Appearance inspection turntable system

Abstract

This utility model relates to the field of automated inspection technology, specifically a palletizing system for appearance inspection. The unloading mechanism of this utility model unloads stacked pallets one by one onto a clamping gripper. After the clamping gripper clamps and positions the pallet, a drive unit moves the pallet held by the clamping gripper to the inspection station and then to the transport station. The inspection mechanism performs visual inspection on the workpieces in the pallet, and the transport mechanism then transports and unloads the visually inspected workpieces. The entire process has a higher degree of automation, effectively improving conveying and inspection efficiency, thereby ensuring the quality of the inspected products. Simultaneously, the drive unit moves the pallet held by the clamping gripper sequentially through the unloading station, inspection station, and transport station. The clamping gripper clamps and positions the pallet, and the pallet positioning and transfer effectively reduces the need for additional pallet positioning structures at each station, facilitating subsequent inspection and unloading, and ensuring structural reliability.

Description

Technical Field

[0001] This utility model relates to the field of automated inspection technology, and specifically to an appearance inspection tray system. Background Technology

[0002] Currently, most semiconductor products, such as chips, are loaded onto trays. To improve processing efficiency, a tray conveyor is often used to transport and transfer the trays. However, existing trays often exhibit oscillation and instability during transfer and loading / unloading. To address this, a positioning structure is typically installed at each processing station to ensure tray accuracy. This is costly and prone to causing wear on the trays. Furthermore, adding positioning structures not only increases costs but also occupies a significant amount of space, which is detrimental to production. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a positioning structure that effectively improves the efficiency of conveying and inspection, reduces the need for additional material trays at each workstation, and facilitates the appearance inspection tray system for subsequent inspection and unloading.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0005] A visual inspection tray system, comprising:

[0006] The conveying mechanism includes a conveying track and a handling component. The conveying track is provided with conveying guide grooves on both sides for conveying material trays. The handling component is arranged opposite to the conveying track. The conveying track is provided with a material unloading station, a detection station and a handling station in sequence.

[0007] A feeding mechanism is provided on the feeding station, and the feeding mechanism is used to feed the stacked trays one by one onto the conveying component;

[0008] An inspection mechanism is set up at the inspection station, and the inspection mechanism is used to perform visual inspection on the workpieces in the tray.

[0009] A transport mechanism is provided on the transport station, and the transport mechanism is used to transport and unload the workpieces that have completed visual inspection.

[0010] The conveying assembly includes a driving component and a clamping gripper. The driving component is driven to connect with the clamping gripper. The clamping gripper is used to clamp and position the material tray. The driving component is used to drive the material tray gripped by the clamping gripper to pass through the unloading station, the inspection station and the conveying station in sequence.

[0011] In one embodiment of the present invention, the clamping gripper includes a clamping frame, a positioning baffle and a pushing frame are respectively provided on both sides of the clamping frame, a baffle is provided on both sides of the positioning baffle, a clamping space for accommodating the end of the material tray is provided between the baffle and the clamping frame, and the pushing frame is used to push the material tray into the clamping space for positioning.

[0012] In one embodiment of this utility model, the pusher frame includes a support frame, on which a pusher cylinder is provided. The pusher cylinder is driven to a guide block, the guide block is slidably disposed in the guide groove of the support frame, and the guide block is driven to a pusher plate. The pusher cylinder drives the guide block to move the pusher plate toward the positioning baffle.

[0013] In one embodiment of this utility model, the support frame is provided with a linear guide groove, which is connected to an arc-shaped guide groove. The linear guide groove is arranged parallel to the guide groove. Guide wheels are slidably mounted on the linear guide groove and the arc-shaped guide groove. The guide wheels are connected to the pusher plate through a rotating shaft. The pusher plate is hinged to the guide block. The pusher plate reciprocates along the linear guide groove and the arc-shaped guide groove.

