CN112791996A - Automatic sorting system - Google Patents
Automatic sorting system Download PDFInfo
- Publication number
- CN112791996A CN112791996A CN202110166230.5A CN202110166230A CN112791996A CN 112791996 A CN112791996 A CN 112791996A CN 202110166230 A CN202110166230 A CN 202110166230A CN 112791996 A CN112791996 A CN 112791996A
- Authority
- CN
- China
- Prior art keywords
- area
- sorting
- detection
- jig
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 132
- 238000007689 inspection Methods 0.000 claims abstract description 38
- 230000000007 visual effect Effects 0.000 claims abstract description 14
- 230000002950 deficient Effects 0.000 claims description 61
- 238000011179 visual inspection Methods 0.000 claims description 20
- 230000007547 defect Effects 0.000 claims description 8
- 229910000679 solder Inorganic materials 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 description 16
- 230000005540 biological transmission Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000012546 transfer Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 4
- 238000003466 welding Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The application provides an automatic sorting system for a plurality of wait to detect piece to installing in first tool sort. The sorting machine comprises a rack, wherein a detection area and a sorting area are formed on the rack; the conveying device is arranged on the rack and used for conveying the first jig; the visual detection device is arranged in the detection area and is used for detecting whether a bad detection piece exists in the plurality of pieces to be detected when the first fixture is moved to the detection area by the conveying device; and the sorting device is arranged in the sorting area and used for sorting out the bad detection pieces when the first jig is moved to the sorting area from the detection area by the conveying device. The application provides an automatic sorting system can realize a plurality of automated inspection, the letter sorting of waiting to detect the piece, and efficiency is higher.
Description
Technical Field
The application relates to the technical field of automation, concretely relates to automatic sorting system.
Background
In the semiconductor industry, products such as chips are sensitive to dust and dirt, the use performance of the chips is affected slightly, and the chips are scrapped seriously, so certain detection is needed before the chips leave a factory to ensure the yield. However, the manual detection efficiency is low, and the secondary pollution of the chip is easily caused.
Disclosure of Invention
The application provides an automatic sorting system for automatically realizing detection and sorting of a plurality of to-be-detected workpieces.
The application provides an automatic sorting system, includes:
a rack having a detection zone and a sorting zone;
the first jig is arranged on the rack and used for mounting a plurality of pieces to be detected;
the conveying device is arranged on the rack and used for conveying the first jig to the detection area or conveying the first jig from the detection area to the sorting area;
the visual detection device is arranged in the detection area and is used for detecting whether a plurality of pieces to be detected positioned in the detection area have bad detection pieces or not; and
the sorting device is arranged in the sorting area and used for sorting out the bad detection pieces when the conveying device conveys the first jig from the detection area to the sorting area.
In a possible implementation manner, the first fixture is provided with a plurality of accommodating grooves, the accommodating grooves are arranged at intervals, and each accommodating groove is used for accommodating one piece to be detected correspondingly.
In a possible embodiment, the sorting area includes a first area, the sorting device includes a first positioning assembly and a pick-and-place assembly which are arranged in the first area, and the visual inspection device is further configured to detect a first position of the defective detection element on the first fixture; the first positioning component is used for detecting a second position when the first jig moves to the sorting area, and acquiring a target position of the defective detection piece according to the first position and the second position, and the picking and placing component is used for picking out the defective detection piece at the target position.
In a possible implementation manner, the sorting area further includes a second area, the conveying device is further configured to move the pick-and-place assembly carrying the defective detection piece to the second area when the pick-and-place assembly moves the pick-and-place assembly, the sorting device further includes a second positioning assembly and a second fixture which are disposed in the second area, the second positioning assembly is configured to obtain a third position when the defective detection piece moves to the second area and a fourth position of the second fixture, and the pick-and-place assembly places the defective detection piece in the second fixture according to the third position and the fourth position.
In a possible embodiment, the visual inspection device includes a plurality of light sources arranged in a ring shape, and a camera for inspecting at least one of scratches, dirt, and welding spot defects on each of the members under inspection under irradiation of the light sources.
In a possible embodiment, the conveying device comprises a first conveying assembly and a second conveying assembly, the first conveying assembly is used for moving the first jig to a detection area of the visual detection device; the second conveying assembly is used for moving the first jig from the detection area of the visual detection device to the sorting area of the sorting device.
In a possible embodiment, the first conveying assembly is provided with a first sliding groove, the second conveying assembly is provided with a second sliding groove, and when the first jig is positioned on the first conveying assembly, the first jig slides in the first sliding groove; when the first jig is positioned on the second conveying assembly, the first jig slides in the second sliding groove.
In a possible implementation manner, the second conveying assembly further includes a hook disposed in the second sliding groove, the hook extends along a sliding direction of the first jig in the second sliding groove, and the hook is used for hooking the first jig after the plurality of to-be-detected members are detected by the visual detection device.
In a possible implementation manner, the automatic sorting system further includes a feeding device disposed on the rack, the feeding device is configured to accommodate the first jigs stacked in layers, and the conveying device is configured to sequentially convey the first jigs located on the top layer to the detection area.
In a possible implementation manner, the automatic sorting system further includes a blanking device disposed on the rack, the conveying device is further configured to sequentially convey the first jigs that are sorted to the blanking device, and the blanking device is configured to sequentially stack the first jigs that are sorted.
