A grain alignment detection device

Abstract

The application provides a crystal grain alignment detection device, which comprises a machine table, a crystal grain supply module, a crystal grain shaking module, a tool transfer module, a tool carrying module, a detection transplanting module, a detection modification module, a cleaning module and a control unit. The device integrates crystal grain alignment, detection, modification, turnover and discharging, can greatly improve the overall production efficiency and fully meet the cost control of the automatic production line.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of automatic detection, and particularly relates to a die array detection device. BACKGROUND

[0002] In a semiconductor packaging process, dies are needed, and the dies need to be arrayed in advance before use. At present, die arraying in traditional factories is generally completed by manual work. The dies are arrayed by manual hand shaking of a tool, but this method is low in efficiency and prone to errors. Correspondingly, a die shaking device is used to realize die shaking work. This kind of device can realize semi-automatic die shaking and arraying work, but it can only arrange the dies. If there are individual missing or appearance defects in the arranged dies, there is no way to detect them. Detection and repair replacement are manually operated, which is also low in efficiency and high in cost. For the rapid development of industry, efficiency and cost are the keys to victory. Therefore, this problem is still urgent to be solved. SUMMARY

[0003] In view of the above, the present application provides a die array detection device. The device integrates die arraying, detection, modification, and turnover and discharging, can greatly improve the overall production efficiency, and fully meets the cost control of the automatic production line.

[0004] The specific technical solutions are as follows:

[0005] The application discloses a kind of grain alignment detection equipment, characterized by: including machine table, control unit, grain supply module, be fixed to the side of machine table surface by support, for storing the material of grain and transport to shake crystal module;Shake crystal module includes first robot arm and the carrier plate fixture connected thereon, first robot arm is fixed on machine table, the carrier plate fixture connected thereon is used to connect the grain of grain supply module transported, first robot arm is sent to tool transfer module after the grain in carrier plate fixture is shaken evenly and aligned;Tool transfer module includes tool Y-axis transplanting module and positioning platform, positioning platform is arranged on tool Y-axis transplanting module, and positioning platform is used to carry the crystal tool fixture of grain, connect the grain of shake crystal module transferred;Tool handling module includes support, X-axis linear handling module, tool gripper and Z-axis lifting module, support is arranged on machine table, X-axis linear handling module is arranged on support and is set across tool Y-axis transplanting module above, tool gripper is movably arranged on X-axis linear handling module by Z-axis lifting module and is used to transport crystal tool fixture to detection transplanting module;Detection transplanting module includes tool X-axis transplanting module and turnover base, tool X-axis transplanting module is arranged on machine table and is parallel with X-axis linear handling module, and turnover base is movably arranged on tool X-axis transplanting module, for carrying crystal tool fixture and unloading turnover crystal tool fixture;Detection modification module includes second robot arm, detection camera, crystal suction cup, supplementary crystal material platform and problem material box, detection camera and crystal suction cup are arranged on second robot arm, supplementary crystal material platform and problem material box are arranged on machine table, detection camera is used to detect whether the appearance of crystal in crystal tool fixture on detection modification module is qualified, and crystal suction cup is used to transfer crystal between supplementary crystal material platform and crystal tool fixture.

[0006] Further, the grain supply module includes a hopper, a hopper, a feeder vibrator, a hopper lifting mechanism and a weighing sensor, the bottom of the hopper is connected to the feeder vibrator, the feeder vibrator is arranged on the support, the hopper is located on one side of the feeder vibrator and is arranged on the support through a mounting seat, the hopper is a strip-shaped channel, one end of which is connected to the hopper lifting mechanism, the hopper lifting mechanism can drive one end of the hopper to lift, thereby adjusting the inclination angle of the other end of the hopper; the weighing sensor is arranged below the hopper to weigh the weight of the grains in the hopper.

