CN116413278A - Chip appearance detection equipment - Google Patents
Chip appearance detection equipment Download PDFInfo
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- CN116413278A CN116413278A CN202310471114.3A CN202310471114A CN116413278A CN 116413278 A CN116413278 A CN 116413278A CN 202310471114 A CN202310471114 A CN 202310471114A CN 116413278 A CN116413278 A CN 116413278A
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- 238000001514 detection method Methods 0.000 title claims abstract description 106
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- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
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Abstract
The invention provides chip appearance detection equipment which comprises a mounting seat, a feeding module, a lower surface detection module, a first conveying module and a suction module, wherein the mounting seat is connected with the feeding module; the feeding module is arranged on the mounting seat and is provided with a storage area and a feeding area, and the feeding module is used for transferring a tray on the storage area to the feeding area; the lower surface detection module is arranged on the mounting seat; the first conveying module is arranged on the mounting seat in a crossing way through the feeding module and the lower surface detection module; the sucking module is arranged on the first conveying module, and the first conveying module is used for driving the sucking module to move back and forth between the upper part of the material area and the upper part of the lower surface detection module, so that the sucking module sucks the chip on the tray or releases the sucked chip back to the tray; or the lower surface detection module is used for detecting the lower surface of the chip sucked by the suction module; the upper surface detection module is arranged on the first conveying module, and the first conveying module drives the upper surface detection module to move to the upper part of the material area.
Description
Technical Field
The invention relates to the technical field of chip detection, in particular to chip appearance detection equipment.
Background
The upper surface and the lower surface of the finished product and the semi-finished product chip are required to detect various characteristic defects, including broken needles, virtual soldering, short circuits, straight ball missing, dust adhesion, pollution, cracks, shell defect, surface scratch and the like.
In the prior art, when detecting a chip, multiple detection devices are required to detect the upper surface and the lower surface of the chip respectively, specifically, the chip is manually conveyed to the detection device aiming at the upper surface so as to detect the upper surface of the chip, and after the detection of the upper surface of the chip is completed, the chip is manually conveyed to the detection device aiming at the lower surface, so that the chip is required to be manually conveyed so as to realize the transportation of the chip among the multiple detection devices, and the phenomenon of secondary damage of the chip is easy to occur in the manual transportation process.
Disclosure of Invention
The invention aims to provide a chip appearance detection device, which solves the technical problem that in the prior art, when a plurality of detection devices are used for respectively detecting the upper surface and the lower surface of a chip, the chip is required to be manually conveyed to realize the transportation of the chip among the plurality of detection devices, so that secondary damage of the chip is caused in the manual transportation process.
The invention provides a chip appearance detection device, comprising:
a mounting base;
the feeding module is arranged on the mounting seat and is provided with a storage area and a feeding area, the storage area is used for stacking trays bearing chips to be detected, and the feeding module is used for transferring the trays on the storage area to the feeding area;
the lower surface detection module is arranged on the mounting seat;
the first conveying module is arranged on the mounting seat in a crossing way through the feeding module and the lower surface detection module;
the sucking module is arranged on the first conveying module and is used for driving the sucking module to move back and forth between the upper part of the material arrival area and the upper part of the lower surface detection module, and when the sucking module is positioned above the material arrival area, the sucking module sucks the chip on the tray or releases the sucked chip back to the tray; when the suction module is positioned above the lower surface detection module, the lower surface detection module detects the lower surface of the chip sucked by the suction module;
The upper surface detection module is arranged on the first conveying module, and the first conveying module drives the upper surface detection module to move to the upper part of the material receiving area, so that the upper surface detection module detects the upper surface of the chip on the tray.
As an embodiment of the present invention, the chip appearance detection device further includes a first recovery module, a second transport module, and a sorting module;
the first recovery module and the second recovery module are arranged on the mounting seat side by side, and the first recovery module is connected with one end of the feeding module, which is far away from the storage area;
the first recovery module is provided with a first sorting area and a first recovery area, the feeding module is further used for transferring the trays in the feeding area to the first sorting area, and the first recovery module is used for transferring the trays in the first sorting area to the first recovery area; the second recovery module is provided with a second sorting area and a second recovery area, and the first recovery module is used for transferring the trays in the second sorting area to the second recovery area;
the second conveying module is arranged on the mounting seat in a crossing way through the first recovery module and the second recovery module;
The sorting module is arranged on the second conveying module, and the second conveying module is used for driving the sorting module to move back and forth between the first recycling module and the second recycling module so as to convey the tray or the chip of the first sorting area to the second sorting area or convey the chip of the second sorting area to the first sorting area.
As an embodiment of the invention, the feeding module comprises a first support, a first conveying assembly, a stock stacking assembly and a first jacking assembly;
the storage area and the material arrival area are formed by the first support;
the first conveying assembly is arranged on the first support and comprises a conveying supporting plate capable of moving back and forth between the storage area and the arrival area;
the material preparation stacking assembly comprises a first telescopic driving piece and a first supporting piece, wherein the first telescopic driving piece is arranged at the material storage area, the power output end of the first telescopic driving piece is connected with the first supporting piece, and the first telescopic driving piece drives the first supporting piece to stretch out or retract;
the first jacking assembly is arranged at the storage area and comprises a first lifting driving piece and a first jacking plate, the first lifting driving piece is arranged on the mounting seat, the first jacking plate is connected with the power output end of the first lifting driving piece, and the first jacking plate is lower than the first supporting piece;
The first telescopic driving piece drives the first supporting piece to extend out, and a plurality of trays are stacked on the first supporting piece to form a tray stack; when the trays in the storage area need to be transferred to the material receiving area, the conveying supporting plate is transferred to the storage area and is positioned between the first supporting piece and the first lifting plate, the first lifting driving piece drives the first lifting plate to lift, and the first lifting plate lifts up and lifts up the tray stack at the side of the conveying supporting plate; the first telescopic driving piece drives the first supporting piece to retract so as to avoid the tray stack, the first lifting driving piece drives the first lifting plate to descend, and when the bottom tray of the tray stack descends below the first supporting piece, the first telescopic driving piece drives the first supporting piece to extend so as to bear the tray stack except the bottom tray; the first lifting driving piece drives the first lifting plate to support the bottom tray to continuously descend until the tray on the first lifting plate descends to the conveying supporting plate, and the conveying supporting plate drives the tray to move to the material receiving area.
As one embodiment of the present invention, the first lifting plate includes a first fixing portion and at least two first lifting portions, the first fixing portion is connected to the power output end of the first lifting driving member, and the two first lifting portions are respectively connected to opposite sides of the first fixing portion; wherein the first lifting part moves up and down beside the conveying pallet;
The first jacking component further comprises a first bracket, a first sensing piece, a second sensing piece and a first sensing trigger piece; the first bracket is arranged on the mounting seat, and the first lifting driving piece is arranged on the first bracket; the first induction piece and the second induction piece are arranged on the first bracket at intervals along the driving direction of the first lifting driving piece, the first induction triggering piece is arranged on the power output end of the first lifting driving piece, and the first induction triggering piece is used for triggering the induction of the first induction piece or the second induction piece; when the first induction triggering piece triggers the induction of the first induction piece, the first lifting driving piece stops driving the first lifting plate to descend; when the first induction triggering piece triggers the induction of the second induction piece, the first lifting driving piece stops driving the first lifting plate to lift.
As an embodiment of the present invention, the first support is formed with a first transfer passage in which the transfer pallet and the tray thereon are located;
the conveying support plate is further provided with a first blocking part and a second blocking part, the first blocking part and the second blocking part are arranged at intervals along the moving direction of the conveying support plate, and the first blocking part and the second blocking part respectively block the two opposite ends of the tray;
The first conveying assembly further comprises a first rotary driving piece, a first driving wheel, a first driven wheel, a first conveying belt, a first guide rail and a first sliding block; the first rotary driving piece is arranged on the first support, the power output end of the first rotary driving piece is connected with the first driving wheel, the first driven wheel is arranged on the first support, and the first conveyor belt is in tensioning sleeve with the first driving wheel and the first driven wheel; the first guide rail is arranged on the first support, and the first sliding block is in sliding connection with the first guide rail; the conveying supporting plate is connected with one side of the first conveying belt and the first sliding block.
As an embodiment of the invention, the first support is further formed with a transfer area, to which the transfer pallet can also be moved;
the feeding module further comprises a second jacking assembly arranged in the material transferring area, the second jacking assembly comprises a second lifting driving piece and a second jacking plate, the second lifting driving piece is arranged on the mounting seat, and the second jacking plate is connected with the power output end of the second lifting driving piece;
when the conveying supporting plate and the tray on the conveying supporting plate move to the material transferring area, the second lifting driving piece drives the second lifting plate to lift, the second lifting plate lifts up and lifts up the tray on the side of the conveying supporting plate, the conveying supporting plate leaves the material transferring area, and the second lifting driving piece drives the second lifting plate to descend until the tray descends to the first recycling module.
As one embodiment of the invention, the suction module comprises a first support plate, a first lifting component, a first suction nozzle component and a first elastic component;
the first support plate is arranged on the first conveying module; the first lifting assembly is arranged on the first support plate and comprises a first lifting plate which can do lifting motion relative to the first support plate; the first suction nozzle component is arranged on the first lifting plate; one end of the first elastic component is connected with the first support plate, and the other end of the first elastic component is connected with the first lifting plate.
As an embodiment of the present invention, the first lifting assembly further includes a second rotation driving member, an eccentric shaft, a second guide rail, and a second slider;
the second rotation driving piece is arranged on the first support plate, the eccentric shaft is connected with the power output shaft of the second rotation driving piece, and the eccentric shaft deviates from the central axis of the power output shaft of the second rotation driving piece; the first lifting plate is provided with a strip-shaped hole, the length extension direction of the strip-shaped hole is perpendicular to the lifting direction of the first lifting plate, and one end of the eccentric shaft, which is far away from the second rotation driving piece, extends into the strip-shaped hole; one of the second guide rail and the second sliding block is arranged on the first support plate, the other one of the second guide rail and the second sliding block is arranged on the first lifting plate, and the second sliding block is in sliding connection with the second guide rail.
As an embodiment of the present invention, the first nozzle assembly includes a first adjusting lever, a second adjusting lever, a first adjusting block, a second adjusting block, and a first nozzle;
at least two first adjusting rods are arranged on the first lifting plate at opposite intervals; every all the activity has cup jointed on the first regulation pole first regulating block, two every on the first regulation pole two be provided with between the first regulating block of every relative setting the second regulation pole, the activity cup joints a plurality of on the second regulation pole second regulating block, every all be connected with on the second regulating block first suction nozzle.
As one embodiment of the present invention, the lower surface detection module includes a first mounting cylinder, a first mounting frame, a first forward camera, a side camera assembly, and a first light source assembly;
the first mounting cylinder is provided with a first cavity, and an upper end plate and a lower end plate which are positioned at two opposite ends of the first cavity; the upper end plate is provided with a first opening communicated with the first cavity, the lower end plate is provided with a second opening communicated with the first cavity, and the second opening is opposite to the first opening, wherein when a chip is detected, the chip is positioned above the upper end plate, and the lower surface of the chip faces to the first opening;
The first mounting frame is connected with the lower end plate;
the forward camera is arranged on the first mounting frame and shoots the chip through the second opening, the first cavity and the first opening;
the lateral camera assembly comprises a lateral camera and a reflecting mirror, the lateral camera is arranged on the first mounting frame, and the lateral camera and the central axis of the second opening form an included angle; the reflecting mirror is arranged on the cavity wall of the cavity, receives incident light rays from the chip through the first opening, and reflects the reflected light rays to the side camera through the second opening;
the first light source component is arranged on the first mounting cylinder and/or the first mounting frame and provides a light source for shooting of the first forward camera and/or shooting of the side camera.
As one embodiment of the present invention, the first light source assembly includes a front monochromatic light source, a back light source, and a side light source disposed on the first mounting cylinder;
the front monochromatic light source is used for irradiating the lower surface of the chip and comprises a front monochromatic strong light source and a front monochromatic weak light source, and the illumination intensity of the front monochromatic strong light source is stronger than that of the front monochromatic weak light source; the front monochromatic intense light source is arranged on a cavity wall of one end of the first cavity, which is close to the upper end plate; the front monochromatic weak light source is arranged on the upper end plate, and the front monochromatic weak light source is arranged around the first opening;
The back light source is used for irradiating the upper surface of the chip, the back light source comprises a back strong light source and a back weak light source, the illumination intensity of the back strong light source is larger than that of the back weak light source, and the height of the back weak light source relative to the upper end plate is higher than that of the back strong light source relative to the upper end plate;
the side light source is arranged on the upper end plate and is used for irradiating the peripheral side face of the chip.
As an embodiment of the present invention, the first light source assembly further includes a first single-sided mirror, a first multi-color light source, and a second multi-color light source;
the first single-sided reflecting mirror is arranged between the first forward camera and the second opening, the first multicolor light source is arranged beside the first single-sided reflecting mirror, the first multicolor light source is used for emitting light rays to the first single-sided reflecting mirror, the first single-sided reflecting mirror is used for reflecting the incident light rays from the first multicolor light source to the lower surface of the chip, and the reflected light rays of the first single-sided reflecting mirror are parallel to the central axis of the second opening;
the second multicolor light source is arranged in the first cavity, the second multicolor light source surrounds the second opening and is in an annular shape, the second multicolor light source is provided with an irradiation inclined plane, and in the direction from the inner periphery to the outer periphery of the second multicolor light source, the distance between the irradiation inclined plane and the upper end plate is gradually increased.
As one embodiment of the invention, the upper surface detection module comprises a second mounting cylinder, a third mounting frame, a second forward camera and a second light source assembly;
the second mounting cylinder is provided with a second cavity, a fourth opening and a fifth opening which are communicated with the second cavity, and the fourth opening and the fifth opening are oppositely arranged; the third mounting frame is arranged on the second mounting cylinder; the second forward camera is arranged on the third mounting frame, and the shooting direction of the forward camera is vertically towards the fourth opening; the second light source component comprises a third multicolor light source, a second single-sided reflecting mirror and an oblique light source; the second single-sided mirror is arranged between the second forward camera and the fourth opening, the third multicolor light source is arranged beside the second single-sided mirror, the third multicolor light source is used for emitting light to the second single-sided mirror, the second single-sided mirror is used for reflecting the incident light from the third multicolor light source to pass through the fourth opening, and the reflected light of the second single-sided mirror is parallel to the central axis of the fourth opening; the oblique light source is arranged in the second cavity, light rays of the oblique light source pass through the fifth opening, and the irradiation direction of the oblique light source and the central axis of the fifth opening form an included angle.
As an embodiment of the present invention, the first transporting module includes a first portal frame, a third rotation driving member, a second driving wheel, a second driven wheel, a second conveyor belt, a third guide rail, a third slider, a ninth sensing member, a tenth sensing member, and a fifth sensing triggering member;
the first portal frame is arranged on the mounting seat in a crossing way through the feeding module and the lower surface detection module; the third rotary driving piece is arranged on the first portal frame, the second driving wheel is connected with the power output end of the third rotary driving piece, the second driven wheel is arranged on the first portal frame, and the second conveyor belt is in tensioning sleeve with the second driving wheel and the second driven wheel; the third guide rail is arranged on the first portal frame, and the third sliding block is in sliding connection with the third guide rail;
the suction module and the upper surface detection module are connected with one side of the second conveyor belt and the third sliding block;
the ninth sensing piece and the tenth sensing piece are arranged on the first portal frame at intervals along the conveying direction of the second conveying belt; the fifth induction triggering piece is arranged on the third sliding block and is used for triggering the induction of the ninth induction piece or the tenth induction piece.
As one embodiment of the invention, the sorting module comprises a first bearing frame, a second lifting assembly, a clip, a second conveying assembly, a second support plate, a third lifting assembly, a second suction nozzle and a second elastic assembly;
the first bearing frame is arranged on the second conveying module;
the second lifting assembly is arranged on the first bearing frame, the power output end of the second lifting assembly is connected with the clamp, the second lifting assembly drives the clamp to do lifting movement, the clamp has a clamping state and a release state, the clamp clamps the tray in the clamping state, and the clamp releases the tray in the release state;
the second conveying assembly is arranged on the first bearing frame, and the conveying direction of the second conveying assembly is perpendicular to the conveying direction of the second conveying module;
the second support plate is arranged on the second conveying assembly, the third lifting assembly is arranged on the second support plate, the third lifting assembly comprises a second lifting plate which can do lifting motion relative to the second support plate, and the second suction nozzle is arranged on the second lifting plate; one end of the second elastic component is connected with the second support plate, and the other end of the second elastic component is connected with the second lifting plate.
As one embodiment of the present invention, the first recovery module includes a second support, a third conveying assembly, a first positioning assembly, and a first vibration assembly;
the second support is arranged on the mounting seat, and the first sorting area and the first recycling area are formed by the second support; the third conveying assembly is arranged on the second support and is used for conveying the trays positioned on the first sorting area to the first recycling area; the first positioning component is arranged on the second support and/or the mounting seat and is used for limiting the tray in the first sorting area; the first vibration component is arranged on the second support and is used for vibrating the tray in the first sorting area;
the second recovery module comprises a third support, a fourth conveying assembly, a second positioning assembly and a second vibration assembly; the third support is arranged on the mounting seat, and the second separation area and the second recovery area are formed by the third support; the fourth conveying assembly is arranged on the third support and is used for conveying the trays positioned on the second sorting area to the second recycling area; the second positioning assembly is arranged on the mounting seat and is used for limiting the tray in the second sorting area; the second vibration component is arranged on the third support, and the first vibration component is used for vibrating the tray in the second sorting area.
As an embodiment of the present invention, the first recycling module further includes a first recycling stack assembly and a third jacking assembly disposed on the first recycling area;
the first recycling stacking assembly comprises a first shaft seat and a first rotating plate, the first shaft seat is arranged on the second support, the first rotating plate is rotatably arranged on the first shaft seat, the first rotating plate is provided with a first flat state and a first avoiding state, the first rotating plate is used for bearing a tray in the first flat state, and the first rotating plate is used for avoiding the tray in the first avoiding state;
the third jacking assembly comprises a fourth lifting driving piece and a third jacking plate, the fourth lifting driving piece is arranged on the mounting seat, and the third jacking plate is connected with the power output end of the fourth lifting driving piece;
when the third conveying assembly conveys the tray to the upper side of the third lifting plate, the fourth lifting driving piece drives the third lifting plate to support the tray to ascend, the tray props against the first rotating plate to enable the first rotating plate to be switched to the first avoiding state, so that when the tray ascends to be higher than the first rotating plate, the first rotating plate falls and is switched to the first flat state, and the fourth lifting driving piece drives the third lifting plate to descend until the tray falls onto the first rotating plate;
The second recycling module further comprises a second recycling stacking assembly and a fourth jacking assembly which are arranged on the second recycling area;
the second recycling stacking assembly comprises a second shaft seat and a second rotating plate, the second shaft seat is arranged on the third support, the second rotating plate is rotatably arranged on the shaft seat, the second rotating plate is provided with a second flat-down state and a second avoiding state, the second rotating plate is used for bearing a tray in the second flat-down state, and the second rotating plate is used for avoiding the tray in the second avoiding state;
the fourth jacking assembly comprises a fifth lifting driving piece and a fourth jacking plate, the fifth lifting driving piece is arranged on the mounting seat, and the fourth jacking plate is connected with the power output end of the fifth lifting driving piece;
when the fourth conveying assembly conveys the tray to the upper side of the fourth lifting plate, the fifth lifting driving piece drives the fourth lifting plate to support the tray to ascend, the tray props against the second rotating plate to enable the second rotating plate to be switched to the second avoiding state, so that the second rotating plate falls and is switched to the second flat-down state when the tray ascends to be higher than the second rotating plate, and the fifth lifting driving piece drives the fourth lifting plate to descend until the tray falls onto the second rotating plate.
