Transfer device and inspection apparatus
By designing an offset fixture and a transfer device for the transport platform, the problem of positional instability of the carrier during rotational attitude switching was solved, enabling stable rotation and comprehensive inspection of the workpiece.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN SMARTMORE TECH CO LTD
- Filing Date
- 2025-06-09
- Publication Date
- 2026-07-21
AI Technical Summary
When existing carriers rotate and change the posture of workpieces, there are problems such as workpiece vibration and swaying, which make it difficult to achieve comprehensive detection and measurement.
Design a transfer device including a transfer component and a transport platform. A fixture is offset on a carrier beam, the carrier beam can rotate about a first axis, the fixture can rotate on its own axis, and the transport platform drives the transfer component to move, thereby reducing the workpiece rotation radius and improving the positional stability.
It alleviates vibration and swaying during workpiece rotation, improves workpiece positional stability and the operating speed of the transfer device, and enables comprehensive workpiece inspection.
Smart Images
Figure CN120504136B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of appearance inspection and measurement technology, and in particular to a transfer device and inspection equipment. Background Technology
[0002] In the fields of machinery manufacturing, electronic product assembly, and automotive parts production, various electronic equipment products typically undergo defect detection and dimensional measurement before leaving the factory to screen out defective products that do not meet requirements or have flaws. With the development of electromechanical and related technologies, products and their parts are gradually becoming more precise and complex, and single-angle inspection is often insufficient to meet the needs of comprehensive inspection and measurement.
[0003] In related technologies, a carrier is typically used to transport the workpiece, and the carrier is configured to rotate the workpiece, allowing it to exhibit various postures within the inspection field of view to meet the needs of comprehensive inspection. However, current carriers suffer from posture instability issues such as workpiece vibration and swaying when rotating the workpiece to change its posture. Summary of the Invention
[0004] Therefore, it is necessary to provide a transfer device and detection equipment to address the problem of workpiece instability when the current carrier rotates and changes the workpiece's posture.
[0005] This application provides a transfer device, which includes a transfer assembly and a transport platform. The transfer assembly includes a frame, a beam, and a fixture. The beam is rotatably connected to the frame about a first axis. The beam wall includes a first side, a second side, and a third side arranged sequentially in a circumferential direction about the first axis. The first side and the third side are arranged opposite to each other. The beam can rotate about the first axis to a position where any one of the first side, the second side, and the third side faces the side where the detection device is located. The fixture is disposed on the beam and extends out of the beam from the second side. The fixture is used to pick up the workpiece at its free end. The fixture is located closer to the side where the first side or the third side is located on the second side. The fixture can also rotate relative to the beam about a second axis. The transport platform is connected to the transfer assembly to drive the transfer assembly to move in a first direction. When the beam rotates to a position where the second side faces the detection device, the first side and the third side are arranged opposite to each other in the first direction.
[0006] In one embodiment, the first axis and the second axis are not parallel to each other, that is, the first axis and the second axis are coplanar and intersecting straight lines or skew straight lines.
[0007] In one embodiment, the transfer assembly further includes a pitch driver and a transmission component. The pitch driver is connected to the transmission component, which is connected between the load beam and the upright. The pitch driver drives the load beam to rotate around the first axis via the transmission component. The pitch driver is located on the load beam and is situated to the side in the direction of the second axis.
[0008] In one embodiment, the fixture is located on the second side closer to the side where the first side is located, and the pitch actuator is located on the third side.
[0009] In one embodiment, the fixture is located on the second side closer to the side where the third side is located, and the pitch actuator is located on the first side.
[0010] In one embodiment, the load-bearing beam includes a mounting plate, a housing, and an end cap. The housing has a first side and a third side, and the mounting plate has a second side. The housing covers the side of the mounting plate opposite to the second side. At least a portion of the pitch actuator is disposed outside the housing. The opposite sides of the end cap are connected to the transmission member and the mounting plate, respectively. The end cap includes a cover body and a mounting portion. The mounting portion is disposed on the cover body, and in a direction perpendicular to the first axis, the mounting portion is spaced apart from the circumferential edges of the cover body and the circumferential edges of the transmission member. The mounting plate is fixedly connected to the mounting portion, so that the mounting plate is closer to the first axis.
[0011] In one embodiment, when the first side faces the detection device, the shortest distance from the fixture to the first side is less than or equal to the shortest distance from the detection device to the fixture along the optical axis of the detection device.
[0012] In one embodiment, when the third side faces the detection device, the shortest distance from the fixture to the third side is less than or equal to the shortest distance from the detection device to the fixture along the optical axis of the detection device.
[0013] In one embodiment, the transfer assembly includes a plurality of fixtures, all of which are located closer to the first side than to the second side.
[0014] In one embodiment, the transfer assembly includes a plurality of fixtures, all of which are located closer to the third side on the second side.
[0015] In one embodiment, the transfer device includes a plurality of transfer components arranged side by side; when the load beams of any two adjacent transfer components are rotated to a position where their second sides face each other, the offset orientations of the fixtures in the two transfer components are mirror images of each other, so that the fixtures of the two transfer components are aligned to transfer the workpiece to each other.
[0016] In one embodiment, the transfer device includes a plurality of transfer components, among which there are a first transfer component and a second transfer component, the first transfer component and the second transfer component being arranged side by side in the first direction; the fixture of the first transfer component is positioned closer to the first side on the second side; the fixture of the second transfer component is positioned closer to the third side on the second side; when the second side of the first transfer component faces the second side of the second transfer component, the fixture of the first transfer component is aligned with the fixture of the second transfer component for transferring the workpiece to each other.
