CN102815413B - Automatic packaging device and method for crystal grains - Google Patents
Automatic packaging device and method for crystal grains Download PDFInfo
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Abstract
The present invention relates to an automatic packaging device for crystal grains and a method thereof, and more particularly, to a packaging device for automatically detecting, stacking and packaging a tray filled with crystal grains with a band and a method thereof. The automatic packaging device of the crystal grain replaces the operations of naked eye detection crystal grain placement, manual material covering placement, tray stacking, upper cover placement, strap packaging and the like by automatic machinery, thereby achieving the purposes of saving labor expenditure, increasing the output and efficiency of packaging, avoiding careless mistakes or damages caused by manual operation and the like.
Description
Technical field
The present invention relates to a kind of automatic packaging device for crystal grains and method thereof, particularly relate to a kind of for carrying out Aulomatizeted Detect, the stacking packing device packed with band and method thereof to the charging tray being mounted with crystal grain.
Background technology
In production of integrated circuits flow process; after integrated circuit on wafer completes making; after test with cutting crystal grain; usual meeting grades according to its test result; and be positioned in charging tray (tray) by the grain by wafer of same grade takes off; that is the crystal grain in each charging tray is all the crystal grain of same grade.These are equipped with the charging tray of same grade crystal grain, and operator on line can be transferred to carry out follow-up detection and band package handling.
But, these follow-up detections and band package handling, usually need operator on line to check one by one with visual type in each the crystal grain storage tank in each charging tray whether to have crystal grain to place to put upside down, the generation of crystal grain overturns, do not have crystal grain unusual conditions such as (lacking material), and need operator on line to carry out band package handling in a manual fashion.
But above-mentioned detection, stacking with band package handling, be all need operator on line to complete with visual or manual mode, therefore, it has its own shortcomings:
(1) because the specification of integrated circuit is done less and less, make the volume of crystal grain also more and more less, and usually can hold much crystal grain in a charging tray.Therefore; for operator on line; with the crystal grain that visual type examination volume is actively little; both collocation Fang great Jing had been made to carry out visual inspection; remain very difficult with laboriously; not only not easily see crystal grain clearly and be positioned over state in charging tray, and be very easy to ignore once neglecting the exception or undetected situation that crystal grain places.In addition, the long-time crystal grain using eye exam tiny, easily makes the eyes of operator on line tired, and needs to have a rest and could continue, therefore, often cause and detect the unevident of usefulness.
(2) secondly, due to band package handling, be all need operator on line to carry out in a manual manner, therefore not only cause the heavy demand of manpower, and the usefulness of its operation be also comparatively low, easily cause the phenomenon of output and production capacity deficiency.
(3) in addition, band package handling is all adopt mode manually to carry out, and operated object to be all crystal grain and charging tray equal-volume little, easily ignore, overturn and impaired article, therefore, as easy as rolling off a logly to overturn because of the carelessness of personnel or impaired.
Because the problems referred to above, therefore need badly and want a kind of and the mode of mechanical automation can replace artificial visual and detect and manually operated automatic packaging device for crystal grains and method, detect and the operation such as band packaging to carry out crystal grain on charging tray, and reduce manpower expenditure, promote the usefulness of packaging and avoid personnel's careless mistake.
Summary of the invention
The object of the invention is to, a kind of automatic packaging device for crystal grains and method are provided, it mode of mechanical automation can replace the mode such as artificial visual and M/C, to carry out that crystal grain on charging tray detects, cover material is put, charging tray is stacking and the operation such as band packaging, and reduce manpower expenditure, promote the usefulness of packaging and avoid personnel's careless mistake.
The object of the invention to solve the technical problems realizes by the following technical solutions.According to a kind of automatic packaging device for crystal grains that the present invention proposes, comprising: a feed module, in order to deposit charging tray to be packaged and to take out charging tray to be packaged to start to carry out automatic packaging; Whether one detection module, be correctly positioned in this charging tray in order to the crystal grain detected in charging tray to be packaged; One abnormal charging tray collection module, in order to collect not by charging tray that this detection module detects; One stack module, in order to place a cover material on each charging tray detected by this detection module, and the stacking charging tray detected by this detection module is to predetermined quantity, then places and be placed on this on one and be stacked on the charging tray of predetermined quantity, and forming one, to have the charging tray of upper cover stacking; One band packaging module, the stacking band that carries out of the charging tray in order to this to be had upper cover is packaged into a charging tray bale packing; And a rewinding module, in order to collect and to deposit this charging tray bale packing.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid automatic packaging device for crystal grains, wherein said feed module comprises: a material storage mechanism, in order to deposit charging tray to be packaged; And a feed unit, in order to by charging tray to be packaged by this material storage mechanism take out with carry out automatic packaging.
Aforesaid automatic packaging device for crystal grains, it also comprises: an alongside transfer mechanism, connects this detection module, this abnormal charging tray collection module and this stack module, be used to transmit therebetween charging tray to carry out detecting, sub-material and stacking; One pan feeding connecting gear, between this feed module and this alongside transfer mechanism, in order to transmit by the charging tray to be packaged taken out in this material storage mechanism to this alongside transfer mechanism; One steering unit, is arranged at this alongside transfer mechanism and corresponds to one end of this pan feeding connecting gear, turns to enter alongside transfer mechanism, to make charging tray by directly turning to as transverse shifting to movement in order to make charging tray that this pan feeding connecting gear transmits; And a branch of tape transport, pack between module between one end of this alongside transfer mechanism and this band, the stacking band packaging module that is sent to of the charging tray exported in order to this stack module is to carry out band packaging.
Aforesaid automatic packaging device for crystal grains, wherein said detection module comprises: a detection zone; And a crystal grain inspection unit, in order to check that each passes through the charging tray of this detection zone, confirm in it, whether have crystal grain to put upside down, overturn or scarce material situation.
Aforesaid automatic packaging device for crystal grains, wherein said abnormal charging tray collection module comprises: an exclusion zone, is arranged in this alongside transfer mechanism; One Abnormality remove unit, in order to when the charging tray do not detected by this detection module is by this exclusion zone, gets rid of it by this alongside transfer mechanism; One abnormal charging tray storage element, in order to collect and to deposit abnormal charging tray; And an abnormal tray conveyor structure, between this alongside transfer mechanism and this abnormal charging tray storage element, deposit to this abnormal charging tray storage element in order to transmit the abnormal charging tray got rid of by this alongside transfer mechanism.