[0007] Further, the carrier plate jig in the rocking crystal module comprises a carrier frame, a moving sieve plate module, a bottom plate and a lifting channel module, the bottom plate is fixed on the bottom surface of the carrier frame and occupies half of the bottom surface, the bottom plate is provided with regularly arranged crystal holes, the moving sieve plate module comprises an electric cylinder, a moving frame and a sieve plate, the moving frame is arranged in the carrier frame, the electric cylinder is connected to the moving frame and can drive the moving frame to perform reciprocating linear motion in the carrier frame guided by the linear guide rail, the sieve plate is arranged at the bottom of the moving frame, the sieve plate and the bottom plate are located on the same side in the carrier frame, and there is a height gap between the sieve plate and the bottom plate, the sieve plate is provided with regularly arranged sieve holes, the arrangement mode and the number of the sieve holes are the same as those of the crystal holes, the relative positions of the sieve holes and the crystal holes are staggered, the moving sieve plate can make the sieve holes correspond to the crystal holes one by one, so that the crystals on the sieve plate can fall from the sieve holes and the crystal holes to the crystal tool jig.

[0008] Further, the lifting channel module comprises a gas cylinder, a mounting plate and a movable expanding nozzle, the mounting plate is arranged above the carrier frame, the fixed end of the gas cylinder is connected to the mounting plate, and the piston end is connected to the movable expanding nozzle, the gas cylinder can drive the movable expanding nozzle to perform the motion of extending out of the carrier frame from the bottom and retracting into the carrier frame on the side of the carrier frame without the bottom plate.

[0009] Further, the positioning platform of the tool transfer module comprises a moving platform, a station switching gas cylinder and a station plate, the moving platform is installed on the tool Y-axis transplanting module and can perform translational motion in the Y-axis direction under the driving of the tool Y-axis transplanting module, the station switching gas cylinder is arranged on the moving platform, the station plate is divided into two tool stations, the station plate is arranged on the movable end of the station switching gas cylinder and can be switched left and right between the two stations under the driving of the station switching gas cylinder; a pair of limiting stoppers is arranged on each station of the station plate, and the two limiting stoppers are arranged at right angles; a positioning gas cylinder is further arranged below the station plate in the direction of the included angle between the two limiting stoppers, the movable end of the positioning gas cylinder is connected to a push plate, after one end of the crystal tool jig is placed on the tool station on the station plate with the limiting stopper as the reference, the positioning gas cylinder drives the push plate to retract and block the crystal tool jig, so as to fix the crystal tool jig on the tool station.

[0010] Further, the turnover base of the detection transplanting module comprises a turnover motor, a turnover plate and a turnover shaft, the turnover base is arranged on the tool X-axis transplanting module through a mounting plate, the turnover motor is fixed on the mounting plate through a fixed seat and drives the turnover shaft to rotate through a synchronous belt mechanism, the turnover plate is connected to the turnover shaft and can realize the turnover of the crystal tool jig on the turnover plate under the driving of the turnover shaft; a pair of limiting stoppers is arranged on the turnover plate, the two limiting stoppers are arranged at right angles, a limiting gas cylinder is further arranged below the turnover plate in the direction of the included angle between the two limiting stoppers, and the movable end of the limiting gas cylinder is connected to a stop plate. After one end of the crystal tool jig is placed on the tool station on the turnover plate with the limiting stopper as the reference, the limiting gas cylinder drives the stop plate to retract and block the crystal tool jig, so as to fix the crystal tool jig on the tool station.

[0011] Furthermore, the grain suction cup in the detection and modification module is mounted on the second robot arm via a lifting cylinder mechanism. The grain suction cup is configured as a group or more, and the lifting cylinder mechanism of each group is independent of each other.

[0012] Furthermore, the equipment also includes a crystal shaking detection camera, which is mounted on the top of the equipment via a mounting bracket, and is used to detect the state of the crystals present in the sieve holes on the sieve plate in the carrier fixture.

[0013] Furthermore, the device also includes a cleaning module, which is mounted on the machine platform and located within the range of motion of the first robotic arm. The cleaning module includes a cover and an air blower.

[0014] Furthermore, a waste recycling box is also provided on the machine.

[0015] The beneficial effects of the grain alignment detection device of the present invention are as follows:

[0016] 1. The die alignment and inspection equipment of this invention is a non-contact automatic alignment and inspection device that integrates functions such as die shaking, alignment, visual inspection, and correction. It can not only align the dies, but also automatically modify the dies on the tooling after alignment. That is, it can perform visual inspection on the aligned dies. When defective dies are found, the problematic dies can be automatically picked out and replaced with qualified dies. The whole process will not cause damage to the measured object and the measurement consistency is very high. The fully automatic alignment and inspection process greatly improves the measurement and die alignment efficiency, while reducing the company's manpower requirements, reducing costs, and meeting the needs of batch production line operations.

