Sorting device and its picking module

Abstract

The present invention relates to a sorting device and a picking module thereof. The picking module includes: a rotatable swing arm base; swing arm assemblies respectively connected above both ends of the swing arm base, and each swing arm assembly includes: a nozzle seat slidably connected to the swing arm base, and a nozzle assembly provided on the nozzle seat; a swing arm base driving device connected to the swing arm base and driving the swing arm base to rotate so that the nozzle assembly switches between a first position and a second position; and a toggling assembly, including a toggle rod and a toggle rod driving device for driving the toggle rod to move, and the toggle rod cooperates with the nozzle assembly in the second position and drives the nozzle seat of the nozzle assembly to slide for discharging. It can achieve lightweight and improve efficiency.

Description

Technical Field

[0001] The present invention relates to a sorting device, and more particularly to a sorting device and its picking module. Background Art

[0002] With the continuous development of LEDs, the demand for and quality requirements for LEDs are also getting higher and higher. In particular, the progress of mini-LED technology has driven the rapid development of the display industry, and at the same time, higher requirements have been put forward for the quality of LED chips.

[0003] In the processing process of an LED wafer, the wafer is cut into multiple chips. After cutting, the chips need to undergo a series of inspections and be classified according to the detected optoelectronic parameters. The chip sorting device picks out the chips and arranges them neatly on a blue film to facilitate subsequent process operations.

[0004] Figure 1 is a schematic structural diagram of a sorting device in the prior art. As Figure 1 shown, the sorting device includes a to-be-sorted chip top-picking module 1, a chip classification module 2 disposed opposite to the to-be-sorted chip top-picking module 1, and a picking module 3 disposed therebetween. After a picking module 3 sucks a chip from the to-be-sorted chip top-picking module 1, it rotates to the chip classification module 2 and places the chip 4 on the corresponding blue film. Among them, by setting ejector pins in the chip classification module 2 and making the ejector pins push the blue film towards the direction of the suction nozzle of the picking module 3, the chip on the suction nozzle can be placed on the blue film. In this existing sorting device, since the tension of the center and the edge of the blue film is different when the ejector pin pushes the blue film, the displacement change of the chip in the center of the blue film is smaller while the displacement change of the chip at the edge is larger, affecting the accuracy of material receiving. It is necessary to compensate for the accuracy impact caused by the expansion and contraction of the blue film through software.

[0005] Figure 2 is a schematic structural diagram of a chip picking arm member in the prior art. The Taiwan patent with the patent number TWM402496U1 discloses a chip picking arm member, as Figure 2As shown, the grain picking arm assembly includes a picking arm 40, a rotating bracket 20, a translation fixed plate 50, and a translation member 30. The picking arm 40 performs rotational motion through the rotating bracket 20, and the translation member 30 can drive the picking arm 40 to move relative to the translation fixed plate 50. The defect of this structure is that the rotating bracket 20 and the translation member 30 are directly or indirectly connected to the picking arm 40, and the rotating bracket 20 and a part of the related driving mechanism will rotate with the picking arm 40, which will cause the rotation speed of the picking arm 40 to decrease, directly affecting the efficiency of the whole machine; in the process of translational motion, the translation member 30, the picking arm 40, and the rotating bracket 20 translate together, and the heavy weight causes the speed of the translational motion to decrease, which will also directly affect the efficiency of the whole machine; in addition, this structure will cause greater noise and vibration. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide a sorting device and a picking module thereof, which can achieve lightweight and improve efficiency, in view of the defects of the prior art that the movement speed of the grain picking arm components is low and affects the efficiency of the whole machine.

[0007] The technical solution adopted by the present invention to solve the technical problem is: construct a picking module of a sorting device, the picking module comprising:

[0008] Rotatable swing arm base;

[0009] Swing arm assemblies respectively connected to the upper ends of the swing arm base, each of the swing arm assemblies comprising: a nozzle seat slidably connected to the swing arm base, and a nozzle assembly arranged on the nozzle seat;

[0010] a swing arm base driving device connected to the swing arm base and driving the swing arm base to rotate so that the suction nozzle assembly switches between the first position and the second position; and

[0011] The shifting assembly comprises a shifting rod and a shifting rod driving device for driving the shifting rod to move. The shifting rod cooperates with the suction nozzle assembly in the second position and drives the suction nozzle seat of the suction nozzle assembly to slide along the first direction to discharge the material.

[0012] According to the picking module of the sorting device of the present invention, the shifting assembly also includes a shifting rod rotating shaft, the shifting rod is connected to the shifting rod rotating shaft, and one end cooperates with the shifting rod driving device, and the other end cooperates with the suction nozzle assembly in the second position.

