Multi-station crystal grain sorting machine

Abstract

The utility model discloses a multi-station crystal grain sorting machine, which comprises a plurality of BIN material boxes, a plurality of wafer material boxes, a full BIN material box, a sorting mechanism and a feeding and discharging mechanism, the feeding and discharging mechanism comprises a first movement mechanism and a material taking mechanism, the first movement mechanism is used for driving the material taking mechanism to respectively move along an X axis, a Y axis and a Z axis, and multi-station crystal grain sorting can be realized. The sorting efficiency is improved, the arrangement of all the mechanisms is reasonable, the occupied space of the whole sorting machine is small, and the productivity ratio of unit area can be increased.

Description

Technical Field

[0001] The utility model relates to the technical field of LED manufacturing, in particular to a multi-station crystal grain sorting machine. Background Art

[0002] In the manufacturing process of LED, especially for miniLED, the wafer of miniLED is cut into multiple grains. The grains need to go through a series of tests to test their optoelectronic parameters and are divided into several categories according to the optoelectronic parameters. The classified grains are then selected by the grain sorter to neatly arrange the grains of the same type on the blue film of the same BIN disk to complete the grading and classification of the grains, which is convenient for subsequent process operations. The industry has very high requirements for the efficiency of the grain sorter. At the same time, under the pressure of high production capacity, it is required to put as many equipment as possible in a limited production workshop. Therefore, the ratio of production capacity to equipment floor space is an important factor in considering equipment performance.

[0003] At present, the grain sorting machines in the industry are all single-station equipment. Due to the limitation of the single station, only a single sorting mechanism can be arranged to sort the grains. The layout of the grains and BIN trays does not fully utilize the space, resulting in a relatively large volume of equipment and low unit area capacity. Therefore, it is necessary to optimize the station layout and mechanism of the grain sorting machine to improve the unit area capacity ratio. Utility Model Content

[0004] The purpose of the utility model is to solve the technical problem of low unit area capacity ratio in the prior art. To this end, the utility model provides a multi-station grain sorting machine, which can realize multi-station grain sorting and improve sorting efficiency. The arrangement of each mechanism is relatively reasonable, so that the entire sorting machine occupies a small space and can improve the unit area capacity.

[0005] According to the multi-station grain sorting machine of the embodiment of the utility model, it includes: multiple BIN material boxes, the BIN material boxes are used to store BIN trays; multiple wafer material boxes, the wafer material boxes are used to store grain trays, and the grain trays carry grains; full BIN material boxes; multiple sorting mechanisms, the sorting mechanism includes a grain platform mechanism and a BIN platform mechanism, the sorting mechanism is used to sort the grains on the grain platform mechanism to the BIN tray of the BIN platform mechanism; a loading and unloading mechanism, including a first motion mechanism and a material picking mechanism, the first motion mechanism is used to drive the material picking mechanism to move along the X-axis, Y-axis and Z-axis respectively, so that the material picking mechanism can grab the BIN tray in the BIN material box to the BIN platform mechanism, grab the grain tray in the wafer material box to the grain platform mechanism, grab the BIN tray sorted by the sorting mechanism to the full BIN material box, and grab the grain tray on the grain platform mechanism to the wafer material box.

[0006] The multi-station grain sorting machine according to the embodiment of the utility model has at least the following beneficial effects: by setting up multiple material boxes and multiple sorting mechanisms, multi-station grain sorting can be realized, and the sorting efficiency is improved. When working, the loading and unloading mechanism drives the material taking mechanism to move along the X-axis, Y-axis and Z-axis respectively. When loading, the loading and unloading mechanism can grab the BIN tray in the BIN material box to the BIN platform mechanism, and can also grab the grain tray in the wafer material box to the grain platform mechanism. The loading and unloading mechanism can pass through the wafer material box and the BIN material box, and take materials from the grain tray and the BIN tray at the same time, shortening the movement path of the loading and unloading mechanism. When unloading, the loading and unloading mechanism can grab the BIN tray sorted by the sorting mechanism into the full BIN material box, and can also grab the sorted grain tray back into the grain material box. The arrangement of each mechanism is relatively reasonable, so that the space occupied by the entire sorting machine is small, the production capacity per unit area can be improved, and as many sorting machines as possible can be placed in a limited production workshop.

