Automatic PIN feeding and detecting device and method

Abstract

The invention belongs to the technical field of IGBT welding tools, and particularly relates to an automatic PIN feeding and detecting device and method.The device comprises a base plate and a rack, a feeding module, a transferring module, a distributing module and a transferring module are installed on the base plate, a pin taking module and a detecting module are installed on the rack, the feeding module is used for sequentially outputting multiple sets of PINs, and the transferring module is used for transferring the PINs; the plurality of groups of PINs are arranged in the pin hole positions in parallel; the pin taking module is used for transferring a plurality of groups of PINs at a pin hole position to the transferring module and transferring the PINs on the transferring module to the material distributing module or the transferring module; the transfer module is used for installing PINs and enabling the PINs to rotate to a detection position; the detection module is used for performing flaw detection on the PINs at the detection positions; the material distribution module is used for carrying out classification processing on the PINs which are detected to be abnormal; the transfer module is used for conveying the PINs which are detected to be normal to a welding station; according to the invention, the flatness, verticality, concentricity and location degree of the PIN needle can be detected before welding, and the detection precision is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of IGBT welding tooling, and in particular relates to a PIN needle automatic feeding detection device and method. Background Art

[0002] In IGBT power modules, the quality of the PIN pins needs to be inspected before welding, including the flatness, height, verticality and concentricity of the PIN pins, which will have a direct impact on the performance and service life of the IGBT.

[0003] In the prior art, PIN needle pre-welding inspection equipment is mostly based on a cam structure, which has defects such as poor adaptability, troublesome model change, and easy wear during operation in actual applications, which easily leads to poor repeatability of the PIN needle feeding position and high subsequent maintenance costs.

[0004] For example, the patent document with the publication number CN116810336A discloses a turntable pin insertion system, including a chassis and a turntable pin insertion platform, a PIN pin feeding device, a correction device, a detection device, an NG station, a pin insertion pressing mechanism, a pin removal pressing mechanism, and a double-actuator transfer platform arranged on the chassis. The turntable pin insertion platform can rotate around the vertical axis on the chassis. In actual application, it is impossible to detect the flatness of the bottom of the PIN pin, and there is a pause interval between each action during the detection process, and the detection efficiency is low. When the clamp is used to remove and place the needle, secondary damage to the PIN needle will be caused. When the PIN needle is corrected by clamping the PIN needle with the clamp, the PIN needle is not accurately placed in the needle mold.

[0005] Based on this, it is necessary to improve the defects in the prior art to overcome the shortcomings in practical applications. Summary of the invention

[0006] Based on the above-mentioned shortcomings and deficiencies in the prior art, one of the objects of the present invention is to at least solve one or more of the above-mentioned problems in the prior art. In other words, one of the objects of the present invention is to provide a PIN needle automatic feeding detection device and method that meets one or more of the above-mentioned needs.

[0007] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions:

[0008] The present invention provides a PIN needle automatic feeding detection device, comprising a base plate and a frame, wherein a feeding module, a transfer module, a material distribution module and a transfer module are installed on the base plate, and a needle removal module and a detection module are installed on the frame, wherein:

[0009] The feeding module is used to output the array of PIN needles in sequence, and arrange the array of PIN needles in parallel at the pinhole positions;

[0010] The needle removal module is used to transfer the array of PIN needles at the pinhole position to the transfer module, and is used to transfer the PIN needles on the transfer module to the material distribution module or the transfer module;

[0011] The transfer module is provided with several stations for installing the PIN needle and rotating the PIN needle to the detection position;

[0012] The detection module is used to perform defect detection on the PIN pin of the detection position to determine whether the PIN pin is normal or abnormal;

[0013] The material sorting module is used to classify and process the PIN needles with abnormal detection;

[0014] The transfer module is used to transport the PIN needles that have been tested normally to the welding station.

[0015] As a preferred solution, the feeding module is provided with a pinhole position, and the pinhole position is used to position the PIN needle.