[0013] According to the picking module of the sorting device of the present invention, the suction nozzle assembly can be movably arranged on the suction nozzle seat along a first direction, and a buffer is arranged between the suction nozzle seat and the suction nozzle assembly. The buffer constantly applies an elastic force to the suction nozzle assembly away from another swing arm assembly in a deformed state.

[0014] According to the picking module of the sorting device of the present invention, the swing arm assembly also includes a fixing sleeve connected between the nozzle seat and the nozzle assembly, the fixing sleeve is fixedly arranged on the nozzle seat, and a limiting protrusion is fixedly arranged on the nozzle assembly, and the limiting protrusion is pressed against the nozzle seat or the fixing sleeve under the action of the buffer.

[0015] According to the picking module of the sorting device of the present invention, the nozzle holder comprises:

[0016] A connecting portion slidably connected to the swing arm base;

[0017] a nozzle mounting portion extending upward from the connecting portion along a second direction, the nozzle assembly being arranged on the nozzle mounting portion, the second direction being perpendicular to the first direction; and

[0018] A toggle portion is arranged at the bottom of the connecting portion or the nozzle mounting portion, and the toggle portion is a single protrusion extending downward along the second direction, or a pair of protrusions extending downward along the second direction, or an inverted U-shaped groove arranged at the bottom of the connecting portion or the nozzle mounting portion, and the toggle portion cooperates with the toggle rod.

[0019] According to the picking module of the sorting device of the present invention, a reset element is arranged between the swing arm base and the nozzle seat, and the reset element constantly applies a reset force to the nozzle seat in a first direction.

[0020] According to the picking module of the sorting device of the present invention, the reset element is a spring, a stopper is fixedly provided on the swing arm base, a corresponding stopper is provided on the nozzle seat, a screw is passed through one of the stopper or the stopper edge, a nut is provided on the screw, and the nut is located between the stopper and the stopper edge, the spring is sleeved on the screw, and one end of the spring abuts against the other of the stopper or the stopper edge, and the other end abuts against the nut.

[0021] The present invention also provides a sorting device, comprising:

[0022] The module for taking out the grains to be sorted comprises: a grain storage assembly for placing the grains to be sorted, and an ejector assembly arranged on one side of the grain storage assembly along a first direction;

[0023] A grain classification module is arranged along a first direction opposite to the grain top-taking module to be classified; and

[0024] As described above, the picking module is arranged between the grain taking module to be sorted and the grain classification module.

[0025] The sorting device according to the present invention, wherein the crystal grain classification module includes a classified crystal grain storage assembly for placing classified crystal grains, and the classified crystal grain storage assembly includes: a classified material rack, a classified material frame provided on the classified material rack, a classified material film installed on the classified material frame, and a support disk provided on one side of the classified material film and used for supporting the classified material film.

[0026] For the sorting device according to the present invention, a plurality of air holes for connecting a vacuum pumping device are provided on the support disk, and the support disk is fixed relative to the classified material frame; the support disk and the classified material frame are rotatably connected to the classified material rack, and the crystal grain classification module further includes a rotation driving device for driving the support disk and the classified material frame to rotate around an axis in a first direction.

[0027] Implementing the sorting device and its picking module of the present invention has the following beneficial effects: The number of components rotating with the swing arm assembly is reduced, achieving lightweight and significantly improving efficiency. In addition, one of the swing arm assemblies of the picking module of the sorting device can move towards the crystal grain classification module to place crystal grains, while the crystal grain classification module does not move in the first direction. A support disk with a larger area is used to support the classified material film, avoiding the influence of the expansion and contraction of the classified material film. Whether it is the center or the edge of the classified material film, high precision can be maintained. Description of the Drawings

[0028] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings:

[0029] Figure 1 is a schematic structural diagram of a sorting device in the prior art;

[0030] Figure 2 is a schematic structural diagram of a crystal grain picking arm component in the prior art;

[0031] Figure 3 is a schematic structural diagram of some components of the sorting device according to the embodiment of the present invention;

[0032] Figure 4A is a schematic structural diagram of the picking module according to the embodiment of the present invention;

[0033] Figure 4B is Figure 4A a partial enlarged view of;

[0034] Figure 5 is a schematic structural diagram of the picking module when fixed according to the embodiment of the present invention;

[0035] Figure 6 is another schematic structural diagram of the picking module when fixed according to the embodiment of the present invention;

[0036] Figure 7 is an exploded view of some components of a swing arm assembly according to an embodiment of the present invention;

[0037] Figure 8 is a top view of a picking module according to an embodiment of the present invention;

[0038] Figure 9 is a front view of a picking module according to an embodiment of the present invention;

[0039] Figure 10 is Figure 9 a partial enlarged view of;

[0040] Figure 11 is a structural schematic diagram of some components of a crystal grain classification module according to an embodiment of the present invention;

[0041] Figure 12 is another schematic diagram of a crystal grain classification module according to an embodiment of the present invention. Detailed implementation manners

[0042] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] Figure 3 is a structural schematic diagram of some components of a sorting device 10 according to an embodiment of the present invention. As Figure 3 shown, the sorting device 10 of the present invention includes: a to-be-sorted crystal grain picking module 100 installed on a frame body (not shown), a crystal grain classification module 200 disposed opposite to the to-be-sorted crystal grain picking module 100 along a first direction X, and a picking module 300 disposed therebetween. After the picking module 300 sucks the crystal grains on the to-be-sorted crystal grain picking module 100, it rotates and places the crystal grains on the storage film of the crystal grain classification module 200 to complete the picking and classification of the crystal grains.

