阅读说明：本技术 一种视觉芯片面板工业机器人摆放成套装置 (Complete set of device is put to vision chip panel industrial robot ) 是由 连加郁 于 2019-10-14 设计创作，主要内容包括：本发明属于芯片加工设备技术领域,具体涉及一种视觉芯片面板工业机器人摆放成套装置,包括工作台,工作台上并排设置两个用于传送托盘的传送带组件,传送带组件的两端分别设置托盘下放组件和托盘累叠组件,工作台上还设置两个位于传送带组件中部的托盘抬升组件、芯片上料机械手和芯片视觉检测装置,芯片上料机械手和芯片视觉检测装置的位置分别与两个托盘抬升组件的位置相对应。本发明通过设置传送带组件、托盘下放组件、托盘累叠组件、托盘抬升组件、芯片上料机械手及芯片视觉检测装置等结构,实现了芯片的半自动摆放和检测,大大提高工作效率。(The invention belongs to the technical field of chip processing equipment, and particularly relates to a complete set of visual chip panel industrial robot arrangement device which comprises a workbench, wherein two conveyor belt assemblies for conveying trays are arranged on the workbench side by side, tray lowering assemblies and tray stacking assemblies are respectively arranged at two ends of each conveyor belt assembly, two tray lifting assemblies, a chip loading manipulator and a chip visual detection device are further arranged on the workbench and positioned in the middle of each conveyor belt assembly, and the positions of the chip loading manipulator and the chip visual detection device respectively correspond to the positions of the two tray lifting assemblies. According to the invention, by arranging the structures such as the conveyor belt assembly, the tray lowering assembly, the tray stacking assembly, the tray lifting assembly, the chip loading manipulator and the chip visual detection device, semi-automatic chip placement and detection are realized, and the working efficiency is greatly improved.)

1. A complete set of visual chip panel industrial robot placement devices is characterized by comprising a workbench, wherein two conveyor belt assemblies for conveying trays are arranged on the workbench side by side, tray lowering assemblies and tray stacking assemblies are respectively arranged at two ends of each conveyor belt assembly, two tray lifting assemblies, a chip loading manipulator and a chip visual detection device are respectively arranged on the workbench and are respectively positioned in the middle of the two conveyor belt assemblies, and the positions of the chip loading manipulator and the chip visual detection device respectively correspond to the positions of the two tray lifting assemblies;

the conveying belt assembly comprises a conveying belt frame, two conveying belts arranged on the conveying belt frame and a conveying belt driving device for driving the conveying belts to move;

the tray lowering assembly comprises a first tray placing frame for placing a tray, a first tray supporting mechanism positioned between the two conveyor belts and two groups of tray side clamping mechanisms fixedly connected to the two sides of the conveyor belt frame respectively;

the tray stacking assembly comprises a second tray placing frame used for placing trays, a second tray supporting mechanism located between the two conveyor belts and two sets of tray side supporting mechanisms fixedly connected to the two sides of the conveyor belt frame respectively.

2. The vision chip panel industrial robot placement kit as claimed in claim 1, wherein said first pallet support mechanism includes a first cylinder and a first pallet cooperatively connected to the first cylinder.

3. The vision chip panel industrial robot placement kit as claimed in claim 2, wherein the first tray supporting mechanism further comprises a second cylinder cooperatively connected with the first cylinder, the second cylinder being located at a lower end of the first cylinder for lifting the first cylinder.

4. The vision chip panel industrial robot placement kit as claimed in any one of claims 1-3, wherein the tray-side clamping mechanism comprises a tray-side clamping base fixedly connected to both sides of the conveyor frame, a third cylinder fixedly connected to the tray-side clamping base, and a clamping plate cooperatively connected with the third cylinder.

5. The vision chip panel industrial robot placement kit as claimed in claim 1, wherein said second tray support mechanism comprises a fifth cylinder and a second tray support plate cooperatively connected to the fifth cylinder.