[0017] 2. The carrier fixture in the crystal shaking module includes a carrier frame, a base plate, an electric cylinder, a moving frame, a sieve plate, and a lifting channel module. The electric cylinder is connected to the moving frame and can drive the moving frame to reciprocate linearly within the carrier frame guided by a linear guide rail. The sieve plate is located at the bottom of the moving frame, and the sieve plate and the base plate are located on the same side within the carrier frame. The base plate is fixed to the bottom surface of the carrier frame and occupies half of the bottom surface. The base plate has regularly arranged crystal holes, and the sieve plate has regularly arranged sieve holes. The arrangement and number of sieve holes are the same as those of the crystal holes. The relative positions of the sieve holes and crystal holes are staggered. Moving the sieve plate can align the sieve holes with the crystal holes. In a one-to-one correspondence, the crystals on the sieve plate can fall from the sieve holes and crystal holes onto the crystal tooling fixture. The randomly arranged crystals fall into the carrier fixture, and then the first robotic arm shakes them so that they fall into the sieve holes. Because the sieve holes are regularly arranged, the crystals fall into the sieve holes in a regular arrangement. When the crystals are in the sieve holes, the sieve holes and crystal holes are misaligned to prevent the crystals from falling out of the fixture. After the crystals are arranged, the moving frame moves under the drive of the electric cylinder so that the sieve holes and crystal holes coincide. Thus, the arranged crystals can fall directly onto the crystal tooling fixture for the next process, achieving fast and accurate arrangement with extremely high efficiency.

[0018] 3、The grain alignment detection device has multiple visual detection modules, and detection cameras are arranged in the grain alignment step and the grain modification step, so that problems can be found and corrected in time, and the whole process can be completed efficiently and with high quality.

[0019] Additional aspects and advantages of the present application will be further understood and appreciated from the following detailed description, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0021] Figure 1 The grain alignment detection device overall structure schematic diagram is shown:

[0022] Figure 2 The grain alignment detection device top view is shown;

[0023] Figure 3 The grain feeding module structure schematic diagram is shown;

[0024] Figure 4 The carrier plate jig structure schematic diagram is shown;

[0025] Figure 5 The carrier plate jig bottom surface structure schematic diagram is shown

[0026] Figure 6 The tool transfer module structure schematic diagram is shown;

[0027] Figure 7 The tool carrying module structure schematic diagram is shown;

[0028] Figure 8 The detection transplanting module structure schematic diagram is shown;

[0029] Figure 9 The detection modification module structure schematic diagram is shown;

[0030] Wherein, 1-machine table, 2-die tooling fixture, 3-shaking die detection camera, 31-mounting frame, 100-die feeding module, 110-support, 120-bin, 130-hopper, 140-feeding vibrator, 150-hopper jacking mechanism, 160-weighing sensor, 200-shaking die module, 210-first robot arm, 220-plate jig, 221-load frame, 222-electric cylinder, 223-moving frame, 224-sieve plate, 2241-sieve hole, 225-linear guide rail, 226-bottom plate, 2261-die hole, 227-cylinder, 228-mounting plate, 229-movable expanding nozzle, 300-tooling transfer module, 310-tooling Y-axis transplanting module, 320-moving platform, 330-station switching cylinder, 340-station plate, 350-limiting baffle, 360-positioning cylinder, 370-pushing plate, 400-tooling carrying module, 410-support frame, 420-X-axis linear carrying module, 430-tooling gripping, 440-Z-axis lifting module, 500-detection transplanting module, 510-tooling X-axis transplanting module, 520-overturning base, 521-overturning motor, 522-overturning plate, 523-overturning shaft, 530-mounting plate, 540-fixing seat, 550-synchronous belt mechanism, 560-limiting baffle, 570-limiting cylinder, 571-baffle, 600-detection modification module, 610-second robot arm, 611-detection camera, 612-die suction cup, 613-lifting cylinder mechanism, 620-supplementary die platform, 630-problem die box, 700-cleaning module, 710-cover, 720-blowing rod, 800-die recycling box. DETAILED DESCRIPTION

[0031] The embodiments described below are exemplary only, and are not to be construed as limiting the present application.

