Six-surface appearance coplanar detection and braiding all-in-one machine and detection method thereof

Abstract

The invention discloses a six-surface appearance coplanar detection and braiding all-in-one machine and a detection method thereof. The all-in-one machine comprises a rack, the rack is provided with a feeding mechanism, a rotating disc mechanism, a first 3D coplanarity detection mechanism, a turn-over mechanism, a second 3D coplanarity detection mechanism, a top detection mechanism, a lifting type rotating tower mechanism used for station conversion, a material suction rotating mechanism, a position correction mechanism, a bottom detection mechanism, a side face detection mechanism and a discharging mechanism. The device can realize automatic operations such as automatic feeding, automatic carrying, 3D coplanarity detection, 2D size detection, automatic turn-over, six-surface appearance detection, automatic position correction and automatic discharging of products, is high in automation degree and stable and reliable in operation, greatly improves the detection efficiency, saves time and labor, reduces the production cost, and improves the production efficiency. 3D coplanarity detection, 2D size detection and six-surface appearance detection are integrated on one device, and the occupied space is small.

Description

Technical Field

[0001] This invention relates to the field of testing equipment technology, and more specifically, to a six-sided coplanar appearance testing machine for tape and reel and its testing method. Background Technology

[0002] Existing electronic components generally require inspection during production, such as appearance inspection and dimensional inspection. In order to improve inspection efficiency, some single-sided appearance inspection machines and dimensional inspection machines have appeared on the market. However, these machines are all separate and occupy a large area. Electronic components need to be transported to different machines for inspection. It is impossible to integrate these machines into one device. This is time-consuming, labor-intensive, costly, and production efficiency still needs to be improved. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned defects in the prior art and provide a six-sided appearance coplanar inspection tape-and-reel integrated machine and its inspection method that can realize automated operations such as automatic feeding, automatic handling, 3D coplanarity detection, 2D dimension detection, automatic flipping, six-sided appearance inspection, automatic position correction and automatic unloading of products.

[0004] To achieve the above objectives, a first aspect of the present invention provides a six-sided appearance coplanarity inspection taping machine, comprising a frame, wherein the frame is provided with a feeding mechanism for feeding products to be tested, a turntable mechanism for station transition, a first 3D coplanarity inspection mechanism for inspecting the coplanarity of the first surface of the product and the product dimensions, a flipping mechanism for flipping the product 180 degrees, a second 3D coplanarity inspection mechanism for inspecting the coplanarity of the second surface of the product and the product dimensions, a top inspection mechanism for inspecting the appearance quality of the second surface of the product, a lifting turret mechanism for station transition, a suction rotation mechanism for picking up and rotating the product, a position correction mechanism for position correction of the product, a bottom inspection mechanism for inspecting the appearance quality of the first surface of the product, and a mechanism for... The system includes a side inspection mechanism for detecting the side appearance quality of a product, a feeding mechanism for unloading the finished product, and a feeding mechanism whose discharge end is located at the feeding station of a turntable mechanism. A first 3D coplanarity inspection mechanism, a flipping mechanism, a second 3D coplanarity inspection mechanism, a top inspection mechanism, and a lifting turret mechanism are arranged sequentially around the turntable mechanism along its rotation direction. The turntable mechanism has several evenly distributed fixtures. Several suction and rotating mechanisms are evenly installed on the lifting turret mechanism, which can rotate to the discharge station of the turntable mechanism. A position correction mechanism, a bottom inspection mechanism, a side inspection mechanism, and a feeding mechanism are arranged sequentially around the lifting turret mechanism along its rotation direction.

[0005] A second aspect of the present invention provides a detection method for a six-sided coplanar inspection taping machine according to the above-described technical solution, comprising the following steps:

[0006] (1) The product to be tested is conveyed to the fixture of the turntable mechanism by the feeding mechanism. The turntable mechanism drives the product to be tested to rotate and conveys it to the feeding station of the first 3D coplanarity detection mechanism, the flipping mechanism, the second 3D coplanarity detection mechanism, the top detection mechanism and the lifting turret mechanism in sequence. The first 3D coplanarity detection mechanism can detect the coplanarity of the first surface of the product and the product size. The flipping mechanism can flip the product 180 degrees. The second 3D coplanarity detection mechanism can detect the coplanarity of the second surface of the product and the product size. The top detection mechanism can detect the appearance quality of the second surface of the product.

[0007] (2) After the product is inspected by the top inspection mechanism, the suction and rotation mechanism on the lifting turret mechanism takes the product from the fixture of the turntable mechanism. The lifting turret mechanism drives the product to rotate and transports it to the position correction mechanism, the bottom inspection mechanism, the side inspection mechanism and the unloading mechanism in sequence. The position correction mechanism can correct the position of the product. The bottom inspection mechanism can inspect the appearance quality of the first surface of the product. The side inspection mechanism can inspect the appearance quality of the side surface of the product. During the inspection process of the side inspection mechanism, the suction and rotation mechanism can drive the product to rotate.

[0008] (3) After the product has been inspected by the side inspection mechanism, the unloading mechanism unloads the inspected product.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0010] 1. The frame of this invention is equipped with a feeding mechanism, a turntable mechanism, a first 3D coplanarity detection mechanism, a flipping mechanism, a second 3D coplanarity detection mechanism, a top detection mechanism, a lifting turret mechanism for workstation switching, a suction rotation mechanism, a position correction mechanism, a bottom detection mechanism, a side detection mechanism, and a unloading mechanism. It can realize automated operations such as automatic feeding, automatic handling, 3D coplanarity detection, 2D dimension detection, automatic flipping, six-sided appearance detection, automatic position correction, and automatic unloading of products. It has a high degree of automation, stable and reliable operation, greatly improves detection efficiency, saves time and labor, and reduces production costs. Furthermore, it integrates 3D coplanarity detection, 2D dimension detection, and six-sided appearance detection into one device, which occupies a small space.