[0007] According to some embodiments of the utility model, a plurality of the BIN tray boxes are arranged along a first straight line direction, a plurality of the wafer boxes are arranged along a second straight line direction, a plurality of sorting mechanisms are arranged along a third straight line direction, the first straight line direction, the second straight line direction and the third straight line direction are parallel to each other, and the wafer boxes are located between the sorting mechanisms and the BIN boxes.

[0008] According to some embodiments of the present invention, the full BIN material box is located at the end of the plurality of wafer material boxes.

[0009] According to some embodiments of the present invention, a single sorting mechanism is located between two adjacent wafer material boxes.

[0010] According to some embodiments of the present invention, there are at least two sorting mechanisms.

[0011] According to some embodiments of the utility model, the multi-station grain sorting machine includes a frame, the frame is provided with a crossbeam, the X-axis is parallel to the first straight line direction, the crossbeam is parallel to the X-axis, the first motion mechanism includes an X-axis moving module and the YZ-axis moving module, the X-axis moving module is used to drive the YZ-axis moving module and the material picking mechanism to move along the length direction of the crossbeam, and the YZ-axis moving module is used to drive the material picking mechanism to move along the Y-axis and Z-axis respectively.

[0012] According to some embodiments of the utility model, the YZ-axis moving module includes a connecting plate, a first Z-axis moving module, and a second Z-axis moving module; the material picking mechanism includes a first material picking clamp and a second material picking clamp; the first material picking clamp and the second material picking clamp are respectively located on both sides of the connecting plate; the first Z-axis moving module is used to drive the first material picking clamp to move along the Z-axis; and the second Z-axis moving module is used to drive the second material picking clamp to move along the Z-axis.

[0013] According to some embodiments of the utility model, the connecting plate is provided with a first tensioning wheel and a second tensioning wheel, the first tensioning wheel and the second tensioning wheel are both provided with a clamping groove, the material picking mechanism is located between the first tensioning wheel and the second tensioning wheel, and the clamping groove of the first tensioning wheel and the clamping groove of the second tensioning wheel can clamp the grain disk or BIN disk clamped by the material picking mechanism.

[0014] According to some embodiments of the utility model, the connecting plate is provided with a first sliding component and a second sliding component, the first sliding component can drive the first tensioning wheel along the horizontal direction, and the second sliding component can drive the second tensioning wheel along the horizontal direction to adjust the distance between the first tensioning wheel and the second tensioning wheel.

[0015] According to some embodiments of the present invention, the YZ axis moving module and the material taking mechanism are both provided in plurality.

[0016] According to some embodiments of the present invention, the loading and unloading mechanism includes a barcode scanner, and the barcode scanner is used to read the two-dimensional code on the grain disk or the BIN disk.

[0017] According to some embodiments of the utility model, the loading and unloading mechanism includes a fixed frame and a first connecting member, the barcode scanner is connected to the first connecting member, the first connecting member is connected to the fixed frame through a first fastener, the fixed frame is provided with a first adjustment hole, the first fastener is passed through the first adjustment hole, the first adjustment hole extends in a horizontal direction, and the first connecting member can adjust the position relative to the fixed frame along the length direction of the first adjustment hole.

[0018] According to some embodiments of the utility model, the loading and unloading mechanism includes a second connecting member, the barcode scanner is connected to the first connecting member through the second connecting member, the first connecting member is connected to the second connecting member through a second fastener, the second connecting member is provided with a second adjustment hole, the second adjustment hole extends circumferentially, the second fastener is passed through the second adjustment hole, and the second connecting member can adjust the position along the circumferential direction of the second adjustment hole relative to the first connecting member.

[0019] According to some embodiments of the utility model, the sorting mechanism includes a second motion mechanism, a third motion mechanism, a pin mechanism, a top film mechanism, a swing arm mechanism and a CCD alignment device. The second motion mechanism is used to drive the grain platform mechanism to move to the CCD alignment device. The third motion mechanism is used to drive the BIN platform mechanism to move to the CCD alignment device. The CCD alignment device is used to perform CCD detection on the grains on the grain platform mechanism and on the BIN disk grains on the BIN platform mechanism. The pin mechanism is used to eject the grains on the grain disk on the grain platform mechanism. The top film mechanism is used to eject the blue film of the BIN disk on the BIN platform mechanism. The swing arm mechanism can rotate with the up and down directions as the axis. The swing arm mechanism is used to place the grains on the grain platform mechanism to the blue film of the BIN disk on the BIN platform mechanism.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0022] Figure 1 It is a schematic structural diagram of a multi-station grain sorting machine according to some embodiments of the utility model;