[0017] In one embodiment, the transport platform includes a drive module connected to the transfer assembly to drive the transfer assembly to move along the first direction, the drive module being configured as a linear motor module.
[0018] In one embodiment, the first axis is perpendicular to the second axis, and the first axis is perpendicular to the first direction.
[0019] This application also provides a testing device, which includes a testing apparatus and a transfer apparatus as described above.
[0020] In the aforementioned transfer device, a jig is used to pick up the workpiece at its free end, and the jig extends outward from the second side of the carrier beam. Therefore, the workpiece carried by the transfer assembly is positioned approximately suspended on the second side of the carrier beam. The carrier beam can rotate around a first axis to a position where any of the first, second, or third sides face the side where the detection device is located. When the second side faces the detection device, the front of the workpiece faces the detection device for inspection. Since the workpiece is approximately suspended, when the first and third sides face the detection device, the side of the workpiece can face the detection device unobstructed, thereby enabling inspection of the side of the workpiece.
[0021] Furthermore, the fixture is positioned closer to the side containing the first or third side on the second side, i.e., the fixture is offset. Therefore, when the first or third side faces the detection device, the fixture can be closer to the detection device. This design eliminates the need to increase the axial length of the fixture to ensure a sufficiently small imaging distance between the detection device and the workpiece. In other words, this configuration allows the axial length of the fixture (i.e., the dimension in the direction of the second axis) to be no longer limited by the imaging distance requirement, thus allowing for a relatively shorter axial length of the fixture and a reduction in the rotation radius of the workpiece as it rotates with the load beam. This alleviates vibration and swaying of the workpiece during rotation around the first axis, improves the positional stability of the workpiece during movement with the transfer assembly, and increases the overall operating speed of the transfer assembly and transfer device. Attached Figure Description
[0022] Figure 1a This is a simplified side view of an exemplary vehicle, mobile platform, and detection device provided in an embodiment of this application.
[0023] Figure 1b for Figure 1a The diagram shows a simplified side view of the vehicle in its second posture, including the vehicle, mobile platform, and detection devices.
[0024] Figure 1c for Figure 1b The diagram shows a simplified side view of the vehicle, mobile platform, and detection device when the detection device interferes with the vehicle.
[0025] Figure 1d This is a simplified side view of a transfer device provided in an embodiment of this application.
[0026] Figure 2 This is an isometric schematic diagram of a testing device provided in an embodiment of this application.
[0027] Figure 3 for Figure 2 Side view of the detection device shown.
[0028] Figure 4 This is an isometric schematic diagram of a transfer device provided in an embodiment of this application.
[0029] Figure 5 for Figure 4 A cantilevered schematic diagram of the transfer components in the transfer device shown.
[0030] Figure 6 for Figure 5 The front view of the transfer component shown.
[0031] Figure 7 This is a partial schematic diagram of an exemplary transfer component in the conventional art provided in an embodiment of this application.
[0032] Figure 8 for Figure 4 Side view of the transfer device shown.
[0033] Figure 9 for Figure 4 A top view of part of the structure of the transfer device shown.
[0034] Figure 10 for Figure 5 An exploded view of the transfer assembly shown.
[0035] Figure 11 for Figure 5 Another exploded view of a portion of the structure of the transfer assembly shown.
[0036] Figure 12 for Figure 11 The diagram shows an isometric view of the end cap of the transfer assembly.
[0037] Figure 13 for Figure 10 Axonometric view of the fixture and self-rotating drive in the transfer assembly shown.
[0038] Reference numerals: 10. Testing equipment; 11. Transfer device; 12. Testing device; 13. Base; 100. Transfer assembly; 110. Frame; 120. Load beam; 121. First side; 122. Second side; 123. Third side; 124. Mounting plate; 125. Housing; 126. End cap; 127. Cover; 128. Mounting part; 130. Fixture; 140. Pitch actuator; 150. Transmission component; 160. Rotation actuator; 170. Linkage plate; 180. First transfer assembly; 181. First frame; 182. First load beam; 183. First fixture; 190. Second transfer assembly; 191. 192. Second support frame; 193. Second fixture; 200. Transport platform; 210. Drive module; 300. Detection module; 310. Camera; 320. Lens; 330. Light source; 400. Gantry frame; 500. Longitudinal movement module; 600. First carrier plate; 700. Translation module; 800. Second carrier plate; 20. Carrier; 21. Support; 22. Rotating frame; 23. Pick-up part; 30. Moving platform; 40. Detection device; 50. Workpiece; O, Reference axis; O1, First axis; O2, Second axis; S1, First direction; S2, Second direction; S3, Third direction; PL, Mirror plane. Detailed Implementation
[0039] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0040] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0041] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0042] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0043] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0044] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.