Aforesaid automatic packaging device for crystal grains, wherein said stack module comprises: a stack region, is arranged at one end of this alongside transfer mechanism, in order to a fixed qty of stacking charging tray; One cover material storage unit, in order to deposit and to provide cover material; One upper cover storage unit, in order to deposit and to provide upper cover; One pickup unit, in order to take out cover material and to be positioned on each charging tray, and take out upper cover and put stacking with the charging tray being stacked to fixed qty on; And output unit, in order to fixed qty will be stacked to and placed that the charging tray of cover material and upper cover is stacking to be shifted out by this alongside transfer mechanism.
Aforesaid automatic packaging device for crystal grains, wherein said band packaging module comprises: a turntable, and in order to place, this charging tray is stacking carries out band packaging, and it is stacking and make that this charging tray is stacking carries out band packaging with different sides to rotate this this charging tray; And a branch of tape cell, in order to carry out band packaging to this charging tray is stacking.
Aforesaid automatic packaging device for crystal grains, wherein said rewinding module comprises: at least one product storage unit, stacking in order to deposit the charging tray completing band packaging; And a collector unit, deposit in order to band packed the stacking taking-up of charging tray that module completed band packaging and to be sent in product storage unit.
The object of the invention to solve the technical problems also realizes by the following technical solutions.According to a kind of crystal grain automatic packaging method that the present invention proposes, comprise the following steps: the charging tray being mounted with crystal grain is provided; A charging tray is taken out by the charging tray provided; Detecting this charging tray and judge whether the crystal grain in this charging tray has exception, if having abnormal, getting rid of there being abnormal charging tray; Charging tray by detecting is stacked to a fixed qty, and forming one, to have the charging tray of predetermined quantity charging tray stacking; Band bale packing is carried out, to form the stacking bale packing of a charging tray to the charging tray being stacked to a fixed qty is stacking; And deposit the stacking bale packing of charging tray.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid crystal grain automatic packaging method, the wherein said step charging tray by detecting being stacked to a fixed qty, comprising: place cover material on the charging tray by detecting; Stackingly be placed with cover material charging tray to predetermined quantity thereon, and forming one, to have the charging tray of predetermined quantity charging tray stacking; And place to be placed on one this charging tray stacking on.
Aforesaid crystal grain automatic packaging method, wherein said method performs with an automatic packaging device for crystal grains, and this automatic packaging device for crystal grains comprises: a feed module, in order to deposit charging tray to be packaged and to take out charging tray to be packaged to start to carry out automatic packaging; Whether one detection module, be correctly positioned in this charging tray in order to the crystal grain detected in charging tray to be packaged; One abnormal charging tray collection module, in order to collect not by charging tray that this detection module detects; One stack module, in order to place on each charging tray detected by this detection module of a cover material, and the stacking charging tray detected by this detection module is to predetermined quantity, then places and be placed on this on one and be stacked on the charging tray of predetermined quantity, and the charging tray forming a tool upper cover is stacking; One band packaging module, in order to be packaged into a charging tray bale packing by stacking for the charging tray of this tool upper cover band that carries out; And a rewinding module, in order to collect and to deposit this charging tray bale packing.
The present invention compared with prior art has obvious advantage and beneficial effect.By technique scheme, automatic packaging device for crystal grains of the present invention and method thereof at least have following advantages and beneficial effect: the invention provides a kind of automatic packaging device for crystal grains, and especially for detecting the charging tray being mounted with crystal grain, cover material puts, the stacking automatic packaging device packed with band.By this, the mode of operation of traditional manual operation is replaced with the mode of operation of automated machine, carry out the detection of crystal grain placement location, the placement of cover material, the stacking of charging tray and the operations such as band packaging, human cost needed for these operations reduced significantly and increases efficiency and the output of these operations, avoiding the injury that human negligence and careless mistake cause production capacity and product simultaneously.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of specification sheets, and can become apparent to allow above and other object of the present invention, feature and advantage, below especially exemplified by preferred embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the rough schematic of the automatic packaging device for crystal grains of one embodiment of the invention.
Fig. 2 is the birds-eye view of the automatic packaging device for crystal grains of another embodiment of the present invention.
Fig. 3 A-Fig. 3 C is the lateral plan of the feed module of the various different embodiment of the present invention.
Fig. 4 A and Fig. 4 B is the schematic perspective view of stack module of the present invention.
Fig. 5 A and Fig. 5 B is the schematic perspective view that module packed by band of the present invention.
Fig. 6 is the diagram of circuit that the crystal grain of one embodiment of the invention is packed automatically.
Fig. 7 A and Fig. 7 B is the diagram of circuit that the crystal grain of another embodiment of the present invention is packed automatically.
Detailed description of the invention
Some embodiments of the present invention are described in detail as follows.But except this detailed description, the present invention can also implement in other embodiment widely.That is, the restriction of the embodiment that scope of the present invention has not been proposed, and be as the criterion with the claim that the present invention proposes.Secondly, when each element in embodiments of the invention diagram or step describe explanation with single element or step, should in this, as the cognition having restriction, during restriction on namely following explanation non-lay special stress on number, spirit of the present invention and field of application can spread to most elements or structure and on the structure and method deposited.Moreover in this manual, the different piece of each element is incomplete draws according to size, some yardstick is compared with other scale dependents or have and exaggerated or simplify, to provide clearer description to promote the understanding of the present invention.And the existing skill that the present invention continues to use, only do quoting of emphasis formula at this, to help elaboration of the present invention.
With reference to Fig. 1, it is the rough schematic of the automatic packaging device for crystal grains 100 of one embodiment of the invention.Automatic packaging device for crystal grains 100 comprises feed module 102, detection module 104, abnormal charging tray collection module 106, stack module 108, band packaging module 110 and a rewinding module 112.Wherein, feed module 102 connection detection module 104, in order to by the charging tray depositing band packaging with take out be with the charging tray packed in case start to carry out crystal grain placement location detection, place the subsequent jobs such as cover material, stacking charging tray and band packaging.Detection module 104 one end connects feed module 102, and its other end connects abnormal charging tray collection module 106, in order to detect the charging tray taken out by feed module 102, whether there to be the existence of crystal grain (namely whether have and lack material) in the crystal grain storage tank confirming each charging tray, whether there is crystal grain to overturn, be placed upside down the unusual conditions such as mal, if having abnormal, notify that abnormal charging tray collection module 106 carries out the eliminating of abnormal charging tray.
