Automatic sorting system

Abstract

The present application provides an automatic sorting system for sorting multiple parts to be inspected installed in a first fixture. It includes a frame, on which a detection area and a sorting area are formed; a conveying device, which is arranged on the frame and used to convey the first fixture; a visual inspection device, which is arranged in the detection area and used to detect whether there are defective inspection parts among the multiple parts to be inspected when the conveying device moves the first fixture to the detection area; and a sorting device, which is arranged in the sorting area and used to sort out defective inspection parts when the conveying device moves the first fixture from the detection area to the sorting area. The automatic sorting system provided by the present application can realize automatic inspection and sorting of multiple parts to be inspected, and has high efficiency.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to an automatic sorting system. Background Art

[0002] In the semiconductor industry, chips and other products are sensitive to dust and dirt, which can affect the performance of the chips or even make them scrapped. Therefore, they need to be inspected before leaving the factory to ensure the yield rate. However, manual inspection is inefficient and can easily cause secondary contamination of chips. Summary of the invention

[0003] The present application provides an automatic sorting system for automatically detecting and sorting a plurality of parts to be detected.

[0004] The automatic sorting system provided in this application includes:

[0005] A frame having a detection area and a sorting area;

[0006] A first fixture, which is arranged on the frame and used to mount a plurality of parts to be inspected;

[0007] A conveying device, the conveying device is arranged on the frame, and the conveying device is used to convey the first jig to the detection area or to convey the first jig from the detection area to the sorting area;

[0008] A visual inspection device, the visual inspection device is disposed in the inspection area, and the visual inspection device is used to detect whether there is a defective inspection part among the plurality of inspection parts located in the inspection area; and

[0009] A sorting device is arranged in the sorting area, and is used to sort out the defective inspection parts when the conveying device conveys the first fixture from the inspection area to the sorting area.

[0010] In a possible implementation manner, the first fixture is provided with a plurality of receiving grooves, the plurality of receiving grooves are arranged at intervals, and each of the receiving grooves is used to receive a corresponding piece to be detected.

[0011] In a possible embodiment, the sorting area includes a first area, the sorting device includes a first positioning component and a pick-and-place component arranged in the first area, and the visual inspection device is also used to detect a first position of the defective inspection part on the first fixture; the first positioning component is used to detect a second position when the first fixture moves to the sorting area, and obtain a target position of the defective inspection part based on the first position and the second position, and the pick-and-place component is used to take out the defective inspection part at the target position.

[0012] In a possible embodiment, the sorting area also includes a second area, and the conveying device is also used to move the pick-and-place component carrying the defective detection part to the second area in the pick-and-place component. The sorting device also includes a second positioning component and a second fixture arranged in the second area, and the second positioning component is used to obtain a third position of the defective detection part when it moves to the second area and a fourth position of the second fixture. The pick-and-place component places the defective detection part in the second fixture according to the third position and the fourth position.

[0013] In a possible implementation, the visual inspection device includes a camera and a plurality of light sources, the plurality of light sources are arranged in a ring shape, and the camera is used to detect at least one of scratches, dirt, and solder joint defects on each of the parts to be inspected under the illumination of the light sources.

[0014] In a possible embodiment, the conveying device includes a first conveying component and a second conveying component, the first conveying component is used to move the first jig to the inspection area of ​​the visual inspection device; the second conveying component is used to move the first jig from the inspection area of ​​the visual inspection device to the sorting area of ​​the sorting device.

[0015] In a possible embodiment, the first conveying component is provided with a first slide groove, and the second conveying component is provided with a second slide groove. When the first jig is located on the first conveying component, the first jig slides in the first slide groove; when the first jig is located on the second conveying component, the first jig slides in the second slide groove.

[0016] In a possible embodiment, the second conveying assembly further includes a hook disposed in the second slide groove, the hook extending along a sliding direction of the first fixture in the second slide groove, and the hook being used to hook the first fixture after the plurality of parts to be inspected have been inspected by the visual inspection device.

[0017] In a possible embodiment, the automatic sorting system further includes a loading device disposed on the frame, the loading device is used to accommodate a plurality of the first jigs that are stacked, and the conveying device is used to sequentially convey the first jigs located on the top layer to the inspection area.

[0018] In a possible embodiment, the automatic sorting system further includes a material unloading device disposed on the frame, and the conveying device is further used to sequentially convey the first jigs that have been sorted to the material unloading device, and the material unloading device is used to sequentially stack the first jigs that have been sorted.

