Sorting apparatus and sorting method

Abstract

The invention is suitable for the technical field of sorting equipment, and provides sorting equipment and a sorting method.The sorting method comprises the following steps that products are placed on a conveying platform to be conveyed, an upper camera shoots a PAD face from the upper portion, a tray placing section carrying arm takes materials, a lower camera shoots a Mark face of the whole tray of products, and a linear driving platform moves to a suction mechanism. Compared with a sorting method in the prior art, the whole front images and the whole back images of all the products can be obtained through cooperation of the upper camera, the lower camera, the conveying platform and the tray placing section carrying arm before the products are sorted, and the situation that the single products are shot one by one during sorting is not needed; on the premise that the whole equipment has high automation degree, the efficiency of sorting work is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of sorting equipment, and in particular relates to a sorting equipment and a sorting method. Background Art

[0002] In the production process of packaged products such as QFN (Quad Flat No-lead Package), BGA (Ball Grid Array), and LGA (Land Grid Array), sorting equipment is usually used to cut and sort the products. Most of the existing sorting equipment first uses a visual unit to take a picture of the PAD (pad) surface of multiple products after cutting, and then transports the product to the sorting direct drive motor. After the single cut product is sucked by the suction component, the visual unit needs to take pictures of the MARK (marking) surface of each product one by one before placing the product in different trays according to the obtained image to achieve product sorting. This results in cumbersome identification steps in the sorting equipment, which affects the work efficiency of product sorting. Summary of the invention

[0003] The purpose of the present invention is to provide a sorting device and a sorting method, aiming to solve the technical problems of complicated identification steps and low working efficiency when the sorting device in the prior art is used.

[0004] The present invention is implemented in this way. In a first aspect, a sorting method is provided, comprising the following steps:

[0005] The transport platform delivers the cut products in trays to the bottom of the upper camera;

[0006] The upper camera acquires the PAD surface of the product on the entire tray from top to bottom, and sends the acquired image data to the controller;

[0007] The tray transport arm absorbs the entire tray of the product and transports it to the top of the lower camera;

[0008] The lower camera obtains the Mark surface of the product on the entire tray from bottom to top, and sends the obtained image data to the controller.

[0009] In an optional embodiment, when the upper camera photographs the PAD surface of the product, the transport platform is in a stationary state; when the lower camera photographs the Mark surface of the product, the swing plate section transport arm is in a stationary state.

[0010] In an optional embodiment, the sorting method further includes the following steps:

[0011] The tray section handling arm places part of the product on the first direct drive platform;

[0012] The swing plate section handling arm places another portion of the product on the second direct drive platform;

[0013] The first direct-drive platform and the second direct-drive platform move sequentially from their original positions to the sorting mechanism, and return to their original positions after product sorting is completed;

[0014] The controller controls the suction mechanism to sort the products placed on the first direct-drive platform and the second direct-drive platform, and places the products on the first tray assembly or the second tray assembly respectively.

[0015] In an optional embodiment, the first direct-drive platform and the second direct-drive platform are moved sequentially from their original positions to the sorting mechanism, and return to their original positions after product sorting is completed. During the process of the first direct-drive platform and the second direct-drive platform moving from their original positions to the sorting mechanism, the first direct-drive platform and the second direct-drive platform are both rotated 90° in the horizontal direction.

[0016] In an optional embodiment, the transport platform further comprises the following steps before the step of transporting the whole tray of cut products to the lower side of the upper camera:

[0017] The cutting section transport arm transports the product away from the cutting mechanism;

[0018] Clean the surface of the cut product with a brush and sponge;

[0019] The cut products are cleaned with water vapor and two fluids;

[0020] Evaporate the liquid on the product surface by blowing air towards the product;

[0021] The product is placed on the transport table by the cutting section handling arm.

[0022] In an optional embodiment, a heating unit is further provided on the transport platform. When the transport platform transports the entire plate of cut products to the bottom of the upper camera, the products are heated by the heating unit. A blowing unit is also provided on the moving path of the transport platform, which is used to blow air to the products to dry the surface of the products when the transport platform passes through the blowing unit.

[0023] In the second aspect, a sorting device is provided, including a transport platform, an upper camera, a lower camera, a swing plate section transport arm, a first direct drive platform, a second direct drive platform and a suction mechanism, the transport platform is used to transport the product and pass under the upper camera, the upper camera is used to obtain a front image of the entire tray of the product during the process of the transport platform transporting the product, the swing plate section transport arm is used to transport the product from the transport platform and place part of the product on the first direct drive platform, and the other part of the product on the second direct drive platform, the swing plate section transport arm passes over the top of the lower camera during transportation, the lower camera is used to obtain a bottom image of the entire tray of the product during the process of the swing plate section transport arm transporting the product, the first direct drive platform and the second direct drive platform are used to transport the product to the suction mechanism, and the suction mechanism sorts the product groups on the first direct drive platform and the second direct drive platform according to the results of the collection by the upper camera and the lower camera.