[0045] In traditional techniques, a carrier is typically used to transport workpieces for inspection. The carrier includes a support, a rotating frame, and a pickup unit. The pickup unit is mounted on the rotating frame and is used to pick up the workpiece. To improve the comprehensiveness of workpiece inspection and measurement, a rotating frame is usually also configured to rotate around a reference axis and be connected to the support. By operating the rotating frame to rotate relative to the support, the workpiece can be rotated accordingly, allowing the workpiece to be in various inspection postures. For example, please refer to [link / reference]. Figures 1a to 1c , Figure 1a This illustrates one of the postures of the carrier 20 carrying the workpiece 50 for detection by the detection device 40 in the conventional technology (the vertical posture of the pick-up piece 23). The carrier 20 can also rotate the workpiece 50 to... Figure 1b The posture shown (the horizontal posture of the pick-up part 23) is for the detection device 40 to detect the side of the workpiece 50. For ease of explanation, the following will be... Figure 1a The attitude of the rotating frame 22 shown is called the first attitude. Figure 1b The orientation of the rotating frame 22 shown is called the second orientation. Since the detection device 40 needs to be sufficiently close to the workpiece 50 to obtain a clear image, and the rotating frame 22 has a certain physical structure, therefore... Figure 1b As shown, in conventional technology, the pickup element 23 is typically configured with a sufficiently long axial dimension to position the workpiece 50 sufficiently away from the rotating frame 22, preventing the rotating frame 22 from obstructing the detection device 40 from approaching the workpiece 50. Otherwise, as... Figure 1cAs shown, when the axial length of the pickup 23 is too short, the detection device 40 will be blocked by the rotating frame 22 and cannot be positioned close enough to the workpiece 50, resulting in poor detection performance. However, in the conventional technology, configuring the pickup 23 with a longer axial length to position the workpiece 50 sufficiently away from the rotating frame 22 will also cause the workpiece 50 to have an excessively large rotation radius from the reference axis O when rotating with the rotating frame 22, leading to unstable posture such as vibration and swaying during the rotation of the workpiece 50. Shortening the rotation radius of the workpiece 50, on the other hand, introduces interference with the detection device 40, which is detrimental to detection.
[0046] Please see Figure 1a and Figure 1b When the workpiece 50 switches between the first and second postures with the rotating frame 22, not only does the posture of the workpiece 50 change, but its position in the horizontal direction also changes. Therefore, to ensure that the workpiece 50 can be aligned with the detection device 40 (i.e., within the field of view of the detection device 40) in all postures, a moving platform 30 is usually configured. The moving platform 30 is connected to the support 21 of the carrier 20, and the moving platform 30 drives the carrier 20 to move horizontally as a whole, so as to adaptively drive the carrier 20 to move horizontally laterally during the rotation of the rotating frame 22, so that the workpiece 50 can always be aligned with the detection device 40, for example from... Figure 1a The first posture shown has been switched to Figure 1b During the second posture shown, the moving platform 30 drives the carrier 20 to move to the right by a stroke of L1. It is easy to understand that, based on this, the larger the rotation radius of the workpiece 50, the greater the stroke required for the moving platform 30 to adapt and adjust the position of the carrier 20. Therefore, a large rotation radius of the workpiece 50 will also lead to problems such as long running time and slow movement of the moving platform 30.
[0047] Please see Figure 1dTo address the aforementioned problems, this application provides a transfer device 11, which includes a transfer assembly 100 and a transport platform 200. The transfer assembly 100 includes a frame 110, a carrier beam 120, and a fixture 130. The carrier beam 120 is rotatable around the frame 110. The fixture 130 is disposed on the carrier beam 120 and is used to pick up the workpiece 50. The fixture 130 can drive the workpiece 50 to rotate together with the carrier beam 120. Furthermore, the fixture 130 is positioned on the carrier beam 120 close to one edge of the carrier beam 120, i.e., the fixture 130 is offset. As a result, the detection device 12 can easily approach the workpiece 50 without interfering or colliding with the edge area of the carrier beam 120. Therefore, the transfer device 11 provided by this application can correspondingly shorten the axial length of the fixture 130 to avoid interference and collision between the detection device 12 and the carrier beam 120 while reducing the rotation radius of the workpiece 50, thus ensuring the detection effect. Furthermore, the transport platform 200 is used to drive the transfer component 100 to adaptively translate, so that the transfer component 100 can be moved regardless of whether it is in an upright or flat position (e.g., Figure 1d As shown), the workpieces 50 carried by the transfer assembly 100 are all within the detection field of view of the detection device 12. Figure 1d During the process of the transfer component 100 switching from an upright position to a lying position, the transport platform 200 drives the transfer component 100 to translate by a stroke of L2. (See also...) Figure 1b and Figure 1d It is evident that L2 is less than L1. This means that by configuring the jig 130 with an offset, this application reduces the rotation radius and also decreases the travel distance required for the transfer assembly 100 to adapt during the rotation of the load beam 120, thereby increasing the operating speed. The following detailed description, in conjunction with the accompanying drawings and specific embodiments, describes the transfer device and detection equipment including the transfer device provided in various embodiments of this application.
[0048] Please see Figure 2 and Figure 3 , Figure 2 This paper shows an isometric schematic diagram of a testing device provided in one embodiment of the present application. Figure 3 for Figure 2 The image shows a side view of the inspection device. An embodiment of this application provides an inspection device 10 capable of performing defects and dimensional measurements on workpieces. The inspection device 10 includes a transfer device 11 and an inspection device 12. The transfer device 11 transports the workpiece to the inspection field of view of the inspection device 12, and the inspection device 12 inspects and measures the workpiece located within its inspection field of view. Simultaneously, the transfer device 11 can also cause the workpiece to undergo positional changes, allowing different surfaces of the workpiece to be inspected to be exposed to the inspection device 12 for imaging and inspection.