6. The vision chip panel industrial robot placing complete device as claimed in claim 1 or 5, wherein the tray side supporting mechanism comprises a swing block support and a swing block fixedly connected to the conveyor belt frame, the rear end of the swing block is rotatably connected with the swing block support, the rear end surface of the swing block is provided with a vertical plane and an arc surface, the arc surface is located at the upper end of the vertical plane, the vertical plane is close to the swing block support, and the front end of the swing block is provided with a wedge-shaped structure.

7. The vision chip panel industrial robot placement kit as claimed in claim 1, wherein the tray lifting assembly comprises a tray lifting base fixedly connected to the worktable, a sixth cylinder fixedly connected to one end of the tray lifting base, a lifting baffle cooperatively connected with the sixth cylinder, a seventh cylinder fixedly connected to the tray lifting base, and a third tray supporting plate cooperatively connected with the seventh cylinder.

8. The vision chip panel industrial robot placement kit as claimed in claim 7, wherein the tray lifting assembly further comprises a plurality of posts fixedly connected to the tray lifting base, a middle plate fixedly connected to the posts, and a plurality of sliding sleeves disposed on the middle plate, and the bottom of the third tray plate is fixedly connected to a plurality of guide posts slidably connected to the sliding sleeves.

9. The complete set of visual chip panel industrial robot placement device according to claim 1, wherein the chip feeding manipulator comprises a feeding manipulator mounting base, a first swing arm rotatably connected to the feeding manipulator mounting base, a second swing arm rotatably connected to the first swing arm, a rotating mechanism arranged on the second swing arm, a suction cup fixing shaft rotatably connected to the second swing arm, a suction cup support fixedly connected to a lower end of the suction cup fixing shaft, a set of seventh air cylinders arranged on the suction cup support, a suction cup fixing seat cooperatively connected with the seventh air cylinders, and a chip suction cup arranged on the suction cup fixing seat, wherein the rotating mechanism is in transmission connection with the suction cup fixing shaft and can drive the suction cup fixing shaft to rotate.

10. The vision chip panel industrial robot placement kit as claimed in claim 1, wherein said chip vision inspection device comprises a vision inspection support and an industrial camera mounted on the vision inspection support.

Technical Field

The invention belongs to the technical field of chip processing equipment, and particularly relates to a complete set of visual chip panel industrial robot placement device.

Background

Generally speaking, because the size of a chip is small, the chip needs to be put on a tray uniformly, then the chip on the tray is checked through human eyes and some detection tools, whether the size and the shape of the chip are qualified or not is checked, a mature visual detection device is already available on the market at present, the chip is photographed through an industrial camera, then the picture is transmitted to a control system, and a visual detection module in the control system analyzes the picture so as to remove the unqualified chip.

Disclosure of Invention

In order to make up the defects of the prior art, the invention provides a technical scheme of a complete set of visual chip panel industrial robot placing device.

The complete set of visual chip panel industrial robot placement device is characterized by comprising a workbench, wherein two conveyor belt assemblies for conveying trays are arranged on the workbench side by side, tray lowering assemblies and tray stacking assemblies are respectively arranged at two ends of each conveyor belt assembly, two tray lifting assemblies, a chip loading manipulator and a chip visual detection device are respectively arranged on the workbench and are respectively positioned in the middle of the two conveyor belt assemblies, and the positions of the chip loading manipulator and the chip visual detection device respectively correspond to the positions of the two tray lifting assemblies;

the conveying belt assembly comprises a conveying belt frame, two conveying belts arranged on the conveying belt frame and a conveying belt driving device for driving the conveying belts to move;

the tray lowering assembly comprises a first tray placing frame for placing a tray, a first tray supporting mechanism positioned between the two conveyor belts and two groups of tray side clamping mechanisms fixedly connected to the two sides of the conveyor belt frame respectively;

the tray stacking assembly comprises a second tray placing frame used for placing trays, a second tray supporting mechanism located between the two conveyor belts and two sets of tray side supporting mechanisms fixedly connected to the two sides of the conveyor belt frame respectively.