[0032] In the description of the present application, it needs to be understood that the terms "upper", "lower", "front", "back", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0033] In the description of the present application, it needs to be understood that, unless otherwise explicitly specified and limited, the terms "provided", "connected" and the like should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, can be electrically connected; can be directly connected, can be indirectly connected through an intermediate medium, and can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood through specific circumstances.

[0034] Referring to Figures 1-2 A grain alignment detection device of the embodiment is shown, which comprises a machine table 1, a grain supply module 100, a grain shaking module 200, a tool transfer module 300, a tool carrying module 400, a detection transplanting module 500, a detection modification module 600, a cleaning module 700 and a grain shaking detection camera 3.

[0035] The grain supply module 100 is fixed to one side of the surface of the machine table 1 through a support 110, and is used for storing materials and conveying to the grain shaking module 200. Figure 3 The grain supply module 100 comprises a stock bin 120, a hopper 130, a supply vibrator 140, a hopper lifting mechanism 150 and a weighing sensor 160. The bottom of the stock bin 120 is connected to the supply vibrator 140, which is arranged on the support frame 110. The hopper 130 is arranged on the support frame 110 through a mounting seat on one side of the supply vibrator 140. The hopper 130 is a strip-shaped channel, one end of which is connected to the hopper lifting mechanism 150, which is preferably a pneumatic cylinder mechanism in this embodiment. The hopper lifting mechanism 150 can drive one end of the hopper 130 to lift, so as to adjust the inclination angle of the other end of the hopper 130. The weighing sensor 160 is arranged below the hopper 130, and is used for weighing the weight of the grains in the hopper 130. In operation, the grains are directly poured into the stock bin 120, and the supply vibrator 140 is started to shake the grains in the stock bin 120 onto the hopper 130. At this time, the end of the hopper 130 close to the discharge port of the grain shaking module 200 is high. When the weighing sensor 160 senses a certain amount, the vibration supply is stopped. The amount is set according to specific requirements. The grain shaking module 200 moves to the discharge port of the hopper 130. The hopper lifting mechanism 150 preferably uses a lifting cylinder. The lifting cylinder is started, and the end of the hopper 130 close to the discharge port of the grain shaking module 200 is lowered, and the grains naturally fall into the grain shaking module 200.

[0036] In this embodiment, the supply system of the stock bin 120 and the hopper 130 is preferably provided with two groups, which can further improve the efficiency, or different P-type and N-type grains can be placed in the stock bin 120 respectively, and the corresponding grain shaking module 200 also has two sets of structures for connecting the grains.

[0037] Preferably, the grain shaking module 200 comprises a first robot arm 210 and a carrier plate jig 220 connected thereto. The first robot arm 210 is fixed on the machine table 1, and the carrier plate jig 220 connected thereto is used for connecting the grains conveyed from the grain supply module 100. The first robot arm 210 shakes the grains in the carrier plate jig 220 to be aligned and then transfers them to the tool transfer module 300.

[0038] Referring to Figures 4-5The carrier plate jig 220 in the shakeout module 200 includes a carrier frame 221, a moving sieve plate module, a bottom plate 226, and a lifting channel module. The bottom plate 226 is fixed to the bottom surface of the carrier frame 221 and occupies half of the bottom surface. The bottom plate 226 is provided with regularly arranged die holes. The moving sieve plate module includes an electric cylinder 222, a moving frame 223, and a sieve plate 224. The moving frame 223 is arranged in the carrier frame 221. The electric cylinder 222 is connected to the moving frame 223 and can drive the moving frame 223 to move back and forth in a linear guide rail 225 in the carrier frame 221. The sieve plate 224 is arranged at the bottom of the moving frame 223. The sieve plate 224 is located on the same side of the carrier frame 221 as the bottom plate 226, and a height gap is provided between the sieve plate 224 and the bottom plate 226 for smooth movement of the sieve plate 224 above the bottom plate 226. The height gap is smaller than the size of the die, so that the die can slide into the gap. The sieve plate 224 is provided with regularly arranged sieve holes 2241. The arrangement and number of the sieve holes 2241 are the same as those of the die holes 2261. The relative positions of the sieve holes 2241 and the die holes 2261 are staggered. The moving sieve plate 224 can make the sieve holes 2241 correspond to the die holes 2261 one by one, so that the dies on the sieve plate 224 can fall from the sieve holes 2241 and the die holes 2261 to the die tooling jig 2. The die tooling jig 2 has holes arranged in the same way as the sieve holes 2241 and the die holes 2261 for corresponding to receive the aligned dies. The holes in the die tooling jig 2, the sieve holes 2241, and the die holes 2261 in the drawings are only schematic and can be arranged according to actual needs and then replaced.