[0049] Please see Figures 4 to 6 Combined Figure 3An embodiment of this application also provides a transfer device 11, which includes a transfer component 100 and a transport platform 200. The transfer component 100 is used to pick up workpieces, and the transport platform 200 is connected to the transfer component 100 to drive the transfer component 100 to move along a first direction S1.
[0050] The transfer assembly 100 includes a frame 110, a beam 120, and a fixture 130. The beam 120 is mounted on the frame 110, and the fixture 130 is mounted on the beam 120. The beam 120 is rotatably connected to the frame 110 about a first axis O1. The beam wall of the beam 120 includes a first side portion 121, a second side portion 122, and a third side portion 123, which are arranged sequentially in a circumferential direction about the first axis O1, with the first side portion 121 and the third side portion 123 facing away from each other. The beam 120 can be rotated about the first axis O1 to a position where any one of the first side portion 121, the second side portion 122, or the third side portion 123 faces the side where the detection device 12 is located.
[0051] The fixture 130 extends beyond the support beam 120 from the second side 122 and is used to pick up the workpiece from its free end. The fixture 130 is positioned closer to the side where the first side 121 is located on the second side 122. Alternatively, the fixture 130 is positioned closer to the side where the third side 123 is located on the second side 122.
[0052] In the aforementioned transfer device 11, the fixture 130 is used to pick up the workpiece at its free end, and the fixture 130 extends outward from the second side 122 of the carrier beam 120. Therefore, the workpiece carried by the transfer assembly 100 is positioned approximately suspended on the second side 122 of the carrier beam 120. The carrier beam 120 can rotate around the first axis O1 to a position where any one of the first side 121, the second side 122, and the third side 123 faces the side where the detection device 12 is located. When the second side 122 faces the detection device 12, the front of the workpiece faces the detection device 12 for inspection. Since the workpiece is approximately suspended, when the first side 121 and the third side 123 face the detection device 12, the side of the workpiece can face the detection device 12 unobstructed, thereby enabling inspection of the side of the workpiece.
[0053] Furthermore, the fixture 130 is positioned closer to the side of the first side 121 or the side of the third side 123 on the second side 122, i.e., the fixture 130 is offset. Therefore, when the first side 121 or the third side 123 faces the side of the detection device 12, the fixture 130 can be closer to the detection device 12. This design eliminates the need to increase the axial length of the fixture 130 to ensure a sufficiently small imaging distance between the detection device 12 and the workpiece. In other words, this configuration allows the axial length of the fixture 130 (i.e., the dimension in the direction of the second axis O2) to be no longer limited by the imaging distance requirement, thus relatively shortening the axial length of the fixture 130 and reducing the rotation radius of the workpiece when it rotates with the carrier beam 120. This alleviates vibration and swaying of the workpiece during rotation around the first axis O1, improves the positional stability of the workpiece during movement with the transfer assembly 100, and increases the overall operating speed of the transfer assembly 100 and the transfer device 11.
[0054] Please see Figure 5 and Figure 6 In one embodiment, the fixture 130 can also rotate relative to the load beam 120 about the second axis O2. Since the second side 122 is located between the first side 121 and the third side 123 in the circumferential direction about the first axis O1, and the fixture 130 extends outward from the second side 122 from the load beam 120, the workpiece picked up and fixed by the fixture 130 is also approximately located in the second side 122. At the same time, in the circumferential direction about the fixture 130's own axis (i.e., the second axis O2), two regions of the workpiece in the circumferential direction can face the first side 121 and the third side 123, respectively. Thus, regardless of whether the first side 121 or the third side 123 faces the detection device 12, controlling the rotation of the fixture 130 and causing the workpiece to rotate accordingly can switch all sides of the workpiece in the circumferential direction to face the detection device 12, enabling comprehensive detection of the workpiece's circumference. In other words, the fixture 130 can drive the workpiece to rotate, so that when one of the first side 121 and the third side 123 faces the detection device 12, the workpiece can be fully inspected in the circumferential direction.
[0055] Please refer to 3. Figure 4 Combined Figure 1dIn one embodiment, when the carrier beam 120 rotates to face the detection device 12 with the second side 122 facing it, the first side 121 and the third side 123 are arranged opposite to each other in the first direction S1. Since the first side 121, the second side 122, and the third side 123 are arranged sequentially in the circumferential direction around the first axis O1, in this embodiment, the first direction S1 can be the extension direction of the tangent of the cylindrical surface with the first axis O1 as the central axis. Therefore, the workpiece 50 will also have a certain displacement in the first direction S1 during the rotation of the carrier beam 120 around the first axis O1. By driving the transfer assembly 100 to move adaptively along the first direction S1 through the transport platform 200, the above displacement can be offset, so that the workpiece picked up by the fixture 130 can always be aligned with the detection device 12.
[0056] It should be noted that the larger the rotation radius of the workpiece, the greater the distance that the transfer component 100 needs to adaptively lateralize during the workpiece rotation. Therefore, by reducing the rotation radius of the workpiece in the various embodiments of this application, the adaptive lateralization distance required by the transfer component 100 can be shortened, thereby increasing the overall operating speed of the transfer component 100 and the transfer device 11.
[0057] It is understandable that, in the aforementioned arrangement of the first side portion 121 and the third side portion 123 facing away from each other, the two can be arranged parallel to each other or at a certain angle.
