Multi-station movement system and control method thereof

Abstract

The invention provides a multi-station movement system and a control method thereof, and belongs to the technical field of movement mechanisms. The system comprises a first transmission line extending in the first horizontal direction, wherein the two ends of the first transmission line are a feeding position and a discharging position respectively; the adsorption material taking mechanism is located above the material receiving position of the first transmission line, comprises an adsorption structure which can rotate around a horizontal shaft and can ascend and descend in the vertical direction, and is used for adsorbing the to-be-detected product located at the material receiving position; the double-clamping-jaw mechanism comprises a rotating holder, a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are fixed to the rotating holder, the rotating holder is configured to rotate around a vertical rotating shaft and can move in the second horizontal direction, the first clamping jaw and the second clamping jaw are mirror image parts relative to the preset vertical face, and the distance between the first clamping jaw and the second clamping jaw is a preset value; and the first clamping jaw and the second clamping jaw are used for clamping the to-be-detected product at the adsorption structure and transferring the to-be-detected product to each detection mechanism. According to the invention, the stability during horizontal rotation can be ensured while the high efficiency of detection is ensured, so that the motion precision is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of motion mechanisms, and in particular to a multi-station motion system and a control method thereof. Background Art

[0002] In product inspection equipment, cylinder grippers are often used as gripping devices. Considering production efficiency, the mobile module in the equipment will consider designing double-grip products so that two products to be tested can be transported in one movement.

[0003] At present, the design of double-jaw products generally considers the correspondence of the transportation lines. For example, if two products need to be transported to the first detection line and the second detection line respectively, the two jaws of the double-jaw product will be set with a spacing according to the corresponding relationship with the detection lines, so that the products at the two jaws will fall to the corresponding detection lines at the same time to improve the detection efficiency. However, with this design, the spacing between the two jaws of the double-jaw product is usually large, so the product volume is large, and the jaws may cause product instability when they need to rotate. At this time, the stability of the rotation process is usually guaranteed by controlling the rotation speed, but this will cause a decrease in detection efficiency. Summary of the invention

[0004] One object of the present invention is to provide a multi-station motion system that can ensure high detection efficiency while ensuring stability during horizontal rotation, thereby ensuring motion accuracy.

[0005] Another object of the present invention is to further ensure the position accuracy of the product to be tested.

[0006] A further object of the present invention is to improve detection efficiency and production cycle.

[0007] An embodiment of the present invention provides a multi-station motion system, comprising: A first transmission line extends along a first horizontal direction and has a feeding position and a discharging position at two ends thereof; The adsorption and material-collecting mechanism is located above the material receiving position of the first transmission line and includes an adsorption structure that can rotate around a horizontal axis and can be lifted and lowered vertically, and the adsorption structure is used to adsorb the product to be tested located at the material receiving position; A double-jaw mechanism is located above the adsorption and feeding mechanism, and includes a rotating holder and a first jaw and a second jaw fixed to the rotating holder, the rotating holder is configured to rotate around a vertical rotation axis and move along the second horizontal direction, the first jaw and the second jaw are arranged in sequence along the second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, wherein the first jaw and the second jaw are mirror images relative to a preset vertical plane and the spacing is a preset value, the preset vertical plane is a plane passing through the rotation axis of the rotating holder and perpendicular to the second horizontal direction, the first jaw and the second jaw are used to clamp the product to be tested at the adsorption structure and transfer the product to be tested to each detection mechanism.

[0008] Optionally, the double-jaw mechanism also includes an adaptive distance adjustment structure arranged at the target jaw, the target jaw includes the first jaw and / or the second jaw, the adaptive distance adjustment structure includes a first sensor and an adjustable counterweight, the first sensor is used to detect whether the target jaw clamps a chip, and the distance between the adjustable counterweight and the preset vertical plane is adjusted according to whether the target jaw clamps a chip.

[0009] Optionally, the multi-station motion system further comprises a second transmission line, arranged parallel to and adjacent to the first transmission line, for placing unqualified products; The double-claw mechanism is also used to place the inspected products on the adsorption material-collecting mechanism or the second transmission line.