[0039] When the dies on the connecting hopper 130 fall into the carrier frame 221, the sieve plate 224 and the holes in the bottom plate 226 are vertically staggered to prevent the dies from leaking directly from the carrier plate jig 220. After the die feeding is completed, the first robot arm 210 vibrates the carrier plate jig 220 to make the dies enter the sieve holes 2241 of the sieve plate 224. After a certain period of time, the first robot arm 210 drives the carrier plate jig 220 to the lower side of the die shake detection camera 3 to detect the presence of the dies in the sieve holes on the sieve plate 224. If there are empty holes or multiple dies, the dies are shaken to one die per hole on the sieve plate 224. The electric cylinder 222 drives the moving sieve plate 224 to make the sieve holes 2241 correspond to the die holes 2261 one by one, so that the dies on the sieve plate 224 can fall from the sieve holes 2241 and the die holes 2261 to the die tooling jig 2. The die shake detection camera 3 is arranged on the top of the equipment through a mounting frame 31.

[0040] In addition, the lifting channel module includes a cylinder 227, a mounting plate 228 and a movable nozzle 229. The mounting plate 228 is arranged above the carrier frame 221. The fixed end of the cylinder 227 is connected to the mounting plate 228. The piston end is connected to the movable nozzle 229. The cylinder 227 can drive the movable nozzle 229 to extend out of the carrier frame 221 from the bottom and retract into the carrier frame 221 on the side of the carrier frame 221 without the bottom plate 226. When the dies are dropped from the carrier fixture 220 to the die fixture 2 on the workpiece transfer module 300, i.e. after the alignment, the first robot arm 210 can move the carrier fixture 220 to the cleaning module 700. The cleaning module 700 is arranged on the machine table 1 and within the moving range of the first robot arm 210. The cleaning module 700 includes a cover 710 and a blowing rod 720. The cylinder 227 of the lifting channel module is activated to push the movable nozzle 229 to descend, forming a channel to the inside of the carrier fixture 220. Thus, the blowing rod 720 is inserted into the movable nozzle 229 to blow and clean the residual dies in the carrier fixture 220, so as to perform a new round of die alignment.

[0041] Referring to Figure 6 The workpiece transfer module 300 includes a workpiece Y-axis transfer module 310 and a positioning platform. The positioning platform is arranged on the workpiece Y-axis transfer module 310 and is used to carry the die fixture 2 to connect the dies transferred from the die alignment module 200. The positioning platform of the workpiece transfer module 300 includes a moving platform 320, a station switching cylinder 330 and a station plate 340. The moving platform 320 is installed on the workpiece Y-axis transfer module 310 and can move in the Y-axis direction under the driving of the workpiece Y-axis transfer module 310. The station switching cylinder 330 is arranged on the moving platform 320. The station plate 340 is divided into two workpiece stations. The station plate 340 is arranged at the movable end of the station switching cylinder 330 and can switch between the two stations under the driving of the station switching cylinder 330. A pair of limiting bars 350 is arranged on each station of the station plate 340. The two limiting bars 350 are arranged at a right angle. A positioning cylinder 360 is arranged below the station plate 340 in the direction opposite to the included angle between the two limiting bars 350. The movable end of the positioning cylinder 360 is connected to a push plate 370. After one end of the die fixture 2 is placed on the workpiece station of the station plate 340 with the limiting bar 350 as a reference, the positioning cylinder 360 drives the push plate 370 to retract and block the die fixture 2, so as to fix the die fixture 2 on the workpiece station.