The complete set of visual chip panel industrial robot placing device is characterized in that the first tray supporting mechanism comprises a first air cylinder and a first tray supporting plate connected with the first air cylinder in a matched mode.

The vision chip panel industrial robot placing complete device is characterized in that the first tray supporting mechanism further comprises a second air cylinder connected with the first air cylinder in a matched mode, and the second air cylinder is located at the lower end of the first air cylinder and used for lifting the first air cylinder.

The vision chip panel industrial robot placing complete device is characterized in that the tray side clamping mechanism comprises a tray side clamping base fixedly connected to two sides of the conveyor belt frame, a third air cylinder fixedly connected to the tray side clamping base, and a clamping plate connected with the third air cylinder in a matched mode.

The vision chip panel industrial robot placing complete device is characterized in that the second tray supporting mechanism comprises a fifth cylinder and a second tray supporting plate connected with the fifth cylinder in a matched mode.

A vision chip panel industrial robot put integrated equipment, its characterized in that tray side supporting mechanism includes fixed connection in the pendulum block support and the pendulum block of conveyer belt frame, the rear end and the pendulum block support rotation of pendulum block are connected, the rear end surface of pendulum block has vertical plane and arc surface, the arc surface is located vertical planar upper end, vertical plane is pressed close to with the pendulum block support, the front end of pendulum block sets up the wedge structure.

The utility model provides a vision chip panel industrial robot put integrated equipment, its characterized in that tray lifting subassembly includes fixed connection in the tray lifting base of workstation, fixed connection in the sixth cylinder of tray lifting base one end, the lift baffle of being connected with the cooperation of sixth cylinder, fixed connection in the seventh cylinder of tray lifting base and the third tray layer board of being connected with the cooperation of seventh cylinder.

The utility model provides a complete sets is put to vision chip panel industrial robot, its characterized in that tray lifting subassembly still includes a plurality of fixed connection in the stand of tray lifting base, fixed connection in the intermediate lamella on the stand and a plurality of sliding sleeves that set up in the intermediate lamella, the bottom fixed connection of third tray layer board a plurality of and sliding sleeve sliding connection's guide post.

A complete sets is put to vision chip panel industrial robot, a serial communication port chip material loading manipulator includes material loading manipulator mount pad, rotate the first swing arm of connecting in material loading manipulator mount pad, rotate the second swing arm of connecting in first swing arm, set up in the slewing mechanism of second swing arm, rotate the sucking disc fixed axle of connecting in the second swing arm, fixed connection is in the sucking disc support of sucking disc fixed axle lower extreme, a set of seventh cylinder that sets up in the sucking disc support, the sucking disc fixing base of being connected with the cooperation of seventh cylinder and set up in the chip sucking disc of sucking disc fixing base, slewing mechanism is connected and can drive the rotation of sucking disc fixed axle with the transmission of sucking disc fixed axle.

The complete set of visual chip panel industrial robot placement device is characterized by comprising a visual detection support and an industrial camera arranged on the visual detection support.

The invention has the beneficial effects that: according to the invention, by arranging the structures such as the conveyor belt assembly, the tray lowering assembly, the tray stacking assembly, the tray lifting assembly, the chip loading manipulator and the chip visual detection device, semi-automatic chip placement and detection are realized, and the working efficiency is greatly improved.

Drawings

FIG. 1 is a schematic view of the present invention in a configuration in which the housing is mounted;

FIG. 2 is a schematic view of the present invention;

FIG. 3 is a second schematic structural diagram of the present invention;

FIG. 4 is a schematic view of a connecting structure of the conveyor belt mechanism, the tray lowering assembly, the tray stacking assembly and the tray lifting assembly according to the present invention;

FIG. 5 is a schematic view of the tray lowering assembly of the present invention;

FIG. 6 is a schematic view of a structure of a pallet side clamping mechanism according to the present invention;

FIG. 7 is a second structural view of a pallet side clamping mechanism according to the present invention;

FIG. 8 is a schematic view of a tray stacking assembly according to the present invention;

FIG. 9 is a schematic structural view of a tray-side supporting mechanism according to the present invention;

FIG. 10 is a sectional view showing a structure of a tray side supporting mechanism in the present invention;

FIG. 11 is a schematic view of the tray lift assembly of the present invention;

FIG. 12 is a schematic view of a chip loading robot according to the present invention;

fig. 13 is a schematic structural diagram of a chip visual inspection device in the present invention.