[0010] Optionally, when the first clamp is located above the first transmission line, the second clamp is located on a side of the first transmission line away from the second transmission line; When the product clamped by the first clamp is a qualified product, the rotating holder falls and places the qualified product on the adsorption material-collecting mechanism, and the adsorption material-collecting mechanism flips over and places the qualified product on the first transmission line; When the product clamped by the first clamp is a defective product, the rotating holder rotates 180 degrees and moves until the first clamp is located above the second transmission line, then falls down and places the defective product on the second transmission line.

[0011] Optionally, the multi-station motion system further includes a positioning detection structure arranged at the first transmission line, including: A position sensor, used to detect whether the product to be tested moves to the material receiving position; A front end stop mechanism, arranged at a target position, for limiting the front position of the product to be tested; The rear end lifting mechanism is used to lift up and move toward the front end stop mechanism after the product to be tested is located at the material receiving position until the product to be tested is completely limited in the front and rear directions.

[0012] Optionally, a vertical stop surface is provided on one side in the width direction of the first transmission line, the position sensor is arranged on the opposite side of the vertical stop surface and can be extended and retracted along the width direction of the first transmission line, and the vertical stop surface and the position sensor jointly limit the product to be tested in the width direction of the first transmission line.

[0013] Optionally, the adsorption and material-picking mechanism is fixedly arranged at the first transmission line to ensure the position alignment between the adsorption and material-picking mechanism and the positioning detection structure.

[0014] In particular, the present invention further provides a control method for controlling any of the multi-station motion systems described above, comprising: Control the first transport line to transport the product to be tested to the receiving position; Control the adsorption structure of the adsorption and material taking mechanism to descend to a first preset height and then adsorb the product to be tested, and then control the adsorption structure to rise to a second preset height and turn 180 degrees; Control the rotating holder of the double-jaw mechanism to move to a position where the first jaw or the second jaw is aligned with the material receiving position and descend to a third preset height, and control the first jaw or the second jaw aligned with the material receiving position to grab the product to be tested; The double-claw mechanism is controlled to move to each detection mechanism in sequence.

[0015] Optionally, after the step of controlling the double-claw mechanism to move to each detection mechanism in sequence, the step further includes: Controlling the rotation and movement of the rotating holder according to the qualified condition of the products at the first clamping jaw and the second clamping jaw; Control the double-claw mechanism to release the qualified products and transfer them to the adsorption and material-collecting mechanism, and then control the adsorption and material-collecting mechanism to transfer the qualified products to the first transmission line; The double-claw mechanism is controlled to release the unqualified products and transfer them to the second transmission line.

[0016] Optionally, the step of controlling the rotation and movement of the rotating holder according to the qualified status of the products at the first clamping jaw and the second clamping jaw includes: When any detection mechanism detects an unqualified product and the unqualified product is grasped by the first clamp, the rotating holder is controlled to rotate 180 degrees and then moved until the first clamp is located above the second transmission line, so that the second clamp is located on the side of the second transmission line away from the first transmission line, and the rotating holder is controlled to descend until the unqualified product falls to the second transmission line and then the first clamp is released.

[0017] According to the first aspect of the present invention, the first clamp and the second clamp of the double clamp mechanism are mirror images and are arranged symmetrically with respect to the rotation axis of the rotating holder, and the distance between the first clamp and the second clamp is set to the minimum value that can avoid interference, so that the load after the first clamp and the second clamp clamp the product to be tested can be concentrated on the rotation axis as much as possible, reducing the rotational centrifugal force and maintaining the stability of the mechanism. In addition, the flipping and subsequent horizontal rotation and movement of the product to be tested are realized by two independent mechanisms (i.e., the adsorption and material collection mechanism and the double clamp mechanism), so that the double clamp mechanism that carries the two products to be tested for horizontal rotation has a simplified structure and reduced weight, which is further conducive to maintaining the stability of the mechanism during horizontal rotation. That is, the present application ensures the high efficiency of detection by setting up double clamps, while ensuring the stability during horizontal rotation, thereby ensuring the movement accuracy.

