Material carrying device and appearance detection equipment

Abstract

The invention relates to a material carrying device and appearance detection equipment, the material carrying device comprises a base frame and a carrying assembly, and the base frame comprises a base and a vertical frame erected on the base in the first direction; the multiple carrying assemblies comprise the first carrying assembly and the second carrying assembly, one of the first carrying assembly and the second carrying assembly is arranged on the base, and the other one of the first carrying assembly and the second carrying assembly is arranged on the side, away from the base, of the vertical frame. At least part of the structure of the first carrying assembly and at least part of the structure of the second carrying assembly are located on the two opposite sides of the detection device respectively; wherein the carrying assembly comprises a transferring part and a driving part, the transferring part comprises a transferring frame and a carrying beam, the carrying beam is used for picking up workpieces, the carrying beam is rotationally connected with the transferring frame around a reference axis, the reference axis intersects with the first direction, and the driving part is connected with the transferring frame; the moving part is driven to move relative to the base frame in the direction intersecting with the first direction.

Description

Technical Field

[0001] The present application relates to the technical field of material conveying, and in particular to a material handling device and appearance inspection equipment. Background Art

[0002] With technological advancements, electronic devices and their components are becoming increasingly sophisticated and complex. After production and processing, products often require multiple inspection processes. The testing equipment used to perform these inspections often features multiple inspection stations, each dedicated to performing different inspection steps.

[0003] To implement multiple inspection processes, current inspection equipment typically uses multiple carriers to transport the workpiece to each inspection station.

[0004] However, currently, when carrying workpieces for inspection and processing, carriers need to perform complex coordinated actions (such as transferring workpieces between carriers), resulting in cumbersome carrier movements and limiting inspection efficiency. Summary of the Invention

[0005] Based on this, it is necessary to provide a material handling device and appearance inspection equipment to address the problem that the carrier movements of current inspection equipment are cumbersome and restrict efficiency.

[0006] On the one hand, the present application provides a material handling device, which includes a base frame and a handling component, the base frame includes a base and a vertical frame mounted on the base along a first direction; the multiple handling components include a first handling component and a second handling component, one of the first handling component and the second handling component is arranged on the base, and the other is arranged on a side of the vertical frame away from the base, in the first direction, at least part of the structure of the first handling component and at least part of the structure of the second handling component are respectively located on opposite sides of a detection device; wherein, the handling component includes a transferring component and a driving component, the transferring component includes a transferring frame and a carrying beam, the carrying beam is used to pick up workpieces, the carrying beam is rotatably connected to the transferring frame around a reference axis, the reference axis intersects with the first direction, and the driving component is connected to the transferring frame to drive the transferring component to move relative to the base frame along a direction intersecting with the first direction.

[0007] In one embodiment, at least one of the transfer component of the first transfer assembly and the transfer component of the second transfer assembly is movable along the first direction to approach the other.

[0008] In one embodiment, the first direction is the height direction of the base frame, the transferring component of the first conveying assembly is a first transferring component, the driving component of the first conveying assembly is a first driving component, and the first driving component can drive the first transferring component to move along the second direction between the first transfer position and the first detection position; the transferring component of the second conveying assembly is a second transferring component, and the driving component of the second conveying assembly is a second driving component, and the second driving component can drive the second transferring component to move along the second direction between the second transfer position and the second detection position; wherein, the first transferring component in the first transfer position and the second transferring component in the second transfer position are located at the edge of the same side of the base frame; along the first direction, the first transferring component in the first detection position is aligned with the second transferring component in the second detection position.

[0009] In one embodiment, the transport beam includes an arm beam and a plurality of jigs, the jigs are used to pick up workpieces, the jigs can rotate relative to the arm beam around a rotation axis, the arm beam extends along a third direction, at least one end of the arm beam is connected to the transfer rack, and a plurality of jigs are arranged on the arm beam at intervals along the third direction, and the third direction intersects with the first direction and the second direction respectively.

[0010] In one embodiment, the first driving component is disposed on the base, and the first driving component includes a first driver and a slide rail. The slide rail is disposed on the base along the second direction. The transfer frame of the first transfer component slides with the slide rail. The first driver is connected to the transfer frame of the first transfer component to drive the first transfer component to move along the second direction.

[0011] In one embodiment, at least two of the uprights are respectively arranged on opposite sides of the first transport component in the third direction, the second transferring component spans from the upright on one side to the upright on the other side, and the second driving component includes a second driver, which is arranged on the upright and connected to the second transferring component to drive the second transferring component to move along the second direction.

[0012] In one embodiment, the second driving component also includes a third driver, a first suspension and a second suspension, the first suspension is arranged on the stand and suspended above the first transport component, the second driver is connected to the first suspension to drive the first suspension to move along the second direction; the third driver is arranged on the first suspension, the second suspension is movably arranged on the first suspension and connected to the second transfer component, and the third driver is connected to the second suspension to drive the second suspension and the second transfer component to move along the first direction.

[0013] In one embodiment, the carrier beam further includes a rotation module, which is connected to the plurality of jigs, and the rotation module drives the plurality of jigs to rotate synchronously relative to the arm beam around the rotation axis.

[0014] In one embodiment, the rotation module includes multiple driving modules, each of which includes a rotation driver and a rotation motor. The rotation driver is connected to the rotation motor. The rotation motors of the multiple driving modules are connected to the multiple fixtures one by one, and each driving module independently drives each fixture to rotate synchronously.

[0015] In one embodiment, the self-rotation module includes a drive module and a transmission module, the transmission module is connected to each of the jigs respectively, the drive module is connected to the transmission module to drive each of the jigs to rotate synchronously through the transmission module, and the transmission module is configured as one of a rack and pinion drive, a belt drive, a chain drive and a worm gear drive.

[0016] In one embodiment, the first direction is perpendicular to the second direction.

[0017] In one embodiment, the driving component of the first conveying component drives the transferring component to move along a second direction, and the second direction intersects with the first direction; the driving component of the second conveying component is a second driving component, the transferring frame of the second conveying component is a second transferring frame, and the carrying beam of the second conveying component is a second carrying beam, the second carrying beam is cantilevered and connected to the second transferring frame, and the free end of the second carrying beam extends along a fourth direction away from the second transferring frame, and the second driving component drives the second transferring frame to move relative to the base frame along the fourth direction, and the fourth direction intersects with the second direction and the first direction respectively.

[0018] On the other hand, the present application further provides an appearance inspection device, which includes a detection device and the material handling device as described above.

[0019] In one embodiment, the detection device includes a detection module, a bracket and a lifting drive, a plurality of the detection modules are arranged on the bracket at intervals along a third direction, and the lifting drive is connected to the bracket to drive the bracket and the detection module to move along the first direction; the detection module and the conveying assembly are arranged at intervals in the second direction, and the detection module is also movably set along the third direction, and the third direction intersects with both the first direction and the second direction.