[0044] The to-be-sorted grain picking-up module 100 includes: a to-be-sorted grain storage component 110 for placing grains to be sorted, a thimble component 120 arranged on one side of the to-be-sorted grain storage component 110 along the first direction X, and a to-be-sorted grain storage component driving device 130 for driving the to-be-sorted grain storage component 110 to move along the second direction Y and the third direction Z. The first direction X, the second direction Y, and the third direction Z are perpendicular to each other. Among them, the to-be-sorted grain storage component 110 includes: a to-be-sorted rack 111; a to-be-sorted frame 112 inserted into the to-be-sorted rack 111; and a to-be-sorted film 113 installed on the to-be-sorted frame 112. The to-be-sorted rack 111 is hollow and can be provided with slots thereon, and the to-be-sorted frame 112 is inserted and fixed in the slots of the to-be-sorted rack 111. The grains to be sorted adhere to the surface of the to-be-sorted film 113 facing the picking module 300 and are arranged at intervals, and these grains can be distributed in a matrix array. The structure of the to-be-sorted grain storage component 110 is not limited to the above form, and the to-be-sorted rack 111 and the to-be-sorted frame 112 can also be integrally provided.

[0045] The thimble component 120 and the picking module 300 are respectively located on both sides of the to-be-sorted film 113. When the thimble component 120 moves towards the to-be-sorted film 113, passes through the to-be-sorted rack 111 and applies a force to the to-be-sorted film 113, the to-be-sorted film 113 deforms and the thimble component 120 ejects the grains on the to-be-sorted film 113, so that the picking module 300 adsorbs the grains.

[0046] The thimble component 120 includes a thimble rod 121 and a thimble rod driving member (not shown) for driving the thimble rod 121 to move along the first direction so as to apply a force to the to-be-sorted film. The entire thimble component 120 is arranged on a frame. The thimble rod driving member can be a motor.

[0047] The material rack 111 of the grain storage assembly 110 is connected to the grain storage assembly driving device 130. In the illustrated embodiment, the grain storage assembly driving device 130 can be a cross slide, including: a first slide 131 that carries the material rack 111 and can move along one of the second direction Y and the third direction Z, a second slide 132 that carries the first slide 131 and can move along the other of the second direction Y and the third direction Z, a first slide driving member (not shown) that drives the first slide 131 to move, and a second slide driving member (not shown) that drives the second slide 132 to move. The material rack 111 can be fixed on the first slide 131, and the first slide 131 can be fixed on the second slide 132. When the first slide 131 moves along one of the second direction Y and the third direction Z, it will move with the grain storage assembly 110 to be divided; when the second slide 132 moves along the other of the second direction Y and the third direction Z, it will drive the first slide 131 and the grain storage assembly 110 to be divided to move together, so that the grain storage assembly 110 to be divided can be adjusted in the second direction Y and the third direction Z, so that the ejector assembly 120 can eject the grains at different positions on the film 113 to be divided. The first slide driver and the second slide driver can be a motor, a cylinder, a gear rack, etc.

[0048] The structure of the drive device 130 for the grain storage assembly to be classified is not limited to this, and can also be an integrated structure connected to the grain storage assembly to be classified 110. It can be driven in the second direction Y and the third direction Z respectively, so that the drive device 130 for the grain storage assembly to be classified drives the grain storage assembly to be classified 110 to move.

[0049] Figure 4A is a schematic structural diagram of a picking module 300 according to an embodiment of the present invention; Figure 4B yes Figure 4A A partial enlarged view of Figure 5 is a structural schematic diagram of a picking module 300 when it is fixed according to an embodiment of the present invention; Figure 6 2 is another structural schematic diagram of a picking module 300 fixed according to an embodiment of the present invention. The picking module 300 is disposed between the top-taking module 100 for the grains to be sorted and the top-taking module 200 for the grains to be sorted, and is used to absorb the grains on the top-taking module 300 for the grains to be sorted, and then place them on the top-taking module 200 for the grains to be sorted. Figure 4A-6 As shown, the picking module 300 includes a rotatable swing arm base 310, swing arm assemblies 320, 330 respectively connected above the two ends of the swing arm base 310, a toggle assembly 340, and a swing arm base driving device 350 for driving the swing arm base 310 to rotate.