[0023] Figure 2 A top view of a multi-station grain sorting machine according to some embodiments of the utility model;

[0024] Figure 3 It is a front view of a sorting mechanism of a multi-station grain sorting machine according to some embodiments of the utility model;

[0025] Figure 4 It is a front view of a sorting mechanism of a multi-station grain sorting machine according to some embodiments of the utility model;

[0026] Figure 5 A top view of a sorting mechanism of a multi-station grain sorting machine according to some embodiments of the utility model;

[0027] Figure 6 It is a structural schematic diagram of a loading and unloading mechanism of a multi-station grain sorting machine in some embodiments of the utility model;

[0028] Figure 7 It is a structural schematic diagram of a loading and unloading mechanism of a multi-station grain sorting machine in some embodiments of the utility model;

[0029] Figure 8 for Figure 7 The enlarged view of point A in the middle;

[0030] Fig. 9 for Figure 7 Enlarged view of point B in the middle.

[0031] Reference numerals:

[0032] Multi-station grain sorter 1000;

[0033] BIN material box 100, BIN tray 110;

[0034] Wafer material box 200, die tray 210;

[0035] Full BIN bin 300;

[0036] Sorting mechanism 400, grain platform mechanism 410, BIN platform mechanism 420, second motion mechanism 430, third motion mechanism 440, ejector mechanism 450, ejector film mechanism 460, swing arm mechanism 470, CCD alignment device 480;

[0037] Loading and unloading mechanism 500, first motion mechanism 510, X-axis moving module 520, YZ-axis moving module 530, connecting plate 531, first Z-axis moving module 532, second Z-axis moving module 533, first tensioning wheel 534, second tensioning wheel 535, first sliding assembly 536, second sliding assembly 537, material picking mechanism 540, first material picking clamp 541, second material picking clamp 542, barcode scanner 543, fixing frame 545, first connecting member 546, second connecting member 547, first adjusting hole 548, second adjusting hole 549, clamping groove 550;

[0038] Frame 600 and crossbeam 610 . DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] Reference Figure 1 and Figure 2 As shown, a multi-station die sorting machine 1000 of an embodiment of the utility model includes a plurality of BIN bins 100, a plurality of wafer bins 200, a full BIN bin 300, a loading and unloading mechanism 500 and a plurality of sorting mechanisms 400. The BIN bins 100 are used to store BIN trays 110, the wafer bins 200 are used to store die trays 210, the die trays 210 carry die, and the die trays 210 may be iron sheets. The full BIN bins 300 are used to store sorted BIN trays 110. Figure 1 and Figure 2 As shown, multiple BIN bins 100 are arranged along a first straight line direction, multiple wafer bins 200 are arranged along a second straight line direction, and a full BIN bin 300 and multiple wafer bins 200 are located in the same straight line direction. In some embodiments, multiple full BIN bins 300 may also be provided. In some embodiments, the number of BIN bins 100 is greater than the number of wafer bins 200, and two adjacent BIN bins 100 are closely arranged, and two adjacent wafer bins 200 have a certain distance. Figure 1 and Figure 2 As shown, a plurality of sorting mechanisms 400 are arranged along the third straight line direction, and the sorting mechanism 400 includes a grain platform mechanism 410 and a BIN platform mechanism 420. The sorting mechanism 400 is used to sort the grains on the grain platform mechanism 410 to the BIN tray 110 of the BIN platform mechanism 420. Specifically, the first straight line direction, the second straight line direction and the third straight line direction are parallel to each other, and the wafer material box 200 is located between the sorting mechanism 400 and the BIN material box 100. The first straight line direction can be Figure 1 The left and right direction in .

[0041] Reference Figure 1 , Figure 6 and Figure 7 As shown, the loading and unloading mechanism 500 includes a first motion mechanism 510 and a material picking mechanism 540. The first motion mechanism 510 is used to drive the material picking mechanism 540 to move along the X-axis, Y-axis and Z-axis respectively, so that the material picking mechanism 540 can grab the BIN tray 110 in the BIN material box 100 to the BIN platform mechanism 420, can grab the grain tray 210 in the wafer material box 200 to the grain platform mechanism 410, and can grab the BIN tray 110 sorted by the sorting mechanism 400 to the full BIN material box 300. Loading and unloading can be completed through a set of loading and unloading mechanisms 500. It should be noted that Figure 1 For example, the X-axis is the left-right direction, the Y-axis is the front-back direction, and the Z-axis is the up-down direction.