[0020] In the above-described material handling device, one of the two handling assemblies is supported by a stand, so that the first and second handling assemblies are arranged in a layered manner in the first direction. Consequently, in the first direction, at least a portion of the first handling assembly and at least a portion of the second handling assembly are located on opposite sides of the detection device. This design ensures that the first handling assembly can always be oriented generally in the first direction toward the side where the second handling assembly and the detection device are located. Similarly, the second handling assembly can always be oriented generally in the first direction toward the side where the first handling assembly and the detection device are located.

[0021] Furthermore, the transport assembly's carrying beam is used to pick up workpieces. The carrying beam is rotatably connected to the transfer frame about a reference axis, and the reference axis intersects the first direction. That is, when the carrying beam rotates about the reference axis, it can be rotated to different positions facing the first direction. For the first transport assembly, the detection device and the second transport assembly are located at different positions in the first direction. The carrying beam of the first transport assembly can be rotated about the reference axis to positions facing the detection device and positions facing the second transport assembly, respectively. When the carrying beam of the first transport assembly is facing the detection device, the workpiece it picks up can be inspected; when the carrying beam of the first transport assembly is facing the second transport assembly, the workpiece can be transferred to the second transport assembly. As described above, because the first transport assembly can always be generally oriented in the first direction toward the side where the second transport assembly and the detection device are located, the carrying beam of the first transport assembly requires a small rotation angle to switch between these two positions, resulting in fast execution and high efficiency. Similarly, when the second transport assembly switches between positions facing the first transport assembly and the detection device, the required rotation angle is small, resulting in fast execution and high efficiency.

[0022] Furthermore, a drive component is connected to the transfer frame to drive the transfer component to move relative to the base frame in a direction intersecting the first direction. Because the movement direction of the transfer components of the two transport assemblies is different from the distribution direction of the first and second transport assemblies (i.e., the first direction), the transfer components of the two transport assemblies do not occupy positions in their respective movement directions. As a result, the transfer components of the first and second transport assemblies can carry the workpiece to positions where they overlap in the first direction and are aligned with the detection device. Since the two transport assemblies are always generally oriented toward each other and the detection device, after one of the transfer components of the two transport assemblies (e.g., the transfer component of the first transport component) has carried a workpiece and has completed inspection and processing by the detection module, it can directly transfer the workpiece to the other (e.g., the transfer component of the second transport component) along the first direction. At the same time, after the transfer component of the second transport component receives the workpiece, the detection module can directly inspect and process the workpiece carried by that transfer component. In short, the present application integrates the respective detection positions of the two transfer components and the workstations where the two transfer components transfer workpieces to each other in the same position, eliminating the need for the two transfer components to move to positions aligned with each other, and eliminating the need for at least one of them to move to a position aligned with the detection module, thereby improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1a This is a simplified diagram of an exemplary appearance inspection device provided by one embodiment of the present application when two carriers are aligned with two inspection components respectively.

[0024] Figure 1b for Figure 1a The diagram shows a simplified view of the appearance inspection equipment when two carriers transfer workpieces to each other.

[0025] Figure 1c for Figure 1a A simplified diagram of the appearance inspection device when the second carrier is aligned with the second inspection component.

[0026] Figure 1d This is a simplified diagram of a first transport assembly, a second transport assembly, and a detection device of an appearance inspection device provided in one embodiment of the present application.

[0027] Figure 1e A simplified diagram of an exemplary appearance inspection device provided in another embodiment of the present application.

[0028] Figure 2 This is an axonometric diagram of an appearance inspection device provided in one embodiment of the present application.

[0029] Figure 3 for Figure 2 A side view of part of the structure of the appearance inspection equipment shown.

[0030] Figure 4 for Figure 2 The isometric diagram of the transfer component in the appearance inspection equipment shown.

[0031] Figure 5 for Figure 2 An axonometric diagram of the first handling assembly in the appearance inspection equipment is shown.

[0032] Figure 6 for Figure 5 A side view of the first handling assembly is shown.

[0033] Figure 7 for Figure 2 An axonometric diagram of the second handling assembly in the appearance inspection equipment shown.

[0034] Figure 8 for Figure 7 A side view of the second handling assembly is shown.

[0035] Figure 9 for Figure 2 An axonometric diagram of the inspection device in the appearance inspection equipment shown.

[0036] Figure 10 for Figure 9 Side view of the detection device shown.

[0037] Figure 11 This is an axonometric diagram of a material handling device provided by another embodiment of the present application.

[0038] Figure 12 This is an axonometric diagram of an appearance inspection device provided in another embodiment of the present application.

[0039] Reference numerals: 10, appearance inspection device; 11, material handling device; 12, inspection device; 20, first carrier; 21, first chassis; 22, first picking member; 30, second carrier; 31, second chassis; 32, second picking member; 40, first inspection component; 50, second inspection component;

[0040] 100, base frame; 110, base; 120, stand;

[0041] 200, transport assembly; 201, transfer component; 202, drive component; 203, transfer rack; 204, carrier beam; 205, arm beam; 206, fixture; 207, picking side;

[0042] 210, first transport assembly; 210a, first transfer station; 210b, first detection station; 211, first transfer component; 212, first drive component; 212a, slide rail; 213, first transfer rack; 214, first transport beam; 215, first arm beam; 216, first fixture;

[0043] 220, second transport assembly; 220a, second transfer station; 220b, second detection station; 221, second transfer component; 222, second drive component; 222a, second driver; 222b, third driver; 222c, first suspension; 222d, second suspension; 223, second transfer rack; 224, second carrying beam; 225, second arm beam; 226, second fixture;

[0044] 300, detection module; 310, camera; 320, lens; 330, light source; 400, bracket; 500, lifting drive; 600, shifting drive; 700, cache component;

[0045] Oj1, first base axis; Oj2, second base axis; α, first preset angle; β, second preset angle; γ, third preset angle; S1, first direction; S2, second direction; S3, third direction; S4, fourth direction; O, reference axis; O1, first axis; O2, second axis; Oz, rotation axis; Oz1, first rotation axis; Oz2, second rotation axis. DETAILED DESCRIPTION

[0046] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0047] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0048] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0049] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0050] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0051] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0052] Currently, the demand for inspecting various products is increasing. Traditional appearance inspection equipment typically features multiple inspection stations to address these diverse needs. For example, traditional appearance inspection equipment consists of an inspection device and a carrier. The inspection device includes multiple inspection components, and the carrier includes multiple carriers. Each of these carriers carries a workpiece to the area where each inspection module (i.e., an inspection station) is located for inspection.