The application provides an automatic sorting system is through setting up the frame, conveyer, visual detection device and sorting device, make conveyer will install a plurality of waiting to detect a motion to the detection zone in first tool, detect a plurality of bad detection pieces that wait to detect in the piece through visual detection device, afterwards, conveyer removes first tool to the letter sorting district from the detection zone again, sort out bad detection piece wherein through sorting device, thereby realize detecting, the full automatization of letter sorting, can avoid waiting to detect the secondary pollution of piece, the improvement detects, the efficiency and the reliability of letter sorting. In addition, be equipped with a plurality of waiting to detect on the first tool, automatic sorting system can once accomplish on the first tool a plurality of detection, the letter sorting of waiting to detect the piece, great improvement efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below.
Fig. 1 is a schematic structural diagram of an automatic sorting system according to an embodiment of the present application;
FIG. 2 is a schematic view of a configuration of a frame of the automated sorting system of FIG. 1;
FIG. 3 is a schematic diagram of the automated sorting system of FIG. 2 having a loading zone, a detection zone, a sorting zone, and a discharge zone;
fig. 4 is a schematic view of the sorting zone of fig. 2 including a first zone and a second zone;
FIG. 5 is an enlarged view of a portion of a first fixture of the automated sorting system of FIG. 1;
fig. 6 is a schematic plan view of the first jig shown in fig. 5;
FIG. 7 is a schematic diagram of the drive arrangement of the automated sorting system of FIG. 1;
FIG. 8 is an enlarged, fragmentary schematic view of a first drive assembly of the transmission of FIG. 7;
FIG. 9 is a schematic diagram of a sorting apparatus of the automated sorting system of FIG. 1;
FIG. 10 is an enlarged, fragmentary schematic view of a second drive assembly of the drive of FIG. 7;
FIG. 11 is a schematic diagram of a loading mechanism of the automated sorting system of FIG. 1;
FIG. 12 is an enlarged, fragmentary schematic view of a loading assembly of the automated sorting system of FIG. 11;
fig. 13 is a schematic structural view of a lower feeding device of the automatic sorting system shown in fig. 1.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The embodiments listed in the present application may be appropriately combined with each other.
As shown in fig. 1, fig. 1 is a schematic structural diagram of an automatic sorting system 100 according to an embodiment of the present application. The automatic sorting system 100 is used for sorting a plurality of pieces to be detected which are arranged on the first jig 1. Wherein, the piece to be detected can be a chip, for example: camera sensor chip. The automatic sorting system 100 sorts the plurality of to-be-detected pieces may be understood as the automatic sorting system 100 distinguishes and classifies qualified detection pieces and defective detection pieces among the plurality of to-be-detected pieces.
For convenience of description, the coordinate system is established in a length direction, a width direction, and a height direction of the automatic sorting system 100. The length direction of the automatic sorting system 100 is recorded as the X-axis direction, the width direction of the automatic sorting system 100 is recorded as the Y-axis direction, the height direction of the automatic sorting system 100 is recorded as the Z-axis direction, and the direction indicated by the arrow is recorded as the positive direction.
As shown in fig. 1, the automatic sorting system 100 includes a frame 10, a transfer device 20, a vision inspection device 30, and a sorting device 40.
Referring to fig. 1 and 2, the rack 10 is used for carrying the conveying device 20, the visual inspection device 30 and the sorting device 40. In one embodiment, the gantry 10 includes a housing 101 and a table 102. The housing 101 encloses a working space. Optionally, the housing 101 encloses a semi-enclosed or enclosed working space. When the casing 101 encloses to form a closed working space, a window can be arranged on the casing 101 so as to facilitate checking the detection and sorting conditions of a plurality of pieces to be detected in the working space. In the embodiment of the application, a display 103 is arranged on the housing 101, and the display 103 is used for displaying the detection and sorting conditions of a plurality of pieces to be detected. A table 102 is provided within the housing 101. Optionally, the work table 102 divides the work space into an upper space 104 and a lower space 105. The upper space 104 is used to arrange the transfer device 20, the visual inspection device 30, and the sorting device 40. The lower space 105 is used for wiring, housing a main controller, and the like. Of course, in other embodiments, the upper space 104 may be used for wiring, housing a master controller, and the like. The lower space 105 may be used to set the conveyor 20, the visual inspection device 30, and the sorting device 40. In the embodiment of the present application, the upper space 104 may be understood as a space in which the table 102 faces the top of the housing 101, and the lower space 105 may be understood as a space in which the table 102 faces the bottom of the housing 101. Generally, the bottom of the housing 101 may be placed or fixed to the ground. The top of the housing 101 is opposite to the bottom of the housing 101 in the Z-axis direction.
As shown in fig. 3, the frame 10 is formed with a loading area 141, a detection area 142, a sorting area 143, and a unloading area 144. Specifically, the upper space 104 in the embodiment of the present application is used for detecting and sorting a plurality of to-be-detected objects in the first fixture 1. The upper space 104 includes a loading zone 141, a detection zone 142, a sorting zone 143, and a discharge zone 144. The feeding area 141 is used to provide a plurality of pieces to be detected. The detection area 142 is used for detecting a plurality of to-be-detected elements in the first fixture 1. The sorting area 143 is used for realizing the sorting process of the defective detection pieces in the first jig 1 and the storage of the defective detection pieces. The blanking area 144 is used for storing qualified inspection pieces after sorting.