[0058] In one embodiment, the first axis O1 and the second axis O2 are not parallel to each other; that is, the first axis O1 and the second axis O2 are coplanar and intersecting straight lines or skew straight lines, to enrich the angular posture of the workpiece 50 within the field of view of the detection device 12 and improve the comprehensiveness of the detection. Furthermore, as mentioned above, the first axis O1 is also perpendicular to the first direction S1.
[0059] Please see Figure 3 In one embodiment, the detection device 12 includes a detection module 300, which includes a camera 310, a lens 320, and a light source 330. Since the light source 330 is typically configured as the component closest to the transfer assembly 100 within the detection module 300, the detection device 12 in the conventional technology described in various embodiments is prone to interference and collision with the load beam 120, primarily referring to the ease with which the light source 330 interferes and collides with the load beam 120. Because workpieces exhibit a wide variety of defect types, the detection module 300 typically needs to be adapted to different types of light sources 330 for different defect types, such as ring light sources, coaxial light sources, strip light sources, and combined strip light sources. Combined with... Figure 3 As shown, relative to the fixture 130 and the workpiece, most types of light sources 330 have larger structural dimensions. Therefore, in conventional technology, the fixture 130 needs to have a longer axial length to avoid interference between the light source 330 and the load beam 120. Combined with... Figure 1c and Figure 1dCompared to the precise alignment of the fixture 130 with the first axis O1, the offset configuration of the fixture 130 in this application will increase the rotation radius to some extent. However, from an overall perspective, this configuration eliminates the need to extend the axial length of the fixture 130, thus actually reducing the overall rotation radius. It should be noted that in conventional technologies, the required extension length of the fixture 130 is limited by the external dimensions of the light source 330. The increased rotation radius due to the offset of the fixture 130 in this application is much smaller than the increased axial length of the fixture 130 due to the shooting distance in conventional technologies.
[0060] Of course, this application does not limit the component that may interfere with the beam 120 to the light source 330, which may also be the lens 320 or other components included in the detection device 12.
[0061] In one embodiment, when the first side 121 faces the detection device 12, the shortest distance L3 from the fixture 130 to the first side 121 is less than or equal to the shortest distance L4 from the detection device 12 along its optical axis to the fixture 130, i.e., L3≤L4, to reduce the probability of interference between the detection device 12 and the support beam 120. The aforementioned shortest distance L4 from the detection device 12 along its optical axis to the fixture 130 refers to the shortest distance required for the detection device 12 to take a picture.
[0062] Please see Figure 1d and Figure 6 When the third side 123 faces the detection device 12, the shortest distance L5 from the fixture 130 to the third side 123 is less than or equal to the shortest distance L6 from the detection device 12 along its optical axis to the fixture 130, i.e., L5≤L6, to reduce the probability of interference between the detection device 12 and the support beam 120. The aforementioned shortest distance L6 from the detection device 12 along its optical axis to the fixture 130 refers to the shortest distance required for the detection device 12 to take pictures.
[0063] Please see Figure 4 In one embodiment, the transfer assembly 100 includes a plurality of fixtures 130, which are positioned closer to the first side 121 on the second side 122, so that when the first side 121 faces the detection device 12, the workpiece picked up by each fixture 130 can be adequately and effectively detected. It is understood that, in this embodiment, the shortest distance L3 from each fixture 130 to the first side 121 can be equal.
[0064] Alternatively, please see Figure 6 Combined Figure 4In one embodiment, the multiple fixtures 130 are positioned closer to the third side 123 on the second side 122, so that the workpiece picked up by each fixture 130 can be fully and effectively inspected when the third side 123 faces the detection device 12. It is understood that in this embodiment, the shortest distance L5 from each fixture 130 to the third side 123 can be equal.
[0065] Please see Figure 5 , Figure 6 Combined Figure 4 In one embodiment, the transfer assembly 100 further includes a pitch driver 140 and a transmission member 150. The pitch driver 140 is connected to the transmission member 150, which is connected between the load beam 120 and the upright frame 110. The pitch driver 140 drives the load beam 120 to rotate about a first axis O1 via the transmission member 150. The pitch driver 140 is located on the load beam 120 and is situated to the side in the direction of the second axis O2. Figure 7 , Figure 7 An exemplary arrangement of the pitch actuator 140 in conventional technology is shown. Since the pitch actuator 140 is used to drive the load beam 120 to rotate about the first axis O1, there is usually a certain positional relationship between the pitch actuator 140 and the first axis O1. In conventional technology, based on various considerations, the pitch actuator 140 is usually arranged inside the load beam 120, placing it at the bottom of the fixture 130. Consequently, the fixture 130 must be installed on the second axis O2 away from the pitch actuator 140 to avoid interference, thus resulting in the fixture 130 being relatively far from the first axis O1. In this application, the pitch actuator 140 is configured to be located beside the second axis O2. The pitch actuator 140 will not occupy the space of the load beam 120 on the second axis O2, allowing the distribution position of the fixture 130 on the second axis O2 to be unrestricted by the position of the pitch actuator 140. Therefore, the fixture 130 can be configured closer to the first axis O1 to reduce the rotation radius of the workpiece.
[0066] Please continue reading. Figure 5 and Figure 6 In one embodiment, the pitch actuator 140 may be located outside the load beam 120. Further, the pitch actuator 140 may be located on the side of the first side 121 and the third side 123 that is relatively far from the fixture 130. For example, if the fixture 130 is located closer to the first side 121 on the second side 122, then the pitch actuator 140 is located on the third side 123. Alternatively, if the fixture 130 is located closer to the third side 123 on the second side 122, then the pitch actuator 140 is located on the first side 121. This reduces the risk of the pitch actuator 140 interfering with the detection device 12, and also balances the weight distribution of the components carried by the load beam 120.