[0042] For the multi-station die sorting machine 1000 of this embodiment, by arranging multiple BIN bins 100 along a first straight line direction, and arranging multiple wafer bins 200 along a second straight line direction, and the full BIN bin 300 and the multiple wafer bins 200 are located in the same straight line direction, and the full BIN bin 300 is located at the end of the multiple wafer bins 200, it is convenient for workers to take out the BIN trays 110 in the full BIN bin 300, and multiple sorting mechanisms 400 are arranged along a third straight line direction. The first straight line direction, the second straight line direction and the third straight line direction are parallel to each other. Specifically, refer to Figure 1As shown, the first straight line direction, the second straight line direction and the third straight line direction are all parallel to the left-right direction. By rationally arranging the positions of various material boxes, multi-station grain sorting can be achieved to improve sorting efficiency. Specifically, when working, the loading and unloading mechanism 500 drives the material picking mechanism 540 to move along the X-axis, Y-axis and Z-axis respectively. When loading, the loading and unloading mechanism 500 can grab the BIN tray 110 in the BIN material box 100 to the BIN platform mechanism 420, and can also grab the grain tray 210 in the wafer material box 200 to the grain platform mechanism 410. The loading and unloading mechanism 500 can pass through the wafer material box 200 and the BIN material box 100 in a direction perpendicular to the first straight line direction, and pick up the grain tray 210 and the BIN tray 110 at the same time, shortening the movement path of the loading and unloading mechanism 500. When unloading, the loading and unloading mechanism 500 can grab the BIN tray 110 sorted by the sorting mechanism 400 into the full BIN material box 300. The arrangement of each mechanism is relatively reasonable, so that the space occupied by the entire sorting machine is small, the production capacity per unit area can be improved, and as many sorting machines as possible can be placed in a limited production workshop.

[0043] Reference Figure 4 and Figure 5 As shown, according to some embodiments of the utility model, the sorting mechanism 400 includes a second motion mechanism 430, a third motion mechanism 440, a pin mechanism 450, a top film mechanism 460, a swing arm mechanism 470 and a CCD alignment device 480. The second motion mechanism 430 is used to drive the grain platform mechanism 410 to move to the CCD alignment device 480, and the third motion mechanism 440 is used to drive the BIN platform mechanism 420 to move to the CCD alignment device 480. The CCD alignment device 480 is used to perform CCD detection on the grains on the grain platform mechanism 410 and the BIN disk 110 on the BIN platform mechanism 420. The CCD alignment device 480 determines the type of the grain according to the type of the grain. The position of the grain on the BIN disk 110 corresponds to the position of the grain, the ejector mechanism 450 is used to eject the grain of the grain disk 210 on the grain platform mechanism 410, the ejection film mechanism 460 is used to eject the blue film of the BIN disk 110 on the BIN platform mechanism 420, the swing arm mechanism 470 can rotate with the up and down direction as the axis, the swing arm mechanism 470 can rotate 180 degrees or 360 degrees, the grain platform mechanism 410 is located on one side of the swing arm mechanism 470, and the BIN platform mechanism 420 is located on the other side of the swing arm mechanism 470. The swing arm mechanism 470 is used to take and place the grain on the grain platform mechanism 410 to the blue film of the BIN disk 110 on the BIN platform mechanism 420, and stick the grain on the blue film. In some embodiments, one end or both ends of the swing arm mechanism 470 are provided with a suction nozzle, and the swing arm mechanism 470 sucks the grain on the grain disk 210 through the suction nozzle.

