A multi-station motion system and its control method

Abstract

The present invention provides a multi-station motion system and its control method, belonging to the technical field of motion mechanisms. The system includes: a first transmission line extending along a first horizontal direction with a feeding position and a discharging position at both ends respectively; an adsorption and picking mechanism located above the material receiving position of the first transmission line, and including an adsorption structure that can rotate around a horizontal axis and can move vertically, for adsorbing a product to be tested located at the material receiving position; a double gripper mechanism including a rotating holder and a first gripper and a second gripper fixed to the rotating holder, the rotating holder is configured to be rotatable around a vertical rotation axis and movable along a second horizontal direction, the first gripper and the second gripper are mirror images with respect to a preset vertical plane and the distance therebetween is a preset value, the first gripper and the second gripper are used to pick up the product to be tested at the adsorption structure and transfer the product to be tested to each detection mechanism. The present invention can ensure the high efficiency of detection while ensuring the stability during horizontal rotation, thereby ensuring the motion accuracy.

Description

Technical Field

[0001] This application relates to the technical field of motion mechanisms, and particularly to a multi-station motion system and its control method. Background Art

[0002] In product testing equipment, air cylinder grippers are often used as grasping devices. Considering production efficiency, the moving module in the equipment will consider designing a double-gripper product to transport two products to be tested in one motion stroke.

[0003] Currently, the design of double-gripper products generally considers the correspondence with the transportation line. For example, two products need to be respectively transported to the first detection line and the second detection line. At this time, the distances between the two grippers of the double-gripper product will be set according to the correspondence with the detection lines, so that the products at the two grippers can fall to the corresponding detection lines simultaneously to improve the detection efficiency. However, in this design, the distances between the two grippers of the double-gripper product are usually large, so the product size is large, and the grippers may cause product instability when rotation is required. At this time, the rotation speed is usually controlled to ensure the stability during rotation, but this will cause a decrease in detection efficiency. Summary of the Invention

[0004] An object of the present invention is to provide a multi-station motion system, which can ensure the high efficiency of detection while ensuring the stability during horizontal rotation, thereby ensuring the 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 the detection efficiency and production rhythm.

[0007] An embodiment of the present invention provides a multi-station motion system, including:

[0008] A first transmission line extending along a first horizontal direction, with the two ends being a feeding position and a discharging position respectively;

[0009] An adsorption and material-taking mechanism located above the material-receiving position of the first transmission line, and including an adsorption structure that can rotate around a horizontal axis and can move up and down vertically, and the adsorption structure is used for adsorbing the product to be tested located at the material-receiving position;

[0010] The double gripper mechanism is located above the adsorption and picking mechanism, and includes a rotating holder and a first gripper and a second gripper fixed to the rotating holder. The rotating holder is configured to be rotatable about a vertical rotation axis and movable along the second horizontal direction. The first gripper and the second gripper are arranged in sequence along the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction. Wherein, the first gripper and the second gripper are mirror images with respect to a preset vertical plane and the distance therebetween 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 gripper and the second gripper are used to grip the product to be tested at the adsorption structure and transfer the product to be tested to each detection mechanism.

[0011] Optionally, the double gripper mechanism further includes an adaptive distance adjustment structure provided at the target gripper. The target gripper includes the first gripper and / or the second gripper. The adaptive distance adjustment structure includes a first sensor and an adjustable counterweight. The first sensor is used to detect whether the target gripper grips a chip, and the distance between the adjustable counterweight and the preset vertical plane is adjusted according to whether the target gripper grips a chip.

[0012] Optionally, the multi-station motion system further includes a second transmission line, which is arranged in parallel and adjacent to the first transmission line for placing unqualified products;

[0013] The double gripper mechanism is also used to place the tested product on the adsorption and picking mechanism or the second transmission line.

[0014] Optionally, when the first gripper is located above the first transmission line, the second gripper is located on the side of the first transmission line away from the second transmission line;

[0015] When the product held by the first gripper is a qualified product, the rotating holder descends and places the qualified product at the adsorption and picking mechanism. After the adsorption and picking mechanism flips, the qualified product is placed on the first transmission line;

[0016] When the product held by the first gripper is an unqualified product, the rotating holder rotates 180 degrees and moves until the first gripper is above the second transmission line and then descends, and places the unqualified product on the second transmission line.

