A delivery device

Abstract

The application discloses a conveying device, a first photographing mechanism acquires the placement position of a product to be detected on a feeding disc, so that a taking and placing mechanism moves to the placement position through a moving mechanism to suck the product to be detected, and acquires the to-be-placed position of a detected product on a discharging disc, so that the taking and placing mechanism places the detected product on the discharging disc on the to-be-placed position; a second photographing mechanism acquires the angle and position of the product to be detected or the detected product sucked by the taking and placing mechanism in the process that the taking and placing mechanism transfers the product to be detected or the detected product, so as to determine the rotation angle of the taking and placing mechanism, and make the taking and placing mechanism rotate the product to be detected or the detected product according to the rotation angle, which can accurately suck and place the product to be detected or the detected product, and also does not need to be positioned twice, thereby reducing the complexity of the control process, improving the conveying efficiency, and reducing the cost.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, specifically to a conveying device. Background Technology

[0002] Currently, when conveying products from a tray to a loading platform, from a loading platform to a testing fixture, and from a loading platform to a tray, it is difficult to determine the exact placement position and angle of the product. This makes it impossible to accurately pick up or place the product, thus affecting the product transportation. Alternatively, it may require secondary positioning of the product, resulting in a complex control process, low transportation efficiency, and significantly increased costs. Summary of the Invention

[0003] In view of this, this application provides a conveying device to solve the problems that existing conveying devices cannot accurately pick up or place products, thus affecting product transportation, or require secondary positioning of products, resulting in complex control processes, low transportation efficiency, and significantly increased costs.

[0004] This application provides a conveying device, including a frame and a handling device, a bottom flapping device, a loading tray, a unloading tray, a loading platform device and an unloading platform device disposed on the frame;

[0005] The conveying device includes a moving mechanism, a material picking and placing mechanism, and a first photographing mechanism. The material picking and placing mechanism is disposed on the moving mechanism, and the first photographing mechanism is disposed on the material picking and placing mechanism. The bottom surface flying photographing device includes a second photographing mechanism.

[0006] The first photographing mechanism is used to acquire the placement position of the product to be inspected on the loading tray, so that the picking and placing mechanism can move to the placement position through the moving mechanism and pick up the product to be inspected; and is used to acquire the placement position of the inspected product on the unloading tray, so that the picking and placing mechanism can place the inspected product on the unloading platform device at the placement position through the moving mechanism.

[0007] The second photographing mechanism is used to acquire the angle of the product to be inspected or the product already inspected picked up by the picking and placing mechanism and the relative position of the product to be inspected or the product already inspected with the picking and placing mechanism in the horizontal and vertical directions during the process of the picking and placing mechanism transferring the product to be inspected or the product already inspected, so as to determine the rotation angle of the picking and placing mechanism in rotating the product to be inspected or the product already inspected, and to make the picking and placing mechanism rotate the product to be inspected or the product already inspected according to the rotation angle.

[0008] The loading platform device is used to carry and transport the product to be tested picked up from the loading tray by the picking and unloading mechanism;

[0009] The unloading platform device is used to carry and transport the inspected products picked up from the inspection mechanism by the picking and unloading mechanism.

[0010] Optionally, the second imaging mechanism is specifically used to acquire the angle of the product to be inspected picked up by the picking and placing mechanism from the loading platform device and the relative position of the product to be inspected and the picking and placing mechanism in the horizontal and vertical directions during the process of the picking and placing mechanism moving from the loading platform device to the detection mechanism, so as to determine the rotation angle of the picking and placing mechanism to rotate the product to be inspected, and to make the picking and placing mechanism rotate the product to be inspected according to the rotation angle;

[0011] During the process of the material handling mechanism moving from the unloading platform to the unloading tray, the angle of the detected product picked up by the material handling mechanism from the unloading platform and the relative position of the detected product and the material handling mechanism in the lateral and longitudinal directions are obtained, so as to determine the rotation angle of the material handling mechanism to rotate the detected product, and to make the material handling mechanism rotate the detected product according to the rotation angle.

[0012] Optionally, the moving mechanism includes a loading lateral moving mechanism, a loading longitudinal moving mechanism, a unloading lateral moving mechanism, and an unloading longitudinal moving mechanism; the picking and placing mechanism includes a loading robot and an unloading robot; the first photographing mechanism includes a loading photographing mechanism and an unloading photographing mechanism;

[0013] The feeding lateral movement mechanism includes a feeding lateral motion drive assembly and a feeding linear guide rail assembly; the feeding lateral motion drive assembly and the feeding linear guide rail assembly are arranged laterally; the feeding longitudinal movement mechanism is connected to the feeding lateral motion device and the feeding linear guide rail assembly respectively; the feeding robot is connected to the feeding longitudinal movement mechanism, and the feeding photography mechanism is connected to the feeding robot;

[0014] The material unloading lateral movement mechanism includes a material unloading lateral motion drive assembly and a material unloading linear guide rail assembly; the material unloading lateral motion drive assembly and the material unloading linear guide rail assembly are arranged laterally; the material unloading longitudinal movement mechanism is connected to the material unloading lateral motion device and the material unloading linear guide rail assembly respectively; the material unloading robot is connected to the material unloading longitudinal movement mechanism, and the material unloading photographing mechanism is connected to the material unloading robot.

[0015] Optionally, both the loading lateral motion drive assembly and the unloading lateral motion drive assembly include a bidirectional linear motor, a first sliding connector, and a second sliding connector; the first sliding connector and the second sliding connector are both connected to the bidirectional linear motor, and the bidirectional linear motor is used to drive the first sliding connector and the second sliding connector to move independently; a first sensor is provided at each end of the bidirectional linear motor.

[0016] The feeding linear guide assembly and the unloading linear guide assembly each include a linear guide, a third sliding connector and a fourth sliding connector, and the third sliding connector and the fourth sliding connector are slidably connected to the linear guide.

[0017] Optionally, the feeding longitudinal moving mechanism includes a first feeding longitudinal moving module and a second feeding longitudinal moving module; the first feeding longitudinal moving module is connected to a first sliding connector of the feeding transverse moving mechanism and a third sliding connector of the feeding linear guide assembly; the second feeding longitudinal module is connected to a second sliding connector of the feeding transverse moving mechanism and a fourth sliding connector of the feeding linear guide assembly; a second sensor is provided at one end of the first feeding longitudinal moving module and at one end of the second feeding longitudinal moving module.

[0018] The loading robot includes a first loading robot and a second loading robot; the first loading robot is mounted on the first loading longitudinal moving module, the loading photography mechanism is mounted on the first loading robot, and the second loading robot is mounted on the second loading longitudinal moving module.

[0019] Optionally, the longitudinal feeding mechanism includes a first longitudinal feeding module and a second longitudinal feeding module; the first longitudinal feeding module is connected to a first sliding connector of the longitudinal feeding mechanism and a third sliding connector of the linear feeding guide assembly; the second longitudinal feeding module is connected to a second sliding connector of the longitudinal feeding mechanism and a fourth sliding connector of the linear feeding guide assembly; a third sensor is provided at one end of the first longitudinal feeding module and at one end of the second longitudinal feeding module.

[0020] The unloading robot includes a first unloading robot and a second unloading robot; the first unloading robot is installed under the first unloading longitudinal movement module, the unloading photography mechanism is installed on the first unloading robot, and the second unloading robot is installed on the second unloading longitudinal movement module.

[0021] Optionally, the first loading robot, the second loading robot, the first unloading robot, and the second unloading robot all include a suction mechanism and a suction lifting mechanism;

[0022] The material suction lifting mechanism includes a first support plate and at least one material suction lifting component disposed on the first support plate; each material suction mechanism includes a connecting component, a rotating component and a suction nozzle, the connecting component is connected to the material suction lifting component so that the material suction lifting component drives the connecting component to move up and down in the vertical direction; the rotating component is fixed on the connecting component and is connected to the suction nozzle so that the rotating component drives the suction nozzle to rotate around the vertical axis.

[0023] Optionally, the material suction lifting assembly includes a first lifting drive unit, a drive wheel, a driven wheel, a synchronous belt, and a lifting linear guide rail; the drive wheel and the driven wheel are arranged vertically, and the synchronous belt passes around the drive wheel and the driven wheel; the first lifting drive unit is connected to the drive wheel, the lifting linear guide rail is located below the driven wheel, and a sliding first slider is provided on the lifting linear guide rail; a fourth sensor is provided above the drive wheel, and a first sensing plate is provided on one side of the drive wheel;

[0024] The connecting components of each suction mechanism are fixedly connected to the corresponding synchronous belt, and the rotating components of each suction mechanism are connected to the first slider on the corresponding lifting linear guide rail.

[0025] Optionally, the rotating assembly includes a hollow shaft, a rotating drive component, a rotary joint, a suction nozzle connecting rod, a vacuum valve, and an air passage;

[0026] The suction nozzle connecting rod is connected to the rotary drive component, which is also connected to the first slider on the corresponding lifting linear guide rail. The rotary joint is connected to the rotary motor through the hollow shaft. The suction nozzle is mounted on the hollow shaft. The vacuum valve is connected to the suction nozzle through the air passage, and a regulating valve is provided on the air passage. A fifth sensor is also provided on one side of the rotating head, and a second sensing plate is provided on the rotating head.

[0027] Optionally, the suction lifting assembly further includes a spring, one end of which is connected to the top of the suction mechanism connecting rod, and the other end of which is connected to the first support plate.

[0028] Optionally, the connecting assembly includes a clamping block and a connecting plate disposed on the top of the nozzle connecting rod, and the timing belt is fixed between the clamping block and the connecting plate.

[0029] Optionally, the material suction lifting assembly further includes a timing belt tensioning slider, which is located below the driving wheel, and the driven wheel is mounted on the timing belt tensioning slider.

[0030] Optionally, the first loading robot and the first unloading robot have 6 suction mechanisms and suction lifting mechanisms, and the second loading robot and the second unloading robot have 3 suction mechanisms and suction lifting mechanisms.

[0031] Optionally, both the loading and unloading photography mechanisms include a base plate, a first camera lifting mechanism, a first camera, a first light source, and a first light source lifting mechanism.

[0032] The first light source lifting mechanism is connected to the first light source to drive the first light source to move up and down in the vertical direction; the first camera lifting mechanism is connected to the first camera to drive the first camera to move up and down in the vertical direction.

[0033] The first light source lifting mechanism and the first camera lifting mechanism are mounted on the base plate, with the first light source lifting mechanism located below the first camera lifting mechanism.

[0034] Optionally, the first camera lifting mechanism includes an electric slide and a first slide connecting plate disposed on the electric slide; the electric slide is connected to the base plate, and the first slide connecting plate is connected to the first camera.

[0035] Optionally, the first light source lifting mechanism includes a first fastener and a first light source connector; a first waist hole is provided on the base plate in the vertical direction, and the first fastener passes through the first waist hole and connects to the first light source connector.

[0036] Optionally, the number of the second photographing mechanisms is two, and each second photographing mechanism includes a second support plate, a second camera lifting mechanism, a second camera, a second light source, and a second light source lifting mechanism;

[0037] The second light source lifting mechanism is connected to the second light source to drive the second light source to move up and down in the vertical direction; the second camera lifting mechanism is connected to the second camera to drive the second camera to move up and down in the vertical direction.

[0038] The second light source lifting mechanism and the second camera lifting mechanism are mounted on the second support plate, with the second light source lifting mechanism located above the second camera lifting mechanism.

[0039] Optionally, the second camera lifting mechanism includes a fine-tuning slide and a second slide connecting plate slidably connected to the fine-tuning slide; the fine-tuning slide is fixed on the second support plate, and the second slide connecting plate is connected to the second camera.

[0040] Optionally, the second light source lifting mechanism includes a second fastener and a second light source connector; a second waist hole is provided on the second support plate in the vertical direction, and the second fastener passes through the second waist hole and is connected to the second light source connector.

[0041] Optionally, both the loading platform device and the unloading platform device include a sliding cylinder and a cylinder connecting plate. The sliding cylinder is connected to the cylinder connecting plate to drive the cylinder connecting plate to move laterally. A sixth sensor is provided at one end of the sliding cylinder.

[0042] The cylinder connecting plate is provided with a carrier plate, the carrier plate is provided with an opening, and a pipe joint is connected to the lower part of the opening. The pipe joint is used to communicate with the negative pressure device.

[0043] Optionally, the number of openings is two groups; each group of openings consists of six openings arranged in a straight line.

[0044] Optionally, the conveying equipment further includes a tray conveying device, which includes a loading tray conveying device; the loading tray conveying device includes a first conveying mechanism, a first clamping mechanism, a loading tray support mechanism, and a first lifting mechanism; the loading tray support mechanism is disposed on the first conveying mechanism; a first blocking mechanism is provided at the end of the first conveying mechanism, and the first lifting mechanism is disposed opposite to the first blocking mechanism; the first clamping mechanism is located on the first conveying mechanism at a position corresponding to the first lifting mechanism.

[0045] Optionally, the number of the first conveying mechanisms is two, and the two first conveying mechanisms are arranged side by side.

[0046] Optionally, the feeding tray includes a good product feeding tray and a defective product feeding tray; the feeding tray conveying device further includes a good product feeding tray conveying device for conveying the good product feeding tray and a defective product feeding tray conveying device for conveying the defective product feeding tray.

[0047] Both the good product unloading tray conveying device and the defective product unloading tray conveying device include a second conveying mechanism, an unloading tray support mechanism, a second clamping mechanism, a positioning mechanism, and a second lifting mechanism; the second clamping mechanism, the unloading tray support mechanism, and the positioning mechanism are disposed on the second conveying mechanism, and the unloading tray support mechanism is located between the clamping mechanism and the positioning mechanism; the second lifting mechanism is located below the support mechanism; a second blocking mechanism is provided on the side of the second lifting mechanism near the positioning mechanism.

