Blanking machine and automatic optical detection equipment

Abstract

The utility model relates to a discharging machine and automatic optical detection equipment. A material discharging mechanical arm assembly transfers non-defective materials to the position above a material disc of a non-defective product bin in the first movement direction and places the non-defective materials on the material disc of the non-defective product bin in the second movement direction; the defective materials are transferred to the position above a material disc of a defective bin in the first movement direction, and the defective materials are placed on the material disc of the defective bin in the second movement direction; the material tray carrying assembly is arranged to transfer the material trays full of the materials on the good product bin to the good product discharging, caching and stacking assembly. On one hand, other structures are easily matched to achieve the discharging function; on the other hand, the structure is simplified, and the positions of the good product bin and the bad product bin can be flexibly adjusted according to position limitation; and on the other hand, the non-defective product discharging buffering stacking disc assembly is adopted to be matched with the non-defective product bin and the material disc carrying assembly, a buffering area is provided, the non-defective product bin is relatively larger, operation stagnation caused by full load of the non-defective product bin is avoided, and therefore the production efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of blanking, and in particular to a blanking machine and automatic optical inspection equipment. Background Art

[0002] The blanking machine can realize automatic or semi-automatic blanking and has been widely used in industrial production.

[0003] Taking optical inspection equipment as an example, optical inspection equipment scans materials such as products through optical methods, reads the image of materials or specific products through optical cameras, and compares it with the target image through logical algorithms, so as to realize defect inspection of materials or specific products; since optical inspection equipment usually completes these optical inspections in an automated manner, that is, it realizes automated optical inspection (AOI), it is called automatic optical inspection equipment. After the inspection is completed, the materials are unloaded through the unloading machine.

[0004] However, the traditional blanking machine has a complex structure, and due to improper design of the good product warehouse, there is insufficient space to store good products, resulting in operational stagnation and affecting production efficiency. Utility Model Content

[0005] Based on this, it is necessary to provide a blanking machine and automatic optical detection equipment.

[0006] In one embodiment, a material unloading machine includes a material unloading manipulator assembly, a material tray handling assembly, a good material unloading buffer stacking assembly, a good product bin and a bad product bin;

[0007] The material unloading manipulator assembly is configured to obtain materials, transfer good materials to the upper part of the material tray of the good bin along the first movement direction, and place the good materials on the material tray of the good bin along the second movement direction; and transfer bad materials to the upper part of the material tray of the bad bin along the first movement direction, and place the bad materials on the material tray of the bad bin along the second movement direction;

[0008] The tray transport assembly is respectively arranged adjacent to the good product unloading cache stack tray assembly and the good product bin, and the tray transport assembly is configured to transfer the trays fully loaded with materials on the good product bin to the good product unloading cache stack tray assembly.

[0009] The above-mentioned unloading machine, through the cooperation of the material unloading robot assembly and the tray handling assembly, places the materials into the good product bin and the bad product bin according to whether they are good or defective. On the one hand, it is easy to cooperate with other structures to realize the unloading function; on the other hand, it is conducive to simplifying its own structure, and the positions of the good product bin and the bad product bin can be flexibly adjusted according to position restrictions; on the other hand, the good product unloading cache stacking tray assembly is used in conjunction with the good product bin and the tray handling assembly to provide a cache area, so that the good product bin is relatively larger, avoiding operation stagnation due to the full load of the good product bin, which is beneficial to improving production efficiency.

[0010] In one of the embodiments, the material unloading machine further comprises a docking and transplanting assembly, wherein the docking and transplanting assembly is configured to obtain the material that has completed the inspection and transport the material to the material unloading manipulator assembly along a fourth movement direction;

[0011] The first movement direction, the second movement direction and the fourth movement direction are perpendicular to each other.

[0012] In one embodiment, the unloading machine also includes a transfer flipping component, which is configured to receive the material from the docking and transplanting component, flip the good material and convey it to the material unloading robot component along a fourth movement direction, and directly convey the bad material to the material unloading robot component along the fourth movement direction.

[0013] In one of the embodiments, the material unloading manipulator assembly is provided with a material handling Y-axis, a material handling Z-axis manipulator and a rotating motor;

[0014] The material handling Z-axis manipulator is arranged on the material handling Y-axis, the rotary motor is arranged on the material handling Z-axis manipulator, and the rotary motor is arranged to rotate in a third motion direction perpendicular to the second motion direction to adjust the position of the material handling Z-axis manipulator;

[0015] The material handling Y-axis is configured to move along the first movement direction so that the material handling Z-axis manipulator moves to a position to obtain materials, above a material tray of a good bin, or above a material tray of a bad bin;

[0016] The material handling Z-axis manipulator is configured to move along the second movement direction to obtain materials, and place good materials on a material tray in a good bin, or place bad materials on a material tray in a bad bin.