In the figure: a workbench 1, a pallet 2, a conveyor belt component 3, a conveyor belt frame 300, a drive conveyor belt 301, a conveyor belt driving device 302, a pallet lowering component 4, a first pallet supporting mechanism 400, a first air cylinder 4000, a first pallet supporting plate 4001, a second air cylinder 4002, a pallet side clamping mechanism 401, a pallet side clamping base 4010, a third air cylinder 4011, a pallet side clamping support 4012, a fourth air cylinder 4013, a clamping plate 4014, a first pallet placing frame 402, a pallet stacking component 5, a second pallet supporting mechanism 500, a fifth air cylinder 5000, a second pallet supporting plate 5001, a pallet side supporting mechanism 501, a pendulum block support 5010, a pendulum block 5011, a vertical plane 50110, an arc surface 50111, a wedge structure 50112, a second pallet placing frame 502, a pallet lifting component 6, a pallet lifting base 600, a sixth air cylinder 601, a lifting baffle 602, a seventh air cylinder 604, a third pallet supporting plate 604, a column 605, an intermediate plate 606, an intermediate plate 605, The device comprises a sliding sleeve 607, a guide post 608, a chip loading manipulator 7, a loading manipulator mounting seat 700, a first motor 701, a first swing arm 702, a second motor 703, a second swing arm 704, a rotating mechanism 705, a sucker fixing shaft 706, a sucker support 707, a seventh air cylinder 708, a sucker fixing seat 709, a chip sucker 7010, a chip visual detection device 8, a visual detection support 800, an industrial camera 801 and a housing 9.

Detailed Description

The invention will be further explained with reference to the drawings.

As shown in fig. 1-13, a complete set of visual chip panel industrial robot placement device comprises a workbench 1, two conveyor belt assemblies 3 for conveying trays 2 are arranged on the workbench 1 side by side, tray lowering assemblies 4 and tray stacking assemblies 5 are respectively arranged at two ends of the conveyor belt assemblies 3, two tray lifting assemblies 6, a chip feeding manipulator 7 and a chip visual detection device 8 are further arranged on the workbench 1 and are respectively located in the middle of the two conveyor belt assemblies 3, and the positions of the chip feeding manipulator 7 and the chip visual detection device 8 correspond to the positions of the two tray lifting assemblies 6 respectively.

The conveyor belt assembly 3 is a well-known technology, and includes a conveyor belt frame 300, two conveyor belts 301 disposed on the conveyor belt frame 300, and a conveyor belt driving device 302 for driving the conveyor belts 301 to move, where the conveyor belt driving device 302 includes a motor, a pulley, and the like, and the motor drives a driving wheel of the conveyor belt to rotate through the pulley.

The tray lowering assembly 4 comprises a first tray placing frame 402 for placing the tray 2, a first tray supporting mechanism 400 positioned between the two conveyor belts 301, and two sets of tray side clamping mechanisms 401 fixedly connected to the two sides of the conveyor belt frame 300 respectively. The first tray placing frame 402 is four right-angle plates fixedly connected to the conveyor belt frame 300, and the four right-angle plates enclose a placing cavity corresponding to the shape of the tray 2.