[0011] 2. This invention is compatible with tray loading and unloading and / or carrier tape unwinding and rewinding, and can realize functions such as defective product screening and tray placement, good product tape weaving or tray placement, and product unwinding retesting. Attached Figure Description

[0012] Figure 1This is a schematic diagram of the structure of the first integrated tape and reel machine with six-sided coplanar appearance inspection. Figure 1 ;

[0013] Figure 2 This is a schematic diagram of the structure of the first integrated tape and reel machine with six-sided coplanar appearance inspection. Figure 2 ;

[0014] Figure 3 This is a schematic diagram of the feeding mechanism;

[0015] Figure 4 This is a structural diagram of the test tray placement device, the empty tray recycling and stacking device, and the material loading and transferring module. Figure 1 ;

[0016] Figure 5 This is a structural diagram of the test tray placement device, the empty tray recycling and stacking device, and the material loading and transferring module. Figure 2 ;

[0017] Figure 6 This is a schematic diagram of the material suction section of the loading and unloading robot.

[0018] Figure 7 This is a schematic diagram of the structure of the rotary table handling robot.

[0019] Figure 8 This is a schematic diagram of the turntable mechanism;

[0020] Figure 9 This is a structural schematic diagram of either the first or second 3D coplanarity detection mechanism;

[0021] Figure 10 This is a schematic diagram of the flipping mechanism;

[0022] Figure 11 This is a schematic diagram of the top detection mechanism;

[0023] Figure 12 This is a structural diagram of a lifting turret mechanism;

[0024] Figure 13 This is a schematic diagram of the material suction rotation mechanism;

[0025] Figure 14 This is a schematic diagram of the position correction mechanism;

[0026] Figure 15 This is a schematic diagram of the bottom detection mechanism;

[0027] Figure 16 This is a schematic diagram of the side inspection mechanism;

[0028] Figure 17 This is a schematic diagram of the feeding mechanism;

[0029] Figure 18 This is a structural diagram of the unloading and transferring module, the empty tray placement device, and the full tray stacking device. Figure 1 ;

[0030] Figure 19 This is a structural diagram of the unloading and transferring module, the empty tray placement device, and the full tray stacking device. Figure 2 ;

[0031] Figure 20 This is a structural diagram of the second type of six-sided coplanar appearance inspection integrated tape and reel machine;

[0032] Figure 21 This is a schematic diagram of a carrier belt unwinding and film peeling feeder;

[0033] Figure 22 This is a structural diagram of a carrier belt packaging machine. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1

[0036] Please refer to Figure 1 and Figure 2Embodiment 1 of the present invention provides a six-sided coplanarity inspection tape-and-reel integrated machine, including a frame 1, on which are provided a feeding mechanism 2 for feeding products to be tested, a turntable mechanism 3 for station switching, a first 3D coplanarity inspection mechanism 4 for inspecting the coplanarity of the first surface of the product and the product size, a flipping mechanism 5 for flipping the product 180 degrees, a second 3D coplanarity inspection mechanism 6 for inspecting the coplanarity of the second surface of the product and the product size, a top inspection mechanism 7 for inspecting the appearance quality of the second surface of the product, a lifting turret mechanism for station switching, a suction and rotation mechanism 8 for picking up and rotating the product, a position correction mechanism 10 for correcting the position of the product, a bottom inspection mechanism 11 for inspecting the appearance quality of the first surface of the product, and a side inspection mechanism for inspecting the product. The side inspection mechanism 12 for surface appearance quality, the unloading mechanism 13 for unloading finished products, the discharge end of the loading mechanism 2 is located at the feeding station of the turntable mechanism 3, the first 3D coplanarity inspection mechanism 4, the flipping mechanism 5, the second 3D coplanarity inspection mechanism 6, the top inspection mechanism 7, and the lifting turret mechanism 8 are arranged sequentially around the turntable mechanism 3 along the rotation direction of the turntable mechanism 3, the turntable mechanism 3 is provided with several evenly distributed fixtures 31, the suction rotation mechanism 9 is provided with several and evenly installed on the lifting turret mechanism 8, the suction rotation mechanism 9 can rotate to the discharge station of the turntable mechanism 3, the position correction mechanism 10, the bottom inspection mechanism 11, the side inspection mechanism 12 and the unloading mechanism 13 are arranged sequentially around the lifting turret mechanism 8 along the rotation direction of the lifting turret mechanism 8.

[0037] The components of this embodiment will now be described in detail with reference to the accompanying drawings.

[0038] like Figure 2 and Figure 3 As shown, the feeding mechanism 2 may include a test tray placement device 21, an empty tray recycling and stacking device 22, a feeding and transferring module 23, a feeding and picking robot 24, a feeding conveyor belt 25, and an upper turntable handling robot 26. The feeding and transferring module 23 is installed at the lower end of the test tray placement device 21 and the empty tray recycling and stacking device 22. The moving part of the feeding and transferring module 23 is provided with a first tray positioning plate 231 for positioning and placing the tray. The feeding and picking robot 24 is located between the discharge end of the feeding and transferring module 23 and the inlet end of the feeding conveyor belt 25. The upper turntable handling robot 26 is located between the discharge end of the feeding conveyor belt 25 and the inlet station of the turntable mechanism 3.

[0039] like Figure 4 and Figure 5As shown, the test tray placement device 21 may include a first tray placement side plate 211, an L-shaped first tray limiting post 212, a first tray support 213, a first support advance / retreat cylinder 214, a first support block lifting cylinder 215, and a first tray lowering support block 216. The first tray placement side plate 211 is located on both sides of the loading and transferring module 23. The first tray limiting posts 212 are respectively vertically installed on both sides of the two first tray placement side plates 211. The four first tray limiting posts 212 can be located at the four corners of the test tray and limit the test tray, thereby allowing multiple... The test trays can be stacked together. The first support advance and retraction cylinder 214 is horizontally installed on the outer side of the two first tray side plates 211. The two first support advance and retraction cylinders 214 are respectively connected to the corresponding first tray support 213 and can drive the first tray support 213 to move horizontally below the test tray at the bottom. The first support block lifting cylinder 215 is located between the two first tray side plates 211. The first support block lifting cylinder 215 is connected to the first tray lowering support block 216 and can drive the first tray lowering support block 216 to move up and down.