[0044] Specifically, during operation, the loading and unloading mechanism 500 takes and places the grain tray 210 in the wafer material box 200 onto the grain platform mechanism 410, and takes and places the BIN tray 110 in the BIN material box 100 onto the BIN platform mechanism 420, and then the second motion mechanism 430 drives the grain platform mechanism 410 to move to the CCD alignment device 480, and the third motion mechanism 440 drives the BIN platform mechanism 420 to move to the CCD alignment device 480, and the CCD alignment device 480 scans the grains on the grain tray 210, and determines the position of the grain on the BIN tray 110 corresponding to the grain according to the detected grain type, and then, the ejector mechanism 450 ejects the grains of the grain tray 210 on the grain platform mechanism 410, and then, the suction nozzle at one end of the swing arm mechanism 470 draws vacuum and sucks the grains on the grain tray 210, and the swing arm mechanism 470 rotates 180 degrees so that the suction nozzle brings The blue film of the BIN disk 110 is pushed out by the top film mechanism 460, so that the blue film and the crystal on the suction nozzle are close to each other. After the blue film and the crystal on the suction nozzle are close to each other, the top film mechanism 460 retracts the blue film of the BIN disk 110. By repeatedly performing this step, all the crystals of the crystal plate 210 on the crystal platform mechanism 410 can be taken and placed on the BIN platform mechanism 420. The blue film of the BIN tray 110 makes the grains fit tightly against the blue film. After the sorting is completed, the loading and unloading mechanism 500 takes the BIN tray 110 with the sorted grains and places it into the full BIN material box 300. At the same time, the loading and unloading mechanism 500 also grabs the grain tray 210 with the grains taken from the grain platform mechanism 410 back to the wafer material box 200 to complete the recovery of the grain tray 210. Finally, the BIN tray 110 in the full BIN material box 300 is taken out manually.

[0045] Reference Figure 1 , Figure 6 and Figure 7As shown, according to some embodiments of the utility model, a multi-station grain sorting machine 1000 includes a frame 600, and the frame 600 is provided with a beam 610, the beam 610 extends in the left and right direction, the X-axis is parallel to the first straight line direction, the beam 610 is parallel to the X-axis, and the motion mechanism includes an X-axis moving module 520 and a YZ-axis moving module 530, the X-axis moving module 520 is used to drive the YZ-axis moving module 530 and the material picking mechanism 540 to move along the length direction of the beam 610, and the YZ-axis moving module 530 is used to drive the material picking mechanism 540 to move along the Y-axis and the Z-axis respectively, so that the material picking mechanism 540 can move along the X-axis to traverse multiple material boxes of the same type, for example, traverse multiple wafer material boxes 200 or BIN material boxes 100, and the material picking mechanism 540 can move along the Y-axis to cross different types of material boxes, for example, the material picking mechanism 540 moves from the top of the wafer material box 200 to the top of the BIN material box 100. In some embodiments, multiple YZ-axis moving modules 530 and material picking mechanisms 540 are provided. In some embodiments, multiple material picking mechanisms 540 can be arranged in a one-to-one correspondence with multiple YZ-axis moving modules 530, or multiple material picking mechanisms 540 can be arranged in a corresponding manner with one YZ-axis moving module 530. By setting up a set of X-axis moving modules 520, multiple sets of material picking mechanisms 540 can be driven to move along the X-axis, which can reduce the number of X-axis moving modules 520, save costs, and reduce the occupied space.

[0046] Reference Figure 6 and Figure 7 As shown, according to some embodiments of the utility model, the YZ axis moving module 530 includes a connecting plate 531, a first Z axis moving module 532 and a second Z axis moving module 533, and the material picking mechanism 540 includes a first material picking clamp 541 and a second material picking clamp 542, the first material picking clamp 541 and the second material picking clamp 542 are respectively located on both sides of the connecting plate 531, the first material picking clamp 541 and the second material picking clamp 542 are respectively located on the left and right, the first Z axis moving module 532 is used to drive the first material picking clamp 541 to move along the Z axis, and the second Z axis moving module 533 is used to drive the second material picking clamp 542 to move along the Z axis. One material picking clamp can be used to clamp the grain disk 210, and the other material picking clamp can be used to clamp the BIN disk 110. The two Z axis moving modules respectively drive the two material picking clamps to move along the Z axis, which can improve the material picking efficiency and shorten the movement path of the material picking mechanism 540.