[0067] Please see Figure 8 In one embodiment, the transfer device 11 includes a plurality of transfer components 100 arranged side by side. Further, the plurality of transfer components 100 can be arranged side by side in a first direction S1. When the respective load beams 120 of any two adjacent transfer components 100 rotate to an orientation where their second sides 122 face each other, the offset orientations of the fixtures 130 in the two transfer components 100 are mirror images of each other, aligning the fixtures 130 of the two transfer components 100 to transfer workpieces to each other. That is, in order for two adjacently arranged transfer components 100 to transfer workpieces to each other, the fixtures 130 in two adjacent transfer components 100 can be configured to be offset in a mirror manner. That is, in two adjacent transfer components 100, the fixture 130 of one is closer to the first side 121 of the load beam 120, and the fixture 130 of the other is closer to the third side 123 of the load beam 120. Thus, as Figure 8 As shown, when the two load beams 120 rotate to a position where the second side 122 faces each other, the fixtures 130 of the two transfer assemblies 100 can be positioned on the same side close to or away from the detection device 12, and aligned with each other. Figure 8 As shown, it should be emphasized that, to avoid confusion, [the following will be used]. Figure 8 The side portion of the second side portion 122 located in the counterclockwise direction around the first axis O1 is referred to as the first side portion 121, and the side portion of the second side portion 122 located in the clockwise direction around the first axis O1 is referred to as the third side portion 123.
[0068] Furthermore, the transfer device 11 may have a mirror surface PL, with each of the two transfer components 100 corresponding to a mirror surface PL. The mirror surface PL is perpendicular to the first direction S1, and the distance from the mirror surface PL to the support frame 110 of the corresponding two transfer components 100 is the same. When the two transfer components 100 are in the same posture, the offset orientation of the fixtures 130 of the two transfer components 100 on the corresponding load beam 120 is symmetrical about the mirror surface PL. It should be emphasized that in this embodiment, it refers to the symmetry of the offset orientation of the fixtures 130 about the mirror surface PL, and does not limit the fixtures 130 and load beams 120 to be completely mirrored structures. The specific structure of the fixtures 130 and load beams 120 can be adaptively designed according to actual needs.
[0069] Of course, in another embodiment, the two transfer components 100 can also be configured to be mirror structures about the mirror plane PL when the two transfer components 100 have the same orientation.
[0070] See Figure 4In one embodiment, since the pitch actuator 140 can be located on the side of the first side 121 and the third side 123 that is relatively far from the fixture 130, when the offset orientation of the fixture 130 on the two transfer assemblies 100 is a mirror image of each other, the arrangement orientation of the pitch actuator 140 of the two transfer assemblies 100 is also a mirror image of each other. That is, when the load beams 120 of any two adjacent transfer assemblies 100 are rotated to the position where the second side 122 faces each other, the arrangement orientation of the pitch actuator 140 in the two transfer assemblies 100 relative to the load beams 120 is a mirror image of each other.
[0071] In one embodiment, two adjacent transfer components 100 can pick up different parts of the workpiece. As a result, the areas exposed by workpieces transported by different adjacent transfer components 100 are also different. When workpieces are transported from different transfer components 100 for inspection, the inspection device 12 can inspect different areas of the workpiece to improve the comprehensiveness of the inspection.
[0072] Regarding the method of transferring workpieces between the two transfer assemblies 100, when the second sides 122 of the two transfer assemblies 100 are arranged facing each other, the fixtures 130 of the two transfer assemblies 100 are aligned with each other. The fixtures 130 of the two transfer assemblies 100 can pick up workpieces simultaneously, and when one of them releases its picking action on the workpiece, the workpiece is transferred to the other. It can be understood that the transfer assemblies 100 are arranged side by side in the first direction S1, and the transport platform 200 can drive the transfer assemblies 100 to move in the first direction S1. Therefore, the transport platform 200 can drive the transfer assemblies 100 to move along the first direction S1 to a position close enough to each other, so that the fixtures 130 of the two adjacent transfer assemblies 100 can pick up workpieces simultaneously.
[0073] Please see Figure 8 In one embodiment, a plurality of transfer components 100 include a first transfer component 180 and a second transfer component 190, which are arranged side-by-side in a first direction S1. The fixture 130 of the first transfer component 180 is positioned closer to the first side 121 on its second side 122. The fixture 130 of the second transfer component 190 is positioned closer to the third side 123 on its second side 122. When the second side 122 of the first transfer component 180 and the second side 122 of the second transfer component 190 face each other, the fixtures 130 of the first transfer component 180 and the second transfer component 190 are aligned to transfer workpieces to each other. At this time, the fixtures 130 of the first transfer component 180 and the second transfer component 190 can simultaneously pick up workpieces, and when one releases its picking action, the workpiece is transferred to the other.
[0074] The jig 130 of the first transfer assembly 180 is the first jig 183, the load beam 120 of the first transfer assembly 180 is the first load beam 182, and the stand 110 of the first transfer assembly 180 is the first stand 181. The first jig 183 is located closer to the side where the first side 121 of the first load beam 182 is located than the second side 122 of the first load beam 182.