[0048] Optionally, the second blocking mechanism includes an adjusting base, a mounting plate, a third fastener, a first blocking plate, a first blocking plate lifting drive unit, and a track; the track is arranged in a vertical direction, and a sliding second slider is provided on the track, the second slider being connected to the first blocking plate lifting drive unit;

[0049] The adjusting base has a third waist hole, the direction of which is parallel to the arrangement direction of the second conveying mechanism, and the third fastener passes through the third waist hole and connects to the bottom of the mounting plate.

[0050] Optionally, the first conveying mechanism and the second conveying mechanism include a first conveying component, a spacing adjustment component, a power component, and a second conveying component;

[0051] The first conveying component and the second conveying component are arranged side by side, and the spacing adjustment component is drivenly connected to the first conveying component and the second conveying component respectively, and the power component is drivenly connected to the first conveying component and the second conveying component respectively.

[0052] Optionally, the first conveying assembly includes a first belt fixing plate and a first belt. The side wall of the first belt fixing plate is provided with a first driving wheel and a first driven wheel. The first driving wheel is connected to the first driven wheel through the first belt.

[0053] The second conveying device includes a second belt fixing plate and a second belt. On the side wall of the second belt fixing plate opposite to the first belt fixing plate, there is a second driving wheel corresponding to the first driving wheel and a second driven wheel corresponding to the first driven wheel. Seventh sensors are respectively provided at both ends of the first belt fixing plate.

[0054] Optionally, the power assembly includes a first drive member and a ball spline. The first drive member is connected to the key shaft of the ball spline. Two spline shaft nuts are disposed on the key shaft, one of which is connected to the first drive wheel, and the other of which is connected to the second drive wheel.

[0055] Optionally, the first driving component includes a fixed plate, a motor, a coupling, and a motor connecting rod; the motor is mounted on the outside of the fixed plate via the motor connecting rod, and the motor shaft is connected to the key shaft of the ball spline via the coupling.

[0056] Optionally, a first bearing is also provided on the side wall of the first belt fixing plate opposite to the second belt fixing plate;

[0057] The spacing adjustment device includes a connecting base plate, a trapezoidal lead screw, and a handwheel; the trapezoidal lead screw is provided with a lead screw nut, one end of the trapezoidal lead screw passes through the fixing plate and is connected to the first bearing, and the other end of the trapezoidal lead screw is connected to the handwheel; the lead screw nut is connected to the second belt fixing plate;

[0058] One side of the connecting base plate is connected to the bottom of the first belt fixing plate. The connecting base plate is provided with a track, which is perpendicular to the first belt fixing plate and the second belt fixing plate. A sliding third slider is provided on the track, and the third slider is connected to the bottom of the second belt fixing plate.

[0059] Optionally, the handwheel is further provided with a locking nut for securing the handwheel.

[0060] Optionally, the upper part of the first belt fixing plate is provided with a first guide plate, and the upper part of the second belt fixing plate is provided with a second guide plate; the first belt fixing plate is also provided with a first belt support plate to support the first belt, and the second belt fixing plate is also provided with a second belt support plate to support the second belt.

[0061] Optionally, the first lifting mechanism and the second lifting mechanism include a pallet lifting drive unit, a support frame and a pallet; the support frame is provided with a push plate connected to the pallet lifting drive unit inside, and two guide shafts are provided on the push plate, the top ends of the two guide shafts pass through the support frame and are connected to the pallet; an eighth sensor is provided at the upper and lower parts of the support frame, and a third sensor plate is provided on the side of the push plate near the eighth sensor.

[0062] Optionally, the feeding tray support mechanism and the unloading tray support mechanism include a first support component disposed on the first belt fixing plate and a second support component disposed on the second belt fixing plate, wherein the first support component is located above the first belt and the second support component is located above the second belt;

[0063] Both the first support assembly and the second support assembly include a first telescopic drive part, a support block, a first telescopic drive part connector, a first limiting plate, and a second limiting plate; the first telescopic drive part is connected to the support block through the first telescopic drive part connector, the first limiting plate is disposed on the support block on the side close to the first telescopic drive part, and the second limiting plate is disposed on the upper part of the support block.

[0064] Optionally, the first clamping mechanism and the second clamping mechanism include a first clamping component disposed on the first belt fixing plate and a second clamping component disposed on the second belt fixing plate, and the first clamping component and the second clamping component are disposed opposite to each other;

[0065] Both the first clamping assembly and the second clamping assembly include a second telescopic drive part, a clamping part, a fixing seat, a fourth fastener, and a first adjusting plate. The second telescopic drive part is connected to the clamping part and is mounted on the first adjusting plate. The first adjusting plate has a fourth waist hole, and the direction of the fourth waist hole is perpendicular to the first belt fixing plate and the second belt fixing plate. The fourth fastener passes through the fourth waist hole and is connected to the fixing seat.

[0066] Optionally, the first blocking mechanism and the positioning mechanism include a support member, a second adjusting plate, a second blocking plate, a fifth fastener, and a ninth sensor; the ninth sensor is disposed on the side of the second blocking plate near the first conveying mechanism, the second blocking plate is connected to the adjusting plate, the second adjusting plate has a fifth waist hole, the direction of the fifth waist hole is parallel to the arrangement direction of the first conveying mechanism; the fifth fastener passes through the fifth waist hole and is connected to the support member.

[0067] Optionally, the feeding tray is provided with an array of placement positions for the inspected products. The first imaging mechanism is specifically used to acquire the placement positions of the inspected products at the four corners, so as to determine the placement positions of other inspected products through the placement positions of the inspected products at the four corners.

[0068] According to the conveying device provided in this application, a first photographic mechanism is used to acquire the placement position of the product to be inspected on the loading tray, thereby driving the picking and unloading mechanism to accurately move to the placement position via a moving mechanism, thus enabling precise picking up of the product to be inspected; and the first photographic mechanism is used to acquire the placement position of the inspected product on the unloading tray, thereby driving the picking and unloading mechanism to accurately place the inspected product on the unloading platform device into the placement position; and a second photographic mechanism is used to acquire the angle and position (i.e., the angle and position of the product to be inspected or the inspected product picked up by the picking and unloading mechanism) during the process of the picking and unloading mechanism transferring the product to be inspected or the inspected product. The relative positions of the product to be inspected or the inspected product with the picking and placing mechanism in the horizontal and vertical directions are determined to establish the rotation angle of the picking and placing mechanism on the product to be inspected or the inspected product. The picking and placing mechanism then rotates the product to be inspected or the inspected product according to the rotation angle to adjust the placement posture of the product to be inspected or the inspected product. This allows the picking and placing mechanism to accurately place the product to be inspected or the inspected product. In this way, the first and second imaging mechanisms can accurately pick up and place the product to be inspected or the inspected product without the need for secondary positioning, thereby reducing the complexity of the control process, improving transportation efficiency, and reducing costs. Attached Figure Description

[0069] The following drawings, which are incorporated herein by reference and are used to understand this application, illustrate embodiments of the invention and their descriptions to explain the principles of the invention.

[0070] In the attached image:

[0071] Figure 1 This is a perspective view of a conveying device according to an alternative embodiment of this application;

[0072] Figure 2 This is a structural diagram of a rack according to an alternative embodiment of this application;

[0073] Figure 3 This is a structural diagram of a conveying device according to an alternative embodiment of this application;

[0074] Figure 4 This is a structural diagram of the loading lateral movement device and the unloading lateral drive device according to an optional embodiment of this application;

[0075] Figure 5 This is a structural diagram of a feeding linear guide assembly according to an optional embodiment of this application;

[0076] Figure 6 This is a structural diagram of the feeding longitudinal moving mechanism and the picking and unloading mechanism according to an optional embodiment of this application;

[0077] Figure 7 This is a structural diagram of a first feeding longitudinal movement module according to an optional embodiment of this application;

[0078] Figure 8 This is a structural diagram of a first unloading longitudinal movement module according to an optional embodiment of this application;

[0079] Figure 9 This is a structural diagram of a first loading robot and a loading photography mechanism according to an optional embodiment of this application;

[0080] Figure 10 This is a structural diagram of a vacuum valve and connecting frame according to an alternative embodiment of this application;

[0081] Figure 11 This is a structural diagram of a feeding and photographing mechanism according to an optional embodiment of this application;

[0082] Figure 12 This is a structural diagram of a suction lifting mechanism according to an optional embodiment of this application;

[0083] Figure 13 This is a structural diagram of a suction mechanism according to an optional embodiment of this application;

[0084] Figure 14 This is a structural diagram of a loading tray conveyor, a good product unloading tray conveyor, and a defective product unloading tray conveyor according to an optional embodiment of this application;

[0085] Figure 15 This is a structural diagram of a feeding tray conveyor according to an alternative embodiment of this application;

[0086] Figure 16 This is a structural diagram of the power assembly of the feeding tray conveying assembly according to an optional embodiment of this application;

[0087] Figure 17 This is a partial structural diagram of a first delivery assembly according to an optional embodiment of this application;

[0088] Figure 18 This is a partial structural diagram of a first delivery assembly according to an optional embodiment of this application;

[0089] Figure 19 This is a structural diagram of a pitch adjustment assembly and a power assembly according to an optional embodiment of this application;

[0090] Figure 20 This is a partial structural diagram of a second delivery assembly according to an optional embodiment of this application;

[0091] Figure 21 This is a partial structural diagram of a second delivery assembly according to an optional embodiment of this application;

[0092] Figure 22 This is a structural diagram of a good product unloading tray conveyor according to an optional embodiment of this application;

[0093] Figure 23 This is a structural diagram of a first lifting mechanism according to an alternative embodiment of this application;

[0094] Figure 24 This is a structural diagram of a first clamping mechanism according to an optional embodiment of this application;

[0095] Figure 25 This is a structural diagram of a first blocking mechanism according to an optional embodiment of this application;

[0096] Figure 26 This is a structural diagram of a positioning mechanism according to an alternative embodiment of this application;

[0097] Figure 27 This is a structural diagram of a first support mechanism according to an optional embodiment of this application;

[0098] Figure 28 This is a structural diagram of a second blocking mechanism according to an optional embodiment of this application;

[0099] Figure 29 This is a structural diagram of a second imaging mechanism according to an optional embodiment of this application;

[0100] Figure 30 This is a structural diagram of a loading platform device according to an optional embodiment of this application;

[0101] Figure 31 This is a structural diagram of a testing fixture according to an optional embodiment of this application;

[0102] Figure 32 This is a schematic diagram of an array of placement positions according to an alternative embodiment of this application.

[0103] Explanation of reference numerals in the attached figures:

[0104] 10-Frame, 101-Mounting base plate, 20-Transporting device, 201-Loading lateral movement mechanism, 2011-Loading lateral motion drive assembly, 20111-First sliding connector, 20112-Second sliding connector, 20113-Bidirectional linear motor, 20114-First sensor, 20115-Linear motor base plate, 20116-First support leg, 2012-Loading linear guide assembly, 20121-Linear guide, 20122-Third sliding connector, 20123-Fourth sliding connector, 20124-Second support leg, 20125-Linear guide base plate, 202-Loading longitudinal movement mechanism, 2021-Linear module, 20211-Servo motor, 20212- Lead screw module, 20213-Module base plate, 20214-Second sensor, 20215-Third sensor, 203-Material handling mechanism, 2031-First loading robot, 20311-Suction lifting mechanism, 203111-First support plate, 203112-Suction lifting assembly, 2031121-Fourth sensor mounting base, 2031122-Driving wheel, 2031123-Fourth sensor, 2031124-First sensing plate, 2031125-Synchronous belt, 2031126-First spring column, 2031127-Driven wheel, 2031128-Synchronous belt tensioning slider, 2031129-Linear slide rail base plate, 20311210-First slider, 20131 1211-Lifting linear guide rail, 20312-Suction mechanism, 203121-Suction nozzle, 203122-Suction nozzle connecting rod, 203123-First flange, 203124-Rotary drive component, 203125-Hollow shaft, 203126-Second sensing plate, 203127-Rotary joint, 203128-Regulating valve, 203129-Connecting plate, 2031210-Suction mechanism connecting rod, 2031211-Clamping block, 2031212-Spring, 2031213-Second spring column, 2031214-Fifth sensor, 2031215-Vacuum valve, 20313-Mounting frame, 203131-First connecting horizontal plate, 203132-Vertical plate, 2032 2033-Second loading robot, 2034-First unloading robot, 2035-Second unloading robot, 2036-Loading and photographing mechanism, 20351-Second connecting horizontal plate, 20352-Base plate, 20353-Electric slide table, 20354-First slide table connecting plate, 20355-First light source adjustment plate, 20356-First light source, 20357-First light source fixing plate, 20358-First camera, 20359-First camera fixing plate, 204-Unloading longitudinal movement mechanism, 205-Unloading lateral movement mechanism, 2051-Unloading lateral motion drive assembly, 2052-Unloading linear guide rail assembly, 30-Plate conveying device, 301-Loading tray conveyor device, 3011-First conveying mechanism30111-First conveyor assembly, 301111-First drive pulley, 301112-First belt, 301113-First driven pulley, 301114-Second bearing, 301115-First retaining ring, 301116-Seventh sensor, 301117-Seventh sensor mounting plate, 301118-First belt fixing plate, 301129-First belt support plate, 3011210-First guide plate, 30112-Second conveyor assembly, 301121-Second drive pulley, 301122-Second belt, 301123-Second driven pulley, 301124-Third bearing, 301125-Second retaining ring, 301126-Second belt fixing plate, 301127-Second belt Support plate, 301128-Second guide plate, 30113-Power assembly, 301131-Motor, 301132-Second flange, 301133-Coupling, 301134-Motor connecting rod, 301135-Fixing plate, 301136-Splined shaft, 301137-Splined shaft nut, 30114-Gap adjustment assembly, 301141-Connecting base plate, 301142-Railway, 301143-Third slider connecting plate, 301144-Third slider, 301145-First bearing, 301146-Trapezoidal lead screw, 301147-Lead screw nut, 301148-Handwheel, 301149-Locking nut, 3012-First blocking mechanism, 30121-Ninth Sensor, 30122-Second blocking plate, 30123-Support member, 30124-Second adjusting plate, 3013-First lifting mechanism, 30131-Pattern, 30132-Guide shaft, 30133-Guide bushing, 30134-Support vertical plate, 30135-Eighth sensor, 30136-Eighth sensor mounting base, 30137-Support base plate, 30138-Pattern lifting drive unit, 30139-Push plate, 301310-Second sensing element, 301311-Support top plate, 3014-First clamping mechanism, 30141-Clamping part, 30142-Clamping connecting plate, 30143-Second telescopic drive unit, 30144-Telescopic part fixing plate, 30145-First adjusting plate 30146 - Fixed base; 3015 - Feeding tray support mechanism; 30151 - First telescopic drive unit; 30152 - Second limiting plate; 30153 - Support block; 30154 - Support block connecting plate; 30155 - Fixed connecting plate; 30156 - First telescopic part connecting plate; 30157 - First limiting plate; 302 - Good product unloading tray conveying device; 3021 - Second conveying mechanism; 3022 - Positioning mechanism; 3023 - Second blocking mechanism; 30231 - First blocking plate; 30232 - Connecting base; 30233 - Second slider; 30234 - Track; 30235 - Adjustable base; 30236 - First blocking plate lifting drive unit; 30237 - Mounting plate; 30238 - Connecting rod.30239-Modible connecting plate, 3024-Unloading tray support mechanism, 3025-Second lifting mechanism, 3026-Second clamping mechanism, 303-Defective product unloading tray conveying device, 40-Bottom surface flying camera device, 401-Second support plate, 402-Second light source adjusting plate, 403-Second light source fixing plate, 404-Second light source, 405-Second camera, 406-Second camera fixing plate, 407-Second slide table connecting plate, 4 08-Fine-adjustment slide, 409-Rib plate, 4010-Third connecting horizontal plate, 50-Loading platform device, 501-Slide cylinder base plate, 502-Slide cylinder, 503-Cylinder connecting base plate, 504-Cylinder connecting vertical plate, 505-Pipe connector, 506-Cylinder connecting top plate, 507-Platform, 60-Unloading platform device, 70-Inspection fixture, 701-Fixture upper plate, 702-Fixture lower plate, 80-Placement position. Detailed Implementation