[0019] The automatic sorting system provided by the present application is provided with a frame, a conveying device, a visual inspection device and a sorting device, so that the conveying device moves the multiple parts to be inspected installed in the first fixture to the inspection area, and detects the defective parts among the multiple parts to be inspected by the visual inspection device. After that, the conveying device moves the first fixture from the inspection area to the sorting area, and sorts out the defective parts therein by the sorting device, thereby realizing full automation of inspection and sorting, avoiding secondary contamination of the parts to be inspected, and improving the efficiency and reliability of inspection and sorting. In addition, the first fixture is provided with multiple parts to be inspected, and the automatic sorting system can complete the inspection and sorting of multiple parts to be inspected on the first fixture at one time, which greatly improves the efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments are briefly introduced below.

[0021] Figure 1 It is a structural schematic diagram of an automatic sorting system provided in an embodiment of the present application;

[0022] Figure 2 yes Figure 1 The schematic diagram of the structure of the frame of the automatic sorting system shown;

[0023] Figure 3 yes Figure 2 The automatic sorting system shown has a structural schematic diagram of a loading area, a detection area, a sorting area and a unloading area;

[0024] Figure 4 yes Figure 2 The sorting area shown includes a first area and a second area;

[0025] Figure 5 yes Figure 1 A partial enlarged schematic diagram of the first fixture in the automatic sorting system shown;

[0026] Figure 6 yes Figure 5 A plan view of the first fixture shown;

[0027] Figure 7 yes Figure 1 A schematic diagram of the structure of the transmission device of the automatic sorting system shown;

[0028] Figure 8 yes Figure 7 A partial enlarged schematic diagram of the first transmission assembly in the transmission device shown;

[0029] Fig. 9 yes Figure 1 A schematic diagram of the structure of a sorting device of the automatic sorting system shown;

[0030] Fig.10 yes Figure 7 A partial enlarged schematic diagram of the second transmission assembly in the transmission device shown;

[0031] Fig.11 yes Figure 1 A schematic diagram of the structure of a feeding device of the automatic sorting system shown;

[0032] Fig.12 yes Fig.11 A partial enlarged schematic diagram of a feeding device of the automatic sorting system shown;

[0033] Fig.13 yes Figure 1 The schematic diagram of the structure of the lower loading device of the automatic sorting system is shown. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The embodiments listed in the present application can be appropriately combined with each other.

[0035] like Figure 1 As shown, Figure 1 A schematic diagram of the structure of an automatic sorting system 100 provided in an embodiment of the present application. The automatic sorting system 100 is used to sort multiple parts to be detected installed on the first fixture 1. The parts to be detected can be chips, such as camera sensor chips. The automatic sorting system 100 sorting multiple parts to be detected can be understood as the automatic sorting system 100 distinguishing and classifying qualified test parts and defective test parts among the multiple parts to be detected.

[0036] For ease of description, a coordinate system is established in the length direction, width direction and height direction of the automatic sorting system 100. The length direction of the automatic sorting system 100 is recorded as the X-axis direction, the width direction of the automatic sorting system 100 is recorded as the Y-axis direction, the height direction of the automatic sorting system 100 is recorded as the Z-axis direction, and the direction indicated by the arrow is recorded as the positive direction.

[0037] like Figure 1 As shown, the automatic sorting system 100 includes a frame 10, a conveying device 20, a visual inspection device 30 and a sorting device 40.

[0038] Please refer to Figure 1 and Figure 2, the frame 10 is used to carry the conveying device 20, the visual inspection device 30 and the sorting device 40. In one embodiment, the frame 10 includes a shell 101 and a workbench 102. The shell 101 is enclosed to form a working space. Optionally, the shell 101 is enclosed to form a semi-enclosed or closed working space. When the shell 101 is enclosed to form a closed working space, a window can be set on the shell 101 to facilitate viewing the detection and sorting of multiple parts to be detected in the working space. In the embodiment of the present application, a display 103 is provided on the shell 101, and the display 103 is used to display the detection and sorting of multiple parts to be detected. The workbench 102 is arranged in the shell 101. Optionally, the workbench 102 divides the working space into an upper space 104 and a lower space 105. The upper space 104 is used to set the conveying device 20, the visual inspection device 30 and the sorting device 40. The lower space 105 is used for wiring, accommodating the main controller, etc. Of course, in other embodiments, the upper space 104 can be used for wiring, accommodating a main controller, etc. The lower space 105 can be used to set up a conveying device 20, a visual inspection device 30, and a sorting device 40. In the embodiment of the present application, the upper space 104 can be understood as the space from the workbench 102 to the top of the housing 101, and the lower space 105 can be understood as the space from the workbench 102 to the bottom of the housing 101. Generally speaking, the bottom of the housing 101 can be placed or fixed on the ground. The top of the housing 101 is opposite to the bottom of the housing 101 along the Z-axis direction.