[0018] Furthermore, by providing an adaptive adjustment structure at the double-jaw mechanism, the center of gravity of both sides can be balanced when the gripping conditions of the first jaw and the second jaw are different, so that the two sides can be balanced, and the double-jaw mechanism can be more stable whether moving or rotating, thereby ensuring the position accuracy of the product to be tested.

[0019] According to the second aspect of the present invention, by providing a double-jaw mechanism that can rotate horizontally and coordinating the relative position relationship between the first transmission line and the second transmission line, double-jaw transportation of qualified products and unqualified products can be achieved, that is, the first jaw and the second jaw can both be used for the corresponding unloading transportation of qualified products and unqualified products, so as to maximize the transportation efficiency and thus improve the detection efficiency and production rhythm.

[0020] According to the third aspect of the present invention, by providing a positioning detection structure, it is possible to ensure that the product to be tested is accurately positioned at the material receiving position, thereby ensuring position accuracy.

[0021] Furthermore, the positioning detection structure and the adsorption and material picking mechanism are fixedly arranged at the first transmission line, so the relative positions of the two remain fixed, which can ensure the alignment accuracy of the adsorption structure of the adsorption and material picking mechanism and the material receiving position, and further ensure the position accuracy of the product to be tested during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of a multi-station motion system according to an embodiment of the present invention; Figure 2 yes Figure 1 A partial enlarged view of A in the embodiment of the present invention; Figure 3 yes Figure 1 A schematic diagram of the structure of the adsorption material taking mechanism in the embodiment; Figure 4 yes Figure 1 A schematic structural diagram of a double-claw mechanism in an embodiment; Figure 5 is a schematic structural diagram of a first transmission line of a multi-station motion system according to an embodiment of the present invention; Figure 6 yes Figure 5 A structural diagram of the positioning detection structure in an embodiment of the present invention; Figure 7 is a flow chart of a control method according to an embodiment of the present invention; Figure 8 yes Figure 7 A flow chart of a discharging step in a control method of an embodiment; Reference numerals: 100-multi-station motion system, 10-first transmission line, 11-vertical stop surface, 20-adsorption and material collection mechanism, 21-adsorption structure, 211-adsorption head, 22-first rotation drive mechanism, 23-first lifting drive mechanism, 30-double clamping jaw mechanism, 31-rotating holder, 32-first clamping jaw, 33-second clamping jaw, 34-second rotation drive mechanism, 35-transverse movement mechanism, 36-second lifting mechanism, 40-second transmission line, 50-positioning detection structure, 51-position sensor, 52-front end stop mechanism, 53-rear end lifting mechanism, 60-fixed bracket, 200-product to be tested. DETAILED DESCRIPTION