[0017] Optionally, the multi-station motion system further includes a positioning and detection structure provided at the first transmission line, including:

[0018] A position sensor for detecting whether the product to be tested moves to the material receiving position;

[0019] A front stop mechanism is provided at a target position for defining the front position of the product to be tested.

[0020] A rear lifting mechanism is used to lift and move towards the front stop mechanism after the product to be tested is at the receiving position until the product to be tested is completely defined in the front-rear direction.

[0021] Optionally, a vertical stop surface is provided on one side in the width direction of the first transmission line, and the position sensor is arranged on the opposite side of the vertical stop surface and can expand and contract along the width direction of the first transmission line. The vertical stop surface and the position sensor jointly define the product to be tested in the width direction of the first transmission line.

[0022] Optionally, the adsorption and picking mechanism is fixedly arranged at the first transmission line to ensure the position alignment degree between the adsorption and picking mechanism and the positioning and detection structure.

[0023] Particularly, the present invention also provides a control method for controlling the multi-station motion system described in any one of the above, including:

[0024] Controlling the first transport line to transport the product to be tested to the receiving position;

[0025] Controlling the adsorption structure of the adsorption and picking mechanism to descend to a first preset height, then adsorbing the product to be tested, and then controlling the adsorption structure to rise to a second preset height and perform a 180-degree flip;

[0026] Controlling the rotary holder of the double-jaw mechanism to move to a position where the first jaw or the second jaw is aligned with the receiving position and descend to a third preset height, and controlling the first jaw or the second jaw aligned with the receiving position to grasp the product to be tested;

[0027] Controlling the double-jaw mechanism to move to each detection mechanism in sequence.

[0028] Optionally, after the step of controlling the double-jaw mechanism to move to each detection mechanism in sequence, it further includes:

[0029] Controlling the rotation and movement of the rotary holder according to the qualification status of the products at the first jaw and the second jaw;

[0030] Controlling the double-jaw mechanism to release the qualified products and transfer them to the adsorption and picking mechanism, and then controlling the adsorption and picking mechanism to transfer the qualified products to the first transmission line;

[0031] Controlling the double-jaw mechanism to release the unqualified products and transfer them to the second transmission line.

[0032] Optionally, the steps of controlling the rotation and movement of the rotary holder according to the qualification status of the products at the first jaw and the second jaw include:

[0033] When any detection mechanism detects a non-conforming product and the non-conforming product is grasped by the first jaw, control the rotary holder to rotate 180 degrees, then move it until the first jaw is above the second transmission line, so that the second jaw is on the side of the second transmission line away from the first transmission line, control the rotary holder to descend until the non-conforming product lands on the second transmission line, and then release the first jaw.

[0034] According to the first aspect of the present invention, the first jaw and the second jaw of the double-jaw mechanism are mirror parts and are symmetrically arranged with respect to the rotation axis of the rotary holder. At the same time, the distance between the first jaw and the second jaw is set to the minimum value that can avoid interference, so that the load after the first jaw and the second jaw grasp the product to be tested can be concentrated as much as possible towards the rotation axis, reducing the rotational centrifugal force and maintaining the stability of the mechanism. Moreover, the flipping of the product to be tested and the subsequent horizontal rotation and movement are realized by two independent mechanisms (i.e., the adsorption and picking mechanism and the double-jaw mechanism), which simplifies the structure of the double-jaw mechanism that horizontally rotates with two products to be tested and reduces the weight, further facilitating the maintenance of the stability of the mechanism during horizontal rotation. That is, the present application ensures the efficiency of detection by setting double jaws, and at the same time ensures the stability during horizontal rotation, thereby ensuring the motion accuracy.

[0035] Furthermore, by setting an adaptive adjustment structure at the double-jaw mechanism, when the grasping conditions of the first jaw and the second jaw are different, the center of gravity on both sides can be balanced, so that both sides can be balanced, making the double-jaw mechanism more stable whether it is moving or rotating, thereby ensuring the position accuracy of the product to be tested.

[0036] According to the second aspect of the present invention, by setting a double-jaw mechanism that can rotate horizontally and cooperating with the relative position relationship between the first transmission line and the second transmission line, the double-jaw transportation of qualified products and non-conforming products can be realized, that is, both the first jaw and the second jaw can be used for the corresponding blanking transportation of qualified products and non-conforming products, maximizing the transportation efficiency, thereby improving the detection efficiency and production rhythm.