[0050] The swing arm base driving device 350 can be, for example, a motor, whose rotation axis is connected to the bottom of the swing arm base 310 and can drive the swing arm base 310 to rotate around its rotation axis along the second direction Y. The swing arm base 310 is symmetrical about the rotation axis, and its cross-section can be a shuttle shape with narrow ends and wide in the middle as shown in the figure, or it can be other shapes, such as a rectangle, an ellipse, etc. The swing arm assemblies 320 and 330 are slidably connected above the two ends of the swing arm base 310, and switch between the first position and the second position as the swing arm base 310 rotates. In the first position, the suction nozzle assembly sucks the grains; in the second position, the suction nozzle assembly places the grains. The toggle assembly 340 is used to toggle one of the swing arm assemblies 320 and 330 that is in the second position (that is, close to the grain classification module 200) to move it toward the grain classification module 200, so as to facilitate the placement of grains and realize material discharge.

[0051] The toggle assembly 340 includes a toggle rod 341 rotatably connected to the frame, and a toggle rod driving device 342 for driving the toggle rod 341 to move. In the illustrated embodiment, the middle portion of the toggle rod 341 is rotatably connected to the frame via a toggle rod rotation axis, one end of the toggle rod 341 is driven by the toggle rod driving device 342 to rotate around the toggle rod rotation axis, and the other end toggle the corresponding swing arm assembly. The toggle rod driving device 342 can be, for example, a motor that drives the toggle rod to move, a first end of the motor being rotatably mounted on the frame, and a second end being connected to the toggle rod 341. When the toggle rod 341 is driven, the motor can have a certain degree of freedom of movement to rotate one end of the toggle rod 341.

[0052] The lever driving device 342 may also be an electromagnetic device, with a magnetic attraction member disposed at one end of the lever 341 and the lever 341 is attracted / released by turning on and off the power to realize the rotation and return of the lever 341. The lever driving device 342 may also be a cylinder, which is connected to one end of the lever 341 through a piston rod and drives the lever 341 to move. In this case, the connection method of the cylinder is similar to that of a motor.

[0053] The structure of the lever 341 is not limited to the above-mentioned form. The lever 341 can also have its lower end fixed on the lever rotation axis, and the lever driving device 342 drives the lever rotation axis to rotate, so as to drive the lever 341 to rotate around the lever rotation axis. In this case, the lever driving device 342 can also be a pulley or the like.

[0054] In addition, the lever 341 can also perform translational motion instead of rotational motion. In such an embodiment, the lever 341 is driven to translate by the lever driving device 342 to move the swing arm assembly. At this time, the lever driving device 342 can adopt any one of a variety of forms such as a motor, an electromagnetic device, a cylinder, a gear rack, etc.

[0055] The structures of the swing arm assemblies 320 and 330 are completely the same and are rotationally symmetrical around the rotation axis in the first direction X. For the sake of simplicity, the structures of the two swing arm assemblies 320 and 330 are described here by taking the swing arm assembly 320 as an example. Figure 7 is an exploded schematic diagram of some components of the swing arm assembly 320 according to an embodiment of the present invention, Figure 8 is a top view of a picking module 300 according to an embodiment of the present invention; Figure 9 is a front view of a picking module 300 according to an embodiment of the present invention; Figure 10 yes Figure 9 A partial enlarged view of the Figure 4A-10 As shown, the swing arm assembly 320 includes a nozzle seat 321 slidably connected to the swing arm base 310, a nozzle assembly 322 disposed on the nozzle seat 321, and a buffer 323 disposed between the nozzle seat 321 and the nozzle assembly 322. As the swing arm base 310 switches between the first position and the second position, and when the nozzle seat 321 is in the second position, the swing arm assembly 320 can cooperate with the toggle assembly 340 and be toggled by the toggle assembly 340 to move toward the grain classification and top-taking module 200, so as to deliver the grains sucked by the nozzle assembly 322 to the grain classification and top-taking module 200.

[0056] Specifically, the nozzle holder 321 includes a connecting portion 321a, a nozzle mounting portion 321b, and a toggle portion 321c. In the illustrated embodiment, the connecting portion 321a is roughly flat, and the nozzle mounting portion 321b extends upward along the second direction Y from one end of the connecting portion 321a away from the rotation axis. The toggle portion 321c is arranged at the bottom of the connecting portion 321a or the nozzle mounting portion 321b and exceeds the outer peripheral boundary of the swing arm base 310. However, the structure of the nozzle holder 321 of the present invention is not limited to this, as long as the nozzle assembly 321 can be installed and the structure that facilitates the nozzle assembly 321 to absorb the grains can be used. The toggle portion 321c can be a single flat protrusion extending downward along the second direction Y as shown in the figure, or it can be other shapes, such as a pair of flat protrusions extending downward in parallel along the second direction Y, or an inverted U-shaped annular groove or an arc groove arranged at the bottom of the connecting portion 321a or the nozzle mounting portion 321b. That is, the structure of the moving portion 321 c can be anything as long as it can be moved by the moving rod 341 .