[0039] like Figure 3 As shown, a loading area 141, a detection area 142, a sorting area 143 and a unloading area 144 are formed on the frame 10. Specifically, in the embodiment of the present application, the upper space 104 is used to realize the detection and sorting of multiple parts to be detected in the first fixture 1. The upper space 104 includes a loading area 141, a detection area 142, a sorting area 143 and a unloading area 144. The loading area 141 is used to provide multiple parts to be detected. The detection area 142 is used to realize the detection of multiple parts to be detected in the first fixture 1. The sorting area 143 is used to realize the sorting process of defective detection parts in the first fixture 1 and the storage of defective detection parts. The unloading area 144 is used to store qualified detection parts that have been sorted.

[0040] Please refer to Figure 1 and Figure 3, the conveying device 20 is arranged on the frame 10. Specifically, the conveying device 20 is arranged on the surface of the workbench 102, and the conveying device 20 can drive the first fixture 1 to move on the surface of the workbench 102. The conveying device 20 is used to convey the first fixture 1. It can be understood that the conveying device 20 is used to move the first fixture 1 from the loading area 141 to the inspection area 142, and the conveying device 20 is also used to move the first fixture 1 from the inspection area 142 to the sorting area 143 after the visual inspection device 30 completes the inspection of multiple parts to be inspected, and the conveying device 20 is also used to convey the first fixture 1 and the qualified inspection parts therein after the sorting process is completed to the unloading area 144.

[0041] Please refer to Figure 1 and Figure 3 The visual inspection device 30 is disposed in the inspection area 142, and is used to detect whether there are defective inspection parts among the multiple inspection parts when the conveying device 20 moves the first fixture 1 to the inspection area 142. Optionally, one end of the visual inspection device 30 is connected to the side of the workbench 102. The other end of the visual inspection device 30 is located on the side of the conveying device 20 away from the surface of the workbench 102 along the Z-axis direction. The other end of the visual inspection device 30 faces the surface of the workbench 102.

[0042] When the conveying device 20 moves the first fixture 1 from the loading area 141 to the inspection area 142, the visual inspection device 30 is used to detect scratches, dirt, and solder joint defects on each part to be inspected. Specifically, the visual inspection device 30 is used to photograph each part to be inspected in the first fixture 1 in sequence and obtain image information of each part to be inspected. Among them, the image information of each part to be inspected may include pixel information, brightness information, color information, etc. The visual inspection device 30 determines whether each part to be inspected has scratches, dirt, and solder joint defects based on the image information of each part to be inspected. If scratches, dirt, and solder joint defects are found on the part to be inspected, it is recorded as a defective inspection part. The visual inspection device 30 transmits the recorded information of the defective inspection part to the sorting device 40 or to the main controller.

[0043] Among them, the information of the defective detection parts may include the number information of the defective detection parts, the position of the defective detection parts on the first fixture 1, etc. In the following embodiments, the position of the defective detection parts on the first fixture 1 detected by the visual inspection device 30 is recorded as the first position. The first position may include the coordinate value of the geometric center of the defective detection part relative to the geometric center of the first fixture 1. Of course, in other embodiments, the first position may include the coordinate value of the first marking point on the defective detection part relative to the second marking point on the first fixture 1. The first marking point and the second marking point may be marking points pre-stored in the visual inspection device 30 or the main controller.

[0044] It is understandable that the number of defective detection parts may be zero, one or more. When the number of defective detection parts is zero, the conveying device 20 can convey the first fixture 1 directly to the unloading area 144 through the detection area 142. When the number of defective detection parts is one, the conveying device 20 can convey the first fixture 1 to the sorting area 143, take out the defective detection part through the sorting device 40 of the sorting area 143, and then convey the first fixture 1 from the sorting area 143 to the unloading area 144. When the number of defective detection parts is multiple, the conveying device 20 can convey the first fixture 1 to the sorting area 143, take out multiple defective detection parts in sequence through the sorting device 40 of the sorting area 143, and then convey the first fixture 1 from the sorting area 143 to the unloading area 144.