[0024] In an optional embodiment, the sorting device further includes a first tray assembly and a second tray assembly, wherein the first tray assembly is used to support and transport a tray on which good products are placed, and the second tray assembly is used to support and transport a tray on which defective products are placed.

[0025] In an optional embodiment, the suction mechanism includes a sorting slide rail portion, a sorting lifting portion and a sorting suction nozzle. The sorting lifting portion is arranged on the sorting slide rail portion and can slide along the length direction of the sorting slide rail portion. The sorting suction nozzle is arranged on the sorting lifting portion. The sorting lifting portion can drive the sorting suction nozzle to move in a vertical direction. The sorting suction nozzle is used to be connected to the negative pressure unit pipeline. When the sorting lifting portion moves to above the first direct drive platform or the second direct drive platform, the sorting suction nozzle contacts the product and sucks the product through negative pressure. When the sorting lifting portion moves to above the first tray assembly or the second tray assembly, the sorting suction nozzle is used to disconnect from the negative pressure unit to allow the product to separate from the sorting suction nozzle.

[0026] In an optional embodiment, the transport platform includes a first slide rail portion and a transport sliding portion, the first slide rail portion is located in the lower area of ​​the lower camera, the transport sliding portion is slidably set on the first slide rail portion, the transport sliding portion is used to place the cleaned product, and the transport sliding portion is provided with a heating unit for heating the product.

[0027] The first aspect of the present invention has the following technical effects relative to the prior art: after the products are cut and cleaned, the entire tray of cut products is transported to the bottom of the upper camera through the transport platform, at which time the upper camera obtains the PAD surface of the entire tray of products from top to bottom, and sends the obtained image data to the controller. Then the swing plate section transport arm absorbs the entire tray of products from the transport platform and transports them to the top of the lower camera, at which time the lower camera obtains the Mark surface of the entire tray of products from bottom to top, and sends the obtained image data to the controller. The subsequent process can directly sort the products through the image data obtained by the upper camera and the lower camera. Compared with the sorting method in the prior art, before sorting the products, the overall front image and the overall back image of all products can be obtained through the cooperation of the upper camera and the lower camera with the transport platform and the swing plate section transport arm, without having to shoot individual products one by one during sorting, and the efficiency of sorting work is improved under the premise of having a high degree of automation of the entire equipment.

[0028] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0030] Figure 1 It is a schematic diagram of the process of the sorting method in the prior art;

[0031] Figure 2 The process diagram of the separation method provided by the embodiment of the present invention is as follows Figure 1 ;

[0032] Figure 3 The process diagram of the separation method provided by the embodiment of the present invention is as follows Figure 2 ;

[0033] Figure 4 The process diagram of the separation method provided by the embodiment of the present invention is as follows Figure 3 ;

[0034] Figure 5 is a schematic structural diagram of a sorting device provided by an embodiment of the present invention;

[0035] Figure 6 is a schematic structural diagram of a transport platform and an upper camera used in an embodiment of the present invention;

[0036] Figure 7 It is a schematic diagram of the structure of the swing plate section transport arm and the lower camera used in the embodiment of the present invention;

[0037] Figure 8 It is a schematic diagram of the structure of the sorting mechanism used in the embodiment of the present invention.

[0038] Description of reference numerals:

[0039] 100. Sorting equipment; 200. Cutting section;

[0040] 1. Transport platform; 11. First slide rail; 12. Transport sliding part; 13. Fixed structure; 14. Heating unit; 2. Swing plate section transport arm; 21. Second slide rail; 22. Swing plate sliding part; 221. Sliding bracket; 222. Lifting drive unit; 223. Mounting part; 23. Adsorption unit; 3. Suction mechanism; 31. Sorting slide rail; 32. Sorting lifting part; 321. Sorting sliding seat; 332. Sorting lifting unit; 33. Sorting nozzle; 4. First direct drive platform; 41. Direct drive motor; 42. Support platform; 5. Second direct drive platform; 6. Upper camera; 7. Lower camera; 8. First tray assembly; 9. Second tray assembly. DETAILED DESCRIPTION