Abnormal charging tray collection module 106 is arranged between detection module 104 and stack module 108, its one end connection detection module 104, and the other end connects stack module 108.Abnormal charging tray collection module 106 receives the notice that detection module sends, and detection module 104 is sent not by the abnormal charging tray that detects by getting rid of in subsequent job, and collect personnel's process in these abnormal charging tray waiting lines.
Stack module 108 is packed between module 110 between abnormal charging tray collection module 106 and band, and its one end connects abnormal charging tray collection module 106, and the other end connects band packaging module 110.Stack module 108 is in order to place a cover material on the charging tray detected by detection module 104, secondly, the charging tray being placed with cover material is stacked to a predetermined quantity, the quantity of such as 5 or any needs, and placement one is placed on this charging tray being stacked to a predetermined quantity, namely be positioned on uppermost charging tray, and forming one, to have the charging tray of upper cover stacking.
Band packaging module 110 is arranged between stack module 108 and rewinding module 112, and its one end connects stack module 108, and the other end connects rewinding module 112.Band packaging module 110 is in order to by completing in stack module 108, cover material is placed, the stacking and upper cover of charging tray is placed charging tray is stacking to carry out band packaging and become a charging tray bale packing.Rewinding module 112 in order to the charging tray bale packing formed via band packaging module 110 band packaging is collected and is deposited, personnel or the taking-up of automatic transportation device in waiting line and shipment.
With reference to Fig. 6, it is the diagram of circuit of the automated job flow process of automatic packaging device for crystal grains 100 of the present invention, is also the diagram of circuit of crystal grain automatic packaging method provided by the present invention.Automated job flow process and the crystal grain automatic packaging method of automatic packaging device for crystal grains 100 are as follows: first, via personnel with the mode of manual transportation or automatic transportation device in the mode of mechanical transport, many charging trays being mounted with crystal grain are positioned in feed module 102, carry out band packaging (step 600) to provide the charging tray being mounted with crystal grain to automatic packaging device for crystal grains 100.Then, feed module 102 can take out charging tray (step 602) successively, and the charging tray taken out can be sent to detection module 104, and carries out when it is by detection module 104 detecting (step 604).Detection module 104 detects with instrument; the camera of such as charge coupled cell (CCD) form or video camera; and observe crystal grain in charging tray and to place and the image normally placed with the crystal grain in charging tray in data bank or picture contrast; or contrast with the abnormal image placed of the crystal grain in charging tray in data bank or picture; use the crystal grain judged in this charging tray and whether have crystal grain to place to put upside down, the generation of crystal grain overturns, do not have crystal grain unusual conditions such as (lacking material), namely judge being placed as normal or abnormal (step 606) of each crystal grain in charging tray.
If detection module 104 judges that this charging tray is as exception, then can notify abnormal charging tray collection module 106, this abnormal charging tray then can be got rid of (step 608) by subsequent job by abnormal charging tray collection module 106, such as cover material is placed, the stacking operation such as with upper cover placement of charging tray, and collects and deposit these abnormal charging trays (step 610).Detection module 104 is for the decision procedure of abnormal charging tray; as long as the exception of the crystal grain detected in charging tray can be taked to place; exceptions such as such as putting upside down or overturn; or a crystal grain storage tank does not have crystal grain; then no longer continue to detect other crystal grain in same charging tray or other crystal grain storage tanks, and directly notify that the mode that abnormal charging tray collection module 106 gets rid of this abnormal charging tray is carried out.Or; detection module 104 also can take exception placement or a crystal grain storage tank when detecting a crystal grain in charging tray not to have crystal grain; after still all crystal grains in same charging tray or all crystal grains storage tank being continued to detect, reinform the mode that abnormal charging tray collection module 106 gets rid of this abnormal charging tray and carry out.But, when taking still to continue detecting mode, the mode that detection module 104 can produce a form for the charging tray of exception or show with picture, the crystal grain showing that position in this abnormal charging tray has the situation of abnormal placement or does not have crystal grain to be placed therein, in order to the subsequent treatment of personnel on line.
Simultaneously, when detecting abnormal charging tray, warning can be sent by detection module 104, such as light or sound, on notice line, personnel process, or when abnormal charging tray collection module 106 is got rid of and collected this abnormal charging tray, then send personnel on alert notification line by abnormal charging tray collection module 106 and process.
The charging tray detected by detection module 104 is when by abnormal charging tray collection module 106, and abnormal charging tray collection module 106 is left intact, and allows it directly pass through and to arrive stack module 108.Then, stack module 108 places a cover material on the charging tray arrived, this cover material is a conducting strip, such as Tai Weike paper (TYVEK) or unlicensed tour guide's sheet (conductive sheet), and waits for the charging tray arrival subsequently through detecting at stack module 108.Each charging tray entering stack module 108 is all stacked module 108 and places a cover material, and enter stack module 108 order according to it and be stacked to a predetermined quantity (step 612).Then, by the time charging tray is stacked to a predetermined quantity, namely on line, personnel are input into the predetermined quantity in automatic packaging device for crystal grains 100, such as 5,10 or other any quantity, stack module 108 can place to be placed on one this charging tray stacking on, forming one, to be stamped the charging tray of upper cover stacking, then sent out stack module 108, and stack module 108 then continues to repeat above-mentioned operation, and to form the next one, to be stamped the charging tray of upper cover stacking.
Then, be transferred out stacking the entering in band packaging module 110 of charging tray of stack module 108 and carry out band packaging (step 614).Band packaging module 110 can first in the face of the side that charging tray is stacking carries out band bale packing (first time band bale packing), then, band packaging module 110 can by stacking for this charging tray rotation one angle, such as an angle of 90 degrees, in the face of another side carries out the action (second time band bale packing) of a band bale packing again, make two bands become the mode of right-angled crossing by its bale packing in the stacking end face of charging tray, and form a charging tray bale packing.Then, this charging tray bale packing (charging tray namely having completed band packaging is stacking) can be packed module 110 by band and take out by rewinding module 112, and deposit in wherein (step 616), in waiting line, personnel or automation conveyer take out to carry out shipment.