Referring to fig. 1 and 3, the conveying device 20 is disposed on the frame 10. Specifically, the transmission device 20 is disposed on the surface of the worktable 102, and the transmission device 20 can drive the first fixture 1 to move on the surface of the worktable 102. The conveying device 20 is used for conveying the first jig 1. It is understood that the conveying device 20 is used for moving the first jig 1 from the feeding area 141 to the detection area 142, the conveying device 20 is also used for moving the first jig 1 from the detection area 142 to the sorting area 143 after the visual inspection device 30 detects a plurality of to-be-inspected objects, and the conveying device 20 is also used for conveying the first jig 1 after the sorting process and the qualified inspection objects therein to the discharging area 144.
Referring to fig. 1 and fig. 3, the visual inspection device 30 is disposed in the inspection area 142, and the visual inspection device 30 is used for inspecting whether there is a defective inspection object among the plurality of objects to be inspected when the conveyor 20 moves the first fixture 1 to the inspection area 142. Optionally, one end of the visual inspection device 30 is attached to the side of the table 102. The other end of the visual inspection device 30 is located on the side of the surface of the transfer device 20 facing away from the table 102 in the Z-axis direction. The other end of the visual inspection device 30 faces the surface of the table 102.
When the conveyor 20 moves the first jig 1 from the feeding area 141 to the detecting area 142, the visual inspection device 30 is used to detect scratches, dirt, and solder joint defects, etc. on each of the pieces to be inspected. Specifically, the vision inspection device 30 is configured to sequentially shoot each to-be-inspected object in the first fixture 1, and acquire image information of each to-be-inspected object. The image information of each piece to be detected may include pixel information, brightness information, color information, and the like. The vision inspection device 30 determines whether each of the pieces to be inspected has scratches, dirt, weld defects, and the like, based on the image information of each of the pieces to be inspected. If scratches, dirt, welding spot defects and the like are found on the piece to be detected, the piece is recorded as a poor detection piece. The visual inspection device 30 transmits the recorded information of the defective inspection piece to the sorting device 40 or to the main controller.
The information of the defective detecting elements may include the number information of the defective detecting elements, the positions of the defective detecting elements on the first jig 1, and the like. In the following embodiments, the position of the defective inspection device detected by the visual inspection device 30 on the first fixture 1 is referred to as a first position. The first position may include a coordinate value of the geometric center of the failure detector with respect to the geometric center of the first jig 1. Of course, in other embodiments, the first position may include a coordinate value of the first mark point on the failure detection element relative to the second mark point on the first fixture 1. The first and second marker points may be marker points previously stored in the visual inspection device 30 or the main controller.
It is understood that the number of bad detection members may be zero, one, or more. When the number of the bad detecting members is zero, the conveying device 20 can convey the first jig 1 to the blanking region 144 directly through the detecting region 142. When the number of the defective inspection pieces is one, the conveying device 20 may convey the first jig 1 to the sorting area 143, take out the defective inspection piece through the sorting device 40 of the sorting area 143, and convey the first jig 1 from the sorting area 143 to the blanking area 144. When the number of the defective inspection pieces is plural, the conveying device 20 may convey the first jig 1 to the sorting area 143, and convey the first jig 1 from the sorting area 143 to the blanking area 144 after the defective inspection pieces are sequentially taken out by the sorting device 40 of the sorting area 143.
Referring to fig. 1 and 4, the sorting device 40 is disposed in the sorting area 143. The sorting zone 143 includes a first area 143a and a second area 143 b. The sorting device 40 is used for sorting out the defective detection pieces when the conveyor 20 moves the first jig 1 from the detection area 142 to the first area 143a, and the sorting device 40 is used for placing the defective detection pieces in the second area 143b when the conveyor 20 moves the defective detection pieces to the second area 143 b. Optionally, the sorting device 40 is located on the side of the conveyor 20 facing away from the surface of the table 102 in the Z-axis direction. In other words, the sorting device 40 is located above the conveyor 20. When the conveyor 20 moves the first jig 1 from the detection area 142 to the first area 143a, the sorting device 40 may move in the Z-axis direction to take out the defective inspection piece in the first jig 1. When the conveyor 20 moves the defective inspection pieces from the first area 143a to the second area 143b, the sorting device 40 may move in the Z-axis direction to drop the defective inspection pieces. Alternatively, the sorting device 40 may include a suction cup which moves in the Z-axis direction and approaches or contacts the defective inspection member in the first jig 1 to suck it out. The suction disc can suck the defective detection piece in the first jig 1, so that the scratch to the defective detection piece can be reduced, and the reutilization rate of the defective detection piece is improved. Of course, in other embodiments, the suction cup may be replaced by a clip, a claw, or the like, which moves in the Z-axis direction and approaches or contacts the defect detector in the first jig 1 to be taken out.
The application provides an automatic sorting system 100 is through setting up frame 10, conveyer 20, visual detection device 30 and sorting device 40, make conveyer 20 will install a plurality of waiting to detect a motion to detection zone 142 in first tool 1, detect a plurality of bad detection piece that wait to detect in the piece through visual detection device 30, afterwards, conveyer 20 removes first tool 1 from detection zone 142 to letter sorting district 143 again, sort out bad detection piece wherein through sorting device 40, thereby realize detecting, the full automatization of letter sorting, can avoid waiting to detect the secondary pollution of piece, the improvement detects, the efficiency and the reliability of letter sorting. In addition, be equipped with a plurality of waiting to detect on first tool 1, automatic sorting system 100 can once accomplish on first tool 1 a plurality of detection, the letter sorting of waiting to detect the piece, great improvement efficiency.