[0037] According to the third aspect of the present invention, by setting a positioning and detection structure, it can be ensured that the product to be tested is accurately positioned at the material receiving position, ensuring the position accuracy.

[0038] Furthermore, the positioning and detection structure and the adsorption and picking mechanism are both fixedly arranged at the first transmission line. Therefore, their relative positions remain fixed, which can ensure the alignment accuracy between the adsorption structure of the adsorption and 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

[0039] Figure 1 is a schematic structural diagram of a multi-station motion system according to an embodiment of the present invention;

[0040] Figure 2 is Figure 1 a partial enlarged view of part A in the embodiment of

[0041] Figure 3 is Figure 1 a schematic structural diagram of the adsorption and material taking mechanism in the embodiment of

[0042] Figure 4 is Figure 1 a schematic structural diagram of the double jaw mechanism in the embodiment of

[0043] Figure 5 is a schematic structural diagram of the first transmission line of a multi-station motion system according to an embodiment of the present invention;

[0044] Figure 6 is Figure 5 a schematic structural diagram of the positioning and detection structure in the embodiment of

[0045] Figure 7 is a flowchart of a control method according to an embodiment of the present invention;

[0046] Figure 8 is Figure 7 a flowchart of the discharging step in the control method of the embodiment of

[0047] Reference Numerals:

[0048] 100 - multi-station motion system, 10 - first transmission line, 11 - vertical stop surface, 20 - adsorption and material taking mechanism, 21 - adsorption structure, 211 - adsorption head, 22 - first rotation driving mechanism, 23 - first lifting driving mechanism, 30 - double jaw mechanism, 31 - rotation and holding frame, 32 - first jaw, 33 - second jaw, 34 - second rotation driving mechanism, 35 - cross movement mechanism, 36 - second lifting mechanism, 40 - second transmission line, 50 - positioning and detection structure, 51 - position sensor, 52 - front end stop mechanism, 53 - rear end lifting mechanism, 60 - fixed bracket, 200 - product to be measured. Detailed Description of the Embodiment

[0049] To make the above objects, features, and advantages of the present application more apparent and understandable, the following provides a detailed description of the specific embodiments of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description 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 departing from the spirit of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0050] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar expressions used in the specification of the present application are for illustrative purposes only and do not represent the only implementation manner.

[0051] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0052] In the present application, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature can be that the first feature is in direct contact with the second feature, or the first feature and the second feature are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the first feature has a lower horizontal height than the second feature.

[0053] Unless otherwise defined, all technical and scientific terms used in the specification of the present application have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the specification of the present application includes any and all combinations of one or more of the related listed items.

[0054] Figure 1 FIG. 16 is a schematic structural diagram of a multi-station motion system 100 according to an embodiment of the present invention. Figure 2 is Figure 1Partial enlarged view at location A in the embodiment of Figure 3 is Figure 1 Schematic structural view of the adsorption and picking mechanism at position 20 in the embodiment of Figure 4 is Figure 1 Schematic structural view of the double gripper mechanism 30 in the embodiment of Figure 1 As shown in Figure 1 , the multi-station motion system 100 includes a first transmission line 10 (OK line), an adsorption and picking mechanism 20, and a double gripper mechanism 30. The first transmission line 10 extends along a first horizontal direction, and its two ends are respectively a feeding position and a discharging position. For example, Figure 2 As shown in Figure 2 , the upstream end of the material transmission direction a is the feeding position, and the downstream end is the discharging position. As shown in Figure 3 , the adsorption and picking mechanism 20 is located above the receiving position of the first transmission line 10 (see B in Figure 1 ), and includes an adsorption structure 21 that can rotate around a horizontal axis and can move vertically. The adsorption structure 21 is used to adsorb the product 200 to be tested located at the receiving position. In one embodiment, as shown in Figure 4As shown, the double-jaw mechanism 30 may include a second rotational drive mechanism 34 and a transverse movement mechanism 35, which are respectively applied to realize the rotation of the rotary cage and the movement along the second horizontal direction. Of course, in some embodiments, the double-jaw mechanism 30 may further include a second lifting mechanism 36 for realizing the lifting movement of the rotary cage to adapt to more movement scenarios.