The operation such as detection, placement cover material, stacking charging tray and band packaging of crystal grain placement location is carried out by this automatic packaging device for crystal grains 100, except providing one fast, smooth and accurate automatic packaging work flow, and outside the usefulness increasing packaging and output.More because only have place charging tray to be packaged in automatic packaging device for crystal grains 100, process abnormal charging tray and take out the operation of the minorities such as packaged charging tray or action needs personnel on line to operate in a manual manner, so make the manpower needed for operation such as detection, placement cover material, stacking charging tray and band packaging carrying out crystal grain placement location to omit, and reduce demand and the expenditure of manpower significantly.Meanwhile, also because of without the need to visual detection with carry out operation with manpower, and avoid artificial careless mistake or ignore caused infringement, such as, the careless mistake such as to overturn or undetected.
With reference to Fig. 2, it is the birds-eye view of the automatic packaging device for crystal grains 200 of another embodiment of the present invention, and further depicts the detailed construction of automatic packaging device for crystal grains of the present invention.This automatic packaging device for crystal grains 200 comprises feed module 202, detection module 204, abnormal charging tray collection module 206, stack module 208, band packaging module 210 and a rewinding module 212 equally.Feed module 202 in automatic packaging device for crystal grains 200 shown in Fig. 2, detection module 204, abnormal charging tray collection module 206, stack module 208, band packaging module 210 and rewinding module 212, module 110 is packed and rewinding module 112 has identical function and is applied to identical operation flow process with the feed module 102 in the automatic packaging device for crystal grains 100 shown in Fig. 1, detection module 104, abnormal charging tray collection module 106, stack module 108, band, it describes in detail in above, does not repeat them here.
In crystal grain packing device 200, more comprise alongside transfer mechanism 224 connection detection module 204, abnormal charging tray collection module 206 and stack module 208, be used to transmit between detection module 204, abnormal charging tray collection module 206 and stack module 208 charging tray to carry out detecting, sub-material and the operation such as stacking.Abnormal charging tray collection module 206 is arranged between detection module 204 and stack module 208.Alongside transfer mechanism 224 is a load-transfer device or a delivery track, and a shipping platform of can arranging in pairs or groups carries out conveying charging tray, or directly carries out charging tray conveying.
Feed module 202 is arranged at the side of automatic packaging device for crystal grains 200, and feed module 202 comprises one to carry out automatic packaging for automatic packaging device for crystal grains 200 material storage mechanism 214 in order to deposit charging tray to be packaged, and one in order to charging tray to be packaged is taken out by material storage mechanism 214 in case carry out the feed unit (label is the element of 213 as shown in Figure 3A, and label shown in Fig. 3 B and Fig. 3 C is the element of 213 ') of automatic packaging.
With reference to Fig. 3 A, it is the structural representation of an embodiment of the feed module 202 of automatic packaging device for crystal grains 200, material storage mechanism 214 is one have and can deposit receiver or the charging tray frame of several charging tray to be packaged 201 by accommodation space, feed unit 213 is then one can to pick up or the mechanical arm of gripping charging tray 201 or feed collet, its by the opening on material storage mechanism 214 sequentially take out charging tray to be packaged 201 in material storage mechanism 214 with carry out follow-up detection, cover material is put, charging tray is stacking and the operation such as band packaging.
With reference to Fig. 3 B and Fig. 3 C, it is the structural representation of another embodiment of the feed module 202 of automatic packaging device for crystal grains 200 and takes out the schematic diagram of charging tray program to be packaged.Wherein, material storage mechanism 214 ' is a fixture once can clamping that many charging trays 201 deposit many charging trays 201, and has an opening bottom it and can sequentially put down charging tray 201 by below.Feed unit 213 ' is then a lifting table, can rise to accept the charging tray 201 (as shown in Figure 3 B) by the release of material storage mechanism 214 ' bottom, avoid charging tray directly to fall and cause charging tray 201 to overturn or the crystal grain displacement in charging tray 201, and decline that charging tray is taken out (as shown in Figure 3 C), to start to carry out follow-up detection, cover material is put, charging tray is stacking and the operation such as band packaging.In addition, this lifting table simultaneously also can parallel motion and as a delivery platform to transmit charging tray 201.In addition, no matter be adopt the feed module 202 of which kind of form above-mentioned according to demand, and one or more material storage mechanism can be set wherein.
With reference to Fig. 2, one pan feeding connecting gear 216 is arranged between feed module 202 and this alongside transfer mechanism 224, and the mediate connection as transmitting charging tray between feed module 202 and this alongside transfer mechanism 224, in order to the charging tray to be packaged taken out in the material storage mechanism by feed module 202 is sent to alongside transfer mechanism 224.This pan feeding connecting gear 216 is a load-transfer device or a delivery track.In addition, the one end corresponding to this pan feeding connecting gear 216 in alongside transfer mechanism 224 is provided with a steering unit 218, turning in order to make the charging tray transmitted by pan feeding connecting gear 216 carries out into alongside transfer mechanism 224, and charging tray is turned to as the transverse shifting in alongside transfer mechanism 224 to movement by straight in pan feeding connecting gear 216.This steering unit 218 is a feed collet, a push rod or a mechanical arm.
Detection module 204 comprises the detection zone 220 that is arranged at alongside transfer mechanism 224, and a crystal grain inspection unit 222, in order to check that each passes through the charging tray of detection zone 220, confirms whether have crystal grain to put upside down in it, overturns or lack material etc. to place abnormal situation.Wherein, detection zone 220 can for being arranged at a platform in alongside transfer mechanism 224 or being the fixed area in alongside transfer mechanism 224, i.e. a region of corresponding crystal grain inspection unit 222 on connecting gear 224.Crystal grain inspection unit 222 is a camera or video camera, the camera of such as charge coupled cell (CCD) form or video camera etc., and charging tray can be absorbed and the image of crystal grain or picture in it, contrast with the image normally placed with the crystal grain in data bank or extremely place or picture, and judge whether the placement of crystal grain in this charging tray has exception.In addition, a report program generator (RPG) or a telltale more can be comprised in detection module 204, and abnormal form or the abnormal indication of crystal grain laying state in a corresponding abnormal charging tray can be produced for abnormal charging tray, crystal grain on those positions making personnel on line can learn in each abnormal charging tray is put upside down, overturn or lack the error staties such as material, carries out follow-up exception handling in order to personnel on line.