[0105] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0106] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they specify the presence of features, integrals, steps, operations, elements, and / or means, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, means, and / or combinations thereof.

[0107] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0108] The horizontal direction referred to in this application is Figure 1 The Y-axis direction of the coordinate system, with the vertical axis being... Figure 1 The X-axis direction of the coordinate system is vertical. Figure 1 The Z-axis direction of the coordinate system.

[0109] like Figures 1 to 3As shown, this application provides a conveying device, including a frame 10 and a handling device 20, a bottom flapping device 40, a loading tray, a unloading tray, a loading platform device 50 and an unloading platform device 60 disposed on the frame 10.

[0110] The conveying device 20 includes a moving mechanism, a material picking and placing mechanism 203, and a first photographing mechanism. The material picking and placing mechanism 203 is mounted on the moving mechanism, and the first photographing mechanism is mounted on the material picking and placing mechanism 203. The bottom surface flying photographing device 40 includes a second photographing mechanism.

[0111] The first photographing mechanism is used to obtain the placement position of the product to be inspected on the loading tray, so that the picking and unloading mechanism 203 can move to the placement position through the moving mechanism and pick up the product to be inspected; and is used to obtain the placement position 80 of the inspected product on the unloading tray, so that the picking and unloading mechanism 203 can place the inspected product on the unloading platform device 60 into the placement position 80 through the moving mechanism.

[0112] The second photographing mechanism is used to acquire the angle of the product to be inspected or the product already inspected picked up by the picking and placing mechanism 203 and the relative position of the product to be inspected or the product already inspected with the picking and placing mechanism 203 in the horizontal and vertical directions during the process of transferring the product to be inspected or the product already inspected by the picking and placing mechanism 203, so as to determine the rotation angle of the picking and placing mechanism 203 to rotate the product to be inspected or the product already inspected, and to make the picking and placing mechanism 203 rotate the product to be inspected or the product already inspected according to the rotation angle.

[0113] The loading platform device 50 is used to carry and transport the products to be tested picked up from the loading tray by the picking and unloading mechanism 203;

[0114] The unloading platform device 60 is used to carry and transport the inspected products picked up from the inspection mechanism by the pick-up and unload mechanism 203.

[0115] The product to be tested can be an electronic component, such as a mobile phone camera module and its components; it can also be a part, and this embodiment does not impose strict limitations. The frame 10 includes a large mounting base 101 with openings for mounting various devices, thereby facilitating the installation of each device.

[0116] The conveying equipment may also include a controller for analyzing the images captured by the first and second imaging mechanisms and for controlling the various devices.

[0117] In practical applications, the product to be tested is placed in the feeding tray. The controller controls the moving mechanism to drive the picking and placing mechanism 203 and the first imaging mechanism to move at high speed toward the tray. When they get close to the tray, they start taking pictures, thereby using the first imaging mechanism to obtain the placement position of the product to be tested on the feeding tray. Based on this placement position, the controller controls the moving mechanism to drive the picking and placing mechanism 203 to move above the placement position, that is, above the product to be tested. Then, the controller controls the picking and placing mechanism 203 to pick up the product to be tested and controls the moving mechanism to move to the feeding platform device 50 to place the product to be tested on the feeding platform device 50.

[0118] Then, the loading platform 507 is controlled to transport the product to be inspected. After that, the pick-and-place mechanism 203 is controlled to pick up the product to be inspected from the loading platform 50. Then, the moving mechanism is controlled to drive the pick-and-place mechanism 203 to move towards the inspection fixture 70. During the movement, it passes over the bottom flying camera component, so that the second imaging mechanism of the bottom flying camera component takes a picture, thereby obtaining the angle of the product to be inspected picked up by the pick-and-place mechanism 203 and the relative position of the product to be inspected and the pick-and-place mechanism in the horizontal and vertical directions. According to the above parameters, the controller determines the rotation angle of the pick-and-place mechanism 203 to rotate the product to be inspected, and controls the pick-and-place mechanism 203 to rotate the product to be inspected according to the rotation angle, so that the product to be inspected can be accurately placed on the inspection fixture 70. Then, the pick-and-place mechanism 203 places the product to be inspected with the adjusted angle on the inspection fixture 70.

[0119] After the inspection fixture 70 completes the inspection of the product to be inspected, the product placed on the inspection fixture 70 becomes the inspected product. The controller controls the moving mechanism to drive the pick-and-place mechanism 203 and the first photographing mechanism to pass over the unloading tray. The first photographing mechanism takes a picture of the unloading tray to obtain the position 80 of the inspected product on the unloading tray. Then, the controller controls the moving mechanism to move the pick-and-place mechanism 203 above the inspection fixture 70 and controls the pick-and-place mechanism 203 to pick up the inspected product. After that, the controller controls the moving mechanism to move the pick-and-place mechanism 203 above the unloading platform device 60 and places the inspected product on the unloading platform device 60. Then, the unloading platform device 60 transports the inspected product. Finally, the controller drives the moving mechanism to move the pick-and-place mechanism 203 to the unloading platform device 60. Above the material platform device, the picking and placing mechanism 203 picks up the inspected product from the unloading platform device 60. Then, the moving mechanism drives the picking and placing mechanism 203 to move to the unloading tray. During the movement, it passes above the bottom flying camera component, so that the second imaging mechanism of the bottom flying camera component takes a picture, thereby obtaining the angle of the inspected product picked up by the picking and placing mechanism 203 and the relative position of the inspected product and the picking and placing mechanism in the horizontal and vertical directions. According to the above parameters, the controller determines the rotation angle of the picking and placing mechanism 203 to rotate the inspected product, and controls the picking and placing mechanism 203 to rotate the inspected product according to the rotation angle, so that the inspected product can be accurately placed on the unloading tray. Then, the picking and placing mechanism 203 places the inspected product with the adjusted angle on the unloading tray.

[0120] Therefore, this application utilizes the first imaging mechanism to obtain the placement position of the product to be inspected on the loading tray, thereby driving the picking and unloading mechanism 203 to move precisely to the placement position via the moving mechanism, thus enabling precise picking up of the product to be inspected; and utilizes the first imaging mechanism to obtain the placement position 80 of the inspected product on the unloading tray, thereby driving the picking and unloading mechanism 203 to precisely place the inspected product on the unloading platform device 60 into the placement position 80 via the moving mechanism; and utilizes the second imaging mechanism to obtain the angle and position (i.e., the product to be inspected) of the product to be inspected or inspected product picked up by the picking and unloading mechanism 203 during the transfer of the product to be inspected or inspected product. The relative positions of the product to be tested or the product already tested with the picking and placing mechanism in the horizontal and vertical directions are determined, thereby determining the rotation angle of the picking and placing mechanism 203 to rotate the product to be tested or the product already tested. Then, the picking and placing mechanism 203 rotates the product to be tested or the product already tested according to the rotation angle to adjust the placement posture of the product to be tested or the product already tested. This allows the picking and placing mechanism 203 to accurately place the product to be tested or the product already tested. In this way, the first and second imaging mechanisms can accurately pick up and place the product to be tested or the product already tested without the need for secondary positioning, thereby reducing the complexity of the control process, improving transportation efficiency, and reducing costs.

[0121] Specifically, in the above embodiments, the second photographing mechanism is specifically used to acquire, during the process of the picking and placing mechanism 203 moving from the loading platform device 50 to the detection mechanism, the angle of the product to be detected picked up by the picking and placing mechanism 203 from the loading platform device 50 and the relative position of the product to be detected and the picking and placing mechanism in the horizontal and vertical directions, so as to determine the rotation angle of the picking and placing mechanism 203 to rotate the product to be detected, and to make the picking and placing mechanism 203 rotate the product to be detected according to the rotation angle; and during the process of the picking and placing mechanism 203 moving from the unloading platform device 60 to the lower tray, to acquire, the angle of the detected product picked up by the picking and placing mechanism 203 from the unloading platform device 60 and the relative position of the detected product and the picking and placing mechanism in the horizontal and vertical directions, so as to determine the rotation angle of the picking and placing mechanism 203 to rotate the detected product, and to make the picking and placing mechanism 203 rotate the detected product according to the rotation angle.

[0122] During the process of the product to be inspected moving from the loading platform device 50 to the inspection mechanism via the pick-and-place mechanism 203, when the pick-and-place mechanism 203 passes above the second imaging mechanism, the second imaging mechanism is used to obtain the angle of the product to be inspected picked up by the pick-and-place mechanism 203 and the relative position of the product to be inspected and the pick-and-place mechanism in the horizontal and vertical directions. This determines the rotation angle of the product to be inspected by the pick-and-place mechanism 203. Then, the pick-and-place mechanism 203 rotates the product to be inspected according to the rotation angle to adjust the placement posture of the product to be inspected. This allows the pick-and-place mechanism 203 to place the product to be inspected on the loading platform device 50 in a better posture, thereby improving the placement accuracy.

[0123] Similarly, during the process of the inspected product moving from the unloading platform device 60 to the unloading tray via the pick-and-place mechanism 203, when the pick-and-place mechanism 203 passes over the second imaging mechanism, the second imaging mechanism is used to obtain the angle of the inspected product picked up by the pick-and-place mechanism 203 and the relative position of the inspected product and the pick-and-place mechanism in the horizontal and vertical directions. This determines the rotation angle of the inspected product by the pick-and-place mechanism 203. Then, the pick-and-place mechanism 203 rotates the inspected product according to the rotation angle to adjust the placement posture of the inspected product. This allows the pick-and-place mechanism 203 to place the inspected product on the unloading tray in a better posture, thereby improving the placement accuracy.

[0124] Furthermore, such as Figure 3 As shown, the moving mechanism includes a loading lateral moving mechanism 201, a loading longitudinal moving mechanism 202, a unloading lateral moving mechanism 205, and an unloading longitudinal moving mechanism 204; the picking and unloading mechanism 203 includes a loading robot and an unloading robot; the first photographing mechanism includes a loading photographing mechanism and an unloading photographing mechanism; the loading lateral moving mechanism 201 includes a loading lateral motion drive assembly 2011 and a loading linear guide assembly 2012; the loading lateral motion drive assembly 2011 and the loading linear guide assembly 2012 are arranged laterally; the loading longitudinal moving mechanism 202 is connected to the loading lateral motion device. The feeding linear guide assembly 2012 is connected to the feeding robot arm and the feeding longitudinal moving mechanism 202. The feeding photographing mechanism is connected to the feeding robot arm. The unloading lateral moving mechanism 205 includes an unloading lateral motion drive assembly 2051 and an unloading linear guide assembly 2052. The unloading lateral motion drive assembly 2051 and the unloading linear guide assembly 2052 are arranged laterally. The unloading longitudinal moving mechanism 204 is connected to the unloading lateral moving device and the unloading linear guide assembly 2052 respectively. The unloading robot arm is connected to the unloading longitudinal moving mechanism 204. The unloading photographing mechanism is connected to the unloading robot arm.