As an embodiment of the present invention, the second transporting module includes a second portal frame, a fourth rotation driving member, a third driving wheel, a third driven wheel, a third conveyor belt, a fourth guide rail, a fourth slider, an eleventh sensing member, a twelfth sensing member, and a sixth sensing triggering member;
the second portal frame is arranged on the mounting seat in a crossing way through the first recovery module and the second recovery module; the fourth rotation driving piece is arranged on the second portal frame, the third driving wheel is connected with the power output end of the fourth rotation driving piece, the third driven wheel is arranged on the second portal frame, and the third conveyer belt is in tensioning sleeve with the third driving wheel and the third driven wheel; the fourth guide rail is arranged on the second portal frame, and the fourth sliding block is in sliding connection with the fourth guide rail;
the sorting module is connected with one side of the third conveyor belt and the fourth sliding block;
the eleventh sensing piece and the twelfth sensing piece are arranged on the second portal frame at intervals along the conveying direction of the third conveying belt; the sixth induction triggering piece is arranged on the fourth sliding block and is used for triggering the induction of the eleventh induction piece or the twelfth induction piece.
As an embodiment of the present invention, the chip appearance detection device further includes a manual recovery module, where the manual recovery module is arranged side by side with the first recovery module and the second recovery module, and the second transport module spans the manual recovery module;
the manual recovery module comprises a positioning support, a sliding guide assembly, a guide supporting plate and a recovery tray; the positioning support is arranged on the mounting seat, and a first positioning structure is formed on the positioning support; the sliding guide assembly is arranged on the mounting seat, extends towards the positioning support, and is a third sorting area at one end, close to the positioning support, of the sliding guide assembly, and a third recycling area at one end, far away from the positioning support, of the sliding guide assembly; the guide supporting plate is arranged on the sliding guide assembly and can move back and forth between the third sorting area and the third recycling area; the guide supporting plate is provided with a second positioning structure which is matched with the first positioning structure so as to limit the guide supporting plate to the third sorting area; the recovery tray is placed on the guide supporting plate and is used for recovering chips.
The implementation of the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, a tray carrying chips to be detected is piled on a storage area of a feeding module, and the feeding module moves the tray in the storage area to the storage area; at this time, the first transporting module drives the sucking module to move to the upper part of the material area, so that the sucking module can adsorb the upper surface of the chip on the tray, and the chip is sucked out from the tray; the first transporting module is used for driving the sucking module to move to the position above the lower surface detecting module, so that the lower surface of the chip sucked by the sucking module is positioned above the lower surface detecting module, and the lower surface detecting module can detect the lower surface of the chip; after the detection of the lower surface of the chip is finished, the first transfer module drives the suction module to move to the position above the material area again, and the suction module releases the chip with the finished lower surface detection back to the tray; then the upper surface detection module is moved to the position above the feeding area through the first conveying module, and at the moment, the upper surface detection module is positioned above the chip, so that the upper surface detection module can detect the upper surface of the chip on the tray; the chip appearance detection equipment provided by the technical scheme can complete the comprehensive detection of the upper surface and the lower surface of the chip, and the chip is not required to be transported to other detection equipment through manual transportation, so that the technical problem that the chip is required to be transported between various detection equipment through manual transportation when the upper surface and the lower surface of the chip are respectively detected by using various detection equipment in the prior art is solved, and secondary damage is caused in the manual transportation process.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram showing an overall structure of a chip appearance inspection apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall structure of a feeding module according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a part of a loading module according to an embodiment of the invention;
FIG. 4 is a schematic diagram showing the overall structure of a lower surface inspection module according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a lower surface inspection module according to an embodiment of the invention;
FIG. 6 is a schematic diagram showing the overall structures of the first transporting module, the sucking module and the upper surface detecting module according to an embodiment of the present invention;
FIG. 7 is a schematic diagram showing the overall structure of a suction module according to an embodiment of the present invention;
FIG. 8 is a partially exploded view of a suction module according to an embodiment of the present invention;
FIG. 9 is a cross-sectional view of a top surface inspection module according to one embodiment of the present invention;
FIG. 10 is a schematic diagram showing the overall structure of a first recycling module according to an embodiment of the invention;
FIG. 11 is a schematic view of a portion of a first recycling module according to an embodiment of the invention;
FIG. 12 is a schematic diagram showing the overall structure of a second recycling module according to an embodiment of the present invention;
FIG. 13 is a schematic view of a portion of a second recycling module according to an embodiment of the invention;
FIG. 14 is a schematic diagram showing the overall structure of a second transporting module and a sorting module according to an embodiment of the present invention;
FIG. 15 is a schematic diagram showing the overall structure of a second transporting module according to an embodiment of the present invention
FIG. 16 is a schematic diagram showing the overall structure of a sorting module according to an embodiment of the present invention;
FIG. 17 is a schematic view of a portion of a sorting module according to an embodiment of the present invention;
FIG. 18 is a schematic diagram showing the overall structure of the manual recycling module according to an embodiment of the present invention at a first view angle;
FIG. 19 is a schematic diagram showing the overall structure of the manual recycling module according to the second aspect of the present invention.
Wherein:
100. chip appearance detection equipment; 10. a mounting base; 20. a feeding module; 20a, a storage area; 20b, to a material area; 20c, a first transfer channel; 20d, a material transferring area; 21. a first support; 211. a first side plate; 212. a first frame; 22. a first transfer assembly; 221. a transfer pallet; 2211. a first blocking part; 2212. a second blocking part; 222. a first rotary drive member; 223. a first drive wheel; 224. a first driven wheel; 225. a first conveyor belt; 226. a first guide rail; 227. a first slider; 228. a third sensing member; 229. a fourth sensing member; 23. a stock stacking assembly; 231. a first telescopic driving member; 232. a first support; 233. a first limiting plate; 234. a first correlation sensor; 235. a second correlation sensor; 24. a first jacking assembly; 241. a first lifting driving member; 242. a first lift plate; 2421. a first fixing portion; 2422. a first lifting part; 243. a first bracket; 244. a first sensing member; 245. a second sensing member; 246. a first inductive trigger; 25. a second jacking assembly; 251. a second lifting driving member; 252. a second jacking plate; 2521. a second fixing portion; 2522. a second lifting part; 253. a second bracket; 254. a fifth sensing member; 255. a sixth sensing member; 256. a third inductive trigger; 30. a lower surface detection module; 31. a first mounting cylinder; 311. a first cavity; 312. an upper end plate; 313. a lower end plate; 314. a first opening; 315. a second opening; 32. a first mounting frame; 321. a first connection plate; 322. a first mounting plate; 3221. a third opening; 323. a second mounting plate; 33. a first forward camera; 34. a lateral camera assembly; 341. a lateral camera; 342. a reflecting mirror; 351. a front monochromatic light source; 3511. a front monochromatic intense light source; 3512. a front monochromatic weak light source; 352. a back light source; 3521. a back strong light source; 35211. a first back intense light source; 35212. a second back intense light source; 3522. a weak back light source; 353. a first condenser; 354. a second condenser lens; 355. a side light source; 356. a first single-sided mirror; 357. a first polychromatic light source; 358. a second polychromatic light source; 3581. irradiating the inclined plane; 36. a second mounting frame; 361. a first plate portion; 362. a second plate portion; 363. a third plate portion; 364. a fourth plate portion; 365. a fifth plate portion; 40. a first transport module; 41. a first portal frame; 42. a third rotary driving member; 43. a second driving wheel; 44. a second driven wheel; 45. a second conveyor belt; 46. a third guide rail; 47. a third slider; 48. a ninth sensing member; 49. a tenth sensing member; 50. a suction module; 51. a first support plate; 52. a first lifting assembly; 521. a first lifting plate; 5211. a bar-shaped hole; 522. a second rotary driving member; 523. an eccentric shaft; 524. a second guide rail; 528. a fourth inductive trigger; 53. a first nozzle assembly; 531. a first adjusting lever; 532. a second adjusting lever; 533. a first adjustment block; 534. a second adjustment block; 535. a first suction nozzle; 54. a first elastic component; 60. an upper surface detection module; 61. a second mounting cylinder; 611. a second cavity; 612. a fourth opening; 613. a fifth opening; 62. a third mounting frame; 63. a second forward camera; 64. a second light source assembly; 641. a third polychromatic light source; 642. a second single-sided mirror; 643. a diagonal light source; 70. a first recovery module; 70a, a first sorting area; 70b, a first recovery zone; 71. a second support; 711. a second side plate; 72. a third transfer assembly; 721. a seventh rotary driving member; 722. a sixth driving wheel; 723. a sixth driven wheel; 724. a sixth conveyor belt; 73. a first positioning assembly; 731. a first end stop; 732. one end position pushing piece; 733. a first side gear; 734. a first side pusher; 74. a third correlation sensor; 75. a first vibration assembly; 76. a first recovery stack assembly; 761. a first shaft seat; 762. a first rotating plate; 763. a first rotation limiting member; 764. a second limiting plate; 765. a fourth correlation sensor; 766. an eighth correlation sensor; 77. a third jacking assembly; 771. a fourth lifting driving member; 772. a third jacking plate; 80. a second recovery module; 80a, a second separation zone; 80b, a second recovery zone; 81. a third support; 811. a third side plate; 82. a fourth transfer assembly; 821. an eighth rotary driving member; 822. a seventh drive wheel; 823. a seventh driven wheel; 824. a seventh conveyor belt; 83. a second positioning assembly; 831. a second end stop; 832. a second end position pushing piece; 833. a second side gear; 834. a second side pusher; 84. a fifth correlation sensor; 85. a second vibration assembly; 86. a second recovery stack assembly; 861. a second axle seat; 862. a second rotating plate; 863. a second rotation limiting member; 864. a third limiting plate; 865. a ninth correlation sensor; 866. a tenth correlation sensor; 87. a fourth jacking assembly; 871. a fifth lifting driving member; 872. a fourth jacking plate; 90. a sorting module; 91. a first carrier; 92. a second lifting assembly; 921. a third lifting driving member; 922. a seventh guide rail; 923. a seventh slider; 924. seventeenth sensing element; 925. an eighteenth sensing member; 926. a ninth inductive trigger; 93. a clip; 94. a second transfer assembly; 941. a fifth rotation driving member; 942. a fourth drive wheel; 943. a fourth driven wheel; 944. a fourth conveyor belt; 945. a fifth guide rail; 946. a fifth slider; 947. a thirteenth sensing element; 95. a second support plate; 96. a third lifting assembly; 961. a second lifting plate; 962. a sixth rotary driving member; 963. a fifth driving wheel; 964. a fifth driven wheel; 965. a fifth conveyor belt; 966. a sixth guide rail; 967. a sixth slider; 969. a sixteenth sensing element; 9610. an eighth inductive trigger; 97. a second suction nozzle; 98. a second elastic component; 99. a cover plate; 110. a second transfer module; 1101. a second portal frame; 1102. a fourth rotary driving member; 1103. a third driving wheel; 1104. a third driven wheel; 1105. a third conveyor belt; 1106. a fourth guide rail; 1107. a fourth slider; 1108. eleven sensing pieces; 1109. a twelfth sensing element; 11010. a sixth inductive trigger; 120. a manual recovery module; 1201. positioning a support; 12011. a first positioning structure; 1202. a sliding guide assembly; 1202a, third sorting area; 1202b, a third recovery zone; 12021. an eighth rail; 12022. an eighth slider; 1203. a guide pallet; 12031. a second positioning structure; 12032. a handle portion; 12033. a limit part; 1204. a recovery tray; 1205. a proximity switch; 1206. a sixth correlation sensor; 1207. and a seventh correlation sensor.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 9, an embodiment of the present invention provides a chip appearance detection apparatus 100, which includes a mounting base 10, a feeding module 20, a lower surface detection module 30, a first transporting module 40, and a sucking module 50; the feeding module 20 is arranged on the mounting seat 10, the feeding module 20 is provided with a storage area 20a and an arrival area 20b, the storage area 20a is used for stacking trays bearing chips to be detected, and the feeding module 20 is used for transferring the trays on the storage area 20a to the arrival area 20b; the lower surface detection module 30 is arranged on the mounting seat 10, and the lower surface detection module 30 is positioned beside the material reaching area 20b; the first transporting module 40 is arranged on the mounting base 10 across the feeding module 20 and the lower surface detecting module 30; the suction module 50 is disposed on the first transporting module 40, and the first transporting module 40 is configured to drive the suction module 50 to move back and forth between the upper portion of the arrival area 20b and the upper portion of the lower surface detecting module 30, and when the suction module 50 is located above the arrival area 20b, the suction module 50 sucks the chip on the tray or releases the sucked chip back to the tray; when the suction module 50 is located above the lower surface detection module 30, the lower surface detection module 30 detects the lower surface of the chip sucked by the suction module 50; the upper surface detection module 60 is disposed on the first transporting module 40, and the first transporting module 40 drives the upper surface detection module 60 to move above the feeding area 20b, so that the upper surface detection module 60 detects the upper surface of the chip on the tray.
The chip has a peripheral side surface, a lower surface disposed at one end of the peripheral side surface, and an upper surface disposed at the other end of the peripheral side surface, the lower surface detection module 30 is used for detecting the lower surface of the chip, and the upper surface detection module 60 is used for detecting the upper surface of the chip.
In the embodiment of the invention, the tray carrying the chip to be detected is stacked on the storage area 20a of the feeding module 20, and the feeding module 20 moves the tray in the storage area 20a to the storage area 20b; at this time, the first transporting module 40 drives the sucking module 50 to move to the upper portion of the material area 20b, so that the sucking module 50 can adsorb the upper surface of the chip on the tray, and thus suck the chip from the tray; the first transporting module 40 drives the sucking module 50 to move above the lower surface detecting module 30, so that the lower surface of the chip sucked by the sucking module 50 is positioned above the lower surface detecting module 30, and the lower surface detecting module 30 can detect the lower surface of the chip; after the detection of the lower surface of the chip is completed, the first transporting module 40 drives the sucking module 50 to move to the position above the material area 20b again, and the sucking module 50 releases the chip with the completed lower surface detection back to the tray; then the upper surface detection module 60 is moved to the position above the feeding area 20b by the first transporting module 40, and at this time, the upper surface detection module 60 is located above the chip, so that the upper surface detection module 60 can detect the upper surface of the chip on the tray; the chip appearance detection equipment provided by the technical scheme can complete the comprehensive detection of the upper surface and the lower surface of the chip, and the chip is not required to be transported to other detection equipment through manual transportation, so that the technical problem that the chip is required to be transported between various detection equipment through manual transportation when the upper surface and the lower surface of the chip are respectively detected by using various detection equipment in the prior art is solved, and secondary damage is caused in the manual transportation process.
It should be noted that, through the chip appearance detection device 100 provided by the technical scheme, the comprehensive detection of the chip is completed at one time, so that the total detection time of the chip is effectively shortened.
It should be noted that, the chip appearance detection device 100 provided by the present technical solution can complete the overall detection of the chip at one time, and also can selectively detect the chip, for example, only detect the upper surface of the chip, and for example, only detect the lower surface of the chip.
The tray is provided with a plurality of grids, and a chip to be detected is placed in one grid.
In some embodiments, the plurality of cells of the tray are arranged in a matrix,
in one embodiment, the chip appearance inspection apparatus 100 further includes a protective housing (not shown in the drawings) disposed on the mounting base 10, and the protective housing covers the feeding module 20, the lower surface inspection module 30, the first transporting module 40, the sucking module 50, and the like to protect the chip appearance inspection apparatus 100.
In one embodiment, the chip appearance inspection apparatus 100 further includes an electrostatic eliminator (not shown) provided in the protective case to balance the internal static electricity of the protective case.
In one embodiment, referring to fig. 10 to 17, the chip appearance detecting apparatus 100 further includes a first recovery module 70, a second recovery module 80, a second transporting module 110, and a sorting module 90, where the first recovery module 70 and the second recovery module 80 are arranged on the mounting base 10 side by side, and the first recovery module 70 is connected to one end of the feeding module 20 away from the storage area 20 a; the first recovery module 70 has a first sorting area 70a and a first recovery area 70b, the loading module 20 is further configured to transfer the trays in the loading area 20b to the first sorting area 70a, and the first recovery module 70 is configured to transfer the trays in the first sorting area 70a to the first recovery area 70b; the second recovery module 80 has a second sorting area 80a and a second recovery area 80b, and the first recovery module 70 is configured to transfer the trays in the second sorting area 80a to the second recovery area 80b; the second transporting module 110 is disposed on the mounting base 10 and spans the first recovering module 70 and the second recovering module 80; the sorting module 90 is disposed on the second transporting module 110, and the second transporting module 110 is configured to drive the sorting module 90 to move back and forth between the first recycling module 70 and the second recycling module 80, so as to transfer the tray or the chip of the first sorting area 70a to the second sorting area 80a, or transfer the chip of the second sorting area 80a to the first sorting area 70 a.
After appearance detection of all chips on the trays in the material area 20b is completed, the material loading module 20 transfers the trays in the material area 20b to the first sorting area 70a of the first recycling module 70, if the second sorting area 80a of the second recycling module 80 does not have trays, the sorting module 90 is moved by the second transporting module 110, so that the sorting module 90 carries the trays to the second sorting area 80a of the second recycling module 80, and the sorting process is performed, specifically, the sorting module 90 is moved by the second transporting module 110, so that the sorting module 90 carries good chips on the trays in the second sorting area 80a to the trays in the first sorting area 70a, and the chips sorted on the trays in the second sorting area 80a are all good products.
If the tray has been placed in the second sorting area 80a of the second recycling module 80, the sorting process directly enters, specifically, the sorting module 90 is moved by the second transporting module 110, so that the sorting module 90 carries the defective chips on the tray in the first sorting area 70a to the tray in the second sorting area 80a, and therefore the chips sorted on the tray in the first sorting area 70a are all defective products, and the chips sorted out to the tray in the second sorting area 80a are all defective products.