[0042] Referring to Figure 7, the tool carrying module 400 includes a support frame 410, an X-axis linear carrying module 420, a tool gripper 430 and a Z-axis lifting module 440, the support frame 410 is arranged on the machine table 1, the X-axis linear carrying module 420 is arranged on the support frame 410 and is arranged above the tool Y-axis transplanting module 310, the tool gripper 430 is movably arranged on the X-axis linear carrying module 420 through the Z-axis lifting module 440 and is used for carrying the die tooling to the detection transplanting module 500. In addition, the die tooling 2 is also transported from the die tooling feeding place to the tool transfer station in the tool transfer module 300 by the tool carrying module 400.

[0043] Referring to Figure 8 , the detection transplanting module 500 includes a tool X-axis transplanting module 510 and a turnover base 520, the tool X-axis transplanting module 510 is arranged on the machine table 1 and is parallel to the X-axis linear carrying module 420, the turnover base 520 is movably arranged on the tool X-axis transplanting module 510 and is used for carrying the die tooling 2 and unloading the die tooling 2. Preferably, the turnover base 520 of the detection transplanting module 500 includes a turnover motor 521, a turnover plate 522 and a turnover shaft 523, the turnover base 520 is arranged on the tool X-axis transplanting module 510 through a mounting plate 530, the turnover motor 521 is fixed on the mounting plate 530 through a fixed seat 540, is connected with the turnover shaft 523 through a synchronous belt mechanism 550 and drives the turnover shaft 523 to rotate, the turnover plate 522 is connected with the turnover shaft 523 and can realize the turnover of the die tooling 2 on the turnover plate 522 under the driving of the turnover shaft 523. A pair of limiting baffle plates 560 are arranged on the turnover plate 522, the two limiting baffle plates 560 are arranged at right angles, a limiting cylinder 570 is further arranged below the turnover plate 522 in the direction of the included angle of the two limiting baffle plates 560, and the movable end of the limiting cylinder 570 is connected with a mounting baffle plate 571. After one end of the die tooling 2 is placed on the tool station on the turnover plate 522 with the limiting baffle plate 560 as a reference, the limiting cylinder 570 drives the baffle plate 571 to retract and blocks the die tooling 2, so as to fix the die tooling 2 on the tool station.

[0044] Referring to Figure 9The detection modification module 600 comprises a second robot arm 610, a detection camera 611, a die suction disc 612, a supplementary die platform 620 and a problem die box 630. The detection camera 611 and the die suction disc 612 are arranged on the second robot arm 610, and the supplementary die platform 620 and the problem die box 630 are arranged on the machine table 1. The detection camera 611 is used to check whether the appearance of the dies in the die tooling jig 2 on the detection modification module 600 is qualified, and the die suction disc 612 is used to transfer the dies between the supplementary die platform 620, the problem die box 630 and the die tooling jig 2. Preferably, the die suction disc 612 in the detection modification module 600 is arranged on the second robot arm 610 through a lifting cylinder mechanism 613. The die suction disc 612 is arranged in a plurality of groups, and the lifting cylinder mechanisms 613 in each group are independent of each other.

[0045] When detection is performed, the detection transplanting module 500 receives the die tooling jig 2 from the tooling clamping 430, the limiting cylinder 570 positions and fixes the die tooling jig 2, the tooling X-axis transplanting module 510 drives the turnover base 520 to move to a detection position as a whole, the second robot arm 610 moves to the detection position and performs appearance detection on the dies on the die tooling jig 2 by the detection camera 611. When a die with appearance defects or damage is found, the die suction disc 612 is lowered to suck the problem die and then is raised. The second robot arm 610 moves to the problem die box 630 to place the problem die thereon, and then moves to the supplementary die platform 620 to suck the qualified dies and moves them to the problem die empty position in the die tooling jig 2. After the detection and modification are completed, the turnover base 520 moves to a discharging position as a whole, a substrate is manually attached on the die tooling jig 2, and the turnover plate 522 is turned over to complete the discharging.

[0046] In addition, the device machine table 1 in the embodiment further comprises a die recycling box 800 arranged below the hopper 130 in the die feeding module 100 to recycle the vibrationally dropped dies. When the die recycling box 800 is full, the die recycling box 800 can be manually pulled out by a handle.