[0014] In one embodiment of this utility model, the driving component includes a driving frame, a slide rail is provided on the driving frame, the clamping gripper is slidably mounted on the slide rail, and rotating wheels are provided on both sides of the driving frame. The two rotating wheels are connected by a synchronous belt, the clamping gripper is connected to the synchronous belt through a connecting plate, and the rotating wheels are driven by a driving motor.

[0015] In one embodiment of this utility model, the unloading mechanism includes an unloading frame and a lifting frame. The unloading frame is disposed above the conveying track, and support components for supporting stacked trays are provided at the four corners of the unloading frame. The lifting frame is disposed below the conveying track and is driven by a lifting driver. Top plates are provided on both sides of the lifting frame. The lifting driver drives the lifting frame to unload the stacked trays on the support components one by one onto the clamping gripper.

[0016] In one embodiment of the present invention, the support component includes a mounting frame, a support cylinder is provided on the mounting frame, the support cylinder is drivenly connected to the support plate, a guide block is provided on the mounting frame, and the support plate passes through the sliding groove of the guide block.

[0017] In one embodiment of this utility model, the conveying mechanism includes a conveying frame, on which a transverse linear module is provided, the transverse linear module being drivenly connected to a conveying support, a lifting frame slidingly mounted on the conveying support, a lifting driver being provided on the conveying support, the lifting driver being drivenly connected to the lifting frame, a rotary motor being provided on the lifting frame, the rotary motor being drivenly connected to the rotary frame, and a suction nozzle assembly being provided on the rotary frame.

[0018] In one embodiment of the present invention, the suction nozzle assembly includes a fixing plate, a plurality of mounting blocks are evenly arranged on the fixing plate, a lifting cylinder is provided on the mounting block, the lifting cylinder is drivenly connected to the material picking plate, a vacuum suction nozzle is provided on the material picking plate, and a buffer is provided between the material picking plate and the lifting cylinder.

[0019] In one embodiment of the present invention, the detection mechanism includes a detection frame, on which a transverse linear module is disposed, the transverse linear module is connected to a detection bracket, a detection camera is disposed on the detection bracket, and a detection light source is disposed below the detection camera.

[0020] The beneficial effects of this utility model are:

[0021] The unloading mechanism of this utility model unloads stacked trays one by one onto a clamping gripper. After the clamping gripper clamps and positions the tray, the drive component moves the tray held by the clamping gripper to the inspection station and the handling station. The inspection mechanism performs visual inspection on the workpieces in the tray, and the handling mechanism then unloads the visually inspected workpieces. The entire process has a higher degree of automation, effectively improving the efficiency of conveying and inspection, thereby ensuring the quality of the inspected products. At the same time, the drive component drives the tray held by the clamping gripper to pass through the unloading station, inspection station and handling station in sequence. The clamping gripper clamps and positions the tray. The tray positioning and transfer effectively reduces the need to add tray positioning structures at each station, which facilitates subsequent inspection and unloading. The structure is reliable. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of an appearance inspection tray system according to this utility model.

[0023] Figure 2 This is a schematic diagram of the handling mechanism of this utility model.

[0024] Figure 3 This is a schematic diagram of the conveying mechanism of this utility model.

[0025] Figure 4 This is a schematic diagram of the handling component of this utility model.

[0026] Figure 5 This is a schematic diagram of the clamping gripper of this utility model.

[0027] Figure 6 This is a schematic diagram of the feeding mechanism of this utility model.

[0028] Figure 7 This is a schematic diagram of the support component of this utility model.