[0016] As a preferred embodiment, the needle removal module includes a linear module, a sliding plate, a vertical cylinder, a vertical guide rail, a slide seat and a suction head. The linear module is installed on the frame, the vertical cylinder and the sliding plate are installed on the linear module, the vertical guide rail is installed on the sliding plate, the slide seat is connected to the vertical guide rail, and the suction head is installed on the slide seat; the vertical cylinder drives the slide seat to move along the vertical guide rail to link the suction head to move up and down.

[0017] As a preferred solution, the detection module includes a first detection module and a second detection module, the first detection module is installed on the frame and is used to detect the flatness of the PIN needle; the second detection module is installed on the frame and is used to detect the concentricity, height and verticality of the PIN needle.

[0018] As a preferred solution, the transfer module includes a fixed frame, a motor, a rotating disk, a needle suction mechanism and a clamping mechanism. The motor is installed on the fixed frame, the motor is connected to the rotating disk, and several needle suction mechanisms are installed on the rotating disk. The needle suction mechanism cooperates with the clamping mechanism to detect the PIN needle at the detection position.

[0019] As a preferred solution, the clamping mechanism includes a bracket and a cam follower, the bracket is connected to the fixing frame, the cam follower is mounted on the bracket, and the cam follower conflicts with the needle suction mechanism.

[0020] As a preferred embodiment, the needle suction mechanism includes a guide column, a positioning guide member, a compression spring and a pressure cover, the guide column is installed on the base, the positioning guide member is sleeved on the guide column, the pressure cover is sleeved outside the positioning guide member, the pressure cover is fixedly connected to the guide column, and the compression spring is arranged between the pressure cover and the positioning guide member, and is sleeved on the guide column.

[0021] As a preferred solution, the material sorting module includes a first sorting box and a second sorting box, which are used to collect normal PIN needles and abnormal PIN needles respectively.

[0022] As a preferred solution, the transfer module includes a first conveying unit and a second conveying unit, and pin molds are respectively installed thereon, and the pin pins are transferred to the welding station by loading the pin pins on the pin molds.

[0023] The present invention also provides a PIN needle automatic feeding detection method, using the automatic feeding detection device as described in any of the above schemes, comprising the following steps:

[0024] S1. Output the array PIN needles in sequence through the feeding module, and arrange the array PIN needles in parallel at the pinhole positions;

[0025] S2, transferring the array PIN needles at the pinhole position to the transfer module through the needle removal module, and transferring the PIN needles on the transfer module to the material distribution module or the transfer module;

[0026] S3, using the detection module to detect defects on the PIN needles, and using the sorting module to classify and process the PIN needles with abnormal detection;

[0027] S4, using the transfer module to transport the PIN needles that have been tested normally to the welding station.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] The present invention provides a PIN pin automatic feeding detection device, which can realize the detection and feeding process of the PIN pin before welding, meet the detection requirements of the flatness, verticality, concentricity and position of the PIN pin during the transfer process, and can protect the surface of the PIN pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, drawings of other embodiments can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 It is a structural schematic diagram of a PIN needle automatic feeding detection device according to an embodiment of the present invention;

[0032] Figure 2 is a structural schematic diagram of a loading module according to an embodiment of the present invention;

[0033] Figure 3 is a partial enlarged view of part A of the loading module of an embodiment of the present invention;

[0034] Figure 4 is a schematic diagram of the connection structure between the needle removal module and the frame according to an embodiment of the present invention;

[0035] Figure 5 is a schematic diagram of the connection structure between the needle removal module and the frame from another perspective of an embodiment of the present invention;

[0036] Figure 6 is a schematic structural diagram of a transfer module according to an embodiment of the present invention;

[0037] Figure 7 is a schematic diagram of the connection between the needle suction mechanism and the clamping mechanism of an embodiment of the present invention;

[0038] Figure 8 is a cross-sectional view of the connection between the needle suction mechanism and the clamping mechanism of the embodiment of the invention;

[0039] Fig. 9 is a structural schematic diagram of a positioning guide member according to an embodiment of the present invention;

[0040] Fig.10 is a cross-sectional view of a positioning guide member according to an embodiment of the present invention;

[0041] Fig.11 is a schematic structural diagram of a guide column according to an embodiment of the present invention;