[0041] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0042] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0043] In this embodiment, according to Figure 1 The XYZ rectangular coordinate system established in the definition is: the side located in the positive direction of the X axis is defined as the front, and the side located in the negative direction of the X axis is defined as the back; the side located in the positive direction of the Y axis is defined as the left, and the side located in the negative direction of the Y axis is defined as the right; the side located in the positive direction of the Z axis is defined as the top, and the side located in the negative direction of the Z axis is defined as the bottom.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the prior art, see Figure 1 In the process of product sorting, most of the time, after the products are divided and cleaned, the visual unit is used to obtain the front image of the product group to determine whether there are defects on the front of the products in the product group. Then the product is placed on the direct-drive platform on the sorting mechanism, and the product is transported from the placement position to the suction mechanism 3 by the direct-drive platform. Finally, the suction mechanism 3 sucks the single product in the product group, and after sucking the single product, another visual unit is used to obtain the bottom image of the single product to determine whether there are defects on the bottom of the single product. Finally, the single product is placed in the corresponding silo according to the detection results of the two visual units. Since in the process of sorting the products by the sorting mechanism, it is necessary to first detect the front of the product through the visual unit, and then use another visual unit to separately detect the bottom surface of each product in the product group, and the product can only be inspected after the separate detection is completed, resulting in the problem of low sorting efficiency in the sorting equipment. In order to solve the above problems, an embodiment of the present invention provides a semiconductor sorting device and method, and the specific contents are as follows:

[0047] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0048] Please refer to Figure 4 As shown, in an embodiment of the present invention, in a first aspect, a sorting method is provided, comprising the following steps:

[0049] The transport platform 1 transports the whole tray of cut products to the bottom of the upper camera 6;

[0050] Specifically, the cut product is transported as a whole along a preset path by the transport platform 1, and passes through the area below the upper camera 6 during the transport process. The transport platform 1 refers to a component or assembly that can transport the product. During the transport process of the transport platform 1, the product is generally placed on the transport platform 1 and moves with the transport platform 1. At this time, the upper surface of the product is exposed and not blocked, and can be photographed from above by the upper camera 6.

[0051] The upper camera 6 obtains the PAD surface of the entire tray of products from top to bottom and sends the obtained image data to the controller; specifically, the upper camera 6 refers to a device that can obtain images of a specified position or area, such as a CCD (Charge-coupled Device) visual detection device.

[0052] The tray transport arm 2 absorbs the entire tray of products and transports it to the top of the lower camera 7;

[0053] Specifically, the cut product is transported as a whole along a preset path by the swing plate section transport arm 2, and passes through the area above the lower camera 7 during the transportation process. The swing plate section transport arm 2 refers to a component or assembly that can transport the cut product as a whole. The swing plate section transport arm 2 can use a vacuum suction cup to suck the product and then transport it. When the swing plate section transport arm 2 sucks the product from above, the lower surface of the product is in an unobstructed state, and the product can be photographed from below.

[0054] The lower camera 7 obtains the Mark surface of the whole tray of products from bottom to top and sends the obtained image data to the controller. Specifically, the lower camera 7 refers to a device that can obtain an image of a specified position or area, such as a CCD (Charge-coupled Device) visual detection device.

[0055] According to the sorting method provided by the embodiment of the present invention, after the products are cut and cleaned, the whole tray of the cut products is transported to the bottom of the upper camera 6 through the transport platform 1. At this time, the upper camera 6 obtains the PAD surface of the whole tray of products from top to bottom, and sends the obtained image data to the controller. Then the swing plate section transport arm 2 absorbs the whole tray of products from the transport platform 1 and transports it to the top of the lower camera 7. At this time, the lower camera 7 obtains the Mark surface of the whole tray of products from bottom to top, and sends the obtained image data to the controller. The subsequent process can directly sort the products through the image data obtained by the upper camera 6 and the lower camera 7. Compared with the sorting method in the prior art, before sorting the products, the overall front image and the overall back image of all products can be obtained through the upper camera 6 and the lower camera 7 in cooperation with the transport platform 1 and the swing plate section transport arm 2, without having to shoot individual products one by one during sorting. Under the premise of having a high degree of automation, the production efficiency of the sorting work is greatly improved.