As shown in fig. 5, the first jig 1 is provided with a plurality of receiving grooves 11. The plurality of receiving grooves 11 are provided at intervals. Each accommodating groove 11 is used for correspondingly accommodating one piece to be detected. In one embodiment, the first fixture 1 includes a plurality of cross structures 12 arranged along the X-axis direction and a plurality of cross structures arranged along the Y-axis direction. A containing groove 11 is formed between four adjacent cross structures 12. When a plurality of pieces to be detected are respectively accommodated in the corresponding accommodating grooves 11, the cross structure 12 can be used for limiting the pieces to be detected so as to prevent the pieces to be detected from sliding off when the first jig 1 moves. Optionally, wait to detect that a is spacing on cross structure 12 along Y axle direction, wait to detect that the size of piece along X axle direction is less than the size of accepting groove 11 along X axle direction to, can reserve corresponding space, so that sorting device 40 presss from both sides or snatchs the bad detection piece on first tool 1, or be convenient for sorting device 40 to absorb from the lateral part of bad detection piece. Optionally, the part of the to-be-detected piece protrudes out of the accommodating slot 11 along the Z-axis direction, so that the to-be-detected piece can be sucked out of the accommodating slot 11 by the sorting device 40 when contacting the to-be-detected piece, the suction force is increased, the reliability of the suction is improved, or the sorting device 40 is convenient to clamp or grab the side part of the defective detection piece.
For the convenience of clearly explaining the scheme of the embodiment of the present application, the first fixture 1 in the embodiment of the present application is exemplified to have four receiving slots 11, and it can be understood that the number and arrangement of the receiving slots 11 in the present application include, but are not limited to, the number and arrangement of the receiving slots 11 listed in the following embodiments.
In one embodiment, as shown in fig. 6, the four receiving grooves 11 are respectively referred to as a first receiving groove 110, a second receiving groove 112, a third receiving groove 113, and a fourth receiving groove 114. The first receiving groove 110 and the second receiving groove 112 are arranged along the X-axis direction. The third receiving groove 113 and the fourth receiving groove 114 are aligned in the X-axis direction. The first receiving groove 110 and the third receiving groove 113 are arranged in the Y-axis direction. The second receiving groove 112 and the fourth receiving groove 114 are arranged along the Y-axis direction. The first object 21 is located in the first receiving groove 110. The second member to be detected 22 is located in the second receiving slot 112. The third member to be detected 23 is located in the third receiving groove 113. The fourth object 24 is located in the fourth receiving slot 114.
As shown in fig. 7, the transfer device 20 includes a first transfer assembly 201 and a second transfer assembly 202. The first conveying assembly 201 is used for moving the first fixture 1 from the loading area 141 to the detection area 142. The first conveying assembly 201 can realize the movement of the first fixture 1 on the worktable 102 along the X-axis direction and the movement along the Y-axis direction. The second conveying assembly 202 is used for moving the first jig 1 from the detection area 142 to the sorting area 143. The second conveying assembly 202 can realize the movement of the first jig 1 on the worktable 102 along the X-axis direction and the Y-axis direction.
As shown in fig. 7, the visual inspection device 30 includes a fixed frame 301, a first camera 302, and a plurality of light sources 303. The first camera 302 and the light source 303 are disposed on the fixing frame 301. Optionally, the plurality of light sources 303 are arranged in a ring. The first camera 302 is used for detecting at least one of scratches, dirt and welding spot defects on the object to be detected under the irradiation of the plurality of light sources 303. In the embodiment of the present application, the visual inspection device 30 includes four light sources 303 arranged in a ring shape and a first camera 302 arranged along the Z-axis direction. The four light sources 303 can slide on the fixing frame 301 to adjust the angle of the irradiation position, the first camera 302 can move along the Z-axis direction or be fixed on the fixing frame, and the focus can be adjusted when the first camera 302 moves.
In an embodiment, referring to fig. 6 and 7, after the first conveying assembly 201 moves the first fixture 1 to the detection area 142 (see fig. 4), when the vision detecting device 30 starts to detect the first to-be-detected object 21, the main controller may control the first conveying assembly 201 to move the first to-be-detected object 21 in the first fixture 1 to a focus position of the first camera 302, so as to detect the first to-be-detected object 21. After the first to-be-detected piece 21 is detected, the first transmission assembly 201 moves the first fixture 1 in the opposite direction along the X axis, so that the second to-be-detected piece 22 is located at the focal position of the first camera 302, and the detection of the second to-be-detected piece 22 is realized. After the second to-be-detected element 22 is detected, the first conveying assembly 201 moves the first jig 1 forward along the Y axis, so that the fourth to-be-detected element 24 is located at the focal point of the first camera 302, and the detection of the fourth to-be-detected element 24 is realized. After the fourth workpiece to be detected 24 is detected, the first conveying assembly 201 moves the first jig 1 forward along the X axis, so that the third workpiece to be detected 23 is located at the focal position of the first camera 302, and the detection of the third workpiece to be detected 23 is realized. Of course, in other embodiments, the detection of all the to-be-detected objects in the first fixture 1 may also be achieved by adjusting the camera orientation to change the focal position of the first camera 302. Of course, the detection of all the to-be-detected parts in the first fixture 1 can also be realized by combining the position adjustment of the first fixture 1 and the orientation adjustment of the first camera 302.