The first tray supporting mechanism 400 comprises a first air cylinder 4000, a first tray supporting plate 4001 connected with the first air cylinder 4000 in a matched mode, and a second air cylinder 4002 connected with the first air cylinder 4000 in a matched mode, wherein the second air cylinder 4002 is located at the lower end of the first air cylinder 4000 and used for lifting the first air cylinder 4000. Specifically, the equal vertical setting of two cylinders, second cylinder 4002's the cylinder body and first cylinder 4000's cylinder body fixed connection, second cylinder 4002's cylinder shaft fixed support down on a bottom plate, this bottom plate is through a one side fixed connection in conveyer frame 300 lower extreme, a plurality of guide bars of sliding connection still on this bottom plate, the top and the first tray layer board 4001 fixed connection of guide bar make first tray layer board 4001 go up and down more steadily. The supporting force of the linkage cylinder group consisting of the first cylinder 4000 and the second cylinder 4001 is larger.

Tray side clamping mechanism 401 includes that fixed connection presss from both sides tight base 4010 in the tray side of conveyer belt frame 300 both sides, horizontal fixed connection presss from both sides tight base 4010's third cylinder 4011 in tray side, horizontal sliding connection presss from both sides tight support 4012 in the tray side of tight base 4010 in tray side, vertical fixed connection presss from both sides tight support 4012's fourth cylinder 4013 in tray side, the clamp plate 4014 of being connected with fourth cylinder 4013 cooperation, third cylinder 4011 is connected with tray side clamp support 4012 cooperation, clamp plate 4014 is located fourth cylinder 4013's lower extreme. The provision of the fourth cylinder 4013 enables the mechanism to accommodate pallets 2 of different thicknesses.

The tray stacking assembly 5 comprises a second tray placing frame 502 for placing the tray 2, a second tray supporting mechanism 500 positioned between the two conveyor belts 301, and two sets of tray side supporting mechanisms 501 fixedly connected to two sides of the conveyor belt frame 300 respectively. The second tray placing frame 502 is four right-angle plates fixedly connected to the conveyor belt frame 300, and the four right-angle plates enclose a placing cavity corresponding to the shape of the tray 2.

The second tray supporting mechanism 500 comprises a vertically arranged fifth cylinder 5000 and a second tray supporting plate 5001 connected with the fifth cylinder 5000 in a matched mode, and the fifth cylinder 5000 drives the second tray supporting plate 5001 to vertically lift. Specifically, the bottom end of the fifth cylinder 5000 is fixedly supported on a bottom plate, and the bottom plate is fixedly connected with the conveyor belt frame 300 through a side plate

The tray side supporting mechanism 501 comprises a swing block support 5010 and a swing block 5011 which are fixedly connected to the conveyor belt frame 300, the rear end of the swing block 5011 is rotatably connected with the swing block support 5010, a vertical plane 50110 and an arc surface 50111 are arranged on the surface of the rear end of the swing block 5011, the arc surface 50111 is located at the upper end of the vertical plane 50110, the vertical plane 50110 is close to the swing block support 5010, a wedge-shaped structure 50112 is arranged at the front end of the swing block 5011, the upper surface of the wedge-shaped structure 50112 is a horizontal plane for supporting the tray 2, and the lower surface of the wedge-shaped structure 50112 is an inclined plane for facilitating the tray 2 to pass through. When the tray 2 passes through the swing block 5011 upwards, the upper part of the rear end of the swing block 5011 tends to rotate outwards, and the part is just provided with the arc face 50111, so that the swing block 5011 cannot interfere with the swing block bracket 5010, the swing block 5011 smoothly rotates upwards, the tray 2 smoothly passes through the swing block 5011, and then the swing block 5011 resets, and because the lower part of the rear end of the swing block is a vertical plane 50110 close to the swing block bracket 5010, the tray 2 can be supported on the swing block 5011, and the swing block 5011 cannot swing downwards, so that the tray 2 falls off.

