completion of starting that the first IC second is picked up and is discharged directly over second IC of A, IC mechanism for picking 7 is in servo motorThe driving in the Y direction of XYZ workbenches 7 is moved to directly over second IC of feeding pickup point B from unloading position and starts to theTwo kinds of IC second are picked up and discharge.First row IC, a left side on left region material conveying platform A3 and right region material conveying platform A4First row IC on region material conveying platform B14 and right region material conveying platform B15 has picked up rear, servo motor X workbench A1Driving force is provided, the secondary series IC allowed on left region material conveying platform A3 or right regions material conveying platform A4 is moved to feeding pickup point A,Servo motor X workbenches B2 provides driving force, second allowed on left region material conveying platform B14 or right regions material conveying platform B15Arrange IC and be moved to the pickup point B of feeding, and repeat the picking action of first row and arrange IC to last.

During powered motions of the servo motor X workbenches A1 to feeding, left region material conveying platform A3 or right regionsMaterial conveying platform A4 can be removed gradually from below mechanism for picking 14, in powered motions of the servo motor X workbenches B2 to feedingCheng Zhong, left region material conveying platform B14 or right regions material conveying platform B15 can be removed gradually from below mechanism for picking 14, now, notWe can send to the first IC on left region material conveying platform A3 or right regions material conveying platform A4, left region in the case of shutdownSecond IC on material platform B14 or right region material conveying platform B15 carries out operation of reloading.After last row IC has been picked upStart to be picked up the IC of counter area, accomplish that various IC do not shut down production with this.

Material conveying platform adopts left and right regions both direction feeding, left region material conveying platform A3 and left region in the present embodimentRight region material conveying platform A4 and right region material conveying platform B15 is removed from feed mechanism right side during material conveying platform B14 feedings, right regionLeft region material conveying platform A3 and left region material conveying platform B14 feeders when material conveying platform A4 and right region material conveying platform B15 feedingsStructure left side removes, and can ensure that fracture is not continuously given birth to the side material conveying platform replacing material for removing in the case of non-stop-machineProduce, IC feedings and reloading are independent of each other.

Using mobile feeding feeding, servo motor X workbenches drive and move feed mechanism to each column IC in the present embodimentFeeding, allowing mechanism for picking 12 to be fixed in zonule and just can pick up IC without the need for moving on a large scale, and pick up height freely to be arranged,There is no the excessive difference led on the height of caused IC faces of pickup scope, IC mechanism for picking can stably be picked up to IC, can guarantee that ICMechanism for picking pickup IC move distances are most short, reduce the time required for pickup IC, improve pickup efficiency.

There are the installing hole of the IC charging trays fixed block 11 of diverse location, IC in the present embodiment on each left and right region delivery sheetInstalling hole on charging tray fixed block 11 be U-shaped hole, select left and right region delivery sheet on diverse location installing hole and coordinate IC to expectU-shaped hole on disk fixed block 11, the flexible fastening of the spring leaf 10 by installing on IC charging tray fixed blocks, is suitable for of different sizesIC charging trays.

Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not rightThe restriction of embodiments of the present invention, for those of ordinary skill in the field, may be used also on the basis of the above descriptionTo make other changes in different forms, all of embodiment cannot be exhaustive here, it is every to belong to thisObvious change that bright technical scheme is extended out changes row still in protection scope of the present invention.

Claims (10)

1. a kind of achievable various IC do not shut down pick device, it is characterised in that including IC mechanism for picking (13), servo motorXYZ workbenches (7), servo motor XYZ workbench installing racks (8), feed mechanism and servo motor X workbench A, BInstalling rack base (18), the IC mechanism for picking (13) on the servo motor XYZ workbenches (7), the servoMotor XYZ workbenches are arranged on the servo motor XYZ workbench installing racks (8), and the servo motor XYZ work is flatPlatform (7) provides the driving force needed for moving on tri- directions of X, Y, Z, the servo motor XYZ for the IC mechanism for picking (13)Workbench installing rack (8) is described to send installed in servo motor X workbenches A, B installing rack base (18) one end topMaterial mechanism be arranged on servo motor X workbenches A, B installing rack base (18) on, the IC mechanism for picking (13) with it is describedFeed mechanism is used in conjunction with each other；The feed mechanism includes movable type IC feed mechanisms A and movable type IC feed mechanism B,The portable IC feed mechanisms A and the portable IC feed mechanisms B include left region material conveying platform and right region feedingPlatform.

2. a kind of achievable various IC according to claim 1 do not shut down pick device, it is characterised in that the movable typeIC feed mechanisms A includes servo motor X workbench A (1), material conveying platform fixed plate A (5), left region material conveying platform A (3), the right sideRegion material conveying platform A (4), IC charging tray fixed blocks (11) and spring leaf (10), the servo motor X workbench A (1) are arranged onOn servo motor X workbenches A, B installing rack base (18), the material conveying platform fixed plate A (5) is installed in the servoOn motor X workbench A (1), the left region material conveying platform A (3) and the right region material conveying platform A (4) are installed in describedIn material conveying platform fixed plate A (5), the IC charging trays fixed block (11) is installed in the left region material conveying platform A (3) and the right sideThe side in region material conveying platform A (4), the spring leaf (10) is on the breach of the IC charging trays fixed block (11).