[0055] The multi-station motion system 100 of this embodiment is set for the situation where the product 200 to be tested needs to be turned over during the previous process and the current process inspection. By setting the adsorption and picking mechanism 20, the adsorption and flipping of the product 200 to be tested on the first transmission line 10 can be realized, and then the transfer of the product 200 to be tested from the adsorption and picking mechanism 20 to the inspection position can be realized by the grasping of the two jaws of the double-jaw mechanism 30.

[0056] In this embodiment, the first jaw 32 and the second jaw 33 of the double-jaw mechanism 30 are mirror images and are symmetrically arranged with respect to the rotation axis of the rotary cage. At the same time, the distance between the first jaw 32 and the second jaw 33 is set to the minimum value that can avoid interference, so that the load after the first jaw 32 and the second jaw 33 grasp the product 200 to be tested can be concentrated as much as possible towards the rotation axis, reducing the rotational centrifugal force and maintaining the stability of the mechanism. Moreover, 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 picking mechanism 20 and the double-jaw mechanism 30), which simplifies the structure of the double-jaw mechanism 30 that rotates horizontally with two products 200 to be tested and reduces the weight, further facilitating the maintenance of the stability of the mechanism during horizontal rotation. That is, while ensuring the high efficiency of detection by setting the double jaws in this application, the stability during horizontal rotation is ensured, thereby ensuring the motion accuracy.

[0057] In a further embodiment, the double-jaw mechanism 30 further includes an adaptive distance adjustment structure (not shown) disposed at the target jaw. The target jaw includes the first jaw 32 and / or the 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 holds a chip, and the distance between the adjustable counterweight and a preset vertical plane is adjusted according to whether the target jaw holds a chip. That is to say, the adaptive distance adjustment structure can be disposed at the first jaw 32 or the second jaw 33, or can be disposed at both the first jaw 32 and the second jaw 33. Taking the case where the adaptive distance adjustment structure is only disposed at the first jaw 32 as an example, when the first sensor detects that the first jaw 32 holds a chip to be measured while the second jaw 33 does not hold a chip to be measured, control the adjustable counterweight at the first jaw 32 to move towards the direction close to the preset vertical plane until the center of gravity of the structures on both sides of the double-jaw mechanism 30 is symmetric about the preset vertical plane. When the first sensor detects that the first jaw 32 does not hold a chip to be measured while the second jaw 33 holds a chip to be measured, control the adjustable counterweight at the first jaw 32 to move away from the preset vertical plane until the center of gravity of the structures on both sides of the double-jaw mechanism 30 is symmetric about the preset vertical plane. The situation when the adaptive distance adjustment structure is only disposed at the second jaw 33 is the same as the principle when the adaptive distance adjustment structure is only disposed at the first jaw 32, and will not be elaborated here. Of course, the adaptive distance adjustment structure can also be disposed at both the first jaw 32 and the second jaw 33, which is more flexible during adjustment.

[0058] In this embodiment, by setting an adaptive adjustment structure at the double-jaw mechanism, when the grasping conditions of the first jaw 32 and the second jaw 33 are different, the center of gravity on both sides can be balanced, so that both sides can be balanced, and the double-jaw mechanism 30 can be more stable whether it is moving or rotating, thereby ensuring the position accuracy of the product 200 to be measured.

[0059] In one embodiment, as Figure 1As shown, the multi-station motion system 100 further includes a second transmission line 40 (NG line), which is arranged in parallel and adjacent to the first transmission line 10 and is used to place unqualified products. The double-jaw mechanism 30 is also used to place the tested products on the adsorption and picking mechanism 20 or the second transmission line 40. To more clearly describe the motion relationship, the positions of the first jaw 32 and the second jaw 33 are defined here: when the first jaw 32 is above the first transmission line 10, the second jaw 33 is on the side of the first transmission line 10 away from the second transmission line 40. When the product held by the first jaw 32 is a qualified product, the rotary holder drops and places the qualified product at the adsorption and picking mechanism 20, and after the adsorption and picking mechanism 20 flips, it places the qualified product on the first transmission line 10. When the product held by the first jaw 32 is an unqualified product, the rotary holder rotates 180 degrees and moves until the first jaw 32 is above the second transmission line 40 and then drops, and places the unqualified product on the second transmission line 40.