[0125] The lateral moving mechanism 201 drives the longitudinal moving device to move laterally (Y-axis direction), thereby driving the loading and photographing mechanism and the loading robot to move laterally (Y-axis direction). The longitudinal moving device also drives the loading robot and the loading and photographing mechanism to move longitudinally (X-axis direction). In this way, the lateral moving device and the longitudinal moving device enable the loading and photographing mechanism and the loading robot to move in multiple dimensions, thereby improving the flexibility of the loading robot's movement.

[0126] Similarly, the lateral movement mechanism 205 drives the longitudinal movement device to move laterally (Y-axis direction), thereby driving the material unloading photographing mechanism and the material unloading robot to move laterally (Y-axis direction). The longitudinal movement device also drives the material unloading robot and the material unloading photographing mechanism to move longitudinally (X-axis direction). In this way, the material unloading photographing mechanism and the material unloading robot can move in multiple dimensions through the lateral movement device and the longitudinal movement device, thereby improving the flexibility of the material unloading robot's movement.

[0127] In practical applications, the loading lateral motion drive assembly 2011 drives the loading longitudinal moving device to move laterally (Y-axis direction), thereby driving the loading imaging mechanism and the loading robot to move laterally (Y-axis direction). The loading linear guide assembly 2012 provides support and guidance. The unloading lateral motion drive assembly 2051 drives the unloading longitudinal moving device to move laterally (Y-axis direction), thereby driving the unloading imaging mechanism and the unloading robot to move laterally (Y-axis direction). The unloading linear guide assembly 2052 provides support and guidance.

[0128] Furthermore, such as Figures 3 to 5 As shown, both the loading lateral motion drive assembly 2011 and the unloading lateral motion drive assembly 2051 include a bidirectional linear motor 20113, a first sliding connector 20111, and a second sliding connector 20112. The first sliding connector 20111 and the second sliding connector 20112 are connected to the bidirectional linear motor 20113, which drives the first sliding connector 20111 and the second sliding connector 20112 to move independently. The two ends of the bidirectional linear motor 20113 are respectively provided with a first sensor 20114. Both the loading linear guide assembly 2012 and the unloading linear guide assembly 2052 include a linear guide 20121, a third sliding connector 20122, and a fourth sliding connector 20123, which are slidably connected to the linear guide 20121.

[0129] In practical applications, the first sliding connector 20111, the second sliding connector 20112, the third sliding connector 20122, and the fourth sliding connector 20123 can all adopt a mounting block structure. Furthermore, the bottom of the bidirectional linear motor 20113 is mounted on the first support leg 20116 via the linear motor base plate 20115, thus providing support for the bidirectional linear motor 20113. The linear guide rail 20121 can also be mounted on the second support leg 20124 via the linear guide rail base plate 20125, thus providing support for the linear guide rail 20121. Further, the linear guide rail 20121 of the feeding linear guide rail assembly 2012 and the linear guide rail 20121 of the unloading linear guide rail assembly 2052 can be installed side-by-side on a single linear guide rail base plate 20125, making the overall mechanism more compact. The first sensor 20114 is used to sense whether the first sliding connector 20111 and the second sliding connector 20112 are reset in place during reset.

[0130] In this embodiment, the bidirectional linear motor 20113 can drive the first sliding connector 20111 and the second sliding connector to move independently. That is, the movements of the first sliding connector 20111 and the second sliding connector 20112 do not affect each other. Thus, a loading robot can be installed on each of the first sliding connector 20111 and the second sliding connector 20112 of the loading lateral motion drive assembly 2011, thereby increasing the number of loading robots and improving loading efficiency. Similarly, a unloading robot can be installed on each of the first sliding connector 20111 and the second sliding connector 20112 of the unloading lateral motion drive assembly 2051, thereby increasing the number of unloading robots and improving unloading efficiency.

[0131] Specifically, such as Figures 3 to 5 , Figure 9 As shown, the feeding longitudinal moving mechanism 202 includes a first feeding longitudinal moving module and a second feeding longitudinal moving module; the first feeding longitudinal moving module is connected to the first sliding connector 20111 of the feeding transverse moving mechanism 201 and the third sliding connector 20122 of the feeding linear guide assembly 2012; the second feeding longitudinal module is connected to the second sliding connector 20112 of the feeding transverse moving mechanism 201 and the fourth sliding connector 20123 of the feeding linear guide assembly 2012; a second sensor 20214 is provided at one end of the first feeding longitudinal moving module and one end of the second feeding longitudinal moving module; the feeding robot includes a first feeding robot 2031 and a second feeding robot 2032; the first feeding robot 2031 is mounted on the first feeding longitudinal moving module, the feeding photographing mechanism 2035 is mounted on the first feeding robot 2031, and the second feeding robot 2032 is mounted on the second feeding longitudinal moving module.

[0132] The first and second longitudinal feeding modules can be linear modules 2021. Specifically, the linear module 2021 includes a servo motor 20211, a lead screw module 20212, and a lead screw slider. The lead screw module 20212 is mounted on the module base plate 20213. The servo motor 20211 is connected to the lead screw of the lead screw module 20212. The lead screw slider is threadedly connected to the lead screw of the lead screw module 20212. A second sensor 20214 is installed at one end of the lead screw module 20212. The second sensor 20214 is used to sense whether the lead screw slider is reset to the correct position during reset.

[0133] The first loading robot 2031 is mounted on the lead screw and slider of the first loading longitudinal moving module, and the second loading robot 2032 is mounted on the lead screw and slider of the second loading longitudinal moving module. In this way, the first loading longitudinal mechanism can move laterally (in the Y-axis direction) with the first sliding connector 20111 of the loading transverse moving mechanism 201, and drive the lead screw of the lead screw module 20212 to rotate through the servo motor 20211 of the first loading longitudinal moving module, so that the lead screw and slider can make linear reciprocating motion along the lead screw, thereby causing the first loading robot 2031 and the loading photographing mechanism 2035 to move longitudinally (in the X-axis direction), thus realizing the multi-dimensional motion of the first loading robot 2031 and the loading photographing mechanism 2035. The motion process of the second loading robot 2032 is the same as that of the first loading robot 2031, and will not be described again here.

[0134] Furthermore, such as Figures 3 to 5 , Figures 7 to 9 As shown, the unloading longitudinal moving mechanism 204 includes a first unloading longitudinal moving module and a second unloading longitudinal moving module; the first unloading longitudinal moving module is connected to the first sliding connector 20111 of the unloading longitudinal moving mechanism 204 and the third sliding connector 20122 of the unloading linear guide assembly 2052; the second unloading longitudinal moving module is connected to the second sliding connector 20112 of the unloading longitudinal moving mechanism 204 and the fourth sliding connector 20123 of the unloading linear guide assembly 2052; a third sensor 20215 is provided at one end of the first unloading longitudinal moving module and one end of the second unloading longitudinal moving module; the unloading robot includes a first unloading robot 2033 and a second unloading robot 2034; the first unloading robot 2033 is mounted on the first unloading longitudinal moving module, the unloading photographing mechanism is mounted on the first unloading robot 2033, and the second unloading robot 2034 is mounted on the second unloading longitudinal moving module.

[0135] The first and second longitudinal feeding modules can also be linear modules 2021. Specifically, the linear module 2021 includes a servo motor 20211, a lead screw module 20212, and a lead screw slider. The servo motor 20211 is connected to the lead screw of the lead screw module 20212, and the lead screw slider is threadedly connected to the lead screw of the lead screw module 20212. A third sensor 20215 is installed at one end of the lead screw module 20212. The third sensor 20215 is used to sense whether the lead screw slider is reset to the correct position during reset.

[0136] The first unloading robot 2033 is mounted on the lead screw and slider of the first unloading longitudinal moving module, and the second unloading robot 2034 is mounted on the lead screw and slider of the second unloading longitudinal moving module. In this way, the first unloading longitudinal mechanism can move laterally (in the Y-axis direction) with the first sliding connector 20111 of the unloading transverse moving mechanism 205, and drive the lead screw of the lead screw module 20212 to rotate through the servo motor 20211 of the first unloading longitudinal moving module, so that the lead screw and slider can make linear reciprocating motion along the lead screw, thereby causing the first unloading robot 2033 and the unloading photographing mechanism to move longitudinally (in the X-axis direction), thus realizing the multi-dimensional motion of the first unloading robot 2033 and the unloading photographing mechanism. The motion process of the second unloading robot is the same as that of the first unloading robot 2033, and will not be described again here.

[0137] Specifically, such as Figure 9 As shown, the first loading robot 2031, the second loading robot 2032, the first unloading robot 2033, and the second unloading robot 2034 all include a suction mechanism 20312 and a suction lifting mechanism 20311. The suction lifting mechanism 20311 includes a first support plate 203111 and at least one suction lifting component 203112 disposed on the first support plate 203111. Each suction mechanism 20312 includes a connecting component, a rotating component, and a suction nozzle 203121. The connecting component is connected to the suction lifting component 203112 so that the suction lifting component 203112 drives the connecting component to move up and down in the vertical direction. The rotating component is fixed on the connecting component and is connected to the suction nozzle 203121 so that the rotating component drives the suction nozzle 203121 to rotate around the vertical axis.

[0138] The first support plate 203111 is connected to the corresponding lead screw slider via the mounting frame 20313. Specifically, the mounting frame 20313 includes a first connecting horizontal plate 203131 and two opposing vertical plates 203132. The vertical plates 203132 are disposed on the upper surface of the first connecting horizontal plate 203131. The first connecting horizontal plate 203131 is connected to the lead screw slider, and the first support plate 203111 is connected between the two vertical plates 203132, thereby increasing the stability of the connection.

[0139] In practical applications, the suction lifting assembly 203112 drives the connecting assembly to move up and down in the vertical direction (Z-axis direction), thereby causing the suction nozzle 203121 to also move up and down in the vertical direction (Z-axis direction). Through the suction lifting mechanism and the linear module 2021 and bidirectional linear motor 20113 in the above embodiments, the suction nozzle 203121 can achieve three-dimensional movement in the horizontal (Y-axis direction), vertical (X-axis direction), and vertical (Z-axis direction), thus improving the flexibility of the suction nozzle 203121. Furthermore, the rotating assembly can drive the suction nozzle 203121 to rotate around the vertical direction (Z-axis direction). Therefore, when the picking and placing mechanism 203 needs to adjust the placement posture of the picked-up or inspected product, the rotating assembly drives the suction nozzle 203121 to rotate around the vertical direction (Z-axis direction) by a corresponding angle, thereby adjusting the angle of the product to be inspected or the product already inspected, and thus adjusting the placement posture of the product to be inspected or the product already inspected.

[0140] Specifically, such as Figure 12 As shown, the material suction lifting assembly 203112 includes a first lifting drive unit, a drive wheel 2031122, a driven wheel 2031127, a timing belt 2031125, and a lifting linear guide rail; the drive wheel 2031122 and the driven wheel 2031127 are arranged vertically, and the timing belt 2031125 passes around the drive wheel 2031122 and the driven wheel 2031127; the first lifting drive unit is connected to the drive wheel 2031122, and the lifting linear guide rail 2031121 is located below the driven wheel 2031127. The lifting linear guide rail 201311211 is provided with a sliding first slider 2311210; a fourth sensor 2031123 is provided above the drive wheel 2031122, and a first sensing plate 2031124 is provided on one side of the drive wheel 2031122; the connecting components of each suction mechanism 20312 are fixedly connected to the corresponding synchronous belt 2031125, and the rotating components of each suction mechanism 20312 are connected to the first slider 2311210 on the corresponding lifting linear guide rail 2013111211.

[0141] The first lifting drive unit drives the drive wheel 2031122 to rotate, which in turn drives the synchronous belt 2031125 to rotate around the drive wheel 2031122. This means the synchronous belt 2031125 rotates in the vertical direction (Z-axis direction), thereby driving the suction mechanism 20312 connected to the synchronous belt 2031125 to move up and down in the vertical direction (Z-axis direction), thus realizing the vertical (Z-axis) movement of the suction mechanism 20312. The rotating components of each suction mechanism 20312 are connected to the first slider 2311210 on the corresponding lifting linear guide rail. Thus, the lifting linear guide rail 2311211 provides support and guidance for the suction mechanism 20312, preventing it from deviating from the vertical direction due to external forces. The first lifting drive unit can be a motor.

[0142] In practical applications, each lifting linear guide rail 201311211 is connected to the first support plate 203111 via a linear slide rail base plate 2031129, thereby facilitating the connection between each lifting linear guide rail 201311211 and the first support plate 203111, and also increasing the stability of the connection. Through the cooperation of the first sensing plate 2031124 and the fourth sensor 2031123, the system senses whether the drive wheel 2031122 has returned to its reset position, and indicates that the drive wheel 2031122 has returned to its reset position when the first sensing plate 2031124 blocks the fourth sensor 2031123. Optionally, the fourth sensor 2031123 is mounted on the fourth sensor mounting base 2031121 to improve the stability of the installation.

[0143] Specifically, such as Figure 10 and Figure 13 As shown, the rotating assembly includes a hollow shaft 203125, a rotating drive component 203124, a rotary joint 203127, a nozzle connecting rod 203122, a vacuum valve 2031215, and an air passage. The rotating drive component 203124 is connected to the nozzle connecting rod 203122 and is also connected to the first slider 2311210 on the corresponding lifting linear guide rail. The rotary joint 203127 is connected to the rotating motor through the hollow shaft 203125. The nozzle 203121 is mounted on the hollow shaft 203125. The vacuum valve 2031215 is connected to the nozzle 203121 through the air passage, and a regulating valve 203128 is provided on the air passage. A fifth sensor 2031214 is also provided on one side of the rotating head, and a second sensing plate 203126 is provided on the rotating head.