[0057] The nozzle seat 321 can be slidably connected to the swing arm base 310 along the first direction X through a limiting guide element. In the illustrated embodiment, the limiting guide element includes: a guide rail 324 fixed on the swing arm base 310, and a slider 325 slidably connected to the guide rail 324, wherein the slider 325 is fixedly connected to the bottom of the nozzle seat 321. The guide rail 324 extends along the first direction X, and the guide rail 324 is provided with recessed guide grooves 324a on both sides of the opposite sides along the third direction Z. The slider 325 is in an inverted U-shape, buckled on the guide rail 324, and corresponding guide protrusions 325a are provided on the inner walls of the slider 325 that are opposite to each other along the third direction Z. The guide protrusion 325a of the slider 325 cooperates with the guide groove 324a on the guide rail 324, and can slide along the guide groove 324a in the first direction X. This structure that cooperates with each other can also prevent the slider 325 from falling off the guide rail 324. However, the structure of the present invention is not limited thereto, and the structures of the guide rail 324 and the slider 325 can be changed in many ways. In another embodiment, the guide rail can extend along the first direction X, and a guide groove is provided thereon, and the cross section of the guide groove is an inverted T-shaped, and an inverted T-shaped guide protrusion is provided at the bottom of the slider 325, and the guide protrusion of the slider cooperates with the guide groove of the guide rail and can slide along the guide groove in the first direction X. In addition to the change in shape, the positions of the guide protrusion and the guide groove can also be interchanged, that is, the guide groove is provided on the slider 325, and the guide protrusion is provided on the guide rail 324. The slider 325 can be provided integrally with the nozzle seat 321, that is, the guide protrusion or guide groove is directly provided on the nozzle seat 321, and the position of the guide protrusion or guide groove is not limited to being provided at the bottom of the nozzle seat 321, and can also be provided on the side of the nozzle seat 321. As long as the structure can guide the movement of the nozzle seat 321 and prevent the nozzle seat 321 from falling off the guide rail 324, it can be applied to the present invention.

[0058] When the nozzle seat 321 is in the second position, the lever 341 moves to shift the shifting portion 321c of the nozzle seat 321, and the nozzle seat 321 moves toward the grain classification and top-taking module 200 under the action of the lever 341. In the illustrated embodiment, in order to enable the nozzle seat 321 to be reset after the force of the lever 341 is canceled, a reset element 326 is provided between the swing arm base 310 and the nozzle seat 321, and the reset element 326 constantly applies a reset force in the first direction X to the nozzle seat 321 so that the nozzle seat 321 is close to the grain top-taking module 100 to be sorted. Specifically, a stopper 311 is fixedly provided on the swing arm base 310, and a corresponding stopper edge 321d is provided on the nozzle seat 321. The reset element 326 is a spring, which is provided between the stopper 311 and the stopper edge 321d. When the nozzle seat 321 moves, the spring is deformed to generate a reset elastic force.

[0059] In order to fix the spring and adjust the deformation of the spring, a screw 312 is inserted through the stopper 311, and a nut 313 is provided on the screw 312 (see Figure 4B ). The screw rod 312 extends along the first direction X, and the nut 313 is between the stop block 311 and the retaining edge 321d. The spring is sleeved on the screw rod 312, and one end abuts against the retaining edge 321d, and the other end abuts against the nut 313. When it is necessary to adjust the deformation of the spring, the nut 313 is rotated to adjust its position on the screw rod 312, so that the movement distance of the nozzle seat 321 can be adjusted. A countersunk hole can be provided on the retaining edge 321d for positioning the spring. In the above description, the reset element 326 is explained as a compression spring position force, but those skilled in the art can understand that the reset element 326 can be a tension spring, etc.

[0060] The structure of the present invention is not limited to this. The screw 312 can also be set on the retaining edge 321d. The nut 313 cooperates with the screw 312 and is between the stop block 311 and the retaining edge 321d. The spring is sleeved on the screw 312, and one end abuts against the stop block 311 and the other end abuts against the nut 313, which can achieve the same purpose.

[0061] In addition, in an embodiment in which the toggle portion 321c is a pair of flat-plate-like protrusions extending downward in parallel along the second direction Y, or in an embodiment in which the toggle portion 321c is an inverted U-shaped annular groove or an arc-shaped groove arranged at the bottom of the connecting portion 321a or the nozzle mounting portion 321b, since the reciprocating motion of the toggle rod 341 will drive the nozzle mounting portion 321b to reciprocate, there is no need to set a reset element 326.