Referring to fig. 7 and 8, the first conveying assembly 201 includes a first guide rail 210 and a second guide rail 211. The first guide rail 210 extends in the X-axis direction. The second guide rail 211 extends in the Y-axis direction. The second guide rail 211 is provided on the table 102. A slider 212 is provided in the second guide rail 211. The slider 212 is slidable in the Y-axis direction in the second guide rail 211. When the slide block 212 slides along the Y-axis direction, the first fixture 1 can be driven to move along the Y-axis direction. The first guide rail 210 is disposed on the slider 212. The first guide rail 210 forms a first chute 213. When the first fixture 1 is located on the first transmission assembly 201, the first fixture 1 can slide in the first sliding groove 213, so as to realize the movement of the first fixture 1 along the X-axis direction. When the first fixture 1 is located on the second transmission assembly 202, the first fixture 1 slides in the second sliding groove 223.
The first transmission assembly in this embodiment can realize the movement of the first fixture 1 on the workbench 102 in multiple directions, so that a plurality of to-be-detected pieces in the first fixture 1 can be located at the detection center of the visual detection device 30, and the reliability of the visual detection device 30 in detecting each to-be-detected piece is improved.
As shown in fig. 9, the sorting device 40 includes a first positioning assembly 401, a pick-and-place assembly 402, a second positioning assembly 403 and a second fixture 404. In one embodiment, the visual inspection device 30 sends a first position of the detected defective detecting element on the first jig 1 to the first positioning assembly 401, and the first positioning assembly 401 detects a second position of the first jig 1 when moving to the sorting area 143 (refer to fig. 3). The first positioning component 401 obtains and determines a target position of the bad detection part according to the first position and the second position. In another embodiment, the vision inspection device 30 sends the first position of the detected bad detection part on the first fixture 1 to the main controller, and the main controller controls the first positioning component 401 to detect the second position of the first fixture 1 when moving to the sorting area 143. And the main controller acquires and determines the target position of the bad detection piece according to the first position and the second position.
In one embodiment, referring to fig. 4 and 9, the first positioning component 401 includes a second camera 410. When the second conveying assembly 202 moves the first jig 1 from the detection area 142 to the first area 143a of the sorting area 143, the second camera 410 photographs the first jig 1 and determines the second position of the first jig 1 in the first area 143 a. The second position may comprise the X-axis coordinate and the Y-axis coordinate of the geometric center of the first jig 1. Of course, in other embodiments, the second position may include the position of other target points within the first fixture 1. The other target points may be any points on the first fixture 1, or positioning points, mark points, and the like set on the first fixture 1. In the embodiment of the present application, the second position is taken as a coordinate of the geometric center of the first fixture 1 as an example. The first positioning assembly 401 calculates the target position of the defective inspection piece according to the first position (i.e. the X-axis coordinate and the Y-axis coordinate of the geometric center of the defective inspection piece relative to the geometric center of the first fixture 1) and the second position (i.e. the X-axis coordinate and the Y-axis coordinate of the geometric center of the first fixture 1). The target position is the position of the defective detection element in the first region 143 a.
The pick-and-place assembly 402 picks up the bad detection part according to the target position. Optionally, the picking and placing assembly 402 picks out the bad detection component according to the target position under the control of the first positioning assembly 401 or the main controller.
In one embodiment, the main controller adjusts the position of the first fixture 1 according to the target position of the bad detection member, so that the second conveying assembly 202 can adjust the target position (x) of the bad detection member1，y1) And the coordinate position (x) of the pick-and-place assembly 4022，y2) The same can ensure that the picking and placing assembly 402 can accurately pick out the bad detection part. For example: the main controller controls the second conveying assembly 202 to move the first jig 1 along the X-axis direction, or the main controller controls the second conveying assembly 202 to move the first jig 1 along the Y-axis direction, or the main controller controls the second conveying assembly 202 to move the first jig 1 along the X-axis direction and the first jig 1 along the Y-axis direction, so that the target position (X) of the corresponding bad detection piece is enabled to be positioned (X-axis direction)1，y1) And the coordinate position (x) of the pick-and-place assembly 4022，y2) The same is true. When the number of the defective inspection pieces to be taken out is plural, each of the defective inspection pieces can be taken out in turn by this embodiment.
In another embodiment, the main controller adjusts the position of the first fixture 1 and/or the position of the pick-and-place assembly 402 according to the target position of the bad detection piece to be taken out, so as to make the position coordinate (x) of the bad detection piece to be taken out1，y1) And the coordinate position (x) of the pick-and-place assembly 4022，y2) Same, thereby can ensure takingThe placing assembly 402 can accurately remove the defective inspection piece. For example: the main controller controls the second conveying assembly 202 to move the first jig 1 along the X-axis direction, or the main controller controls the second conveying assembly 202 to move the pick-and-place assembly 402 along the Y-axis direction, or the second conveying assembly 202 controls the second conveying assembly 202 to move the first jig 1 along the X-axis direction, and controls the second conveying assembly 202 to move the pick-and-place assembly 402 along the Y-axis direction, so that the target position (X) of the bad detection piece to be taken out is enabled to be positioned1，y1) Coordinate value (x) with the pick-and-place module 4022，y2) The same is true. When the number of the defective inspection pieces to be taken out is plural, each of the defective inspection pieces can be taken out in turn by this embodiment.