The chips on the trays in the first sorting area 70a of the first recovery module 70 are good, and when the trays are fully loaded, the first recovery module 70 transfers the trays in the first sorting area 70a to the first recovery area 70b, so that the first sorting area 70a receives the next tray which is not sorted; the chips on the trays in the second sorting area 80a of the second recovery module 80 are defective, and when the trays are fully loaded, the second recovery module 80 transfers the trays in the second sorting area 80a to the second recovery area 80b, so that the second sorting area 80a receives the next tray which is not sorted.
In one embodiment, referring to fig. 4 and 5, the lower surface detection module 30 includes a first mounting cylinder 31, a first mounting frame 32, a first forward camera 33, a side camera assembly 34, and a first light source assembly; the first mounting cylinder 31 is formed with a first cavity 311, and an upper end plate 312 and a lower end plate 313 at opposite ends of the first cavity 311; the upper end plate 312 is formed with a first opening 314 communicating with the first cavity 311, the lower end plate 313 is formed with a second opening 315 communicating with the first cavity 311, and the second opening 315 is disposed opposite to the first opening 314, wherein, when a chip is detected, the chip is located above the upper end plate 312, and the lower surface of the chip faces the first opening 314; the first mounting frame 32 is connected to the lower end plate 313; the forward camera is arranged on the first mounting frame 32, and shoots the chip through the second opening 315, the first cavity 311 and the first opening 314; the lateral camera assembly 34 includes a lateral camera 341 and a reflecting mirror 342, the lateral camera 341 is disposed on the first mounting frame 32, and the lateral camera 341 is disposed at an angle with the central axis of the second opening 315; the reflecting mirror 342 is disposed on the wall of the cavity, the reflecting mirror 342 receives the incident light from the chip through the first opening 314 and reflects the reflected light to the side camera 341 through the second opening 315; the first light source assembly is disposed on the first mounting cylinder 31 and/or the first mounting frame 32, and provides a light source for photographing of the first forward camera 33 and/or photographing of the side camera 341.
In this embodiment, when the lower surface of the chip needs to be detected, the suction module 50 sucks the chip on the tray in the material area 20b, the first transfer module 40 transfers the suction module 50, transfers the chip to the upper portion of the upper end plate 312, and makes the projection of the chip located in the first opening 314, so that the lower surface of the chip faces the first opening 314, and the first forward camera 33 and the side camera 341 disposed on the lower end plate 313 are located below the lower surface of the chip; the first light source assembly is then activated to provide a light source for the photographing of the first forward camera 33, the side camera 341, in particular: the first forward camera 33 located right below the second opening 315 can clearly forward shoot the lower surface of the chip through the second opening 315, the first cavity 311 and the first opening 314, namely the shooting direction of the first forward camera 33 is perpendicular to the lower surface of the chip, so that the plane defect of the lower surface of the chip can be detected; the lateral camera 341 and the central axis of the second opening 315 form an included angle, so that after the reflector 342 receives the incident light from the chip through the first opening 314, the light can be reflected to the lateral camera 341 through the second opening 315, so that the lateral camera 341 finishes oblique shooting on the lower surface of the chip, that is, the shooting direction of the lateral camera 341 forms an included angle with the lower surface of the chip, and the three-dimensional defect on the lower surface of the chip can be detected; thus, the lower surface detection module 30 can comprehensively detect the planar defect and the stereoscopic defect on the lower surface of the chip at one time.
In some specific embodiments, the number of the lateral cameras 341 is two, the number of the reflectors 342 is two, the two lateral cameras 341 are symmetrically arranged at two sides of the forward direction camera, and the two reflectors 342 are respectively arranged corresponding to the two lateral cameras 341, so that the lower surface of the chip is comprehensively photographed through the two lateral cameras 341.
Referring to fig. 4 and 5, the first light source assembly includes a front side monochromatic light source 351, and the front side monochromatic light source 351 is used for irradiating the lower surface of the chip. It will be appreciated that when the chip is moved over the upper end plate 312, the height of the front side monochromatic light source 351 is lower than the height of the lower surface of the chip, so that the front side monochromatic light source 351 can illuminate the lower surface of the chip, so that the first forward camera 33 and the side camera 341 can clearly photograph the lower surface of the chip.
In some specific embodiments, the light source provided by front monochromatic light source 351 is white light.
In some specific embodiments, referring to fig. 4 and 5, the front monochromatic light source 351 includes a front monochromatic intense light source 3511 and a front monochromatic weak light source 3512, wherein the front monochromatic intense light source 3511 has a higher illumination intensity than the front monochromatic weak light source 3512; the front monochromatic light source 3511 is disposed on a cavity wall of the first cavity 311; the front monochromatic weak light source 3512 is disposed on the upper end plate 312, and the front monochromatic weak light source 3512 is disposed around the first opening 314.
In the present embodiment, the front monochromatic light source 351 is divided into a front monochromatic strong light source 3511 and a front monochromatic weak light source 3512, the front monochromatic strong light source 3511 is disposed on the cavity wall of the first cavity 311, and the front monochromatic weak light source 3512 is disposed on the upper end plate 312, so that the front monochromatic strong light source 3511 is hidden and the front monochromatic weak light source 3512 is made closer to the lower surface of the chip; specifically, sufficient light source is provided for the lower surface of the chip by a front monochromatic intense light source 3511; meanwhile, the front monochromatic weak light source 3512 can be matched with the front monochromatic strong light source 3511 to supplement light to the lower surface of the chip, so that the shadow of the characteristics of the lower surface of the chip is weakened; and the front monochromatic weak light source 3512 is disposed around the first opening 314, improving the light supplementing effect.
It should be noted that, the front monochromatic strong light source 3511 and the front monochromatic weak light source 3512 are respectively provided with a light source controller, and the brightness levels of the front monochromatic strong light source 3511 and the front monochromatic weak light source 3512 can be respectively adjusted by the corresponding light source controllers, for example, the light source brightness of the front monochromatic strong light source 3511 can be divided into seven levels of P1, P2, P3, P4, P5, P6 and P7, the brightness of the front monochromatic strong light source 3511 is darkest in the P1 level, and the brightness of the front monochromatic strong light source 3511 is brightest in the P7 level; similarly, the brightness level of the front monochromatic weak light source 3512 may be set, which is not described herein.
In some specific embodiments, referring to fig. 4 and 5, the front monochromatic intense light source 3511 is located at an end of the first cavity 311 near the upper end plate 312, that is, the front monochromatic intense light source 3511 is located near the upper end plate 312, that is, closer to the chip located above the upper end plate 312, so as to enhance the illumination effect of the front monochromatic intense light source 3511 with respect to the lower surface of the chip.
In some specific embodiments, referring to fig. 4 and 5, the front monochromatic intense light source 3511 is a plurality of front monochromatic intense light sources 3511 arranged along the circumference of the inner wall of the first cavity 311.
In some specific embodiments, the front monochromatic weak light source 3512 may be multiple, or one; when the front monochromatic weak light source 3512 is plural, the plural front monochromatic weak light sources 3512 are disposed around the first opening 314; when the front monochromatic weak light source 3512 is one, the front monochromatic weak light source 3512 is annular, and the annular front monochromatic weak light source 3512 is disposed around the first opening 314, as shown in fig. 4.
In one embodiment, referring to fig. 4 and 5, the first light source assembly further includes a back light source 352 disposed on the upper end plate 312, the back light source 352 being configured to illuminate an upper surface of the chip. It can be appreciated that the height of the backlight 352 is higher than the height of the upper surface of the chip, and the upper surface of the chip is irradiated by the backlight 352, so that the chip has a clear background, the contrast of the lower surface of the chip is improved, and the lower surface of the chip is clearer.
Referring to fig. 4 and 5, the back light source 352 includes a back strong light source 3521 and a back weak light source 3522, and the back strong light source 3521 has a light intensity greater than that of the back weak light source 3522. Therefore, when it is desired to detect features on the lower surface of the chip that have relatively weak contrast, a back intense light source 3521 may be selected; the back weak light source 3522 may be selected when it is desired to detect features on the lower surface of the chip that are relatively high in contrast.
It should be noted that, the back weak light source 3522 is also provided with a light source controller, and the brightness level of the back weak light source 3522 can be adjusted by the corresponding light source controller, and the brightness level of the back weak light source 3522 can refer to the front monochromatic strong light source 3511, which is not described herein.
In some specific embodiments, referring to fig. 4, the height of the back weak light source 3522 relative to the upper endplate 312 is greater than the height of the back strong light source 3521 relative to the upper endplate 312. Accordingly, when the chip is transferred over the first opening 314, the height of the back weak light source 3522 with respect to the upper surface of the chip is higher than the height of the back strong light source 3521 with respect to the upper surface of the chip, thereby reducing the background brightness provided when the back weak light source 3522 is irradiated.
In some specific embodiments, referring to fig. 4, the distance between the back weak light source 3522 and the first opening 314 is greater than the distance between the back strong light source 3521 and the first opening 314 in a direction perpendicular to the central axis of the first opening 314. Accordingly, when the chip is transferred over the first opening 314, the back weak light source 3522 is located at an upper circumferential side farther from the chip, thereby further weakening the background brightness provided when the back weak light source 3522 is irradiated.
In some specific embodiments, referring to fig. 4, the number of the back weak light sources 3522 is two, two groups of the back weak light sources 3522 are disposed at two sides of the first opening 314, and the two groups of the back weak light sources 3522 are staggered, so as to further reduce the background brightness provided when the back weak light sources 3522 illuminate.
In some specific embodiments, referring to fig. 4, the back light sources 3521 are two groups, and the two groups of back light sources 3521 are symmetrically disposed on two sides of the first opening 314, so as to improve the background brightness provided when the back light sources 3521 are irradiated.
Referring to fig. 4 and 5, the back intense light source 3521 includes a first back intense light source 35211 and a second back intense light source 35212; the first back intense light source 35211 is disposed on the upper end plate 312, the illumination direction of the first back intense light source 35211 is the same as the illumination direction of the first opening 314, the second back intense light source 35212 is disposed on a side of the first back intense light source 35211 away from the first opening 314, and the illumination direction of the second back intense light source 35212 is vertically directed to the central axis of the first opening 314; the first light source assembly further includes a first condensing lens 353, where the first condensing lens 353 is disposed at an interval relative to the first back intense light source 35211 along the illumination direction of the first back intense light source 35211.
In this embodiment, the irradiation direction of the first back intense light source 35211 is the same as the direction of the first opening 314, so that the light of the first back intense light source 35211 cannot directly irradiate the chip located above the first opening 314; the second back intense light source 35212 is arranged on one side of the first back intense light source 35211 away from the first opening 314, and the illumination direction of the second back intense light source 35212 is vertically directed to the central axis of the first opening 314, so that the light of the second back intense light source 35212 can directly irradiate the upper surface of the chip above the first opening 314, and the light of the first back intense light source 35211 which is outwards diffused is blocked by the second back intense light source 35212; in addition, the light source assembly further includes a first condenser 353, the first condenser 353 being spaced apart from the first back intense light source 35211 such that the second condenser 354 blocks the illumination of the first back intense light source 35211, as can be seen, the first back intense light source 35211, the second back intense light source 35212 and the first condenser 353 form a -shaped structure with an opening of the -shaped structure facing the central axis of the first opening 314, such that light from the first back intense light source 35211 is confined within the -shaped structure and is directed through the opening of the -shaped structure toward the upper surface of the chip located above the first opening 314; to sum up, the illumination intensity of the first back strong light source 35211 is lower than the illumination intensity of the second back strong light source 35212, the light emitted by the second back strong light source 35212 is defined as strong light, and the light emitted by the first back strong light source 35211 and the second back strong light source 35212 together is extremely strong, so that when the illumination intensity of the back strong light source 3521 is required to be strong, the second back strong light source 35212 can be selectively started, and when the illumination intensity of the back strong light source 3521 is required to be extremely strong, the first back strong light source 35211 and the second back strong light source 35212 can be selectively started. It should be noted that, the first back strong light source 35211 and the second back strong light source 35212 are also respectively provided with a light source controller, and the brightness levels of the first back strong light source 35211 and the second back strong light source 35212 can be respectively adjusted by the corresponding light source controllers, and the brightness levels of the first back strong light source 35211 and the second back strong light source 35212 can refer to the front monochromatic strong light source 3511, which is not described herein.
In some specific embodiments, referring to fig. 4, the first light source assembly further includes a second condenser lens 354, the second condenser lens 354 is disposed at a side of the first condenser lens 353 away from the second back intense light source 35212, the second condenser lens 354 is inclined toward the second back intense light source 35212, and a distance between the second condenser lens 354 and the upper end plate 312 gradually decreases in an irradiation direction of the second back intense light source 35212.
It should be noted that, the height of the second beam splitter 354 is higher than the height of the upper surface of the chip, so the second beam splitter 354 can focus and guide the second back intense light source 35212, focus and guide the light of the second back intense light source 35212 to the upper surface of the chip, and increase the illumination intensity of the second back intense light source 35212.
In one embodiment, referring to fig. 4, the first light source assembly further includes a side light source 355 disposed on the upper end plate 312, and the side light source 355 is used for illuminating the peripheral side of the chip, so that the first front camera 33 and the side camera 341 more fully and clearly capture some defects on the lower surface of the chip that require the side light source 355 to cooperate.
It should be noted that, the side light source 355 is also provided with a light source controller, and the brightness gear of the side light source 355 can be adjusted by the corresponding light source controller, and the brightness gear of the side light source 355 can refer to the front monochromatic strong light source 3511, which is not described herein.
In some specific embodiments, referring to fig. 4, first back intense light source 35211 is coupled to side light source 355 distal first opening 314, thereby indirectly mounting first back intense light source 35211 to upper endplate 312.
In one embodiment, referring to fig. 4 and 5, the first light source assembly further comprises a first single-sided mirror 356 and a first polychromatic light source 357; the first single-sided mirror 356 is disposed between the first forward camera 33 and the second opening 315, the first polychromatic light source 357 is disposed beside the first single-sided mirror 356, the first polychromatic light source 357 is configured to emit light to the first single-sided mirror 356, the first single-sided mirror 356 is configured to reflect the incident light from the first polychromatic light source 357 to the lower surface of the chip, and the reflected light of the first single-sided mirror 356 is parallel to the central axis of the second opening 315.
It should be noted that, the first single-sided mirror 356 can reflect light from the first multi-color light source 357 vertically to the lower surface of the chip, so that the light from the first multi-color light source 357 can be irradiated on the lower surface of the chip in the forward direction; and the monolithic mirror 342 does not affect the image acquisition of the first forward camera 33; accordingly, a planar defect of the lower surface of the chip, which needs to be irradiated with polychromatic light, can be detected by the combination of the first forward camera 33, the first polychromatic light source 357, and the first single-sided mirror 356.
It should be noted that, the first multicolor light source 357 has white, blue, red, and green light, the first multicolor light source 357 is also provided with a light source controller, and the brightness gear of the first multicolor light source 357 can be adjusted by the corresponding light source controller, and the monochromatic light is invoked to be blended into the required color light.
In some specific embodiments, referring to fig. 5, the illumination direction of the first polychromatic light source 357 is perpendicular to the photographing direction of the first forward camera 33, and the angle between the first single-sided mirror 356 and the first polychromatic light source 357 is 45 °.
In one embodiment, referring to fig. 5, the first light source assembly further includes a second multi-color light source 358 disposed in the first cavity 311, the second multi-color light source 358 is disposed annularly around the second opening 315, the second multi-color light source 358 has an irradiation slope 3581, and a distance between the irradiation slope 3581 and the upper end plate 312 gradually increases in a direction from an inner circumference to an outer circumference of the second multi-color light source 358.
In the present embodiment, the light of the second multicolor light source 358 is emitted through the illumination inclined plane 3581, and is obliquely illuminated to the lower surface of the chip after passing through the first opening 314, so that the stereoscopic defect of the lower surface of the chip, which needs to be illuminated by using multicolor light, can be detected by the cooperation of the second multicolor light source 358 and the lateral camera 341.
It should be noted that, the second multicolor light source 358 has white, blue, red, green light, and the second multicolor light source 358 is also provided with a light source controller, and the brightness gear of the second multicolor light source 358 can be adjusted by the corresponding light source controller, and the monochromatic light is invoked to be blended into the required color light.
In some specific embodiments, referring to fig. 4 and 5, the first mounting frame 32 includes a first connection plate 321 and a first mounting plate 322, one end of the first connection plate 321 is connected to the lower end plate 313, the other end of the first connection plate 321 is connected to the first mounting plate 322, such that the first mounting plate 322 is located below the lower end plate 313, and the first mounting plate 322 is formed with a third opening 3221 disposed opposite to the second opening 315; the first forward camera 33 is disposed on a side of the first mounting plate 322 facing away from the lower end plate 313, and the first forward camera 33 photographs the chip through the third opening 3221, the second opening 315, the first cavity 311, and the first opening 314.
The lateral camera 341 is disposed on the first mounting plate 322.
In some specific embodiments, the number of the first connecting plates 321 is two, the two first connecting plates 321 are disposed on the lower end plate 313 at opposite intervals, and two ends of the first mounting plate 322 are respectively connected with one ends of the two first connecting plates 321 away from the lower end plate 313, so as to improve the stability of the first mounting plate 322.
In one embodiment, referring to fig. 4 and 5, the first mounting frame 32 further includes a second mounting plate 323, the second mounting plate 323 is disposed on a side of the first mounting plate 322 facing away from the lower end plate 313, and the first forward camera 33 is disposed on the second mounting plate 323.
In some particular embodiments, the first single-sided mirror 356, the first polychromatic light source 357, are each disposed on the second mounting plate 323.
In one embodiment, referring to fig. 4, the lower surface detection module 30 further includes a second mounting frame 36, where the second mounting frame 36 includes a first plate portion 361, a second plate portion 362, a third plate portion 363, a fourth plate portion 364, and a fifth plate portion 365, the first plate portion 361 is connected to a side of the first back strong light source 35211 facing away from the first opening 314, the second plate portion 362 is formed by bending an upper end of the first plate portion 361 in a direction facing away from the first back strong light source 35211, and the second back strong light source 35212 is disposed on the second plate portion 362; the third plate portion 363 is connected to one end of the second plate portion 362 remote from the first plate portion 361, and the height extension direction of the third plate portion 363 is the same as the orientation of the first opening 314, and the back weak light source 3522 is disposed on the third plate portion 363, so that the height of the back weak light source 3522 with respect to the upper end plate 312 is higher than the height of the back strong light source 3521 with respect to the upper end plate 312; the fourth plate portion 364 is connected with the third plate portion 363, and the fourth plate portion 364 extends toward the central axis of the first opening 314, so that the fourth plate portion 364 is suspended above the first back intense light source 35211, and the first condensing lens 353 is disposed on the fourth plate portion 364, so that the first condensing lens 353 and the first back intense light source 35211 are disposed opposite to each other; the fifth plate portion 365 is connected to an end of the fourth plate portion 364 remote from the third plate portion 363, the fifth plate portion 365 is disposed obliquely, and the second condenser 354 is disposed on the fifth plate portion 365, thereby realizing the oblique arrangement of the second condenser 354.