[0056] In one embodiment, see Figure 2 and Figure 3 , when the upper camera 6 photographs the PAD surface of the product, the transport platform 1 is in a stationary state; when the lower camera 7 photographs the Mark surface of the product, the swing plate section transport arm 2 is in a stationary state. Specifically, the PAD surface refers to the front of the product, and the Mark surface generally refers to the bottom of the product. The transport platform 1 can stop moving when it transports the product as a whole to the area below the upper camera 6, so that the product can be in a stationary state when the upper camera 6 level acquires the image, and the product can continue to be transported after the image acquisition is completed. Similarly, the swing plate section transport arm 2 can also stop moving for a certain period of time when it transports the product as a whole to the top of the lower camera 7, so that the product can be in a stationary state when the lower camera 7 level acquires the image, and the product can continue to be transported after the image acquisition is completed. By making the product group in a stationary state when the upper camera 6 acquires the front image of the product in the product group, and the product group in a stationary state when the lower camera 7 acquires the bottom image of the product in the product group, the front image and bottom image of the product acquired can be made clearer, providing clearer image support for subsequent product recognition, thereby improving the accuracy of product recognition.

[0057] In one embodiment, see Figure 3 The above-mentioned sorting method further comprises the following steps:

[0058] The swing plate section transport arm 2 places part of the product on the first direct drive platform 4;

[0059] The swing plate section transport arm 2 places another part of the products on the second direct drive platform 5;

[0060] Specifically, the first direct drive platform 4 and the second direct drive platform 5 both refer to a transport mechanism for driving the movement of objects. The first direct drive platform 4 is usually a direct drive motor that drives the platform structure to move along a slide rail mechanism, and the product is placed on the platform structure to achieve product transportation. Here, the swing plate section transport arm 2 places the product on the first direct drive platform 4 and the second direct drive platform 5, which can increase the interval between the products without changing the order of product arrangement, so that the products are arranged more loosely, thereby avoiding the collision of adjacent products in the subsequent process of sorting the products, thereby avoiding deviations in the product sorting work.

[0061] The first direct-drive platform 4 and the second direct-drive platform 5 move sequentially from the original position to the sorting mechanism, and return to the original position after the product sorting is completed; specifically, the first direct-drive platform 4 and the second direct-drive platform 5 can be moved sequentially to the sorting mechanism after the product is placed, and there is a certain time difference in the process of moving to the sorting mechanism, but in the process of returning to the original position after the product sorting is completed, the first direct-drive platform 4 and the second direct-drive platform 5 can move synchronously, and can also be moved sequentially to the original position at intervals.

[0062] The controller controls the suction mechanism 3 to sort the products placed on the first direct drive platform 4 and the second direct drive platform 5, and places the products on the first tray assembly 8 or the second tray assembly 9. Specifically, the controller identifies the products according to the captured images and through a preset program, and after identifying the defective products, controls the suction mechanism 3 to suck the products on the first direct drive platform 4 and the second direct drive platform 5, and places the good products and the defective products on the first tray assembly 8 or the second tray assembly 9 according to the identified structures.

[0063] In one embodiment, see Figure 2 , the first direct-drive platform 4 and the second direct-drive platform 5 are sequentially moved from the original position to the sorting mechanism, and in the step of returning to the original position after the product sorting is completed, the first direct-drive platform 4 and the second direct-drive platform 5 are both rotated 90° in the horizontal direction during the process of moving from the original position to the sorting mechanism. Specifically, by returning to the original position after the product sorting is completed, in the process of moving from the original position to the sorting mechanism, the first direct-drive platform 4 and the second direct-drive platform 5 are both rotated 90° in the horizontal direction, the first direct-drive platform 4 and the second direct-drive platform 5 can be rotated to a position that is convenient for the suction mechanism 3 to work, making the product sorting work more convenient, thereby improving the work efficiency and sorting accuracy of product sorting.

[0064] In one embodiment, see Figure 2 Before the step of the transport platform 1 transporting the cut product in a tray to the bottom of the upper camera 6, the following steps are also included:

[0065] The cutting section transport arm transports the product away from the cutting mechanism;

[0066] Specifically, the cutting segment transport arm refers to a component or assembly that can transport objects. The cutting segment transport arm usually uses a vacuum suction method to grab the product, making the transportation of the product more convenient.

[0067] Clean the surface of the cut product with a brush and sponge;

[0068] Specifically, a roller structure is provided on the transport path of the product, and the roller structure can rotate under the drive of a power unit. A brush structure or a sponge structure can be provided on the circumference of the roller structure. When the product passes through the roller structure, the rotation of the roller structure can be used to clean the surface of the product with the brush or sponge, thereby achieving the purpose of cleaning the surface of the product with the brush or sponge.

[0069] Immerse the cut product in liquid and clean the product;

[0070] Specifically, when the product is immersed in a liquid, a high-pressure gas source or the like can be used to generate a second fluid in the liquid, that is, a water vapor mixture to clean the surface of the product, or ultrasonic cleaning can be used.