[0053] For example, combining Figures 1a to 1c , taking the example that the number of detection components and the number of carriers are both two, the two detection components are respectively recorded as the first detection component 40 and the second detection component 50, and the two carriers are respectively recorded as the first carrier 20 and the second carrier 30. The first carrier 20 includes a first base frame 21 and a first picking member 22. The first picking member 22 is used to pick up the workpiece, and the first picking member 22 is rotatably connected to the first base frame 21 around the first base axis Oj1. The second carrier 30 includes a second base frame 31 and a second picking member 32. The second picking member 32 is used to pick up the workpiece, and the second picking member 32 is rotatably connected to the second base frame 31 around the second base axis Oj2. Figure 1a After loading the workpiece onto the first carrier 20, the first carrier 20 can drive the workpiece to move horizontally to a position aligned with the first detection component 40 for detection. After completion, the first carrier 20 and the second carrier 30 move horizontally toward each other. Figure 1b As shown, the first carrier 20 moves a distance L1 to approach the second carrier 30, and the second carrier 30 moves a distance L2 to approach the first carrier 20. In addition, the first picking member 22 needs to rotate around the first base axis Oj1 by a first preset angle α to flip to a posture facing the second carrier 30; the second picking member 32 needs to rotate around the second base axis Oj2 by a second preset angle β to flip to a posture facing the first carrier 20. At this time, the first picking member 22 and the second picking member 32 are facing each other and are close enough to each other, so the workpiece can be transferred from the first picking member 22 to the second picking member 32. Figure 1b and Figure 1c After receiving the workpiece transferred by the first picking member 22, the second picking member 32 also needs to Figure 1b The second picking member 32 is in the posture shown, and retreats a distance L2 in the horizontal direction to align with the second detection component 50. In addition, the second picking member 32 needs to be flipped again by the second preset angle β to the posture facing the second detection component 50 (as shown in FIG. Figure 1c As shown), so that the second detection component 50 performs detection processing. Figure 1c As shown, further, after the first carrier 20 transfers the workpiece to the second carrier 30, the first carrier 20 also needs to translate a distance of L3 and flip an angle γ to move to a position and posture for receiving the workpiece loading, and repeatedly carry different batches of workpieces for inspection and processing.

[0054] As described above, in the overall inspection process of the appearance inspection equipment, from the process in which the first carrier 20 carries the workpiece to be inspected by the first inspection component 40 to the process in which the second carrier 30 carries the workpiece to be inspected by the second inspection component 50, the first carrier 20 and the second carrier 30 need to frequently perform shifting and flipping actions, and the numerous actions restrict efficiency.

[0055] In order to solve the above problems, the present application provides a material handling device. Figure 1d , the first conveying component 210 and the second conveying component 220 are designed in layers in the first direction S1, and the two conveying components 200 move in their respective corresponding layers along the second direction S2. The detection device 12 is located between the layers where the two conveying components 200 are located, that is, along the first direction S1, the two conveying components 200 are located on opposite sides of the detection device 12. With this arrangement, the first conveying component 210 moves in its corresponding layer along the second direction S2, and basically no displacement in the first direction S1 occurs, so that the first conveying component 210 can always face the side where the second conveying component 220 and the detection device 12 are located at the same time, without flipping the first preset angle α as described above. The second conveying component 220 is similar, and there is no need to flip the second preset angle β as described above. Furthermore, the first conveying component 210 and the second conveying component 220 are arranged in the first direction S1 and move in the second direction S2. The distribution direction and movement direction of the two conveying components 200 are different, and the two do not interfere with each other's positions in the second direction S2. In this way, as Figure 1d As shown, the first transport assembly 210 and the second transport assembly 220 are capable of carrying a workpiece for inspection and processing by the inspection device 12 at the same location in the second direction S2. Furthermore, the two transport assemblies 200 in the same location are aligned with each other. Therefore, after one of the two transport assemblies 200 (e.g., the first transport assembly 210) completes inspection and processing of the workpiece carried by the inspection device 12, it can directly transfer the workpiece to the other (e.g., the second transport assembly 220). Furthermore, after the second transport assembly 220 receives the workpiece, the inspection device 12 can directly inspect and process the workpiece carried by the second transport assembly 220. In short, the present application integrates the inspection stations for each of the two transport assemblies 200 and the station for transferring workpieces between the two transport assemblies 200 into the same location. This eliminates the need for the transport assemblies 200 to frequently perform the lateral shifts L1 and L2 described above, as well as the frequent flipping of the first and second predetermined angles α and β described above. This reduces the number of actions required by the transport assemblies 200 to carry workpieces for inspection and processing, thereby improving overall efficiency.

[0056] See also Figure 1e Even if the appearance inspection device in the conventional technology is improved so that the first carrier 20 and the second carrier 30 share the same inspection component (for example, the first inspection component 40), the present application can still save actions and improve efficiency. Figure 1e , taking the first carrier 20 as a reference, since the first detection component 40 and the second carrier 30 are still located at different positions on the first carrier 20, the first carrier 20 still needs to be flipped by the first preset angle α in order to transfer the workpiece. It should be emphasized that when the carrier carries the workpiece for inspection and processing, the picking part usually rotates around the base axis relative to the base frame at a certain angle to fully meet the inspection and processing requirements. However Figure 1e In the embodiment shown, the first pick-up member 22 is still facing upwards when carrying the workpiece for inspection. Figure 1d As shown, in the present application, the first transport component 210 is generally still facing the side where the second transport component 220 and the detection component are located, and the second transport component 220 is generally still facing the side where the first transport component 210 and the detection component are located. Therefore, even if a certain angle needs to be flipped, the flipping angle of the transport component 200 provided by the present application will be significantly smaller than that of the traditional technology.

[0057] Further, in Figure 1e In the illustrated embodiment, the movement direction of the first carrier 20 and the second carrier 30 is the same as their distribution direction, which is horizontal. Therefore, when one of the first carrier 20 and the second carrier 30 is aligned with the detection component, it will inevitably block the position of the other. For example, Figure 1e As shown, at this time, the first carrier 20 is aligned with the first detection component 40, and the first carrier 20 occupies the space corresponding to the first detection component 40. When the workpiece carried by the first carrier 20 is inspected and the workpiece is transferred to the second carrier 30, the first carrier 20 needs to give way in the horizontal direction, and transfer the space corresponding to the first detection component 40 to the second carrier 30. Figure 1d As previously mentioned, in this application, the two handling assemblies 200 do not occupy each other's positions in the direction of movement and do not interfere with each other. Therefore, there is no need to perform the above-mentioned alternating avoidance action of space concession, which can improve efficiency. The following is a detailed description of the material handling device and appearance inspection equipment provided by each embodiment of this application in conjunction with the specific implementation method and the accompanying drawings.

[0058] See Figure 2 and Figure 3 , Figure 2 FIG2 shows an axonometric diagram of an appearance inspection device provided by an embodiment of the present application. Figure 3 for Figure 2 A side view of a portion of the appearance inspection equipment shown. One embodiment of the present application provides an appearance inspection device 10 capable of performing, but not limited to, appearance inspection and dimensional measurement on a workpiece. Appearance inspection device 10 includes a material handling device 11 and an inspection device 12. Material handling device 11 is used to transport workpieces to various workstations, and inspection device 12 is capable of inspecting and processing the workpieces carried by material handling device 11.