[0062] The nozzle assembly 322 includes a nozzle 3221, and the nozzle assembly 322 can be movably arranged on the nozzle seat 321 along the first direction X. A buffer 323 is arranged between the nozzle seat 321 and the nozzle assembly 322. The buffer 323 constantly applies elastic force to the nozzle assembly 322 toward the grain classification module 200 along the first direction X, so that the nozzle assembly 322 is tightly pressed against the nozzle seat 321 and remains fixed when no external force is applied. When the nozzle 322 of the nozzle assembly 322 is subjected to external pressure, the buffer 323 is deformed, and the nozzle assembly 322 retracts along the first direction X to play a buffering role and prevent the nozzle 3221 from damaging the grain.

[0063] Specifically, the nozzle assembly 322 includes a nozzle rod 3222 and a nozzle 3221 fixedly connected to the nozzle rod 3222. The nozzle rod 3222 is a hollow tube forming an air passage. An air inlet hole (not shown) is provided on the outer periphery of the nozzle rod 3222 for connecting a vacuum pumping device (not shown). The nozzle 3221 is fixed to the first end of the nozzle rod 3222, and the second end of the nozzle rod 3222 is sealed by a light-transmitting material. When the vacuum pumping device works, the crystal grains can be adsorbed on the nozzle 3221. When the vacuum pumping device stops working, the vacuum state is destroyed, and the nozzle 3221 can place the crystal grains onto the crystal grain sorting and ejecting module 200.

[0064] The swing arm assembly 320 may further include a fixing sleeve 327 connected between the nozzle base 321 and the nozzle assembly 322. A fixing hole 321e is provided on the nozzle base 321, and the fixing sleeve 327 is fixedly arranged in the fixing hole 321e. The fixing sleeve 327 is generally cylindrical. The nozzle rod 3222 of the nozzle assembly 322 is slidably arranged in the fixing sleeve 327 along the first direction X, and both ends extend out of the fixing sleeve 327. On the inner wall of the fixing sleeve 327, a plurality of balls may be provided and a part of the balls protrudes from the inner wall of the fixing sleeve 327, or a plurality of protrusions are provided on the inner wall of the fixing sleeve 327, and a groove 3222a cooperating with the balls or protrusions is provided on the outer wall of the nozzle rod 3222, so that the two can slide relative to each other.

[0065] The nozzle mounting portion 321b of the nozzle base 321 may be generally inverted U-shaped, including a fixing sleeve mounting portion 321b-1 and a buffer mounting portion 321b-2 arranged opposite to each other, and a connecting portion 321b-3 connecting between the tops of the two. The fixing sleeve 327 is fixed on the fixing sleeve mounting portion 321b-1. However, the structure of the nozzle mounting portion 321 of the present invention is not limited thereto. It may also be in the shape of a right-side-up U, or may only include a fixing sleeve mounting portion 321b-1 and a buffer mounting portion 321b-2 arranged opposite to each other.

[0066] The buffer 323 may be a spring provided between the second end of the nozzle rod 3222 and the nozzle base 321. A step may be formed at the second end of the nozzle rod 3222. The spring is sleeved on the second end of the nozzle rod 3222 and abuts against the step, and the other end of the spring abuts against the nozzle mounting portion 321b. Specifically, a counterbore may be provided on the buffer mounting portion 321b-2, so that the other end of the spring is received in the counterbore to achieve positioning. The structure of the present invention is not limited thereto. A convex post may also be provided on the buffer mounting portion 321b-2, and the spring is sleeved on the convex post to achieve positioning, or the spring may be directly connected to the buffer mounting portion 321b-2.

[0067] Near the second end of the nozzle rod 3222, a limiting protrusion 3222b is also fixedly arranged. The limiting protrusion 3222b can be in a disc shape and abuts against the nozzle seat 321 or the fixing sleeve 327 under the action of the buffer member 323, so that the nozzle rod 3222 is fixed relative to the nozzle seat 321. When an external force is applied, the buffer member 323 deforms, the limiting protrusion 3222b leaves the nozzle seat 321 or the fixing sleeve 327, and moves along the first direction X.

[0068] Figure 11 is a schematic structural diagram of some components of the crystal grain classification module 200 according to an embodiment of the present invention. Figure 12 is another schematic diagram of the crystal grain classification module 200 according to an embodiment of the present invention. Combining Figure 11 、 12 As shown, the crystal grain classification module 200 includes: a classified crystal grain storage component 210 for placing classified crystal grains, and a classified crystal grain storage component driving device 220 for driving the classified crystal grain storage component 210 to linearly move along the second direction Y and the third direction Z.