[0023] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0024] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0025] 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 at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0026] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are in contact indirectly through an intermediate medium. Moreover, a first feature being “above”, “above”, or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0027] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0028] Figure 1 FIG. 1 is a schematic structural diagram of a multi-station motion system 100 according to an embodiment of the present invention. Figure 2 for Figure 1 A local enlarged view of point A in the embodiment. Figure 3 yes Figure 1 A schematic structural diagram of the adsorption and material taking mechanism 20 in an embodiment of the present invention. Figure 4 yes Figure 1 A schematic diagram of the structure of the double-claw mechanism 30 in an embodiment. In one embodiment, as Figure 1As shown, the multi-station motion system 100 includes a first transmission line 10 (OK line), an adsorption material collection mechanism 20 and a double-claw mechanism 30. The first transmission line 10 extends along a first horizontal direction and has a feeding position and a discharging position at both ends, for example Figure 1 The upstream end of the material transmission direction a shown in FIG. is the feed position, and the downstream end is the discharge position. Figure 2 As shown, the adsorption material taking mechanism 20 is located at the material receiving position of the first transmission line 10 (see Figure 2 B) and includes an adsorption structure 21 that can rotate around a horizontal axis and can be lifted vertically. The adsorption structure 21 is used to adsorb the product 200 to be tested located at the receiving position. In one embodiment, Figure 3 As shown, the adsorption and material-collecting mechanism 20 also includes a first rotation drive mechanism 22 and a first lifting drive mechanism 23, which are respectively used to realize the rotation and lifting of the adsorption structure 21. The first rotation drive mechanism 22 can be a common rotation mechanism such as a motor, and the first lifting drive mechanism 23 can be a common lifting drive member such as a cylinder. The adsorption structure 21 includes a plurality of adsorption heads 211, which use vacuum adsorption force to absorb the product 200 to be tested. The product 200 to be tested can be a chip. The double-jaw mechanism 30 is located above the adsorption and material-collecting mechanism 20, and includes a rotating holder and a first clamp 32 and a second clamp 33 fixed to the rotating holder. The rotating holder is configured to be rotatable around a vertical axis and can be moved along a second horizontal direction (see Figure 1 b direction in the figure), the first clamp 32 and the second clamp 33 are arranged in sequence along the second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, wherein the first clamp 32 and the second clamp 33 are mirror images relative to a preset vertical plane and the spacing is a preset value, the preset vertical plane is a plane passing through the rotation axis of the rotating holder and perpendicular to the second horizontal direction, the first clamp 32 and the second clamp 33 are used to clamp the product 200 to be tested at the adsorption structure 21, and transfer the product 200 to be tested to each detection mechanism. Here, the first clamp 32 and the second clamp 33 are mirror images relative to the preset vertical plane, which means that the structures of the first clamp 32 and the second clamp 33 are mirror images, and the two are arranged symmetrically about the preset vertical plane, and the preset value refers to the minimum distance value that can avoid the interference of the movement of the first clamp 32 and the second clamp 33 (i.e., the opening action of the clamps). As Figure 4 As shown, the double-claw mechanism 30 may include a second rotation drive mechanism 34 and a lateral movement mechanism 35, which are respectively used to realize the rotation of the rotating holder and the movement along the second horizontal direction. Of course, in some embodiments, the double-claw mechanism 30 may also include a second lifting mechanism 36, which is used to realize the lifting movement of the rotating holder to adapt to more sports scenes.

[0029] The multi-station motion system 100 of this embodiment is designed for the situation that the product 200 to be tested needs to be turned over when the previous process and the current process are tested. By setting up the adsorption and feeding mechanism 20, the adsorption and turning of the product 200 to be tested on the first transmission line 10 can be achieved, and then the two clamping claws of the double clamping claw mechanism 30 can grasp the product 200 to be tested from the adsorption and feeding mechanism 20 to handle the testing position to achieve the transfer.

[0030] In this embodiment, the first clamping jaw 32 and the second clamping jaw 33 of the double clamping jaw mechanism 30 are mirror images and are arranged symmetrically with respect to the rotation axis of the rotating holder. At the same time, the distance between the first clamping jaw 32 and the second clamping jaw 33 is set to the minimum value that can avoid interference, so that the load after the first clamping jaw 32 and the second clamping jaw 33 clamp the product 200 to be tested can be concentrated on the rotation axis as much as possible, reducing the rotation centrifugal force and maintaining the stability of the mechanism. In addition, the flipping and subsequent horizontal rotation and movement of the product 200 to be tested are realized by two independent mechanisms (i.e., the adsorption and material collection mechanism 20 and the double clamping jaw mechanism 30), so that the double clamping jaw mechanism 30 that carries the two products 200 to be tested for horizontal rotation has a simplified structure and reduced weight, which is further conducive to maintaining the stability of the mechanism during horizontal rotation. That is, the present application ensures the high efficiency of detection by setting up double clamping jaws while ensuring the stability during horizontal rotation, thereby ensuring the movement accuracy.