In some specific embodiments, referring to fig. 4, when the back intense light source 3521 and the back weak light source 3522 are respectively two groups, the second mounting frames 36 are also two groups, wherein one group of back intense light source 3521 and one group of back weak light source 3522 are mounted on one group of second mounting frames 36, and wherein another group of back intense light source 3521 and another group of back weak light source 3522 are mounted on another group of second mounting frames 36.
In one embodiment, referring to fig. 9, the upper surface detection module 60 includes a second mounting barrel 61, a third mounting frame 62, a second forward direction camera 63, and a second light source assembly 64; the second mounting cylinder 61 is connected with the first transporting module 40, the second mounting cylinder 61 is formed with a second cavity 611, and a fourth opening 612 and a fifth opening 613 which are communicated with the second cavity 611, and the fourth opening 612 and the fifth opening 613 are oppositely arranged; the third mounting frame 62 is provided on the second mounting cylinder 61; the second forward camera 63 is disposed on the third mounting frame 62, and the photographing direction of the forward camera is vertically oriented toward the fourth opening 612; the second light source assembly 64 includes a third multi-color light source 641, a second single-sided mirror 642, and an oblique light source 643; the second single-sided mirror 642 is disposed between the second forward camera 63 and the fourth opening 612, the third polychromatic light source 641 is disposed beside the second single-sided mirror 642, the third polychromatic light source 641 is configured to emit light to the second single-sided mirror 642, the second single-sided mirror 642 is configured to reflect incident light from the third polychromatic light source 641 through the fourth opening 612, and the reflected light of the second single-sided mirror 642 is parallel to the central axis of the fourth opening 612; the oblique light source 643 is disposed in the second cavity 611, the light of the oblique light source 643 passes through the fifth opening 613, and the irradiation direction of the oblique light source 643 and the central axis of the fifth opening 613 form an included angle.
In the present embodiment, when the upper surface of the chip needs to be inspected, the first transporting module 40 moves the upper surface detecting module 60 to the upper side of the material area 20b, so that the fifth opening 613 of the second mounting cylinder 61 faces the upper surface of the chip on the tray; specifically: the second forward camera 63 performs image collection on the upper surface of the chip through the fourth opening 612, the second cavity 611 and the fifth opening 613, wherein the third multicolor light source 641 can emit light rays with multiple colors, and after the light rays are reflected by the second single-sided mirror 642, the light rays vertically irradiate on the upper surface of the chip through the fourth opening 612, the second cavity 611 and the fifth opening 613, so that the second forward camera 63 can shoot defects requiring different-color vertical light irradiation; the light emitted by the oblique light source 643 is obliquely irradiated onto the upper surface of the chip through the fifth opening 613, so that the second forward camera 63 can shoot the defect requiring oblique light irradiation.
In some specific embodiments, referring to fig. 9, the illumination direction of the third polychromatic light source 641 is perpendicular to the shooting direction of the second forward camera 63, and the angle between the second single-sided mirror 642 and the second polychromatic light source 358 is 45 °.
In some specific embodiments, the oblique light sources 643 are in several groups, and the angles between the illumination directions of each group of oblique light sources 643 and the central axis of the fifth opening 613 are different, so that the illumination inclination angles of each group of oblique light sources 643 relative to the upper surface of the chip are different.
In some specific embodiments, the oblique light sources 643 are four groups, and the illumination angles of the four groups of oblique light sources 643 relative to the upper surface of the chip are 30 °, 45 °, 60 °, 75 °, respectively.
It should be noted that, the third multicolor light source 641 and the oblique light source 643 are respectively connected with corresponding light source controllers to realize control of illumination color and illumination intensity.
Referring to fig. 2 and 3, the loading module 20 includes a first support 21, a first conveying assembly 22, a stock stacking assembly 23, and a first jacking assembly 24; the storage zone 20a and the arrival zone 20b are formed by the first support 21; the first conveying assembly 22 is arranged on the first support 21, and the first conveying assembly 22 comprises a conveying supporting plate 221 capable of moving back and forth between the material storage area 20a and the material arrival area 20 b; the stock stacking assembly 23 comprises a first telescopic driving piece 231 and a first supporting piece 232, the first telescopic driving piece 231 is arranged at the stock storage area 20a, the power output end of the first telescopic driving piece 231 is connected with the first supporting piece 232, and the first telescopic driving piece 231 drives the first supporting piece 232 to extend or retract; the first lifting assembly 24 is disposed at the storage area 20a, the first lifting assembly 24 includes a first lifting driving member 241 and a first lifting plate 242, the first lifting driving member 241 is disposed on the mounting base 10, the first lifting plate 242 is connected with a power output end of the first lifting driving member 241, and the first lifting plate 242 is lower than the first supporting member 232.
The first telescopic driving piece 231 drives the first supporting piece 232 to extend, a plurality of trays are stacked on the first supporting piece 232 to form a tray stack, and the trays loaded with chips to be detected can be stored in the storage area 20a through the support of the first supporting piece 232, so that the trays can be prepared.
When the trays in the storage area 20a need to be transferred to the arrival area 20b, the transfer pallet 221 is transferred to the storage area 20a and is located between the first supporting member 232 and the first lifting plate 242, the first lifting driving member 241 drives the first lifting plate 242 to lift, and the first lifting plate 242 lifts up the tray stack at the side of the transfer pallet 221; the first telescopic driving member 231 drives the first supporting member 232 to retract to avoid the tray stack, the first lifting driving member 241 drives the first lifting plate 242 to descend, and when the bottom tray of the tray stack descends below the first supporting member 232, the first telescopic driving member 231 drives the first supporting member 232 to extend to bear the tray stack except the bottom tray; the first lifting driving member 241 drives the first lifting plate 242 to support the bottom tray to continuously descend until the tray on the first lifting plate 242 descends onto the conveying pallet 221, and the conveying pallet 221 drives the tray to move to the loading area 20b.
Specifically, the first conveying assembly 22 is activated to move the conveying pallet 221 toward the storage area 20a, and when the conveying pallet 221 reaches the storage area 20a, the conveying pallet 221 is located between the first support 232 and the first top plate, that is, the conveying pallet 221 is located below the pallet stack and above the first lifting plate 242; then, the first lifting driving member 241 drives the first lifting plate 242 to lift, and the first lifting plate 242 lifts up at the side of the transfer pallet 221, so that the transfer pallet 221 can be avoided and the pallet stack can be lifted up; the first lifting plate 242 lifts the tray stack, and the first telescopic driving member 231 drives the first supporting member 232 to retract, i.e., the first supporting member 232 is not arranged below the tray stack; at this time, the first elevating driving member 241 drives the first elevating plate 242 to descend, and the tray stack descends along with the first elevating plate 242 with the retraction avoidance of the first supporting member 232; when the bottom tray of the stack is lowered below the first support 232, the first telescopic driving member 231 drives the first support 232 to extend so that the first support 232 supports the stack except the bottom tray, thereby separating the bottom tray; the first elevating driving part 241 drives the first elevating plate 242 to continue to descend until the tray on the first elevating plate 242 descends to be placed on the transfer pallet 221, and at this time, the first elevating plate 242 evades the transfer pallet 221 in height, and the first transfer module 22 is activated again to transfer the transfer pallet 221 and the tray thereon to the material region 20b.
In some embodiments, the tray has a notch formed in a peripheral side thereof, and the first support 232 extends into the notch to support the tray by the first support 232.
In some specific embodiments, referring to fig. 2, the first support 21 is formed with a first transfer channel 20c, and the transfer pallet 221 and the tray thereon are located in the first transfer channel 20 c. In the process of driving the tray to move by the conveying pallet 221, both sides of the tray are limited by the inner side walls of the first conveying channel 20c, so that the left-right deflection degree of the tray in the conveying process is reduced, and the stability of the tray relative to the conveying pallet 221 is improved.
Referring to fig. 3, the transfer pallet 221 is further formed with a first blocking portion 2211 and a second blocking portion 2212, the first blocking portion 2211 and the second blocking portion 2212 are arranged at intervals along the moving direction of the transfer pallet 221, and the first blocking portion 2211 and the second blocking portion 2212 block opposite ends of the tray, respectively. Therefore, after the first lifting plate 242 descends to place the tray on the conveying pallet 221, the pallet is located between the first blocking portion 2211 and the second blocking portion 2212, and the blocking of the first blocking portion 2211 and the second blocking portion 2212 to the two ends of the tray can reduce the front-back offset degree of the tray in the conveying process, and the stability of the tray relative to the conveying pallet 221 is improved.
In some specific embodiments, referring to fig. 3, the first lifting plate 242 includes a first fixing portion 2421 and at least two first lifting portions 2422, the first fixing portion 2421 is connected to the power output end of the first lifting driving member 241, and the two first lifting portions 2422 are respectively connected to opposite sides of the first fixing portion 2421; the first lifting part 2422 moves up and down beside the transfer pallet 221, that is, the first fixing part 2421 and the two first lifting parts 2422 are in a U-shaped structure, so that the first lifting plate 242 can move up and down around the transfer pallet 221.
In one embodiment, referring to fig. 3, the first jacking assembly 24 further includes a first bracket 243, a first sensing element 244, a second sensing element 245, and a first sensing trigger 246; the first bracket 243 is disposed on the mounting base 10, and the first elevating driving unit 241 is disposed on the first bracket 243; the first sensing element 244 and the second sensing element 245 are arranged on the first bracket 243 at intervals along the driving direction of the first lifting driving element 241, the first sensing trigger element 246 is arranged on the power output end of the first lifting driving element 241, and the first sensing trigger element 246 is used for triggering the sensing of the first sensing element 244 or the second sensing element 245; wherein, when the first sensing trigger 246 triggers the sensing of the first sensing member 244, the first lifting driving member 241 stops driving the first lifting plate 242 to descend; when the first sensing trigger 246 triggers the sensing of the second sensing member 245, the first elevating driving member 241 stops driving the first elevating plate 242 to elevate.
In this embodiment, the first sensing member 244 and the second sensing member 245 are used to limit the lifting movement of the first lifting plate 242 up and down, so as to avoid the lifting movement of the first lifting plate 242 exceeding the running distance, specifically, define that the position of the first lifting plate 242 is the origin position when the first sensing trigger member 246 triggers the sensing of the first sensing member 244, and when the first lifting plate 242 descends to the origin position, the tray on the first lifting plate 242 is placed on the conveying pallet 221, and the first lifting plate 242 has avoided the conveying pallet 221 at the height, so that the conveying pallet 221 can move without obstruction; when the first sensing trigger 246 triggers the second sensing member 245, the lifting height of the first lifting plate 242 is enough to lift the tray off the first supporting member 232, and thus, the first lifting driving member 241 stops driving the first lifting plate 242 to continue to lift.
Referring to fig. 3, the first conveying assembly 22 further includes a first rotation driving member 222, a first driving wheel 223, a first driven wheel 224, a first conveying belt 225, a first guide rail 226, and a first slider 227; the first rotation driving part 222 is arranged on the first support 21, the power output end of the first rotation driving part 222 is connected with the first driving wheel 223, the first driven wheel 224 is arranged on the first support 21, and the first conveying belt 225 is in tensioning sleeve on the first driving wheel 223 and the first driven wheel 224; the first guide rail 226 is arranged on the first support 21, and the first sliding block 227 is in sliding connection with the first guide rail 226; the transfer pallet 221 is connected to the first slider 227 on one side of the first transfer belt 225.
In this embodiment, when the transfer pallet 221 needs to be moved, the first rotation driving member 222 is started to drive the first driving wheel 223 to rotate, and the first conveyor belt 225 rotates along with the rotation of the first driving wheel 223 under the driven action of the first driven wheel 224, so that the first conveyor belt 225 moves along with the transfer pallet 221; in addition, the first conveying assembly 22 further comprises a first guide rail 226 and a first sliding block 227 which are in sliding connection, the first guide rail 226 is arranged on the first support 21, the first sliding block 227 is connected with the conveying pallet 221, the first guide rail 226 limits the moving direction of the first sliding block 227, and therefore the moving direction of the conveying pallet 221 is limited, the moving of the conveying pallet 221 is guided through the first guide rail 226 and the first sliding block 227, and the moving stability of the conveying pallet 221 is improved.
In one embodiment, referring to fig. 3, the first transfer assembly 22 further includes a third sensing element 228, a fourth sensing element 229, and a second sensing trigger element; the third sensing element 228 and the fourth sensing element 229 are disposed on the first support 21 at intervals along the moving direction of the conveying pallet 221, and the second sensing trigger element is used for triggering the sensing of the third sensing element 228 or the fourth sensing element 229. When the second sensing trigger triggers the sensing of the third sensing element 228 or the fourth sensing element 229, the first rotation driving element 222 stops driving the first driving wheel 223, and when the first rotation driving element 222 is started again, the first rotation driving element 222 drives the first driving wheel 223 to rotate reversely, so as to change the conveying direction of the first conveyor belt 225 and avoid the exceeding movement range of the conveying pallet 221.
In one embodiment, referring to fig. 2 and 3, the stock stacking assembly 23 further includes a first limiting plate 233 disposed in the storage area 20a, where the first limiting plate 233 is used to limit the circumference of the tray, so that the tray is stably stacked in the storage area 20a, and the tray is prevented from falling obliquely.
In some specific embodiments, referring to fig. 2 and 3, the first limiting plates 233 have an L-shaped structure, and the number of the first limiting plates 233 is four, and the four first limiting plates 233 are respectively used for limiting four corners of the tray.
In one embodiment, referring to fig. 2, the stock stack assembly 23 further includes a first correlation sensor 234, the receiving end and the transmitting end of the first correlation sensor 234 are respectively located at two sides of the stock area 20a, and the first correlation sensor 234 is used to sense the remaining amount of the tray in the stock area 20 a. Specifically, when the receiving end of the first correlation sensor 234 receives the light emitted from the emitting end of the first correlation sensor 234, it indicates that the tray in the storage area 20a has insufficient margin, and the tray carrying the chip to be detected needs to be replenished into the storage area 20a, i.e. placed on the first support 232.
In one embodiment, referring to fig. 2, the stock stack assembly 23 further includes a second correlation sensor 235, the receiving end and the transmitting end of the second correlation sensor 235 are respectively located at two sides of the stock area 20a, and the second correlation sensor 235 is used to sense whether the tray descends onto the transfer pallet 221. Specifically, when the first lift plate 242 descends to place the tray on the transfer pallet 221, the tray on the transfer pallet 221 is blocked between the receiving end and the emitting end of the second correlation sensor 235, and the receiving end of the second correlation sensor 235 does not receive the light of the emitting end, indicating that the tray has been descended to be placed on the transfer pallet 221.
In one embodiment, referring to fig. 2 and 3, the first support 21 is further formed with a transfer area 20d, and the transfer pallet 221 may be further moved to the transfer area 20d; the feeding module 20 further comprises a second lifting assembly 25 arranged in the material transferring area 20d, the second lifting assembly 25 comprises a second lifting driving member 251 and a second lifting plate 252, the second lifting driving member 251 is arranged on the mounting seat 10, and the second lifting plate 252 is connected with a power output end of the second lifting driving member 251; when the conveying pallet 221 and the pallet thereon move to the material transferring area 20d, the second lifting driving member 251 drives the second lifting plate 252 to lift up, the second lifting plate 252 lifts up the pallet beside the conveying pallet 221, the conveying pallet 221 leaves the material transferring area 20d, and the second lifting driving member 251 drives the second lifting plate 252 to descend until the pallet descends onto the first recycling module 70.
Specifically, after the appearance of the chip is detected, the first transfer assembly 22 is started, so that the transfer pallet 221 drives the tray thereon to move toward the transfer area 20d, when the transfer pallet 221 moves to the transfer drive, the transfer pallet 221 is positioned above the second lifting plate 252, the second lifting drive 251 drives the second lifting plate 252 to lift up, and the second lifting plate 252 lifts up beside the transfer pallet 221 to lift up the tray away from the transfer pallet 221, thereby separating the tray from the transfer pallet 221; then, the transfer pallet 221 leaves the transfer area 20d, that is, the existence of the transfer pallet 221 is not present under the pallet, and when the second elevating driving member 251 drives the second elevating plate 252 to descend, the pallet can descend along with the second elevating plate 252 until the pallet descends onto the first recovery module 70, so that the pallet carrying the inspected chips is transferred onto the first recovery module 70.
In some specific embodiments, referring to fig. 3, the second lifting plate 252 includes a second fixing portion 2521 and at least two second lifting portions 2522, the second fixing portion 2521 is connected with the power output end of the second lifting driving member 251, and the two second lifting portions 2522 are respectively connected with opposite sides of the second fixing portion 2521; the second lifting portion 2522 performs a lifting motion beside the conveying pallet 221, that is, the second fixing portion 2521 and the two second lifting portions 2522 have a U-shaped structure, so that the second lifting plate 252 can perform a lifting motion around the conveying pallet 221.
In one embodiment, referring to fig. 3, the second jacking assembly 25 further includes a second bracket 253, a fifth sensing element 254, a sixth sensing element 255, and a third sensing trigger 256; the second bracket 253 is disposed on the mounting base 10, and the second lifting driving member 251 is disposed on the second bracket 253; the fifth sensing element 254 and the sixth sensing element 255 are disposed on the second bracket 253 at intervals along the driving direction of the second lifting driving element 251, the third sensing trigger element 256 is disposed on the power output end of the second lifting driving element 251, and the third sensing trigger element 256 is used for triggering the sensing of the fifth sensing element 254 or the sixth sensing element 255; wherein, when the third sensing trigger 256 triggers the sensing of the fifth sensing element 254, the second lifting driving element 251 stops driving the second lifting plate 252 to descend; when the third sensing trigger 256 triggers the sensing of the sixth sensing element 255, the second elevating driving element 251 stops driving the second elevating plate 252 to elevate.
In this embodiment, the fifth sensing element 254 and the sixth sensing element 255 are used to limit the lifting movement of the second lifting plate 252 up and down, so as to avoid the lifting movement of the second lifting plate 252 exceeding the running distance, specifically, define that when the fifth sensing trigger element triggers the sensing of the third sensing element 228, the position of the second lifting plate 252 is the origin position, and when the second lifting plate 252 descends to the origin position, the tray on the second lifting plate 252 is placed on the first recovery module 70; when the third sensing trigger 256 triggers the sixth sensing element 255, the rising height of the second elevating plate 252 is enough to push the tray out of the transfer pallet 221, and thus, the second elevating driving element 251 stops driving the second elevating plate 252 to continue rising.