[0045] Please refer to Figure 1 and Figure 4 , the sorting device 40 is arranged in the sorting area 143. The sorting area 143 includes a first area 143a and a second area 143b. The sorting device 40 is used to sort out defective detection parts when the conveying device 20 moves the first fixture 1 from the detection area 142 to the first area 143a, and the sorting device 40 is used to place the defective detection parts in the second area 143b when the conveying device 20 moves the defective detection parts to the second area 143b. Optionally, the sorting device 40 is located on the side of the surface of the conveying device 20 away from the workbench 102 along the Z-axis direction. In other words, the sorting device 40 is located above the conveying device 20. When the conveying device 20 moves the first fixture 1 from the detection area 142 to the first area 143a, the sorting device 40 can move along the Z-axis direction to take out the defective detection parts in the first fixture 1. When the conveying device 20 moves the defective detection parts from the first area 143a to the second area 143b, the sorting device 40 can move along the Z-axis direction to put down the defective detection parts. Optionally, the sorting device 40 may include a suction cup, which moves along the Z-axis direction and approaches or contacts the defective detection parts in the first fixture 1 to suck them out. Suctioning the defective detection parts in the first fixture 1 by the suction cup can reduce scratches on the defective detection parts and improve the reuse rate of the defective detection parts. Of course, in other embodiments, the suction cup can also be replaced by a clamp, a claw, etc., which moves along the Z-axis direction and approaches or contacts the defective detection parts in the first fixture 1 to take them out.

[0046] The automatic sorting system 100 provided by the present application is provided with a frame 10, a conveying device 20, a visual inspection device 30 and a sorting device 40, so that the conveying device 20 moves the multiple parts to be inspected installed in the first fixture 1 to the inspection area 142, and detects the defective parts among the multiple parts to be inspected by the visual inspection device 30. After that, the conveying device 20 moves the first fixture 1 from the inspection area 142 to the sorting area 143, and sorts out the defective parts therein by the sorting device 40, thereby realizing full automation of inspection and sorting, avoiding secondary contamination of the parts to be inspected, and improving the efficiency and reliability of inspection and sorting. In addition, the first fixture 1 is provided with multiple parts to be inspected, and the automatic sorting system 100 can complete the inspection and sorting of multiple parts to be inspected on the first fixture 1 at one time, which greatly improves the efficiency.

[0047] like Figure 5 As shown, the first fixture 1 is provided with a plurality of receiving grooves 11. The plurality of receiving grooves 11 are arranged at intervals. Each receiving groove 11 is used to receive a corresponding part to be detected. In one embodiment, the first fixture 1 includes a plurality of cross structures 12 arranged along the X-axis direction and a plurality of cross structures 12 arranged along the Y-axis direction. A receiving groove 11 is formed between four adjacent cross structures 12. When a plurality of parts to be detected are respectively received in the corresponding receiving grooves 11, the cross structure 12 can be used to limit the parts to be detected to prevent the parts to be detected from slipping when the first fixture 1 moves. Optionally, the part to be detected is limited on the cross structure 12 along the Y-axis direction, and the size of the part to be detected along the X-axis direction is smaller than the size of the receiving groove 11 along the X-axis direction, so that a corresponding space can be reserved to facilitate the sorting device 40 to clamp or grab the defective detection part on the first fixture 1, or to facilitate the sorting device 40 to absorb from the side of the defective detection part. Optionally, the part to be inspected partially protrudes out of the receiving groove 11 along the Z-axis direction, so that the sorting device 40 can suck the part to be inspected out of the receiving groove 11 when contacting the part to be inspected, so as to increase the suction force, improve the reliability of suction, or make it easier for the sorting device 40 to clamp or grab the side of the defective inspection part.

[0048] To facilitate a clear description of the solution of the embodiment of the present application, the embodiment of the present application takes the first fixture 1 having four receiving grooves 11 as an example. It can be understood that the number and arrangement of the receiving grooves 11 of the present application include but are not limited to the number and arrangement of the receiving grooves 11 listed in the following implementation manners.

[0049] In one embodiment, if Figure 6As shown, the four receiving grooves 11 are respectively recorded as the first receiving groove 110, the second receiving groove 112, the third receiving groove 113 and the fourth receiving groove 114. The first receiving groove 110 and the second receiving groove 112 are arranged along the X-axis direction. The third receiving groove 113 and the fourth receiving groove 114 are arranged along the X-axis direction. The first receiving groove 110 and the third receiving groove 113 are arranged along the Y-axis direction. The second receiving groove 112 and the fourth receiving groove 114 are arranged along the Y-axis direction. The first to-be-detected member 21 is located in the first receiving groove 110. The second to-be-detected member 22 is located in the second receiving groove 112. The third to-be-detected member 23 is located in the third receiving groove 113. The fourth to-be-detected member 24 is located in the fourth receiving groove 114.

[0050] like Figure 7 As shown, the conveying device 20 includes a first conveying component 201 and a second conveying component 202. The first conveying component 201 is used to move the first fixture 1 from the loading area 141 to the detection area 142. The first conveying component 201 can realize the movement of the first fixture 1 along the X-axis direction and along the Y-axis direction on the workbench 102. The second conveying component 202 is used to move the first fixture 1 from the detection area 142 to the sorting area 143. The second conveying component 202 can realize the movement of the first fixture 1 along the X-axis direction and along the Y-axis direction on the workbench 102.