Abnormal charging tray collection module 206 comprises exclusion zone 226, Abnormality remove unit 228, abnormal tray conveyor structure 230 and an abnormal charging tray storage element 232.Wherein, exclusion zone 226 is one to be arranged in platform in alongside transfer mechanism 224 or alongside transfer mechanism 224 fixed area between detection module 204 and stack module 208.Abnormal tray conveyor structure 230 is arranged between Abnormality remove unit 228 (or exclusion zone 226) and abnormal charging tray storage element 232, and the mediate connection as transmitting charging tray between Abnormality remove unit 228 (or exclusion zone 226) and abnormal charging tray storage element 232, in order to deposit being sent to abnormal charging tray storage element 232 by the upper abnormal charging tray got rid of of alongside transfer mechanism 224 (or exclusion zone 226).Abnormal tray conveyor structure 230 is a load-transfer device or a delivery track.Abnormality remove unit 228 is arranged at the relative both sides of alongside transfer mechanism 224 respectively with abnormal tray conveyor structure 230.Abnormality remove unit 228 is a feed collet, a push rod or a mechanical arm, get rid of by alongside transfer mechanism 224 in order to be judged as abnormal charging tray by not detected by detection module 204, follow-up cover material is put, charging tray is stacking and the operation such as band packaging to make it proceed.Abnormal charging tray storage element 232 is one in order to instrument or the utensil collected with deposit abnormal charging tray, such as fixture, charging tray frame etc.In addition, in abnormal charging tray collection module 206, according to actual demand, and one or multiple abnormal charging tray collection module can be set, to collect and to deposit abnormal charging tray.
Simultaneously with reference to Fig. 2, Fig. 4 A and Fig. 4 B, wherein, Fig. 4 A and Fig. 4 B shows that stack module 208 carries out the state of cover material placement and carries out the state of upper cover placement respectively.Stack module 208 comprises stack region 234, cover material storage unit 240, upper cover storage unit 238, pickup unit 243 and an output unit 236.Wherein, stack region 234, for being arranged at platform on alongside transfer mechanism 224 one end or being the fixed area in alongside transfer mechanism 224, is carried out cover material placement in order to supply disk 201, upper cover is placed and the operation such as charging tray is stacking.
Cover material storage unit 240, upper cover storage unit 238 and pickup unit 243 are arranged near stack region 234 respectively.Wherein, cover material storage unit 240 is in order to accommodating and deposit cover material 241, place (as shown in 4A figure) to provide cover material 241 cover material carried out on charging tray 201, upper cover storage unit 238, then in order to accommodating and deposit upper cover 239, places (as shown in Figure 4 B) with the upper cover providing upper cover 239 to carry out on charging tray stacking 203.Cover material 241 is a conducting strip, such as Tai Weike paper (TYVEK) or unlicensed tour guide's sheet.
Pickup unit 243 is vacuum cups or the mechanical arm that can carry out lifting and parallel motion, in order to take out cover material 241 by cover material storage unit 240, and be positioned on each charging tray 201, and take out upper cover 239 by upper cover storage unit 238 and put with on the charging tray being stacked to predetermined quantity stacking 203.Dotted line shown in Fig. 4 A represents the motion track of pickup unit 243 when picking up and place cover material 241, pickup unit 243 can first be moved horizontally to above cover material storage unit 240, then after the vertical taking-up cover material 241 that declines, vertical uplift is to certain altitude again, then be moved horizontally to above the charging tray 201 on stack region 234, vertical decline also places cover material 239 on charging tray 201, then vertical uplift is to certain altitude, then repeats above-mentioned steps and carries out cover material placement to other charging trays.Dotted line shown in Fig. 4 B represents the motion track of pickup unit 243 when picking up and place upper cover 239, its pickup is roughly the same with the mode of the mode and aforementioned placement cover material 241 of placing upper cover 239, difference its be take out upper cover 239 by upper cover storage unit 238, and be that upper cover 239 is put on charging tray stacking 203, be namely positioned on the stacking 203 uppermost charging trays of this charging tray.
Although in the embodiment shown in Fig. 4 A and Fig. 4 B, automatic packaging device for crystal grains 200 uses same pickup unit 243 to carry out cover material pickup and to place and upper cover pick up and the operation such as placement.But, in other embodiments of the invention, pickup unit can comprise one and be specifically designed to taking-up cover material and the cover material pickup unit be positioned on each charging tray, and one specially in order to take out upper cover and be positioned over the charging tray of stacking fixed qty charging tray stacking on upper cover pickup unit, and use different pickup units to carry out cover material pickup and to place and upper cover pick up and the operation such as placement.Cover material pickup unit is a vacuum cups or a mechanical arm, and upper cover pickup unit is also a vacuum cups or a mechanical arm.
With reference to Fig. 2, output unit 236 is a feed collet, a push rod or a mechanical arm, in order to cover material will be placed on each charging tray and be stacked to fixed qty and placed the charging tray that upper cover covers thereon stacking, shift out in 224 by alongside transfer mechanism, namely shift out by stack region 234, to carry out follow-up band package handling.Pack between module 210 at stack module 208 and band and be provided with a branch of tape transport 231, mediately pack as stack module 208 and band the connection that charging tray between module 210 stacking (charging tray being coated with upper cover is stacking) transmits, in order to the operations such as cover material is put, the stacking and upper cover placement of charging tray will be completed in stack module 208 and the charging tray sent out by stack module 208 is stacking, be sent to band packaging module 210 to carry out band package handling.Band connecting gear 231 is a load-transfer device or a delivery track.
Reference Fig. 2, Fig. 5 A and Fig. 5 B simultaneously, wherein, Fig. 5 A and Fig. 5 B shows that the band in automatic packaging device for crystal grains 200 is packed module 210 and carried out the situation that band is first packed and secondary band is packed respectively.Band packaging module 210 is arranged between stack module 208 and rewinding module 212, is namely arranged between band connecting gear 231 and rewinding module 212.Band packaging module 210 is made up of with a branch of tape cell 244 turntable 242.Turntable 242, there is the charging tray stacking 203 ' of upper cover 239 for carrying out band packaging in order to place operations such as having completed cover material is put, the stacking and upper cover placement of charging tray, and it is a rotary platform, and the charging tray stacking 203 ' that can rotate on it is with different edge surface halved tie tape cells 244, to carry out the band packaging of diverse location.Band unit 244 be a use adhesive tape or other materials be applicable to as band, and the charging tray stacking 203 ' on turntable 242 is carried out to the device of band packaging.