[0047] Reference Figures 6 to 8As shown, according to some embodiments of the utility model, the connecting plate 531 is provided with a first tensioning wheel 534 and a second tensioning wheel 535, and the first tensioning wheel 534 and the second tensioning wheel 535 are both provided with a clamping groove 550, and the material picking mechanism 540 is located between the first tensioning wheel 534 and the second tensioning wheel 535, and the first tensioning wheel 534 and the second tensioning wheel 535 can clamp the grain disk 210 or the BIN disk 110 clamped by the material picking mechanism 540. When the material picking mechanism 540 moves along the Z axis to clamp the grain disk 210 or the BIN disk 110, the grain disk 210 or the BIN disk 110 will move between the first tensioning wheel 534 and the second tensioning wheel 535. The first tensioning wheel 534 and the second tensioning wheel 535 can clamp the grain disk 210 or the BIN disk 110. Part of the structure of the grain disk 210 or the BIN disk 110 is inserted into the clamping groove 550 to limit the grain disk 210 or the BIN disk 110 to prevent the grain disk 210 or the BIN disk 110 from shaking randomly and falling.

[0048] Reference Figure 6 and Figure 7 As shown, according to some embodiments of the utility model, the connecting plate 531 is provided with a first sliding component 536 and a second sliding component 537. The first sliding component 536 can drive the first tensioning wheel 534 along the horizontal direction, and the second sliding component 537 can drive the second tensioning wheel 535 along the horizontal direction, so that the distance between the first tensioning wheel 534 and the second tensioning wheel 535 can be adjusted, and the tensioning force of the first tensioning wheel 534 and the second tensioning wheel 535 can be adjusted, which is more flexible to use.

[0049] The first and second sliding components 537 of the above embodiment may be a combination of a slide rail and a slider, and the slider may be locked by bolts, or may be a combination of a slide rail and a pulley, and the pulley may be locked by bolts.

[0050] Reference Figure 6 and Figure 7 As shown, according to some embodiments of the present invention, the loading and unloading mechanism 500 includes a barcode scanner 543, which is used to read the QR code on the chip tray 210 or the BIN tray 110, and can identify the information of the chip tray 210 or the BIN tray 110.

[0051] Reference Figure 6 , Figure 7 and Fig. 9As shown, according to some embodiments of the utility model, the loading and unloading mechanism 500 includes a fixed frame 545 and a first connecting member 546. The fixed frame 545 is fixedly connected to the connecting plate 531, and the barcode scanner 543 is connected to the first connecting member 546. The first connecting member 546 is connected to the fixed frame 545 through a first fastener. The first connecting member 546 can be an L-shaped plate structure, and the first fastener can be a bolt. The fixed frame 545 is provided with a first adjustment hole 548, and the first fastener is passed through the first adjustment hole 548. The first adjustment hole 548 extends in a horizontal direction, and it can also be understood that the first adjustment hole 548 extends in a front-to-back direction. After loosening the first fastener, the first connecting member 546 can adjust its position relative to the fixed frame 545 along the length direction of the first adjustment hole 548, thereby adjusting the position of the barcode scanner 543, which is more flexible to use.

[0052] Reference Figure 6 , Figure 7 and Fig. 9 As shown, according to some embodiments of the utility model, the loading and unloading mechanism 500 includes a second connecting member 547, the barcode scanner 543 is connected to the first connecting member 546 through the second connecting member 547, the first connecting member 546 is connected to the second connecting member 547 through a second fastener, the second fastener can be a bolt, the second connecting member 547 is provided with a second adjustment hole 549, the second adjustment hole 549 extends along the circumferential direction, the second fastener is passed through the second adjustment hole 549, after loosening the second fastener, the second connecting member 547 can be relative to the first connecting member 546 along the circumferential adjustment position of the second adjustment hole 549. It can also be understood that the barcode scanner 543 can be rotated with the forward and backward direction as the axis to adjust the angle of the barcode scanner 543, so that the barcode scanner 543 can be accurately aligned with the two-dimensional code on the grain disk 210 or the BIN disk 110.

[0053] It should be noted that, for the first, second and third motion mechanisms of the above embodiments, they may include multiple sets of moving modules, which are driven by multi-motor linear motors, or may be formed by a combination of multiple sets of single shafts, slide rails, sliders, screws, synchronous belts and other structures. For example, a combination of a linear motor driving a matching linear guide, a combination of a screw, a linear guide and a motor, and a combination of a belt, a linear guide and a motor, etc., so as to drive the corresponding platform mechanism to move along the X-axis, the Y-axis or the Z-axis, which is not limited here.