[0047] In addition, it should be noted that the device of the present application further comprises a control unit (not shown in the figure, which does not affect the understanding) and an image analysis system. Each module is electrically connected to the control unit and completes the entire automatic work under the control of the control unit. In the embodiment, the control unit can be an industrial computer based on a programmable logic controller (PLC). Here, the control unit will not be described in detail, which does not affect the understanding of the present application, and therefore will not be described in detail here.

[0048] Any reference to "the embodiment" or "this embodiment" means that a particular element, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in at least one embodiment" in various places in the specification are not necessarily all referring to the same embodiment. Furthermore, when a particular element, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the purview of one of ordinary skill in the art to effect such element, structure, or characteristic in connection with other

[0049] While the application has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in the form and details of the application can be made therein without departing from the spirit and scope of the application. In particular, it will be understood that various modifications and improvements can be made in the arrangement of the parts and / or the layout of the dependent combinations, within the scope of the foregoing disclosure, the drawings and the claims, without departing from the spirit of the application. Other than the modifications and improvements, the scope of the application is defined by the claims and their equivalents.

Claims

1. A grain alignment inspection apparatus characterized by comprising: Includes machine base (1), control unit, The die feeding module (100) is fixed to one side of the machine base (1) by a bracket (110) and is used to hold the die preparation material and convey it to the crystal shaking module (200); The crystal shaking module (200) includes a first robotic arm (210) and a carrier fixture (220) connected thereto. The first robotic arm (210) is fixed on the machine base (1), and the carrier fixture (220) connected thereto is used to receive the crystals delivered by the crystal feeding module (100). The first robotic arm (210) shakes and arranges the crystals in the carrier fixture (220) and then transfers them to the tooling transfer module (300). The carrier fixture in the crystal shaking module (200) (220) includes a carrier frame (221), a movable sieve plate module, a base plate (226), and a lifting channel module. The base plate (226) is fixed to the bottom surface of the carrier frame (221) and occupies half of the bottom surface. The base plate (226) is provided with regularly arranged grain holes. The movable sieve plate module includes an electric cylinder (222), a movable frame (223), and a sieve plate (224). The movable frame (223) is set inside the carrier frame (221). The electric cylinder (222) is connected to the movable frame (223) and can drive the movable frame (224) to move. The frame (223) moves back and forth in a linear motion within the carrier frame (221) guided by a linear guide rail (225). The sieve plate (224) is located at the bottom of the moving frame (223). The sieve plate (224) and the bottom plate (226) are located on the same side within the carrier frame (221), with a height gap between them. The height gap is smaller than the grain size. The sieve plate (224) is provided with regularly arranged sieve holes. The arrangement and number of sieve holes are the same as those of the grain holes. The relative positions of the sieve holes and the grain holes are staggered. The lifting channel module includes a cylinder (227), a mounting plate (228), and a movable nozzle (229). The mounting plate (228) is set above the frame (221). The fixed end of the cylinder (227) is connected to the mounting plate (228), and the piston end is connected to the movable nozzle (229). The cylinder (227) can drive the movable nozzle (229) to extend from the bottom of the frame (221) and retract from the frame (221) on the side of the frame (221) without the bottom plate (226). The tooling transfer module (300) includes a tooling Y-axis transfer module (310) and a positioning platform. The positioning platform is set on the tooling Y-axis transfer module and is used to carry the die tooling fixture (2) and connect the die transferred from the crystal shaking module (200). The tooling handling module (400) is used to move the die tooling fixture to the inspection and transfer module (500). The detection transfer module (500) is used to carry the die tooling fixture (2) and the unloading and flipping die tooling fixture (2); The inspection and modification module (600) includes a second robotic arm (610), an inspection camera (611), a die chuck (612), a replenishment die platform (620), and a problem die box (630). The inspection camera (611) and the die chuck (612) are mounted on the second robotic arm (610), and the replenishment die platform (620) and the problem die box (630) are mounted on the machine tool (1). The inspection camera (611) is used to check whether the appearance of the die in the die tooling fixture (2) on the inspection and modification module (600) is qualified. The die chuck (612) is used to adsorb the die and transfer it between the replenishment die platform (620) and the die tooling fixture (2). It also includes a cleaning module (700), which is set on the machine (1) and located within the range of motion of the first robot arm (210). The cleaning module (700) includes a cover (710) and an air blower (720). The air blower (720) is inserted from the movable nozzle (229) to blow away the residual crystal material inside the carrier plate fixture (220).