[0069] The classified crystal grain storage component 210 includes: a classified material rack 211, a classified material frame 212 rotatably connected to the classified material rack 211 (see Figure 3 ), a classified material film 216 installed on the classified material frame 212 (see Figure 3 ), and a support disk 213 arranged on one side of the classified material film 216 and used for supporting the classified material film 216 (see Figure 3 ). The classified material rack 211 is fixedly connected to the classified crystal grain storage component driving device 220 and can be driven to linearly move along the second direction Y and the third direction Z. The classified material rack 211 can have a circular inner hole, and a rotating member 214 is arranged in the inner hole of the classified material rack 211. The rotating member 214 can be generally in a cylindrical shape or a circular ring shape and is rotatably connected in the classified material rack 211 through, for example, a bearing. A plug-in member 215 is also fixedly connected to the rotating member 214. The plug-in member 215 is located on both sides and the bottom of the support disk 213, and a slot is arranged on the plug-in member 215. The classified material frame 212 can be inserted into the slot of the plug-in member 215 for convenient replacement.

[0070] The support disk 213 is generally in a disc shape and is fixedly connected to the rotating member 214. A plurality of air holes are arranged on the support disk 213. The air holes on the support disk 213 are connected to another vacuum pumping device. When the vacuum pumping device works, the support disk 213 will adsorb the classified material film 216 thereon. However, the structure of the present invention is not limited thereto, and the support disk 213 can also directly abut against the classified material film 216.

[0071] The classified grain storage component 210 further includes a rotation drive device that drives the material distribution frame 212, the support disk 213, and the rotating member 214 to rotate around the axis in the first direction X. The rotation drive device includes a drive motor 217 fixed on the material distribution rack 211, and a belt 218 connected between the motor 217 and the rotating member 214. In the illustrated embodiment, a part of the rotating member 214 is connected to a bearing, and the part exposed outside the bearing is connected to the belt 218. However, the structure of the present invention is not limited thereto. In addition to the belt, it can also be driven by, for example, gears, etc., so as to realize the angle adjustment of the material distribution film 216.

[0072] In the above, the plug-in member 215 and the material distribution frame 212 can be directly connected to the support disk 213, or can be directly connected to the rotating member 214.

[0073] In other embodiments, the rotating member 214 is not an essential component. The support disk 213 itself can be rotatably connected to the material distribution rack 211 through, for example, a bearing, and the support disk 213 is driven by a rotation drive device. The rotation drive device can be the motor and belt described above, or can also be gears, etc.

[0074] The drive device 220 of the classified grain storage component can be a cross slide, including: a third slide 221 that carries the material distribution rack 211 and can move along one of the second direction Y and the third direction Z, a fourth slide 222 that carries the third slide 221 and can move along the other of the second direction Y and the third direction Z, a third slide drive member (not shown) that drives the third slide 221 to move, and a fourth slide drive member (not shown) that drives the fourth slide 222 to move. The material distribution rack 211 can be fixed on the third slide 221, and the third slide 221 can be fixed on the fourth slide 222. When the third slide 221 moves along one of the second direction Y and the third direction Z, it will drive the classified grain storage component 210 to move together; when the fourth slide 222 moves along the other of the second direction Y and the third direction Z, it will drive the third slide 221 and the classified grain storage component 210 to move together, so as to realize the adjustment of the classified grain storage component 210 in the second direction Y and the third direction Z, so that the suction nozzle of the picking module 300 can place the grains at different positions on the material distribution film 216. The third slide drive member and the fourth slide drive member can be motors, cylinders, gear racks, etc.

[0075] The structure of the drive device 220 of the classified grain storage component is not limited thereto, and it can also be an integral structure connected to the material distribution rack 211 of the classified grain storage component 210, and can be driven respectively in the second direction Y and the third direction Z, so that the drive device 220 of the classified grain storage component drives the classified grain storage component 210 to move.

[0076] When the sorting device 10 of the present invention is working, the ejector assembly 120 of the to-be-sorted grain ejection module 100 moves toward the to-be-sorted film 113 and applies force to the to-be-sorted film 113, so that the to-be-sorted film 113 is deformed to eject the grains on the to-be-sorted film 113, and the suction nozzle assembly of one of the swing arm assemblies of the picking module 300 is in a vacuum state and absorbs the grains. Afterwards, the swing arm base 310 rotates 180 degrees, so that the suction nozzle assembly that absorbs the grains faces the grain classification module 200, and the lever 341 of the toggle assembly 340 toggles the suction nozzle assembly, so that the suction nozzle assembly moves toward the grain classification ejection module 200, thereby sending the grains sucked by the suction nozzle assembly 322 to the already-sorted film 216 of the grain classification ejection module 200, and then the air path of the suction nozzle assembly is cut off, the vacuum state is destroyed, and the grains are loosened and adhered to the already-sorted film 216. While the nozzle assembly that has sucked the die places the die on the separated film 216 , another nozzle assembly sucks the die from the to-be-separated film 113 , and then repeats the same process to place the die on the die classification module 200 .