[0042] Fig.12 is a structural schematic diagram of a transfer module according to an embodiment of the present invention;

[0043] Fig.13 is a schematic structural diagram of a first detection module according to an embodiment of the present invention;

[0044] Fig.14 is a schematic structural diagram of a second detection module according to an embodiment of the present invention;

[0045] Fig.15 is a schematic diagram of the structure of a PIN needle according to an embodiment of the present invention;

[0046] In the figure: 1 substrate, 2 frame, 3 loading module, 31 needle hole position, 4 needle removal module, 41 linear module, 42 sliding plate, 43 vertical cylinder, 44 vertical guide rail, 45 slide seat, 46 suction head, 5 transfer module, 51 fixed frame, 52 motor, 53 rotating disk, 54 needle suction mechanism, 541 guide column, 5411 base, 5412 boss, 5413 top seat, 542 positioning guide, 5421 cavity, 5422 protruding end, 5423 through hole, 543 compression spring, 544 pressure cover, 5441 guide groove, 55 clamping mechanism, 551 bracket, 552 cam follower, 6 material distribution module, 61 first sorting box, 62 second sorting box, 7 transfer module, 71 first conveying unit, 72 second conveying unit, 73 needle mold, 8 detection module, 81 first detection module, 82 second detection module, 9PIN needle, 91 needle seat. DETAILED DESCRIPTION

[0047] In order to more clearly illustrate the embodiments of the present application, the specific implementation methods of the present application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0048] In the description of the embodiments of the present application, the terms "upper", "lower", "front", "rear", etc., are based on the directions or positions shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation of the present application. In addition, the terms "first", "second", etc. are only used to distinguish in the description and have no special meaning.

[0049] According to some embodiments of the present application, please refer to Figures 1 to 15 As shown, a PIN needle automatic feeding and detection device is provided, including a substrate 1 and a frame 2, a feeding module 3, a transfer module 5, a dividing module 6 and a transfer module 7 are installed on the substrate 1, and a needle removal module 4 and a detection module 8 are installed on the frame 2, wherein the feeding module 3 is used to output the array PIN needles 9 in sequence, and make the array PIN needles 9 arranged in parallel at the pinhole position 31; the needle removal module 4 is used to transfer the array PIN needles 9 at the pinhole position 31 to the transfer module 5, and to transfer the PIN needles 9 on the transfer module 5 to the dividing module 6 or the transfer module 7; the transfer module 5 is provided with several stations for installing the PIN needles 9 and rotating the PIN needles 9 to the detection position; the detection module 8 is used to perform defect detection on the PIN needles 9 at the detection position to determine whether the PIN needles are normal or abnormal; the dividing module 6 is used to classify and process the PIN needles with abnormal detection; the transfer module 7 is used to transport the PIN needles with normal detection to the welding station.

[0050] In some embodiments of the present application, a pinhole position 31 is provided at the output end of the feeding module 3, and the pinhole position 31 is used to position the PIN needle. The feeding module 3 is configured with a double needle delivery channel, and two pinhole positions 31 are correspondingly provided, and each delivery channel corresponds to a pinhole position 31, so as to ensure that two PIN needles are output at one time, so as to improve the feeding efficiency.

[0051] In some embodiments of the present application, two needle removal modules 4 are configured on the frame 2, which are respectively arranged at the left and right ends of the frame 2. Each needle removal module 4 includes a linear module 41, a sliding plate 42, a vertical cylinder 43, a vertical guide rail 44, a slide seat 45 and a suction head 46. The linear module 41 is installed on the frame 2, the vertical cylinder 43 and the sliding plate 42 are installed on the linear module 41, the vertical guide rail 44 is installed on the sliding plate 42, the slide seat 45 is connected to the vertical guide rail 44, and the suction head 46 is installed on the slide seat 45; the vertical cylinder 43 drives the slide seat 45 to move along the vertical guide rail 44 to link the suction head 46 to move up and down.