[0075] The fixture 130 of the second transfer assembly 190 is the second fixture 193, the load beam 120 of the second transfer assembly 190 is the second load beam 192, and the stand 110 of the second transfer assembly 190 is the second stand 191. The second fixture 193 is located closer to the side where the third side 123 of the second load beam 192 is located than the second side 122 of the second load beam 192.
[0076] Please see Figure 9 In one embodiment, the transport platform 200 includes a drive module 210 connected to the transfer assembly 100 to drive the transfer assembly 100 to move along the first direction S1. The drive module 210 is configured as a linear motor module, which has the characteristics of long service life, low motion noise, and high operating speed. In one embodiment, since multiple transfer assemblies 100 are arranged side by side in the first direction S1 and all move along the first direction S1, the drive module 210 can be configured as a linear motor module with multiple independently controlled actuators. Each actuator is connected to the frame 110 of each transfer assembly 100 to independently drive each transfer assembly 100 to move. Alternatively, multiple drive modules 210 can be configured, with each drive module 210 driving the movement of each transfer assembly 100. For example, the drive module 210 includes a first drive module and a second drive module. The first drive module is connected to the first transfer assembly 180 to drive the first transfer assembly 180 to move along the first direction S1. The second drive module is connected to the second transfer component 190 to drive the second transfer component 190 to move along the first direction S1.
[0077] Please see Figure 10 and Figure 11 In one embodiment, the load beam 120 includes a mounting plate 124, a housing 125, and an end cap 126. The housing 125 has a first side 121 and a third side 123, and the mounting plate 124 has a second side 122. The housing 125 covers the side of the mounting plate 124 opposite to the second side 122. A portion of the fixture 130 may be distributed within the housing 125, while another portion extends outward from the load beam 120 via the mounting plate 124. At least a portion of the pitch actuator 140 is located outside the housing 125.
[0078] Please see Figure 11 and Figure 12In one embodiment, the opposite sides of the end cap 126 are connected to the transmission member 150 and the mounting plate 124, respectively. The end cap 126 includes a cover body 127 and a mounting portion 128, with the mounting portion 128 disposed on the cover body 127. Furthermore, in the direction perpendicular to the first axis O1, the mounting portion 128 is spaced apart from the circumferential edge of the cover body 127 and the circumferential edge of the transmission member 150, allowing the mounting portion 128 to be closer to the first axis O1. The mounting plate 124 is fixedly connected to the mounting portion 128, thereby allowing the mounting plate 124 to be closer to the first axis O1. Consequently, the fixture 130 fixedly mounted on the mounting plate 124 can also be closer to the first axis O1, reducing the rotation radius of the workpiece picked up by the fixture 130.
[0079] In one embodiment, the transmission member 150 can be configured as a hollow rotating platform. The end cap 126 can be easily connected and engaged with the transmission member 150.
[0080] Please see Figure 13 In one embodiment, the transfer assembly 100 further includes a rotation actuator 160 connected to the fixture 130 to drive the fixture 130 to rotate about a second axis O2. The rotation actuator 160 may be configured as a hollow structure, allowing its interior to serve as an airflow channel so that the fixture 130 can be connected to a vacuum generator. In this embodiment, the fixture 130 can pick up the workpiece by vacuum adsorption. Of course, in other embodiments, the fixture 130 can also pick up the workpiece by other means.
[0081] Please refer to it again. Figure 6 In one embodiment, the transfer assembly 100 may include two uprights 110, with both ends of a load beam 120 connected to the uprights 110 respectively. Further, the load beam 120 may extend along a first axis O1. The transfer assembly 100 also includes a linkage plate 170 connected between the two uprights 110, and a drive module 210 connected to the linkage plate 170 to drive the overall movement of the transfer assembly 100.
[0082] Please see Figure 3 In one embodiment, the testing device 10 further includes a base 13, on which both the testing device 12 and the transfer device 11 are disposed. The testing device 12 also includes a gantry 400, which spans over the transport platform 200. The testing module 300 is disposed on the gantry 400 at a relatively high position relative to the transfer device 11 for easy testing.
[0083] Furthermore, the detection device 12 also includes a longitudinal movement module 500, which is connected to the detection module 300 to drive the detection module 300 to move longitudinally. Combined with Figure 1a and Figure 1bWhen the load beam 120 flips and switches its posture, the longitudinal movement module 500 can drive the detection module 300 to move longitudinally, providing space for the load beam 120 to flip and reducing the probability of interference and collision between the fixture 130 and the workpiece 50 and the detection module 300.
[0084] In one embodiment, the longitudinal movement module 500 can drive the detection module 300 to move longitudinally along a second direction S2, which intersects with the first direction S1. Further, the second direction S2 can be perpendicular to the first direction S1.
[0085] Please see Figure 3 and combined Figure 2 In one embodiment, the number of detection modules 300 can be multiple, and each detection module 300 can correspond one-to-one with a multiple fixture 130 to detect the workpiece picked up by each fixture 130. The multiple fixtures 130 can be spaced apart along the first axis O1 on the support beam 120, and the multiple detection modules 300 can be spaced apart along a third direction S3 on the gantry 400, with the third direction S3 parallel to the first axis O1. Further, the detection device 12 also includes a first carrier plate 600, and the multiple detection modules 300 are spaced apart along the third direction S3 on the first carrier plate 600. A longitudinal movement module 500 is connected between the gantry 400 and the first carrier plate 600 to simultaneously drive the multiple detection modules 300 to move along the second direction S2. The third direction S3 can intersect with the second direction S2. Further, the first direction S1, the second direction S2, and the third direction S3 are perpendicular to each other.