[0071] Evaporate the liquid on the product surface by blowing air towards the product;

[0072] Specifically, a blowing device may be provided on the product transportation path, and high-speed gas may be delivered to the surface of the product through the blowing device to increase the gas flow speed on the product surface to evaporate the liquid.

[0073] The product is placed on the transport table by the cutting section handling arm.

[0074] Before identifying and sorting the products, the surface of the cut products can be cleaned with a brush and a sponge, the cut products can be immersed in liquid and cleaned, and the liquid on the surface of the products can be evaporated by blowing air to the products, so as to remove dust or impurities on the product surface, avoid the influence of dust and impurities on the product sorting, make the product sorting more accurate, and improve the sorting efficiency.

[0075] It should be noted that during the processes of cleaning the surface of the cut product with a brush and a sponge, immersing the cut product in liquid and cleaning the product, and blowing air to the product to evaporate the liquid on the surface of the product, the product is transported by the cutting section carrying arm.

[0076] In one embodiment, see Figure 6, a heating unit 14 is also provided on the transport platform 1. When the transport platform 1 transports the whole plate of cut products to the bottom of the upper camera 6, the products are heated by the heating unit 14. A blowing unit is also provided on the movement path of the transport platform 1, which is used to blow air to the products to dry the surface of the products when the transport platform 1 passes through the blowing unit. Specifically, the heating unit 14 refers to a component or assembly for heating an object. The heating unit 14 usually adopts electric heating. For example, components such as electric heating wires are provided on the transport platform 1, which can heat the objects by converting electric current into thermal energy. By also providing the heating unit 14 on the transport platform 1, the products can be heated to achieve drying of the products during the process of transporting the products on the transport platform 1, thereby increasing the drying speed of the products after cleaning, thereby improving the efficiency of sorting.

[0077] Second, see Figure 5 , a sorting device is provided, including a transport platform 1, an upper camera 6, a lower camera 7, a swing plate section transport arm 2, a first direct drive platform 4, a second direct drive platform 5 and a suction mechanism 3, the transport platform 1 is used to transport products and pass through the bottom of the upper camera 6, the upper camera 6 is used to obtain a front image of the entire tray of products during the process of transporting products by the transport platform 1, the swing plate section transport arm 2 is used to transport products from the transport platform 1 and place part of the products on the first direct drive platform 4, and the other part of the products on the second direct drive platform 5, the swing plate section transport arm 2 passes over the top of the lower camera 7 during the transportation process, the lower camera 7 is used to obtain a bottom image of the entire tray of products during the process of transporting products by the swing plate section transport arm 2, the first direct drive platform 4 and the second direct drive platform 5 are used to transport products to the suction mechanism 3, and the suction mechanism 3 sorts the product groups on the first direct drive platform 4 and the second direct drive platform 5 according to the results collected by the upper camera 6 and the lower camera 7.

[0078] Specifically, the transport platform 1 refers to a component or assembly that can transport products. The transport platform 1 can be a power structure that drives the platform structure to slide on the slide rail. The upper camera 6 and the lower camera 7 both refer to devices that can obtain images of a specified position or area, such as a CCD (Charge-coupled Device) visual inspection device. The upper camera 6 and the lower camera 7 can respectively obtain the front image and the back image of all products in the product group, and send the image results to the controller, so that the controller can be used to determine whether a single product in the product group has defects. The swing plate segment transport arm 2 refers to a component or assembly that can transport the cut product as a whole. The swing plate segment transport arm 2 can use a vacuum suction cup to absorb and transport the product. When the swing plate segment transport arm 2 absorbs the product from the top of the product, the lower surface of the product is in an unobstructed state, and the product can be photographed from the bottom of the product. The first direct drive platform 4 and the second direct drive platform 5 both refer to a transport mechanism for driving the movement of an object. The first direct drive platform 4 is usually a direct drive motor that drives the platform structure to move along the slide rail mechanism. The product is placed on the platform structure to achieve the transportation of the product. The suction mechanism 3 refers to a component or assembly that can suck the product through negative pressure. A plurality of suction head structures can be provided on the suction mechanism 3 so as to realize the suction of multiple products at the same time.

[0079] The whole tray of cut products is transported to the bottom of the upper camera 6 through the transport platform 1. At this time, the upper camera 6 obtains the PAD surface of the whole tray of products from top to bottom, and sends the obtained image data to the controller. Then the swing plate section transport arm 2 absorbs the whole tray of products from the transport platform 1 and transports it to the top of the lower camera 7. At this time, the lower camera 7 obtains the Mark surface of the whole tray of products from bottom to top, and sends the obtained image data to the controller. The subsequent process can directly sort the products through the image data obtained by the upper camera 6 and the lower camera 7. Compared with the sorting method in the prior art, before sorting the products, the overall front image and the overall back image of all products can be obtained through the upper camera 6 and the lower camera 7 in cooperation with the transport platform 1 and the swing plate section transport arm 2, without having to shoot individual products one by one during sorting. Under the premise of having a high degree of automation in the entire equipment, the efficiency of sorting is improved.