In some specific embodiments, referring to fig. 2, the first support 21 includes two first side plates 211, and the first conveying channel 20c is formed by the two first side plates 211 being disposed at opposite intervals.
In some specific embodiments, the first guide rails 226 and the first sliders 227 are respectively two, the two first guide rails 226 are respectively disposed on one side of the two first side plates 211 facing each other, the two first sliders 227 are respectively slidably connected with the two first guide rails 226, and the two first sliders 227 are respectively connected with opposite side edges of the transfer pallet 221, thereby further achieving transfer stability of the transfer pallet 221.
In some particular embodiments, referring to fig. 2, the first lift assembly 24 is located between two first side plates 211.
In some specific embodiments, referring to fig. 2, the second jacking assembly 25 is located between two first side plates 211.
In some specific implementations, the number of the first telescopic driving pieces 231 and the number of the first supporting pieces 232 are four, wherein two first telescopic driving pieces 231 are arranged on one of the first side plates 211, two first supporting pieces 232 are respectively connected with the power output ends of the two first telescopic driving pieces 231, and the two first supporting pieces 232 are used for supporting two ends of one side of the tray; the other two first telescopic driving pieces 231 are disposed on the other first side plate 211, wherein the other two first supporting pieces 232 are respectively connected with the power output ends of the two first telescopic driving pieces 231, and the two first supporting pieces 232 are used for supporting two ends of the other side of the tray.
In some specific embodiments, referring to fig. 2, the first support 21 further includes a first frame 212, the first rotation driving member 222 is disposed on the first frame 212, and the first driven wheel 224 is disposed on one of the first side plates 211.
In one embodiment, referring to fig. 7 and 8, the suction module 50 includes a first support plate 51, a first lifting assembly 52, and a first suction nozzle assembly 53; the first support plate 51 is disposed on the first transporting module 40; the first lifting assembly 52 is disposed on the first support plate 51, and the first lifting assembly 52 includes a first lifting plate 521 capable of lifting relative to the first support plate 51; the first nozzle assembly 53 is disposed on the first elevating plate 521.
In this embodiment, when the first transporting module 40 is started, the first supporting plate 51 is driven to move, so as to drive the sucking module 50 to move integrally, and when the sucking module 50 moves to the position above the material area 20b or the position above the lower surface detecting module 30, the first lifting assembly 52 is started, so that the first lifting plate 521 performs lifting movement relative to the first supporting plate 51, and the first suction nozzle assembly 53 disposed on the first lifting plate 521 also performs lifting movement therewith, for example, the first lifting plate 521 drives the first suction nozzle assembly 53 to descend so as to suck chips on a tray in the material area 20 b; or the first lifting plate 521 drives the first suction nozzle component 53 to lift up so as to suck the chips and take the chips off the tray; or the first lifting plate 521 drives the first suction nozzle component 53 to lift so as to adjust the distance between the chip and the lower surface detection module 30; or, the first lifting plate 521 drives the first suction nozzle assembly 53 to descend so as to release the chips thereon back onto the tray.
In one embodiment, referring to fig. 7 and 8, the suction module 50 further includes a first elastic member 54, one end of the first elastic member 54 is connected to the first support plate 51, and the other end of the first elastic member 54 is connected to the first lifting plate 521. Therefore, when the first lifting assembly 52 fails, the first elastic assembly 54 can pull and hold the first lifting plate 521, and further pull and hold the first suction nozzle assembly 53, so as to prevent the first suction nozzle assembly 53 from falling and smashing towards the material area 20b or the lower surface detection module 30.
In some specific embodiments, the first elastic component 54 includes two first elastic members, and one ends of the two first elastic members are respectively connected to two sides of the first lifting plate 521, so as to hold the first lifting plate 521 in a balanced manner.
Referring to fig. 8, the first lift assembly 52 further includes a second rotational drive 522 and an eccentric shaft 523; the second rotation driving part 522 is arranged on the first support plate 51, the eccentric shaft 523 is connected with the power output shaft of the second rotation driving part 522, and the eccentric shaft 523 is deviated from the central axis of the power output shaft of the second rotation driving part 522; the first lifting plate 521 is formed with a bar-shaped hole 5211, the length extension direction of the bar-shaped hole 5211 is perpendicular to the lifting direction of the first lifting plate 521, and one end of the eccentric shaft 523 away from the second rotation driving member 522 extends into the bar-shaped hole 5211.
In the present embodiment, the eccentric shaft 523 is offset from the central axis of the power output shaft of the second rotary driver 522, and therefore, when the power output shaft of the second rotary driver 522 rotates, the eccentric shaft 523 makes a circular arc movement, and the positions of the eccentric shaft 523 in both the lateral and vertical directions are changed; a bar-shaped hole 5211 is formed in the first lifting plate 521, and the bar-shaped hole 5211 is perpendicular to the lifting direction of the first lifting plate 521, so that the bar-shaped hole 5211 not only conforms to the position change of the eccentric shaft 523 in the transverse direction, but also abuts against the eccentric shaft 523, so as to convert the position change of the eccentric shaft 523 in the vertical direction into the lifting movement of the first lifting plate 521. In this embodiment, the second rotation driving member 522 is used to drive the eccentric shaft 523 to rotate, so as to drive the first lifting plate 521 to perform lifting movement, so that the first lifting assembly 52 can bear larger force, has faster response speed, and can drive the first suction nozzle assembly 53 to perform lifting movement more stably.
In one embodiment, referring to fig. 8, the first lifting assembly 52 further includes a second rail 524 and a second slider, one of the second rail 524 and the second slider is disposed on the first support plate 51, the other is disposed on the first lifting plate 521, and the second slider is slidably connected to the second rail 524. The lifting direction of the first lifting plate 521 is guided by the sliding guide of the second guide rail 524 and the second slider, so that the first lifting plate 521 stably lifts and avoids the first lifting plate 521 from deflecting.
In one embodiment, referring to fig. 8, the first lifting assembly 52 further includes a seventh sensing element, an eighth sensing element, and a fourth sensing trigger element 528, wherein the seventh sensing element and the eighth sensing element are disposed on the first support plate 51 along the lifting direction of the first lifting plate 521, the fourth sensing trigger element 528 is disposed on the first lifting plate 521, and the fourth sensing trigger element 528 is used for triggering the sensing of the seventh sensing element or the eighth sensing element; wherein, when the fourth sensing trigger 528 triggers the sensing of the seventh sensing element, the second rotation driving element 522 stops driving the first lifting plate 521 to lift; when the fourth sensing trigger 528 triggers the sensing of the eighth sensing member, the second rotation driving member 522 stops driving the first elevating plate 521 to descend. Thereby limiting the movement range of the first lifting plate 521, and avoiding the first lifting plate 521 from falling too far to collide with the chip or the lower surface detection module 30, etc.
Referring to fig. 7, the first nozzle assembly 53 includes a first adjusting lever 531, a second adjusting lever 532, a first adjusting block 533, a second adjusting block 534, and a first nozzle 535; at least two first adjusting rods 531 are provided, and the two first adjusting rods 531 are oppositely arranged on the first lifting plate 521 at intervals; each first adjusting rod 531 is movably sleeved with a first adjusting block 533, a second adjusting rod 532 is arranged between every two first adjusting blocks 533 which are oppositely arranged on each first adjusting rod 531, each second adjusting rod 532 is movably sleeved with a plurality of second adjusting blocks 534, and each second adjusting block 534 is connected with a first suction nozzle 535.
Specifically: a plurality of second adjusting blocks 534 are sleeved on the second adjusting rods 532, and each second adjusting block 534 is connected with the first suction nozzle 535, so that each second adjusting rod 532 is provided with a row of first suction nozzles 535 through the plurality of second adjusting blocks 534; a second adjusting lever 532 is provided between each of the two first adjusting blocks 533 provided opposite to each other on the two first adjusting levers 531, so that a plurality of rows of first suction nozzles 535 can be provided by providing the number of the second adjusting levers 532; the second adjusting blocks 534 can be slid along the second adjusting rods 532, so that the distance between two adjacent second adjusting blocks 534 on the same second adjusting rod 532 can be adjusted, and the distance between two adjacent first suction nozzles 535 in the same row can be adjusted; the first adjusting blocks 533 are slid along the first adjusting rods 531, so that the distance between two adjacent first adjusting blocks 533 on the same first adjusting rod 531 can be adjusted, and the distance between two adjacent second adjusting rods 532 can be adjusted, so that the distance between two adjacent rows of first suction nozzles 535 can be realized; thereby enabling the first suction nozzle assembly 53 to adapt to trays of different specifications, and achieving the suction of chips on the trays by the first suction nozzle assembly 53.
In some specific embodiments, referring to fig. 7, two first adjusting blocks 533 are movably sleeved on each first adjusting rod 531, and two second adjusting rods 532 are movably sleeved on each first adjusting rod 531; one of the second adjusting bars 532 is connected between one set of two first adjusting blocks 533 which are disposed opposite to each other, and the other second adjusting bar 532 is connected between the other set of two first adjusting blocks 533 which are disposed opposite to each other, so that the first nozzle assembly 53 has two rows of first nozzles 535; specifically: when the sucking module 50 is used to suck chips and move to above the lower surface detection module 30, the sucking module 50 sucks the first row and the second row of chips on the tray at a time, after the lower surface detection of the first row and the second row of chips is completed, the conveying support plate 221 moves to enable the third row and the fourth row of chips on the tray to be located below the sucking module 50, so that the sucking module 50 sucks the third row and the fourth row of chips on the tray to perform lower surface detection … … to repeat, and therefore lower surface detection is performed on all the chips on the tray.
In some specific embodiments, fourteen second adjusting blocks 534 are movably sleeved on each second adjusting rod 532, so that each row of first suction nozzles 535 of the first suction nozzle assembly 53 is fourteen.
In some specific embodiments, referring to fig. 7, a first screw hole is formed on the first adjusting block 533, the first screw hole is provided with a first screw rod, and after the position of the first adjusting block 533 is adjusted along the first adjusting rod 531, the first screw rod is used to position the first adjusting block 533.
In some specific embodiments, referring to fig. 7, the second adjustment block 534 is formed with a second top wire hole, the second top wire hole is provided with a second top wire rod, and after the position of the second adjustment block 534 is adjusted along the second adjustment rod 532, the second top wire rod is used to achieve the positioning of the first adjustment block 533.
In some specific embodiments, the first suction nozzle 535 is provided with a buffer spring to increase the adaptability of the first suction nozzle 535 to suck chips.
Referring to fig. 6, the first transporting module 40 includes a first portal frame 41, a third rotation driving member 42, a second driving wheel 43, a second driven wheel 44, a second conveyor belt 45, a third guide rail 46, and a third slider 47; the first portal frame 41 is arranged on the mounting base 10 across the feeding module 20 and the lower surface detection module 30; the third rotation driving piece 42 is arranged on the first portal frame 41, the second driving wheel 43 is connected with the power output end of the third rotation driving piece 42, the second driven wheel 44 is arranged on the first portal frame 41, and the second conveying belt 45 is in tensioning sleeve on the second driving wheel 43 and the second driven wheel 44; the third guide rail 46 is arranged on the first portal frame 41, and the third sliding block 47 is slidably connected with the third guide rail 46; the suction module 50 and the upper surface detection module 60 are connected to one side of the second conveyor belt 45 and the third slider 47.
In this embodiment, when the suction module 50 and the upper surface detection module 60 need to be moved, the third rotation driving member 42 is started to drive the second driving wheel 43 to rotate, and the second conveyor belt 45 rotates along with the rotation of the second driving wheel 43 under the driven action of the second driven wheel 44, so that the second conveyor belt 45 moves with the suction module 50 and the upper surface detection module 60; in addition, the first transporting module 40 further includes a third guide rail 46 and a third slider 47 that are slidably connected, the third guide rail 46 is disposed on the first portal frame 41, the third slider 47 is connected with the suction module 50 and the upper surface detection die, the third guide rail 46 limits the moving direction of the third slider 47, thereby also limiting the moving direction of the suction module 50 and the upper surface detection die, and the movement of the suction module 50 and the upper surface detection die is guided by the third guide rail 46 and the third slider 47, so that the moving stability of the suction module 50 and the upper surface detection die is increased.
In one embodiment, referring to fig. 6, the first transfer module 40 further includes a ninth sensing element 48, a tenth sensing element 49, and a fifth sensing trigger; the ninth sensing piece 48 and the tenth sensing piece 49 are disposed on the first gantry 41 at intervals along the conveying direction of the second conveyor belt 45; the fifth sensing trigger is disposed on the third slider 47, and is used for triggering the sensing of the ninth sensing element 48 or the tenth sensing element 49. When the fifth sensing trigger triggers the sensing of the ninth sensing element 48 or the tenth sensing element 49, the third rotation driving element 42 stops driving the second driving wheel 43, and when the third rotation driving element 42 is started again, the third rotation driving element 42 drives the second driving wheel 43 to rotate reversely, so as to change the conveying direction of the second conveyor belt 45, and avoid the exceeding of the movement range of the suction module 50 and the upper surface detection module.
In one embodiment, referring to fig. 14 and 15, the second transfer module 110 includes a second gantry 1101, a fourth rotational drive 1102, a third drive pulley 1103, a third driven pulley 1104, a third conveyor belt 1105, a fourth guide rail 1106, a fourth slider 1107; the second portal frame 1101 is disposed on the mounting base 10 across the first recovery module 70 and the second recovery module 80; the fourth rotation driving member 1102 is disposed on the second portal frame 1101, the third driving wheel 1103 is connected to a power output end of the fourth rotation driving member 1102, the third driven wheel 1104 is disposed on the second portal frame 1101, and the third conveyor belt 1105 is tightly sleeved on the third driving wheel 1103 and the third driven wheel 1104; the fourth guide rail 1106 is arranged on the second portal frame 1101, and the fourth slider 1107 is slidably connected with the fourth guide rail 1106; wherein the sorting module 90 is connected to one side of the third conveyor belt 1105 and the fourth slider 1107;
in this embodiment, when the sorting module 90 needs to be moved, the fourth rotation driving member 1102 is started to drive the third driving wheel 1103 to rotate, and under the driven action of the third driven wheel 1104, the third conveyor belt 1105 rotates along with the rotation of the third driving wheel 1103, so that the third conveyor belt 1105 moves to the upper side of the first sorting area 70a or the upper side of the second sorting area 80a with the sorting module 90; in addition, the second transporting module 110 further includes a fourth guide rail 1106 and a fourth slider 1107 that are slidably connected, the fourth guide rail 1106 is disposed on the second portal frame 1101, the fourth slider 1107 is connected with the sorting module 90, the fourth guide rail 1106 limits the movement direction of the fourth slider 1107, thereby also limiting the movement direction of the sorting module 90, and the movement of the sorting module 90 is guided by the fourth guide rail 1106 and the fourth slider 1107, so that the stability of the sorting module 90 is improved.
In one embodiment, referring to fig. 15, the second transporting module 110 further includes an eleventh sensing element 1108, a twelfth sensing element 1109, and a sixth sensing trigger element 11010, where the eleventh sensing element 1108 and the twelfth sensing element 1109 are disposed on the second gantry 1101 at intervals along the transporting direction of the third transporting belt 1105; the sixth sensing trigger 11010 is disposed on the fourth slider 1107, and the sixth sensing trigger 11010 is configured to trigger sensing of the eleventh sensing element 1108 or the twelfth sensing element 1109. When the sixth sensing trigger 11010 triggers the sensing of the eleventh sensing element 1108 or the twelfth sensing element 1109, the fourth rotation driving element 1102 stops driving the third driving wheel 1103, and when the fourth rotation driving element 1102 is started again, the fourth rotation driving element 1102 drives the third driving wheel 1103 to rotate reversely, so as to change the conveying direction of the third conveyor belt 1105 and avoid the exceeding of the movement range of the sorting module 90.
In one embodiment, referring to fig. 14, 16 and 17, the sorting module 90 includes a first carrier 91, a second lifting assembly 92, a clip 93, a second conveying assembly 94, a second support 95, a third lifting assembly 96 and a second suction nozzle 97; the first carrier 91 is disposed on the second transporting module 110; the second lifting assembly 92 is arranged on the first bearing frame 91, a power output end of the second lifting assembly 92 is connected with the clamp 93, the second lifting assembly 92 drives the clamp 93 to do lifting movement, the clamp 93 has a clamping state and a releasing state, the clamp 93 clamps a tray in the clamping state, and the clamp 93 releases the tray in the releasing state; the second conveying component 94 is disposed on the first carrier 91, and the conveying direction of the second conveying component 94 is perpendicular to the conveying direction of the second conveying module 110; the second supporting plate 95 is disposed on the second conveying assembly 94, the third lifting assembly 96 is disposed on the second supporting plate 95, the third lifting assembly 96 includes a second lifting plate 961 capable of lifting relative to the second supporting plate 95, and the second suction nozzle 97 is disposed on the second lifting plate 961.
Specifically: when the trays in the first sorting area 70a need to be conveyed into the second sorting area 80a, the second lifting assembly 92 drives the clamp 93 to descend, the clamp 93 is switched to a clamping state, and the trays in the first sorting area 70a are clamped; the second elevating assembly 92 drives the clamp 93 to elevate so that the clamp 93 brings the tray out of the first sorting area 70 a; the second transporting module 110 is then activated to drive the first carrier 91 to move toward the upper side of the second sorting area 80a, the second elevating assembly 92 provided on the first carrier 91, the clip 93 provided on the second elevating assembly 92, and as it moves to the upper side of the second sorting area 80a, the second elevating assembly 92 drives the clip 93 to descend, the clip 93 is switched from the gripping state to the releasing state, thereby releasing the tray, so that the tray is placed into the second sorting area 80a of the second recycling module 80.
When it is required to transfer chips in the first sorting section 70a to the second sorting section 80a or transfer chips in the second sorting section 80a to the first sorting section 70a, the second transfer module 110 is activated to drive the first carriage 91 to move toward the upper side of the first sorting section 70a or the upper side of the second sorting section 80a, the third elevating assembly 96 provided on the first carriage 91, the second suction nozzle 97 provided on the third elevating assembly 96 are moved to the upper side of the first sorting section 70a or the upper side of the second sorting section 80a in response thereto, and then the third elevating assembly 96 drives the second suction nozzle 97 to elevate to suck chips from the tray of the first sorting section 70a or release the chips sucked from the tray of the second sorting section 80a to the tray of the second sorting section 80 a.
In some specific embodiments, a buffer spring is disposed in the second suction nozzle 97, which increases the adaptability of the second suction nozzle 97 when sucking the chip.
In one embodiment, referring to fig. 14 and 17, the sorting module 90 further includes a second elastic member 98, one end of the second elastic member 98 is connected to the second support plate 95, and the other end of the second elastic member 98 is connected to the second lifting plate 961. Therefore, when the third lifting assembly 96 fails, the second elastic assembly 98 can pull and hold the second lifting plate 961, and further pull and hold the second suction nozzle 97, so as to prevent the second suction nozzle 97 from falling and smashing towards the first sorting area 70a or the second sorting area 80a.