[0052] Furthermore, the PIN needle 9 at the pinhole position 31 is sucked into the suction head 46 through negative pressure, and then transferred to the next workstation through the linear module 41. The suction head 46 has two sets of pin suction holes, and the hole spacing is consistent with the pinhole position on the loading module. When the suction head 46 moves to the top of the pinhole position 31 on the loading module 3, the two negative pressures in the suction head 46 are turned on to suck the two PIN needles in the pinhole position on the loading module.

[0053] In some embodiments of the present application, the transfer module 5 includes a fixed frame 51, a motor 52, a rotating disk 53, a needle suction mechanism 54 and a clamping mechanism 55. The motor 52 is installed on the fixed frame 51, the motor 52 is connected to the rotating disk 53, and several needle suction mechanisms 54 are installed on the rotating disk 53. The needle suction mechanism 54 cooperates with the clamping mechanism 55 to detect the PIN needle at the detection position.

[0054] In a specific embodiment, the needle suction mechanism 54 includes a guide column 541, a positioning guide member 542, a compression spring 543 and a pressure cover 544. The guide column 541 is installed on the fixed frame 51, the positioning guide member 542 is sleeved on the guide column 541, the pressure cover 544 is sleeved outside the positioning guide member 541, the pressure cover 544 is fixedly connected to the guide column 541, and the compression spring 543 is arranged between the pressure cover 544 and the positioning guide member 542, and is sleeved on the guide column 541.

[0055] Furthermore, the positioning guide 542 can move up and down relative to the guide post 541 , and a cavity 5421 is built in the positioning guide 542 , and the cavity 5421 can move up and down along the guide post.

[0056] Furthermore, the pressure cover 544 is provided with a guide groove 5441, and the positioning guide member 542 is provided with a protruding end 5422, and the protruding end 5422 is arranged to protrude from the guide groove 5441. When the positioning guide member moves up and down, the protruding end moves up and down along the guide groove.

[0057] In a specific embodiment, the clamping mechanism 55 includes a bracket 551 and a cam follower 552. The bracket 551 is connected to the fixing frame 51. The cam follower 552 is installed on the bracket 551. The cam follower 552 conflicts with the needle suction mechanism 54. One end of the bracket 551 is installed on the fixing frame 51, and the other end is connected to the cam follower 552. The cam follower 552 contacts and cooperates with the protruding end 5422.

[0058] Furthermore, the upper surface of the extended end 5422 has a transition arc surface, and the transition arc surface of the extended end rolls with the cam follower 552 , thereby linking the positioning guide member 542 to move relative to the guide column 541 .

[0059] Furthermore, the guide column 541 is connected to the vacuum joint, and a vacuum passage is provided inside the guide column 541 , one end of the vacuum passage is connected to the positioning groove, and the other end is connected to the vacuum joint.

[0060] In some embodiments of the present application, the guide column 541 includes a base 5411, a boss 5412 and a top seat 5413, the boss 5412 is installed on the base 5411, and the top seat 5413 is installed on the boss 5412, and the base 5411, the boss 5412 and the top seat 5413 are internally provided with a connected vacuum passage.

[0061] Furthermore, a through hole 5423 is provided at the upper end of the positioning guide 542, and a positioning groove is formed between the top seat 5413 and the through hole 5423 and is used to install the PIN needle; the positioning guide 542 moves downward so that the top seat 5413 protrudes from the through hole 5423, so that the needle seat of the PIN needle is exposed outside the through hole 5423.

[0062] In some embodiments of the present application, four needle suction mechanisms 54 are provided, and each needle suction mechanism 54 is respectively configured with two PIN needles. Specifically, the number of needle suction mechanisms can be set according to actual needs, and the number of PIN needle configurations can also be set according to actual needs.

[0063] In some embodiments of the present application, the detection module 8 includes a first detection module 81 and a second detection module 82. The first detection module 81 is installed on the frame 2 and is used to detect the flatness of the PIN needle; the second detection module 82 is installed on the frame 2 and is used to detect the concentricity, height and verticality of the PIN needle. It should be noted that the first detection module 81 can also be installed on the substrate 1, and can be specifically set according to actual needs.