Shown in Fig. 5 A and Fig. 5 B, automatic packaging device for crystal grains of the present invention 200 pairs of charging trays stacking 203 ' carry out twice band.First, first make band unit 244 charging tray stacking 203 on turntable 242, a side, and a band is carried out to it, and with a band 245 by this side of charging tray stacking 203 ' by its bale packing.Then, turntable 242 rotates an angle of 90 degrees, but not as limitting but a demand can taking any angle, and make band unit 244 in the face of another side of charging tray stacking 203 ', and carry out second time band, and with another band 245 by another side of charging tray stacking 203 ' by its bale packing.Although automatic packaging device for crystal grains 200 of the present invention carries out twice band operation, not as limit, but can increase in demand or the number of times of minimizing band.In other embodiment of the present invention, turntable can be adopted can to carry out the design of relative parallel motion with band unit, make band unit not only can carry out band in the face of the stacking different sides of charging tray, more can carry out band to the diverse location on the stacking same side of charging tray.
With reference to Fig. 2, rewinding module 212 comprises at least one in order to deposit the stacking product storage unit 246 (being 2 in the present embodiment) of the charging tray that completes band packaging, and one in order to take out stacking for the charging tray completing band packaging to be packed in module 210 by band and to be positioned over the collector unit (not shown) in product storage unit 246.Wherein, product storage unit 246 be a bin, a feed collet or be anyly applicable to depositing the stacking storing unit of charging tray having completed band packaging.Collector unit can be a feed collet, a shipping platform, a mechanical arm or any applicable in order to make to get the device stacking with placing charging tray.
With reference to Fig. 7 A and Fig. 7 B, it is the diagram of circuit of the automated job flow process of automatic packaging device for crystal grains 200 of the present invention, is also the diagram of circuit of another embodiment of crystal grain automatic packaging method provided by the present invention.In addition, referring to Fig. 2, Fig. 3 A-Fig. 3 C, Fig. 4 A to Fig. 4 B and Fig. 5 A-Fig. 5 B, the work flow of automatic packaging device for crystal grains 200 of the present invention, and the flow process of the crystal grain automatic packaging method of another embodiment is as follows: first, via personnel with the mode of manual transportation or automatic transportation device in the mode of mechanical transport, many charging trays being mounted with crystal grain are positioned in the material storage mechanism 214 in feed module 202, carry out automation band package handling (step 700) to provide the charging tray being mounted with crystal grain to automatic packaging device for crystal grains 200.Then, the feed unit 213,213 ' in feed module 202 can take out charging tray 201 (step 702) successively, and is positioned on pan feeding connecting gear 216.The charging tray 201 taken out can be transferred into alongside transfer mechanism 224 by pan feeding connecting gear 216, then, make charging tray enter alongside transfer mechanism 224 by steering unit 218, and make charging tray by the straight transverse shifting converted in alongside transfer mechanism 224 to movement in pan feeding connecting gear 216.
Then, charging tray is first conveyed in the detection zone 220 in detection module 202 (step 704) by alongside transfer mechanism 224, and when by detection zone 220, with crystal grain inspection unit 222, the camera of such as charge coupled cell (CCD) form or photography, or other devices be applicable to, observe the state that in charging tray, crystal grain is placed and whether have the situation (step 706) of placing exception with the crystal grain detected in charging tray, and the image normally placed with the crystal grain in charging tray in data bank or picture contrast, or contrast with the abnormal image placed of the crystal grain in charging tray in data bank or picture, extremely (step 708) whether use the crystal grain judged in this charging tray places, the crystal grain be in charging tray is placed as normal or has crystal grain to be placed upside down, crystal grain overturns or lacks the exceptions such as material.
If via contrast and judgement, detection module 204 judges that this charging tray is as exception, then can notify that abnormal charging tray collection module 206 carries out abnormal charging tray eliminating, proceed to avoid abnormal charging tray that follow-up cover material is placed, charging tray is stacking, upper cover places and the operation such as band packaging, and cause the waste of production capacity and the reduction of output.Then, this abnormal charging tray is sent in abnormal material row collecting mechanism 206 (step 710) via alongside transfer mechanism 224, and meanwhile, detection module 204 continues to detect the follow-up charging tray sent of feed module 202.When abnormal charging tray arranges the exclusion zone 226 in collecting mechanism 206 by abnormal material, abnormal charging tray can be shifted out alongside transfer mechanism 224 (or exclusion zone 226) by Abnormality remove unit 228, make it can not proceed subsequent job (step 712) to get rid of abnormal charging tray, and sent into abnormal tray conveyor structure 230.Then, by abnormal tray conveyor structure 230, abnormal charging tray is directly sent to abnormal charging tray storage element 232 to deposit (step 714), or arrange in pairs or groups a feed collet or mechanical arm, such as mechanical arm, feed collet etc., and when abnormal charging tray moves near abnormal charging tray storage element 232 by abnormal tray conveyor structure 230, by feed collet or mechanical arm, abnormal charging tray is taken out by abnormal tray conveyor structure 230, and be positioned in abnormal charging tray storage element 232 and deposit.
Detection module 204 is for the decision procedure of abnormal charging tray; as long as the exception of the crystal grain detected in charging tray can be adopted to place; exceptions such as such as putting upside down or overturn; or a crystal grain storage tank does not have crystal grain; then no longer continue to detect other crystal grain in same charging tray or other crystal grain storage tanks, and directly notify that the mode that abnormal charging tray collection module 206 gets rid of this abnormal charging tray is carried out.Or; detection module 204 also can adopt exception placement or a crystal grain storage tank when detecting a crystal grain in charging tray not to have crystal grain; after still all crystal grains in same charging tray or all crystal grains storage tank being continued to detect, reinform the mode that abnormal charging tray collection module 206 gets rid of this abnormal charging tray and carry out.But, when taking still to continue detecting mode, detection module 204 can by the report program generator (RPG) arranged in detection module 204 or telltale, the mode that charging tray for exception produces a form or shows with picture, the crystal grain showing that position in this abnormal charging tray has the situation of abnormal placement or does not have crystal grain to be placed therein, in order to the subsequent treatment of personnel on line.