[0029] Explanation of the numbers in the diagram: 1. Conveying mechanism; 11. Conveying track; 12. Transmission guide trough; 2. Clamping gripper; 13. Drive frame; 14. Rotary wheel; 15. Slide rail; 16. Synchronous belt; 17. Connecting plate; 18. Drive motor; 2. Clamping gripper; 21. Clamping frame; 22. Positioning baffle; 23. Material stop plate; 24. Clamping space; 25. Support frame; 26. Guide block; 27. Guide groove; 28. Pushing cylinder; 29. ​​Pushing plate; 291. Linear guide trough; 292. Arc guide trough; 293. Guide wheel; 3. Unloading station; 4. Material tray; 5. Unloading mechanism; 51. Lifting frame; 52. Top plate; 53. Lifting driver 6. Drive unit; 61. Unloading rack; 62. Support unit; 63. Mounting rack; 64. Support cylinder; 65. Support plate; 66. Guide block; 7. Inspection station; 71. Inspection mechanism; 72. Inspection rack; 73. Transverse linear module; 74. Inspection bracket; 75. Inspection camera; 76. Inspection light source; 8. Handling station; 9. Handling mechanism; 91. Handling rack; 92. Transverse linear module; 93. Handling bracket; 94. Lifting driver; 95. Lifting frame; 96. Rotary motor; 97. Rotating frame; 98. Nozzle assembly; 99. Lifting cylinder; 991. Picking plate; 992. Vacuum nozzle; 993. Buffer. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0031] Reference Figure 1-7 As shown, an appearance inspection tray system includes:

[0032] The conveying mechanism 1 includes a conveying track 11 and a handling component. The conveying track 11 is provided with conveying guide grooves 12 on both sides for conveying the material tray 4. The handling component is arranged opposite to the conveying track 11. The conveying track 11 is provided with a material unloading station 3, a detection station 7 and a handling station 8 in sequence.

[0033] The unloading mechanism 5 is set on the unloading station 3. The unloading mechanism 5 is used to unload the stacked material trays 4 one by one onto the conveying component.

[0034] Inspection mechanism 71 is set on the inspection station 7, and the inspection mechanism 71 is used to perform visual inspection on the workpiece in the tray 4.

[0035] A transport mechanism 9 is disposed on the transport station 8, and the transport mechanism 9 is used to transport and unload the workpiece that has completed visual inspection.

[0036] The conveying assembly includes a driving component 6 and a clamping gripper 22. The driving component 6 is driven to connect with the clamping gripper 22. The clamping gripper 22 is used to clamp and position the material tray 4. The driving component 6 is used to drive the material tray 4 gripped by the clamping gripper 22 to pass through the unloading station 3, the inspection station 7 and the conveying station 8 in sequence.

[0037] The unloading mechanism 5 of this utility model unloads the stacked trays 4 one by one onto the clamping gripper 22. After the clamping gripper 22 clamps and positions the trays 4, the driving component 6 drives the trays 4 held by the clamping gripper 22 to move to the inspection station 7 and the handling station 8. The inspection mechanism 71 performs visual inspection on the workpieces in the trays 4, and the handling mechanism 9 then handles and unloads the visually inspected workpieces. The whole process has a higher degree of automation, effectively improving the efficiency of conveying and inspection, thereby ensuring the quality of the inspected products. At the same time, the driving component 6 drives the trays 4 held by the clamping gripper 22 to pass through the unloading station 3, the inspection station 7 and the handling station 8 in sequence. The clamping gripper 22 clamps and positions the trays 4. The use of tray 4 positioning and transfer effectively reduces the need to add positioning structures for trays 4 at each station, which facilitates subsequent inspection and unloading. The structure is reliable.

[0038] In one embodiment of the present invention, the clamping gripper 22 includes a clamping frame 21, and a positioning baffle 22 and a pusher frame are respectively provided on both sides of the clamping frame 21. A baffle plate 23 is provided on both sides of the positioning baffle plate 22. A clamping space 24 for accommodating the end of the material tray 4 is provided between the baffle plate 23 and the clamping frame 21. The pusher frame is used to push the material tray 4 into the clamping space 24 for positioning.