[0064] Specifically, the first detection module 81 uses a 3D camera for detection. After the suction head 46 in the needle removal module 4 absorbs two PIN needles, the needle seat of the PIN needle is passed downward at a uniform speed through the 3D camera to detect whether there are concave and convex defects in the flatness of the bottom of the needle seat. Then, the two PIN needles will be placed on the needle suction mechanism 54 of the transfer module 5 and sucked tightly by negative pressure.

[0065] Furthermore, the second detection module 82 is composed of a fixing frame 821, a side camera 822, a lens 823, a side light source 824, a lower light source 825, a lower lens 826, a fixing part 827, and a vertical camera 828, and the focal points of the two cameras converge at one point. When the transfer module reaches the visual detection position, the focal point of the two cameras is located in the middle of the two PIN needles on the needle suction mechanism 54. At this time, the positioning guide descends, and the needle seat of the PIN needle leaks out, and then the side camera and the vertical camera detect the height, concentricity and diameter of the PIN needle; when the PIN needle to be tested is a fisheye integrated needle, the placement angle of the fisheye integrated needle can also be confirmed, and then the normal or abnormal condition of the PIN needle can be judged, so as to collect the abnormal PIN needle and transfer the normal PIN needle to the next station.

[0066] In some embodiments of the present application, the material sorting module 6 includes a first sorting box 61 and a second sorting box 62, which are used to collect normal PIN needles and abnormal PIN needles, respectively.

[0067] When the needle suction mechanism 54 on the transfer module 5 is turned to the lower needle position, the extended end of the positioning guide is separated from the clamping mechanism, so that the positioning guide is squeezed by the compression spring and rises, and finally the two PIN needles on the PIN needle suction member are positioned, and then the suction head on the needle removal module is moved to the top of the two PIN needles of the transfer module. If the previous station is qualified, the two PIN needles on the needle suction mechanism are directly transferred to the transfer module by the needle removal module. Otherwise, if at least one of the PIN needles fails the test, the unqualified products are transferred to the first sorting box 61, and the qualified products are transferred to the second sorting box 62 to achieve classification processing so that the qualified products can be recycled and reused.

[0068] In some embodiments of the present application, the transfer module 7 includes a first conveying unit 71 and a second conveying unit 72 , and each of them is equipped with a pin mold 73 , and the pin pin is loaded on the pin mold 73 to transfer the pin pin to the welding station.

[0069] Specifically, after the suction head on the needle removal module absorbs the PIN, if the previous station detects that both PINs on the PIN needle adsorbing member are qualified, the corresponding two PIN needles will be transferred to the needle mold on the first conveying unit 71 or the needle mold on the second conveying unit 72. When one needle mold is loading, the other needle mold will be transferred to the welding station through the linear module, and so on, to ensure that the qualified product in one of the needle molds is provided to the PIN needle welding equipment of the IGBT module.

[0070] Through an automatic PIN pin feeding detection device in an embodiment of the present application, the PIN pin detection and feeding process before welding can be realized, meeting the detection requirements for the flatness, verticality, concentricity and position of the PIN pin during the transfer process, and can protect the surface of the PIN pin.

[0071] According to some embodiments of the present application, a PIN needle automatic feeding detection method is also provided, which uses the automatic feeding detection device described above and includes the following steps:

[0072] S1. Output the array PIN needles in sequence through the feeding module, and arrange the array PIN needles in parallel at the pinhole positions;

[0073] S2, transferring the array PIN needles at the pinhole position to the transfer module through the needle removal module, and transferring the PIN needles on the transfer module to the material distribution module or the transfer module;

[0074] S3, using the detection module to detect defects on the PIN needles, and using the sorting module to classify and process the PIN needles with abnormal detection;

[0075] S4, using the transfer module to transport the PIN needles that have been tested normally to the welding station.

[0076] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "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, and 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 embodiments of the present application can be understood according to the specific circumstances.

[0077] The above description is only a detailed description of the preferred embodiments and principles of the present application. For ordinary technicians in this field, there will be changes in the specific implementation methods based on the ideas provided by the present invention, and these changes should also be regarded as the scope of protection of the present application.