[0144] The rotary drive component 203124 can be a stepper motor, and the rotary component is connected to the nozzle connecting rod 203122 and the first connecting cross plate 203131 via the first flange 203123, thereby improving the stability of the connection. The rotary component drives the hollow shaft 203125 to rotate, which in turn drives the nozzle 203121 to rotate, thus achieving the purpose of adjusting the angle of the product being inspected or to be inspected sucked up by the nozzle 203121. The hollow shaft 203125 allows the air passage to connect with the nozzle 203121 from inside the hollow shaft 203125, facilitating the arrangement of the air passage.

[0145] Vacuum valve 2031215 is mounted on the first connecting cross plate 203131 of the mounting frame 20313, thereby making full use of space and improving the compactness of the structure. Vacuum valve 2031215 is used to change the air pressure in the air path, thereby enabling the suction nozzle 203121 to pick up and release the product to be tested or the product already tested. Specifically, by lowering the air pressure in the air path, the suction nozzle 203121 can pick up the product to be tested or the product already tested; by raising the air pressure in the air path, the suction nozzle 203121 can release the picked-up product to be tested or the product already tested.

[0146] The regulating valve 203128 is used to regulate the flow rate of gas through the gas path, thereby regulating the speed at which the suction nozzle 203121 picks up or releases the product to be tested or the product that has already been tested.

[0147] Furthermore, such as Figure 12 and Figure 13 As shown, the material suction lifting assembly 203112 also includes a spring 2031212. One end of the spring 2031212 is connected to the top of the material suction mechanism connecting rod 203122, and the other end of the spring 2031212 is connected to the first support plate 203111.

[0148] The material suction mechanism connecting rod 203122 is provided with a first spring post 2031126, and the first support plate 203111 is provided with a second spring post, so as to facilitate the connection with the spring 2031212.

[0149] When the rotary drive component 203124 uses a stepper motor, after the stepper motor stops working, the tension of the spring 2031212 applies an upward tension force to the connecting rod 203122 of the suction mechanism, so that the suction mechanism 20312 can still be in a higher position, so as to avoid the suction mechanism 20312 from falling under the action of gravity because the rotating shaft of the stepper motor cannot return to its original position after the stepper motor stops working.

[0150] Furthermore, such as Figure 13As shown, the connecting assembly includes a clamping block 2031211 and a connecting plate 203129 disposed on the top of the connecting rod 203122 of the suction mechanism, and a timing belt 2031125 is fixed between the clamping block 2031211 and the connecting plate 203129.

[0151] The timing belt 2031125 is clamped by clamping block 2031211 and connecting plate 203129 to achieve the connection between the feeding mechanism 20312 and the timing belt 2031125. Compared with the connection structure of rivets, it can reduce the risk of damage to the timing belt 2031125, thereby reducing the probability of the timing belt 2031125 breaking.

[0152] Furthermore, such as Figure 12 As shown, the material suction lifting assembly 203112 also includes a synchronous belt tensioning slider 2031128, which is located below the drive wheel 2031122, and the driven wheel 2031127 is mounted on the synchronous belt tensioning slider 2031128.

[0153] By adjusting the distance between the tensioning slider and the driving wheel 2031122, that is, by adjusting the distance between the driven wheel 2031127 and the driving wheel 2031122, the synchronous belt 2031125 can be tensioned.

[0154] Furthermore, the first loading robot 2031 and the first unloading robot 2033 have a total of 6 suction mechanisms 20312 and suction lifting mechanisms 20311, while the second loading robot 2032 and the second unloading robot 2034 have a total of 3 suction mechanisms 20312 and suction lifting mechanisms 20311.

[0155] The first loading robot 2031, the second loading robot 2032, the first unloading robot 2033, and the second unloading robot 2034 are equipped with multiple suction mechanisms 20312, which can pick up multiple inspected products or products to be inspected in one transfer process, thereby improving transportation efficiency.

[0156] Furthermore, such as Figure 11 As shown, both the loading and unloading photography mechanisms include a base plate, a lifting mechanism for the first camera 20358, the first camera 20358, a first light source 20356, and a lifting mechanism for the first light source. The lifting mechanism for the first light source is connected to the first light source 20356 to drive the first light source 20356 to move up and down in the vertical direction. The lifting mechanism for the first camera 20358 is connected to the first camera 20358 to drive the first camera 20356 to move up and down in the vertical direction. The lifting mechanisms for the first light source and the first camera 20358 are mounted on the base plate, with the first light source lifting mechanism located below the lifting mechanism for the first camera 20358.

[0157] The first light source 20356 is used to illuminate the first camera 20358 when the first camera 20358 takes a picture, thereby improving the clarity of the captured image.

[0158] The lifting mechanism of the first camera 20358 can move the first camera 20358 up and down in the vertical direction (Z-axis direction), thereby adjusting the height of the first camera 20358 to accommodate trays, products to be inspected, or products that have already been inspected at different heights. Simultaneously, the height of the first light source 20356 can also be adjusted via the lifting mechanism of the first light source 20356, allowing the first light source 20356 to better illuminate the first camera 20358.

[0159] In practical applications, the upper part of the base plate is also provided with a second connecting horizontal plate 20351, and the base plate is connected to the first connecting horizontal plate through the second connecting horizontal plate 20351.

[0160] Specifically, the lifting mechanism of the first camera 20358 includes an electric slide 20353 and a first slide connecting plate 20354 disposed on the electric slide 20353; the electric slide 20353 is connected to the base plate 20352, and the first slide connecting plate 20354 is connected to the first camera 20358.

[0161] In a specific application, the first camera 20358 is mounted on the first camera fixing plate 20359, and the first camera fixing plate 20359 is mounted on the first slide connecting plate 20354, thereby achieving the purpose of driving the first camera 20358 to move up and down in the vertical direction (Z-axis direction) through the electric slide 20353.

[0162] The electric slide table 20353 can adopt the structure of an electric slide table in the prior art, which will not be described in detail in this embodiment.

[0163] Specifically, such as Figure 11 As shown, the first light source lifting mechanism includes a first fastener and a first light source 20356 connector; a first waist hole is provided on the base plate in the vertical direction, and the first fastener passes through the first waist hole and connects to the first light source 20356 connector.

[0164] When it is necessary to adjust the height of the first light source 20356, loosen the first fastener, then move the first light source 20356 connector up or down along the first waist hole. After adjusting the height, tighten the first fastener to fix the first light source 20356 to the base plate.

[0165] The first fastener can be a bolt. The first light source 20356 connector includes a first light source adjustment plate 20355 and a first light source fixing plate 20357. The first light source fixing plate 20357 is connected to the first light source adjustment plate 20355. The first light source 20356 is mounted on the first light source fixing plate 20357. The first fastener passes through the first waist hole and is connected to the first light source adjustment plate 20355.

[0166] Furthermore, such as Figure 29 As shown, there are two second imaging mechanisms. Each second imaging mechanism includes a second support plate 401, a second camera lifting mechanism, a second camera 405, a second light source 404, and a second light source 404 lifting mechanism. The second light source 404 lifting mechanism is connected to the second light source 404 to drive the second light source 404 to move up and down in the vertical direction. The second camera lifting mechanism is connected to the second camera 405 to drive the second camera 405 to move up and down in the vertical direction. The second light source 404 lifting mechanism and the second camera lifting mechanism are mounted on the second support plate 401, with the second light source 404 lifting mechanism located above the second camera lifting mechanism.

[0167] The second camera 405 can be moved up and down vertically (Z-axis direction) by the second camera lifting mechanism, thereby adjusting the height of the second camera 405 to accommodate trays, products to be inspected, or products that have already been inspected at different heights. Simultaneously, the height of the second light source 404 can also be adjusted by the first light source lifting mechanism, allowing the second light source 404 to better illuminate the second camera 405.

[0168] In practical applications, a third connecting horizontal plate 4010 is also provided at the lower part of the second support plate 401, and the second support plate 401 is connected to the frame 10 through the third connecting horizontal plate 4010. Furthermore, a stiffening plate 409 is provided between the second support plate 401 and the third connecting horizontal plate 4010 to improve the stability of the connection.

[0169] Specifically, such as Figure 29 As shown, the second camera lifting mechanism includes a fine-tuning slide 408 and a second slide connecting plate 407 slidably connected to the fine-tuning slide 408; the fine-tuning slide 408 is fixed on the second support plate 401, and the second slide connecting plate 407 is connected to the second camera 405.

[0170] In a specific application, the second camera 405 is mounted on the second camera mounting plate 406, and the second camera mounting plate 406 is mounted on the second slide connecting plate 407, thereby achieving the purpose of driving the second camera 405 to move up and down in the vertical direction (Z-axis direction) through the fine-tuning slide 408.

[0171] The fine-tuning slide 408 can adopt the structure of a fine-tuning slide in the prior art, which will not be described in detail in this embodiment.

[0172] Specifically, such as Figure 29 As shown, the lifting mechanism of the second light source 404 includes a second fastener and a second light source 404 connector; a second waist hole is provided on the second support plate 401 in the vertical direction, and the second fastener passes through the second waist hole and is connected to the second light source 404 connector.

[0173] When it is necessary to adjust the height of the second light source 404, loosen the second fastener, then move the second light source 404 connector up or down along the second waist hole. After adjusting the height, tighten the second fastener to connect and fix the second light source 404 to the second support plate 401.

[0174] The second fastener can be a bolt. The second light source 404 connector includes a second light source adjustment plate 402 and a second light source fixing plate 403. The second light source fixing plate 403 is connected to the second light source adjustment plate 402. The second light source 404 is installed on the second light source fixing plate 403. The second fastener passes through the second waist hole and is connected to the second light source adjustment plate 402.

[0175] Furthermore, such as Figure 30 As shown, both the loading platform device 50 and the unloading platform device 60 include a sliding cylinder 502 and a cylinder connecting plate. The sliding cylinder 502 is connected to the cylinder connecting plate to drive the cylinder connecting plate to move laterally. A sixth sensor is provided at one end of the sliding cylinder 502. A carrier plate is provided on the cylinder connecting plate, and an opening is provided on the carrier plate. A pipe connector 505 is connected to the lower part of the opening. The pipe connector 505 is used to communicate with the negative pressure device.

[0176] The loading platform device 50 and unloading platform device 60 are used for transporting products to be inspected from the loading tray to the inspection mechanism, and for transporting inspected products from the inspection mechanism to the unloading tray. Specifically, the first loading robot 2031 picks up six products to be inspected from the loading tray and moves them onto the carrier plate of the loading platform device 50. Then, the first loading robot 2031 descends and places the six products to be inspected at the corresponding openings on the carrier plate. Through a negative pressure device, the products to be inspected are adsorbed onto the carrier plate. Afterward, the first loading robot 2031 rises and returns to the loading tray to continue picking up materials. At the same time, the slide cylinder 502 of the loading platform device 50 drives the carrier plate to move towards the inspection mechanism. Then, the second loading robot 2032 moves above the loading platform device 50, and the negative pressure device releases gas, causing the products to be inspected on the carrier plate to be adsorbed onto the carrier plate. Once the adsorption force on the tested product disappears, the second loading robot 2032 picks up three products to be tested from the carrier plate and moves towards the testing mechanism. During this process, the placement angle of the products to be tested is adjusted using the second imaging mechanism. Then, the three products to be tested are placed on the testing mechanism for testing. Afterward, the second loading robot 2032 moves above the loading platform device 50 and rotates the remaining three products to be tested onto the testing mechanism in the same manner. After the second loading robot 2032 finishes picking up the materials, the slide cylinder 502 drives the platform 507 to move towards the upper material tray for the next transport.

[0177] After the testing is completed, the second unloading robot 2034 moves above the testing mechanism. At the same time, the slide cylinder 502 of the unloading platform device 60 drives the platform 507 to move to the testing mechanism. Then, the second unloading robot 2034 picks up three tested products from the testing mechanism and moves to the platform plate of the unloading platform device 60. The three tested products are then placed on the openings of the platform plate, and the negative pressure device is used to adsorb the three tested products onto the platform plate. After that, the second unloading robot 2034 uses the same method to transfer the three tested products from the testing mechanism to the platform plate. Then, the slide cylinder 502 drives the platform 507 to the unloading tray for subsequent transportation processes.

[0178] The cylinder connecting plate comprises a frame consisting of a cylinder connecting base plate 503, a cylinder connecting vertical plate 504, and a cylinder connecting top plate 506. The platform 507 is mounted on the cylinder connecting top plate 506. The bottom of the slide cylinder 502 is provided with a slide cylinder base plate 501, and the slide cylinder 502 is mounted on the frame 10 via the slide cylinder base plate 501. Figure 31 As shown, the testing mechanism includes a testing fixture 70, which includes an upper fixture plate 701 and a lower fixture plate 702. The product to be tested is placed on the upper fixture plate 701 for testing. The sixth sensor is used to detect whether the stage 507 has moved into position.

[0179] Furthermore, the number of openings is in two groups; each group of openings consists of 6 openings arranged in a straight line.

[0180] The carrier plate has a total of 12 holes (2x6), which can hold two sets of products to be tested or products that have already been tested. One set of holes is used for normal product loading and unloading, and the other set of holes is used as a buffer when the current tray is changed. This not only reduces the waiting time for loading when changing trays, thus improving efficiency, but also has a simple structure and low cost.