In some specific implementations, referring to fig. 14, the second conveyor assembly 94 includes a fifth rotary drive 941, a fourth drive wheel 942, a fourth driven wheel 943, a fourth conveyor belt 944, a fifth rail 945, a fifth slide 946; the fifth rotary driving member 941 is disposed on the first carrier 91, the fourth driving wheel 942 is connected to a power output end of the fifth rotary driving member 941, the fourth driven wheel 943 is disposed on the first carrier 91, and the fourth conveyor belt 944 is tightly sleeved on the fourth driving wheel 942 and the fourth driven wheel 943; the fifth guide rail 945 is arranged on the first bearing frame 91, and the fifth slider 946 is slidingly connected with the fifth guide rail 945; wherein the second support plate 95 is connected to one side of the fourth conveyor belt 944 and the fifth slider 946;
In this embodiment, when the second support plate 95 and the second suction nozzles 97 thereon need to be moved, the fifth rotation driving member 941 is started to drive the fourth driving wheel 942 to rotate, and under the driven action of the fourth driven wheel 943, the fourth conveyor belt 944 rotates along with the rotation of the fourth driving wheel 942, so that the fourth conveyor belt 944 moves along with the second support plate 95, so that the second suction nozzles 97 move above the first sorting area 70a along the length direction of the tray or move above the second sorting area 80a along the length direction of the tray, and the second suction nozzles 97 can suck any chip on the tray; in addition, the second conveying assembly 94 further includes a fifth rail 945 and a fifth slider 946 that are slidably connected, the fifth rail 945 is disposed on the first carrier 91, the fifth slider 946 is connected to the second support plate 95, the fifth rail 945 limits the movement direction of the fifth rail 946, thereby limiting the movement direction of the second support plate 95, and the movement of the second support plate 95 is guided by the fifth rail 945 and the fifth rail 946, so that the stability of the second support plate 95 is improved.
In one embodiment, referring to fig. 14, the second conveying assembly 94 further includes a thirteenth sensing element 947, a fourteenth sensing element, and a seventh sensing trigger element, the thirteenth sensing element 947 and the fourteenth sensing element being disposed on the second carrier at intervals along the conveying direction of the fourth conveyor 944; the seventh sensing trigger is disposed on the fifth slider 946, and the seventh sensing trigger is configured to trigger sensing of the thirteenth sensing element 947 or the fourteenth sensing element. When the seventh sensing trigger triggers the sensing of the thirteenth sensing member 947 or the fourteenth sensing member, the fifth rotation driving member 941 stops driving the fourth driving wheel 942, and when the fifth rotation driving member 941 is started again, the fifth rotation driving member 941 drives the fourth driving wheel 942 to rotate reversely, so as to change the conveying direction of the fourth conveying belt 944, and avoid the second supporting plate 95 from exceeding the movement range.
In some implementations, referring to fig. 17, the third lift assembly 96 further includes a sixth rotary drive 962, a fifth drive pulley 963, a fifth driven pulley 964, and a fifth conveyor belt 965; the sixth rotation driving piece 962 is disposed on the first supporting plate 51, the fifth driving wheel 963 is connected with a power output end of the sixth rotation driving piece 962, the fifth driven wheel 964 is disposed on the first supporting plate 51, the fifth driven wheel 964 and the fifth driving wheel 963 are disposed at intervals along a lifting direction of the second lifting plate 961, and the fifth conveying belt 965 is tightly sleeved on the fifth driving wheel 963 and the fifth driven wheel 964, where the second lifting plate 961 is connected with one side of the fifth conveying belt 965.
In this embodiment, when the second lifting plate 961 and the second suction nozzle 97 thereon need to be driven to lift, the sixth rotation driving member 962 is started to drive the fifth driving wheel 963 to rotate, and the fifth conveying belt 965 rotates along with the rotation of the fifth driving wheel 963 under the driven action of the fifth driven wheel 964, and since the fifth driven wheel 964 and the fifth driving wheel 963 are disposed at intervals along the lifting direction of the second lifting plate 961, the fifth conveying belt 965 sleeved on the fifth driven wheel 964 and the fifth driving wheel 963 can lift with the second lifting plate 961, so that the second suction nozzle 97 thereon can lift.
In some specific embodiments, referring to fig. 17, the third lifting assembly 96 further includes a sixth rail 966 and a sixth slider 967 slidably connected, one of the sixth rail 966 and the sixth slider 967 being disposed on the second support plate 95, one of the sixth rail 966 being connected to the second lifting plate 961, the sixth rail 966 restricting a movement direction of the sixth slider 967, thereby also restricting a lifting direction of the second lifting plate 961, guiding lifting of the second lifting by the sixth rail 966 and the sixth slider 967, and improving stability of the second lifting plate 961.
In one embodiment, referring to fig. 17, the third lifting assembly 96 further includes a fifteenth sensing element, a sixteenth sensing element 969, and an eighth sensing trigger element 9610, the fifteenth sensing element and the sixteenth sensing element 969 being disposed on the second support plate 95 at intervals along the conveying direction of the fifth conveyor 965; the eighth sensing trigger 9610 is disposed on the second lifter plate 961, and the eighth sensing trigger 9610 is configured to trigger sensing of the fifteenth sensing element or the sixteenth sensing element 969. When the eighth sensing trigger member 9610 triggers sensing of the fifteenth sensing member or the sixteenth sensing member 969, the sixth rotation driving member 962 stops driving the fifth driving wheel 963, and when the sixth rotation driving member 962 is started again, the sixth rotation driving member 962 drives the fifth driving wheel 963 to rotate reversely, so as to change the conveying direction of the fifth conveyor 965 and avoid the exceeding of the movement range of the second lifting plate 961.
In some specific embodiments, referring to fig. 17, there are at least two sets of third lifting assemblies 96, at least two second lifting plates 961, at least two second suction nozzles 97, one second lifting plate 961 is disposed at the power output end of each set of third lifting assemblies 96, and one second suction nozzle 97 is disposed on each second lifting plate 961; therefore, when the sorting of the chips is realized, two chips can be sucked at one time; and the lifting and lowering of the two second suction nozzles 97 are separately controlled so that the two first suction nozzles 535 are not limited by the position of the chip.
Correspondingly, two second elastic components 98 are provided, and the two second elastic components 98 are respectively used for elastically holding the two second lifting plates 961.
In some specific implementations, referring to fig. 16, the second lifting assembly 92 includes a third lifting driving member 921, a seventh guide rail 922, and a seventh slider 923, the third lifting driving member 921 being disposed on the first carriage 91, a power output end of the third lifting driving member 921 being connected to the clip 93 to drive the clip 93 to perform a lifting motion so that the clip 93 can move toward or away from the tray.
One of the seventh guide rail 922 and the seventh slider 923 is provided on the first carrier 91, and one of them is connected to the clip 93, so as to guide the lifting direction of the clip 93, so that the clip 93 is stably lifted.
In some specific embodiments, referring to fig. 16, the second lifting assembly 92 further includes a seventeenth sensing element 924, an eighteenth sensing element 925, and a ninth sensing trigger 926, wherein the seventeenth sensing element 924 and the eighteenth sensing element 925 are disposed on the first carrier 91 at intervals along the lifting direction of the clip 93; the ninth sensing trigger 926 is disposed on a power output end of the third elevating driving unit 921, and the ninth sensing trigger 926 is configured to trigger sensing of the seventeenth sensing unit 924 or the eighteenth sensing unit 925. Wherein when the eighth sensing trigger 9610 triggers sensing by the seventeenth sensing member 924, the third elevating driving member 921 stops driving the clip 93 to descend; when the eighth sensing trigger 9610 triggers sensing by the eighteenth sensing member 925, the third lifting driving member 921 stops driving the clip 93 upward, avoiding an excessive movement range of the clip 93.
In one embodiment, referring to fig. 14 and 16, the sorting module 90 further includes a cover plate 99, the cover plate 99 being disposed on the power output end of the second lifting assembly 92, the cover plate 99 being pressed over the tray when the clips 93 grip the tray to prevent chips from falling from the tray.
In some specific embodiments, referring to fig. 16, the cover plate 99 is connected to the power output end of the third lifting drive member 921, and the clip 93 is disposed on a side of the cover plate 99 facing away from the third lifting drive member 921.
In some specific embodiments, referring to fig. 16, the cover plate 99 is coupled to the seventh rail 922 or the seventh slider 923, thereby enabling the clip 93 to be coupled to the seventh rail 922 or the seventh slider 923.
In one embodiment, referring to fig. 10 and 11, the first recovery module 70 includes a second support 71, a third transfer assembly 72, and a first positioning assembly 73; the second support 71 is disposed on the mount 10, and the first sorting area 70a and the first recycling area 70b are formed by the second support 71; the third conveying assembly 72 is disposed on the second support 71, and the third conveying assembly 72 is used for transferring the trays located on the first sorting area 70a to the first recycling area 70b; the first positioning assembly 73 is provided on the second support 71 and/or the mounting base 10, and the first positioning assembly 73 is used for limiting the tray in the first sorting area 70 a.
In this embodiment, in the process of placing the tray into the first sorting area 70a, the tray is limited and positioned by the first positioning component 73, so as to ensure that the tray is accurately placed, and thus the subsequent chip sorting work is smoothly performed; after sorting is completed, the third transfer assembly 72 again moves the trays from the first sorting region 70a to the first recovery region 70b.
In some specific embodiments, referring to fig. 10 and 11, the first positioning assembly 73 includes a first end stop 731, a first end pusher 732, a first side stop 733, and a first side pusher 734, where the first end stop 731 is disposed on the second support 71, the first end pusher 732 is disposed on the mounting base 10 opposite to the first end stop 731, the first side stop 733 and the first side pusher 734 are disposed on the second support 71 opposite to each other, and the arrangement direction of the first end stop 731 and the first side pusher 732 is perpendicular to the arrangement direction of the first side stop 733 and the first side pusher 734, and after the tray is placed in the first sorting area 70a, the first end stop 731 and the first side pusher 734 are disposed on two sides of the tray, respectively, and the first side stop 733 and the first side pusher 734 push the tray 731 to move toward the first end stop 731, and the first side pusher 734 push the tray to move toward the first side stop 733 to achieve the first sorting area 70 a.
In some specific embodiments, the first end position pusher 732 has a retracted state, and when it is desired to move the trays in the first sorting region 70a to the first recovery region 70b, the first end position pusher 732 switches to the retracted state to enable movement of the trays.
In some specific embodiments, the first end position pushing member 732 adopts a combination of a first telescopic rotating cylinder and a first pushing rod, the first telescopic rotating cylinder is arranged on the mounting seat 10, the first pushing rod is connected with the power output end of the first telescopic rotating cylinder, and the first telescopic rotating cylinder drives the first pushing rod to move towards the tray so as to push the tray; the first telescopic rotating cylinder can also drive the first pushing rod to rotate, so that the first pushing rod is switched to a retreating state, and the tray is prevented from being blocked from moving.
In some specific embodiments, the first side stop 733 employs a first telescoping cylinder through which the tray is pushed by the power take off of the first telescoping cylinder.
In some specific embodiments, referring to fig. 10, the first recycling module 70 further includes a third correlation sensor 74, where a receiving end and a transmitting end of the third correlation sensor 74 are disposed at two sides of the first sorting area 70a, respectively, and the third correlation sensor 74 is used to sense whether the first sorting area 70a is placed with a tray. Specifically, when the receiving end of the third pair of emission sensors 74 does not receive the light emitted from the emitting end thereof, indicating that the first sorting area 70a has placed a tray, the tray blocks the light emitted from the emitting end of the third pair of emission sensors.
In one embodiment, referring to fig. 10 and 11, the first recovery module 70 further includes a first vibration assembly 75, the first vibration assembly 75 being disposed on the second support 71, the first vibration assembly 75 for vibrating the tray in the first sorting area 70 a. The first vibration assembly 75 performs vibration correction on chips which are obliquely placed on the tray in the first sorting area 70a by vibrating the second support 71.
In some specific embodiments, the first vibration assembly 75 includes a first knocking cylinder, where the first knocking cylinder is disposed on the mounting base 10, and a power output end of the first knocking cylinder is connected to the second support 71, so as to vibrate the second support 71 and the tray.
In some specific embodiments, referring to fig. 11, the third conveyor assembly 72 includes a seventh rotary drive 721, a sixth drive pulley 722, a sixth driven pulley 723, and a sixth conveyor belt 724; the seventh rotary driving element 721 is arranged on the second support 71, the sixth driving wheel 722 is connected with the seventh rotary driving element 721, the sixth driven wheel 723 is arranged on the second support 71 at intervals relative to the sixth driving wheel 722, and the sixth conveying belt 724 is tightly sleeved on the sixth driving wheel 722 and the sixth driven wheel; wherein when the tray is placed in the first sorting section 70a, the tray is located on the sixth conveyor 724. Therefore, when it is necessary to move the trays in the first sorting section 70a to the first recovery section 70b, the seventh rotation driving member 721 is activated to drive the sixth driving pulley 722 to rotate, and the sixth conveyor belt 724 is moved by the sixth driven pulley 723 to move the trays to the first recovery section 70b.
In some specific embodiments, the number of the sixth driving wheel 722, the sixth driven wheel 723 and the sixth conveyor belt 724 is two, one of the sixth conveyor belts 724 is sleeved on one of the sixth driving wheel 722 and the sixth driven wheel 723, the other sixth conveyor belt 724 is sleeved on the other of the sixth driving wheel 722 and the sixth driven wheel 723, and the two sixth conveyor belts 724 are arranged at intervals and respectively support two sides of the tray, so that smooth conveying of the tray is realized.
In some specific embodiments, referring to fig. 10, the second support 71 includes two second side plates 711 disposed at opposite intervals.
In some particular embodiments, the first end position pusher 732 is located between the two second side plates 711.
In some specific embodiments, the two sixth driving wheels 722 are rotatably disposed on the sides of the two second side plates 711 facing each other, respectively; the two sixth driven pulleys 723 are rotatably provided on the sides of the two second side plates 711 toward each other, respectively.
In one embodiment, referring to fig. 10 and 11, the first recovery module 70 further includes a first recovery stack assembly 76 and a third lift assembly 77 disposed on the first recovery zone 70 b; the first recycling stacking assembly 76 includes a first shaft seat 761 and a first rotating plate 762, the first shaft seat 761 is disposed on the second support 71, the first rotating plate 762 is rotatably disposed on the first shaft seat 761, the first rotating plate 762 has a first flat state and a first avoiding state, in the first flat state, the first rotating plate 762 is used for bearing a tray, in the first avoiding state, the first rotating plate 762 is used for avoiding the tray; the third lifting assembly 77 includes a fourth lifting driving member 771 and a third lifting plate 772, the fourth lifting driving member 771 is disposed on the mounting base 10, and the third lifting plate 772 is connected with a power output end of the fourth lifting driving member 771; when the third conveying assembly 72 transfers the tray to the upper side of the third lifting plate 772, the fourth lifting driving member 771 drives the third lifting plate 772 to support the tray to lift, the tray abuts against the first rotating plate 762 to switch the first rotating plate 762 to the first avoiding state, so that when the tray rises to be higher than the first rotating plate 762, the first rotating plate 762 falls and switches to the first flat state, and the fourth lifting driving member 771 drives the third lifting plate 772 to descend until the tray falls onto the first rotating plate 762.
Specifically, after the trays in the first sorting section 70a are sorted to full trays, the third transfer assembly 72 transfers the trays in the first sorting section 70a to the first recovery section 70b, at which time the trays are positioned above the third lift plate 772 and the first transfer plate 762 is positioned above the trays; the third lifting driving member 921 drives the third lifting plate 772 to lift up, the third lifting plate 772 lifts up the tray from the third conveying assembly 72, in the process that the third lifting plate 772 lifts up the tray, the tray pushes up the first rotating plate 762, so that the first rotating plate 762 rotates to the first avoiding state, and further the tray can lift up to the upper side of the first rotating plate 762, at this time, the tray does not push up the first rotating plate 762 any more, the first rotating plate 762 rotates to the first flat state under the action of gravity, and the fourth lifting driving member 771 starts to drive the third lifting plate 772 to descend until the tray on the third lifting plate 772 falls down to the first rotating plate 762, so that the tray is stacked on the first rotating plate 762.
In some specific embodiments, the number of the first shaft seats 761 and the number of the first rotating plates 762 are four, wherein two first shaft seats 761 are arranged on one of the second side plates 711, two first rotating plates 762 are respectively connected with the two first shaft seats 761 in a rotating way, and the two first rotating plates 762 are used for supporting two ends of one side of the tray; the other two first shaft seats 761 are disposed on the other second side plate 711, wherein the other two first rotating plates 762 are respectively connected with the two first shaft seats 761 in a rotating manner, and the two first rotating plates 762 are used for supporting two ends of the other side of the tray.
In some specific embodiments, referring to fig. 10 and 11, the first recycling stack assembly 76 further includes a first rotation limiter 763, the first rotation limiter 763 is disposed on the first shaft seat 761, and the first rotation limiter 763 is configured to limit a rotation angle of the first rotating plate 762 to ensure that the first rotating plate 762 can rotate to the first flat state under the action of gravity.
In some specific embodiments, referring to fig. 10 and 11, the first recycling stack structure further includes a second limiting plate 764, where the second limiting plate 764 is used to limit the circumference of the tray, so that the tray is stably stacked on the first rotating plate 762, and the tray is prevented from falling obliquely.
In some specific embodiments, the second limiting plates 764 have an L-shaped structure, the number of the second limiting plates 764 is four, and the four second limiting plates 764 are respectively used for limiting the four corners of the tray.
In some specific embodiments, referring to fig. 10, the first recycling stack assembly 76 further includes a fourth correlation sensor 765, the receiving end and the transmitting end of the fourth correlation sensor 765 are located at two sides of the first recycling area 70b, respectively, and the fourth correlation sensor 765 is used to sense whether the third conveying assembly 72 transfers the pallet into the first recycling area 70b. Specifically, when the receiving end of the fourth correlation sensor 765 does not receive the light emitted from the emitting end thereof, it indicates that the third conveying member 72 is transferring the tray into the first recycling area 70b, and the third conveying member 72 is controlled to slow down the conveying speed.
In some specific embodiments, referring to fig. 10, the first recycling stack assembly 76 further includes an eighth correlation sensor 766, the eighth correlation sensor 766 is configured to detect the stacking amount of the trays in the first recycling area 70b, and the receiving end and the emitting end of the eighth correlation sensor 766 are disposed at both sides of the first recycling area 70b, respectively, specifically, when the receiving end of the eighth correlation sensor 766 does not receive the light emitted from the emitting end thereof, it indicates that the tray height of the first recycling area 70b has been stacked so high as to block the light emitted from the emitting end of the eighth correlation sensor 766, i.e., the stacking amount of the trays in the first recycling area 70b has reached a predetermined amount.