[0039] Specifically, the pusher plate 29 is connected to one side of the material tray 4, and the pusher cylinder 28 continues to push the material tray 4 to be positioned in the clamping space 24. At the same time, the other side of the material tray 4 abuts against the positioning baffle 22, thereby completing the clamping and positioning of the material tray 4. The positioning baffle 22 and the pusher frame position the two sides of the material tray 4 with high positioning accuracy, effectively preventing the material tray 4 from shaking during the conveying process, ensuring high material picking accuracy, facilitating subsequent inspection, and ensuring a reliable structure.

[0040] In one embodiment of the present invention, the pusher frame includes a support frame 25, on which a pusher cylinder 28 is provided. The pusher cylinder 28 is driven to be connected to a guide block 26. The guide block 26 is slidably disposed in the guide groove 27 of the support frame 25. The guide block 26 is driven to be connected to a pusher plate 29. The pusher cylinder 28 drives the guide block 26 to move the pusher plate 29 toward the positioning baffle 22.

[0041] In one embodiment of this utility model, the support frame 25 is provided with a linear guide groove 291, which is connected to an arc-shaped guide groove 292. The linear guide groove 291 is arranged parallel to the guide groove 27. A guide wheel 293 is slidably mounted on the linear guide groove 291 and the arc-shaped guide groove 292. The guide wheel 293 is connected to the pusher plate 29 via a rotating shaft. The pusher plate 29 is hinged to the guide block 26. The pusher plate 29 reciprocates along the linear guide groove 291 and the arc-shaped guide groove 292.

[0042] Specifically, after the material tray 4 is placed onto the clamping frame 21, the pushing cylinder 28 drives the guide block 26 to move towards the positioning baffle 22, causing the rotating guide wheel 293 to move along the arc-shaped guide groove 292 towards the straight guide groove 291. Following the running trajectory of the straight guide groove 291 and the arc-shaped guide groove 292, the running trajectory forms a J-shape, causing the pushing plate 29 connected to the guide wheel 293 to rotate relative to the guide block 26 in an upward motion until the pushing plate 29 connects to one side of the material tray 4. The combination of the straight guide groove 291 and the arc-shaped guide groove 292 ensures that the pushing plate 29 is initially positioned below the support frame 25, allowing it to avoid interference with the material tray 4's feeding and reducing space occupation.

[0043] In one embodiment of the present invention, the driving component 6 includes a driving frame 13, on which a slide rail 15 is provided, and the clamping gripper 22 is slidably mounted on the slide rail 15. Rotary wheels 14 are provided on both sides of the driving frame 13, and the two rotary wheels 14 are connected by a synchronous belt 16. The clamping gripper 22 is connected to the synchronous belt 16 through a connecting plate 17, and the rotary wheels 14 are driven by a driving motor 18.

[0044] Specifically, the drive motor 18 drives the rotating wheel 14 to rotate, thereby driving the clamping gripper 22 connected to the synchronous belt 16 to move, so that the clamping gripper 22 moves along the slide rail 15 between the unloading station 3, the inspection station 7 and the handling station 8, which has high working efficiency and ensures the rapid transfer of the material tray 4.

[0045] In one embodiment of the present invention, the unloading mechanism 5 includes an unloading frame 61 and a lifting frame 51. The unloading frame 61 is disposed above the conveying track 11, and support members 62 for supporting the stacked trays 4 are provided at the four corners of the unloading frame 61. The lifting frame 51 is disposed below the conveying track 11 and is drivenly connected to the lifting driver 53. Top plates 52 are provided on both sides of the lifting frame 51. The lifting driver 53 drives the lifting frame 51 to release the stacked trays 4 on the support members 62 one by one onto the clamping gripper 22.

[0046] Specifically, the support components 62 at the four corners are used in conjunction with the lifting frame 51. The first and second trays 4 located at the bottom of the stacked trays 4 are positioned opposite to the support plate 65. The support components 62 at the four corners are inserted between the first and second trays 4 located at the bottom of the stacked trays 4, thereby completing the separation and unloading of the stacked trays 4 and improving the detection efficiency.