[0060] That is to say, when all the tests of the product to be tested 200 are qualified, the first jaw 32 of the double-jaw mechanism 30 transfers the qualified product to the adsorption and picking mechanism 20 and then to the first transmission line 10 through the adsorption and picking mechanism 20. Of course, when the front and back directions of the product are not required in the subsequent processes, the second jaw 33 of the double-jaw mechanism 30 can also be used to transport the qualified product. It only needs to control the double-jaw mechanism 30 to rotate horizontally until the second jaw 33 is above the first transmission line 10. The subsequent motion process is the same as when the qualified product is at the first jaw 32 and will not be elaborated here. When one of the tests of the product to be tested 200 is unqualified, 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, it can first rotate horizontally to turn the first jaw 32 to the left of the second jaw 33 (i.e., the left side in Figure 2 ), then move to the position where the first jaw 32 is aligned with the second transmission line 40, and then directly drop onto the second transmission line 40 and release the first jaw 32 to discharge the material. When the second jaw 33 grabs the unqualified product, it can directly move the second jaw 33 above the second transmission line 40 and then discharge the material.

[0061] In this embodiment, by setting the double-jaw mechanism 30 that can rotate horizontally and cooperating with the relative position relationship between the first transmission line 10 and the second transmission line 40, the double-jaw transportation of qualified products and unqualified products can be realized, that is, both the first jaw 32 and the second jaw 33 can be used for the corresponding discharging transportation of qualified products and unqualified products, maximizing the transportation efficiency, thereby improving the detection efficiency and production rhythm.

[0062] Figure 5 FIG. 12 is a schematic structural diagram of the first transmission line 10 of the multi-station motion system 100 according to an embodiment of the present invention. Figure 6Yes Figure 5 is a schematic structural diagram of the positioning detection structure 50 in the embodiment. In a further embodiment, as Figure 5 shown, the multi-station motion system 100 further includes a positioning detection structure 50 disposed at the first transmission line 10. The positioning detection structure 50 includes a position sensor 51, a front stop mechanism 52, and a rear lifting mechanism 53. The position sensor 51 is used to detect whether the product to be tested 200 has moved to the material receiving position. The front stop mechanism 52 is disposed at the target position and is used to define the front position of the product to be tested 200. The rear lifting mechanism 53 is used to lift and move towards the front stop mechanism 52 after the product to be tested 200 is at the material receiving position until the product to be tested 200 is completely defined in the front-rear direction. A vertical stop surface 11 is provided on one side in the width direction of the first transmission line 10. The position sensor 51 is disposed on the opposite side of the vertical stop surface 11 and can be telescoped along the width direction of the first transmission line 10. The vertical stop surface 11 and the position sensor 51 jointly define the product to be tested 200 in the width direction of the first transmission line 10. Further, the adsorption and picking mechanism 20 is fixedly disposed at the first transmission line 10 to ensure the alignment accuracy between the adsorption and picking mechanism 20 and the positioning detection structure 50. As Figure 4 shown, the adsorption and picking mechanism 20 is fixed to the fixed structure of the first transmission line 10 through a fixing bracket 60.

[0063] In this embodiment, by setting the positioning detection structure 50, it can be ensured that the product to be tested 200 is accurately positioned at the material receiving position, ensuring the position accuracy. Further, both the positioning detection structure 50 and the adsorption and picking mechanism 20 are fixedly disposed at the first transmission line 10. Therefore, their relative positions remain fixed, which can ensure the alignment accuracy between the adsorption structure 21 of the adsorption and picking mechanism 20 and the material receiving position, and further ensure the position accuracy of the product to be tested 200 during transportation.

[0064] Figure 7 is a flowchart of a control method according to an embodiment of the present invention. The present application also provides a control method for controlling the above multi-station motion system 100. In one embodiment, as Figure 7 shown, the control method includes:

[0065] Step S100, controlling the first transport line to transport the product to be tested 200 to the material receiving position;

[0066] Step S200, controlling the adsorption structure 21 of the adsorption and picking mechanism 20 to descend to a first preset height, then adsorbing the product to be tested 200, and then controlling the adsorption structure 21 to rise to a second preset height and perform a 180-degree flip;

[0067] Step S300: Control the rotating cage 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 loading position and descend to the third preset height, and control the first jaw 32 or the second jaw 33 aligned with the loading position to grasp the product 200 to be tested.

[0068] Step S400: Control the double-jaw mechanism 30 to move to each inspection mechanism in turn for different inspections.

[0069] Step S500: Transfer the qualified products to the first conveyor line 10 and the unqualified products to the second conveyor line 40.