[0080] In one embodiment, see Figure 7, the sorting device also includes a first tray assembly 8 and a second tray assembly 9, the first tray assembly 8 is used to support and transport the tray with good products, and the second tray assembly 9 is used to support and transport the tray with defective products. Specifically, the first tray assembly 8 and the second tray assembly 9 are components used to support the tray and drive the tray to move. When sorting, part of the products can be placed on the first direct drive platform 4 and the other part of the products can be placed on the second direct drive platform 5 through the swing plate section transport arm 2, and the products can be transported to the suction mechanism 3 through the first direct drive platform 4 and the second direct drive platform 5, and then the products on the first direct drive platform 4 and the second direct drive platform 5 are taken by the suction mechanism 3, and the good products are placed in the tray on the first tray assembly 8, and the defective products are placed in the tray on the second tray assembly 9. Since the placement position of the product on the first direct drive platform 4 and the second direct drive platform 5 is the same as the placement position when detected by the upper camera 6 and the lower camera 7, the suction mechanism 3 can be controlled by the controller to directly sort according to the detection results, without the need to perform a separate detection on each product before and after taking the product.

[0081] In one embodiment, see Figure 7 and Figure 8 The suction mechanism 3 includes a sorting slide rail portion 31, a sorting lifting portion 32 and a sorting suction nozzle 33. The sorting lifting portion 32 is arranged on the sorting slide rail portion 31 and can slide along the length direction of the sorting slide rail portion 31. The sorting suction nozzle 33 is arranged on the sorting lifting portion 32. The sorting lifting portion 32 can drive the sorting suction nozzle 33 to move in the vertical direction. The sorting suction nozzle 33 is used to be connected to the negative pressure unit pipeline. When the sorting lifting portion 32 moves to above the first direct drive platform 4 or the second direct drive platform 5, the sorting suction nozzle 33 contacts the product and sucks the product through negative pressure. When the sorting lifting portion 32 moves to above the first tray assembly 8 or the second tray assembly 9, the sorting suction nozzle 33 is used to disconnect from the negative pressure unit to allow the product to be separated from the sorting suction nozzle 33. Specifically, the sorting slide rail part 31 refers to a guide rail structure with a certain length, and the sorting lifting part 32 refers to a component that can drive an object to move. The sorting lifting part 32 can be a separate component, such as a cylinder, a hydraulic cylinder or an electric push rod, or a component structure composed of multiple components. The sorting suction nozzle 33 refers to a component for grabbing chips, and its working principle is to set a cavity with an opening in the body, connect the cavity with the vacuum unit pipeline, and generate negative pressure at the opening through the vacuum unit to suck the chip.

[0082] The first direct-drive platform 4, the second direct-drive platform 5, the first tray assembly 8 and the second tray assembly 964 can be arranged at intervals along the first direction, and the sorting slide rail portion 31 is arranged along the first direction, and a sorting lifting portion 32 is slidably arranged on the sorting slide rail portion 31, and the sorting suction nozzle 33 is arranged on the sorting lifting portion 32, and the sorting suction nozzle 33 can be driven to move in the vertical direction through the sorting lifting portion 32. When performing sorting work, the movement and lifting of the sorting suction nozzle 33 can be achieved through the cooperation of the sorting lifting part 32 and the sorting slide rail part 31. When the sorting lifting part 32 moves to above the product moving platform, the sorting suction nozzle 33 contacts the product and absorbs the product through negative pressure. When the sorting lifting part 32 moves to above the first tray assembly 8, the sorting lifting part 32 drives the sorting suction nozzle 33 to descend, and after descending into place, the sorting suction nozzle 33 sucking good products is disconnected from the negative pressure unit to make the good products separate from the sorting suction nozzle 33 and placed in the tray, and after the placement is completed, the sorting suction nozzle 33 is driven to rise by the sorting lifting part 32. When the sorting lifting part 32 moves to above the second tray assembly 9, the sorting lifting part 32 drives the sorting suction nozzle 33 to descend, and after descending to the right position, the sorting suction nozzle 33 sucking the defective products is disconnected from the negative pressure unit to allow the defective products to be separated from the sorting suction nozzle 33 and placed in the tray, and after the placement is completed, the sorting suction nozzle 33 is driven to rise by the sorting lifting part 32, so that the sorting work of the entire sorting assembly is faster and more convenient.