In some specific embodiments, the receiving end and the transmitting end of the eighth correlation sensor 766 are respectively disposed on two second limiting plates 764 disposed opposite to each other and located at both sides of the first recovery zone 70 b.
In one embodiment, referring to fig. 12 and 13, the second recovery module 80 includes a third support 81, a fourth transfer assembly 82, and a second positioning assembly 83; the third support 81 is disposed on the mount 10, and the second separation area 80a and the second recovery area 80b are formed by the third support 81; the fourth conveying assembly 82 is disposed on the third support 81, and the fourth conveying assembly 82 is used for transferring the trays located on the second sorting area 80a to the second recycling area 80b; the second positioning assembly 83 is provided on the third support 81 and/or the mounting base 10, and the second positioning assembly 83 is used for limiting the tray in the second sorting area 80 a.
In this embodiment, in the process of placing the tray into the second sorting area 80a, the tray is limited and positioned by the second positioning component 83, so as to ensure that the tray is accurately placed, and thus the subsequent chip sorting work is smoothly performed; after sorting is completed, the fourth conveyor assembly 82 again moves the trays from the second sorting region 80a to the second recovery region 80b.
In some specific embodiments, the second positioning component 83 includes a second end stop 831, a second end pushing member 832, a second side stop 833, and a second side pushing member 834, where the second end stop 831 is disposed on the third support 81, the second end pushing member 832 is disposed on the mounting base 10 opposite to the second end stop 831, the second side stop 833 and the second side pushing member 834 are disposed on the third support 81 opposite to each other, and the arrangement direction of the second end stop 831 and the second side pushing member 832 is perpendicular to the arrangement direction of the second side stop 833 and the second side pushing member 834, after the tray is placed in the second sorting area 80a, the second end stop 831 and the second side pushing member 832 are respectively disposed at two ends of the tray, the second side stop 833 and the second side pushing member 834 are respectively disposed at two sides of the tray, and the second side pushing member 832 pushes the tray to move toward the second end stop 833, and the second side pushing member 834 moves toward the second sorting area 831, thereby realizing the positioning of the tray 80 a.
In some specific embodiments, the second end position pusher 832 has a retracted state, and when it is desired to move the trays in the second sorting region 80a to the second recovery region 80b, the second end position pusher 832 is switched to the retracted state to enable the trays to move.
In some specific embodiments, the second end position pushing piece 832 adopts a combination of a second telescopic rotating cylinder and a second pushing rod, the second telescopic rotating cylinder is arranged on the mounting seat 10, the second pushing rod is connected with the power output end of the second telescopic rotating cylinder, and the second telescopic rotating cylinder drives the second pushing rod to move towards the tray so as to push the tray; the second telescopic rotating cylinder can also drive the second pushing rod to rotate, so that the second pushing rod is switched to a retreating state, and the movement of the tray is prevented from being hindered.
In some specific embodiments, the second side gear 833 employs a second telescoping cylinder through which the tray is pushed by the power output of the second telescoping cylinder.
In some specific embodiments, referring to fig. 12, the second recycling module 80 further includes a fifth correlation sensor 84, where a receiving end and a transmitting end of the fifth correlation sensor 84 are disposed at two sides of the second sorting area 80a, respectively, and the fifth correlation sensor 84 is used to sense whether the second sorting area 80a is placed with a tray. Specifically, when the receiving end of the fifth pair of emission sensors 84 does not receive the light emitted from the emitting end thereof, it means that the second sorting area 80a has placed a tray, and the tray blocks the light emitted from the emitting end of the fifth pair of emission sensors.
In one embodiment, referring to fig. 12 and 13, the second recovery module 80 further includes a second vibration assembly 85, the second vibration assembly 85 being disposed on the third support 81, the second vibration assembly 85 being for vibrating the trays in the second sorting region 80 a. The second vibration assembly 85 vibrates the third support 81, so as to guide the chips obliquely placed on the tray in the second sorting area 80 a.
In some specific embodiments, the second vibration assembly 85 includes a second knocking cylinder, where the second knocking cylinder is disposed on the mounting base 10, and a power output end of the second knocking cylinder is connected to the third support 81, so as to vibrate the third support 81 and the tray.
In some specific embodiments, referring to fig. 13, the fourth transfer assembly 82 includes an eighth rotary drive 821, a seventh drive pulley 822, a seventh driven pulley 823, and a seventh transfer belt 824; the eighth rotary driving member 821 is arranged on the third support 81, the seventh driving wheel 822 is connected with the eighth rotary driving member 821, the seventh driven wheel 823 is arranged on the third support 81 at intervals relative to the seventh driving wheel 822, and the seventh conveying belt 824 is tightly sleeved on the seventh driving wheel 822 and the seventh driven wheel; wherein the trays are positioned on the seventh conveyor 824 when the trays are placed in the second sorting region 80 a. Therefore, when it is necessary to move the trays in the second sorting section 80a to the seventh recovery section, the eighth rotary driving member 821 is activated to drive the seventh driving wheel 822 to rotate, and the seventh conveyor 824 is moved by the seventh driven wheel 823 to move the trays to the second recovery section 80b.
In some specific embodiments, the number of the seventh driving wheel 822, the seventh driven wheel 823 and the seventh conveying belt 824 is two, one of the seventh conveying belt 824 is sleeved on one of the seventh driving wheel 822 and the seventh driven wheel 823, the other seventh conveying belt 824 is sleeved on the other of the seventh driving wheel 822 and the seventh driven wheel 823, and the two seventh conveying belts 824 are arranged at intervals and respectively support two sides of the tray, so that stable conveying of the tray is achieved.
In some specific embodiments, referring to fig. 12, the third support 81 includes two third side plates 811 disposed at opposite intervals.
In some embodiments, the second end position pusher 832 is located between the two third side plates 811.
In some specific embodiments, two seventh drive wheels 822 are rotatably disposed on respective sides of the two third side plates 811 that face each other; the two seventh driven wheels 823 are rotatably provided on the sides of the two third side plates 811 toward each other, respectively.
In one embodiment, referring to fig. 12 and 13, the second recovery module 80 further includes a second recovery stack assembly 86 and a fourth lift assembly 87 disposed on the second recovery zone 80 b; the second recycling and stacking assembly 86 includes a second axle seat 861 and a second rotating plate 862, the second axle seat 861 is disposed on the third support 81, the second rotating plate 862 is rotatably disposed on the axle seat, the second rotating plate 862 has a second flat state and a second avoiding state, in the second flat state, the second rotating plate 862 is used for bearing a tray, in the second avoiding state, the second rotating plate 862 is used for avoiding the tray; the fourth lifting assembly 87 comprises a fifth lifting driving piece 871 and a fourth lifting plate 872, wherein the fifth lifting driving piece 871 is arranged on the mounting seat 10, and the fourth lifting plate 872 is connected with the power output end of the fifth lifting driving piece 871; when the fourth conveying assembly 82 transfers the tray to the upper side of the fourth lifting plate 872, the fifth lifting driving member 871 drives the fourth lifting plate 872 to support the tray to lift, the tray abuts against the second rotating plate 862 to switch the second rotating plate 862 to the second avoiding state, so that when the tray rises to be higher than the second rotating plate 862, the second rotating plate 862 falls and switches to the second flat state, and the fifth lifting driving member 871 drives the fourth lifting plate 872 to descend until the tray falls onto the second rotating plate 862.
Specifically, after the trays in the second sorting section 80a are sorted to full trays, the fourth transfer assembly 82 transfers the trays in the second sorting section 80a to the second recovery section 80b, at which time the trays are positioned above the fourth lifting plate 872, and the second turning plate 862 is positioned above the trays; the fifth lifting driving member 871 drives the fourth lifting plate 872 to lift, the fourth lifting plate 872 lifts the tray off the fourth conveying assembly 82, in the process that the fourth lifting plate 872 lifts the tray, the tray pushes against the second rotating plate 862, so that the second rotating plate 862 rotates to a second avoiding state, and further the tray can lift above the second rotating plate 862, at this time, the tray does not push against the second rotating plate 862 any more, the second rotating plate 862 rotates to a second flat state under the action of gravity, and the fifth lifting driving member 871 starts to drive the fourth lifting plate 872 to descend until the tray on the fourth lifting plate 872 falls down to the second rotating plate 862, so that the tray is stacked on the second rotating plate 862.
In some specific embodiments, referring to fig. 12 and 13, the second recycling stack assembly 86 further includes a second rotation limiting member 863, the second rotation limiting member 863 being disposed on the second axle seat 861, the second rotation limiting member 863 for limiting a rotation angle of the second rotating plate 862 to ensure that the second rotating plate 862 can rotate to a second flat state under the force of gravity.
In some specific embodiments, referring to fig. 12 and 13, the second recycling stack structure further includes a third limiting plate 864, and the third limiting plate 864 is used to limit the circumference of the tray, so that the tray is stably stacked on the second rotating plate 862, and the tray is prevented from falling obliquely.
In some specific embodiments, the third limiting plate 864 has an L-shaped structure, the third limiting plate 864 has four, and the four third limiting plates 864 are respectively used for limiting to four corners of the tray.
In some specific embodiments, referring to fig. 12, the second recycling stack assembly 86 further includes a ninth correlation sensor 865, the receiving end and the transmitting end of the ninth correlation sensor 865 being located at both sides of the second recycling area 80b, respectively, and the ninth correlation sensor 865 being used to sense whether the fourth conveyor assembly 82 transfers the pallet into the second recycling area 80b. Specifically, when the receiving end of the ninth correlation sensor 865 does not receive the light emitted from the emitting end thereof, it indicates that the fourth conveying member 82 is transferring the tray into the second recycling area 80b, and the fourth conveying member 82 is controlled to slow down the conveying speed.
In some specific embodiments, referring to fig. 12, the second recycling stack assembly 86 further includes a tenth correlation sensor 866, the tenth correlation sensor 866 being configured to detect the amount of stacking of trays in the second recycling area 80b, the receiver and the emitter of the tenth correlation sensor 866 being disposed on either side of the second recycling area 80b, respectively, and specifically, when the receiver of the tenth correlation sensor 866 does not receive light from the emitter thereof, indicating that the height of the trays in the second recycling area 80b has been stacked so high as to block light from the emitter of the tenth correlation sensor 866, i.e., the amount of stacking of trays in the second recycling area 80b has reached a predetermined amount.
In some specific embodiments, the receiving end and the transmitting end of the tenth correlation sensor 866 are respectively disposed on two third limiting plates 864 disposed opposite to each other on both sides of the second recovery zone 80 b.
In one embodiment, referring to fig. 1, 18 and 19, the chip appearance detection apparatus 100 further includes a manual recycling module 120, the manual recycling module 120 is disposed side by side with the first recycling module 70 and the second recycling module 80, and the second transporting module 110 spans the manual recycling module 120, wherein the manual recycling module 120 includes a recycling tray 1204; the sorting module 90 is further configured to transfer the chips in the first sorting area 70a or the second sorting area 80a onto the recycling tray 1204 of the manual recycling module 120.
According to the bad condition of the chips, for example, the chips with the upper surface defects are sorted onto the tray of the second sorting area 80a, the chips with the lower surface defects are sorted onto the recycling tray 1204 of the manual recycling module 120, specifically, when the chips on the tray of the first sorting area 70a are sorted, the sorting module 90 is moved by the second transporting module 110, so that the sorting module 90 carries the chips with the upper surface defects on the tray of the first sorting area 70a onto the tray of the second sorting area 80a, and carries the chips with the lower surface defects onto the recycling tray 1204 of the manual recycling module 120; when the on-tray chips of the second sorting area 80a are sorted, the sorting module 90 is moved by the second transporting module 110, so that the sorting module 90 carries good chips on the tray in the second sorting area 80a onto the tray of the first sorting area 70a, and carries chips with lower surface defects onto the recycling tray 1204 of the manual recycling module 120, so that the chips left on the tray of the second sorting area 80a all have upper surface defects.
For another example, chips with a number of bad features exceeding a predetermined number are sorted to the recycling tray 1204 of the manual recycling module 120, and chips with a number of bad features lower than the predetermined number are sorted to the tray of the second sorting area 80 a; the chip sorting placement is not limited here.
Referring to fig. 18 and 19, the manual recovery module 120 further includes a positioning support 1201, a sliding guide assembly 1202, and a guide bracket 1203; the positioning support 1201 is disposed on the mounting base 10, and the positioning support 1201 is formed with a first positioning structure 12011; the sliding guide assembly 1202 is arranged on the mounting seat 10, the sliding guide assembly 1202 extends towards the positioning support 1201, a third sorting area 1202a is arranged at one end of the sliding guide assembly 1202 close to the positioning support 1201, and a third recycling area 1202b is arranged at one end of the sliding guide assembly 1202 far away from the positioning support 1201; the guide pallet 1203 is arranged on the sliding guide assembly 1202, and the guide pallet 1203 is movable back and forth between the third sorting zone 1202a and the third recovery zone 1202b; the guide blade 1203 is formed with a second positioning structure 12031, the second positioning structure 12031 cooperating with the first positioning structure 12011 to constrain the guide blade 1203 to the third sorting zone 1202a; the recovery tray 1204 is placed on the guide blade 1203, and the recovery tray 1204 is used for recovering chips.
Specifically, when the recovery tray 1204 is full of chips, the guide tray 1203 is manually pulled from the third sorting area 1202a of the sliding guide assembly 1202 to the third recovery area 1202b, the full recovery tray 1204 is unloaded from the guide tray 1203, the empty recovery tray 1204 is placed on the guide tray 1203, and the guide tray 1203 is pushed so that the guide tray 1203 moves from the third recovery area 1202b of the sliding guide assembly 1202 to the third sorting area 1202a, and the guide tray 1203 is restricted to the third sorting area 1202a by the cooperation of the second positioning structure 12031 and the first positioning structure 12011, so that the recovery tray 1204 on the guide tray 1203 receives chips sorted by the sorting module 90.
In some specific embodiments, referring to fig. 18, the guide blade 1203 is formed with a handle portion 12032, by which the guide blade 1203 is pulled easily.
In some specific embodiments, referring to fig. 18, the guide blade 1203 is further formed with a stopper 12033, and the stopper 12033 is used to limit the circumference of the recovery tray 1204.
In some specific embodiments, one of the first positioning structure 12011 and the second positioning structure 12031 is a buckle, and the other is a snap, and the snap is snapped into the buckle, so as to achieve mutual matching of the first positioning structure 12011 and the second positioning structure 12031.
In some specific embodiments, one of the first positioning structure 12011 and the second positioning structure 12031 is a first magnetic member, and the other is a second magnetic member, and the first magnetic member and the second magnetic member magnetically attract each other, so as to achieve mutual matching of the first positioning structure 12011 and the second positioning structure 12031.
In some specific embodiments, one of the first positioning structure 12011 and the second positioning structure 12031 is a buckling hole and a first magnetic member, and the other is a clamping protrusion and a second magnetic member, and the clamping protrusion is clamped into the buckling hole, so that the first magnetic member and the second magnetic member magnetically attract each other, and the first positioning structure 12011 and the second positioning structure 12031 are mutually matched.
In some specific embodiments, referring to fig. 19, the sliding guide assembly 1202 includes an eighth rail 12021 and an eighth slider 12022 that are slidably coupled, the eighth rail 12021 being disposed on the mount 10, the third sorting zone 1202a and the third recovery zone 1202b being formed by the eighth rail 12021, and the guide blade 1203 being disposed on the eighth slider 12022.
In one embodiment, referring to fig. 19, the manual recovery module 120 further includes a proximity switch 1205, the proximity switch 1205 being configured to sense whether the guide blade 1203 is moved into position to the third sorting zone 1202a.
In one embodiment, referring to fig. 18, the third recycling module further includes a sixth correlation sensor 1206 disposed on the positioning support 1201, the sixth correlation sensor 1206 for detecting whether the guide tray 1203 is placed with the recycling tray 1204.
In one embodiment, referring to fig. 19, the third recycling module further includes a seventh correlation sensor 1207 disposed on the positioning support 1201, where the seventh correlation sensor 1207 is configured to detect whether the plurality of recycling trays 1204 are placed on the guiding pallet 1203, so as to avoid misplacement of the plurality of recycling trays 1204 on the guiding pallet 1203, resulting in an increase in the height of the third recycling module and collision with the sorting assembly.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the scope of the present invention. It will be apparent that the described embodiments are merely some, but not all, embodiments of the invention. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of the invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art may still combine, add or delete features of the embodiments of the present invention or make other adjustments according to circumstances without any conflict, so as to obtain different technical solutions without substantially departing from the spirit of the present invention, which also falls within the scope of the present invention.
Claims (19)
1. A chip appearance inspection apparatus, comprising:
a mounting base;
the feeding module is arranged on the mounting seat and is provided with a storage area and a feeding area, the storage area is used for stacking trays bearing chips to be detected, and the feeding module is used for transferring the trays on the storage area to the feeding area;
the lower surface detection module is arranged on the mounting seat;
the first conveying module is arranged on the mounting seat in a crossing way through the feeding module and the lower surface detection module;
the sucking module is arranged on the first conveying module and is used for driving the sucking module to move back and forth between the upper part of the material arrival area and the upper part of the lower surface detection module, and when the sucking module is positioned above the material arrival area, the sucking module sucks the chip on the tray or releases the sucked chip back to the tray; when the suction module is positioned above the lower surface detection module, the lower surface detection module detects the lower surface of the chip sucked by the suction module;
The upper surface detection module is arranged on the first conveying module, and the first conveying module drives the upper surface detection module to move to the upper part of the material receiving area, so that the upper surface detection module detects the upper surface of the chip on the tray.
2. The chip appearance inspection apparatus of claim 1, further comprising a first recycling module, a second transporting module, and a sorting module;
the first recovery module and the second recovery module are arranged on the mounting seat side by side, and the first recovery module is connected with one end of the feeding module, which is far away from the storage area;
the first recovery module is provided with a first sorting area and a first recovery area, the feeding module is further used for transferring the trays in the feeding area to the first sorting area, and the first recovery module is used for transferring the trays in the first sorting area to the first recovery area; the second recovery module is provided with a second sorting area and a second recovery area, and the first recovery module is used for transferring the trays in the second sorting area to the second recovery area;
The second conveying module is arranged on the mounting seat in a crossing way through the first recovery module and the second recovery module;
the sorting module is arranged on the second conveying module, and the second conveying module is used for driving the sorting module to move back and forth between the first recycling module and the second recycling module so as to convey the tray or the chip of the first sorting area to the second sorting area or convey the chip of the second sorting area to the first sorting area.