[0059] Please continue reading Figure 2 and Figure 3 , combined with Figure 1dOne embodiment of the present application provides a material handling device 11. The material handling device 11 includes a base frame 100 and a handling assembly 200. The handling assembly 200 is disposed on the base frame 100, and there are multiple handling assemblies 200. The base frame 100 includes a base 110 and a stand 120. The stand 120 is mounted on the base 110 along a first direction S1. The multiple handling assemblies 200 include a first handling assembly 210 and a second handling assembly 220. One of the first handling assembly 210 and the second handling assembly 220 is disposed on the base 110, and the other is disposed on a side of the stand 120 away from the base 110. That is, the stand 120 supports one of the two handling assemblies 200, so that the first handling assembly 210 and the second handling assembly 220 are arranged in a hierarchical manner in the first direction S1. As a result, in the first direction S1, at least a portion of the first handling assembly 210 and at least a portion of the second handling assembly 220 are located on opposite sides of the detection device 12. With this design, the first transport assembly 210 can always be oriented substantially along the first direction S1 toward the second transport assembly 220 and the detection device 12. Similarly, the second transport assembly 220 can always be oriented substantially along the first direction S1 toward the first transport assembly 210 and the detection device 12.

[0060] Combine Figure 4The transport component 200 includes a transfer component 201 and a driving component 202. The driving component 202 is used to drive the transfer component 201 to move, so that the transfer component 201 moves to different workstations. The transfer component 201 includes a transfer frame 203 and a carrying beam 204. The carrying beam 204 is used to pick up workpieces, and the carrying beam 204 is rotatably connected to the transfer frame 203 around a reference axis O. The reference axis O intersects with the first direction S1. That is to say, when the carrying beam 204 rotates around the reference axis O, the carrying beam 204 can rotate to a posture facing different areas in the first direction S1. For the first transport component 210, the detection device 12 and the second transport component 220 have different positions in the first direction S1, and the carrying beam 204 of the first transport component 210 can rotate around the reference axis O to a posture facing the detection device 12 and a posture facing the second transport component 220, respectively. When the carrying beam 204 of the first transport assembly 210 is oriented toward the inspection device 12, the workpiece it has picked up can undergo inspection. When the carrying beam 204 of the first transport assembly 210 is oriented toward the second transport assembly 220, the workpiece can be transferred to the second transport assembly 220. As described above, because the first transport assembly 210 can always be oriented approximately along the first direction S1 toward the side where the second transport assembly 220 and the inspection device 12 are located, the carrying beam 204 of the first transport assembly 210 requires a small rotation angle when switching between different positions toward the inspection device 12 and the inspection device 12, resulting in fast execution and high efficiency. Similarly, for the second transport assembly 220, the inspection device 12 and the first transport assembly 210 are located at different positions in the first direction S1. The carrying beam 204 of the second transport assembly 220 can rotate about the reference axis O to either a position toward the inspection device 12 or a position toward the first transport assembly 210. When the carrying beam 204 of the second transport assembly 220 faces the inspection device 12, the workpiece it picks up can be inspected. When the carrying beam 204 of the second transport assembly 220 faces the first transport assembly 210, the workpiece can be transferred to the first transport assembly 210. As described above, because the second transport assembly 220 can always be generally oriented along the first direction S1 toward the side where the first transport assembly 210 and the inspection device 12 are located, the carrying beam 204 of the second transport assembly 220 requires only a small rotation angle when switching between the two different orientations, resulting in fast execution and high efficiency.

[0061] The driving component 202 is connected to the transfer frame 203 to drive the transfer component 201 to move relative to the base frame 100 in a direction intersecting the first direction S1 (i.e., the second direction S2, or the second direction S2 and the fourth direction S4, discussed below). Because the movement directions of the transfer components 201 of the two transport assemblies 200 differ from the distribution direction of the two transport assemblies 200 (i.e., the first direction S1), the transfer components 201 of the two transport assemblies 200 do not occupy positions in their respective movement directions. As a result, the transfer components 201 of the first transport assembly 210 and the transfer components 201 of the second transport assembly 220 can carry the workpiece to positions that overlap in the first direction S1 and are aligned with the detection device 12 (i.e., the first detection position 210b and the second detection position 220b, discussed below). Furthermore, since the two transport assemblies 200 are always generally oriented toward each other and the detection device 12, once one of the respective transfer components 201 of the two transport assemblies 200 (e.g., the transfer component 201 of the first transport assembly 210) carries a workpiece for inspection and processing by the inspection module 300, the workpiece can be directly transferred to the other (e.g., the transfer component 201 of the second transport assembly 220) along the first direction S1. At the same time, after the transfer component 201 of the second transport assembly 220 receives the workpiece, the inspection module 300 can directly inspect and process the workpiece carried by the transfer component 201. In short, the present application integrates the respective inspection positions of the two transport components 201 and the workstation where the two transport components 201 transfer workpieces to each other into the same location, eliminating the need for the two transport components 201 to move to positions aligned with each other, and eliminating the need for at least one of the two transport components 201 to move to a position aligned with the inspection module 300, thereby improving inspection efficiency.

[0062] In one embodiment, the directions in which the transfer components 201 of the two transport assemblies 200 move relative to the base frame 100 can be the same or different. Figure 2 and Figure 3 As one example, the driving components 202 of the two conveying components 200 can both drive the corresponding transfer components 201 to move along the second direction S2, and the second direction S2 intersects with the first direction S1. Therefore, except for moving at different levels, the movement path of the transfer component 201 of the first conveying component 210 is the same as the movement path of the transfer component 201 of the second conveying component 220. That is to say, when the two transfer components 201 move along the second direction S2 in the direction away from the detection device 12, they can move to the same side edge of the base frame 100. Therefore, the material conveyor located next to the base frame 100 can take into account the function of interactively transferring workpieces with the first conveying component 210, as well as the function of interactively transferring workpieces with the second conveying component 220. Relatively different material conveyors correspond to the two conveying components 200 respectively. Such a design can save a set of material conveyors and reduce costs. For example, combined with Figure 1aIn conventional technology, material transfer machines are usually arranged on different sides (e.g., different sides in the horizontal direction) of the appearance inspection device 10, wherein the material transfer machine on one side transfers the workpiece to be inspected to the first carrier 20, and the material transfer machine on the other side receives the inspected workpiece transferred by the second carrier 30. Figure 1d In comparison, the present application not only saves a set of material transfer machines, but also reserves space on the other side of the base frame 100 to facilitate debugging and maintenance of the detection device 12.

[0063] In one embodiment, the second direction S2 may be perpendicular to the first direction S1.