[0181] Furthermore, such as Figure 14 and Figure 15 As shown, the conveying equipment also includes a tray conveying device 30, which includes a loading tray conveying device 301. The loading tray conveying device 301 includes a first conveying mechanism 3011, a first clamping mechanism 3014, a loading tray support mechanism 3015, and a first lifting mechanism 3013. The loading tray support mechanism 3015 is disposed on the first conveying mechanism 3011. A first blocking mechanism 3012 is provided at the end of the first conveying mechanism 3011, and the first lifting mechanism 3013 is disposed opposite to the first blocking mechanism 3012. The first clamping mechanism 3014 is located on the first conveying mechanism 3011 at a position corresponding to the first lifting mechanism 3013.

[0182] The feeding tray conveyor 301 can realize automatic feeding of the feeding tray and automatic recycling of empty feeding trays, thereby reducing the workload of workers and improving work efficiency.

[0183] Specifically, the first conveying mechanism 3011 transports the loading tray carrying the product to be tested to the end of the first conveying mechanism 3011. Then, the first conveying mechanism 3011 stops working, and the first lifting mechanism 3013 lifts the loading tray until it is higher than the loading tray support mechanism 3015 and then stops moving. Then, the loading tray support mechanism 3015 moves to the bottom of the loading tray to support it. After that, the first lifting mechanism 3013 descends, so that the loading tray falls on the loading tray support mechanism 3015. The first lifting mechanism 3013 continues to descend to the initial position. During the descent of the first lifting mechanism 3013, the first clamping mechanism clamps the loading tray, and at the same time, the first blocking mechanism 3012 also detects the loading tray. At this time, the loading tray is in working state, that is, the first loading robot 2031 can pick up the material from the loading tray.

[0184] After all the products to be inspected on the feeding tray have been removed, i.e., the feeding tray is empty, the first clamping mechanism releases the feeding tray, and then the first lifting mechanism 3013 rises, raising the feeding tray to a certain height. After that, the feeding tray support mechanism 3015 retracts, and then the first lifting mechanism 3013 waits for the feeding tray to descend, so that the feeding tray lands on the first conveying mechanism 3011. The first lifting mechanism 3013 continues to descend to the initial position, and then the first conveying mechanism 3011 operates in the opposite direction to retrieve the empty feeding tray.

[0185] Furthermore, such as Figure 14 As shown, there are two first conveying mechanisms 3011, and the two first conveying mechanisms 3011 are arranged side by side.

[0186] The two first conveying mechanisms 3011 can alternately convey the loading tray. That is, when one first conveying mechanism 3011 is conveying the loading tray, the loading tray of the other first conveying mechanism 3011 is already in working state. In this way, the first loading robot 2031 can pick up the product to be inspected from the loading tray, while the loading tray conveyed by the other first conveying mechanism 3011 is also in working state. Thus, the first loading robot 2031 can work continuously, saving the time of waiting for the loading tray to be conveyed and improving work efficiency.

[0187] In addition, if there are fewer than 6 products to be inspected on one of the feeding trays, the first feeding robot 2031 can pick up more products to be inspected from the other feeding tray to make up the total of 6.

[0188] Furthermore, such as Figure 22 As shown, the feeding tray includes a good product feeding tray and a defective product feeding tray; the feeding tray conveying device 30 also includes a good product feeding tray conveying device 302 for conveying the good product feeding tray and a defective product feeding tray conveying device 303 for conveying the defective product feeding tray; both the good product feeding tray conveying device 302 and the defective product feeding tray conveying device 303 include a second conveying mechanism 3021, a feeding tray support mechanism 3024, a second clamping mechanism 3026, a positioning mechanism 3022 and a second lifting mechanism 3025; the second clamping mechanism, the feeding tray support mechanism 3024 and the positioning mechanism 3022 are arranged on the second conveying mechanism 3021, and the feeding tray support mechanism 3024 is located between the clamping mechanism and the positioning mechanism 3022; the second lifting mechanism 3025 is located below the support mechanism; a second blocking mechanism 3023 is provided on the side of the second lifting mechanism 3025 near the positioning mechanism 3022.

[0189] Good product unloading trays are used to hold qualified and inspected products, while defective product unloading trays are used to hold unqualified and inspected products. Good product unloading trays and defective product unloading trays can be distinguished by different markings, colors, or materials.

[0190] In practical applications, the empty good product unloading tray is conveyed to the waiting position by the second conveying mechanism 3021 of the good product unloading tray conveying device 302. Then, the second conveying mechanism 3021 reverses, and at the same time, the second blocking mechanism 3023 of the good product unloading tray conveying device 302 rises to a certain height. During this process, the good product tray on the second conveying mechanism 3021 is blocked by the second blocking mechanism 3023, and the second conveying mechanism 3021 stops moving. Then, the second lifting mechanism 3025 lifts the good product tray until it is higher than the unloading tray support mechanism 3024, and then stops moving. Then, the unloading tray support mechanism 3024 moves to the bottom of the good product tray, providing support for the good product tray. After that, the second lifting mechanism 3025 descends, causing the good product tray to fall onto the good product tray support mechanism. The second lifting mechanism 3025 continues to descend to the initial position, and during the descent of the second lifting mechanism 3025, the second clamping mechanism clamps the good product tray. At the same time, the positioning mechanism 3022 also detects the good product tray. At this time, the good product tray is in working state, that is, the first unloading robot 2033 can place the inspected and qualified products onto the good product tray.

[0191] During the movement of the first unloading robot 2033, that is, during the transfer of the inspected products, the second empty good product tray is also transported to the waiting position by the second conveying mechanism 3021. Then the second conveying mechanism 3021 stops working, and the second good product tray is in a stationary state. After the good product tray in the working state is filled with qualified and inspected products, the second clamping mechanism releases the tray. Then, the second lifting mechanism 3025 rises, raising the good product tray to a certain height. The unloading tray support mechanism 3024 retracts, and then the second lifting mechanism 3025 lowers with the full good product tray, allowing it to land on the second conveying mechanism 3021. The second lifting mechanism 3025 continues to descend to its initial position. Then, the second conveying mechanism 3021 rotates in the opposite direction, causing both the full and empty good product trays to move simultaneously. When the full good product tray leaves the working position, the second blocking mechanism 3023 rises until the empty good product tray is blocked by it. The second conveying mechanism 3021 then stops moving. Finally, the second lifting mechanism... 3025 lifts the good product tray until it is higher than the unloading tray support mechanism 3024, then stops moving. The unloading tray support mechanism 3024 then moves to the bottom of the good product tray, providing support. Afterwards, the second lifting mechanism 3025 descends, allowing the good product tray to fall onto the good product tray support mechanism. The second lifting mechanism 3025 continues to descend to its initial position. During the descent of the second lifting mechanism 3025, the second clamping mechanism clamps the good product tray, and the positioning mechanism 3022 also detects the good product tray. At this point, the good product tray is in working condition, thus realizing the recovery of full good product trays and the conveying of new empty good product trays. This eliminates the need for staff to perform tray collection and replacement work, reducing the workload of staff and improving work efficiency.

[0192] Understandably, the recycling and replacement of defective material trays follows the same process as described above, and will not be repeated here.

[0193] Furthermore, such as Figure 28 As shown, the second blocking mechanism 3023 includes an adjusting base 30235, a mounting plate 30237, a third fastener, a first blocking plate 30231, a first blocking plate lifting drive 30236, and a track 30234. The track 30234 is arranged vertically, and a sliding second slider 30233 is provided on the track 30234. The second slider 30233 is connected to the first blocking plate lifting drive 30236. The adjusting base 30235 has a third waist hole, and the opening direction of the third waist hole is parallel to the arrangement direction of the second conveying mechanism 3021. The third fastener passes through the third waist hole and is connected to the bottom of the mounting plate 30237.

[0194] In practical applications, the second slider 30233 is provided with a connecting seat 30232, the connecting seat 30232 is provided with a movable connecting plate 30239, and the movable connecting plate 30239 is provided with a connecting rod 30238 connected to the lifting drive part 30236 of the first blocking plate. This achieves the connection between the second slider 30233 and the lifting drive mechanism of the first blocking plate 30231. The lifting drive mechanism of the first blocking plate 30231 drives the second slider 30233 to move up and down along the guide rail, thereby realizing the lifting movement of the first blocking plate 30231 on the second slider 30233. The lifting drive mechanism of the first blocking plate 30231 can be a cylinder.

[0195] Furthermore, the third oblique hole allows adjustment of the relative position between the mounting plate 30237 and the adjusting base 30235, which in turn adjusts the relative position between the first blocking plate 30231 and the feed tray. This adapts to feed trays of different lengths, thereby improving the adaptability and flexibility of the second blocking mechanism 3023. Specifically, when adjusting the position of the first blocking plate 30231, loosen the third fastener, move the first blocking plate 30231 to the desired position, and then tighten the third fastener. The third fastener can be a bolt.

[0196] Specifically, such as Figure 15 As shown, the first conveying mechanism 3011 and the second conveying mechanism 3021 include a first conveying component 30111, a spacing adjustment component 301144, a power component 30113, and a second conveying component 30112; the first conveying component 30111 and the second conveying component 30112 are arranged side by side, and the spacing adjustment component 301144 is drivenly connected to the first conveying component 30111 and the second conveying component 30112 respectively, and the power component 30113 is drivenly connected to the first conveying component 30111 and the second conveying component 30112 respectively.

[0197] The spacing adjustment component 301144 enables the first conveying component 30111 and the second conveying component 30112 to move towards or away from each other, thereby adjusting the distance between the first conveying component 30111 and the second conveying component 30112. This allows the worker to adjust the appropriate spacing according to the size of the loading or unloading tray, enabling each conveying mechanism to convey loading or unloading trays of different sizes, thus improving adaptability.

[0198] In addition, in this embodiment, the first conveying component 30111 and the second conveying component 30112 share a power component 30113 that provides transmission power. Compared with the prior art, where each conveying component is equipped with a power component 30113, this not only improves the synchronization of the first conveying component 30111 and the second conveying component 30112, but also reduces the number of power components 30113, lowers costs, and makes the structure more compact.

[0199] Specifically, such as Figure 17 , Figure 18 , Figure 20 and Figure 21 As shown, the first conveying assembly 30111 includes a first belt fixing plate 301118 and a first belt 301112. The side wall of the first belt fixing plate 301118 is provided with a first driving wheel 301111 and a first driven wheel 301113. The first driving wheel 301111 is connected to the first driven wheel 301113 through the first belt 301112. The second conveying device includes a second belt fixing plate 301126 and a second belt 301122. The side wall of the second belt fixing plate 301126 opposite to the first belt fixing plate 301118 is provided with a second driving wheel 301121 corresponding to the first driving wheel 301111 and a second driven wheel 301123 corresponding to the first driven wheel 301113. The two ends of the first belt fixing plate 301118 are respectively provided with a seventh sensor 301116.

[0200] The number and position of the first driven wheels 301113 can be set by the operator according to the actual situation; this embodiment does not impose strict requirements. The number of the second driven wheels 301123 is the same as the number of the first driven wheels 301113 and corresponds one-to-one. For example, there are six first driven wheels 301113, with two first driven wheels 301113 respectively located at both ends of the first belt fixing plate 301118, and the remaining first driven wheels 301113 located above the first driving wheel 301111 and distributed alternately vertically, so that they can be used as tensioning wheels to improve the tension of the first belt 301112, thereby improving the stability and reliability of the conveying of the loading or unloading tray. The seventh sensor 301116 is fixed to both ends of the first belt fixing plate 301118 through the seventh sensor mounting plate 301117, thereby detecting whether the loading or unloading tray has been delivered to the correct position.

[0201] Furthermore, such as Figure 16 As shown, the power assembly 30113 includes a first drive member and a ball spline. The first drive member is connected to the key shaft of the ball spline. Two spline shaft nuts 301137 are configured on the key shaft. One spline shaft nut 301137 is connected to the first drive wheel 301111, and the other bushing is connected to the second drive wheel 301121.

[0202] The first driving component drives the key shaft to rotate, which in turn drives the two splined shaft nuts 301137 to rotate. These splined shaft nuts 301137 then drive the first drive wheel 301111 and the second drive wheel 301121 to rotate, thus providing power for the rotation of the first belt 301112 and the second belt 301122, thereby enabling the conveying of the loading or unloading tray. Furthermore, when the spacing adjustment component 301144 adjusts the distance between the first conveying component 30111 and the second conveying component 30112, the second drive wheel 301121 drives the corresponding splined shaft nut 301137 to move along the key shaft.

[0203] Specifically, the first driving component includes a fixed plate 301135, a motor 301131, a coupling 301133, and a motor connecting rod 301134; the motor 301131 is mounted on the outside of the fixed plate 301135 through the motor connecting rod 301134, and the rotating shaft of the motor 301131 is connected to the key shaft of the ball spline through the coupling 301133.

[0204] The rotation of motor 301131 drives the key shaft of the ball spline to rotate, thereby providing rotational power for the first drive wheel 301111 and the second drive wheel 301121. In specific applications, a second flange 301132 is also provided on the outside of motor 301131, and motor connecting rod 301134 is mounted on the second flange 301132.

[0205] The first drive wheel 301111 is also provided with a second bearing 301114 and a first retaining ring 301115 to improve the reliability of the connection between the first drive wheel 301111 and the ball spline. Similarly, the second drive wheel 301121 is also provided with a third bearing 301124 and a second retaining ring 301125 to improve the reliability of the connection between the second drive wheel 301121 and the ball spline.

[0206] Furthermore, such as Figure 19As shown, a first bearing 301145 is also provided on the side wall of the first belt fixing plate 301118 opposite to the second belt fixing plate 301126; the spacing adjustment device includes a connecting base plate 301141, a trapezoidal lead screw 301146, and a handwheel 301148; a lead screw nut 301147 is provided on the trapezoidal lead screw 301146, one end of the trapezoidal lead screw 301146 passes through the fixing plate and is connected to the first bearing 301145, and the other end of the trapezoidal lead screw 301146 is connected to the handwheel 301148; the lead screw Nut 301147 is connected to the second belt fixing plate 301126; one side of the connecting base plate 301141 is connected to the bottom of the first belt fixing plate 301118, the connecting base plate 301141 is provided with a track 301142, the track 301142 is perpendicular to the first belt fixing plate 301118 and the second belt fixing plate 301126, the track 301142 is provided with a sliding third slider 30114, and the third slider 30114 is connected to the bottom of the second belt fixing plate 301126.