[0040] When the test tray placement device 21 needs to place a test tray, the two first support cylinders 214 drive the first tray support 213 to move outward. At this time, the test tray at the bottom will fall onto the first tray lowering block 216. Then, the two first support cylinders 214 drive the first tray support 213 to move inward, so that the first tray support 213 supports the upper test tray. Subsequently, the first support lifting cylinder 215 drives the first tray lowering block 216 and the test tray to descend. The test tray will be placed on the first tray positioning plate 231 of the loading and transferring module 23. The loading and transferring module 23 will then transport the test tray to the workstation of the loading and unloading robot 24.

[0041] In this embodiment, the feeding and transferring module 23 can be configured as a common linear module.

[0042] like Figure 4 and Figure 5As shown, the empty tray recycling stacking device 22 may include a first stacking tray side plate 221, an L-shaped first stacking tray limiting post 222, a first elastic buckle 223, a first upper lifting cylinder 224, and a first upper lifting block 225. The first stacking tray side plate 221 is located on both sides of the feeding and transferring tray module 23. The first stacking tray limiting posts 222 are respectively vertically installed on both sides of the two first stacking tray side plates 221. The four first stacking tray limiting posts 222 can be located at the four corners of the empty tray and limit the empty tray, so that multiple empty trays can be stacked together. The first elastic buckle 223 is installed on the two first stacking tray side plates 221 and is located between the two first stacking tray limiting posts 222 of the same first stacking tray side plate 221. The first upper lifting cylinder 224 is located between the two first stacking tray side plates 221. The first upper lifting cylinder 224 is connected to the first upper lifting block 225 and can drive the first upper lifting block 225 to move up and down.

[0043] When the product to be tested on the tray is taken away by the loading and unloading robot 24, the loading and transferring module 23 can transport the empty tray to the empty tray recycling stacking device 22. The first upper cylinder 224 can drive the first upper block 225 to lift the empty tray upward, so that the empty tray is stored in the storage area formed by the combination of four first stacking limit posts 222. The first elastic buckle 223 is a one-way buckle, which can support the two sides of the empty tray to prevent the empty tray from falling.

[0044] like Figure 3 and Figure 6 As shown, the loading and unloading robot 24 may include a loading and unloading transverse module 241, several loading and unloading lifting modules 242, and several loading and unloading suction cups 243. The loading and unloading lifting modules 242 are mounted on the moving parts of the loading and unloading transverse module 241 via loading and unloading lifting supports 244, and the loading and unloading lifting modules 242 are connected to the loading and unloading suction cups 243.

[0045] Furthermore, such as Figure 6 As shown, each loading and unloading lifting module 242 may include a loading and unloading lifting motor 2421, a loading and unloading lifting wheel 2422, a loading and unloading lifting belt 2423, a loading and unloading transmission block 2424, and a suction cup mounting base 2425. The loading and unloading lifting motor 2421 is mounted on the loading and unloading lifting support. The loading and unloading lifting motor 2421 can drive the loading and unloading transmission block 2424 to move up and down through the loading and unloading lifting wheel 2422 and the loading and unloading lifting belt 2423. The lower end of the loading and unloading transmission block 2424 is connected to the suction cup mounting base 2425. The loading and unloading suction cup 243 is mounted on the suction cup mounting base 2425.

[0046] Each of the feeding and picking suction cups 243 in this embodiment can be raised and lowered independently, driven by an independent feeding and picking lifting module 242.

[0047] When the loading and transfer module 23 delivers the test tray, the loading and picking suction cup 243 can pick up the test product onto the loading conveyor belt 25 under the drive of the loading and picking transverse transfer module 241 and the loading and picking lifting module 242.

[0048] like Figure 7 As shown, the upper turntable handling robot 26 may include a robot arm bracket 261, a swing motor 262, swing wheels 263, a swing belt 264, a swing arm 265, a longitudinal hinge block 266, and an upper turntable handling suction cup 267. The swing motor 262 is mounted on the robot arm bracket 261. Two swing wheels 263 are provided and mounted vertically on the robot arm bracket 261. The swing belt 264 is fitted between the two swing wheels 263. Two swing arms 265 are provided and are parallel to each other. One end of the two swing arms 265 is connected to the corresponding swing wheel 263, and the other end of the two swing arms 265 is rotatably connected to the longitudinal hinge block 266. The upper turntable handling suction cup 267 is longitudinally mounted on the longitudinal hinge block 266.

[0049] When the feeding conveyor belt 25 transports the product to be tested to the upper turntable handling robot 26, the swing motor 262 can drive the upper turntable handling suction cup 267 to swing, and pick up the product to be tested on the feeding conveyor belt 25 onto the fixture 31 of the turntable mechanism 3.

[0050] like Figure 8 As shown, the turntable mechanism 3 may include a turntable 32 and a rotary driver 33. The rotation shaft of the rotary driver 33 is connected to the turntable 32, and the fixtures 31 are evenly distributed around the top periphery of the turntable 32. The rotary driver 33 may be configured as a motor or a cam divider.