[0047] In one embodiment of the present invention, the support component 62 includes a mounting frame 63, a support cylinder 64 is provided on the mounting frame 63, the support cylinder 64 is drivenly connected to the support plate 65, a guide block 66 is provided on the mounting frame 63, and the support plate 65 passes through the sliding groove of the guide block 66.

[0048] Specifically, the trays 4 loaded with workpieces are stacked on the unloading rack 61. The support cylinders 64 at the four corners drive the support plates 65 to extend from the sliding grooves of the guide blocks 66, forming bottom support for the stacked trays 4. When unloading the trays 4 one by one, the lifting frame 51 continues to drive the tray 4 at the bottom of the stack to move down so that it falls onto the clamping gripper 22, thereby completing the unloading of the stacked trays 4 one by one, saving the time of loading the trays 4 one by one, which invisibly improves production efficiency, increases production capacity and is more practical. The structural design of unloading the stacked trays 4 is more compact and reasonable, and it also greatly reduces the size of the whole machine, avoiding the whole machine occupying a large space area.

[0049] In one embodiment of this utility model, the conveying mechanism 9 includes a conveying frame 91, a transverse linear module 92 is provided on the conveying frame 91, the transverse linear module 92 is drivenly connected to the conveying support 93, a lifting frame 95 is slidably provided on the conveying support 93, a lifting driver 94 is provided on the conveying support 93, the lifting driver 94 is drivenly connected to the lifting frame 95, a rotary motor 96 is provided on the lifting frame 95, the rotary motor 96 is drivenly connected to the rotary frame 97, and a suction nozzle assembly 98 is provided on the rotary frame 97.

[0050] Specifically, the lifting driver 94 drives the lifting frame 95 to move towards the material tray 4, so that the suction nozzle assembly 98 approaches the workpiece and stops downward. After the suction nozzle assembly 98 picks up the workpiece in the material tray 4, the lifting driver 94 drives the lifting frame 95 to rise, so that the workpiece is removed from the material tray 4 and transported to the next process under the drive of the horizontal linear module 92. Multiple workpieces can be transferred at one time, which has high work efficiency. The rotary motor 96 can drive the rotary frame 97 to adjust the position of the suction nozzle assembly 98, ensuring the accuracy of picking up and transferring the workpiece, and reducing the difficulty of receiving the workpiece in subsequent processes.

[0051] In one embodiment of the present invention, the suction nozzle assembly 98 includes a fixing plate, on which a plurality of mounting blocks are evenly arranged, and a lifting cylinder 99 is provided on the mounting blocks. The lifting cylinder 99 is drivenly connected to the material taking plate 991, and a vacuum suction nozzle 992 is provided on the material taking plate 991. A buffer 993 is provided between the material taking plate 991 and the lifting cylinder 99.

[0052] Specifically, the lifting driver 94 drives the lifting frame 95 to move the suction nozzle assembly 98 closer to the workpiece. The lifting cylinder 99 drives the vacuum suction nozzle 992 on the picking plate 991 to pick up the workpiece in the tray 4. The lifting cylinder 99 drives the vacuum suction nozzle 992 to move upward, causing the workpiece to detach from the tray 4. This allows for rapid workpiece retrieval and avoids damage to the tray 4 and workpiece caused by overall lifting. It also reduces the accuracy of the lifting driver 94 driving the lifting frame 95, thus reducing operating costs. The buffer 993 can buffer the lifting of the picking plate 991 after lifting, preventing shaking that could cause the workpiece to fall off the vacuum suction nozzle 992 and improving the stability of the picking process.

[0053] In one embodiment of the present invention, the detection mechanism 71 includes a detection frame 72, a transverse linear module 73 is provided on the detection frame 72, the transverse linear module 73 is connected to the detection bracket 74, a detection camera 75 is provided on the detection bracket 74, and a detection light source 76 is provided below the detection camera 75.