Simultaneously, when detecting abnormal charging tray, warning can be sent by detection module 204, such as light or sound, on notice line, personnel process, or etc. abnormal charging tray collection module 206 when getting rid of or collect this abnormal charging tray, then send personnel on alert notification line by abnormal charging tray collection module 206 and process.
Contrary, if detection module 204 judge in this charging tray without crystal grain place put upside down, crystal grain overturns or lacks material etc. extremely, detection module 204 can not notify that abnormal charging tray collection module 206 is got rid of.Therefore, when normal charging tray is transported through exclusion zone 226 by alongside transfer mechanism 224, abnormal charging tray collection module 206 can not carry out any eliminating action, and normal charging tray is then directly sent in stack module 208 (step 716) by alongside transfer mechanism 224.Then, detection module 204 continues to detect the follow-up charging tray sent by feed module 202.
Simultaneously, the charging tray being transferred into stack module 208 can be placed on the stack region 234 in stack module 208, then, pickup unit 243 can by taking out a cover material 241 in cover material storage unit 240, such as conducting strip, Tai Weike paper (TYVEK) or unlicensed tour guide's sheet etc., and be positioned over (as shown in Figure 4 A) (step 718) on charging tray 201.Then, this charging tray completing cover material placement operation is still positioned in stack region 234, wait for that the charging tray detected subsequently through detection module 204 is transferred in stack region 234, these charging trays are afterwards by the charging tray (being placed with the charging tray of cover material) that is sequentially stacked in first, and place cover material thereon, namely charging tray afterwards is first stacked in and previous completes on the stacking charging tray of cover material, place cover material more thereon, and repeat these steps until the charging tray on stack region 234 is stacked to a predetermined number (step 720).
Then, after being stacked to default quantity to the charging tray on stack region 234, namely on line, personnel are input into the predetermined quantity in automatic packaging device for crystal grains 200, such as 5,10 or other any quantity, pickup unit 243 can by taking out a upper cover 239 in upper cover storage unit 238, and be positioned on this charging tray stacking 203 reaching predetermined number (step 722), be namely positioned on the stacking 203 uppermost charging trays of this charging tray (as shown in Figure 4 B).Then, this have been completed that cover material is placed, charging tray is stacking by output unit 236 and the charging tray stacking 203 ' of the operation such as upper cover placement shifts out alongside transfer mechanism 224 or stack region 234, and enters band connecting gear 231 (step 724).Meanwhile, stack module 208 continues to repeat above-mentioned steps and carries out the operations such as the stacking and upper cover placement of cover material placement, charging tray to the charging tray detected subsequently through detection module 204.
Then, the charging tray importing band connecting gear 231 into is stacking, by band connecting gear 231 be sent to band packaging module 210 in turntable 242 on (step 726), and in band packaging module 210 in turntable 242 on carry out band bale packing (step 728).In step 728, first, a side of the charging tray stacking 203 ' of band unit 244 first on turntable 242, an and band is carried out to it, and with a band 245 by this side of charging tray stacking 203 ' by its bale packing (as shown in Figure 5A).Then, turntable 242 drives the charging tray on it stacking 203 ' to rotate an angle of 90 degrees, but not as limitting but a demand can taking any angle, and make band unit 244 in the face of another side of charging tray stacking 203 ', and carry out second time band, and with another band 245 by another side of charging tray stacking 203 ' by its bale packing (as shown in Figure 5 B).Make two bands 245 become the mode of right-angled crossing by its bale packing in the stacking 203 ' end face of charging tray, and form a charging tray bale packing.Then, the charging tray bale packing completing band packaging can be packed in module 210 or taking-up on turntable 242 by band by the collector unit in rewinding module 212, and is positioned in a product storage unit 246 (step 730).Meanwhile, band packaging module 210 can carry out band package handling to the stacking repetition abovementioned steps of the follow-up charging tray sent, until all charging trays in the material storage mechanism 214 of feed module 202 all complete band packaging.
In addition, be excluded and deposit in the abnormal charging tray in abnormal charging tray storage element 232, can process via personnel on line and get rid of extremely, place back in the storage element 214 in feed module 202, repeat above-mentioned in steps, and carry out crystal grain detection, cover material is placed, charging tray is stacking, upper cover is placed and the operation such as band packaging.
In view of this, the invention provides a kind of automatic packaging device for crystal grains and crystal grain automatic packaging method, it replaces naked eyes with automated machine and detects crystal grain and place and manually to carry out that cover material placement, charging tray are stacking, upper cover is placed and the operation such as band packaging, and provide one fast, smoothness and do not need too many manually-operated flow package.Therefore, not only significantly can save manpower expenditure, more can increase output and the usefulness of packaging, further avoid the careless mistake caused by manual operation or infringement.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (11)
1. an automatic packaging device for crystal grains, is characterized in that it comprises:
One feed module, in order to deposit charging tray to be packaged and to take out charging tray to be packaged to start to carry out automatic packaging;
Whether one detection module, be correctly positioned in this charging tray in order to the crystal grain detected in charging tray to be packaged;
One abnormal charging tray collection module, in order to collect whole for abnormal charging tray eliminating not by the charging tray that this detection module detects, wherein, containing abnormal crystal grain in the charging tray do not detected by this detection module;
One stack module, in order to place a cover material on each charging tray detected by this detection module, and the stacking charging tray detected by this detection module is to predetermined quantity, place again and be placed on this on one and be stacked on the charging tray of predetermined quantity, and forming one, to have the charging tray of upper cover stacking, wherein this stack module comprises:
One stack region, in order to a fixed qty of stacking charging tray;
One cover material storage unit, in order to deposit and to provide cover material;
One upper cover storage unit, in order to deposit and to provide upper cover;
One pickup unit, in order to take out cover material and to be positioned on each charging tray, and take out upper cover and put stacking with the charging tray being stacked to fixed qty on; And
Output unit, in order to will be stacked to fixed qty and to have placed that the charging tray of cover material and upper cover is stacking to be shifted out by alongside transfer mechanism;
One band packaging module, the stacking band that carries out of the charging tray in order to this to be had upper cover is packaged into a charging tray bale packing; And
One rewinding module, in order to collect and to deposit this charging tray bale packing.