[0051] like Figure 9 As shown, both the first 3D coplanarity detection mechanism 4 and the second 3D coplanarity detection mechanism 6 may include a coplanarity detection bracket 41, a horizontal position adjustment slide 42, a horizontal position adjustment seat 43, a vertical position adjustment slide 44, a vertical position adjustment plate 45, and a 3D coplanarity camera 46. The horizontal position adjustment slide 42 is installed between the top of the coplanarity detection bracket 41 and the horizontal position adjustment seat 43. The vertical position adjustment slide 44 is installed between one side of the horizontal position adjustment seat 43 and the vertical position adjustment plate 45. The 3D coplanarity camera 46 is installed on the vertical position adjustment plate 45. The horizontal position adjustment slide 42 and the vertical position adjustment slide 44 can be manually adjusted, or electrically adjusted depending on actual needs.

[0052] When the turntable mechanism 3 delivers the product, the 3D coplanarity camera 46 of the first 3D coplanarity detection mechanism 4 and the second 3D coplanarity detection mechanism 6 can detect the coplanarity of the front and back surfaces of the product.

[0053] Preferably, the flipping mechanism 5 can be provided with four, such as Figure 10 As shown, the flipping mechanism 5 may include a flipping base 51, a flipping lifting cylinder 52, a flipping lifting seat 53, a flipping rotating cylinder 54, and a flipping pneumatic clamp 55. The flipping lifting cylinder 52 is mounted on the flipping base 51 and is connected to the flipping lifting seat 53. The flipping rotating cylinder 54 is mounted on one vertical surface of the flipping lifting seat 53 and is connected to the flipping pneumatic clamp 55 and can drive the flipping pneumatic clamp 55 to rotate.

[0054] When the turntable mechanism 3 delivers the product, the flipping pneumatic clamp 55 can clamp the product on the fixture, and the flipping rotary cylinder 54 can drive the flipping pneumatic clamp 55 and the product to rotate 180 degrees.

[0055] like Figure 11 As shown, the top detection mechanism 7 may include a top detection bracket 71, a top detection camera 72, and a top detection light source 73. The top detection camera 72 is mounted vertically downward on the top detection bracket 71, and the top detection light source 73 is located below the head end of the top detection camera 72.

[0056] When the turntable mechanism 3 delivers the product, the top inspection camera 72 can perform an appearance inspection on the surface of the flipped product.

[0057] like Figure 12 As shown, the lifting turret mechanism 8 may include a turret lifting rotary driver 81 and a turret disk 82, with the turret lifting rotary driver 81 and the turret disk 82 being connected in a transmission manner. The turret lifting rotary driver 81 may be configured as a common lifting cam divider.

[0058] like Figure 13 As shown, the suction rotation mechanism 9 may include a suction cup mounting bracket 91, a suction cup rotation motor 92, and a turret suction cup 93. The suction cup rotation motor 92 is mounted on the turret plate 82 through the suction cup mounting bracket 91, and the turret suction cup 93 is mounted longitudinally on the suction cup rotation motor 92. When performing side inspection, the suction cup rotation motor 92 can drive the turret suction cup 93 and the product to rotate.

[0059] After the product completes the top inspection, it will rotate with the turntable mechanism 3 to the turntable discharge station. At this time, the lifting turret mechanism 8 will drive a suction rotating mechanism 9 to rotate to the turntable discharge station. The turret suction cup 93 of the suction rotating mechanism 9 can suck up the product to the position correction mechanism 10.

[0060] like Figure 14As shown, the position correction mechanism 10 may include a position correction bracket 101 and a position correction clamp 102 (such as a pneumatic clamp). The position correction clamp 102 is mounted on the correction bracket 101, and the top of the position correction clamp 102 is provided with four positioning chucks 103 that are centrally symmetrically distributed.

[0061] When the lifting turret mechanism 8 transports the product to the position correction mechanism 10, the product will be placed between the four positioning chucks 103 at the top of the position correction fixture 102. The four positioning chucks 103 can correct the position of the product. After correction, the lifting turret mechanism 8 and the suction rotation mechanism 9 will then suck the product to the bottom detection mechanism 11.

[0062] like Figure 15 As shown, the bottom detection mechanism 11 may include a bottom detection bracket 111, a bottom detection camera 112, a bottom detection reflector 113 (such as a 45-degree reflector), and a bottom detection light source 114. The bottom detection camera 112 is horizontally mounted on the bottom detection bracket 111, the bottom detection reflector 113 is located at the head end of the bottom detection camera 112, and the bottom detection light source 114 is located directly above the top entrance of the bottom detection reflector 113.

[0063] When the lifting turret mechanism 8 transports the product to the bottom inspection mechanism 11, the bottom inspection camera 112 can perform appearance inspection on the other surface of the product.

[0064] Preferably, the side detection mechanism 12 can be provided with four, such as Figure 16 As shown, each side detection mechanism 12 may include a side detection bracket 121, a side detection camera 122, a side detection reflector 123 (such as a 45-degree reflector), and a side detection light source 124. The side detection camera 122 is mounted vertically downward on the side detection bracket 121, the side detection reflector 123 is located below the head end of the side detection camera 122, and the side detection light source 124 is located at the side entrance of the side detection reflector 123.

[0065] When the lifting turret mechanism 8 transports the product to the side inspection mechanism 12, the four side inspection cameras 122 can perform appearance inspection on the other four sides of the product.

[0066] like Figure 17As shown, the unloading mechanism 13 may include an unloading conveyor belt 131, an unloading tray-swinging robot 132, an unloading tray-shifting module 133, an empty tray placement device 134, and a full tray stacking device 135. The unloading conveyor belt 131 is located at the unloading station of the lifting turret mechanism 8. The unloading tray-swinging robot 132 is located between the discharge end of the unloading conveyor belt 131 and the inlet end of the unloading tray-shifting module 133. The unloading tray-shifting module 133 is located at the lower end of the empty tray placement device 134 and the full tray stacking device 135. The moving part of the unloading tray-shifting module 133 is provided with a second tray positioning plate 1331 for positioning and placing trays.

[0067] like Figure 17 As shown, the unloading and tray-mounting robot 132 may include a multi-axis robot 1321, an unloading suction cup frame 1322, and an unloading tray-mounting suction cup 1323. The unloading tray-mounting suction cup 1323 is mounted on the end of the multi-axis robot 1321 via the unloading suction cup frame 1322.