[0031] In a further embodiment, the double-jaw mechanism 30 further includes an adaptive distance adjustment structure (not shown) disposed at the target jaw, and the target jaw includes a first jaw 32 and / or a second jaw 33. The adaptive distance adjustment structure includes a first sensor and an adjustable counterweight, the first sensor is used to detect whether the target jaw has clamped a chip, and the distance between the adjustable counterweight and the preset vertical plane is adjusted according to whether the target jaw has clamped a chip. In other words, the adaptive distance adjustment structure can be disposed at the first jaw 32 or the second jaw 33, or at both the first jaw 32 and the second jaw 33. Taking the adaptive distance adjustment structure only provided at the first clamp 32 as an example, when the first sensor detects that the chip to be tested is grasped at the first clamp 32 and the chip to be tested is not grasped at the second clamp 33, the adjustable counterweight at the first clamp 32 is controlled to move in the direction close to the preset vertical plane until the center of gravity of the structure of the double clamp mechanism 30 on both sides of the preset vertical plane is symmetrical; when the first sensor detects that the chip to be tested is not grasped at the first clamp 32 and the chip to be tested is grasped at the second clamp 33, the adjustable counterweight at the first clamp 32 is controlled to move in the direction away from the preset vertical plane until the center of gravity of the structure of the double clamp mechanism 30 on both sides of the preset vertical plane is symmetrical. The situation when the adaptive distance adjustment structure is only provided at the second clamp 33 is the same as the principle of the adaptive distance adjustment structure only provided at the first clamp 32, which will not be repeated here. Of course, the adaptive distance adjustment structure can also be provided at both the first clamp 32 and the second clamp 33, so that it is more flexible when adjusting.

[0032] This embodiment provides an adaptive adjustment structure at the double-jaw mechanism to balance the center of gravity on both sides when the gripping conditions of the first jaw 32 and the second jaw 33 are different, so that the two sides can be balanced, and the double-jaw mechanism 30 can be more stable whether moving or rotating, thereby ensuring the position accuracy of the product 200 to be tested.

[0033] In one embodiment, if Figure 1 As shown, the multi-station motion system 100 also includes a second transmission line 40 (NG line), which is arranged parallel to and adjacent to the first transmission line 10, and is used to place unqualified products. The double-claw mechanism 30 is also used to place the inspected products on the adsorption and feeding mechanism 20 or the second transmission line 40. In order to more clearly describe the motion relationship, the positions of the first clamp 32 and the second clamp 33 are defined here: when the first clamp 32 is located above the first transmission line 10, the second clamp 33 is located on the side of the first transmission line 10 away from the second transmission line 40. When the product clamped by the first clamp 32 is a qualified product, the rotating holder falls and places the qualified product on the adsorption and feeding mechanism 20, and the adsorption and feeding mechanism 20 is turned over and places the qualified product on the first transmission line 10. When the product clamped by the first clamp 32 is an unqualified product, the rotating holder rotates 180 degrees and moves until the first clamp 32 is located above the second transmission line 40, then falls, and places the unqualified product on the second transmission line 40.

[0034] That is to say, when all tests of the product 200 to be tested are qualified, the first jaw 32 of the double-jaw mechanism 30 transfers the qualified product to the adsorption and feeding mechanism 20, and then transfers it to the first transmission line 10 through the adsorption and feeding mechanism 20. Of course, when the subsequent process does not require the front and rear directions of the product, the second jaw 33 of the double-jaw mechanism 30 can also be used to transport qualified products. It is only necessary to control the double-jaw mechanism 30 to rotate horizontally until the second jaw 33 is located above the first transmission line 10. The subsequent movement process is the same as when the qualified product is located at the first jaw 32, and will not be repeated here. When the product 200 to be tested fails one test, both the first jaw 32 and the second jaw 33 can be used to grab the unqualified product. For example, when the first jaw 32 grabs the unqualified product, the first jaw 32 can be rotated horizontally to the left side of the second jaw 33 (i.e. Figure 2 The first clamp 32 is moved to the left side of the second transmission line 40, and then moved to the position where the first clamp 32 is aligned with the second transmission line 40, and then directly dropped onto the second transmission line 40, and the first clamp 32 is released to discharge the material. When the second clamp 33 grabs an unqualified product, the second clamp 33 can be directly moved to the top of the second transmission line 40, and then the material can be discharged.