Tray lifting subassembly 6 includes fixed connection in tray lifting base 600 of workstation 1, fixed connection in the sixth cylinder 601 of tray lifting base 600 one end, the lift baffle 602 of being connected with the cooperation of sixth cylinder 601, fixed connection in the seventh cylinder 603 of tray lifting base 600 and the third tray layer board 604 of being connected with the cooperation of seventh cylinder 603, the equal vertical setting of sixth cylinder 601 and seventh cylinder 603. In addition, the tray lifting assembly 6 further includes a plurality of columns 605 fixedly connected to the tray lifting base 600, a middle plate 606 fixedly connected to the columns 605, and a plurality of sliding sleeves 607 disposed on the middle plate 606, and a plurality of guide posts 608 slidably connected to the sliding sleeves 607 are fixedly connected to the bottom of the third tray supporting plate 604.

The chip feeding mechanical arm 7 is divided into two parts, one part is a conventional mechanical arm structure consisting of a first swing arm 702 and a second swing arm 704, the mechanical arm structure is widely applied to the field of robots, the other part is a sucker fixing shaft 706, a sucker support 707, a seventh air cylinder 708, a sucker fixing seat 709 and a sucker component consisting of a chip sucker 7010, wherein the chip sucker 7010 is a conventional vacuum sucker, the sucker fixing shaft 706 is rotatably installed on the second swing arm 704, the sucker fixing shaft 706 has an automatic function, and obviously the function can be realized by means of a conventional motor and a gear transmission mechanism. Thus, the chip-loading robot 7 can be understood as a combination of mature robot technology and chuck technology, and there are obviously many structures that can implement the functions of the loading robot 7, and the chip-loading robot 7 below is only one of the embodiments.

The chip feeding mechanical arm 7 comprises a feeding mechanical arm mounting seat 700, a first motor fixedly connected to the feeding mechanical arm mounting seat 700, a first swing arm 702 connected with the first motor in a transmission mode, a second swing arm 704 connected with the first swing arm in a rotating mode, a second motor arranged in the second swing arm, a rotating mechanism arranged in the second swing arm 704, a sucker fixing shaft 706 connected with the second swing arm 704 in a rotating mode, a sucker support 707 fixedly connected to the lower end of the sucker fixing shaft 706, a group of seventh air cylinders 708 arranged in the sucker support 707, a sucker fixing seat 709 connected with the seventh air cylinders 708 in a matched mode, and a chip sucker 7010 arranged on the sucker fixing seat 709, wherein the rotating mechanism is connected with the sucker fixing shaft 706 in a transmission mode and can drive the sucker fixing shaft 706 to rotate. Specifically, one end of the first swing arm 702 is rotatably inserted into the feeding manipulator mounting base 700 through a first rotating shaft in a known manner, the first rotating shaft is provided with a first gear, a first motor in the feeding manipulator mounting base 700 drives a second gear, and the second gear drives the first gear to rotate, so as to rotate the first swing arm 702. A second motor is arranged in one end of the second swing arm 704, the second motor drives a second rotating shaft to rotate in a known mode, the second rotating shaft is rotatably inserted into the first swing arm 702, a third gear is arranged at the lower end of the second rotating shaft, a fourth gear is fixedly connected in the first swing arm 702 and meshed with the third gear, the second motor drives the second rotating shaft to rotate when working, and the second rotating shaft drives the third gear to rotate relative to the fourth gear, so that the rotation of the second swing arm 704 is realized. The rotating mechanism comprises a third motor, the third motor drives a third rotating shaft to rotate in a known mode, a fifth gear is sleeved on the third rotating shaft, the third rotating shaft drives the fifth gear thereon to rotate, a sixth gear is arranged on the suction cup fixing shaft 706, and the fifth gear is meshed with the sixth gear, so that the self-rotation of the suction cup fixing shaft 706 is realized. The sucker fixing shaft 706 is rotatably connected with the upper and lower shells of the second swing arm 704 through a bearing.

The working process of the feeding manipulator 7 is as follows: a first motor in the feeding manipulator mounting base 700 drives the first swing arm 702 to rotate, a second motor in the second swing arm 704 drives the second swing arm 704 to rotate on the first swing arm 702, a third motor in the second swing arm 704 drives the suction cup fixing shaft 706 to rotate on the second swing arm 704, and the seventh cylinder 708 drives the suction cup fixing base 709 and the chip suction cup 7010 to rotate.