Referring to fig. 9 and 10, the second conveying assembly 202 includes a third guide rail 220 and a fourth guide rail 221. The third rail 220 is provided on the table 102. The third guide rail 220 extends in the X-axis direction. The third guide rail 220 forms a second sliding groove 223, so that the first fixture 1 moves in the second sliding groove 223 along the X-axis direction. The fourth guide rail 221 is provided above the third guide rail 220 in the Z-axis direction, and is spaced apart from the third guide rail 220. The fourth guide rail 221 extends in the Y-axis direction. The fourth guide rail 221 is used to enable the movement of the gripping assembly in the Y-axis direction. It will be appreciated that the gripping assembly is slidably disposed on the fourth rail 221.
In one embodiment, referring to fig. 8 to 10, the second conveying assembly 202 further includes a hook 224 disposed in the second sliding groove 223. The hook 224 extends along the sliding direction of the first fixture 1 in the second sliding groove 223, and the hook 224 is used for hooking the first fixture 1 after the plurality of to-be-detected members are detected by the visual detection device 30. Specifically, when the third rail 220 is abutted to the first rail 210, the hook 224 hooks the first fixture 1 into the second chute 223 from the first chute 213.
In this embodiment, the second conveying assembly 202 of the conveying device 20 can realize the movement of the pick-and-place assembly 402 along the Y-axis direction and the movement of the first fixture 1 along the X-axis direction, and by combining the movement of the pick-and-place assembly 402 along the Y-axis direction and the movement of the first fixture 1 along the X-axis direction, the sorting of a plurality of defective detection pieces at different positions in the first fixture 1 can be realized. The first positioning assembly 401 photographs and positions the defective testing elements in the first region 143a, so as to improve the positioning reliability of the picking and placing assembly 402 when picking out the defective testing elements, and avoid the picking and placing assembly 402 from damaging the qualified testing elements in the first fixture 1.
Further, referring to fig. 4 and 9, the conveying device 20 is further configured to move the pick-and-place assembly 402 to the second area 143b of the sorting area 143 after the pick-and-place assembly 402 takes out the defective inspection object, so that the pick-and-place assembly 402 places the defective inspection object in the second area 143 b.
Specifically, the sorting device 40 further includes a second positioning assembly 403 and a second fixture 404 disposed in the second area 143 b. The second positioning assembly 403 is used for acquiring a third position of the bad detection member when the pick-and-place assembly 402 moves the bad detection member to the second area 143 b. Wherein the third position includes X-axis coordinates and Y-axis coordinates of the defective detecting member at the second region 143 b. The pick-and-place assembly 402 places the bad detecting elements in the second jig 404 according to the third position and the position of the second jig 404. The second fixture 404 has the same structure as the first fixture 1, and is not described herein again.
In one embodiment, the second positioning component 403 includes a third camera 430. After the picking and placing assembly 402 moves the defective inspection piece to the second area 143b, the third camera 430 photographs the defective inspection piece on the picking and placing assembly 402, and determines the X-axis coordinate and the Y-axis coordinate of the defective inspection piece on the picking and placing assembly 402 in the second area 143b, i.e., a third position. The second positioning assembly 403 controls the picking and placing assembly 402 to place the bad detection element in the second fixture 404 according to the third position and the position of the second fixture 404 stored in the main controller, or the second positioning assembly 403 transmits the third position to the main controller, and the main controller controls the picking and placing assembly 402 to place the bad detection element in the second fixture 404 according to the third position and the position of the second fixture 404. The position of the second fixture 404 can be determined by photographing with the second camera 410 before the picking and placing assembly 402 moves the bad detecting element to the second area 143b, and stored in the main controller.
In one embodiment, the main controller adjusts the position of the pick-and-place assembly 402 and the position of the second fixture 404 according to the third position of the bad detection element and the position of the second fixture 404, so that the bad detection element can be accurately placed in the second fixture 404. Specifically, the main controller controls the second conveying assembly 202 to move the pick-and-place assembly 402 along the Y axis, or the main controller controls the second conveying assembly 202 to move the second jig 404 along the X axis, or the main controller controls the second conveying assembly 202 to move the pick-and-place assembly 402 along the Y axis and controls the second conveying assembly 202 to move the second jig 404 along the X axis, so that the coordinate value of the defective detection element on the pick-and-place assembly 402 is the same as the coordinate value of the second jig 404, thereby ensuring that the pick-and-place assembly 402 accurately places the defective detection element in the receiving slot 11 of the second jig 404.
In this embodiment, the second conveying assembly 202 of the conveying device 20 can realize the movement of the pick-and-place assembly 402 along the Y-axis direction and the movement of the second fixture 404 along the X-axis direction, and by combining the movement of the pick-and-place assembly 402 along the Y-axis direction and the movement of the second fixture 404 along the X-axis direction, a plurality of defective detection elements can be sequentially arranged in the second fixture 404. The second positioning component 403 can photograph and position the defective detection piece in the second area 143b, so that the reliability of placing the defective detection piece in the second fixture 404 by the pick-and-place component 402 can be improved, the defective detection piece is less polluted or damaged again, and therefore, the subsequent removal of dirt and the like on the defective detection piece and the repair of scratches, welding spot defects and the like are facilitated, and the defective detection piece is reused.
Further, referring to fig. 4 and 11, the automatic sorting system 100 further includes a feeding device 50 disposed on the rack 10. The feeding device 50 is disposed in the feeding area 141 of the frame 10. The feeding device 50 is used for accommodating a plurality of first jigs 1 arranged in a stacked manner, and the conveying device 20 is used for sequentially conveying the first jigs 1 located on the top layer to the detection area 142.