2. automatic packaging device for crystal grains according to claim 1, is characterized in that wherein said feed module comprises:
One material storage mechanism, in order to deposit charging tray to be packaged; And
One feed unit, in order to by charging tray to be packaged by this material storage mechanism take out with carry out automatic packaging.
3. automatic packaging device for crystal grains according to claim 2, is characterized in that it also comprises:
One alongside transfer mechanism, connects this detection module, this abnormal charging tray collection module and this stack module, be used to transmit therebetween charging tray to carry out detecting, sub-material and stacking, wherein, this stack region is arranged at one end of this alongside transfer mechanism;
One pan feeding connecting gear, between this feed module and this alongside transfer mechanism, in order to transmit by the charging tray to be packaged taken out in this material storage mechanism to this alongside transfer mechanism;
One steering unit, is arranged at this alongside transfer mechanism and corresponds to one end of this pan feeding connecting gear, turns to enter alongside transfer mechanism, to make charging tray by directly turning to as transverse shifting to movement in order to make charging tray that this pan feeding connecting gear transmits; And
A branch of tape transport, packs between module between one end of this alongside transfer mechanism and this band, and the stacking band packaging module that is sent to of the charging tray exported in order to this stack module is to carry out band packaging.
4. automatic packaging device for crystal grains according to claim 3, is characterized in that wherein said detection module comprises:
One detection zone; And
One crystal grain inspection unit, in order to check that each passes through the charging tray of this detection zone, confirms whether have crystal grain to put upside down in it, overturns or scarce material situation.
5. automatic packaging device for crystal grains according to claim 3, is characterized in that wherein said abnormal charging tray collection module comprises:
One exclusion zone, is arranged in this alongside transfer mechanism;
One Abnormality remove unit, in order to when the charging tray do not detected by this detection module is by this exclusion zone, gets rid of it by this alongside transfer mechanism;
One abnormal charging tray storage element, in order to collect and to deposit abnormal charging tray; And
One abnormal tray conveyor structure, between this alongside transfer mechanism and this abnormal charging tray storage element, deposits to this abnormal charging tray storage element in order to transmit the abnormal charging tray got rid of by this alongside transfer mechanism.
6. automatic packaging device for crystal grains according to claim 3, is characterized in that wherein said band packaging module comprises:
One turntable, in order to place, this charging tray is stacking carries out band packaging, and it is stacking and make that this charging tray is stacking carries out band packaging with different sides to rotate this this charging tray; And
A branch of tape cell, in order to carry out band packaging to this charging tray is stacking.
7. automatic packaging device for crystal grains according to claim 1, is characterized in that wherein said rewinding module comprises:
At least one product storage unit, stacking in order to deposit the charging tray completing band packaging; And
One collector unit, deposits in order to band packed the stacking taking-up of charging tray that module completed band packaging and to be sent in product storage unit.
8. a crystal grain automatic packaging method, is characterized in that it comprises the following steps:
The charging tray being mounted with crystal grain is provided;
A charging tray is taken out by the charging tray provided;
Detect this charging tray and judge whether the crystal grain in this charging tray has exception, if having abnormal, will the whole eliminating of abnormal charging tray being had, and the charging tray containing abnormal grain carries out collection and deposits;
Charging tray by detecting is stacked to a fixed qty, and forming one, to have the charging tray of predetermined quantity charging tray stacking;
Band bale packing is carried out, to form the stacking bale packing of a charging tray to the charging tray being stacked to a fixed qty is stacking; And
Deposit the bale packing that charging tray is stacking.
9. crystal grain automatic packaging method according to claim 8, it is characterized in that it also comprises a generation form or picture step display, in order to form or in the mode of picture display, the crystal grain showing which position in abnormal charging tray has the situation of abnormal placement or does not have crystal grain to be placed therein, in order to the subsequent treatment of personnel on line.
10. crystal grain automatic packaging method according to claim 8, is characterized in that the wherein said step charging tray by detecting being stacked to a fixed qty, comprising:
Place cover material on the charging tray by detecting;
Stackingly be placed with cover material charging tray to predetermined quantity thereon, and forming one, to have the charging tray of predetermined quantity charging tray stacking; And
Place to be placed on one this charging tray stacking on.
11. crystal grain automatic packaging methods according to claim 8, it is characterized in that wherein said method performs with an automatic packaging device for crystal grains, this automatic packaging device for crystal grains comprises:
One feed module, in order to deposit charging tray to be packaged and to take out charging tray to be packaged to start to carry out automatic packaging;
Whether one detection module, be correctly positioned in this charging tray in order to the crystal grain detected in charging tray to be packaged;
One abnormal charging tray collection module, in order to collect not by charging tray that this detection module detects;
One stack module, in order to place on each charging tray detected by this detection module of a cover material, and the stacking charging tray detected by this detection module is to predetermined quantity, then places and be placed on this on one and be stacked on the charging tray of predetermined quantity, and the charging tray forming a tool upper cover is stacking;
One band packaging module, in order to be packaged into a charging tray bale packing by stacking for the charging tray of this tool upper cover band that carries out; And
One rewinding module, in order to collect and to deposit this charging tray bale packing.
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| TW100120283A TWI474410B (en) | 2011-06-10 | 2011-06-10 | An automatically packing device for chips |
| TW100120283 | 2011-06-10 |
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| CN102815413B true CN102815413B (en) | 2015-04-22 |
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| CN105173168B (en) * | 2015-09-22 | 2018-10-09 | 贵州慧联科技有限公司 | A kind of cigarette pile binding apparatus and binding method |
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| CN108048904B (en) * | 2017-11-30 | 2021-02-26 | 安徽省恒伟铋业有限公司 | Bismuth crystal manufacturing equipment |
| TWI792629B (en) * | 2021-10-22 | 2023-02-11 | 銓發科技股份有限公司 | Strip storage and fasten system |
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| CN102815413A (en) | 2012-12-12 |
| TW201250867A (en) | 2012-12-16 |
| TWI474410B (en) | 2015-02-21 |
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