[0068] When the lifting turret mechanism 8 transports the product that has undergone side inspection to the unloading station, the lifting turret mechanism 8 and the suction rotation mechanism 9 can place the product on the unloading conveyor belt 131. Then, the unloading and tray-loading robot 132 can pick up the product on the unloading conveyor belt 131 and transfer it to the empty tray of the unloading transfer module 133.

[0069] In this embodiment, the feeding and transferring module 133 can be configured as a common linear module.

[0070] like Figure 18 and Figure 19 As shown, the empty tray placement device 134 may include a second tray placement side plate 1341, an L-shaped second tray limiting post 1342, a second tray support 1343, a second support advance / retreat cylinder 1344, a second support block lifting cylinder 1345, and a second tray lowering support block 1346. The second tray placement side plate 1341 is located on both sides of the loading and transferring module 23. The second tray limiting posts 1342 are respectively vertically installed on both sides of the two second tray placement side plates 1341. The second support advance / retreat cylinder 1344 is horizontally installed. Installed on the outer sides of the two second tray side plates 1341, the two second support advance and retract cylinders 1344 are respectively connected to the corresponding second material tray support 1343 and can drive the second material tray support 1343 to move horizontally below the bottom empty material tray. The second support block lifting cylinder 1345 is located between the two second tray side plates 1341. The second support block lifting cylinder 1345 is connected to the second material tray lowering support block 1346 and can drive the second material tray lowering support block 1346 to move up and down.

[0071] When the empty tray placement device 134 needs to place an empty tray, the two second support advance and retraction cylinders 1344 respectively drive the second tray support 1343 to move outward. At this time, the empty tray at the bottom will fall onto the second tray lowering support block 1346. Then, the two second support advance and retraction cylinders 1344 respectively drive the second tray support 1343 to move inward, so that the second tray support 1343 supports the upper empty tray. Subsequently, the second support block lifting cylinder 1345 drives the second tray lowering support block 1346 and the empty tray to descend. The empty tray will be placed on the second tray positioning plate 1331 of the unloading and transfer module 133, and the unloading and transfer module 133 will transport the empty tray to the station of the unloading and tray-swinging robot 132.

[0072] like Figure 18 and Figure 19 As shown, the full-load pallet stacking device 135 may include a second pallet side plate 1351, a second pallet limiting post 1352, a second elastic buckle 1353, a second upper-lifting cylinder 1354, and a second upper-lifting block 1355. The second pallet side plate 1351 is located on both sides of the loading and pallet shifting module 23. The second pallet limiting post 1352 is respectively vertically installed on both sides of the two second pallet side plates 1351. The second elastic buckle 1353 is installed on the two second pallet side plates 1351 and is located between the two second pallet limiting posts 1352 of the same second pallet side plate 1351. The second upper-lifting cylinder 1354 is located between the two second pallet side plates 1351. The second upper-lifting cylinder 1354 is connected to the second upper-lifting block 1355 and can drive the second upper-lifting block 1355 to move up and down.

[0073] When the tray is full of products, the unloading and transferring module 133 can transport the full tray to the full tray stacking device 135. The second upper cylinder 1354 can drive the second upper block 1355 to lift the full tray upwards, so that the full tray is stored in the storage area formed by the combination of four second stacking limit posts 1352. The second elastic buckle 1353 is a one-way buckle, which can support the two sides of the tray to prevent the tray from falling.

[0074] The inspection method for a six-sided coplanar inspection tape-and-reel integrated machine may include the following steps:

[0075] (1) The product to be tested is conveyed to the fixture of the turntable mechanism by the feeding mechanism. The turntable mechanism drives the product to be tested to rotate and conveys it to the feeding station of the first 3D coplanarity detection mechanism, the flipping mechanism, the second 3D coplanarity detection mechanism, the top detection mechanism and the lifting turret mechanism in sequence. The first 3D coplanarity detection mechanism can detect the coplanarity of the first surface of the product and the product size. The flipping mechanism can flip the product 180 degrees. The second 3D coplanarity detection mechanism can detect the coplanarity of the second surface of the product and the product size. The top detection mechanism can detect the appearance quality of the second surface of the product.

[0076] (2) After the product is inspected by the top inspection mechanism, the suction and rotation mechanism on the lifting turret mechanism takes the product from the fixture of the turntable mechanism. The lifting turret mechanism drives the product to rotate and transports it to the position correction mechanism, the bottom inspection mechanism, the side inspection mechanism and the unloading mechanism in sequence. The position correction mechanism can correct the position of the product. The bottom inspection mechanism can detect the appearance quality of the first surface of the product. The side inspection mechanism can detect the appearance quality of the side surface of the product.

[0077] During the inspection process of the side inspection mechanism, the suction rotation mechanism can drive the product to rotate.

[0078] (3) After the product has been inspected by the side inspection mechanism, the unloading mechanism unloads the inspected product.

[0079] Example 2

[0080] Embodiment 2 of the present invention provides a six-sided coplanarity inspection integrated tape and reel machine, which also includes a frame 1, a feeding mechanism 2, a turntable mechanism 3, a first 3D coplanarity inspection mechanism 4, a flipping mechanism 5, a second 3D coplanarity inspection mechanism 6, a top inspection mechanism 7, a lifting turret mechanism 8, a suction and rotation mechanism 9, a bottom inspection mechanism 11, a side inspection mechanism 12, and a unloading mechanism 13. The only difference between this embodiment 2 and the above embodiment 1 is that:

[0081] like Figure 20 and Figure 21 As shown, the feeding mechanism 2 includes, in addition to the test tray placement device 21, the empty tray recycling and stacking device 22, the feeding and transferring module 23, the feeding and picking robot 24, the feeding conveyor belt 25, and the upper turntable handling robot 26, it may also include a carrier belt type unwinding and peeling film feeder 27. The discharge end of the carrier belt type unwinding and peeling film feeder 27 is located below the feeding and picking robot 24 and is installed on one side of the feeding end of the feeding conveyor belt 25.