[0086] Please see Figure 2 In one embodiment, the detection device 12 further includes a translation module 700 and a second carrier plate 800. A longitudinal translation module 500 is disposed on the second carrier plate 800, and a first carrier plate 600 is movably disposed on the second carrier plate 800 along a second direction S2. The longitudinal translation module 500 is used to drive the first carrier plate 600 to move relative to the second carrier plate 800 along the second direction S2. The translation module 700 is disposed on the gantry 400 and connected to the second carrier plate 800 to drive the second carrier plate 800 and each component disposed on the second carrier plate 800 to move along a third direction S3, so that the detection module 300 is aligned with each fixture 130 in the third direction S3.
[0087] In one embodiment, multiple transfer components 100 can share the detection module 300, meaning the transport platform 200 transports multiple transfer components 100 alternately to positions aligned with the detection module 300. This reduces the idle time of the detection module 300 and improves its utilization rate. Furthermore, multiple fixtures 130 included in the same transfer component 100 are referred to as a group of fixtures 130, and multiple detection modules 300 disposed on the same first carrier plate 600 are referred to as a group of detection modules 300. Multiple groups of fixtures 130 can share a single detection module 300 to reduce the idle time of the detection module 300 and improve its utilization rate.
[0088] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0089] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.
Claims
1. A transfer device, characterized in that, The transfer device includes: Transfer assembly, the transfer assembly comprising: Erecting the frame; The beam is rotatably connected to the support frame around a first axis. The beam wall of the beam includes a first side, a second side, and a third side arranged sequentially in the circumferential direction around the first axis. The first side and the third side are arranged opposite to each other. The beam can be rotated around the first axis to a position where any one of the first side, the second side, and the third side faces the side where the detection device is located. A fixture is provided on the carrier beam and extends out of the carrier beam on the second side. The fixture is used to pick up the workpiece at the free end. The fixture is located on the second side closer to the side where the first side or the third side is located. The fixture can also rotate relative to the carrier beam about the second axis. A transport platform is connected to the transfer assembly to drive the transfer assembly to move along a first direction. When the load beam rotates to the second side facing the detection device, the first side and the third side are arranged opposite to each other in the first direction.
2. The transfer device according to claim 1, characterized in that, The transfer assembly also includes a pitch driver and a transmission component. The pitch driver is connected to the transmission component, and the transmission component is connected between the load beam and the upright. The pitch driver drives the load beam to rotate around the first axis through the transmission component. The pitch actuator is located on the load beam and is situated to the side of the second axial direction.
3. The transfer device according to claim 2, characterized in that, The fixture is located on the second side closer to the side where the first side is located, and the pitch actuator is located on the third side; or The fixture is located closer to the side where the third side is located on the second side, and the pitch actuator is located on the first side.
4. The transfer device according to claim 2, characterized in that, The load beam includes a mounting plate, a housing, and an end cap. The housing has a first side and a third side, the mounting plate has a second side, and the housing covers the side of the mounting plate opposite to the second side. At least a portion of the structure of the pitch actuator is disposed outside the housing. The opposite sides of the end cap are respectively connected to the transmission component and the mounting plate. The end cap includes a cover body and a mounting part. The mounting part is disposed on the cover body and is spaced apart from the circumferential edge of the cover body and the circumferential edge of the transmission component in a direction perpendicular to the first axis. The mounting plate is fixedly connected to the mounting part so that the mounting plate is closer to the first axis.
5. The transfer device according to claim 1, characterized in that, When the first side faces the detection device, the shortest distance from the fixture to the first side is less than or equal to the shortest distance from the detection device to the fixture along the optical axis of the detection device; or When the third side faces the detection device, the shortest distance from the fixture to the third side is less than or equal to the shortest distance from the detection device to the fixture along the optical axis of the detection device.
6. The transfer device according to claim 1, characterized in that, The transfer assembly includes multiple fixtures, and the multiple fixtures are distributed on the second side closer to the first side; Alternatively, the multiple fixtures are distributed closer to the third side on the second side.
7. The transfer device according to any one of claims 1 to 6, characterized in that, The transfer device includes multiple transfer components arranged side by side. When the load beams of any two adjacent transfer components are rotated to the position where their second sides face each other, the offset orientations of the fixtures in the two transfer components are mirror images of each other, so that the fixtures of the two transfer components are aligned to transfer the workpiece to each other. and / or The first axis and the second axis are not parallel to each other.
8. The transfer device according to claim 1, characterized in that, The transfer device includes multiple transfer components, among which there are a first transfer component and a second transfer component, the first transfer component and the second transfer component being arranged side by side in the first direction; The fixture of the first transfer assembly is positioned closer to the first side on the second side; The fixture of the second transfer assembly is positioned closer to the third side on the second side; When the second side of the first transfer assembly faces the second side of the second transfer assembly, the fixture of the first transfer assembly and the fixture of the second transfer assembly are aligned for transferring the workpiece to each other.
9. The transfer device according to claim 1, characterized in that, The transport platform includes a drive module connected to the transfer component to drive the transfer component to move along the first direction. The drive module is configured as a linear motor module. and / or The first axis is perpendicular to the second axis, and the first axis is perpendicular to the first direction.
10. A testing device, characterized in that, The testing equipment includes a testing device and a transfer device as described in any one of claims 1 to 9.