[0017] In one of the embodiments, the tray handling assembly is provided with a tray handling Y-axis, a tray handling Z-axis and a chuck cylinder;

[0018] The tray transport Z axis is arranged on the tray transport Y axis, and the chuck cylinder is arranged on the tray transport Z axis;

[0019] The tray transport Y axis is configured to move along the first movement direction so that the tray transport Z axis moves to above the good product bin or above the good product unloading buffer stacking tray assembly;

[0020] The tray transport Z axis is set to move along the second movement direction to obtain the tray full of materials on the good product bin through the chuck cylinder, or to place the tray full of materials on the good product unloading cache stacking tray assembly through the chuck cylinder.

[0021] In one embodiment, the good product unloading buffer stacking tray assembly is provided with a conveying motor, a flat belt and a roller;

[0022] The flat belt and the roller are both configured to carry a tray full of materials on the good product unloading buffer stacking tray assembly;

[0023] The conveying motor is drivingly connected to the flat belt, and the conveying motor drives the flat belt to move, so as to transport a material tray fully loaded with materials along a fourth movement direction.

[0024] In one embodiment, the good product bin includes a good product full tray position, a good product positioning cylinder, a good product empty tray position, a good product conveying belt module, a good product supporting cylinder, a good product lifting shaft, a good product lifting cylinder and a good product bracket;

[0025] The good product lifting cylinder is configured to drive the good product support to move along the good product lifting shaft, and the extension direction of the good product lifting shaft is parallel to the second movement direction;

[0026] The good product full tray position, the good product positioning cylinder, the good product empty tray position, the good product conveyor belt module and the good product supporting cylinder are respectively arranged on the good product support, and the good product positioning cylinder is used to position the tray on the good product support so that the tray on the good product support is at the good product empty tray position;

[0027] The good product support cylinder is configured to support the good product conveying belt module, and the good product conveying belt module is configured to convey the material tray at the good product empty tray position to the good product full tray position, and the conveying direction of the good product conveying belt module is parallel to the fourth movement direction;

[0028] The defective bins include defective full bins, defective positioning cylinders, defective empty bins, defective conveyor belt modules, defective supporting cylinders, defective lifting shafts, defective lifting cylinders and defective brackets;

[0029] The bad lifting cylinder is configured to drive the bad bracket to move along the bad lifting shaft, and the extension direction of the bad lifting shaft is parallel to the second movement direction;

[0030] The defective full tray position, the defective positioning cylinder, the defective empty tray position, the defective conveyor belt module and the defective supporting cylinder are respectively arranged on the defective bracket, and the defective positioning cylinder is used to locate the position of the tray on the defective bracket so that the tray on the defective bracket is at the defective empty tray position;

[0031] The defective supporting cylinder is configured to support the defective conveying belt module, and the defective conveying belt module is configured to convey the material tray at the defective empty tray position to the defective full tray position, and the conveying direction of the defective conveying belt module is parallel to the fourth movement direction.

[0032] In one embodiment, the good product bin includes a first good product bin and a second good product bin arranged side by side along the fourth movement direction, or the good product unloading buffer stacking tray assembly is used as the second good product bin;

[0033] The defective bin includes a first defective bin and a second defective bin arranged side by side along a fourth moving direction.

[0034] In one embodiment, the material unloading machine further comprises a frame, and the material unloading manipulator assembly, the material tray handling assembly, the good material unloading buffer stacking tray assembly, the good product bin and the bad product bin are all arranged on the frame;

[0035] The material unloading robot assembly has a movement direction parallel to the upper surface of the frame.

[0036] In one embodiment, an automatic optical inspection device includes a detection device and a material unloading machine as described in any embodiment, wherein a material unloading robot assembly of the material unloading machine obtains the material conveyed by the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 This is a schematic structural diagram of an embodiment of the blanking machine described in this application.

[0039] Figure 2 for Figure 1 A partial structural schematic diagram of the illustrated embodiment.

[0040] Figure 3 for Figure 2 Another schematic diagram of the embodiment shown.

[0041] Figure 4 for Figure 2 Another schematic diagram of the embodiment shown.

[0042] Figure 5 for Figure 4 A partial structural schematic diagram of the illustrated embodiment.

[0043] Figure 6 for Figure 4 Another schematic diagram of the embodiment shown.

[0044] Figure 7 for Figure 6 An enlarged schematic diagram of point A of the illustrated embodiment.

[0045] Figure 8 for Figure 6 An enlarged schematic diagram of point B of the illustrated embodiment.