[0083] In addition, there can be multiple sorting nozzles 33. Multiple sorting nozzles 33 can be arranged at intervals along a straight line, or arranged in a rectangular array. It is only necessary that the arrangement order of the sorting nozzles 33 match the arrangement order of the cut products. By setting multiple sorting nozzles 33 and enabling the sorting component to grab multiple chips for sorting at one time, the overall working efficiency of the sorting component is improved.

[0084] In an alternative embodiment, see Figure 8The sorting lifting part 32 includes a sorting sliding seat 321 and a sorting lifting unit 332. The sorting sliding seat 321 is slidably arranged on the sorting slide rail part 31. The sorting lifting unit 332 is arranged on the sorting sliding seat 321. The sorting suction nozzles 33 are all connected to the driving end of the sorting lifting unit 332. Specifically, the sorting sliding seat 321 refers to a component with a certain volume. The sorting sliding seat 321 can be a block, a plate or a combination of various shapes. The sorting lifting unit 332 refers to a power component that can drive the object to move. The sorting lifting unit 332 can be a cylinder, a hydraulic cylinder or an electric push rod. The sorting suction nozzle 33 can be directly fixed to the driving end of the sorting lifting unit 332, or it can be connected to the driving end of the sorting lifting unit 332 through a fixed frame. When in use, the sorting sliding seat 321 slides along the sorting slide rail part 31 to realize the lateral movement of the sorting suction nozzle 33, and the sorting suction nozzle 33 is driven to rise and fall by the sorting lifting unit 332 itself, so that the use of the sorting lifting part 32 is simpler and more convenient.

[0085] In one embodiment, see Figure 6 The transport platform 1 includes a first slide rail portion 11 and a transport sliding portion 12. The first slide rail portion 11 is located in the lower area of ​​the lower camera 7. The transport sliding portion 12 is slidably arranged on the first slide rail portion 11. The transport sliding portion 12 is used to place the cleaned products. The transport sliding portion 12 is provided with a heating unit 14 for heating the products. Specifically, the first slide rail portion 11 refers to a track structure with a certain length. The transport sliding portion 12 refers to a block structure with a certain volume. The transport sliding portion 12 is slidably arranged on the first slide rail portion 11, and a transport driving unit can also be arranged between the transport sliding portion 12 and the first slide rail portion 11. The transport driving unit can be a cylinder, a hydraulic cylinder or a screw drive structure. A fixed structure 13 can also be arranged on the transport sliding portion 12. The fixed structure 13 refers to a component that fixes an object to other objects. The fixed structure 13 can fix the object by pressing, clamping or vacuum adsorption. By providing the first slide rail 11 in the lower area of ​​the upper camera 6 and slidably providing the transport slide 12 on the first slide rail 11, the product group can be fixed by the fixing structure 13 when it is placed on the transport slide 12. The transport slide 12 can drive the product group to pass under the upper camera 6, making it easier and more convenient for the upper camera 6 to obtain the front images of all products in the product group.

[0086] The heating unit 14 refers to a component or assembly for heating an object. The heating unit 14 is usually electrically heated. For example, components such as electric heating wires are provided on the transport platform 1, and the object can be heated by converting electric current into heat energy. By further providing the heating unit 14 on the transport platform 1, the product can be heated to achieve drying during the process of transporting the product on the transport platform 1, thereby increasing the drying speed of the product after cleaning.

[0087] The above are only preferred embodiments of the present invention, and only specifically describe the technical principles of the present invention. These descriptions are only for explaining the principles of the present invention and cannot be interpreted as limiting the scope of protection of the present invention in any way. Based on the explanations here, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention, and other specific implementations of the present invention that can be associated with by technicians in this field without creative labor, should be included in the scope of protection of the present invention.

Claims

1. A sorting method, characterized in that: The steps include: The transport platform (1) transports the cut product in a tray to the bottom of the upper camera (6); The upper camera (6) acquires the PAD surface of the entire tray of the product from top to bottom, and sends the acquired image data to the controller; The tray-swinging section transport arm (2) sucks the entire tray of the product and transports it to the top of the lower camera (7); The lower camera (7) obtains the Mark surface of the entire tray of the product from bottom to top, and sends the obtained image data to the controller.

2. The separation method according to claim 1, characterized in that: When the upper camera (6) photographs the PAD surface of the product, the transport platform (1) is in a stationary state; when the lower camera (7) photographs the Mark surface of the product, the swing plate section transport arm (2) is in a stationary state.