[0051] like Figure 7 As shown, the visual inspection device 30 includes a fixed frame 301, a first camera 302 and a plurality of light sources 303. The first camera 302 and the light source 303 are arranged on the fixed frame 301. Optionally, the plurality of light sources 303 are arranged in a ring. The first camera 302 is used to detect at least one of scratches, dirt and solder joint defects on the part to be inspected under the irradiation of the plurality of light sources 303. In the embodiment of the present application, the visual inspection device 30 includes four light sources 303 arranged in a ring and a first camera 302 arranged along the Z-axis direction. Among them, the four light sources 303 can slide on the fixed frame 301 to achieve the angle adjustment of the irradiation position, the first camera 302 can move along the Z-axis direction or be fixed on the fixed frame, and the focal length can be adjusted when the first camera 302 moves.

[0052] In one embodiment, please refer to Figure 6 and Figure 7 The first conveying assembly 201 moves the first fixture 1 to the detection area 142 (refer to Figure 4), when the visual inspection device 30 starts to inspect the first part to be inspected 21, the main controller can control the first conveying component 201 to move the first part to be inspected 21 in the first fixture 1 to the focal position of the first camera 302 to detect the first part to be inspected 21. After the inspection of the first part to be inspected 21 is completed, the first conveying component 201 moves the first fixture 1 in the opposite direction along the X-axis so that the second part to be inspected 22 is located at the focal position of the first camera 302 to detect the second part to be inspected 22. After the inspection of the second part to be inspected 22 is completed, the first conveying component 201 moves the first fixture 1 in the positive direction along the Y-axis so that the fourth part to be inspected 24 is located at the focal position of the first camera 302 to detect the fourth part to be inspected 24. After the inspection of the fourth part to be inspected 24 is completed, the first conveying component 201 moves the first fixture 1 in the positive direction along the X-axis so that the third part to be inspected 23 is located at the focal position of the first camera 302 to detect the third part to be inspected 23. Of course, in other embodiments, the camera orientation can be adjusted to change the focus position of the first camera 302 to achieve the detection of all the parts to be detected in the first fixture 1. Of course, the adjustment of the position of the first fixture 1 and the adjustment of the orientation of the first camera 302 can also be combined to achieve the detection of all the parts to be detected in the first fixture 1.

[0053] Please refer to Figure 7 and Figure 8 , the first conveying component 201 includes a first guide rail 210 and a second guide rail 211. The first guide rail 210 extends along the X-axis direction. The second guide rail 211 extends along the Y-axis direction. The second guide rail 211 is arranged on the workbench 102. A slider 212 is arranged in the second guide rail 211. The slider 212 can slide in the Y-axis direction in the second guide rail 211. When the slider 212 slides in the Y-axis direction, it can drive the first fixture 1 to move in the Y-axis direction. The first guide rail 210 is arranged on the slider 212. The first guide rail 210 forms a first slide groove 213. When the first fixture 1 is located on the first conveying component 201, the first fixture 1 can slide in the first slide groove 213 to realize the movement of the first fixture 1 along the X-axis direction. When the first fixture 1 is located in the second conveying component 202, the first fixture 1 slides in the second slide groove 223.

[0054] The first transmission assembly in this embodiment can realize the movement of the first fixture 1 in multiple directions on the workbench 102, so that multiple parts to be inspected in the first fixture 1 can be located at the inspection center position of the visual inspection device 30, thereby improving the reliability of the visual inspection device 30 for the inspection of each part to be inspected.

[0055] like Fig. 9As shown, the sorting device 40 includes a first positioning component 401, a pick-and-place component 402, a second positioning component 403, and a second fixture 404. In one embodiment, the visual inspection device 30 sends the first position of the defective inspection part detected on the first fixture 1 to the first positioning component 401, and the first positioning component 401 detects that the first fixture 1 moves to the sorting area 143 (refer to Figure 3 ). The first positioning component 401 obtains and determines the target position of the defective detection part based on the first position and the second position. In another embodiment, the visual inspection device 30 sends the first position of the defective detection part detected on the first fixture 1 to the main controller, and the main controller controls the first positioning component 401 to detect the second position when the first fixture 1 moves to the sorting area 143. The main controller obtains and determines the target position of the defective detection part based on the first position and the second position.