[0035] This embodiment is provided with a horizontally rotatable double-jaw mechanism 30, which cooperates with the relative position relationship between the first transmission line 10 and the second transmission line 40 to achieve double-jaw transportation of qualified products and unqualified products. That is, the first jaw 32 and the second jaw 33 can both be used for the corresponding unloading transportation of qualified products and unqualified products, so as to maximize the transportation efficiency, thereby improving the detection efficiency and production rhythm.

[0036] Figure 5 Schematic diagram of the structure of a first transmission line 10 of a multi-station motion system 100 according to an embodiment of the present invention. Figure 6 yes Figure 5 A schematic diagram of the structure of the positioning detection structure 50 in an embodiment of the present invention. In a further embodiment, as Figure 5 As shown, the multi-station motion system 100 also includes a positioning detection structure 50 disposed at the first transmission line 10, and the positioning detection structure 50 includes a position sensor 51, a front end stop mechanism 52 and a rear end lifting mechanism 53. The position sensor 51 is used to detect whether the product 200 to be tested has moved to the material receiving position. The front end stop mechanism 52 is disposed at the target position and is used to limit the front side position of the product 200 to be tested. The rear end lifting mechanism 53 is used to rise and move toward the front end stop mechanism 52 after the product 200 to be tested is located at the material receiving position until the product 200 to be tested is completely limited in the front and rear directions. A vertical stop surface 11 is provided on one side of the first transmission line 10 in the width direction, and the position sensor 51 is disposed on the opposite side of the vertical stop surface 11 and can be extended and retracted along the width direction of the first transmission line 10. The vertical stop surface 11 and the position sensor 51 jointly limit the product 200 to be tested in the width direction of the first transmission line 10. Furthermore, the adsorption material-collecting mechanism 20 is fixedly arranged at the first transmission line 10 to ensure the position alignment between the adsorption material-collecting mechanism 20 and the positioning detection structure 50. Figure 4 As shown, the adsorption material taking mechanism 20 is fixed to the fixed structure of the first transmission line 10 through a fixed bracket 60 .

[0037] In this embodiment, by setting the positioning detection structure 50, it is possible to ensure that the product to be tested 200 is accurately positioned at the material receiving position, thereby ensuring the position accuracy. Furthermore, the positioning detection structure 50 and the adsorption and material taking mechanism 20 are both fixedly arranged at the first transmission line 10, so that the relative positions of the two remain fixed, which can ensure the alignment accuracy of the adsorption structure 21 of the adsorption and material taking mechanism 20 and the material receiving position, and further ensure the position accuracy of the product to be tested 200 during transportation.

[0038] Figure 7 is a flow chart of a control method according to an embodiment of the present invention. The present application also provides a control method for controlling the multi-station motion system 100. In one embodiment, Figure 7 As shown, the control method includes: Step S100, controlling the first transport line to transport the product 200 to be tested to a receiving position; Step S200, controlling the adsorption structure 21 of the adsorption and material taking mechanism 20 to descend to a first preset height and then adsorb the product 200 to be tested, and then controlling the adsorption structure 21 to rise to a second preset height and perform a 180-degree flip; Step S300, controlling the rotating holder of the double-jaw mechanism 30 to move to a position where the first jaw 32 or the second jaw 33 is aligned with the material receiving position and descending to a third preset height, and controlling the first jaw 32 or the second jaw 33 aligned with the material receiving position to grab the product 200 to be tested; Step S400, controlling the double-claw mechanism 30 to move to each detection mechanism in sequence, so as to perform different detections; Step S500 , transferring qualified products to the first transmission line 10 , and transferring unqualified products to the second transmission line 40 .

[0039] In step S300, one of the first clamp 32 and the second clamp 33 can be controlled to grab the material from the suction material taking mechanism 20, or the two clamps can grab the material in turn. Here, how to grab the material can be determined according to the idle situation of the clamps.