[0077] Compared with the prior art, the sorting device 10 of the present invention reduces the number of components that rotate with the swing arm components 320 and 330, achieves lightweight, and significantly improves efficiency. In addition, one of the swing arm components of the picking module 300 of the sorting device in the present application can move toward the grain classification module 200 to place the grains, and the grain classification module 200 does not move in the first direction X. The support plate 213 with a larger area is used to support the separated film 216, avoiding the expansion and contraction of the separated film 216. Whether it is the center or the edge of the separated film 216, a high precision can be maintained.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A picking module of a sorting device, characterized in that, The picking module comprises: Rotatable swing arm base; Swing arm assemblies respectively connected to the upper ends of the swing arm base, each of the swing arm assemblies comprising: a nozzle seat slidably connected to the swing arm base, and a nozzle assembly arranged on the nozzle seat; a swing arm base driving device connected to the swing arm base and driving the swing arm base to rotate so that the suction nozzle assembly switches between the first position and the second position; and The toggle assembly includes a toggle lever and a toggle lever driving device for driving the toggle lever to rotate, the toggle lever cooperates with the suction nozzle assembly in the second position and drives the suction nozzle seat of the suction nozzle assembly to slide to discharge materials; the toggle assembly also includes a toggle lever rotating shaft, the toggle lever is connected to the toggle lever rotating shaft, and the toggle lever cooperates with the toggle lever driving device, and the other end of the toggle lever cooperates with the suction nozzle assembly in the second position; Wherein, the suction nozzle assembly can be movably arranged on the suction nozzle seat along a first direction, and the suction nozzle seat includes: a connecting part slidably connected to the swing arm base; a suction nozzle mounting part extending upward from the connecting part along a second direction, the suction nozzle assembly is arranged on the suction nozzle mounting part, and a toggle part is arranged at the bottom of the connecting part or the suction nozzle mounting part, and the toggle part cooperates with the toggle rod.

2. The picking module of the sorting device according to claim 1, characterized in that, A buffer is arranged between the nozzle seat and the nozzle assembly. The buffer constantly applies elastic force to the nozzle assembly away from another swing arm assembly in a deformed state.

3. The picking module of the sorting device according to claim 2, characterized in that The swing arm assembly also includes a fixing sleeve connected between the nozzle seat and the nozzle assembly, the fixing sleeve is fixedly arranged on the nozzle seat, a limiting protrusion is fixedly arranged on the nozzle assembly, and the limiting protrusion is pressed against the nozzle seat or the fixing sleeve under the action of the buffer.

4. The picking module of the sorting device according to claim 1, characterized in that, The second direction is perpendicular to the first direction; the toggle portion is a single protrusion extending downward along the second direction, or a pair of protrusions extending downward along the second direction, or an inverted U-shaped groove arranged at the bottom of the connecting portion or the nozzle mounting portion.

5. The picking module of the sorting device according to claim 4, characterized in that, A reset element is arranged between the swing arm base and the nozzle seat, and the reset element constantly applies a reset force to the nozzle seat in a first direction.

6. The picking module of the sorting device according to claim 5, characterized in that, The reset element is a spring, a stopper is fixedly arranged on the swing arm base, a corresponding stopper edge is arranged on the nozzle seat, a screw rod is passed through one of the stopper or the stopper edge, a nut is arranged on the screw rod, and the nut is located between the stopper and the stopper edge. The spring is sleeved on the screw rod, and one end of the spring abuts against the other of the stopper or the stopper edge, and the other end abuts against the nut.

7. A sorting device, characterized in that, include: The module for taking out the grains to be sorted comprises: a grain storage assembly for placing the grains to be sorted, and an ejector assembly arranged on one side of the grain storage assembly along a first direction; A grain classification module is arranged along a first direction opposite to the grain top-taking module to be classified; and The picking module according to any one of claims 1 to 6 is arranged between the grain top-taking module for sorting the grains and the grain classification module.

8. The sorting device according to claim 7, characterized in that, The grain classification module includes a classified grain storage component for placing classified grains. The classified grain storage component includes: a classified material rack, a classified material frame provided on the classified material rack, a classified material film installed on the classified material frame, and a support disk provided on one side of the classified material film and used for supporting the classified material film.

9. The sorting device according to claim 8, characterized in that, A plurality of air holes for connecting a vacuum pumping device are provided on the support disk, and the support disk is fixed relative to the classified material frame; the support disk and the classified material frame are rotatably connected to the classified material rack, and the grain classification module further includes a rotation driving device for driving the support disk and the classified material frame to rotate around an axis in a first direction.

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