[0070] In step S300, it is possible to control one of the first jaw 32 and the second jaw 33 to pick up the material from the adsorption and feeding mechanism 20, or the two jaws can pick up the material in turn. Here, how to pick up the material can be determined according to the idle situation of the jaws.

[0071] For the case where both jaws grasp the product 200 to be tested, after both jaws grasp the product 200 to be tested, it is possible to control the product 200 grasped by the first jaw 32 to move to the first inspection mechanism, and the product 200 grasped by the second jaw 33 to move to the second inspection mechanism. When the inspection times of different inspection mechanisms are different, for example, when the first inspection mechanism has completed the inspection and the second inspection mechanism is still in progress, at this time, the next product 200 to be tested can be moved to the first inspection mechanism by the first jaw 32 of the double-jaw mechanism 30, and at the same time, the product that has been inspected at the first inspection mechanism is removed by the second jaw 33. When both the first inspection mechanism and the second inspection mechanism have completed the inspection, the first jaw 32 and the second jaw 33 respectively grasp the corresponding products, thereby improving the inspection efficiency.

[0072] Figure 8 Yes Figure 7 It is a flowchart of the discharging step in the control method of the embodiment. In one embodiment, as Figure 8 shown, step S500 may include:

[0073] Control the rotation and movement of the rotating cage according to the qualification status of the products at the first jaw 32 and the second jaw 33, specifically including the following steps:

[0074] Step S520: Judge whether the inspection result of any inspection mechanism is unqualified. If so, enter step S522; otherwise, it means that the inspection results of all inspection mechanisms are qualified, and at this time, enter step S530.

[0075] Step S522: Judge whether the unqualified product is grasped by the first jaw 32. If so, enter step S524; otherwise, it means that the unqualified product is grasped by the second jaw 33, and at this time, enter step S526.

[0076] Step S524, control the rotary cage to rotate 180 degrees, then move it until the first jaw 32 is above the second transmission line 40, so that the second jaw 33 is on the side of the second transmission line 40 away from the first transmission line 10. Control the rotary cage to descend until the unqualified product lands on the second transmission line 40, and then release the first jaw 32;

[0077] Step S526, control the rotary cage to move until the second jaw 33 is above the second transmission line 40, and control the rotary cage to descend until the unqualified product lands on the second transmission line 40, and then release the second jaw 33;

[0078] Step S530, determine whether the qualified product is grasped by the first jaw 32. If so, enter Step S532; otherwise, it means that the qualified product is grasped by the second jaw 33, and at this time enter Step S534;

[0079] Step S532, control the rotary cage to move until the first jaw 32 is above the first transmission line 10, and control the rotary cage to descend to the adsorption and picking mechanism 20;

[0080] Step S534, control the rotary cage to rotate 180 degrees, then move it until the second jaw 33 is above the first transmission line 10, and control the rotary cage to descend to the adsorption and picking mechanism 20;

[0081] After Step S532 and Step S534, it includes:

[0082] Step S536, control the double-jaw mechanism 30 to release the qualified product, and the adsorption and picking mechanism 20 adsorbs the qualified product;

[0083] Step S538, control the adsorption and picking mechanism 20 to flip 180 degrees, descend to the first transmission line 10, and drop the qualified product.

[0084] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended 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, located above the adsorption and material-collecting mechanism, and comprising a rotating holder and a first jaw and a second jaw fixed to the rotating holder, wherein the rotating holder is configured to be rotatable around a vertical rotation axis and movable along a second horizontal direction, wherein the first jaw and the second jaw are sequentially arranged along the second horizontal direction, and 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, wherein the preset vertical plane is a plane passing through the rotation axis of the rotating holder and perpendicular to the second horizontal direction, and 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; The double-jaw mechanism further 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 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; 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 product on the adsorption material-collecting mechanism or the second transmission line; 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; The multi-station motion system further includes 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.

2. The multi-station motion system according to claim 1, 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.

3. The multi-station motion system according to claim 1, characterized in that: The adsorption material-collecting mechanism is fixedly arranged at the first transmission line to ensure the position alignment between the adsorption material-collecting mechanism and the positioning detection structure.

4. A control method for controlling the multi-station motion system according to any one of claims 1 to 3, 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 perform a 180-degree flip; 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.

5. The control method according to claim 4, 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.

6. The control method according to claim 4 or 5, 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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