[0056] In one embodiment, please refer to Figure 4 and Fig. 9 , the first positioning component 401 includes a second camera 410. After the second conveying component 202 moves the first fixture 1 from the detection area 142 to the first area 143a of the sorting area 143, the second camera 410 takes a picture of the first fixture 1 and determines the second position of the first fixture 1 in the first area 143a. The second position may include the X-axis coordinate and the Y-axis coordinate of the geometric center of the first fixture 1. Of course, in other embodiments, the second position may include the position of other target points in the first fixture 1. Other target points may be any point on the first fixture 1, or positioning points, marking points, etc. set on the first fixture 1. In the embodiment of the present application, the coordinates of the geometric center of the first fixture 1 are taken as an example. The first positioning component 401 calculates the target position of the defective detection part according to the first position (i.e., the X-axis coordinate and the Y-axis coordinate of the geometric center of the defective detection part relative to the geometric center of the first fixture 1) and the second position (i.e., the X-axis coordinate and the Y-axis coordinate of the geometric center of the first fixture 1). Among them, the target position is the position of the defective detection part in the first area 143a.

[0057] The pick-and-place component 402 takes out the defective test piece according to the target position. Optionally, the pick-and-place component 402 takes out the defective test piece according to the target position under the control of the first positioning component 401 or the main controller.

[0058] In one embodiment, the main controller adjusts the position of the first fixture 1 according to the target position of the defective detection part, so that the second conveying component 202 makes the target position (x1, y1) of the defective detection part the same as the coordinate position (x2, y2) of the pick-and-place component 402, thereby ensuring that the pick-and-place component 402 can accurately remove the defective detection part. For example: the main controller controls the second conveying component 202 to move the first fixture 1 along the X-axis direction, or the main controller controls the second conveying component 202 to move the first fixture 1 along the Y-axis direction, or the main controller controls the second conveying component 202 to move the first fixture 1 along the X-axis direction and the first fixture 1 along the Y-axis direction, so that the target position (x1, y1) of the corresponding defective detection part is the same as the coordinate position (x2, y2) of the pick-and-place component 402. When there are multiple defective detection parts to be removed, each defective detection part can be removed in sequence through this embodiment.

[0059] In another embodiment, the main controller adjusts the position of the first fixture 1 and / or the position of the pick-and-place component 402 according to the target position of the defective detection part to be removed, so that the position coordinates (x1, y1) of the defective detection part to be removed are the same as the coordinate position (x2, y2) of the pick-and-place component 402, thereby ensuring that the pick-and-place component 402 can accurately remove the defective detection part. For example: the main controller controls the second conveying component 202 to move the first fixture 1 along the X-axis direction, or the main controller controls the second conveying component 202 to move the pick-and-place component 402 along the Y-axis direction, or the second conveying component 202 controls the second conveying component 202 to move the first fixture 1 along the X-axis direction, and controls the second conveying component 202 to move the pick-and-place component 402 along the Y-axis direction, so that the target position (x1, y1) of the defective detection part to be removed is the same as the coordinate value (x2, y2) of the pick-and-place component 402. When there are multiple defective detection parts to be removed, each defective detection part can be removed in sequence through this embodiment.

[0060] Please refer to Fig. 9 and Fig.10 The second conveying assembly 202 includes a third guide rail 220 and a fourth guide rail 221. The third guide rail 220 is arranged on the workbench 102. The third guide rail 220 extends along the X-axis direction. The third guide rail 220 forms a second slide groove 223, so that the first fixture 1 moves in the second slide groove 223 along the X-axis direction. The fourth guide rail 221 is arranged above the third guide rail 220 along the Z-axis direction and is spaced from the third guide rail 220. The fourth guide rail 221 extends along the Y-axis direction. The fourth guide rail 221 is used to realize the movement of the clamping assembly along the Y-axis direction. It can be understood that the clamping assembly is slidably arranged on the fourth guide rail 221.

[0061] In one embodiment, please refer to Figures 8 to 10The second conveying assembly 202 further includes a hook 224 disposed in the second slide groove 223. The hook 224 extends along the sliding direction of the first fixture 1 in the second slide groove 223, and the hook 224 is used to hook the first fixture 1 after the plurality of parts to be inspected are inspected by the visual inspection device 30. Specifically, when the third guide rail 220 is docked with the first guide rail 210, the hook 224 hooks the first fixture 1 from the first slide groove 213 into the second slide groove 223.

[0062] In this embodiment, the second conveying component 202 of the conveying device 20 can realize the movement of the pick-and-place component 402 along the Y-axis direction and the movement of the first fixture 1 along the X-axis direction. By combining the movement of the pick-and-place component 402 along the Y-axis direction and the movement of the first fixture 1 along the X-axis direction, the sorting of multiple defective test pieces at different positions in the first fixture 1 can be realized. The first positioning component 401 takes pictures and positions the defective test pieces in the first area 143a to improve the positioning reliability of the pick-and-place component 402 when taking out the defective test pieces, and avoid the pick-and-place component 402 from damaging the qualified test pieces in the first fixture 1.