In one embodiment, referring to fig. 4 and 12, the loading device 50 includes a first lifting assembly 501 and a first clamping assembly 502. The first clamping assembly 502 is used for clamping a plurality of first jigs 1 which are arranged in a stacked manner. The first lifting assembly 501 is configured to drive the first clamping assembly 502 to lift, so that the transmission assembly moves the first fixture 1 located on the top layer to the detection area 142 when the first fixture 1 located on the top layer is not clamped by the first clamping assembly 502. Through setting up loading attachment 50 to the centre gripping is equipped with the first tool 1 that detects the piece, and automated inspection system can sort at every turn and accomplish in all first tools 1 a plurality of detection, the letter sorting that detect the piece, thereby reducible artifical material loading number of times promotes automated inspection system's automation efficiency.
Further, referring to fig. 4 and 13, the automatic sorting system 100 further includes a blanking device 60 disposed on the rack 10. The blanking device 60 is disposed in a blanking region 144 of the frame 10. The conveying device 20 is also used for sequentially stacking the sorted first jigs 1 in the blanking device 60.
In one embodiment, the blanking device 60 includes a second lifting assembly 601 and a second clamping assembly 602. The second clamping assembly 602 is used for clamping the first fixture 1 transferred from the sorting area 143 to the blanking area 144. The second lifting assembly 601 is used for driving the second clamping assembly 602 to lift, so that all the first jigs 1 transferred from the sorting area 143 to the blanking area 144 can be clamped by the second clamping assembly 602. Through setting up unloader 60 to the first tool 1 that the centre gripping was equipped with qualified detection piece, automatic check out system can deposit the first tool 1 that the letter sorting was accomplished all in unloading district 144 at every turn, thereby can avoid all need taking out the first tool 1 that is equipped with qualified detection piece after the letter sorting was accomplished at every turn.
While the foregoing is directed to embodiments and examples of the present application, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the application.
Claims (10)
1. An automated sorting system, comprising:
a rack having a detection zone and a sorting zone;
the first jig is arranged on the rack and used for mounting a plurality of pieces to be detected;
the conveying device is arranged on the rack and used for conveying the first jig to the detection area or conveying the first jig from the detection area to the sorting area;
the visual detection device is arranged in the detection area and is used for detecting whether a plurality of pieces to be detected positioned in the detection area have bad detection pieces or not; and
the sorting device is arranged in the sorting area and used for sorting out the bad detection pieces when the conveying device conveys the first jig from the detection area to the sorting area.
2. The automatic sorting system according to claim 1, wherein the first fixture has a plurality of receiving slots, the receiving slots are spaced apart from each other, and each receiving slot is used for receiving one of the objects to be inspected.
3. The automated sorting system according to claim 1, wherein the sorting area includes a first area, the sorting device includes a first positioning assembly and a pick-and-place assembly disposed in the first area, and the visual inspection device is further configured to detect a first position of the failure detection member on the first fixture; the first positioning component is used for detecting a second position when the first jig moves to the sorting area, and acquiring a target position of the defective detection piece according to the first position and the second position, and the picking and placing component is used for picking out the defective detection piece at the target position.
4. The automatic sorting system according to claim 3, wherein the sorting area further includes a second area, the conveying device is further configured to move the pick-and-place assembly carrying the defective inspection piece to the second area when the pick-and-place assembly moves the pick-and-place assembly, the sorting device further includes a second positioning assembly and a second jig which are disposed in the second area, the second positioning assembly is configured to obtain a third position when the defective inspection piece moves to the second area and a fourth position of the second jig, and the pick-and-place assembly places the defective inspection piece in the second jig according to the third position and the fourth position.
5. The automated sorting system according to any one of claims 1 to 4, wherein the visual inspection device comprises a plurality of light sources arranged in a ring shape, and a camera for inspecting at least one of scratches, dirt, and solder joint defects on each of the objects to be inspected, and the light sources for illuminating the objects to be inspected.
6. The automated sorting system according to any one of claims 1 to 4, wherein the conveyor comprises a first conveyor assembly and a second conveyor assembly, the first conveyor assembly being configured to move the first tool to the detection zone; the second conveying assembly is used for moving the first jig from the detection area to the sorting area.
7. The automated sorting system according to claim 6, wherein the first conveying assembly is provided with a first chute, the second conveying assembly is provided with a second chute, and the first jig slides in the first chute when the first jig is positioned on the first conveying assembly; when the first jig is positioned on the second conveying assembly, the first jig slides in the second sliding groove.
8. The automatic sorting system according to claim 7, wherein the second conveying assembly further comprises a hook disposed in the second chute, the hook extends along a sliding direction of the first jig in the second chute, and the hook is configured to hook the first jig after the plurality of to-be-detected members are detected by the visual detection device.
9. The automatic sorting system according to any one of claims 1 to 4, further comprising a feeding device disposed on the rack, wherein the feeding device is configured to receive a plurality of the first jigs stacked one on top of another, and the conveying device is configured to sequentially convey the first jigs located on a top layer to the detection area.