3. a kind of achievable various IC according to claim 1 do not shut down pick device, it is characterised in that the movable typeIC feed mechanisms B include servo motor X workbench B (2), material conveying platform fixed plate B (16), left region material conveying platform B (14),Right region material conveying platform B (15), IC charging tray fixed blocks (11) and spring leaf (10), servo motor X workbench B (2) peaceIt is mounted on servo motor X workbenches A, B installing rack base (18), material conveying platform fixed plate B (16) is installed in instituteState on servo motor X workbench B (2), the left region material conveying platform B (14) and the right region material conveying platform B (15) are pacifiedBe mounted in material conveying platform fixed plate B (16), the IC charging trays fixed block (11) installed in the left region material conveying platform B (14) andThe side of the right region material conveying platform B (15), breach of the spring leaf (10) installed in the IC charging trays fixed block (11)On.

4. a kind of achievable various IC according to claim 2 do not shut down pick device, it is characterised in that the servo horseIt is the left region material conveying platform A (3) and the right region to drive the material conveying platform fixed plate A (5) up to X workbench A (1)The X-direction movement of material conveying platform A (4) provides driving force.

5. it is capable of achieving various IC according to the one kind described in claim 3 and does not shut down pick device, it is characterised in that the servo motorIt is the left region material conveying platform B (14) and the right region that X workbench B (2) drives material conveying platform fixed plate B (16)The Y-direction movement of material conveying platform B (15) provides driving force.

6. a kind of achievable various IC according to claim 1 do not shut down pick device, it is characterised in that the movable typeIC feed mechanisms A is identical with the portable IC feed mechanisms B structure and pacifies installed in described servo motor X workbenches A, BShelve (18) on base, (18) are including base and installed in described on servo motor X workbenches A, B installing rack baseServo motor X workbenches A, B installing rack (9) on base.

7. a kind of achievable various IC according to claim 2 do not shut down pick device, it is characterised in that the servo horseUp to X workbench A (1) including servomotor and leading screw, the servomotor and leading screw drive connection, described leading screw one end is fixedOn servo motor X workbenches A.B installing racks (9) on the base.

8. a kind of achievable various IC according to claim 1 do not shut down pick device, it is characterised in that the servo horseLeading screw mounting groove is offered up to X workbenches A, B installing rack base (18), one end of the leading screw mounting groove is provided with leading screw and determinesPosition block；The bottom of the portable IC feed mechanisms A and the portable IC feed mechanisms B is provided with drive block, the driveThe female through hole of tool is offered on motion block；Through in the through hole, the other end of the leading screw is worn for one end of the leading screwThe axis hole crossed on the leading screw locating piece is connected with the clutch end of the servomotor；The servomotor passes through the silkThick stick drives the drive block to move back and forth in the leading screw mounting groove.

9. a kind of achievable various IC according to claim 1 do not shut down pick device, it is characterised in that the IC pickupsMechanism includes IC pickups suction nozzle (6), suction nozzle installing plate (24), drive mechanism and Z axis installing plate (26), and the IC picks up suction nozzle(6) on the suction nozzle installing plate (24), the suction nozzle installing plate (24) in the drive mechanism, the drivingMechanism is arranged on the Z axis installing plate (26)；The drive mechanism includes servomotor (19), motor mount (25), connectionAxle device (20), screw mandrel mounting seat (21), Z axis drive block (27), feed screw nut's seat (28), adjusting lever A (29), extension spring(30), adjusting lever B (31), guide rail A (22), guide rail B (32), limited block (23) and guide rail limited block (33), the guide rail B(32) and the guide rail limited block (33) is installed in Z axis installing plate (26) lower end, the guide rail B (32) is led installed in describedRail limited block (33) top, the motor mount (25) is installed in Z axis installing plate (26) upper end, the servomotor(19) on the motor mount (25), the shaft coupling (20) is described installed in the servomotor (19) lower endScrew mandrel mounting seat (21) is installed installed in the servomotor (19) lower end, the Z axis drive block (27) installed in the screw mandrelSeat (21) lower end, feed screw nut's seat (28) is on the Z axis drive block (27) and on the guide rail B (32)Portion, the guide rail A (22) is fixedly mounted on feed screw nut's seat (28), and the adjusting lever A (29) is installed in the suction nozzleOn installing plate (24), the adjusting lever B (31) installed in feed screw nut's seat (28) bottom, the two of the extension spring (30)End is separately mounted on the adjusting lever A (29) and the adjusting lever B (31), and the limited block (23) is installed in the screw mandrel spiral shellFemale seat (28) top, the suction nozzle installing plate (24) is on the guide rail A (22)；The screw mandrel mounting seat (21) and describedMotor mount (25) is separately mounted on the Z axis installing plate (26), is offered with interior spiral shell on the Z axis drive block (27)The through hole of line, leading screw through in the through hole, through the axis hole on the leading screw mounting seat (21) with the screw mandrel install by leading screwSeat (21) is connected with locking nut, and screw mandrel one end is connected with the clutch end shaft coupling (20) of the servomotor (19),The servomotor (19) is moved up and down by the Z axis drive block (27).

10. a kind of achievable various IC according to claim 11 do not shut down pick device, it is characterised in that the servoMotor XYZ workbenches include floor (36), platform pinboard (37), X connecting plates (38), X-KK modules (39), X stage+modulesPlate (40), Y-KK modules (34) and Y stage installing plate (35), the IC mechanism for picking is by the floor (36) installed in flatOn platform switching plate (37), the platform pinboard (37) on the X connecting plates (38), the X connecting plates (38) and instituteThe connection of X-KK modules (39) drive block is stated, on the X stage+modules plate (40), the X puts down the X-KK modules (39)Platform installing plate (40) on the X platforms connecting plate (41), the X platforms connecting plate (41) and the Y-KK modules (34)Drive block connects, and the Y-KK modules (34) on the Y stage installing plate (35), pacify by the Y stage installing plate (35)It is mounted on the servo motor XYZ workbench installing racks (8).