[0207] When the trapezoidal screw is rotated by the handwheel 301148, the screw nut can move closer to or away from the first belt fixing plate 301118, thereby causing the second belt fixing plate 301126 to move closer to or away from the first belt fixing plate 301118. In other words, the distance between the first conveying component 30111 and the second conveying component 30112 is adjusted to accommodate different sizes of loading or unloading trays.

[0208] The track 301142 and the third slider 30114 on it guide the movement of the second belt fixing plate 301126. Furthermore, the third slider 30114 is mounted on the linear slide rail base plate 201311211 via the third slider connecting plate 301143.

[0209] Furthermore, such as Figure 19 As shown, the handwheel 301148 is also provided with a locking nut 301149 for locking the handwheel 301148. When the handwheel 301148 is not in use, the handwheel 301148 can be locked by the locking nut 301149 to prevent the handwheel 301148 from rotating after being touched by external force.

[0210] Specifically, such as Figure 18 and Figure 21 As shown, the upper part of the first belt fixing plate 301118 is provided with a first guide plate 3011210, and the upper part of the second belt fixing plate 301126 is provided with a second guide plate 301128; the first belt fixing plate 301118 is also provided with a first belt support plate 301129 to support the first belt 301112, and the second belt fixing plate 301126 is also provided with a second belt support plate 301127 to support the second belt 301122.

[0211] The first belt support plate 301129 is located below and closely abuts the first belt 301112, thus supporting the first belt 301112 and preventing it from sagging and affecting the conveying effect. Furthermore, to reduce the friction between the first belt support plate 301129 and the first belt 301112, thereby minimizing the impact on the conveying speed, the upper surface of the first belt support plate 301129 can be coated with lubricating oil. Similarly, the second belt support plate 301127 is located below and closely abuts the second belt 301122, thus supporting the second belt 301122 and preventing it from sagging and affecting the conveying effect. Furthermore, to reduce the friction between the second belt support plate 301127 and the second belt 301122, thereby minimizing the impact on the conveying speed, the upper surface of the second belt support plate 301127 can be coated with lubricating oil.

[0212] The cooperation between the first guide plate 3011210 and the second guide plate 301128 prevents the loading or unloading tray from falling off and also serves as a guide, making the conveying more reliable and stable.

[0213] Furthermore, such as Figure 23 As shown, the first lifting mechanism 3013 and the second lifting mechanism 3025 include a pallet lifting drive unit 30138, a support frame, and a pallet 30131. The support frame is provided with a push plate 30139 connected to the pallet lifting drive unit 30138. Two guide shafts 30132 are provided on the push plate 30139. The top ends of the two guide shafts 30132 pass through the support frame and are connected to the pallet 30131. An eighth sensor 30135 is provided at the upper and lower parts of the support frame. A third sensor plate is provided on the side of the push plate 30139 near the eighth sensor 30135.

[0214] The lifting drive unit 30138 drives the two guide shafts 30132 on the push plate 30139 to move up and down in the vertical direction, thereby driving the support plate 30131 to move up and down in the vertical direction, thus realizing the raising and lowering of the lifting mechanism.

[0215] The support frame is composed of a support base plate 30137, a support top plate 301311, and a support vertical plate 3014. An eighth sensor 30135 is fixed to the support frame via an eighth sensor mounting base 30136. The eighth sensor 30135 is used to sense whether the push plate 30139 has moved into position. Guide shaft sleeves 30133 are provided where the two guide shafts 30132 pass through the support frame to allow the guide shafts 30132 to move smoothly up and down.

[0216] Furthermore, such as Figure 27 As shown, the feeding tray support mechanism 3015 and the unloading tray support mechanism 3024 include a first support assembly disposed on the first belt fixing plate 301118 and a second support assembly disposed on the second belt fixing plate 301126. The first support assembly is located above the first belt 301112, and the second support assembly is located above the second belt 301122. Both the first and second support assemblies include a first telescopic drive part 30151, a support block 30153, a first telescopic drive part connector 30151, a first limiting plate, and a second limiting plate 30152. The first telescopic drive part 30151 is connected to the support block 30153 through the telescopic drive part connector. The first limiting plate is disposed on the support block 30153 on the side close to the first telescopic drive part 30151, and the second limiting plate 30152 is disposed on the upper part of the support block 30153.

[0217] The opposing or reversing movements of the first telescopic drive part 30151 of the first support component and the first telescopic drive part 30151 of the second support component drive the corresponding support block 30153 to move in the opposite or opposite directions, thereby achieving the purpose of supporting or releasing the unloading tray or loading tray.

[0218] The first telescopic drive unit 30151 may be a telescopic cylinder. The first telescopic drive unit connector 30151 includes a fixed connecting plate 30155 and a support block connecting plate 30154. The support block connecting plate 30154 is connected to the first telescopic drive unit 30151 through the fixed connecting plate 30155. The support block 30153 is installed on the support block connecting plate 30154, thereby improving the stability of the connection.

[0219] Furthermore, such as Figure 24 As shown, the first clamping mechanism 3014 and the second clamping mechanism 3026 include a first clamping component disposed on the first belt fixing plate 301118 and a second clamping component disposed on the second belt fixing plate 301126, and the first clamping component and the second clamping component are disposed opposite to each other; both the first clamping component and the second clamping component include a second telescopic drive part 30143, a clamping part 30141, a fixing seat 30146, a fourth fastener and a first adjusting plate 30145. The second telescopic drive part 30143 is connected to the clamping part 30141 and is mounted on the first adjusting plate 30145. The first adjusting plate 30145 has a fourth waist hole, and the direction of the fourth waist hole is perpendicular to the first belt fixing plate 301118 and the second belt fixing plate 301126; the fourth fastener passes through the fourth waist hole and is connected to the fixing seat 30146.

[0220] The opposing or receding movements of the second telescopic drive part 30143 of the first clamping assembly and the second telescopic drive part 30143 of the second clamping assembly drive the corresponding clamping parts 30141 to move in the opposite direction or in the opposite direction, thereby achieving the purpose of clamping or releasing the unloading tray or loading tray. The clamping parts 30141 are connected to the second telescopic drive part 30143 through the clamping connecting plate 30142.

[0221] The second telescopic drive unit 30143 can be a telescopic cylinder, which is fixed to the first adjusting plate 30145 by the telescopic unit fixing plate 30144, thereby improving the stability of the connection.

[0222] The relative position of the clamping part and the loading or unloading tray can be adjusted by adjusting the position of the first adjusting plate 30145 and the fixed base 30146, thus adapting to loading or unloading trays of different lengths and improving the adaptability and flexibility of the first clamping mechanism 3014 and the second clamping mechanism 3026. Specifically, when the position of the clamping part needs to be adjusted, the fourth fastener is loosened, and then the first adjusting plate 30145 is moved along the fourth slot to the desired position, and then the fourth fastener is tightened. The fourth fastener can be a bolt.

[0223] Furthermore, such as Figure 25 and Figure 26 As shown, the first blocking mechanism 3012 and the positioning mechanism 3022 include a support member 30123, a second adjusting plate 30124, a second blocking plate 30122, a fifth fastener, and a ninth sensor 30121; the ninth sensor 30121 is disposed on the side of the second blocking plate 30122 near the first conveying mechanism 3011, the second blocking plate 30122 is connected to the adjusting plate, the second adjusting plate 30124 has a fifth waist hole, the direction of the fifth waist hole is parallel to the arrangement direction of the first conveying mechanism 3011; the fifth fastener passes through the fifth waist hole and is connected to the support member 30123.

[0224] The fifth oblique hole allows adjustment of the relative position between the support member 30123 and the second adjusting plate 30124, which in turn adjusts the relative position between the second blocking plate 30122 and the unloading or loading tray. This adapts to unloading trays of different lengths, improving the adaptability and flexibility of the second blocking mechanism 3023. Specifically, to adjust the position of the second blocking plate 30122, loosen the fifth fastener, move the second blocking plate 30122 to the desired position, and then tighten the fifth fastener. The fifth fastener can be a bolt. The ninth sensor detects whether the loading or unloading tray has been delivered to the correct position.

[0225] Furthermore, such as Figure 32As shown, the feeding tray has an array of placement positions 80 for the inspected products. The first imaging mechanism is specifically used to acquire the placement positions 80 of the inspected products at the four corners, so as to determine the placement positions 80 of other inspected products through the placement positions of the inspected products at the four corners.

[0226] As the second unloading robot 2034 moves above the inspection mechanism, the first photographing mechanism (i.e., the unloading photographing mechanism) on the first unloading robot 2033 passes over the unloading tray and takes a picture, thereby obtaining the placement positions 80 of the inspected products located at the four corners. By measuring the length and width of each position, the other placement positions 80 can be determined, and the inspected products can then be placed according to the determined placement positions 80.

[0227] This application has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit this application to the scope of the described embodiments. Furthermore, those skilled in the art will understand that this application is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this application, all of which fall within the scope of protection claimed in this application. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A conveying device, characterized in that, It includes a frame and a conveying device, a bottom-mounted flapping device, a loading tray, a unloading tray, a loading platform device, and an unloading platform device mounted on the frame; The conveying device includes a moving mechanism, a material picking and placing mechanism, and a first photographing mechanism. The material picking and placing mechanism is disposed on the moving mechanism, and the first photographing mechanism is disposed on the material picking and placing mechanism. The bottom surface flying photographing device includes a second photographing mechanism. The first photographing mechanism is used to acquire the placement position of the product to be inspected on the loading tray, so that the picking and placing mechanism can move to the placement position through the moving mechanism and pick up the product to be inspected; and is used to acquire the placement position of the inspected product on the unloading tray, so that the picking and placing mechanism can place the inspected product on the unloading platform device at the placement position through the moving mechanism. The loading platform device is used to carry and transport the product to be tested picked up from the loading tray by the picking and unloading mechanism; The unloading platform device is used to carry and transport the inspected products picked up from the inspection mechanism by the picking and unloading mechanism; The second photographing mechanism is specifically used to acquire the angle of the product to be inspected picked up by the picking and placing mechanism from the loading platform device and the relative position of the product to be inspected and the picking and placing mechanism in the horizontal and vertical directions during the process of the picking and placing mechanism moving from the loading platform device to the inspection mechanism, so as to determine the rotation angle of the picking and placing mechanism to rotate the product to be inspected, and to make the picking and placing mechanism rotate the product to be inspected according to the rotation angle; During the process of the material handling mechanism moving from the unloading platform to the unloading tray, the angle of the detected product picked up by the material handling mechanism from the unloading platform and the relative position of the detected product and the material handling mechanism in the lateral and longitudinal directions are obtained, so as to determine the rotation angle of the material handling mechanism to rotate the detected product, and to make the material handling mechanism rotate the detected product according to the rotation angle.

2. The conveying device according to claim 1, characterized in that, The moving mechanism includes a loading lateral moving mechanism, a loading longitudinal moving mechanism, a unloading lateral moving mechanism, and an unloading longitudinal moving mechanism; the picking and placing mechanism includes a loading robot and an unloading robot; the first photographing mechanism includes a loading photographing mechanism and an unloading photographing mechanism; The feeding lateral movement mechanism includes a feeding lateral motion drive assembly and a feeding linear guide rail assembly; the feeding lateral motion drive assembly and the feeding linear guide rail assembly are arranged laterally; the feeding longitudinal movement mechanism is connected to the feeding lateral motion device and the feeding linear guide rail assembly respectively; the feeding robot is connected to the feeding longitudinal movement mechanism, and the feeding photography mechanism is connected to the feeding robot; The material unloading lateral movement mechanism includes a material unloading lateral motion drive assembly and a material unloading linear guide rail assembly; the material unloading lateral motion drive assembly and the material unloading linear guide rail assembly are arranged laterally; the material unloading longitudinal movement mechanism is connected to the material unloading lateral motion device and the material unloading linear guide rail assembly respectively; the material unloading robot is connected to the material unloading longitudinal movement mechanism, and the material unloading photographing mechanism is connected to the material unloading robot.

3. The conveying device according to claim 2, characterized in that, Both the loading lateral motion drive assembly and the unloading lateral motion drive assembly include a bidirectional linear motor, a first sliding connector and a second sliding connector; the first sliding connector and the second sliding connector are both connected to the bidirectional linear motor, and the bidirectional linear motor is used to drive the first sliding connector and the second sliding connector to move independently; a first sensor is provided at each end of the bidirectional linear motor. The feeding linear guide assembly and the unloading linear guide assembly each include a linear guide, a third sliding connector and a fourth sliding connector, and the third sliding connector and the fourth sliding connector are slidably connected to the linear guide.

4. The conveying device according to claim 3, characterized in that, The feeding longitudinal moving mechanism includes a first feeding longitudinal moving module and a second feeding longitudinal moving module; the first feeding longitudinal moving module is connected to a first sliding connector of the feeding transverse moving mechanism and a third sliding connector of the feeding linear guide assembly; the second feeding longitudinal module is connected to a second sliding connector of the feeding transverse moving mechanism and a fourth sliding connector of the feeding linear guide assembly; a second sensor is provided at one end of the first feeding longitudinal moving module and at one end of the second feeding longitudinal moving module. The loading robot includes a first loading robot and a second loading robot; The first loading robot arm is mounted on the first loading longitudinal moving module, the loading photography mechanism is mounted on the first loading robot arm, and the second loading robot arm is mounted on the second loading longitudinal moving module.