The chip visual detection device 8 comprises a visual detection support 800 and an industrial camera 801 arranged on the visual detection support 800, a picture of the visual chip taken by the industrial camera 801 is transmitted to the control system, and a visual detection module preset in the control system analyzes the picture to judge whether the size and the shape of the visual chip are qualified. Both the industrial camera 801 and the vision inspection module are well known in the art.

In addition, the workbench 1 of the invention can be provided with an outer cover 9, and the outer cover 9 is provided with other conventional control accessories such as a control system, a display screen, an alarm and the like.

The work of the invention is controlled by a control system through programming, and a conventional photoelectric sensor is arranged as a travel switch.

The invention is divided into two parts, one part is used for placing the visual chip, the other part is used for detecting the visual chip, the two parts are different only in that one part uses a feeding mechanical arm 7, and the other part uses a chip visual detection device 8

The working process of the invention is as follows:

1. the individual trays 2 are stacked manually or by machine in the first tray placement frame 402 of the tray lowering assembly 4 and supported by the first tray supporting mechanism 400;

2. a third air cylinder 4011 in the tray side clamping mechanism 401 drives a clamping plate 4014 to clamp a penultimate tray 2 at the bottom, then the first tray supporting mechanism 400 drives the penultimate tray 2 at the bottom to descend, so that the tray is placed on the conveyor belt 301 and taken away by the conveyor belt 301, then the first tray supporting plate 4001 in the first tray supporting mechanism 400 resets, the tray side clamping mechanism 401 resets, so that the stacked trays 2 move downwards for one position, then the actions are continued, so that the trays 2 are put downwards one by one, or after the first tray supporting plate 4001 resets, the fourth air cylinder 4013 drives the clamping plate 4014 to move downwards, so that the tray 2 is stably placed on the first tray supporting plate 4001, then the third air cylinder 4011 drives the clamping plate 4014 to loosen the tray 2, and the fourth air cylinder 4013 drives the clamping plate 4014 to move upwards;

3. when the conveyor belt 301 brings the tray 2 to the middle of the conveyor belt 301, the photoelectric sensor senses the tray 2, the signal is transmitted to the control system, the control system controls the sixth cylinder 601 in the tray lifting assembly 6 to drive the lifting baffle 602 to lift up to block the tray 2, then the seventh cylinder 603 drives the third tray supporting plate 604 to lift up, the third tray supporting plate 604 lifts up the tray 2, then the chip loading manipulator 7 places the chips on the tray 2 one by one, all actions of the chip loading manipulator 7 are controlled through programming, the accuracy is high, meanwhile, the tray can be connected with the conveyor belt frame 300 in a sliding mode, and the position of the tray 2 is prevented from deviating;

4. after the chips are loaded, the third tray supporting plate 604 brings the tray 2 back to the conveyor belt 301, and the lifting baffle 602 moves downwards to enable the tray 2 to continue to move forwards;

5. the tray 2 is sent to the bottom of the second tray placing frame 502, a fifth air cylinder 5000 in the tray stacking assembly 5 drives a second tray supporting plate 5001 to move upwards, the second tray supporting plate 5001 drives the tray 2 to lift, the second tray supporting plate 5001 resets after the tray 2 passes through a swinging block 5011 of the tray side supporting mechanism 501, the tray 2 is supported on the swinging block 5011 to complete stacking, and the original tray 2 in the second tray placing frame 502 is lifted upwards in the process;

6. the difference is that when the tray comes to the middle of the conveyor belt 301 and is lifted by the tray lifting assembly 6, the industrial camera 801 in the chip visual detection device 8 photographs the chip on the tray 1 to detect whether the chip is qualified or not, if so, the tray continues to advance, if not, the machine stops operating, and meanwhile, the alarm alarms, the tray is taken down manually, and then the machine continues to operate.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.