[0040] In the case where both jaws grab the product 200 to be tested, after both jaws grab the product 200 to be tested, the product 200 to be tested grabbed by the first jaw 32 can be controlled to move to the first testing mechanism, and the product 200 to be tested grabbed by the second jaw 33 can be controlled to move to the second testing mechanism. When the detection time of different testing mechanisms is different, for example, the first testing mechanism has completed the detection, and the second testing mechanism is still in progress, at this time, the first jaw 32 of the double-jaw mechanism 30 can move the next product 200 to be tested to the first testing mechanism, and the second jaw 33 moves the product that has been detected at the first testing mechanism out. When the first testing mechanism and the second testing mechanism have completed the detection, the first jaw 32 and the second jaw 33 respectively grab the corresponding products, thereby improving the detection efficiency.

[0041] Figure 8 yes Figure 7 Flow chart of the discharging step in the control method of the embodiment. In one embodiment, Figure 8 As shown, step S500 may include: Controlling the rotation and movement of the rotating holder according to the qualified status of the products at the first clamping jaw 32 and the second clamping jaw 33 specifically includes the following steps: Step S520, determining whether the test results of any testing agency are unqualified, if so, proceeding to step S522, otherwise, it means that the test results of all testing agencies are qualified, and then proceeding to step S530; Step S522, determining whether the unqualified product is grasped by the first clamping jaw 32, if so, proceeding to step S524, otherwise, it means that the unqualified product is grasped by the second clamping jaw 33, and then proceeding to step S526; Step S524, control the rotating holder to rotate 180 degrees, and then move until the first clamping jaw 32 is located above the second transmission line 40, so that the second clamping jaw 33 is located on the side of the second transmission line 40 away from the first transmission line 10, and control the rotating holder to descend until the unqualified product falls to the second transmission line 40 and then releases the first clamping jaw 32; Step S526, controlling the rotating holder to move until the second clamping jaw 33 is located above the second transmission line 40, controlling the rotating holder to descend, and releasing the second clamping jaw 33 after the unqualified product falls to the second transmission line 40; Step S530, determining whether the qualified product is grasped by the first clamping jaw 32, if so, proceeding to step S532, otherwise, it means that the qualified product is grasped by the second clamping jaw 33, and then proceeding to step S534; Step S532, controlling the rotating holder to move to the position where the first clamping jaw 32 is located above the first transmission line 10, and controlling the rotating holder to descend to the position where the material adsorption and fetching mechanism 20 is located; Step S534, control the rotating holder to rotate 180 degrees, and then move to the position where the second clamping jaw 33 is located above the first transmission line 10, and control the rotating holder to descend to the suction and material taking mechanism 20; After step S532 and step S534, the following steps are included: Step S536, controlling the double-claw mechanism 30 to release the qualified products and the adsorption and material-collecting mechanism 20 to adsorb the qualified products; Step S538, control the adsorption and material taking mechanism 20 to flip 180 degrees, fall to the first transmission line 10, and drop the qualified products.

[0042] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A multi-station motion system, characterized in that: include: A first transmission line extends along a first horizontal direction and has a feeding position and a discharging position at two ends thereof; The adsorption and material-collecting mechanism is located above the material receiving position of the first transmission line and includes an adsorption structure that can rotate around a horizontal axis and can be lifted and lowered vertically, and the adsorption structure is used to adsorb the product to be tested located at the material receiving position; A double-jaw mechanism is located above the adsorption and feeding mechanism, and includes a rotating holder and a first jaw and a second jaw fixed to the rotating holder, the rotating holder is configured to rotate around a vertical rotation axis and move along the second horizontal direction, the first jaw and the second jaw are arranged in sequence along the second horizontal direction, the second horizontal direction is perpendicular to the first horizontal direction, wherein the first jaw and the second jaw are mirror images relative to a preset vertical plane and the spacing is a preset value, the preset vertical plane is a plane passing through the rotation axis of the rotating holder and perpendicular to the second horizontal direction, the first jaw and the second jaw are used to clamp the product to be tested at the adsorption structure and transfer the product to be tested to each detection mechanism.