[0082] The carrier belt unwinding and film peeling feeder 27 in this embodiment can be configured as a feeder film peeling feeder commonly found on the market.

[0083] This embodiment adds a carrier belt unwinding and film peeling feeder 27, which can realize functions such as product unwinding and retesting. That is, when the product needs to be retested or sampled, the product packaged by the carrier belt can be re-loaded by the carrier belt unwinding and film peeling feeder 27. The loading and unloading robot 24 can pick up the re-loaded retested product and put it into the loading conveyor belt 25, and then perform a series of tests on the integrated machine.

[0084] In addition, such as Figure 20 and Figure 22As shown, the unloading mechanism 13 includes an unloading conveyor belt 131, an unloading tray manipulator 132, an unloading tray transfer module 133, an empty tray placement device 134, and a full tray stacking device 135. It may also include a carrier packaging machine 136, which is located at another unloading station of the lifting turret mechanism.

[0085] The carrier packaging machine 136 in this embodiment can be configured as a common carrier packaging machine on the market. The carrier packaging machine 136 can seal the product in the carrier.

[0086] When a carrier-type packaging machine 136 is added, it can package good products, while the empty trays output by the empty tray placement device 134 can be used as trays for defective products. With the addition of the carrier-type packaging machine 136, this integrated machine can be used for the inspection and processing of large batches of products.

[0087] Example 3

[0088] Embodiment 3 of the present invention provides a six-sided coplanarity inspection integrated tape and reel machine, which also includes a frame 1, a feeding mechanism 2, a turntable mechanism 3, a first 3D coplanarity inspection mechanism 4, a flipping mechanism 5, a second 3D coplanarity inspection mechanism 6, a top inspection mechanism 7, a lifting turret mechanism 8, a suction and rotation mechanism 9, a bottom inspection mechanism 11, a side inspection mechanism 12, and a unloading mechanism 13. The only difference between this embodiment 3 and the above embodiment 1 is that:

[0089] The two feeding mechanisms include a feeding and unloading robot 24, a feeding conveyor belt 25, an upper turntable handling robot 26, and a carrier belt unwinding and film peeling feeder 27. At this time, the integrated machine can be fed by the carrier belt unwinding and film peeling feeder 27.

[0090] When the carrier belt unwinding and film peeling feeder 27 outputs the product from the carrier belt, the loading and unloading robot 24 sucks it up and places it on the loading conveyor belt 25.

[0091] Example 4

[0092] Embodiment 4 of the present invention provides a six-sided coplanarity inspection integrated tape and reel machine, which also includes a frame 1, a feeding mechanism 2, a turntable mechanism 3, a first 3D coplanarity inspection mechanism 4, a flipping mechanism 5, a second 3D coplanarity inspection mechanism 6, a top inspection mechanism 7, a lifting turret mechanism 8, a suction and rotation mechanism 9, a bottom inspection mechanism 11, a side inspection mechanism 12, and a unloading mechanism 13. The only difference between this embodiment 4 and the above embodiment 1 is that:

[0093] The feeding mechanism 13 includes a carrier-type packaging machine 136, that is, the integrated machine in this embodiment four does not have a feeding conveyor belt 131, a feeding tray robot 132, a feeding tray transfer module 133, an empty tray placement device 134, and a full tray stacking device 135.

[0094] When material needs to be unloaded, the lifting turret mechanism 8 and the suction rotation mechanism 9 can place the inspected product into the empty space of the carrier belt of the carrier packaging machine 136.

[0095] In summary, this invention enables automated operations such as automatic product feeding, automatic handling, 3D coplanarity detection, 2D dimension detection, automatic flipping, six-sided appearance inspection, automatic position correction, and automatic unloading. It boasts a high degree of automation, stable and reliable operation, significantly improving inspection efficiency, saving time and labor, and reducing production costs. Furthermore, it integrates 3D coplanarity detection, 2D dimension detection, and six-sided appearance inspection into a single device, requiring minimal space. In addition, this invention is compatible with tray loading and unloading and / or carrier tape unwinding and rewinding, enabling functions such as defective product screening and tray placement, good product tape weaving or tray placement, and product unwinding retesting.

[0096] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A six-sided coplanar appearance inspection integrated tape and reel machine, comprising a frame, characterized in that, The frame is equipped with a feeding mechanism for loading products to be tested, a turntable mechanism for station transition, a first 3D coplanarity detection mechanism for detecting the coplanarity of the first surface and the product dimensions, a flipping mechanism for flipping the product 180 degrees, a second 3D coplanarity detection mechanism for detecting the coplanarity of the second surface and the product dimensions, a top detection mechanism for detecting the appearance quality of the second surface, a lifting turret mechanism for station transition, a suction and rotation mechanism for picking up and rotating products, a position correction mechanism for correcting the position of the product, a bottom detection mechanism for detecting the appearance quality of the first surface, a side detection mechanism for detecting the appearance quality of the side surfaces, and so on. The unloading mechanism for unloading inspected products has its discharge end located at the feeding station of the turntable mechanism. The first 3D coplanarity detection mechanism, the flipping mechanism, the second 3D coplanarity detection mechanism, the top detection mechanism, and the lifting turret mechanism are arranged sequentially around the turntable mechanism along its rotation direction. The turntable mechanism is provided with several evenly distributed fixtures. Several suction rotation mechanisms are provided and evenly installed on the lifting turret mechanism. The suction rotation mechanism can rotate to the discharge station of the turntable mechanism. The position correction mechanism, the bottom detection mechanism, the side detection mechanism, and the unloading mechanism are arranged sequentially around the lifting turret mechanism along its rotation direction.