[0054] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, inside, outside, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0055] In the description of the utility model, if there is a description of first or second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0056] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0057] The embodiments of the utility model are described in detail above in conjunction with the accompanying drawings. Finally, it should be explained that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model is described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. Multi-station grain sorting machine, characterized in that: include: A plurality of BIN boxes, wherein the BIN boxes are used to store BIN trays; A plurality of wafer boxes, each of which is used to store wafer trays, each of which carries wafers; Full BIN bin; A plurality of sorting mechanisms, wherein the sorting mechanisms include a grain platform mechanism and a BIN platform mechanism, and the sorting mechanisms are used to sort the grains on the grain platform mechanism to the BIN disk of the BIN platform mechanism; The loading and unloading mechanism includes a first motion mechanism and a material picking mechanism. The first motion mechanism is used to drive the material picking mechanism to move along the X-axis, Y-axis and Z-axis respectively, so that the material picking mechanism can grab the BIN tray in the BIN material box to the BIN platform mechanism, grab the grain tray in the wafer material box to the grain platform mechanism, grab the BIN tray sorted by the sorting mechanism to the full BIN material box, and grab the grain tray on the grain platform mechanism to the wafer material box.

2. The multi-station grain sorting machine according to claim 1, characterized in that: Multiple BIN tray boxes are arranged along a first straight line direction, multiple wafer boxes are arranged along a second straight line direction, and multiple sorting mechanisms are arranged along a third straight line direction. The first straight line direction, the second straight line direction and the third straight line direction are parallel to each other, and the wafer box is located between the sorting mechanism and the BIN box.

3. The multi-station grain sorting machine according to claim 2, characterized in that: The full BIN bin is located at the end of the plurality of wafer bins.

4. The multi-station grain sorting machine according to claim 2, characterized in that: The single sorting mechanism is located between two adjacent wafer material boxes.

5. The multi-station grain sorting machine according to claim 1, characterized in that: There are at least two sorting mechanisms.

6. The multi-station grain sorting machine according to claim 2, characterized in that: The multi-station grain sorting machine includes a frame, the frame is provided with a crossbeam, the X-axis is parallel to the first straight line direction, the crossbeam is parallel to the X-axis, the first motion mechanism includes an X-axis moving module and a YZ-axis moving module, the X-axis moving module is used to drive the YZ-axis moving module and the material picking mechanism to move along the length direction of the crossbeam, and the YZ-axis moving module is used to drive the material picking mechanism to move along the Y-axis and Z-axis respectively.

7. The multi-station grain sorting machine according to claim 6, characterized in that: The YZ-axis moving module includes a connecting plate, a first Z-axis moving module, and a second Z-axis moving module. The material picking mechanism includes a first material picking clamp and a second material picking clamp. The first material picking clamp and the second material picking clamp are respectively located on both sides of the connecting plate. The first Z-axis moving module is used to drive the first material picking clamp to move along the Z axis, and the second Z-axis moving module is used to drive the second material picking clamp to move along the Z axis.

8. The multi-station grain sorting machine according to claim 7, characterized in that: The connecting plate is provided with a first tensioning wheel and a second tensioning wheel, and the first tensioning wheel and the second tensioning wheel are both provided with a clamping groove. The material picking mechanism is located between the first tensioning wheel and the second tensioning wheel, and the clamping groove of the first tensioning wheel and the clamping groove of the second tensioning wheel can clamp the grain disk or BIN disk clamped by the material picking mechanism.

9. The multi-station grain sorting machine according to claim 6, characterized in that: The YZ axis moving module and the material taking mechanism are both provided in plurality.

10. The multi-station grain sorting machine according to claim 1, characterized in that: The sorting mechanism includes a second motion mechanism, a third motion mechanism, a pin mechanism, a top film mechanism, a swing arm mechanism and a CCD alignment device. The second motion mechanism is used to drive the grain platform mechanism to move to the CCD alignment device. The third motion mechanism is used to drive the BIN platform mechanism to move to the CCD alignment device. The CCD alignment device is used to perform CCD detection on the grains on the grain platform mechanism and the BIN disk grains on the BIN platform mechanism. The pin mechanism is used to eject the grains on the grain disk on the grain platform mechanism. The top film mechanism is used to eject the blue film on the BIN disk on the BIN platform mechanism. The swing arm mechanism can rotate with the up and down direction as the axis. The swing arm mechanism is used to take and place the grains on the grain platform mechanism to the blue film on the BIN disk on the BIN platform mechanism.

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