3. The chip appearance inspection apparatus of claim 2, wherein the loading module comprises a first support, a first transfer assembly, a stock stacking assembly, and a first jacking assembly;
the storage area and the material arrival area are formed by the first support;
the first conveying assembly is arranged on the first support and comprises a conveying supporting plate capable of moving back and forth between the storage area and the arrival area;
the material preparation stacking assembly comprises a first telescopic driving piece and a first supporting piece, wherein the first telescopic driving piece is arranged at the material storage area, the power output end of the first telescopic driving piece is connected with the first supporting piece, and the first telescopic driving piece drives the first supporting piece to stretch out or retract;
The first jacking assembly is arranged at the storage area and comprises a first lifting driving piece and a first jacking plate, the first lifting driving piece is arranged on the mounting seat, the first jacking plate is connected with the power output end of the first lifting driving piece, and the first jacking plate is lower than the first supporting piece;
the first telescopic driving piece drives the first supporting piece to extend out, and a plurality of trays are stacked on the first supporting piece to form a tray stack; when the trays in the storage area need to be transferred to the material receiving area, the conveying supporting plate is transferred to the storage area and is positioned between the first supporting piece and the first lifting plate, the first lifting driving piece drives the first lifting plate to lift, and the first lifting plate lifts up and lifts up the tray stack at the side of the conveying supporting plate; the first telescopic driving piece drives the first supporting piece to retract so as to avoid the tray stack, the first lifting driving piece drives the first lifting plate to descend, and when the bottom tray of the tray stack descends below the first supporting piece, the first telescopic driving piece drives the first supporting piece to extend so as to bear the tray stack except the bottom tray; the first lifting driving piece drives the first lifting plate to support the bottom tray to continuously descend until the tray on the first lifting plate descends to the conveying supporting plate, and the conveying supporting plate drives the tray to move to the material receiving area.
4. The chip appearance inspection apparatus according to claim 3, wherein the first lifting plate includes a first fixing portion and at least two first lifting portions, the first fixing portion being connected to a power output end of the first lifting driving member, the two first lifting portions being connected to opposite sides of the first fixing portion, respectively; wherein the first lifting part moves up and down beside the conveying pallet;
the first jacking component further comprises a first bracket, a first sensing piece, a second sensing piece and a first sensing trigger piece; the first bracket is arranged on the mounting seat, and the first lifting driving piece is arranged on the first bracket; the first induction piece and the second induction piece are arranged on the first bracket at intervals along the driving direction of the first lifting driving piece, the first induction triggering piece is arranged on the power output end of the first lifting driving piece, and the first induction triggering piece is used for triggering the induction of the first induction piece or the second induction piece; when the first induction triggering piece triggers the induction of the first induction piece, the first lifting driving piece stops driving the first lifting plate to descend; when the first induction triggering piece triggers the induction of the second induction piece, the first lifting driving piece stops driving the first lifting plate to lift.
5. The chip appearance inspection apparatus according to claim 3, wherein the first support is formed with a first transfer passage in which the transfer pallet and the tray thereon are located;
the conveying support plate is further provided with a first blocking part and a second blocking part, the first blocking part and the second blocking part are arranged at intervals along the moving direction of the conveying support plate, and the first blocking part and the second blocking part respectively block the two opposite ends of the tray;
the first conveying assembly further comprises a first rotary driving piece, a first driving wheel, a first driven wheel, a first conveying belt, a first guide rail and a first sliding block; the first rotary driving piece is arranged on the first support, the power output end of the first rotary driving piece is connected with the first driving wheel, the first driven wheel is arranged on the first support, and the first conveyor belt is in tensioning sleeve with the first driving wheel and the first driven wheel; the first guide rail is arranged on the first support, and the first sliding block is in sliding connection with the first guide rail; the conveying supporting plate is connected with one side of the first conveying belt and the first sliding block.
6. The chip appearance inspection apparatus according to claim 3, wherein the first support is further formed with a transfer area, to which the transfer pallet is further movable;
the feeding module further comprises a second jacking assembly arranged in the material transferring area, the second jacking assembly comprises a second lifting driving piece and a second jacking plate, the second lifting driving piece is arranged on the mounting seat, and the second jacking plate is connected with the power output end of the second lifting driving piece;
when the conveying supporting plate and the tray on the conveying supporting plate move to the material transferring area, the second lifting driving piece drives the second lifting plate to lift, the second lifting plate lifts up and lifts up the tray on the side of the conveying supporting plate, the conveying supporting plate leaves the material transferring area, and the second lifting driving piece drives the second lifting plate to descend until the tray descends to the first recycling module.
7. The chip appearance inspection apparatus according to any one of claims 1 to 6, wherein the suction module includes a first support plate, a first elevating assembly, a first suction nozzle assembly, and a first elastic assembly;
the first support plate is arranged on the first conveying module; the first lifting assembly is arranged on the first support plate and comprises a first lifting plate which can do lifting motion relative to the first support plate; the first suction nozzle component is arranged on the first lifting plate; one end of the first elastic component is connected with the first support plate, and the other end of the first elastic component is connected with the first lifting plate.
8. The chip appearance inspection apparatus of claim 7, wherein the first elevating assembly further comprises a second rotational drive, an eccentric shaft, a second rail, and a second slider;
the second rotation driving piece is arranged on the first support plate, the eccentric shaft is connected with the power output shaft of the second rotation driving piece, and the eccentric shaft deviates from the central axis of the power output shaft of the second rotation driving piece; the first lifting plate is provided with a strip-shaped hole, the length extension direction of the strip-shaped hole is perpendicular to the lifting direction of the first lifting plate, and one end of the eccentric shaft, which is far away from the second rotation driving piece, extends into the strip-shaped hole; one of the second guide rail and the second sliding block is arranged on the first support plate, the other one of the second guide rail and the second sliding block is arranged on the first lifting plate, and the second sliding block is in sliding connection with the second guide rail.
9. The chip appearance inspection apparatus of claim 7, wherein the first nozzle assembly comprises a first adjustment lever, a second adjustment lever, a first adjustment block, a second adjustment block, and a first nozzle;
at least two first adjusting rods are arranged on the first lifting plate at opposite intervals; every all the activity has cup jointed on the first regulation pole first regulating block, two every on the first regulation pole two be provided with between the first regulating block of every relative setting the second regulation pole, the activity cup joints a plurality of on the second regulation pole second regulating block, every all be connected with on the second regulating block first suction nozzle.
10. The chip appearance inspection apparatus of any one of claims 1-6, wherein the lower surface inspection module comprises a first mounting barrel, a first mounting bracket, a first forward facing camera, a side facing camera assembly, and a first light source assembly;
the first mounting cylinder is provided with a first cavity, and an upper end plate and a lower end plate which are positioned at two opposite ends of the first cavity; the upper end plate is provided with a first opening communicated with the first cavity, the lower end plate is provided with a second opening communicated with the first cavity, and the second opening is opposite to the first opening, wherein when a chip is detected, the chip is positioned above the upper end plate, and the lower surface of the chip faces to the first opening;
the first mounting frame is connected with the lower end plate;
the forward camera is arranged on the first mounting frame and shoots the chip through the second opening, the first cavity and the first opening;
the lateral camera assembly comprises a lateral camera and a reflecting mirror, the lateral camera is arranged on the first mounting frame, and the lateral camera and the central axis of the second opening form an included angle; the reflecting mirror is arranged on the cavity wall of the cavity, receives incident light rays from the chip through the first opening, and reflects the reflected light rays to the side camera through the second opening;
The first light source component is arranged on the first mounting cylinder and/or the first mounting frame and provides a light source for shooting of the first forward camera and/or shooting of the side camera.
11. The chip appearance inspection apparatus of claim 10, wherein the first light source assembly comprises a front monochromatic light source, a back light source, and a side light source disposed on the first mounting cylinder;
the front monochromatic light source is used for irradiating the lower surface of the chip and comprises a front monochromatic strong light source and a front monochromatic weak light source, and the illumination intensity of the front monochromatic strong light source is stronger than that of the front monochromatic weak light source; the front monochromatic intense light source is arranged on a cavity wall of one end of the first cavity, which is close to the upper end plate; the front monochromatic weak light source is arranged on the upper end plate, and the front monochromatic weak light source is arranged around the first opening;
the back light source is used for irradiating the upper surface of the chip, the back light source comprises a back strong light source and a back weak light source, the illumination intensity of the back strong light source is larger than that of the back weak light source, and the height of the back weak light source relative to the upper end plate is higher than that of the back strong light source relative to the upper end plate;
The side light source is arranged on the upper end plate and is used for irradiating the peripheral side face of the chip.
12. The chip appearance inspection apparatus of claim 10, wherein the first light source assembly further comprises a first single-sided mirror, a first multi-color light source, and a second multi-color light source;
the first single-sided reflecting mirror is arranged between the first forward camera and the second opening, the first multicolor light source is arranged beside the first single-sided reflecting mirror, the first multicolor light source is used for emitting light rays to the first single-sided reflecting mirror, the first single-sided reflecting mirror is used for reflecting the incident light rays from the first multicolor light source to the lower surface of the chip, and the reflected light rays of the first single-sided reflecting mirror are parallel to the central axis of the second opening;
the second multicolor light source is arranged in the first cavity, the second multicolor light source surrounds the second opening and is in an annular shape, the second multicolor light source is provided with an irradiation inclined plane, and in the direction from the inner periphery to the outer periphery of the second multicolor light source, the distance between the irradiation inclined plane and the upper end plate is gradually increased.
13. The chip appearance inspection apparatus according to any one of claims 1 to 6, wherein the upper surface inspection module includes a second mounting cylinder, a third mounting bracket, a second forward-facing camera, and a second light source assembly;
The second mounting cylinder is provided with a second cavity, a fourth opening and a fifth opening which are communicated with the second cavity, and the fourth opening and the fifth opening are oppositely arranged; the third mounting frame is arranged on the second mounting cylinder; the second forward camera is arranged on the third mounting frame, and the shooting direction of the forward camera is vertically towards the fourth opening; the second light source component comprises a third multicolor light source, a second single-sided reflecting mirror and an oblique light source; the second single-sided mirror is arranged between the second forward camera and the fourth opening, the third multicolor light source is arranged beside the second single-sided mirror, the third multicolor light source is used for emitting light to the second single-sided mirror, the second single-sided mirror is used for reflecting the incident light from the third multicolor light source to pass through the fourth opening, and the reflected light of the second single-sided mirror is parallel to the central axis of the fourth opening; the oblique light source is arranged in the second cavity, light rays of the oblique light source pass through the fifth opening, and the irradiation direction of the oblique light source and the central axis of the fifth opening form an included angle.
14. The chip appearance inspection device according to any one of claims 1 to 6, wherein the first transfer module includes a first portal frame, a third rotary drive, a second driving wheel, a second driven wheel, a second conveyor belt, a third guide rail, a third slider, a ninth sensing member, a tenth sensing member, and a fifth sensing trigger member;
the first portal frame is arranged on the mounting seat in a crossing way through the feeding module and the lower surface detection module; the third rotary driving piece is arranged on the first portal frame, the second driving wheel is connected with the power output end of the third rotary driving piece, the second driven wheel is arranged on the first portal frame, and the second conveyor belt is in tensioning sleeve with the second driving wheel and the second driven wheel; the third guide rail is arranged on the first portal frame, and the third sliding block is in sliding connection with the third guide rail;
the suction module and the upper surface detection module are connected with one side of the second conveyor belt and the third sliding block;
the ninth sensing piece and the tenth sensing piece are arranged on the first portal frame at intervals along the conveying direction of the second conveying belt; the fifth induction triggering piece is arranged on the third sliding block and is used for triggering the induction of the ninth induction piece or the tenth induction piece.
15. The chip appearance inspection apparatus according to any one of claims 2 to 6, wherein the sorting module includes a first carrier, a second lifting assembly, a clip, a second transfer assembly, a second support plate, a third lifting assembly, a second suction nozzle, and a second elastic assembly;
the first bearing frame is arranged on the second conveying module;
the second lifting assembly is arranged on the first bearing frame, the power output end of the second lifting assembly is connected with the clamp, the second lifting assembly drives the clamp to do lifting movement, the clamp has a clamping state and a release state, the clamp clamps the tray in the clamping state, and the clamp releases the tray in the release state;
the second conveying assembly is arranged on the first bearing frame, and the conveying direction of the second conveying assembly is perpendicular to the conveying direction of the second conveying module;
the second support plate is arranged on the second conveying assembly, the third lifting assembly is arranged on the second support plate, the third lifting assembly comprises a second lifting plate which can do lifting motion relative to the second support plate, and the second suction nozzle is arranged on the second lifting plate; one end of the second elastic component is connected with the second support plate, and the other end of the second elastic component is connected with the second lifting plate.
16. The chip appearance inspection apparatus according to any one of claims 2 to 6, wherein the first recovery module includes a second support, a third transfer assembly, a first positioning assembly, and a first vibration assembly;
the second support is arranged on the mounting seat, and the first sorting area and the first recycling area are formed by the second support; the third conveying assembly is arranged on the second support and is used for conveying the trays positioned on the first sorting area to the first recycling area; the first positioning component is arranged on the second support and/or the mounting seat and is used for limiting the tray in the first sorting area; the first vibration component is arranged on the second support and is used for vibrating the tray in the first sorting area;
the second recovery module comprises a third support, a fourth conveying assembly, a second positioning assembly and a second vibration assembly; the third support is arranged on the mounting seat, and the second separation area and the second recovery area are formed by the third support; the fourth conveying assembly is arranged on the third support and is used for conveying the trays positioned on the second sorting area to the second recycling area; the second positioning assembly is arranged on the mounting seat and is used for limiting the tray in the second sorting area; the second vibration component is arranged on the third support, and the first vibration component is used for vibrating the tray in the second sorting area.
17. The chip appearance inspection apparatus of claim 16, wherein the first recycling module further comprises a first recycling stack assembly and a third jacking assembly disposed on the first recycling area;
the first recycling stacking assembly comprises a first shaft seat and a first rotating plate, the first shaft seat is arranged on the second support, the first rotating plate is rotatably arranged on the first shaft seat, the first rotating plate is provided with a first flat state and a first avoiding state, the first rotating plate is used for bearing a tray in the first flat state, and the first rotating plate is used for avoiding the tray in the first avoiding state;
the third jacking assembly comprises a fourth lifting driving piece and a third jacking plate, the fourth lifting driving piece is arranged on the mounting seat, and the third jacking plate is connected with the power output end of the fourth lifting driving piece;
when the third conveying assembly conveys the tray to the upper side of the third lifting plate, the fourth lifting driving piece drives the third lifting plate to support the tray to ascend, the tray props against the first rotating plate to enable the first rotating plate to be switched to the first avoiding state, so that when the tray ascends to be higher than the first rotating plate, the first rotating plate falls and is switched to the first flat state, and the fourth lifting driving piece drives the third lifting plate to descend until the tray falls onto the first rotating plate;
The second recycling module further comprises a second recycling stacking assembly and a fourth jacking assembly which are arranged on the second recycling area;
the second recycling stacking assembly comprises a second shaft seat and a second rotating plate, the second shaft seat is arranged on the third support, the second rotating plate is rotatably arranged on the shaft seat, the second rotating plate is provided with a second flat-down state and a second avoiding state, the second rotating plate is used for bearing a tray in the second flat-down state, and the second rotating plate is used for avoiding the tray in the second avoiding state;
the fourth jacking assembly comprises a fifth lifting driving piece and a fourth jacking plate, the fifth lifting driving piece is arranged on the mounting seat, and the fourth jacking plate is connected with the power output end of the fifth lifting driving piece;
when the fourth conveying assembly conveys the tray to the upper side of the fourth lifting plate, the fifth lifting driving piece drives the fourth lifting plate to support the tray to ascend, the tray props against the second rotating plate to enable the second rotating plate to be switched to the second avoiding state, so that the second rotating plate falls and is switched to the second flat-down state when the tray ascends to be higher than the second rotating plate, and the fifth lifting driving piece drives the fourth lifting plate to descend until the tray falls onto the second rotating plate.
18. The chip appearance inspection apparatus according to any one of claims 2 to 6, wherein the second transfer module includes a second portal frame, a fourth rotary driving member, a third driving wheel, a third driven wheel, a third conveyor belt, a fourth guide rail, a fourth slider, an eleventh sensing member, a twelfth sensing member, and a sixth sensing trigger member;
the second portal frame is arranged on the mounting seat in a crossing way through the first recovery module and the second recovery module; the fourth rotation driving piece is arranged on the second portal frame, the third driving wheel is connected with the power output end of the fourth rotation driving piece, the third driven wheel is arranged on the second portal frame, and the third conveyer belt is in tensioning sleeve with the third driving wheel and the third driven wheel; the fourth guide rail is arranged on the second portal frame, and the fourth sliding block is in sliding connection with the fourth guide rail;
the sorting module is connected with one side of the third conveyor belt and the fourth sliding block;
the eleventh sensing piece and the twelfth sensing piece are arranged on the second portal frame at intervals along the conveying direction of the third conveying belt; the sixth induction triggering piece is arranged on the fourth sliding block and is used for triggering the induction of the eleventh induction piece or the twelfth induction piece.
19. The chip appearance inspection apparatus according to any one of claims 2 to 6, further comprising a manual recovery module, the manual recovery module being disposed side by side with the first recovery module, the second recovery module, and the second transport module being straddled the manual recovery module;
the manual recovery module comprises a positioning support, a sliding guide assembly, a guide supporting plate and a recovery tray; the positioning support is arranged on the mounting seat, and a first positioning structure is formed on the positioning support; the sliding guide assembly is arranged on the mounting seat, extends towards the positioning support, and is a third sorting area at one end, close to the positioning support, of the sliding guide assembly, and a third recycling area at one end, far away from the positioning support, of the sliding guide assembly; the guide supporting plate is arranged on the sliding guide assembly and can move back and forth between the third sorting area and the third recycling area; the guide supporting plate is provided with a second positioning structure which is matched with the first positioning structure so as to limit the guide supporting plate to the third sorting area; the recovery tray is placed on the guide supporting plate and is used for recovering chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310471114.3A CN116413278A (en) | 2023-04-24 | 2023-04-24 | Chip appearance detection equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310471114.3A CN116413278A (en) | 2023-04-24 | 2023-04-24 | Chip appearance detection equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116413278A true CN116413278A (en) | 2023-07-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310471114.3A Pending CN116413278A (en) | 2023-04-24 | 2023-04-24 | Chip appearance detection equipment |
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| Country | Link |
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| CN (1) | CN116413278A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117269739A (en) * | 2023-11-23 | 2023-12-22 | 江苏永鼎股份有限公司 | Chip detection equipment and detection method |
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2023
- 2023-04-24 CN CN202310471114.3A patent/CN116413278A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117269739A (en) * | 2023-11-23 | 2023-12-22 | 江苏永鼎股份有限公司 | Chip detection equipment and detection method |
| CN117269739B (en) * | 2023-11-23 | 2024-02-20 | 江苏永鼎股份有限公司 | Chip detection equipment and detection method |
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