2. The six-sided coplanar appearance inspection tape-and-reel integrated machine according to claim 1, characterized in that, The feeding mechanism includes a test tray placement device, an empty tray recycling and stacking device, a feeding and transferring module, a feeding and picking robot, a feeding conveyor belt, and an upper turntable handling robot. The feeding and transferring module is installed at the lower end of the test tray placement device and the empty tray recycling and stacking device. The moving part of the feeding and transferring module is provided with a first tray positioning plate for positioning and placing the tray. The feeding and picking robot is located between the discharge end of the feeding and transferring module and the inlet end of the feeding conveyor belt. The upper turntable handling robot is located between the discharge end of the feeding conveyor belt and the inlet station of the turntable mechanism. Alternatively, the feeding mechanism includes a carrier belt unwinding and peeling film feeder, a feeding and picking robot, a feeding conveyor belt, and an upper turntable handling robot. The discharge end of the carrier belt unwinding and peeling film feeder is located below the feeding and picking robot and is installed on one side of the feeding end of the feeding conveyor belt. The upper turntable handling robot is located between the discharge end of the feeding conveyor belt and the feeding station of the turntable mechanism. Alternatively, the feeding mechanism includes a test tray placement device, an empty tray recycling and stacking device, a feeding and transferring module, a feeding and picking robot, a feeding conveyor belt, an upper turntable handling robot, and a carrier belt unwinding and peeling film feeder. The feeding and transferring module is installed at the lower end of the test tray placement device and the empty tray recycling and stacking device. The moving part of the feeding and transferring module is provided with a first tray positioning plate for positioning and placing the tray. The feeding and picking robot is located between the discharge end of the feeding and transferring module and the feed end of the feeding conveyor belt. The upper turntable handling robot is located between the discharge end of the feeding conveyor belt and the feed station of the turntable mechanism. The discharge end of the carrier belt unwinding and peeling film feeder is located below the feeding and picking robot and is installed on one side of the feed end of the feeding conveyor belt.

3. The six-sided coplanar inspection tape-and-reel integrated machine according to claim 2, characterized in that, The test tray placement device includes a first tray placement side plate, a first tray limiting post, a first tray support, a first support seat advance / retreat cylinder, a first support block lifting cylinder, and a first tray lowering support block. The first tray placement side plate is located on both sides of the loading and transferring tray module. The first tray limiting post is vertically installed on both sides of the two first tray placement side plates. The first support seat advance / retreat cylinder is horizontally installed on the outer side of the two first tray placement side plates. The two first support seat advance / retreat cylinders are respectively connected to the corresponding first tray support and can drive the first tray support to move horizontally below the test tray located at the bottom. The first support block lifting cylinder is located between the two first tray placement side plates. The first support block lifting cylinder is connected to the first tray lowering support block and can drive the first tray lowering support block to move up and down. The empty tray recycling stacking device includes a first stacking tray side plate, a first stacking tray limiting post, a first elastic buckle, a first upper lifting cylinder, and a first upper lifting block. The first stacking tray side plate is located on both sides of the feeding and transferring tray module. The first stacking tray limiting post is vertically installed on both sides of the two first stacking tray side plates. The first elastic buckle is installed on the two first stacking tray side plates and is located between the two first stacking tray limiting posts on the same first stacking tray side plate. The first upper lifting cylinder is located between the two first stacking tray side plates. The first upper lifting cylinder is connected to the first upper lifting block and can drive the first upper lifting block to move up and down. The loading and unloading robot includes a loading and unloading transverse module, several loading and unloading lifting modules, and several loading and unloading suction cups. The loading and unloading lifting modules are mounted on the moving parts of the loading and unloading transverse module via loading and unloading lifting supports, and the loading and unloading lifting modules are connected to the loading and unloading suction cups.

4. The six-sided coplanar appearance inspection tape-and-reel integrated machine according to claim 2, characterized in that, The upper turntable handling robot includes a robot arm bracket, a swing motor, swing wheels, a swing belt, swing arms, a longitudinal hinge block, and an upper turntable handling suction cup. The swing motor is mounted on the robot arm bracket. There are two swing wheels, one above the other, mounted on the robot arm bracket. The swing belt is fitted between the two swing wheels. There are two swing arms, which are parallel to each other. One end of each swing arm is connected to a corresponding swing wheel, and the other end of each swing arm is rotatably connected to the longitudinal hinge block. The upper turntable handling suction cup is longitudinally mounted on the longitudinal hinge block.

5. The six-sided coplanar appearance inspection tape-and-reel integrated machine according to claim 1, characterized in that, The turntable mechanism includes a turntable and a rotary driver, wherein the rotation shaft of the rotary driver is connected to the turntable; The lifting turret mechanism includes a turret lifting rotary drive and a turret disk, wherein the turret lifting rotary drive is connected to the turret disk in a transmission connection. The suction and rotation mechanism includes a suction cup mounting frame, a suction cup rotation motor, and a turret suction cup. The suction cup rotation motor is mounted on the turret plate via the suction cup mounting frame, and the turret suction cup is mounted on the suction cup rotation motor and driven to rotate by it.

6. The six-sided coplanar appearance inspection tape-and-reel integrated machine according to claim 1, characterized in that, Both the first 3D coplanarity detection mechanism and the second 3D coplanarity detection mechanism include a coplanarity detection bracket, a horizontal position adjustment slide, a horizontal position adjustment seat, a vertical position adjustment slide, a vertical position adjustment plate, and a 3D coplanarity camera. The horizontal position adjustment slide is installed between the top of the coplanarity detection bracket and the horizontal position adjustment seat. The vertical position adjustment slide is installed between one side of the horizontal position adjustment seat and the vertical position adjustment plate. The 3D coplanarity camera is installed on the vertical position adjustment plate. The top detection mechanism includes a top detection bracket, a top detection camera, and a top detection light source. The top detection camera is mounted vertically downwards on the top detection bracket, and the top detection light source is located below the head end of the top detection camera. The bottom detection mechanism includes a bottom detection bracket, a bottom detection camera, a bottom detection reflector, and a bottom detection light source. The bottom detection camera is horizontally mounted on the bottom detection bracket, the bottom detection reflector is located at the head end of the bottom detection camera, and the bottom detection light source is located directly above the top entrance of the bottom detection reflector. The side detection mechanism includes a side detection bracket, a side detection camera, a side detection reflector, and a side detection light source. The side detection camera is mounted vertically downwards on the side detection bracket. The side detection reflector is located below the head end of the side detection camera, and the side detection light source is located at the side entrance of the side detection reflector.