5. The conveying device according to claim 4, characterized in that, The feeding longitudinal movement mechanism includes a first feeding longitudinal movement module and a second feeding longitudinal movement module; the first feeding longitudinal movement module is connected to a first sliding connector of the feeding longitudinal movement mechanism and a third sliding connector of the feeding linear guide assembly; the second feeding longitudinal movement module is connected to a second sliding connector of the feeding longitudinal movement mechanism and a fourth sliding connector of the feeding linear guide assembly; a third sensor is provided at one end of the first feeding longitudinal movement module and at one end of the second feeding longitudinal movement module. The unloading robot includes a first unloading robot and a second unloading robot; the first unloading robot is mounted on the first unloading longitudinal movement module, the unloading photography mechanism is mounted on the first unloading robot, and the second unloading robot is mounted on the second unloading longitudinal movement module.

6. The conveying device according to claim 5, characterized in that, The first loading robot, the second loading robot, the first unloading robot, and the second unloading robot all include a suction mechanism and a suction lifting mechanism; The material suction lifting mechanism includes a first support plate and at least one material suction lifting component disposed on the first support plate; each material suction mechanism includes a connecting component, a rotating component and a suction nozzle, the connecting component is connected to the material suction lifting component so that the material suction lifting component drives the connecting component to move up and down in the vertical direction; the rotating component is fixed on the connecting component and is connected to the suction nozzle so that the rotating component drives the suction nozzle to rotate around the vertical axis.

7. The conveying device according to claim 6, characterized in that, The material suction and lifting assembly includes a first lifting drive unit, a drive wheel, a driven wheel, a synchronous belt, and a lifting linear guide rail; the drive wheel and the driven wheel are arranged vertically, and the synchronous belt passes over the drive wheel and the driven wheel; the first lifting drive unit is connected to the drive wheel, the lifting linear guide rail is located below the driven wheel, and a first sliding block is provided on the lifting linear guide rail; a fourth sensor is provided above the drive wheel, and a first sensing plate is provided on one side of the drive wheel; The connecting components of each suction mechanism are fixedly connected to the corresponding synchronous belt, and the rotating components of each suction mechanism are connected to the first slider on the corresponding lifting linear guide rail.

8. The conveying device according to claim 7, characterized in that, The rotating assembly includes a hollow shaft, a rotating drive component, a rotary joint, a suction nozzle connecting rod, a vacuum valve, and an air passage; The suction nozzle connecting rod is connected to the rotary drive component, which is also connected to the first slider on the corresponding lifting linear guide rail. The rotary joint is connected to the rotary motor through the hollow shaft. The suction nozzle is mounted on the hollow shaft. The vacuum valve is connected to the suction nozzle through the air passage, and a regulating valve is provided on the air passage. A fifth sensor is also provided on one side of the rotating head, and a second sensing plate is provided on the rotary joint.

9. The conveying device according to claim 8, characterized in that, The material suction lifting assembly also includes a spring, one end of which is connected to the top of the material suction mechanism connecting rod, and the other end of which is connected to the first support plate.

10. The conveying device according to claim 8, characterized in that, The connecting assembly includes a clamping block and a connecting plate disposed at the top of the nozzle connecting rod, and the timing belt is fixed between the clamping block and the connecting plate.

11. The conveying device according to claim 7, characterized in that, The material suction lifting assembly also includes a timing belt tensioning slider, which is located below the driving wheel, and the driven wheel is mounted on the timing belt tensioning slider.

12. The conveying device according to claim 6, characterized in that, The first loading robot and the first unloading robot each have 6 suction mechanisms and suction lifting mechanisms, and the second loading robot and the second unloading robot each have 3 suction mechanisms and suction lifting mechanisms.

13. The conveying device according to claim 5, characterized in that, The loading and unloading photography mechanism includes a base plate, a first camera lifting mechanism, a first camera, a first light source, and a first light source lifting mechanism; The first light source lifting mechanism is connected to the first light source to drive the first light source to move up and down in the vertical direction; the first camera lifting mechanism is connected to the first camera to drive the first camera to move up and down in the vertical direction. The first light source lifting mechanism and the first camera lifting mechanism are mounted on the base plate, with the first light source lifting mechanism located below the first camera lifting mechanism.

14. The conveying device according to claim 13, characterized in that, The first camera lifting mechanism includes an electric slide and a first slide connecting plate disposed on the electric slide; the electric slide is connected to the base plate, and the first slide connecting plate is connected to the first camera.

15. The conveying device according to claim 13, characterized in that, The first light source lifting mechanism includes a first fastener and a first light source connector; a first waist hole is provided on the base plate in the vertical direction, and the first fastener passes through the first waist hole and is connected to the first light source connector.

16. The conveying device according to claim 1, characterized in that, The number of the second photographing mechanism is two, and each second photographing mechanism includes a second support plate, a second camera lifting mechanism, a second camera, a second light source, and a second light source lifting mechanism; The second light source lifting mechanism is connected to the second light source to drive the second light source to move up and down in the vertical direction; the second camera lifting mechanism is connected to the second camera to drive the second camera to move up and down in the vertical direction. The second light source lifting mechanism and the second camera lifting mechanism are mounted on the second support plate, with the second light source lifting mechanism located above the second camera lifting mechanism.

17. The conveying device according to claim 16, characterized in that, The second camera lifting mechanism includes a fine-tuning slide and a second slide connecting plate slidably connected to the fine-tuning slide; the fine-tuning slide is fixed on the second support plate, and the second slide connecting plate is connected to the second camera.

18. The conveying device according to claim 16, characterized in that, The second light source lifting mechanism includes a second fastener and a second light source connector; a second waist hole is provided on the second support plate in the vertical direction, and the second fastener passes through the second waist hole and connects to the second light source connector.

19. The conveying device according to claim 1, characterized in that, Both the loading platform device and the unloading platform device include a sliding cylinder and a cylinder connecting plate. The sliding cylinder is connected to the cylinder connecting plate to drive the cylinder connecting plate to move laterally. A sixth sensor is provided at one end of the sliding cylinder. The cylinder connecting plate is provided with a carrier plate, the carrier plate is provided with an opening, and a pipe joint is connected to the lower part of the opening. The pipe joint is used to communicate with the negative pressure device.

20. The conveying device according to claim 19, characterized in that, The number of openings is two groups; each group of openings consists of 6 openings arranged in a straight line.

21. The conveying device according to claim 1, characterized in that, The conveying equipment further includes a tray conveying device, which includes a loading tray conveying device. The loading tray conveying device includes a first conveying mechanism, a first clamping mechanism, a loading tray support mechanism, and a first lifting mechanism. The loading tray support mechanism is disposed on the first conveying mechanism. A first blocking mechanism is provided at the end of the first conveying mechanism, and the first lifting mechanism is disposed opposite to the first blocking mechanism. The first clamping mechanism is located on the first conveying mechanism at a position corresponding to the first lifting mechanism.

22. The conveying device according to claim 21, characterized in that, The number of the first conveying mechanisms is two, and the two first conveying mechanisms are arranged side by side.

23. The conveying device according to claim 21, characterized in that, The feeding tray includes a good product feeding tray and a defective product feeding tray; the feeding tray conveying device also includes a good product feeding tray conveying device for conveying the good product feeding tray and a defective product feeding tray conveying device for conveying the defective product feeding tray. Both the good product unloading tray conveying device and the defective product unloading tray conveying device include a second conveying mechanism, an unloading tray support mechanism, a second clamping mechanism, a positioning mechanism, and a second lifting mechanism; the second clamping mechanism, the unloading tray support mechanism, and the positioning mechanism are disposed on the second conveying mechanism, and the unloading tray support mechanism is located between the second clamping mechanism and the positioning mechanism; the second lifting mechanism is located below the support mechanism; a second blocking mechanism is provided on the side of the second lifting mechanism near the positioning mechanism.

24. The conveying device according to claim 23, characterized in that, The second blocking mechanism includes an adjusting base, a mounting plate, a third fastener, a first blocking plate, a first blocking plate lifting drive unit, and a track; the track is arranged vertically, and a sliding second slider is provided on the track, the second slider is connected to the first blocking plate lifting drive unit; The adjusting base has a third waist hole, the direction of which is parallel to the arrangement direction of the second conveying mechanism, and the third fastener passes through the third waist hole and connects to the bottom of the mounting plate.

25. The conveying device according to claim 23, characterized in that, The first conveying mechanism and the second conveying mechanism each include a first conveying component, a spacing adjustment component, a power component, and a second conveying component. The first conveying component and the second conveying component are arranged side by side, and the spacing adjustment component is drivenly connected to the first conveying component and the second conveying component respectively, and the power component is drivenly connected to the first conveying component and the second conveying component respectively.

26. The conveying device according to claim 25, characterized in that, The first conveying assembly includes a first belt fixing plate and a first belt. The side wall of the first belt fixing plate is provided with a first driving wheel and a first driven wheel. The first driving wheel is connected to the first driven wheel through the first belt. The second conveying assembly includes a second belt fixing plate and a second belt. On the side wall of the second belt fixing plate opposite to the first belt fixing plate, there is a second driving wheel corresponding to the first driving wheel and a second driven wheel corresponding to the first driven wheel. Seventh sensors are respectively provided at both ends of the first belt fixing plate.

27. The conveying device according to claim 26, characterized in that, The power assembly includes a first drive member and a ball spline. The first drive member is connected to the key shaft of the ball spline. Two spline shaft nuts are disposed on the key shaft. One of the spline shaft nuts is connected to the first drive wheel, and the other shaft sleeve is connected to the second drive wheel.

28. The conveying device according to claim 27, characterized in that, The first driving component includes a fixed plate, a motor, a coupling, and a motor connecting rod; the motor is mounted on the outside of the fixed plate via the motor connecting rod, and the motor shaft is connected to the key shaft of the ball spline via the coupling.

29. The conveying device according to claim 28, characterized in that, A first bearing is also provided on the side wall of the first belt fixing plate opposite to the second belt fixing plate; The spacing adjustment device includes a connecting base plate, a trapezoidal lead screw, and a handwheel; the trapezoidal lead screw is provided with a lead screw nut, one end of the trapezoidal lead screw passes through the fixing plate and is connected to the first bearing, and the other end of the trapezoidal lead screw is connected to the handwheel; the lead screw nut is connected to the second belt fixing plate; One side of the connecting base plate is connected to the bottom of the first belt fixing plate. The connecting base plate is provided with a track, which is connected to the first belt fixing plate and the second belt fixing plate. A sliding third slider is provided on the track, which is connected to the bottom of the second belt fixing plate.

30. The conveying device according to claim 29, characterized in that, The handwheel is also equipped with a locking nut for securing the handwheel.

31. The conveying device according to claim 26, characterized in that, The first belt fixing plate is provided with a first guide plate at its upper part, and the second belt fixing plate is provided with a second guide plate at its upper part; the first belt fixing plate is also provided with a first belt support plate to support the first belt, and the second belt fixing plate is also provided with a second belt support plate to support the second belt.

32. The conveying device according to claim 23, characterized in that, The first lifting mechanism and the second lifting mechanism include a pallet lifting drive unit, a support frame and a pallet; the support frame is provided with a push plate connected to the pallet lifting drive unit inside, and two guide shafts are provided on the push plate. The top ends of the two guide shafts pass through the support frame and are connected to the pallet; an eighth sensor is provided at the upper and lower parts of the support frame, and a third sensor plate is provided on the side of the push plate near the eighth sensor.

33. The conveying device according to claim 26, characterized in that, The feeding tray support mechanism and the unloading tray support mechanism include a first support component disposed on the first belt fixing plate and a second support component disposed on the second belt fixing plate. The first support component is located above the first belt, and the second support component is located above the second belt. Both the first support assembly and the second support assembly include a first telescopic drive part, a support block, a first telescopic drive part connector, a first limiting plate, and a second limiting plate; the first telescopic drive part is connected to the support block through the first telescopic drive part connector, the first limiting plate is disposed on the support block on the side close to the first telescopic drive part, and the second limiting plate is disposed on the upper part of the support block.

34. The conveying device according to claim 26, characterized in that, The first clamping mechanism and the second clamping mechanism include a first clamping component disposed on the first belt fixing plate and a second clamping component disposed on the second belt fixing plate, and the first clamping component and the second clamping component are disposed opposite to each other; Both the first clamping assembly and the second clamping assembly include a second telescopic drive part, a clamping part, a fixing seat, a fourth fastener, and a first adjusting plate. The second telescopic drive part is connected to the clamping part and is mounted on the first adjusting plate. The first adjusting plate has a fourth waist hole, and the direction of the fourth waist hole is perpendicular to the first belt fixing plate and the second belt fixing plate. The fourth fastener passes through the fourth waist hole and is connected to the fixing seat.

35. The conveying device according to claim 23, characterized in that, The first blocking mechanism and the positioning mechanism include a support member, a second adjusting plate, a second blocking plate, a fifth fastener, and a ninth sensor; the ninth sensor is disposed on the side of the second blocking plate near the first conveying mechanism, the second blocking plate is connected to the adjusting plate, the second adjusting plate has a fifth waist hole, the direction of the fifth waist hole is parallel to the arrangement direction of the first conveying mechanism; the fifth fastener passes through the fifth waist hole and is connected to the support member.

36. The conveying device according to claim 1, characterized in that, The feeding tray is equipped with an array of placement positions for the inspected products. The first imaging mechanism is specifically used to acquire the placement positions of the inspected products at the four corners, so as to determine the placement positions of other inspected products based on the placement positions of the inspected products at the four corners.

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