[0054] Specifically, the material tray 4 moves to the inspection station 7, and the inspection camera 75 performs visual inspection on the workpieces in the material tray 4, detecting problems such as the appearance, defects, and position of the workpieces. The workpieces are inspected automatically, reducing manpower input and speeding up the inspection efficiency. The inspection light source 76 illuminates the material tray 4, avoiding blind spots in the photo. After the photo is processed, the workpiece data obtained is more accurate.

[0055] Usage process

[0056] The workpiece-loaded trays 4 are stacked on the unloading rack 61. Support cylinders 64 at the four corners drive support plates 65 to extend from the sliding grooves of guide blocks 66, forming bottom support for the stacked trays 4. Simultaneously, drive motor 18 drives the rotating wheel 14 to rotate, causing the clamping gripper 22 connected to the synchronous belt 16 to move. This moves the clamping gripper 22 along the slide rail 15 to below the unloading rack 61. The lifting driver 53 drives the lifting frame 51 to lift the stacked trays 4 on the support component 62, and the workpieces at the four corners... The support cylinder 64 drives the support plate 65 to retract from the sliding groove of the guide block 66. When the lifting frame 51 moves the stacked material tray 4 down, the first and second material trays 4 at the bottom of the stacked material tray 4 are positioned opposite the support plate 65. The support cylinders 64 at the four corners synchronously drive the support plate 65 to extend from the sliding groove of the guide block 66 and insert it between the first and second material trays 4 at the bottom of the stacked material tray 4. The lifting frame 51 continues to move the stacked material tray 4 at the bottom down so that it falls onto the clamping gripper 22.

[0057] After the material tray 4 is dropped onto the clamping frame 21, the end of the material tray 4 is positioned opposite to the clamping space 24. The pushing cylinder 28 drives the guide block 26 to move toward the positioning baffle 22, so that the rotating guide wheel 293 moves along the arc-shaped guide groove 292 toward the straight guide groove 291. According to the running trajectory of the straight guide groove 291 and the arc-shaped guide groove 292, the pushing plate 29 connected to the guide wheel 293 rotates relative to the guide block 26 and moves from bottom to top until the pushing plate 29 is connected to one side of the material tray 4. The pushing cylinder 28 continues to push the material tray 4 to push the material tray 4 into the clamping space 24 for positioning. At the same time, the other side of the material tray 4 abuts against the positioning baffle 22, thereby completing the clamping and positioning of the material tray 4.

[0058] The drive motor 18 drives the rotating wheel 14 to rotate, which in turn moves the clamping gripper 22 connected to the synchronous belt 16. This moves the clamping gripper 22, which holds the material tray 4, to the inspection station 7. The inspection light source 76 illuminates the material tray 4, and the inspection camera 75 performs visual inspection on the workpieces in the material tray 4, checking for appearance, defects, and positional issues. After visual inspection, the drive motor 18 drives the rotating wheel 14 to rotate, which in turn moves the clamping gripper 22 connected to the synchronous belt 16. This moves the visually inspected material tray 4 to the transport station 8. The lifting driver 94 drives the lifting frame 95 to move towards the material tray 4, causing the suction nozzle assembly 98 to approach the workpiece and stop downward. The lifting cylinder 99 drives the vacuum suction nozzle 992 on the picking plate 991 to pick up the workpiece from the material tray 4. The lifting driver 94 then drives the lifting frame 95 to rise, causing the workpiece to detach from the material tray 4. Under the drive of the horizontal linear module 92, the workpiece is transported to the next process, thus completing the appearance inspection and loading of the workpiece. This process is highly efficient.