2. The multi-station motion system according to claim 1, characterized in that: The double-jaw mechanism also includes an adaptive distance adjustment structure arranged at the target jaw, the target jaw includes the first jaw and / or the second jaw, the adaptive distance adjustment structure includes a first sensor and an adjustable counterweight, the first sensor is used to detect whether the target jaw clamps a chip, and the distance between the adjustable counterweight and the preset vertical plane is adjusted according to whether the target jaw clamps a chip.

3. The multi-station motion system according to claim 1, characterized in that: Also included is a second transmission line, arranged parallel to and adjacent to the first transmission line, for placing unqualified products; The double-claw mechanism is also used to place the inspected products on the adsorption material-collecting mechanism or the second transmission line.

4. The multi-station motion system according to claim 3, characterized in that: When the first clamp is located above the first transmission line, the second clamp is located on a side of the first transmission line away from the second transmission line; When the product clamped by the first clamp is a qualified product, the rotating holder falls and places the qualified product on the adsorption material-collecting mechanism, and the adsorption material-collecting mechanism flips over and places the qualified product on the first transmission line; When the product clamped by the first clamp is a defective product, the rotating holder rotates 180 degrees and moves until the first clamp is located above the second transmission line, then falls down and places the defective product on the second transmission line.

5. The multi-station motion system according to any one of claims 1 to 4, characterized in that: Also included is a positioning detection structure disposed at the first transmission line, including: A position sensor, used to detect whether the product to be tested moves to the material receiving position; A front end stop mechanism, arranged at a target position, for limiting the front position of the product to be tested; The rear end lifting mechanism is used to lift up and move toward the front end stop mechanism after the product to be tested is located at the material receiving position until the product to be tested is completely limited in the front and rear directions.

6. The multi-station motion system according to claim 5, characterized in that: A vertical stop surface is provided on one side of the first transmission line in the width direction, the position sensor is arranged on the opposite side of the vertical stop surface and can be extended and retracted along the width direction of the first transmission line, and the vertical stop surface and the position sensor jointly limit the product to be tested in the width direction of the first transmission line.

7. The multi-station motion system according to claim 5, characterized in that: The adsorption material-taking mechanism is fixedly arranged at the first transmission line to ensure the position alignment between the adsorption material-taking mechanism and the positioning detection structure.

8. A control method for controlling the multi-station motion system according to any one of claims 1 to 7, characterized in that: include: Control the first transport line to transport the product to be tested to the receiving position; Control the adsorption structure of the adsorption and material taking mechanism to descend to a first preset height and then adsorb the product to be tested, and then control the adsorption structure to rise to a second preset height and turn 180 degrees; Control the rotating holder of the double-jaw mechanism to move to a position where the first jaw or the second jaw is aligned with the material receiving position and descend to a third preset height, and control the first jaw or the second jaw aligned with the material receiving position to grab the product to be tested; The double-claw mechanism is controlled to move to each detection mechanism in sequence.

9. The control method according to claim 8, characterized in that: After the step of controlling the double-claw mechanism to move to each detection mechanism in sequence, the step further includes: Controlling the rotation and movement of the rotating holder according to the qualified condition of the products at the first clamping jaw and the second clamping jaw; Control the double-claw mechanism to release the qualified products and transfer them to the adsorption and material-collecting mechanism, and then control the adsorption and material-collecting mechanism to transfer the qualified products to the first transmission line; The double-claw mechanism is controlled to release the unqualified products and transfer them to the second transmission line.

10. The control method according to claim 8 or 9, characterized in that: The step of controlling the rotation and movement of the rotating holder according to the qualified condition of the product at the first clamping jaw and the second clamping jaw comprises: When any detection mechanism detects an unqualified product and the unqualified product is grasped by the first clamp, the rotating holder is controlled to rotate 180 degrees and then moved until the first clamp is located above the second transmission line, so that the second clamp is located on the side of the second transmission line away from the first transmission line, and the rotating holder is controlled to descend until the unqualified product falls to the second transmission line and then the first clamp is released.

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