[0064] It should be noted that, in the present application, one of the first conveying assembly 210 and the second conveying assembly 220 is arranged on the side of the stand 120 away from the base 110, and it is not limited to that the conveying assembly 200 is located on the side of the stand 120 away from the base 110. In one embodiment, the first direction S1 can be configured as the height direction of the base 100, that is, the first conveying assembly 210 and the second conveying assembly 220 are arranged in layers in the height direction of the base 100. At least when the material handling device 11 is in working state, the first direction S1 is parallel to the direction of gravity. Figure 2 and Figure 3 As one example, the first transport assembly 210 can be mounted on the base 110, and the second transport assembly 220 can be mounted on a side of the stand 120 away from the base 110. Furthermore, the transfer component 201 of the second transport assembly 220 can be mounted in an inverted position on the stand 120. Compared to conventional techniques that transfer workpieces horizontally, in this embodiment, the first and second transport assemblies 210 and 200 transfer workpieces in the direction of gravity, resulting in a more stable workpiece position.

[0065] See also Figure 5 and Figure 6 , combined with Figure 3 In one embodiment, the transfer component 201 of the first transport assembly 210 is a first transfer component 211, and the driving component 202 of the first transport assembly 210 is a first driving component 212. The first driving component 212 drives the first transfer component 211 to move along the second direction S2. The first transfer component 211 can move along the second direction S2 to a position aligned with the detection device 12, and to the edge of the base frame 100, so as to interact with the material transfer machine to transfer workpieces. The first transfer component 211 includes a first transfer frame 213 and a first carrying beam 214. The first carrying beam 214 is used to pick up workpieces. The first carrying beam 214 is rotatably connected to the first transfer frame 213 around a first axis O1, and the first axis O1 intersects the first direction S1.

[0066] See also Figure 7 and Figure 8 , combined with Figure 3 , the transfer component 201 of the second transport assembly 220 is the second transfer component 221, and the driving component 202 of the second transport assembly 220 is the second driving component 222. The second driving component 222 drives the second transfer component 221 to move along the second direction S2. The second transfer component 221 can move along the second direction S2 to a position aligned with the detection device 12, and move to the edge of the base frame 100, so as to interact with the material conveyor to transfer the workpiece. The second transfer component 221 includes a second transfer frame 223 and a second carrying beam 224. The second carrying beam 224 is used to pick up the workpiece. The second carrying beam 224 is rotatably connected to the second transfer frame 223 around the second axis O2, and the second axis O2 intersects with the first direction S1. Furthermore, the second axis O2 is parallel to the first axis O1.

[0067] See also Figure 2 In one embodiment, the first axis O1 is parallel to the second axis O2. Of course, if the carrying beam 204 can rotate around the transfer frame 203 to face the detection device 12 and another transport assembly 200, the first axis O1 and the second axis O2 can also be configured to intersect.

[0068] See also Figure 5 and Figure 6 , combined with Figure 3 In one embodiment, the first driving component 212 can drive the first transfer component 211 to move along the second direction S2 between the first transfer position 210a and the first inspection position 210b. When the first transfer component 211 is in the first transfer position 210a, the first transfer component 211 can align with the material conveyor to transfer workpieces. When the first transfer component 211 is in the first inspection position 210b, the first transfer component 211 aligns with the inspection device 12, and the workpiece carried by the first transfer component 211 is inspected and processed by the inspection device 12.

[0069] See also Figure 7 and Figure 8 , combined with Figure 3 The second driving component 222 can drive the second transfer component 221 to move along the second direction S2 between the second transfer position 220a and the second inspection position 220b. When the second transfer component 221 is in the second transfer position 220a, it can align with the material conveyor to transfer workpieces. When the second transfer component 221 is in the second inspection position 220b, it aligns with the inspection device 12, and the workpiece carried by the second transfer component 221 is inspected and processed by the inspection device 12.

[0070] The first transfer component 211 at the first transfer position 210a and the second transfer component 221 at the second transfer position 220a are located at the edge of the same side of the base frame 100, for example Figure 3 The left edge of the base frame 100 is shown, so both can share the same material transfer mechanism, saving costs. As one example, the first transfer assembly 210 can be used to receive workpieces to be inspected from the material transfer mechanism, while the second transfer assembly 220 can be used to return workpieces inspected by the inspection device 12 to the material transfer mechanism. Thus, the first and second transfer assemblies 210, 220 form a C-shaped workpiece transport channel, with workpiece loading and unloading located on the same side. Workpieces can be inspected and processed by the inspection device 12 while being transported along the C-shaped transport channel.

[0071] See also Figure 5 and Figure 8 , combined with Figure 3 and Figure 1d , along the first direction S1, the first transfer component 211 at the first detection position 210b is aligned with the second transfer component 221 at the second detection position 220b. Therefore, after the workpiece carried by the second transfer component 221 is inspected and processed by the detection device 12, the second transfer component 221 can transfer the workpiece to the first transfer component 211 at the first detection position 210b at the second detection position 220b. After the first transfer component 211 receives the workpiece, the detection device 12 can directly inspect and process the workpiece picked up by the first transfer component 211. It can be seen that, compared with the carrier in the traditional technology, the transfer component 201 eliminates the action of repeated translation and alignment, as well as the action of repeated flipping and adjusting the direction, so that the transfer component 201 performs relatively fewer actions at the detection position and has high efficiency.

[0072] Regarding the way in which the first transfer member 211 and the second transfer member 221 transfer the workpiece to each other. Figure 3 , combined with Figure 1b , the first transfer component 211 and the second transfer component 221 can face each other in the first direction S1, and the first transfer component 211 and the second transfer component 221 can pick up different areas of the workpiece at the same time. When one of them no longer applies a picking action to the workpiece, the workpiece can be transferred to the other. Moreover, since the first transfer component 211 and the second transfer component 221 pick up different areas of the workpiece respectively, the workpiece can reveal different area positions when picked up by the first transfer component 211 compared to when picked up by the second transfer component 221, so that the detection device 12 can perform detection and processing on different areas of the workpiece. Therefore, even if the posture and position of the workpiece do not change much when the workpiece is transferred from the second transfer component 221 to the first transfer component 211, it is necessary to transfer the workpiece between the first transfer component 211 and the second transfer component 221.

[0073] As one example, when the second transfer member 221 is carrying a workpiece for inspection, the inspection device 12 (in this case configured as an inspection device) can inspect the workpiece's bottom and side surfaces. After the workpiece is transferred to the first transfer member 211, even if the workpiece's posture and position have not changed significantly, the workpiece's top surface is visible to the inspection device 12, meeting the inspection requirements. Thus, after the first transfer member 211, in the first inspection position 210b, receives the workpiece, the inspection device 12 can directly inspect the workpiece carried by the first transfer member 211, eliminating the need for actions such as the second carrier 30's translation L2 reset and reverse flipping by the second predetermined angle β.