2. The grain alignment inspection apparatus according to claim 1, characterized by The grain feeding module (100) includes a hopper (120), a feed vibrator (130), a feed vibrator (140), a hopper lifting mechanism (150), and a weighing sensor. The bottom of the hopper (120) is connected to the feed vibrator (140), which is mounted on a support (110). The hopper (130) is located on one side of the feed vibrator (140) and is mounted on the support (110) via a mounting seat. The hopper (130) is a strip-shaped channel, with one end connected to the hopper lifting mechanism (150). The hopper lifting mechanism (150) can drive one end of the hopper (130) to rise and fall, thereby adjusting the tilt angle of the other end of the hopper (130). The weighing sensor (160) is located below the hopper (130) and is used to weigh the grains in the hopper (130).

3. The grain alignment inspection apparatus according to claim 1, characterized by The positioning platform of the tooling transfer module (300) includes a moving platform (320), a workstation switching cylinder (330), and a workstation plate (340). The moving platform (320) is installed on the tooling Y-axis transfer module (310) and can perform translational movement in the Y-axis direction under its drive. The workstation switching cylinder (330) is set on the moving platform (320). The workstation plate (340) is divided into two tooling workstations. The workstation plate (340) is set at the movable end of the workstation switching cylinder (330) and can switch between the two workstations left and right when it is activated. A pair of limit bars (350) are set on each workstation of the workstation plate (340). The two limit bars (350) are placed at right angles. A positioning cylinder (360) is also set at the position below the workstation plate (340) relative to the angle direction of the two limit bars (350). The movable end of the positioning cylinder (360) is connected to the push plate (370).

4. The grain alignment detection equipment according to claim 3, characterized in that, The tooling handling module (400) includes a support frame (410), an X-axis linear handling module (420), a tooling gripper (430), and a Z-axis lifting module (440). The support frame (410) is mounted on the machine base (1). The X-axis linear handling module (420) is mounted on the support frame (410) and spans across the tooling Y-axis transfer module (310). The tooling gripper (430) is movably mounted on the X-axis linear handling module (420) via the Z-axis lifting module (440).

5. The grain alignment detection equipment according to claim 1, characterized in that, The inspection and transplanting module (500) includes a tooling X-axis transplanting module (510) and a flipping base (520). The tooling X-axis transplanting module (510) is set on the machine tool (1) and parallel to the X-axis linear transport module (420). The flipping base (520) is movably set on the tooling X-axis transplanting module (510).

6. The grain alignment detection equipment according to claim 5, characterized in that, The flip base (520) of the detection transplant module (500) includes a flip motor (521), a flip plate (522), and a flip shaft (523). The flip base (520) is mounted on the tooling X-axis transplant module (510) via a mounting plate (530). The flip motor (521) is fixed on the mounting plate (530) via a fixing seat (540) and is connected to the flip shaft (523) via a synchronous belt mechanism (550) to drive the flip shaft (523) to rotate. The flip plate (522) 522) Connect to the flipping shaft (523), and the flipping plate (522) can be flipped under the drive of the flipping shaft (523); a pair of limit baffles (560) are provided on the flipping plate (522), the two limit baffles (560) are placed at right angles, and a limit cylinder (570) is also provided at the position below the flipping plate (522) relative to the angle direction of the two limit baffles (560), and the movable end of the limit cylinder (570) is connected to the baffle (571).

7. The grain alignment detection equipment according to claim 1, characterized in that, The grain suction cup (612) in the detection and modification module (600) is set on the second robot arm (610) through the lifting cylinder mechanism (613). The grain suction cup (612) is set in more than one group, and the lifting cylinder mechanism (613) of each group is independent of each other.

8. The grain alignment detection equipment according to claim 1, characterized in that, It also includes a crystal shaking detection camera, which is mounted on the top of the equipment via a mounting bracket, for detecting the state of the crystals present in the sieve holes on the sieve plate (224) in the carrier plate fixture (220).

9. The grain alignment detection equipment according to claim 1, characterized in that, The machine (1) is also equipped with a waste recycling box (800).

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