[0063] For further information, please refer to Figure 4 and Fig. 9 The conveying device 20 is also used to move the pick-and-place component 402 to the second area 143b of the sorting area 143 after the pick-and-place component 402 takes out the defective detection component, so that the pick-and-place component 402 places the defective detection component in the second area 143b.

[0064] Specifically, the sorting device 40 also includes a second positioning component 403 and a second fixture 404 arranged in the second area 143b. The second positioning component 403 is used to obtain the third position of the defective detection part when the pick-and-place component 402 moves the defective detection part to the second area 143b. The third position includes the X-axis coordinate and the Y-axis coordinate of the defective detection part in the second area 143b. The pick-and-place component 402 places the defective detection part in the second fixture 404 according to the third position and the position of the second fixture 404. The second fixture 404 has the same structure as the first fixture 1, which will not be repeated here.

[0065] In one embodiment, the second positioning component 403 includes a third camera 430. After the pick-and-place component 402 moves the defective detection part to the second area 143b, the third camera 430 takes a photo of the defective detection part on the pick-and-place component 402, and determines the X-axis coordinate and Y-axis coordinate of the defective detection part on the pick-and-place component 402 in the second area 143b, that is, the third position. The second positioning component 403 controls the pick-and-place component 402 to place the defective detection part in the second fixture 404 according to the third position and the position of the second fixture 404 stored in the main controller, or the second positioning component 403 transmits the third position to the main controller, and the main controller controls the pick-and-place component 402 to place the defective detection part in the second fixture 404 according to the third position and the position of the second fixture 404. Among them, the position of the second fixture 404 can be determined by taking a photo with the second camera 410 before the pick-and-place component 402 moves the defective detection part to the second area 143b, and stored in the main controller.

[0066] In one embodiment, the main controller adjusts the position of the pick-and-place assembly 402 and the position of the second fixture 404 according to the third position of the defective detection part and the position of the second fixture 404, so that the defective detection part can be accurately placed in the second fixture 404. Specifically, the main controller controls the second conveying assembly 202 to move the pick-and-place assembly 402 along the Y axis, or the main controller controls the second conveying assembly 202 to move the second fixture 404 along the X axis, or the main controller controls the second conveying assembly 202 to move the pick-and-place assembly 402 along the Y axis and controls the second conveying assembly 202 to move the second fixture 404 along the X axis, so that the coordinate value of the defective detection part on the pick-and-place assembly 402 is the same as the coordinate value of the second fixture 404, thereby ensuring that the pick-and-place assembly 402 accurately places the defective detection part in the receiving slot 11 of the second fixture 404.

[0067] In this embodiment, the second conveying component 202 of the conveying device 20 can realize the movement of the pick-and-place component 402 along the Y-axis direction and the movement of the second fixture 404 along the X-axis direction. By combining the movement of the pick-and-place component 402 along the Y-axis direction and the movement of the second fixture 404 along the X-axis direction, multiple defective test pieces can be arranged in sequence in the second fixture 404. The second positioning component 403 takes pictures and positions the defective test pieces in the second area 143b to improve the reliability of the pick-and-place component 402 in placing the defective test pieces in the second fixture 404, and the re-contamination or damage to the defective test pieces is small, so as to facilitate the subsequent removal of dirt and the like on the defective test pieces and the repair of scratches, solder joint defects, etc., so as to realize the reuse of the defective test pieces.

[0068] For further information, please refer to Figure 4 and Fig.11The automatic sorting system 100 further includes a loading device 50 disposed on the frame 10. The loading device 50 is disposed in the loading area 141 of the frame 10. The loading device 50 is used to accommodate a plurality of first jigs 1 stacked in layers, and the conveying device 20 is used to sequentially convey the first jigs 1 on the top layer to the inspection area 142.

[0069] In one embodiment, please refer to Figure 4 and Fig.12 The feeding device 50 includes a first lifting assembly 501 and a first clamping assembly 502. The first clamping assembly 502 is used to clamp a plurality of first jigs 1 arranged in a stacked manner. The first lifting assembly 501 is used to drive the first clamping assembly 502 to lift and lower, so that when the first jig 1 located on the top layer is not clamped by the first clamping assembly 502, the transmission assembly moves the first jig 1 located on the top layer to the detection area 142. By providing the feeding device 50 to clamp the first jig 1 provided with the parts to be detected, the automatic detection system can complete the detection and sorting of multiple parts to be detected in all the first jigs 1 at a time, thereby reducing the number of manual loading times and improving the automation efficiency of the automatic detection system.