[0074] See also Figure 3 , combined with Figure 1d In one embodiment, when the first transfer component 211 is in the first detection position 210b, the first transfer component 211 is spaced apart from the detection device 12 along the second direction S2. When the second transfer component 221 is in the second detection position 220b, the second transfer component 221 is spaced apart from the detection device 12 along the second direction S2. That is to say, when the two transfer components 201 are in the detection position, the detection device 12 is not completely located between the two transfer components 201. Such an arrangement facilitates the two transfer components 201 to smoothly transfer the workpiece in the first direction S1. Of course, in some embodiments, it can also be configured that when the two transfer components 201 are in the detection position, the detection device 12 extends between the two transfer components 201. When the workpiece needs to be transferred, the transfer component 201 and / or the detection device 12 retract accordingly to allow the two to transfer the workpiece in the first direction S1.

[0075] See also Figure 5 and Figure 6 , combined with Figure 3 In one embodiment, when the first transfer component 211 is in the first detection position 210b, the first transport beam 214 can rotate relative to the first transfer rack 213 around the first axis O1 to enrich the area of ​​the workpiece exposed to the detection device 12, so as to improve the comprehensiveness of the detection. It should be understood that since the first transport beam 214 is located relatively below the second transport component 220, it acts on the bottom surface of the workpiece to pick up the workpiece. Therefore, the detection device 12 mainly detects and processes the top surface, the side surface, and the intersection of the top surface and the side surface of the workpiece picked up by the first transport beam 214. Therefore, even if the first transport beam 214 rotates relative to the first transfer rack 213 to meet the detection requirements, the first transport beam 214 is still facing upward as a whole, so the angle required for the first transport beam 214 to flip to face the second transport component 220 is small, the execution is fast, and the efficiency is high.

[0076] Similarly, see Figure 7 and Figure 8 , combined with Figure 3 When the second transfer component 221 is in the second detection position 220b, the second transport beam 224 can rotate relative to the second transfer rack 223 around the second axis O2 to enrich the area of ​​the workpiece exposed to the detection device 12, so as to improve the comprehensiveness of the detection. It should be understood that since the second transport beam 224 is located relatively above the first transport component 210, it acts on the top surface of the workpiece to pick up the workpiece. Therefore, the detection device 12 mainly detects and processes the bottom surface, the side surface and the intersection of the bottom surface and the side surface of the workpiece picked up by the second transport beam 224. Therefore, even if the second transport beam 224 rotates relative to the second transfer rack 223 to meet the detection requirements, the second transport beam 224 is still facing downward as a whole, so the angle required for the second transport beam 224 to flip to face the first transport component 210 is small, the execution is fast, and the efficiency is high.

[0077] See also Figure 4 In one embodiment, the transport beam 204 includes an arm 205 and multiple jigs 206. The jigs 206 are used to pick up workpieces and are each mounted on the arm 205. The arm 205 extends along a third direction S3, with at least one end of the arm 205 connected to the transfer frame 203. The multiple jigs 206 are spaced apart on the arm 205 along the third direction S3, which intersects the first direction S1 and the second direction S2. Furthermore, the first direction S1, the second direction S2, and the third direction S3 are perpendicular to each other.

[0078] like Figure 4 In one embodiment, the jig 206 can rotate relative to the arm beam 205 about its rotation axis Oz, which intersects the extension direction of the arm beam 205. Thus, rotating the jig 206 about its rotation axis Oz can also cause the workpiece to rotate, exposing all areas of the workpiece circumferentially around the rotation axis Oz to the inspection device 12, thereby improving the comprehensiveness of the inspection process.

[0079] Please continue reading Figure 4 Furthermore, the arm beam 205 has a picking side 207, and the fixture 206 is provided on the picking side 207. It should be noted that the orientation of the transport assembly 200, the orientation of the transfer component 201, and the orientation of the carrying beam 204 in each embodiment refers to the orientation of the picking side 207.

[0080] Please refer again Figure 5 and Figure 6In one embodiment, the first transport beam 214 includes a first arm beam 215 and a plurality of first jigs 216 . The first jigs 216 are used to pick up workpieces, and the plurality of first jigs 216 are disposed on the first arm beam 215 . The first arm beam 215 extends along a third direction S3 , and at least one end of the first arm beam 215 is connected to the first transfer rack 213 . The plurality of first jigs 216 are spaced apart on the first arm beam 215 along the third direction S3 , which intersects with the first direction S1 and the second direction S2 , respectively. Furthermore, the first jigs 216 can rotate relative to the first arm beam 215 about a first rotation axis Oz1 . The first rotation axis Oz1 intersects with the first axis O1 . Furthermore, the first rotation axis Oz1 can be perpendicular to the first axis O1 .

[0081] See also Figure 7 and Figure 8 In one embodiment, the second transport beam 224 includes a second arm beam 225 and a plurality of second jigs 226. The second jigs 226 are used to pick up workpieces, and the plurality of second jigs 226 are disposed on the second arm beam 225. The second arm beam 225 extends along a third direction S3, and at least one end of the second arm beam 225 is connected to the second transfer carrier 223. The plurality of second jigs 226 are spaced apart on the second arm beam 225 along the third direction S3, which intersects with the first direction S1 and the second direction S2, respectively. Furthermore, the second jigs 226 can rotate relative to the second arm beam 225 about a second rotation axis Oz2. The second rotation axis Oz2 intersects with the second axis O2. Furthermore, the second rotation axis Oz2 can be perpendicular to the second axis O2.

[0082] See also Figure 3 In one embodiment, at least one of the transfer member 201 of the first transfer assembly 210 and the transfer member 201 of the second transfer assembly 220 can move along the first direction S1 to approach the other. In other words, at least one of the first transfer member 211 and the second transfer member 221 can move along the first direction S1 to approach the other.

[0083] As one example, the second transfer member 221 can move along the first direction S1 to approach the second transfer member 221 so as to transfer the workpiece to the first transfer member 211. The first transfer member 211 does not have the ability to move along the first direction S1. Of course, in some embodiments, both the first transfer member 211 and the second transfer member 221 can also be configured to be able to move along the first direction S1.

[0084] Furthermore, the present application does not limit the movement of at least one transfer component 201 to the first direction S1. In certain embodiments, a jig 206 may be retractably mounted on the arm 205. Thus, when the two transfer components 201 need to transfer a workpiece, the jig 206 can be extended or retracted to facilitate the transfer of the workpiece between the first transfer assembly 210 and the second transfer assembly 220.

[0085] See also Figure 9 and Figure 10 , combined with Figure 3 In one embodiment, the inspection device 12 includes an inspection module 300, which is used to perform inspection processing operations on the workpiece. The inspection module 300 is movable along a first direction S1 to adapt to the height positions of different transfer components 201 in the first direction S1. Thus, even if any of the multiple transfer components 201 is unable to move in the first direction S1, the inspection module 300 can be actively driven to move in the first direction S1 to meet the inspection processing requirements.

[0086] Furthermore, the inspection module 300 and the transport assembly 200 are spaced apart in the second direction S2. The inspection module 300 is also movable along a third direction S3, which intersects both the first direction S1 and the second direction S2. Movement of the inspection module 300 along the third direction S3 facilitates alignment with the plurality of jigs 206 distributed along the third direction S3. Furthermore, multiple inspection modules 300 may be arranged at intervals along the third direction S3.