Claims

1. A PIN needle automatic feeding detection device, comprising a base plate and a frame, characterized in that: The substrate is equipped with a loading module, a transfer module, a material distribution module and a transfer module, and the frame is equipped with a needle removal module and a detection module, wherein: The feeding module is used to output the array of PIN needles in sequence, and arrange the array of PIN needles in parallel at the pinhole positions; The needle removal module is used to transfer the array of PIN needles at the pinhole position to the transfer module, and is used to transfer the PIN needles on the transfer module to the material distribution module or the transfer module; The transfer module is provided with several stations for installing the PIN needle and rotating the PIN needle to the detection position; The detection module is used to perform defect detection on the PIN pin of the detection position to determine whether the PIN pin is normal or abnormal; The material sorting module is used to classify and process the PIN needles with abnormal detection; The transfer module is used to transport the PIN needles that have been tested normally to the welding station.

2. The PIN needle automatic feeding detection device according to claim 1 is characterized in that: The feeding module is provided with a pinhole position, and the pinhole position is used to position the PIN needle.

3. The PIN needle automatic feeding detection device according to claim 1 is characterized in that: The needle removal module includes a linear module, a sliding plate, a vertical cylinder, a vertical guide rail, a slide seat and a suction head. The linear module is installed on the frame, the vertical cylinder and the sliding plate are installed on the linear module, the vertical guide rail is installed on the sliding plate, the slide seat is connected to the vertical guide rail, and the suction head is installed on the slide seat; the vertical cylinder drives the slide seat to move along the vertical guide rail to link the suction head to move up and down.

4. The PIN needle automatic feeding detection device according to claim 1, characterized in that: The detection module includes a first detection module and a second detection module. The first detection module is installed on the frame and is used to detect the flatness of the PIN needle; the second detection module is installed on the frame and is used to detect the concentricity, height and verticality of the PIN needle.

5. The PIN needle automatic feeding detection device according to claim 1, characterized in that: The transfer module includes a fixed frame, a motor, a rotating disk, a needle suction mechanism and a clamping mechanism. The motor is installed on the fixed frame, and the motor is connected to the rotating disk. Several needle suction mechanisms are installed on the rotating disk. The needle suction mechanism cooperates with the clamping mechanism to detect the PIN needle at the detection position.

6. The PIN needle automatic feeding detection device according to claim 5, characterized in that: The clamping mechanism comprises a bracket and a cam follower, the bracket is connected to the fixing frame, the cam follower is installed on the bracket, and the cam follower conflicts with the needle suction mechanism.

7. The PIN needle automatic feeding detection device according to claim 5, characterized in that: The needle suction mechanism includes a guide column, a positioning guide member, a compression spring and a pressure cover, the guide column is installed on the base, the positioning guide member is sleeved on the guide column, the pressure cover is sleeved outside the positioning guide member, the pressure cover is fixedly connected to the guide column, the compression spring is arranged between the pressure cover and the positioning guide member, and is sleeved on the guide column.

8. The PIN needle automatic feeding detection device according to claim 1, characterized in that: The material sorting module comprises a first sorting box and a second sorting box, which are used to collect normal PIN needles and abnormal PIN needles respectively.

9. The PIN needle automatic feeding detection device according to claim 1, characterized in that: The transfer module includes a first conveying unit and a second conveying unit, and is respectively equipped with a pin mold, and is used to transfer the pin to a welding station by loading the pin on the pin mold.

10. A PIN needle automatic feeding detection method, characterized in that: The automatic feeding detection device according to any one of claims 1 to 9 is used, comprising the following steps: S1. Output the array PIN needles in sequence through the feeding module, and arrange the array PIN needles in parallel at the pinhole positions; S2, transferring the array PIN needles at the pinhole position to the transfer module through the needle removal module, and transferring the PIN needles on the transfer module to the material distribution module or the transfer module; S3, using the detection module to detect defects on the PIN needles, and using the sorting module to classify and process the PIN needles with abnormal detection; S4, using the transfer module to transport the PIN needles that have been tested normally to the welding station.

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