3. The separation method according to claim 2, characterized in that: The following steps are also included: The swing plate section transport arm (2) places part of the product on the first direct drive platform (4); The swing plate section transport arm (2) places another portion of the products on the second direct drive platform (5); The first direct-drive platform (4) and the second direct-drive platform (5) are moved sequentially from their original positions to the sorting mechanism (3), and return to their original positions after product sorting is completed; The controller controls the suction mechanism (3) to sort the products placed on the first direct-drive platform (4) and the second direct-drive platform (5), and places the products on the first tray assembly (8) or the second tray assembly (9), respectively.

4. The separation method according to claim 3, characterized in that: The first direct-drive platform (4) and the second direct-drive platform (5) are sequentially moved from their original positions to the sorting mechanism (3), and return to their original positions after product sorting is completed. During the process of the first direct-drive platform (4) and the second direct-drive platform (5) moving from their original positions to the sorting mechanism (3), the first direct-drive platform (4) and the second direct-drive platform (5) are both rotated 90° in the horizontal direction.

5. The separation method according to claim 4, characterized in that: Before the step of the transport platform (1) transporting the whole tray of cut products to the bottom of the upper camera (6), the following steps are also included: The cutting section transport arm transports the product away from the cutting mechanism; Clean the surface of the cut product with a brush and sponge; The cut products are cleaned with water vapor and two fluids; Evaporate the liquid on the surface of the product by blowing air towards the product; The product is placed on the transport table by the cutting section handling arm.

6. In the sorting method as described in claim 5, a heating unit (14) is also provided on the transport platform (1), and when the transport platform (1) transports the cut product in a tray to the bottom of the upper camera (6), the product is heated by the heating unit (14). A blowing unit is also provided on the moving path of the transport platform (1), and is used to blow air to the product to dry the surface of the product when the transport platform (1) passes through the blowing unit.

7. A sorting device, characterized in that: The invention comprises a transport platform (1), an upper camera (6), a lower camera (7), a swing plate section transport arm (2), a first direct drive platform (4), a second direct drive platform (5) and a suction mechanism (3); the transport platform (1) is used to transport products and pass under the upper camera (6); the upper camera (6) is used to obtain a front image of the entire tray of products during the process of the transport platform (1) transporting the products; the swing plate section transport arm (2) is used to transport the products away from the transport platform (1) and place part of the products on the first direct drive platform (4), and the other part of the products on the lower direct drive platform (5); On the second direct-drive platform (5), the swing plate section transport arm (2) passes over the top of the lower camera (7) during transportation. The lower camera (7) is used to obtain a bottom surface image of the entire tray of the product during the process of the swing plate section transport arm (2) transporting the product. The first direct-drive platform (4) and the second direct-drive platform (5) are used to transport the product to the suction mechanism (3). The suction mechanism (3) sorts the product groups on the first direct-drive platform (4) and the second direct-drive platform (5) according to the results collected by the upper camera (6) and the lower camera (7).

8. The sorting device according to claim 7, characterized in that: The sorting device further comprises a first tray assembly (8) and a second tray assembly (9), wherein the first tray assembly (8) is used to support and transport a tray on which good products are placed, and the second tray assembly (9) is used to support and transport a tray on which defective products are placed.

9. The sorting device according to claim 8, characterized in that The suction mechanism (3) comprises a sorting slide rail portion (31), a sorting lifting portion (32) and a sorting suction nozzle (33). The sorting lifting portion (32) is arranged on the sorting slide rail portion (31) and can slide along the length direction of the sorting slide rail portion (31). The sorting suction nozzle (33) is arranged on the sorting lifting portion (32). The sorting lifting portion (32) can drive the sorting suction nozzle (33) to move in a vertical direction. The sorting suction nozzle (33) is used to be connected to the pipeline of the negative pressure unit. When the sorting lifting portion (32) moves to above the first direct drive platform (4) or the second direct drive platform (5), the sorting suction nozzle (33) contacts with the product and sucks the product through negative pressure. When the sorting lifting portion (32) moves to above the first tray assembly (8) or the second tray assembly (9), the sorting suction nozzle (33) is used to be disconnected from the negative pressure unit to allow the product to be separated from the sorting suction nozzle (33).

10. The sorting device according to claim 7, characterized in that: The transport platform (1) comprises a first slide rail portion (11) and a transport sliding portion (12); the first slide rail portion (11) is located in a lower area of ​​the lower camera (7); the transport sliding portion (12) is slidably arranged on the first slide rail portion (11); the transport sliding portion (12) is used to place the cleaned product; and a heating unit (14) is arranged on the transport sliding portion (12) for heating the product.

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