[0087] Please refer again Figure 3 In one embodiment, the detection device 12 may be disposed on the base frame 100 .

[0088] See also Figure 5 and Figure 6 In one embodiment, the first driving component 212 is disposed on the base 110. The first driving component 212 includes a first driver (not shown) and a slide rail 212a. The slide rail 212a is disposed on the base 110 along the second direction S2. The transfer frame 203 of the first transfer component 211 slidably engages with the slide rail 212a. The first driver is connected to the transfer frame 203 of the first transfer component 211 to move the first transfer component 211 along the second direction S2.

[0089] See also Figure 7 and Figure 8In one embodiment, there can be multiple stands 120, with at least two stands 120 disposed on opposite sides of the first transport assembly 210 in the third direction S3. The second transport component 221 spans from one stand 120 to the other stand 120, allowing the second transport component 221 to be suspended above the first transport component 211. This allows the first transport component 211 and the second transport component 221 to move without blocking or interfering with each other. The second driving component 222 includes a second driver 222a disposed on the stand 120 and connected to the second transport component 221 to drive the second transport component 221 to move along the second direction S2.

[0090] Furthermore, the first driver and the second driver 222a can be configured as linear motor modules, which have the characteristics of high speed, low noise, high precision and long service life. Of course, the first driver and the second driver 222a can also be configured as other driving components, which will not be described in detail here.

[0091] Please continue reading Figure 7 and Figure 8 In one embodiment, the second driving component 222 further includes a third driver 222b, a first suspension 222c, and a second suspension 222d. The first suspension 222c is disposed on the stand 120 and suspended above the first transport assembly 210. The second driver 222a is connected to the first suspension 222c to drive the first suspension 222c to move in the second direction S2. The third driver 222b is disposed on the first suspension 222c. The second suspension 222d is movably disposed on the first suspension 222c and connected to the second transport component 221. The third driver 222b is connected to the second suspension 222d to drive the second suspension 222d and the second transport component 221 to move in the first direction S1. Thus, the second driver 222a drives the first suspension 222c to move in the second direction S2, causing the second transfer member 221 mounted on the first suspension 222c to move in the first direction S1 to the second transfer position 220a and the second inspection position 220b. The third driver 222b drives the second suspension 222d to move in the first direction S1, causing the second transfer member 221 to move in the first direction S1 toward and away from the first transport assembly 210.

[0092] In one embodiment, the transfer component 201 of the first transfer assembly 210 and the transfer component 201 of the second transfer assembly 220 can also move in different directions. Figure 11 , combined with Figure 5As one example, the transfer component 201 of the first transfer assembly 210 can still move in the second direction S2, that is, the driving component 202 of the first transfer assembly 210 drives the transfer component 201 to move in the second direction S2. The second transport beam 224 can be cantilevered to the second transfer frame 223. The free end of the second transport beam 224 extends away from the second transfer frame 223 in the fourth direction S4, and the second driving component 222 drives the second transfer frame 223 to move in the fourth direction S4 relative to the base frame 100.

[0093] The fourth direction S4 intersects with the second direction S2 and the first direction S1, respectively. Since the movement direction of the second transport component 221 (i.e., the fourth direction S4) is similar to the second direction S2 and still intersects with the first direction S1, the second transport component 221 and the first transport component 211 can still move to positions where they overlap in the first direction S1 and are aligned with the detection device 12. That is, in this embodiment, along the first direction S1, the second transport component 221 in the second detection position 220b and the first transport component 211 in the first detection position 210b are still aligned with each other. Furthermore, since the fourth direction S4 is also different from the second direction S2, the second transport component 221 and the first transport component 211 can move to different edges of the base frame 100 when moving along their respective movement directions away from the detection device 12. In short, along the first direction S1, the second transfer member 221 at the second transfer position 220a no longer overlaps with the first transfer member 211 at the first transfer position 210a; the two are located on different sides of the base frame 100. In other words, in this embodiment, the first transfer member 211 and the second transfer member 221 can transfer workpieces to and from different material transfer machines from different sides of the base frame 100.

[0094] Furthermore, the second transport beam 224 is cantilevered, extending along a fourth direction S4, and is movable in the fourth direction S4. Therefore, the second transport beam 224 can move along the fourth direction S4 to the edge of the base frame 100 and further extend beyond the base frame 100. Since the second transport beam 224, as the transport beam 204, has the function of picking up workpieces, it can actively pick up workpieces from the material conveyor after extending beyond the base frame 100. In other words, the second transport assembly 220 in this embodiment has both the function of actively picking up workpieces and the function of transporting workpieces for inspection and processing. In this embodiment, the second transport assembly 220 assumes the function of picking up or placing workpieces on the adjacent material conveyor. This allows the adjacent material conveyor to omit handling components (such as a robot), facilitating a simpler structural design.

[0095] As one example, the fourth direction S4 may be parallel to the third direction S3.

[0096] Please refer again Figure 9 and Figure 10 In one embodiment, the detection device 12 includes a detection module 300, a bracket 400 and a lifting driver 500. Multiple detection modules 300 are arranged on the bracket 400 at intervals along the third direction S3. The lifting driver 500 is connected to the bracket 400 to drive the bracket 400 and the multiple detection modules 300 to move along the first direction S1, so that the detection modules 300 are aligned with the first conveying assembly 210 and the second conveying assembly 220, respectively.

[0097] Furthermore, the inspection device 12 includes a shift driver 600 connected between the bracket 400 and the lifting driver 500. The shift driver 600 drives the bracket 400 to move along the third direction S3 so that the multiple inspection modules 300 are aligned with the multiple fixtures 206. The lifting driver 500 drives the shift driver 600 to lift along the first direction S1, thereby driving the bracket 400 and the multiple inspection modules 300 mounted on the bracket 400 to move along the first direction S1.

[0098] See also Figure 10 In one embodiment, the detection module 300 may include a camera 310 , a lens 320 , and a light source 330 .

[0099] Please refer again Figure 4 In one embodiment, the multiple jigs 206 of the transfer assembly 201 can rotate synchronously about the rotation axis Oz. The carrier beam 204 also includes a rotation module (not shown, the same applies below) connected to the multiple jigs 206. The rotation module drives the multiple jigs 206 to rotate synchronously about the rotation axis Oz relative to the arm beam 205.

[0100] In one embodiment, the rotation module includes a plurality of drive modules. The drive module includes a rotation driver and a rotation motor, and the rotation driver is connected to the rotation motor. The rotation motors of the plurality of drive modules are connected to the plurality of jigs 206 in a one-to-one correspondence, and each drive module independently drives each jig 206 to rotate synchronously. Since each drive module independently drives each jig 206 to rotate, when one or more jigs 206 have a different posture from other jigs 206, the posture of the one or more jigs 206 can be independently adjusted by the drive module so that it further moves to the same posture as the other jigs 206. In other words, in this embodiment, by independently driving each jig 206 to rotate, the posture consistency of each jig 206 during movement can be ensured, the posture consistency of the workpiece picked up by the jig 206 is improved, and detection and processing are facilitated.

[0101] In another embodiment, the self-rotation module includes a drive module and a transmission module, the transmission module is connected to each fixture 206 respectively, and the drive module is connected to the transmission module so as to drive each fixture 206 to rotate synchronously through the transmission module. The transmission module is configured as one of a rack and pinion drive, a belt drive, a chain drive and a worm gear drive. For example, the transmission module includes a first transmission member and a second transmission member, taking a belt drive as an example. In this case, the first transmission member can be configured as a synchronous belt, and the second transmission member can be configured as a synchronous wheel. The number of second transmission members is multiple, and the multiple second transmission members are connected to the multiple fixtures 206 in a one-to-one correspondence. The drive module is connected to one of the second transmission members, and the first transmission member is wound around the outside of each second transmission member, so that when one of the second transmission members is driven to rotate, the other second transmission members are driven to rotate together, so that each fixture 206 rotates synchronously.

[0102] See also Figure 12 In one embodiment, the material handling device 11 further includes a buffer assembly 700, which is disposed on the base frame 100 and is used to store workpieces. For example, a material transfer machine can transfer workpieces to be inspected and processed to the buffer assembly 700, and the second transfer assembly 220 can pick up the workpieces from the buffer assembly 700, eliminating the need for the second transfer assembly 220 and the material transfer machine to wait for each other.

[0103] Furthermore, the cache component 700 may be configured with a positioning component (not shown, the same below) to position the workpiece, improve the position accuracy of the workpiece, and facilitate the picking interaction of the transport component 200.

[0104] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A material handling device, characterized in that: The material handling device comprises: A base frame, the base frame comprising a base and a stand mounted on the base along a first direction; a transport assembly, wherein the plurality of transport assemblies include a first transport assembly and a second transport assembly, wherein one of the first transport assembly and the second transport assembly is disposed on the base, and the other is disposed on a side of the stand away from the base, and in the first direction, at least a portion of the structure of the first transport assembly and at least a portion of the structure of the second transport assembly are respectively located on opposite sides of the detection device; In which, the conveying assembly includes a transferring component and a driving component, the transferring component includes a transferring frame and a carrying beam, the carrying beam is used to pick up workpieces, the carrying beam is rotatably connected to the transferring frame around a reference axis, the reference axis intersects with the first direction, and the driving component is connected to the transferring frame to drive the transferring component to move relative to the base frame along a direction intersecting with the first direction.

2. The material handling device according to claim 1, characterized in that: At least one of the transfer component of the first transfer assembly and the transfer component of the second transfer assembly is movable along the first direction to approach the other.

3. The material handling device according to claim 1, characterized in that: The first direction is the height direction of the base frame, the transfer component of the first transport assembly is a first transfer component, and the driving component of the first transport assembly is a first driving component, which can drive the first transfer component to move between a first transfer position and a first detection position along the second direction; The transfer component of the second transport assembly is a second transfer component, and the driving component of the second transport assembly is a second driving component, which can drive the second transfer component to move between a second transfer position and a second detection position along the second direction; The first transfer component at the first transfer position and the second transfer component at the second transfer position are located at an edge of the same side of the base frame; Along the first direction, the first transfer component at the first detection position is aligned with the second transfer component at the second detection position.

4. The material handling device according to claim 3, characterized in that: The carrying beam includes an arm beam and multiple jigs, the jigs are used to pick up workpieces, the jigs can rotate relative to the arm beam around the rotation axis, the arm beam extends along a third direction, at least one end of the arm beam is connected to the transfer rack, and multiple jigs are arranged on the arm beam at intervals along the third direction, and the third direction intersects with the first direction and the second direction respectively.

5. The material handling device according to claim 4, characterized in that: The first driving component is provided on the base, the first driving component includes a first driver and a slide rail, the slide rail is provided on the base along the second direction, the transfer frame of the first transfer component is slidably matched with the slide rail, and the first driver is connected to the transfer frame of the first transfer component to drive the first transfer component to move along the second direction; and / or At least two of the uprights are respectively arranged on opposite sides of the first conveying component in the third direction, the second transferring component spans from the upright on one side to the upright on the other side, and the second driving component includes a second driver, which is arranged on the upright and connected to the second transferring component to drive the second transferring component to move along the second direction.

6. The material handling device according to claim 5, characterized in that: The second driving component further includes a third driver, a first suspension, and a second suspension, wherein the first suspension is provided on the stand and suspended above the first transport assembly, and the second driver is connected to the first suspension to drive the first suspension to move along the second direction; The third driver is provided on the first suspension, the second suspension is movably provided on the first suspension and connected to the second transfer component, and the third driver is connected to the second suspension to drive the second suspension and the second transfer component to move along the first direction.

7. The material handling device according to claim 4, characterized in that: The carrying beam further includes a rotation module, which is connected to the plurality of jigs. The rotation module drives the plurality of jigs to rotate synchronously relative to the arm beam around the rotation axis.

8. The material handling device according to claim 7, characterized in that: The rotation module includes a plurality of driving modules, each of which includes a rotation driver and a rotation motor, wherein the rotation driver is connected to the rotation motor, and the rotation motors of the plurality of driving modules are connected to the plurality of fixtures in a one-to-one correspondence, and each driving module independently drives each fixture to rotate synchronously; or The self-rotation module includes a driving module and a transmission module. The transmission module is connected to each of the fixtures respectively. The driving module is connected to the transmission module to drive each of the fixtures to rotate synchronously through the transmission module. The transmission module is configured as one of a rack and pinion drive, a belt drive, a chain drive and a worm gear drive.

9. The material handling device according to claim 3, characterized in that: The first direction is perpendicular to the second direction.

10. The material handling device according to claim 1, wherein: The driving component of the first transport assembly drives the transfer component to move along a second direction, and the second direction intersects with the first direction; The driving component of the second conveying assembly is a second driving component, the transferring frame of the second conveying assembly is a second transferring frame, the carrying beam of the second conveying assembly is a second carrying beam, the second carrying beam is cantilevered and connected to the second transferring frame, the free end of the second carrying beam extends along a fourth direction away from the second transferring frame, the second driving component drives the second transferring frame to move relative to the base frame along the fourth direction, and the fourth direction intersects with the second direction and the first direction respectively.

11. An appearance inspection device, characterized in that: The appearance inspection equipment includes a detection device and the material handling device according to any one of claims 1 to 10.

12. The appearance inspection device according to claim 11, characterized in that: The detection device includes a detection module, a bracket and a lifting driver, wherein a plurality of the detection modules are arranged on the bracket at intervals along the third direction, and the lifting driver is connected to the bracket to drive the bracket and the detection modules to move along the first direction; The detection module and the transport assembly are spaced apart in the second direction. The detection module is further movably disposed along the third direction, and the third direction intersects both the first direction and the second direction.

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