[0070] For further information, please refer to Figure 4 and Fig.13 The automatic sorting system 100 further includes a material unloading device 60 disposed on the frame 10. The material unloading device 60 is disposed in the material unloading area 144 of the frame 10. The conveying device 20 is also used to stack the sorted first fixtures 1 in the material unloading device 60 in sequence.

[0071] In one embodiment, the unloading device 60 includes a second lifting assembly 601 and a second clamping assembly 602. The second clamping assembly 602 is used to clamp the first fixture 1 transferred from the sorting area 143 to the unloading area 144. The second lifting assembly 601 is used to drive the second clamping assembly 602 to rise and fall, so that all the first fixtures 1 transferred from the sorting area 143 to the unloading area 144 can be clamped by the second clamping assembly 602. By setting the unloading device 60 to clamp the first fixture 1 with qualified inspection parts, the automatic inspection system can store all the sorted first fixtures 1 in the unloading area 144 each time, thereby avoiding the need to take out the first fixture 1 with qualified inspection parts after each sorting is completed.

[0072] The above are some embodiments and implementation methods of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications are also considered to be within the scope of protection of the present application.

Claims

1. An automatic sorting system, characterized in that: include: A frame, the frame having a detection area and a sorting area, the sorting area including a first area; A first fixture, which is arranged on the frame and used to mount a plurality of parts to be inspected; A conveying device, the conveying device is arranged on the frame, and the conveying device is used to convey the first jig to the detection area or to convey the first jig from the detection area to the sorting area; A visual inspection device, the visual inspection device is disposed in the inspection area, the visual inspection device is used to detect whether there is a defective inspection part among the plurality of the to-be-inspected parts located in the inspection area, and the visual inspection device is also used to detect a first position of the defective inspection part on the first fixture; and A sorting device is arranged in the sorting area, and is used to sort out the defective detection parts when the conveying device conveys the first fixture from the detection area to the sorting area. The sorting device includes a first positioning component arranged in the first area, and the first positioning component is used to detect the second position of the first fixture when it moves to the sorting area, and obtain the target position of the defective detection part according to the first position and the second position.

2. The automatic sorting system according to claim 1, characterized in that: The first fixture is provided with a plurality of receiving grooves, the plurality of receiving grooves are arranged at intervals, and each of the receiving grooves is used to receive a corresponding piece to be detected.

3. The automatic sorting system according to claim 1, characterized in that: The sorting device further comprises a pick-and-place assembly disposed in the first area, and the pick-and-place assembly is used to take out the defective detection parts at the target position.

4. The automatic sorting system according to claim 3, characterized in that: The sorting area also includes a second area, and the conveying device is further used to move the pick-and-place component to the second area after the pick-and-place component takes out the defective detection component, so that the pick-and-place component places the defective detection component in the second area. The sorting device also includes a second positioning component and a second fixture arranged in the second area, and the second positioning component is used to obtain a third position of the defective detection component when it moves to the second area and a fourth position of the second fixture, and the pick-and-place component places the defective detection component in the second fixture according to the third position and the fourth position.

5. The automatic sorting system according to any one of claims 1 to 4, characterized in that: The visual inspection device includes a camera and multiple light sources, which are arranged in a ring shape. The camera is used to detect at least one of scratches, dirt and solder joint defects on each of the parts to be inspected, and the light source is used to illuminate the parts to be inspected.

6. The automatic sorting system according to any one of claims 1 to 4, characterized in that: The conveying device includes a first conveying component and a second conveying component. The first conveying component is used to move the first fixture to the detection area; the second conveying component is used to move the first fixture from the detection area to the sorting area.

7. The automatic sorting system according to claim 6, characterized in that: The first conveying component is provided with a first slide groove, and the second conveying component is provided with a second slide groove. When the first jig is located on the first conveying component, the first jig slides in the first slide groove; when the first jig is located on the second conveying component, the first jig slides in the second slide groove.

8. The automatic sorting system according to claim 7, characterized in that: The second conveying assembly also includes a hook disposed in the second slide groove, the hook extending along the sliding direction of the first fixture in the second slide groove, and the hook being used to hook the first fixture after the plurality of parts to be inspected have been inspected by the visual inspection device.

9. The automatic sorting system according to any one of claims 1 to 4, characterized in that: The automatic sorting system further comprises a loading device disposed on the frame, the loading device being used to accommodate a plurality of the first jigs arranged in a stacked manner, and the conveying device being used to convey the first jigs located on the top layer to the detection area in sequence.

10. The automatic sorting system according to any one of claims 1 to 4, characterized in that: The automatic sorting system also includes a material unloading device arranged on the frame, and the conveying device is also used to sequentially convey the first jigs that have been sorted to the material unloading device, and the material unloading device is used to sequentially stack the first jigs that have been sorted.

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