[0059] The above-described embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A visual inspection tray system, characterized in that, include: The conveying mechanism includes a conveying track and a handling component. The conveying track is provided with conveying guide grooves on both sides for conveying material trays. The handling component is arranged opposite to the conveying track. The conveying track is provided with a material unloading station, a detection station and a handling station in sequence. A feeding mechanism is provided on the feeding station, and the feeding mechanism is used to feed the stacked trays one by one onto the conveying component; An inspection mechanism is set up at the inspection station, and the inspection mechanism is used to perform visual inspection on the workpieces in the tray. A transport mechanism is provided on the transport station, and the transport mechanism is used to transport and unload the workpieces that have completed visual inspection. The conveying assembly includes a driving component and a clamping gripper. The driving component is driven to connect with the clamping gripper. The clamping gripper is used to clamp and position the material tray. The driving component is used to drive the material tray gripped by the clamping gripper to pass through the unloading station, the inspection station and the conveying station in sequence.

2. The appearance inspection tray system as described in claim 1, characterized in that, The clamping gripper includes a clamping frame, with a positioning baffle and a pusher frame respectively provided on both sides of the clamping frame. A baffle plate is provided on both sides of the positioning baffle plate, and a clamping space for accommodating the end of the material tray is provided between the baffle plate and the clamping frame. The pusher frame is used to push the material tray into the clamping space for positioning.

3. The appearance inspection tray system as described in claim 2, characterized in that, The pusher frame includes a support frame, on which a pusher cylinder is mounted. The pusher cylinder is driven and connected to a guide block. The guide block is slidably disposed in a guide groove of the support frame. The guide block is driven and connected to a pusher plate. The pusher cylinder drives the guide block to move the pusher plate toward the positioning baffle.

4. The appearance inspection tray system as described in claim 3, characterized in that, The support frame is provided with a linear guide groove, which is connected to an arc-shaped guide groove. The linear guide groove is parallel to the guide groove. Guide wheels are slidably mounted on the linear guide groove and the arc-shaped guide groove. The guide wheels are connected to the pusher plate through a rotating shaft. The pusher plate is hinged to the guide block. The pusher plate reciprocates along the linear guide groove and the arc-shaped guide groove.

5. The appearance inspection tray system as described in claim 1, characterized in that, The driving component includes a driving frame with a slide rail. The gripper slides on the slide rail. Rollers are provided on both sides of the driving frame and connected by a synchronous belt. The gripper is connected to the synchronous belt through a connecting plate. The rollers are driven by a driving motor.

6. The appearance inspection tray system as described in claim 1, characterized in that, The unloading mechanism includes an unloading frame and a lifting frame. The unloading frame is located above the conveying track, and support components for supporting stacked trays are provided at the four corners of the unloading frame. The lifting frame is located below the conveying track and is driven by a lifting driver. Top plates are provided on both sides of the lifting frame. The lifting driver drives the lifting frame to unload the stacked trays on the support components one by one onto the clamping gripper.

7. The appearance inspection tray system as described in claim 6, characterized in that, The support component includes a mounting frame, on which a support cylinder is mounted. The support cylinder is drivenly connected to a support plate. A guide block is mounted on the mounting frame, and the support plate passes through the sliding groove of the guide block.

8. The appearance inspection tray system as described in claim 1, characterized in that, The conveying mechanism includes a conveying frame, on which a transverse linear module is provided. The transverse linear module is drivenly connected to a conveying support. A lifting frame is slidably mounted on the conveying support. A lifting driver is provided on the conveying support and is drivenly connected to the lifting frame. A rotary motor is provided on the lifting frame and is drivenly connected to the rotary frame. A suction nozzle assembly is provided on the rotary frame.

9. The appearance inspection tray system as described in claim 8, characterized in that, The suction nozzle assembly includes a fixing plate, on which multiple mounting blocks are evenly arranged. A lifting cylinder is mounted on each mounting block and is drivenly connected to a material picking plate. A vacuum suction nozzle is mounted on the material picking plate, and a buffer is provided between the material picking plate and the lifting cylinder.

10. The appearance inspection tray system as described in claim 1, characterized in that, The testing mechanism includes a testing frame, on which a transverse linear module is mounted and connected to a testing bracket. A testing camera is mounted on the testing bracket, and a testing light source is positioned below the testing camera.

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