7. The six-sided coplanar appearance inspection tape-and-reel integrated machine according to claim 1, characterized in that, The flipping mechanism includes a flipping base, a flipping lifting cylinder, a flipping lifting seat, a flipping rotating cylinder, and a flipping pneumatic clamp. The flipping lifting cylinder is installed on the flipping base and connected to the flipping lifting seat. The flipping rotating cylinder is installed on one vertical surface of the flipping lifting seat and connected to the flipping pneumatic clamp, which can drive the flipping pneumatic clamp to rotate. The position correction mechanism includes a position correction bracket and a position correction clamp. The position correction clamp is mounted on the correction bracket, and the top of the position correction clamp is provided with four positioning chucks that are centrally symmetrically distributed.

8. The six-sided coplanar appearance inspection tape-and-reel integrated machine according to claim 1, characterized in that, The unloading mechanism includes an unloading conveyor belt, an unloading tray manipulator, an unloading tray transfer module, an empty tray placement device, and a full tray stacking device. The unloading conveyor belt is located at the unloading station of the lifting turret mechanism. The unloading tray manipulator is located between the discharge end of the unloading conveyor belt and the inlet end of the unloading tray transfer module. The unloading tray transfer module is located at the lower end of the empty tray placement device and the full tray stacking device. The moving part of the unloading tray transfer module is provided with a second tray positioning plate for positioning and placing trays. Alternatively, the feeding mechanism includes a carrier packaging machine, which is located at another feeding station of the lifting turret mechanism; Alternatively, the feeding mechanism includes a feeding conveyor belt, a feeding tray robot, a feeding tray transfer module, an empty tray placement device, a full tray stacking device, and a carrier packaging machine. The feeding conveyor belt is located at the feeding station of the lifting turret mechanism. The feeding tray robot is located between the discharge end of the feeding conveyor belt and the inlet end of the feeding tray transfer module. The feeding tray transfer module is located at the lower end of the empty tray placement device and the full tray stacking device. The moving part of the feeding tray transfer module is provided with a second tray positioning plate for positioning and placing trays. The carrier packaging machine is located at another feeding station of the lifting turret mechanism.

9. The six-sided coplanar appearance inspection tape-and-reel integrated machine according to claim 8, characterized in that, The unloading and traying robot includes a multi-axis robot, an unloading suction cup frame, and an unloading traying suction cup. The unloading traying suction cup is mounted on the end of the multi-axis robot via the unloading suction cup frame. The empty tray placement device includes a second tray placement side plate, a second tray limiting post, a second tray support, a second support seat advance / retreat cylinder, a second support block lifting cylinder, and a second tray lowering support block. The second tray placement side plate is located on both sides of the loading and transferring module. The second tray limiting post is vertically installed on both sides of the two second tray placement side plates. The second support seat advance / retreat cylinder is horizontally installed on the outer side of the two second tray placement side plates. The two second support seat advance / retreat cylinders are respectively connected to the corresponding second tray support and can drive the second tray support to move horizontally below the bottom empty tray. The second support block lifting cylinder is located between the two second tray placement side plates. The second support block lifting cylinder is connected to the second tray lowering support block and can drive the second tray lowering support block to move up and down. The full-load tray stacking device includes a second tray side plate, a second tray limiting post, a second elastic buckle, a second upper-lifting cylinder, and a second upper-lifting block. The second tray side plate is located on both sides of the loading and transferring tray module. The second tray limiting post is vertically installed on both sides of the two second tray side plates. The second elastic buckle is installed on the two second tray side plates and is located between the two second tray limiting posts on the same second tray side plate. The second upper-lifting cylinder is located between the two second tray side plates and is connected to the second upper-lifting block and can drive the second upper-lifting block to move up and down.

10. A detection method for a six-sided coplanar inspection tape-and-reel integrated machine according to any one of claims 1 to 9, characterized in that, Includes the following steps: (1) The product to be tested is conveyed to the fixture of the turntable mechanism by the feeding mechanism. The turntable mechanism drives the product to be tested to rotate and conveys it to the feeding station of the first 3D coplanarity detection mechanism, the flipping mechanism, the second 3D coplanarity detection mechanism, the top detection mechanism and the lifting turret mechanism in sequence. The first 3D coplanarity detection mechanism can detect the coplanarity of the first surface of the product and the product size. The flipping mechanism can flip the product 180 degrees. The second 3D coplanarity detection mechanism can detect the coplanarity of the second surface of the product and the product size. The top detection mechanism can detect the appearance quality of the second surface of the product. (2) After the product is inspected by the top inspection mechanism, the suction and rotation mechanism on the lifting turret mechanism takes the product from the fixture of the turntable mechanism. The lifting turret mechanism drives the product to rotate and transports it to the position correction mechanism, the bottom inspection mechanism, the side inspection mechanism and the unloading mechanism in sequence. The position correction mechanism can correct the position of the product. The bottom inspection mechanism can inspect the appearance quality of the first surface of the product. The side inspection mechanism can inspect the appearance quality of the side surface of the product. During the inspection process of the side inspection mechanism, the suction and rotation mechanism can drive the product to rotate. (3) After the product has been inspected by the side inspection mechanism, the unloading mechanism unloads the inspected product.

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