10. The automatic sorting system according to any one of claims 1 to 4, further comprising a blanking device disposed on the rack, wherein the conveying device is further configured to sequentially convey the sorted first jigs to the blanking device, and the blanking device is configured to sequentially stack the sorted first jigs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110166230.5A CN112791996A (en) | 2021-02-05 | 2021-02-05 | Automatic sorting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110166230.5A CN112791996A (en) | 2021-02-05 | 2021-02-05 | Automatic sorting system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112791996A true CN112791996A (en) | 2021-05-14 |
Family
ID=75814728
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110166230.5A Pending CN112791996A (en) | 2021-02-05 | 2021-02-05 | Automatic sorting system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112791996A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106302A (en) * | 2022-06-29 | 2022-09-27 | 深圳市海铭德科技有限公司 | A equipment for letter sorting gauze |
| CN118305099A (en) * | 2024-05-28 | 2024-07-09 | 东莞市兆丰精密仪器有限公司 | Detection device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6293408B1 (en) * | 1997-07-16 | 2001-09-25 | Robotic Vision Systems, Inc. (Rvsi) | Inspection handler apparatus and method |
| CN106216268A (en) * | 2016-09-13 | 2016-12-14 | 浙江舜宇光学有限公司 | For detecting equipment and the method for detection camera module thereof of camera module |
| CN111268435A (en) * | 2020-04-16 | 2020-06-12 | 东莞市南工机械设备科技有限公司 | Glass detection device |
| CN210914354U (en) * | 2019-10-23 | 2020-07-03 | 珠海市协正智能装备有限公司 | Module carousel equipment |
| CN111515140A (en) * | 2020-06-02 | 2020-08-11 | 苏州佳智彩光电科技有限公司 | CELL automatic lighting detector |
| CN211660509U (en) * | 2019-12-06 | 2020-10-13 | 昆山龙雨智能科技有限公司 | SMA motor concentricity detection device |
| CN211945180U (en) * | 2020-03-10 | 2020-11-17 | 东莞市瑞科智能科技有限公司 | Part sorting, placing and stacking machine |
| CN214865397U (en) * | 2021-02-05 | 2021-11-26 | 东莞市鹰眼在线电子科技有限公司 | Automatic sorting system |
-
2021
- 2021-02-05 CN CN202110166230.5A patent/CN112791996A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6293408B1 (en) * | 1997-07-16 | 2001-09-25 | Robotic Vision Systems, Inc. (Rvsi) | Inspection handler apparatus and method |
| CN106216268A (en) * | 2016-09-13 | 2016-12-14 | 浙江舜宇光学有限公司 | For detecting equipment and the method for detection camera module thereof of camera module |
| CN210914354U (en) * | 2019-10-23 | 2020-07-03 | 珠海市协正智能装备有限公司 | Module carousel equipment |
| CN211660509U (en) * | 2019-12-06 | 2020-10-13 | 昆山龙雨智能科技有限公司 | SMA motor concentricity detection device |
| CN211945180U (en) * | 2020-03-10 | 2020-11-17 | 东莞市瑞科智能科技有限公司 | Part sorting, placing and stacking machine |
| CN111268435A (en) * | 2020-04-16 | 2020-06-12 | 东莞市南工机械设备科技有限公司 | Glass detection device |
| CN111515140A (en) * | 2020-06-02 | 2020-08-11 | 苏州佳智彩光电科技有限公司 | CELL automatic lighting detector |
| CN214865397U (en) * | 2021-02-05 | 2021-11-26 | 东莞市鹰眼在线电子科技有限公司 | Automatic sorting system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115106302A (en) * | 2022-06-29 | 2022-09-27 | 深圳市海铭德科技有限公司 | A equipment for letter sorting gauze |
| CN115106302B (en) * | 2022-06-29 | 2024-04-19 | 深圳市海铭德科技有限公司 | Device for sorting gauze |
| CN118305099A (en) * | 2024-05-28 | 2024-07-09 | 东莞市兆丰精密仪器有限公司 | Detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109822217B (en) | Automatic laser welding system | |
| CN112791996A (en) | Automatic sorting system | |
| CN113314445B (en) | COB automatic assembly equipment | |
| CN110860806B (en) | Ultraviolet femtosecond laser cutting system | |
| CN211014913U (en) | Liquid crystal display panel detection device | |
| CN218004799U (en) | Full-automatic batch chip testing device | |
| KR20190060493A (en) | Sawing Apparatus of Semiconductor Materials | |
| CN110729210A (en) | Semiconductor manufacturing apparatus and method for manufacturing semiconductor device | |
| CN113804701B (en) | Visual inspection device | |
| CN109524320A (en) | The manufacturing method of semiconductor manufacturing apparatus and semiconductor devices | |
| CN218049111U (en) | Chip testing and sorting equipment | |
| CN214865397U (en) | Automatic sorting system | |
| CN217237794U (en) | Diversified outward appearance detection device | |
| CN216631664U (en) | Detection device | |
| CN115178481A (en) | Silicon wafer sorting machine | |
| CN211453396U (en) | Detection device | |
| CN116818782A (en) | AOI detection equipment for detecting appearance defects of lenses | |
| CN111085463A (en) | Sorting device | |
| CN215542830U (en) | Flexible screen double-sided 3D detection equipment | |
| CN215339544U (en) | Detection device | |
| CN217369288U (en) | Defect detection device for polyhedral material | |
| CN113414122A (en) | Flexible screen double-sided 3D detection equipment | |
| CN115855965A (en) | Tray-based semiconductor detection device and semiconductor classification detection system | |
| KR20220097138A (en) | Semiconductor package sawing and sorting apparatus | |
| CN118077043A (en) | System and method for sorting dies from a wafer using an angled wafer table and an angled turret |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |