CN210884196U

CN210884196U - Material taking device

Info

Publication number: CN210884196U
Application number: CN201921489492.XU
Authority: CN
Inventors: 周翎; 谢伟明; 李雨红; 麦兴东
Original assignee: Focusbanker Equipment Co ltd
Current assignee: Focusbanker Equipment Co ltd
Priority date: 2019-09-06
Filing date: 2019-09-06
Publication date: 2020-06-30
Anticipated expiration: 2029-09-06

Abstract

The utility model discloses a material taking device, which comprises a base, a material taking assembly and a controller, wherein a plurality of clamping grooves which are uniformly distributed are arranged on the base, at least one material pocket is arranged in each clamping groove, a holding tank for holding a product to be sorted is arranged in each material pocket, the notch of each holding tank faces upwards, the bottom of each material pocket is provided with a push-out opening communicated with the holding tank, the size of each push-out opening is smaller than that of the product, and the notch of each holding tank is larger than that of the product; the material taking assembly comprises a support frame and a guide rail assembly arranged above the support frame, a grabbing mechanism capable of moving along the X, Y, Z triaxial direction is arranged on the guide rail assembly, the grabbing mechanism is connected with a power mechanism, and the power mechanism can drive the grabbing mechanism to move and grab a material bag in the clamping groove; the controller is electrically connected with the power mechanism. The utility model discloses a material taking device simple structure, area is little, can realize automatic material taking operation.

Description

Material taking device

Technical Field

The utility model relates to an automation equipment technical field especially relates to a extracting device.

Background

Ceramic substrates are widely used in the fields of heat conduction, thermomechanics, nuclear energy, microelectronic technology, automation devices, sensitive sensors, optics and the like, and are more widely applied to important fields of aeronautics and science, automobiles, nuclear engineering, completion, spacecrafts and the like in recent years. In the production and sintering process of the ceramic substrate, due to the influence of various factors, part of products can have dimensional change and surface defects, wherein the dimensional change means that the length, the width and the like do not meet the design requirements, and the surface defects generally comprise surface cracks, bulges, depressions, bends, small holes and the like. In order to ensure the yield of subsequent processed products, the ceramic substrates must be sorted, and ceramic substrates with sizes not meeting requirements and surface defects are removed. At present, the separation of precise ceramic substrates is mostly carried out manually, and the problems of low efficiency, high cost and the like exist.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides an aim at: the utility model provides a material taking device, its simple structure, area is little, can accomplish automatically and get the material operation.

To achieve the purpose, the embodiment of the present invention adopts the following technical solutions:

there is provided a material extracting apparatus comprising:

the sorting machine comprises a base, wherein a plurality of clamping grooves which are uniformly distributed are formed in the base, at least one material pocket is arranged in each clamping groove, a containing groove for containing a product to be sorted is formed in each material pocket, a notch of each containing groove faces upwards, an ejection opening communicated with each containing groove is formed in the bottom of each material pocket, the size of each ejection opening is smaller than that of the product, and the notch of each containing groove is larger than that of the product;

the material taking assembly comprises a support frame and a guide rail assembly arranged above the support frame, a grabbing mechanism capable of moving along the X, Y, Z triaxial direction is arranged on the guide rail assembly, the grabbing mechanism is connected with a power mechanism, and the power mechanism can drive the grabbing mechanism to move and grab the material bag in the clamping groove;

and the controller is electrically connected with the power mechanism.

As a preferred scheme of the material taking device, a plurality of clamping columns which are uniformly arranged are arranged on the base at intervals, and a rectangular clamping groove is formed by surrounding four adjacent clamping columns.

As a preferable scheme of the material taking device, the clamping column comprises a first plate and a second plate which are vertically crossed, the first plate and the second plate form four right-angle positions which are annularly arranged, and each right-angle position corresponds to one clamping groove.

As a preferred scheme of the material taking device, a cross-shaped mounting groove is formed in the base, and the lower end of the clamping column is inserted into the mounting groove.

As an optimal scheme of the material taking device, at least two material bags are arranged in the clamping groove along the vertical direction.

As a preferred scheme of the material taking device, the guide rail assembly comprises an X-direction guide rail, an X-direction slider, a Y-direction guide rail, a Y-direction slider, a Z-direction guide rail and a Z-direction slider, the power mechanism comprises an X-direction driving piece, a Y-direction driving piece and a Z-direction driving piece, the X-direction guide rail is arranged on the support frame, the X-direction slider is arranged on the X-direction guide rail in a sliding manner under the driving of the X-direction driving piece, the Y-direction guide rail is arranged on the X-direction slider, the Y-direction slider is arranged on the Y-direction guide rail in a sliding manner under the driving of the Y-direction driving piece, the Z-direction slider is arranged on the Z-direction guide rail in a sliding manner under the driving of the Z-direction driving piece, and the grabbing mechanism is arranged on the Z-direction slider.

As an optimal scheme of the material taking device, two X-direction guide rails are arranged above the supporting frame in parallel, each X-direction guide rail is provided with one X-direction sliding block, and two ends of the Y-direction guide rail in the length direction are respectively connected with the two X-direction sliding blocks.

As a preferable scheme of the material taking device, the size of the accommodating groove in the material pocket is adjustable.

As a preferred scheme of extracting device, the material pocket includes the upper ring frame and with the lower ring frame that the upper ring frame is parallel, the upper ring frame with the lower ring frame is connected through two sets of spacing subassemblies, and is two sets of spacing subassembly sets up respectively on two relative sides of pocket, every group spacing subassembly includes two spacing strips, two distance between the spacing strip is adjustable, spacing strip have protrusion in the spacing portion of the cell wall of holding tank, the product is restricted four between the spacing portion, the inboard protruding being equipped with of lower ring frame is used for supporting the layer board of product, the layer board sets up the lower ring frame is equipped with on the frame strip of spacing strip.

As a preferred scheme of the material taking device, the upper ring frame and the lower ring frame have the same structure, the upper ring frame comprises two parallel first frame strips and two second frame strips connected between the two first frame strips, first holes are formed in the first frame strips in a penetrating manner along the vertical direction, the first holes are long holes, the lengths of the first holes extend along the length direction of the first frame strips, two ends of the limiting strip are respectively connected with the first frame strips of the upper ring frame and the first frame strips of the lower ring frame through first screws, and the first screws sequentially penetrate through the first holes and are screwed in threaded holes at the end parts of the limiting strips; the second frame strip penetrates through a second hole in the horizontal direction, the second hole is a long hole, the length of the second hole extends along the length direction of the second frame strip, and a second screw penetrates through the second hole and is screwed into a threaded hole in the end face of the first frame strip in the length direction so as to assemble the first frame strip and the second frame strip.

The utility model discloses beneficial effect does: the clamping grooves are uniformly arranged on the base and are matched with the guide rail assembly, the power mechanism and the controller, so that the coordinate positioning movement of the grabbing mechanism can be realized, the grabbing mechanism can accurately grab the material bags in the clamping grooves at corresponding positions, and the automatic material taking is realized; through setting up the material pocket into the structure that upper end opening lower extreme is equipped with the top export, can pile up the several in the material pocket and treat the product of sorting, the follow-up operation of being convenient for need not single product and carries one by one and detect, has reduced whole extracting device's area, has saved the space.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and examples.

Fig. 1 is a schematic perspective view of an automatic sorting apparatus according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of a material taking device according to an embodiment of the present invention.

Fig. 3 is a schematic structural view of a material bag according to an embodiment of the present invention.

Fig. 4 is an assembly diagram of the processing device, the surface detecting device and the stepped collecting mechanism according to the embodiment of the present invention.

Fig. 5 is an enlarged schematic view of a portion a of fig. 4.

Fig. 6 is an enlarged schematic view of B of fig. 4.

Fig. 7 is a schematic partial structural diagram of an automatic sorting apparatus according to an embodiment of the present invention (a slicing device is shown).

Fig. 8 is an enlarged schematic view of fig. 7 at C.

Fig. 9 is a schematic perspective view of a surface detecting device according to an embodiment of the present invention.

Fig. 10 is a schematic perspective view of a slicing device according to an embodiment of the present invention.

Fig. 11 is a schematic view of the ceramic substrate according to the embodiment of the present invention in the state of the a-plane (the detection plane is located at the correct position).

Fig. 12 is a schematic view of a ceramic substrate according to an embodiment of the present invention in a state of being at a B-plane.

Fig. 13 is a schematic view of a ceramic substrate according to an embodiment of the present invention in a state of being at the C-plane.

Fig. 14 is a schematic view of a ceramic substrate according to an embodiment of the present invention in a D-plane.

In the figure:

1. a material taking device; 11. a base; 12. a card slot; 13. a material bag; 131. an upper ring frame; 1311. a first frame strip; 1312. a second frame strip; 1313. a first hole; 1314. a first screw; 1315. a second hole; 1316. a second screw; 132. a lower ring frame; 133. a limiting strip; 1331. a limiting part; 134. a support plate; 14. a support frame; 15. a grabbing mechanism; 16. clamping the column; 161. a first plate; 162. a second plate; 163. a right angle position; 17. a guide rail assembly; 171. an X-direction guide rail; 172. an X-direction sliding block; 173. a Y-direction guide rail; 174. a Y-direction sliding block; 175. a Z-direction guide rail; 176. a Z-direction slider; 18. an X-direction driving member; 19. a Y-direction driving member; 110. a Z-direction driving member;

2. a slicing device; 21. a slicing bracket; 211. a slicing platform; 212. a slicing port; 213. the push rods are staggered; 2131. pressing the end face; 2132. pushing away the end face; 214. mounting a platform; 22. slicing card seats; 221. an installation port; 23. an ejection mechanism; 231. ejecting the rod; 232. an ejection seat; 233. an adjusting seat; 234. a spring; 235. ejecting a motor; 236. ejecting the coupler; 237. ejecting a screw rod; 238. ejecting the sliding block; 239. ejecting a screw rod seat; 24. switching guide rails; 25. switching a sensor; 26. staggering the sensors; 27. staggering the motors; 28. staggering the couplers; 29. staggering the screw rods; 210. staggering the sliding blocks;

3. a support platform;

4. a processing-oriented apparatus; 41. a suction cup holder; 42. a suction cup; 43. facing the bracket; 431. facing the platform; 4311. avoiding the opening; 432. detecting a bit; 433. a face turning position; 434. rotating; 44. a first camera; 45. a turnover mechanism; 451. turning over a motor; 452. turning over the clamping jaws; 46. a rotary position adjusting mechanism; 461. a rotating electric machine; 47. a first guide rail; 48. a sliding seat; 49. a second driving member; 410. a first chuck base; 411. a second sucker seat; 412. a third sucker seat; 413. a fourth sucker seat; 414. a first seat plate; 415. a second seat plate; 416. detecting the bracket; 4161. detecting a base; 4162. a support bar; 4163. a mounting seat; 417. a pre-adjustment seat; 418. a first driving member; 419. a fifth sucker seat; 420. a cleaning mechanism; 4201. cleaning the board; 4202. a main slider; 4203. a sub slider; 4204. cleaning the screw rod; 4205. cleaning a motor; 4206. cleaning the guide rod; 4207. a wear plate; 421. a collection port; 422. a recovery port;

5. a surface detection device; 51. a detection platform; 511. a light-transmitting hole; 52. a light-transmitting plate; 53. a surface detection mount; 531. a first mounting plate; 532. a second mounting plate; 533. a second camera; 5331. an optical imaging lens; 534. a mounting plate; 54. a second light source; 55. a first light source;

6. a discharging device; 61. a grading collection mechanism; 611. a gear shifting frame; 612. installing a slot position; 613. a first guide rail mechanism; 614. a second guide rail mechanism; 6141. a stepping screw rod; 6142. a moving motor; 6143. a second shift slide block; 615. a grading base; 62. a temporary storage mechanism;

7. a ceramic substrate; 71. detecting a surface;

8. a first recovery bit; 9. a second reclaim bit.

Detailed Description

In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1 to 14, the present invention discloses an automatic sorting apparatus, which is mainly used for inspecting and screening some mass-produced products, such as ceramic substrates 7, etc., and the following description will be made by taking the processed products as the ceramic substrates 7 as an example.

As shown in fig. 11 to 14, the ceramic substrate 7 is in a rectangular sheet shape, and has a front surface and a back surface which are oppositely arranged, the front surface is a detection surface 71, the correct position of the detection surface 71 is that the a surface shown in fig. 11 is upward, if the B surface of the ceramic substrate 7 is upward as shown in fig. 12, the ceramic substrate 7 needs to be rotated 180 degrees on the horizontal plane, if the C surface of the ceramic substrate 7 is upward as shown in fig. 13 (i.e., the first position diagram that the ceramic substrate 7 is reverse to be upward), only the ceramic substrate 7 needs to be turned over, if the D surface of the ceramic substrate 7 (the second position diagram that the back surface of the ceramic substrate 7 is upward) as shown in fig. 14 is upward, the ceramic substrate 7 needs to be turned over and rotated, and the operations are all performed to make the detection surface 71 be in the correct position. When the inspection surface 71 of the ceramic substrate 7 is in the correct position, the surface size and defect inspection of the ceramic substrate 7 are performed again. The surface dimension inspection of the ceramic substrate 7 specifically refers to an inspection of whether the outer contour dimension of the ceramic substrate 7 is within an acceptable dimension range, and the surface defect inspection is an inspection of whether defects such as cracks, bumps, depressions, and plugged holes exist on the detection surface 71 of the ceramic substrate 7.

The automatic sorting equipment of the embodiment of the utility model comprises a material taking device 1, a slicing device 2, a facing processing device 4, a surface detection device 5, a discharging device 6 and a controller which are arranged in sequence, wherein the material taking device 1 is mainly used for arranging a plurality of ceramic substrates 7 to be sorted which are arranged in a material pocket 13 in a stacking manner according to set coordinates, carrying the material pocket 13 in the designated coordinates to the slicing device 2 for processing, and carrying the empty material pocket 13 which is already sliced by the slicing device 2 back to the designated coordinate position; the slicing device 2 is used for separating the ceramic substrates 7 stacked in the material pocket 13 one by one, so that subsequent treatment is facilitated, products such as the ceramic substrates 7 have the characteristics of being thin and crisp, smooth and flat in surface, high in smoothness and the like, when a plurality of the ceramic substrates are stacked, vacuum adsorption is easy to occur to cause the ceramic substrates to be adhered together, and the slicing device 2 can separate the ceramic substrates 7 adhered together one by one, so that the ceramic substrates 7 are ensured to be subjected to facing treatment and surface detection treatment one by one subsequently; the facing processing device 4 is used for facing the ceramic substrate 7, judging whether the detection surface 71 of the current ceramic substrate 7 is located at the correct position in a photographing mode, if not, according to the state of the current ceramic substrate 7, the controller actively controls the facing processing device 4 to turn over and/or rotate so that the detection surface 71 of the ceramic substrate 7 is located at the correct position, and subsequent surface detection can be carried out smoothly; the surface detection device 5 is mainly used for performing size inspection and surface defect inspection on the ceramic substrates 7 facing the end of processing, screening out unqualified ceramic substrates 7, and conveying the qualified ceramic substrates 7 to the discharge device 6.

As shown in fig. 2, the material extracting apparatus 1 includes a base 11, a material extracting assembly, and a controller, where the controller may be a controller (not shown) of the entire automatic sorting device or a controller provided separately, and in this embodiment, the controller is a controller of the entire automatic sorting device. Specifically, the brand that the controller chose for use is loose, and the model is: AFPXHC 601.

The base 11 is provided with a plurality of clamping grooves 12 which are uniformly distributed, at least one material pocket 13 is arranged in each clamping groove 12, a containing groove for containing the ceramic substrates 7 to be sorted is arranged in each material pocket 13, the opening of the containing groove faces upwards, the bottom of each material pocket 13 is provided with an ejection opening communicated with the containing groove, the size of the ejection opening is smaller than that of each ceramic substrate 7, the opening of each containing groove is larger than that of each ceramic substrate 7, each material taking assembly comprises a support frame 14 and a guide rail assembly 17 arranged above the support frame 14, each guide rail assembly 17 is provided with a grabbing mechanism 15 capable of moving along the X, Y, Z three-axis direction, each grabbing mechanism 15 is connected with a power mechanism, each power mechanism can drive each grabbing mechanism 15 to move and grab the material pocket 13 in each, the material bag grabbing mechanism is used for controlling the power mechanism to automatically move and correspondingly grab and operate, and is convenient for realizing that the grabbing mechanism 15 automatically grabs and grabs the material bag 13 at a specified position. The clamping grooves 12 are uniformly arranged on the base 11, and the coordinate positioning movement of the grabbing mechanism 15 can be realized by matching with the guide rail assembly 17, the power mechanism and the controller, so that the grabbing mechanism 15 can accurately grab the material pockets 13 in the clamping grooves 12 at corresponding positions, and automatic material taking is realized; through setting up the material pocket 13 to the structure that the upper end opening lower extreme is equipped with the top export, can pile up the ceramic substrate 7 that the several was treated to sort in material pocket 13, the follow-up operation of being convenient for need not single ceramic substrate 7 and carries one by one and detect, has reduced whole extracting device 1's area, has saved the space.

In this embodiment, a plurality of clamping columns 16 are uniformly arranged on the base 11 at intervals, and a rectangular clamping groove 12 is defined by four adjacent clamping columns 16. The design can facilitate the placing and taking out of the material bag 13, has simple structure and can effectively reduce the manufacturing cost.

Specifically, be provided with 119 card posts 16 on the base 11, 119 card posts 16 are 7 rows of 17 matrix distributions, form 96 draw-in grooves 12, and the draw-in groove 12 of matrix distribution on the base 11 can make every draw-in groove 12 have independent (x, y, z) coordinate, and the controller control of being convenient for snatchs mechanism 15 and takes out the pocket 13 in all draw-in grooves 12 on the base 11 according to the coordinate of setting for in proper order, has realized automatic the material of getting, has reduced the operation degree of difficulty, has promoted production efficiency.

Of course, the number of the card posts 16 is not limited to 119, and other numbers may be provided, such as 55, and 55 card posts 16 are arranged in a matrix of 5 rows and 11 columns to form 40 card slots 12.

The card column 16 includes a first plate 161 and a second plate 162 intersecting perpendicularly, the first plate 161 and the second plate 162 form four right-angle positions 163 arranged annularly, and each right-angle position 163 is arranged corresponding to one card slot 12. The clamping column 16 with the structure is convenient to manufacture, and meanwhile, the rectangular clamping groove 12 is convenient to form so as to match with the material bag 13 with the rectangular structure.

In order to reduce the fixing difficulty of the clamping column 16, a cross-shaped mounting groove is formed in the base 11, and the lower end of the clamping column 16 is inserted into the mounting groove. Of course, the fixing manner of the clip 16 is not limited to forming a cross-shaped mounting groove on the base 11, and the clip 16 may be fixed on the base 11 by an adhesive or a fastener (e.g., a screw). The structure of the card column 16 is not limited to the first plate 161 and the second plate 162 which intersect with each other, and may be any other structure capable of enclosing the card slot 12.

In order to increase the number of the material pockets 13 which can be contained in the base 11 and simultaneously reduce the floor area of the base 11 as much as possible, the height of the clamping column 16 can be increased, so that at least two material pockets 13 can be arranged in each clamping groove 12 along the vertical direction, and because a plurality of ceramic substrates 7 can be stacked in each material pocket 13 in a stacking manner, more ceramic substrates 7 can be stacked on the base 11 with the same area.

The guide rail assembly 17 comprises an X-direction guide rail 171, an X-direction slider 172, a Y-direction guide rail 173, a Y-direction slider 174, a Z-direction guide rail 175 and a Z-direction slider 176, the power mechanism comprises an X-direction driving element 18, a Y-direction driving element 19 and a Z-direction driving element 110, the X-direction guide rail 171 is arranged on the support frame 14, the X-direction slider 172 is arranged on the X-direction guide rail 171 in a sliding manner under the driving of the X-direction driving element 18, the Y-direction guide rail 173 is arranged on the X-direction slider 172, the Y-direction slider 174 is arranged on the Y-direction guide rail 173 in a sliding manner under the driving of the Y-direction driving element 19, the Z-direction guide rail 175 is arranged on the Y-direction slider 174, the Z-direction slider 176 is arranged on the Z-direction guide rail. Linear movement can be realized in the cooperation of slider, slide rail and driving piece, and the triaxial (X axle, Y axle and Z axle) all sets up slider, slide rail and driving piece, and the controller just can realize appointed coordinate through the control of procedure and remove as long as be connected with every driving piece electricity, satisfies the action demand of grabbing material pocket 13 of grabbing the accuracy of mechanism 15.

In this embodiment, the structures of the X-direction driving element 18, the Y-direction driving element 19 and the Z-direction driving element 110 are the same, and the structures of the motor and the belt are matched with each other, the belt is connected with the driven wheel through the driving wheel, the output shaft end of the motor is connected with the driving wheel and drives the driving wheel to rotate, the driving wheel drives the belt to move, and the sliders corresponding to the X-direction driving element 18, the Y-direction driving element 19 and the Z-direction driving element 110 are connected with the belt to realize the movement. Of course, the driving member is not limited to the structure of matching the motor and the belt, but also can be the structure of matching the motor and the screw rod, specifically, the output shaft end of the motor is connected with the screw rod through the coupling, the screw rod is fixed on the corresponding guide rail through the screw rod seat, the sliding block sleeve is arranged on the screw rod, after the motor is started, the output shaft of the motor rotates to drive the screw rod to rotate, and the sliding block on the screw rod moves according to the designated direction. Or the driving piece adopts an electric cylinder or an air cylinder to drive the sliding block to move on the guide rail, the controller is electrically connected with the electric cylinder or the air cylinder, and the end part of the piston rod of the electric cylinder or the air cylinder is connected with the sliding block.

The motors of the X-direction driver 18, the Y-direction driver 19 and the Z-direction driver 110 are made by the following brands: the model is as follows: MEC 08-M02430.

Specifically, two X-direction guide rails 171 are disposed in parallel above the supporting frame 14, each X-direction guide rail 171 is provided with one X-direction slider 172, and two ends of the Y-direction guide rail 173 in the length direction are respectively connected to the two X-direction sliders 172.

In one embodiment, the size of the receiving slot in the pocket 13 is adjustable. This design can accommodate the mounting of ceramic substrates 7 of different sizes.

Specifically, as shown in fig. 3, the material pocket 13 includes an upper ring frame 131 and a lower ring frame 132 parallel to the upper ring frame 131, the upper ring frame 131 and the lower ring frame 132 are connected through two sets of limiting components, the two sets of limiting components are respectively disposed on two opposite sides of the material pocket 13, each set of limiting components includes two limiting strips 133, a distance between the two limiting strips 133 is adjustable, the limiting strips 133 have limiting portions 1331 protruding from groove walls of the accommodating groove, the ceramic substrates 7 are limited between the four limiting portions 1331, a supporting plate 134 for supporting the ceramic substrates 7 is convexly disposed on the inner side of the lower ring frame 132, and the supporting plate 134 is disposed on a frame strip of the lower ring frame 132 provided with the limiting strips 133. By adjusting the distance between the two position-limiting strips 133, the size of the space defined by the position-limiting portion 1331 can be changed to fit ceramic substrates 7 of different sizes to be stacked.

The upper ring frame 131 and the lower ring frame 132 have the same structure, the upper ring frame 131 includes two parallel first frame strips 1311 and two second frame strips 1312 connected between the two first frame strips 1311, a first hole 1313 is formed in the first frame strip 1311 in a penetrating manner along the vertical direction, the first hole 1313 is a long hole, the length of the first hole 1313 extends along the length direction of the first frame strip 1311, two ends of the limiting strip 133 are respectively connected with the first frame strip 1311 of the upper ring frame 131 and the first frame strip 1311 of the lower ring frame 132 through first screws 1314, and the first screws 1314 sequentially penetrate through the first holes 1313 and are screwed into threaded holes at the end portions of the limiting strip 133; second frame strip 1312 runs through second hole 1315 along the horizontal direction, second hole 1315 is a long hole, the length of second hole 1315 extends along the length direction of second frame strip 1312, and second screw 1316 passes through second hole 1315 and screws into the threaded hole of the end face of first frame strip 1311 in the length direction, so that first frame strip 1311 and second frame strip 1312 are assembled.

As shown in fig. 7, 8 and 10, the slicing device 2 includes a slicing support 21, a slicing clamping seat 22 and an ejection mechanism 23, the slicing support 21 is provided with a slicing platform 211, the slicing platform 211 is provided with a slicing opening 212 through which the ceramic substrates 7 to be sorted pass, one side of the slicing opening 212 and the slicing support 21 are provided with a staggered push rod 213 capable of moving along the horizontal direction, the staggered push rod 213 has a pressing end face 2131 and a pushing end face 2132, the pressing end face 2131 is horizontally arranged, the pressing end face 2131 presses against the upper surfaces of the ceramic substrates 7 protruding out of the slicing opening 212, and the pushing end face 2132 is used for pushing away the ceramic substrates 7 arranged on the uppermost layer; the slicing clamping seat 22 is arranged on the supporting platform 3 and can horizontally move to the position right below the slicing opening 212, the mounting opening 221 for mounting the material bag 13 is formed in the slicing clamping seat 22, and the material bag 13 can be placed in the mounting opening 221 from top to bottom; the ejection mechanism 23 includes an ejection rod 231 capable of moving in the vertical direction, the upper end of the ejection rod 231 is provided with an ejection seat 232, the ejection seat 232 is provided with an adjustment seat 233 in parallel, the ejection seat 232 is connected with the adjustment seat 233 through an elastic member, and the adjustment seat 233 can eject the ceramic substrate 7 to the separation opening 212 through an ejection opening at the bottom of the material pocket 13. Through the adjusting seat 233 with the elastic support, the pressing end face 2131 of the staggered push rod 213 can be matched to enable the ceramic substrates 7 to be sorted on the adjusting seat 233 to be always kept horizontal, and further when the pushing end face 2132 of the staggered push rod 213 pushes the ceramic substrate 7 on the uppermost layer to be separated, the ceramic substrates 7 can be effectively prevented from colliding with the splitting port 212 due to non-horizontal state, the ceramic substrates 7 are prevented from being damaged by collision, and meanwhile, the requirements of manufacturing and mounting accuracy of the splitting device 2 are also lowered.

The elastic member is a spring 234, two ends of the spring 234 are respectively connected with the ejection seat 232 and the adjusting seat 233, at least three springs 234 are arranged between the ejection seat 232 and the adjusting seat 233, and the three springs 234 form a supporting plane.

Specifically, four springs 234 are disposed between the ejection seat 232 and the adjusting seat 233 and are distributed in a rectangular shape.

Of course, the number of the springs 234 is not limited to 3 or 4, and only one, or other numbers may be provided.

A switching guide rail 24 is arranged on the supporting platform 3 and below the slicing platform 211, the slicing cassette 22 is driven by a switching driving piece (not shown in the figure) to slide on the switching guide rail 24, and at least two mounting openings 221 are arranged on the slicing cassette 22 along the moving direction of the slicing cassette. The two mounting ports 221 are arranged, the slicing clamping seat 22 can simultaneously accommodate two material pockets 13, and it is ensured that the slicing device 2 can perform slicing processing uninterruptedly, after the slicing processing of the material pocket 13 in one of the mounting ports 221 is finished, the switching driving piece drives the slicing clamping seat 22 to move, so that the other material pocket 13 which is not sliced yet moves to the position under the slicing port 212, the ejection mechanism 23 continues to eject the ceramic substrates 7 in the material pocket 13 for the slicing processing, the empty material pocket 13 in the previous mounting port 221 is automatically taken out through the grabbing mechanism 15, the material pocket 13 provided with the ceramic substrates 7 is grabbed by the grabbing mechanism 15 of the material taking device 1 and placed in the mounting port 221, and the operation is repeated until all the material pockets 13 on the base 11 of the material taking device 1 are sliced completely.

Switch driving piece can adopt motor, lead screw complex structure, and the motor adoption brand here is: racing, the model is: DM542, the output shaft end of the motor passes through the shaft coupling and connects the lead screw, and the lead screw passes through the lead screw seat to be fixed on switching guide rail 24, and burst cassette 22 cover is established on the lead screw, and after the motor started, the output shaft of motor rotated, drove the lead screw and rotated, and burst cassette 22 on the lead screw removed according to the assigned direction. Of course, the switching driving member is not limited to the structure that the motor and the screw rod are matched, and an electric cylinder or an air cylinder may be used to drive the slice clamping seat 22 to move on the switching guide rail 24, the controller is electrically connected with the electric cylinder or the air cylinder, and the end of the piston rod of the electric cylinder or the air cylinder is connected with the slice clamping seat 22.

In order to improve the position accuracy in the switching process, the slicing device 2 further includes a switching sensor 25 for detecting the position alignment of the mounting port 221 and the slicing port 212, and the switching sensor 25 is electrically connected to the switching driving element and the controller, respectively. The controller here may be a controller of the entire automatic sorting apparatus or may be a separate controller. The switching sensor 25 detects a position signal of the corresponding mounting port 221, and if the mounting port 221 is directly opposite to the position of the slice port 212 at the moment, the switching sensor 25 transmits the signal to the controller, and the controller controls the switching driving member to stop working and simultaneously controls the ejection mechanism 23 and the staggered push rod 213 to work so as to realize slice processing.

A staggered sensor 26 is arranged at the splitting port 212, the staggered sensor 26 is used for detecting whether the ceramic substrate 7 exists at the splitting port 212, and the staggered sensor 26 is electrically connected with the controller; the staggered motor 27 is arranged on the slicing support 21, the staggered coupling 28 is arranged at the output shaft end of the staggered motor 27, the staggered coupling 28 is connected with the staggered lead screw 29, the staggered slide block 210 is arranged on the staggered lead screw 29, one end of the staggered push rod 213, which is far away from the push-off end face 2132, is connected with the staggered slide block 210, and the staggered motor 27 is electrically connected with the controller. Specifically, the staggered motor 27 is of the brand: loose, type is: a6 MHMF022L1U 2M.

The slicing support 21 is further provided with a mounting platform 214, the mounting platform 214 is parallel to the slicing platform 211, the distance between the mounting platform 214 and the supporting platform 3 is smaller than the distance between the slicing platform 211 and the supporting platform 3, and the staggered motor 27 and the staggered lead screw 29 are mounted on the mounting platform 214.

Specifically, the offset push rod 213 is plate-shaped, and the lower surface of the offset push rod 213 is attached to the upper surface of the segment table 211.

The abutting end face 2131 and the pushing end face 2132 are arranged perpendicularly, the contact area between the pushing end face 2132 and the side edge of the ceramic substrate 7 can be increased through the design, and the pushing process is guaranteed to be stable.

In order to reduce the rigid collision between the staggered push rod 213 and the ceramic substrate 7, a buffer layer may be further disposed on the abutting end face 2131 and the pushing end face 2132, and the buffer layer may be a rubber layer, a silica gel layer, or an elastic foam layer. Of course, the cushion layer is not limited to be provided on both the pressing end surface 2131 and the pushed-off end surface 2132, and may be provided on one of the pressing end surface 2131 and the pushed-off end surface 2132. The cushioning layer may be secured to the abutting end face 2131 and/or the push-off end face 2132 by bonding, fasteners, or the like.

The ejection mechanism 23 further comprises an ejection motor 235, an output shaft end of the ejection motor 235 is connected with an ejection screw rod 237 through an ejection coupling 236, the ejection screw rod 237 is slidably provided with an ejection slider 238, one end of the ejection rod 231, which is far away from the ejection seat 232, is connected with the ejection slider 238, the ejection rod 231 is parallel to the ejection screw rod 237, and one end of the ejection screw rod 237, which is far away from the ejection coupling 236, is connected with the supporting platform 3 or the slicing bracket 21 through an ejection screw rod seat 239. The screw rod transmission mode can make the ejection action of the ejection mechanism 23 more stable and the moving distance more accurate. Specifically, the ejection motor 235 is of the brand: loose, type is: a6 MHMF042L1V 2M.

As shown in fig. 4 to 6, the facing processing device 4 is also disposed on the supporting platform 3, the facing processing device 4 includes a suction cup assembly, a facing bracket 43, a facing detection mechanism, a turnover mechanism 45 and a rotary positioning mechanism 46, the suction cup assembly includes a suction cup bracket 41, a suction cup seat capable of moving horizontally and vertically is disposed on the suction cup bracket 41, and a suction cup 42 for adsorbing the ceramic substrate 7 is disposed on the suction cup seat; the facing bracket 43 is arranged on the supporting platform 3, the facing bracket 43 is provided with a facing platform 431 parallel to the supporting platform 3, and a detection position 432, a turnover position 433 and a rotation position 434 are sequentially arranged on the facing platform 431 at intervals along the horizontal moving direction of the sucker seat; the facing detection mechanism is used for detecting whether the detection surface 71 of the ceramic substrate 7 on the detection position 432 faces correctly or not, and comprises a first camera 44 positioned right above the detection position 432; the turnover mechanism 45 is used for turning over the ceramic substrate 7 by 180 degrees along an axis parallel to the horizontal plane, and the turnover mechanism 45 comprises a turnover motor 451 and a turnover claw 452 connected to the output shaft end of the turnover motor 451; the rotary positioning mechanism 46 is used for rotating the ceramic substrate 7 by a specified angle along the axis of the vertical direction, the rotary positioning mechanism 46 comprises a rotary motor 461 and a sucker 42 arranged at the output shaft end of the rotary motor 461, and the sucker driving piece, the sucker 42, the facing detection mechanism, the turnover mechanism 45 and the rotary positioning mechanism 46 which drive the sucker seat to move are all electrically connected with the controller. Through setting up the controller and being connected with sucking disc driving piece, sucking disc 42, towards detection mechanism, tilting mechanism 45 and the rotatory positioning mechanism 46 electricity that the drive sucking disc seat removed, can realize treating that ceramic substrate 7 of sorting is towards detecting and towards handling (upset and rotation operation) automation, promote detection and processing speed, degree of automation is high, reduces the operation degree of difficulty.

A first guide rail 47 is arranged on the sucker support 41, the length of the first guide rail 47 extends along the horizontal direction, a sliding block is arranged on the first guide rail 47 in a sliding manner, a second guide rail is arranged on the sliding block and extends along the vertical direction, a sliding seat 48 is arranged on the second guide rail, and the sucker seat is connected to the sliding seat 48; the suction cup driving member comprises a first driving member 418 and a second driving member 49, the first driving member 418 is connected with the sliding block for driving the sliding block to slide on the first guide rail 47, and the second driving member 49 is connected with the sliding seat 48 for driving the sliding seat 48 to slide on the second guide rail. The design can realize the horizontal and vertical movement of the sucker seat. The first drive member 418 and the second drive member 49 may each be configured as a motor and belt-engaged structure, wherein the motor of the first drive member 418 is of the brand: loose, type is: a6 MHMF0421L1U 2M; the motor of the second drive member 49 is of the brand: loose, type is: a6 MHMF042L1V 2M.

The sliding seat 48 is a strip, the sliding seat 48 extends along the horizontal direction, the sliding seat 48 is parallel to the first guide rail 47, the sliding seat 48 is sequentially provided with a first suction cup seat 410, a second suction cup seat 411, a third suction cup seat 412, a fourth suction cup seat 413 and a fifth suction cup seat 419 along the length direction of the sliding seat 48 at intervals, the first suction cup seat 410, the second suction cup seat 411, the third suction cup seat 412 and the fifth suction cup seat 419 are fixedly provided with suction cups 42, a rotating motor 413 is arranged on the fourth suction cup seat 413, and the suction cups 42 connected by the rotating motor 461 are positioned on one side, close to the platform 431, of the fourth suction cup seat 413. By arranging five sucker seats on the sliding seat 48, the feeding of the detection position 432, the detection of the detection position 432, the overturning operation of the overturning position 433, the rotating operation of the rotating position 434 and the blanking operation of the rotating position 434 can be continuously carried out, and the working efficiency is greatly improved.

Specifically, the detection position 432, the turning position 433 and the rotation position 434 are arranged at equal intervals, the first suction cup seat 410, the second suction cup seat 411, the third suction cup seat 412, the fourth suction cup seat 413 and the fifth suction cup seat 419 are arranged at equal intervals, the intervals between the first suction cup seat 410 and the second suction cup seat 411 are all L1, the interval between the detection position 432 and the turning position 433 is L2, and L1 is equal to L2.

Of course, in other embodiments, only one suction cup 42 may be provided, and the loading operation of the detection station 432, the facing detection operation of the detection station 432, the turning operation of the turning station 433, the rotating operation of the rotating station 434, and the unloading operation of the rotating station 434 may be sequentially completed by using this suction cup 42.

Each suction cup seat comprises a first seat plate 414 and a second seat plate 415 arranged at an included angle, the second seat plate 415 is parallel to the facing platform 431, the first seat plate 414 is connected with the second seat plate 415 and the suction cup bracket 41, and specifically, one end of the first seat plate 414 far away from the second seat plate 415 is connected with the sliding seat 48. This design can achieve horizontal adsorption of the ceramic substrate 7 by the chuck 42.

In order to ensure smooth turning operation of the turning mechanism 45, a through avoiding opening 4311 is provided facing the turning position 433 on the platform 431, and the turning claw 452 is provided in the avoiding opening 4311.

A first recovery site 8 is provided below the bypass opening 4311, and the first recovery site 8 recovers the ceramic substrate 7 having a significant breakage.

The turning clamping jaw 452 is a pneumatic or electric clamping jaw, and the operation of automatically grabbing the ceramic substrate 7 is realized through the control of the controller. In order to prevent the ceramic substrate 7 from rigidly colliding with the turning jaw 452, a buffer layer is provided inside the turning jaw 452. The buffer layer can be a rubber layer, a silica gel layer or a buffer foam layer.

A pre-adjusting seat 417 is detachably arranged on the platform 431 facing the corresponding rotating position 434, a pre-adjusting groove is arranged on the pre-adjusting seat 417, and the size of the pre-adjusting groove is matched with that of the ceramic substrate 7. Through the arrangement of the pre-adjusting seat 417, after the flipping motor 451 drives the corresponding flipping claw 452 to flip and adjust the ceramic substrate 7, when the suction cup 42 of the flipping position 433 conveys the ceramic substrate 7 to the rotating position 434, the pre-adjusting groove on the pre-adjusting seat 417 is used to limit the position of the ceramic substrate 7, so as to prevent the ceramic substrate 7 from deflecting by a large displacement, thereby facilitating the position of the ceramic substrate 7 sucked by the suction cup 42 on the subsequent rotating motor 461 not to deviate greatly, and further ensuring that the ceramic substrate 7 conveyed to the surface detection device 5 by the suction cup 42 on the rotating motor 461 does not deviate greatly.

The facing detection mechanism further comprises a detection bracket 416, the detection bracket 416 comprises a detection base 4161 and a support rod 4162 arranged on the detection base 4161, a mounting seat 4163 is arranged on the support rod 4162 in a sliding mode, and the first camera 44 is mounted on one side, close to the facing platform 431, of the mounting seat 4163.

In addition, the treatment device 4 further includes a cleaning mechanism 420, and the cleaning mechanism 420 is disposed on one side of the detection position 432 and is used for removing ceramic debris or impurities on the detection position 432.

Specifically, the cleaning mechanism 420 includes a cleaning plate 4201, the cleaning plate 4201 is movable in a horizontal direction to remove ceramic debris or impurities facing the detection position 432 on the platform 431, the cleaning plate 4201 may be driven manually or electrically, in this embodiment, the cleaning plate 4201 is driven electrically and is automatically operated by a controller.

Further, a main slider 4202 and a sub slider 4203 are respectively disposed at two ends of the cleaning plate 4201 in the length direction, a threaded hole having an axis parallel to the platform 431 is formed in the main slider 4202, the cleaning screw 4204 penetrates the threaded hole, one end of the cleaning screw 4204 is supported by a screw holder, the other end is in transmission connection with a cleaning motor 4205, a guide hole is formed in the sub slider 4203, a cleaning guide rod 4206 penetrates the guide hole, and two ends of the cleaning guide rod 4206 are respectively supported by a support base. The cleaning lead screw 4204 and the cleaning guide rod 4206 are parallel to each other.

Of course, the driving method of the cleaning plate 4201 is not limited to the screw transmission described above, and the cleaning plate 4201 may be directly driven by an air cylinder, an electric cylinder, or a hydraulic rod, and may be attached to the end of a piston rod that extends and contracts the air cylinder, the electric cylinder, or the hydraulic rod.

In this embodiment, the lower end of the sweeping plate 4201 is provided with a rubber strip which is in contact with the facing platform 431. In other embodiments, a brush may be disposed at the lower end of the cleaning plate 4201, and the brush may be used to remove broken ceramic or impurities.

In order to improve the surface smoothness of the detection site 432 facing the platform 431 and prevent surface abrasion or formation of an uneven structure after the platform 431 is used for a long time, a wear plate 4207 is mounted on the detection site 432 facing the platform 431, and the wear plate 4207 may be made of an industrial sapphire plate.

As shown in fig. 4 and 9, the surface detecting device 5 includes a detecting platform 51, a surface detecting bracket 53 and a second light source 54, wherein the detecting platform 51 is provided with a light hole 511, and a light-transmitting plate 52 is installed at the light hole 511; the surface detection bracket 53 is arranged on one side of the detection platform 51, a first mounting plate 531 is arranged on the surface detection bracket 53, a second camera 533 is mounted on the first mounting plate 531, and a first light source 55 is arranged on one side of the second camera 533 at intervals; the second light source 54 is arranged below the detection platform 51, and the second light source 54 is opposite to the transparent plate 52; the first light source 55, the second light source 54 and the second camera 533 are electrically connected to the controller, and the first light source 55 and the second light source 54 are selectively turned on. By setting a first light source 55 and a second light source 54 which are turned on, the second camera 533 can shoot the detection surface 71 of the ceramic substrate 7 when the first light source 55 is turned on, the shot pictures are analyzed and compared with the stored data of the detection surface 71 through the controller to determine whether the detection surface has surface defects, when the second camera 533 is turned on, the light of the second light source 54 penetrates through the light-transmitting plate 52 to form a backlight source, at the moment, the second camera 533 shoots the contour picture of the ceramic substrate 7 to further determine the contour size of the ceramic substrate 7, so that the determination of two defects by one device is realized, and the detection efficiency and the detection precision are improved; the second camera 533 comprises an optical imaging lens 5331, the optical imaging lens 5331 adopts a double telecentric industrial imaging lens, so that the automatic sorting equipment can still clearly image the ceramic substrate 7 in the rapid sorting process, and the thickness error of the ceramic substrate 7 and the small deviation of the position of the image sensor cannot influence the image quality.

Specifically, the transparent plate 52 is an industrial sapphire plate. The industrial sapphire plate can supply the light of second light source 54 to pass through, forms to be shaded, guarantees that the profile picture of ceramic substrate 7 that second camera 533 shot is clear, is convenient for compare ceramic substrate 7's size and whether meet the requirements, and simultaneously, industrial sapphire plate hardness is high, and the wearability is good, long service life.

The transparent plate 52 is detachably connected with the detection platform 51. In this embodiment, the transparent plate 52 is fixed on the detecting platform 51 by magnetic attraction. Of course, the fixing manner of the transparent plate 52 is not limited to magnetic attraction, and can also be fixed by fasteners such as screws, and specifically, the transparent plate 52 is provided with fixing holes, the detection platform 51 is provided with threaded holes, and the fastening screws penetrate through the fixing holes and are screwed into the threaded holes. In addition, the detection platform 51 may be provided with a receiving groove, the bottom of the receiving groove may be provided with a light transmitting hole 511, and the light transmitting plate 52 may be fixed to the bottom of the receiving groove by an adhesive or a fastening screw.

The size of the light transmission hole 511 and the light transmission plate 52 is larger than that of the ceramic substrate 7. The design can ensure that the ceramic substrate 7 is completely arranged on the transparent plate 52, and the light of the second light source 54 can also irradiate the whole ceramic substrate 7, so that a clearer outline picture of the ceramic substrate 7 can be conveniently shot.

The first light source 55 is disposed around the outer circumference of the lens of the second camera 533, and the light emitted from the second light source 54 is parallel light, or the second light source 54 is a coaxial light source.

In this embodiment, the first light source 55 and the second light source 54 are controlled by the controller to be turned on and off automatically, and in actual operation, a control program is preset in the controller, so that the turn-on and turn-off sequence and the time interval of the first light source 55 and the second light source 54 can be set to meet the requirements of different inspection stages.

A first switch button is arranged on the surface detection bracket 53 and is communicated with the first light source 55 through a lead; and/or a second switch button is arranged on the surface detection bracket 53, and the second switch button is communicated with the second light source 54 through a lead. By providing the switch buttons, the first light source 55 and the second light source 54 can be independently controlled, and manual turning on and off of the light sources can be realized.

The surface detection bracket 53 includes a bracket plate 534 vertically disposed, the first mounting plate 531 is fixed on one side of the bracket plate 534, a second mounting plate 532 fixedly connected with the bracket plate 534 is disposed below the first mounting plate 531, and the second light source 54 is disposed on the second mounting plate 532. This design can integrate the surface detection bracket 53 with the second camera 533, the first light source 55, and the second light source 54, which facilitates the assembly and disassembly.

In the present embodiment, the detection platform 51 and the facing platform 431 are both disposed on the facing bracket 43, and are of a unitary structure. Of course, in other embodiments, the detecting platform 51 and the facing platform 431 may be provided as separate structures and disposed on different brackets.

The supporting platform 3 facing the lower side of the support 43 is provided with a second recovery position 9, a recovery port 422 is provided on the support 43 facing the second recovery position 9, and the recovery port 422 is located on one side of the transparent plate 52 away from the rotation position 434. The second recycling station 9 here receives the ceramic substrates 7 which have been inspected by the surface inspection device 5 for the presence of size and/or surface defects.

As shown in fig. 1, the discharging device 6 includes a grading collecting mechanism 61 and a temporary storage mechanism 62, the grading collecting mechanism 61 is used for grading the ceramic substrates 7 qualified by the surface detection device 5 and then stacking the ceramic substrates in the corresponding pockets 13, and the temporary storage mechanism 62 is disposed on one side of the grading collecting mechanism 61 and is used for temporarily storing the pockets 13 containing the stacked ceramic substrates 7.

Specifically, as shown in fig. 4, the structure of the temporary storage mechanism 62 is the same as that of the material taking device 1, that is, the temporary storage mechanism 62 also includes a base 11, card slots 12 arranged in a matrix on the base 11, and a gripping mechanism 15 capable of achieving X, Y, Z three-axis movement to carry the pockets 13. The detailed structure of the temporary storage mechanism 62 is not described herein. According to the design, the ceramic substrates 7 qualified in detection can be stacked in the pockets 13 and then sequentially placed in the clamping grooves 12 of the temporary storage mechanism 62.

The grading collecting mechanism 61 comprises a grading frame 611 capable of moving along X and Y axes, a plurality of mounting groove positions 612 are uniformly arranged on the grading frame 611, material pockets 13 are mounted in the mounting groove positions 612, the material pockets 13 on the grading frame 611 can collect ceramic substrates 7 with a plurality of size gears, size information of the ceramic substrates 7 with corresponding gears is preset in the controller in advance, and when the surface detection device 5 detects that the qualified ceramic substrates 7 are conveyed to the grading frame 611, the controller can control the grading frame 611 to move to the corresponding position to collect the ceramic substrates 7. The corresponding position here is a position facing directly below the collection port 421 opened in the holder 43.

Specifically, the stepping collecting mechanism 61 further includes a first guide rail mechanism 613 and a second guide rail mechanism 614, the first guide rail mechanism 613 is fixed on the supporting platform 3, the first guide rail mechanism 613 includes a stepping guide rail and a first stepping slider slidably disposed on the stepping guide rail, the first stepping slider can move along the X-axis direction, the first stepping slider is disposed with a stepping base 615, the second guide rail mechanism 614 is disposed on the stepping base 615, the second guide rail mechanism 614 includes two stepping screws 6141 parallel to each other, one end of the stepping screw 6141 is mounted on the stepping base 615 through a screw base, the other end is connected with a moving motor 6142, each stepping screw 6141 is disposed with a second stepping slider 6143, the two second stepping sliders 6143 are respectively connected to two opposite sides of the stepping frame 611, and the second stepping slider 6143 can move along the Y-axis direction.

The controller is electrically connected to the first rail mechanism 613 and the second rail mechanism 614, respectively, to realize automatic control.

After the surface defects of the ceramic substrates 7 are detected by the surface detection device 5, if the products of the ceramic substrates 7 are qualified, the products are graded according to the preset size grades (the products in the qualified size range can be graded into n grades according to the actual application requirements), and then the graded ceramic substrates 7 are placed into the material bags 13 of the corresponding grades through the collection ports 421. It can be seen from the figure that two rows of n pockets 13 are disposed on the right side of the surface detection device 5, and are respectively used for loading the ceramic substrates 7 with n size gears, the two rows of pockets 13 can horizontally move along the XY direction under the control of the controller, so that the pockets 13 with the size gears corresponding to the graded ceramic substrates 7 can move to the position right below the collection port 421 to collect the graded ceramic substrates 7. In addition, the bottom of the material pocket 13 right below the collecting port 421 is also provided with an ejection mechanism 23 for ejecting the ceramic substrate 7 in the material pocket 13 to a fixed position below the collecting port 421, the collecting port 421 is provided with a sensor for detecting whether the ceramic substrate 7 is ejected to a specified position, when the sensor detects that the ceramic substrate 7 is ejected to the specified position, the suction cup puts the ceramic substrate 7 after grading into the collecting port 421, and then the ejection mechanism 23 at the bottom of the material pocket 13 moves the material pocket 13 downward.

The embodiment of the utility model also provides a sorting method of automatic sorting equipment, ceramic substrate 7 to be sorted is laminated in the material pocket 13, the material pocket 13 is grabbed and conveyed to the separating device 2 by the grabbing mechanism 15 of the material fetching device 1, the separating device 2 separates the laminated ceramic substrate 7 one by one, the ceramic substrate 7 after being separated is conveyed to the detection position 432 facing the platform 431 by the sucker 42 facing the processing device 4 for facing detection, the ceramic substrate 7 after being detected is conveyed to the turn-over position 433 and the rotation position 434 by the sucker 42, the turn-over and the rotation adjustment are selectively carried out, the detection surface 71 of the ceramic substrate 7 conveyed to the surface detection device 5 is correctly oriented, then the ceramic substrate 7 is conveyed to the surface detection device 5 by the sucker 42 for surface quality and size detection, the qualified ceramic substrate 7 after being detected is conveyed to the discharging device 6 by the sucker 42, the defective ceramic substrate 7 is carried to the recycle position by the suction cup 42.

Preferably, a recycling bin or the like may be provided at the recycling location to facilitate collection of the defective ceramic substrates 7, thereby facilitating subsequent processing.

Specifically, the sorting method comprises the following steps:

s100, placing the material pockets 13 with the stacked ceramic substrates 7 into the clamping grooves 12 of the material taking device 1 one by one, controlling the grabbing mechanism 15 of the material taking device 1 to move to a set coordinate by the controller, grabbing the material pockets 13 in the clamping grooves 12 corresponding to the set coordinate by the grabbing mechanism 15, and moving the material pockets to the slicing clamping seats 22 of the slicing device 2;

step S200, after the mounting opening 221 of the slicing clamping seat 22 aligns with the slicing opening 212, the switching sensor 25 transmits the detected position signal to the controller, the controller controls the switching driving member to stop working, and at the same time controls the ejecting rod 231 of the ejecting mechanism 23 to move upwards, the adjusting seat 233 at the end of the ejecting rod 231 pushes the ceramic substrates 7 stacked in the material pocket 13 to move upwards one by one until the upper surface of the ceramic substrate 7 at the uppermost layer abuts against the abutting end face 2131 of the staggered push rod 213, at this time, because the adjusting seat 233 and the ejecting seat 232 are connected by the spring 234, the horizontal abutting end face 2131 adjusts the levelness of the ceramic substrate 7 at the uppermost layer, when the staggered sensor 26 detects that the ceramic substrate 7 protrudes outwards from the slicing opening 212, the staggered sensor 26 transmits the signal to the controller, the controller controls the staggered motor 27 to work, the staggered motor 27 drives the staggered lead screw 29 to rotate, the staggered lead screw 29 rotates to drive the staggered push rod 213 to move horizontally, the push-off end face 2132 pushes the ceramic substrate 7 on the uppermost layer to separate, then the push-out mechanism 23 repeats push-out operation continuously, the push rod 213 is staggered to repeat the action of pushing out and separating continuously, all the ceramic substrates 7 in the material pocket 13 are pushed out (here, the related sensors detect whether all the ceramic substrates 7 are completely pushed out), the controller controls the switching driving piece to work again, so as to push the slicing clamping seat 22 to move on the switching guide rail 24 to realize position switching, and then the steps are repeated;

step S300, taking out the empty material bag 13 through a manual operation or a grabbing mechanism 15 of the material taking device 1, then putting the material bag 13 filled with the ceramic substrates 7 into the mounting opening 221, and repeating the step S200;

step S400, the separated ceramic substrates 7 are conveyed to the detection station 432 one by the suction cups 42 on the first suction cup seat 410 facing the processing device 4 for detection, the first camera 44 of the detection station 432 shoots photos of the ceramic substrates 7 at the detection station 432 and then transmits the photos to the controller, the controller automatically compares the pre-stored photos of the detection surface 71 facing the correct ceramic substrates 7 with the photos to obtain facing results, then determines whether the detection surface 71 of the ceramic substrates 7 faces the correct direction, if so, the controller controls the suction cups 42 of the second suction cup seat 411 to transfer the ceramic substrates 7 to the turn-over position 433, the turning claws 452 at the turn-over position 433 are not operated, the ceramic substrates 7 are transferred to the rotation position 434 by the third suction cup seat 412, the rotation adjustment is not performed at the rotation position 434, and finally the suction cups 42 of the fourth suction cup seat 413 transfer the ceramic substrates 7 to the surface detection device 5 for surface quality and size detection, if not, the controller controls the turnover mechanism 45 of the turnover position 433 and the rotary positioning mechanism 46 of the rotary position 434 to respectively perform corresponding turnover and rotary operations, then the suction cups 42 convey the adjusted ceramic substrates 7 to the surface detection device 5 to perform surface quality and size detection, and the suction cups 42 on the five suction cup seats simultaneously act to enable the carrying, detection, turnover and rotary actions to be continuous;

step S500, when the ceramic substrate 7 is placed on the transparent plate 52 of the surface inspection device 5, the first light source 55 is turned on, the second light source 54 is turned off, a front picture is taken, the picture is transmitted to the controller through the second camera 533, the controller controls the second light source 54 to be turned on, the first light source 55 to be turned off, the second camera 533 takes the outline picture of the ceramic substrate 7, the picture is transmitted to the controller again, comparing with the preset size parameter in the controller, the controller judges whether the size of the ceramic substrate 7 is qualified or not, if the qualified product belongs to the gear with the size, and the shot front picture is used for surface defect detection, if any defect exists, the defective product is judged to be unqualified, and the defective product is transferred to a second recovery position 9, if the materials are qualified, the materials are conveyed into the material bags 13 of the corresponding gears of the grading collection mechanism 61 and stacked;

step S600, after the material bag 13 in the grading collecting mechanism 61 is fully collected, the controller controls the grabbing mechanism 15 of the temporary storage mechanism 62 to grab the material bag 13 and moves the material bag to the clamping groove 12 corresponding to the coordinate for temporary storage.

In the description herein, it is to be understood that the terms "upper" and the like are used in a descriptive sense and based on the orientation or positional relationship shown in the drawings for convenience in description and simplicity of operation, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, configuration and operation in a particular orientation, and therefore should not be construed as limiting the present invention.

In the description herein, references to the description of "an embodiment" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.

The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.

Claims

1. A material extracting apparatus, comprising:

and the controller is electrically connected with the power mechanism.

2. The material taking device as claimed in claim 1, wherein a plurality of clamping columns are arranged on the base at intervals, and four adjacent clamping columns surround the rectangular clamping groove.

3. The reclaimer assembly of claim 2, wherein said catch comprises a first plate and a second plate perpendicularly intersecting, said first plate and said second plate forming four right angle positions in a loop, each of said right angle positions being disposed with respect to one of said pockets.

4. The reclaiming apparatus as claimed in claim 3, wherein the base is provided with a cross-shaped mounting groove, and the lower end of the clamping column is inserted into the mounting groove.

5. The material taking device as claimed in claim 1, wherein at least two material pockets are vertically arranged in the clamping groove.

6. The material taking device as claimed in any one of claims 1 to 5, wherein the guide rail assembly comprises an X-direction guide rail, an X-direction slider, a Y-direction guide rail, a Y-direction slider, a Z-direction guide rail and a Z-direction slider, the power mechanism comprises an X-direction driving member, a Y-direction driving member and a Z-direction driving member, the X-direction guide rail is arranged on the support frame, the X-direction slider is slidably arranged on the X-direction guide rail under the driving of the X-direction driving member, the Y-direction guide rail is arranged on the X-direction slider, the Y-direction slider is slidably arranged on the Y-direction guide rail under the driving of the Y-direction driving member, the Z-direction guide rail is arranged on the Y-direction slider, the Z-direction slider is slidably arranged on the Z-direction guide rail under the driving of the Z-direction driving member, and the grabbing mechanism is arranged on the Z-.

7. The taking device as claimed in claim 6, wherein two X-direction guide rails are arranged above the support frame in parallel, each X-direction guide rail is provided with one X-direction sliding block, and two ends of the Y-direction guide rail in the length direction are respectively connected with the two X-direction sliding blocks.

8. The extracting apparatus as claimed in any one of claims 1 to 5, wherein the receiving slot in the pocket is adjustable in size.

9. The material taking device as claimed in claim 8, wherein the material pocket comprises an upper ring frame and a lower ring frame parallel to the upper ring frame, the upper ring frame and the lower ring frame are connected through two sets of limiting assemblies, the two sets of limiting assemblies are respectively arranged on two opposite sides of the material pocket, each set of limiting assembly comprises two limiting strips, the distance between the two limiting strips is adjustable, each limiting strip is provided with a limiting portion protruding out of the groove wall of the accommodating groove, the product is limited between the four limiting portions, a supporting plate for supporting the product is arranged on the inner side of the lower ring frame in a protruding mode, and the supporting plate is arranged on the frame strip of the lower ring frame provided with the limiting strips.

10. The taking device according to claim 9, wherein the upper ring frame and the lower ring frame have the same structure, the upper ring frame includes two parallel first frame strips and two second frame strips connected between the two first frame strips, the first frame strips are provided with first holes in a vertical direction, the first holes are long holes, the length of the first holes extends along the length direction of the first frame strips, two ends of the limiting strips are respectively connected with the first frame strips of the upper ring frame and the first frame strips of the lower ring frame through first screws, and the first screws sequentially penetrate through the first holes and are screwed into threaded holes at the ends of the limiting strips; the second frame strip penetrates through a second hole in the horizontal direction, the second hole is a long hole, the length of the second hole extends along the length direction of the second frame strip, and a second screw penetrates through the second hole and is screwed into a threaded hole in the end face of the first frame strip in the length direction so as to assemble the first frame strip and the second frame strip.