[0046] Fig. 9 for Figure 6 An enlarged schematic diagram of point C of the illustrated embodiment.

[0047] Fig.10 for Figure 6 An enlarged schematic diagram of point D of the illustrated embodiment.

[0048] Fig.11 for Figure 6 An enlarged schematic diagram of point E of the illustrated embodiment.

[0049] Fig.12 for Figure 6 An enlarged schematic diagram of point F of the illustrated embodiment.

[0050] Fig.13 for Figure 4 A schematic structural diagram of a material unloading robot assembly of the illustrated embodiment.

[0051] Fig.14 for Figure 4 A schematic structural diagram of the tray handling assembly of the illustrated embodiment.

[0052] Fig.15 for Figure 4 A schematic structural diagram of a good product unloading buffer stacking tray assembly of the illustrated embodiment.

[0053] Fig.16 for Figure 4 A schematic structural diagram of a good product bin of the illustrated embodiment.

[0054] Fig.17 for Figure 4 A schematic structural diagram of a defective bin of the illustrated embodiment.

[0055] Fig.18This is a schematic structural diagram of an embodiment of the automatic optical inspection equipment described in this application.

[0056] Reference numerals: material unloading machine 100, material unloading manipulator assembly 200, material tray transport assembly 300, good material unloading buffer stacking tray assembly 400, good product bin 500, bad product bin 600, rack 700, detection device 800, automatic optical detection equipment 900;

[0057] Material 101, tray 102, docking transplanting component 110, fourth movement direction 111, transfer flip component 120, first movement direction 201, second movement direction 202, third movement direction 203, material handling Y axis 210, material handling Z axis manipulator 220, rotating motor 230, tray handling Y axis 310, tray handling Z axis 320, chuck cylinder 330, conveying motor 410, flat belt 420, roller 430, good product full tray position 501, good product positioning air cylinder Cylinder 502, good product empty disk position 503, good product conveying belt module 504, good product supporting cylinder 505, good product lifting shaft 506, good product lifting cylinder 507, first good product bin 510, second good product bin 520, defective full disk position 601, defective positioning cylinder 602, defective empty disk position 603, defective conveying belt module 604, defective supporting cylinder 605, defective lifting shaft 606, defective lifting cylinder 607, first defective bin 610, second defective bin 620, upper surface 710. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0059] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it may be directly on the other component or there may also be a central component. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be a central component at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in the specification of this application are for illustrative purposes only and do not represent the only implementation method.

[0060] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0061] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first feature is directly in contact with the second feature, or the first feature and the second feature are in contact indirectly through an intermediate medium. Moreover, a first feature being “above”, “above”, or “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, or “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] Unless otherwise defined, all technical and scientific terms used in the specification of this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in the specification of this application includes any and all combinations of one or more related listed items.

[0063] The present application discloses a feeder and automatic optical inspection equipment, which include some or all of the technical features of the following embodiments; that is, the feeder and automatic optical inspection equipment include some or all of the following structures. In one embodiment of the present application, a feeder includes a material feeder manipulator assembly, a tray handling assembly, a good feeder cache stack assembly, a good bin and a bad bin; the material feeder manipulator assembly is configured to obtain materials, transfer good materials to the top of the tray of the good bin along a first movement direction, and place good materials on the tray of the good bin along a second movement direction; and transfer bad materials to the top of the tray of the bad bin along the first movement direction, and place bad materials on the tray of the bad bin along the second movement direction; the tray handling assembly is respectively arranged adjacent to the good feeder cache stack assembly and the good bin, and the tray handling assembly is configured to transfer the tray full of materials on the good bin to the good feeder cache stack assembly. The above-mentioned unloading machine, through the cooperation of the material unloading manipulator assembly and the tray handling assembly, places the materials into the good product bin and the bad product bin according to whether they are good or bad products. On the one hand, it is easy to cooperate with other structures to realize the unloading function; on the other hand, it is conducive to simplifying its own structure, and the positions of the good product bin and the bad product bin can be flexibly adjusted according to the position restrictions; on the other hand, the good product unloading cache stacking tray assembly is used in conjunction with the good product bin and the tray handling assembly to provide a cache area, making the good product bin relatively larger, avoiding operation stagnation due to full loading of the good product bin, which is conducive to improving production efficiency. The following is combined with Figures 1 to 18 , the blanking machine and the automatic optical inspection equipment are described in detail.

[0064] In one embodiment, a feeder 100 is as follows Figure 1 and Figure 2 As shown, it includes a material unloading robot assembly 200, a material tray handling assembly 300, a good material unloading buffer stacking assembly 400, a good product bin 500 and a bad product bin 600. Figure 3 The material unloading manipulator assembly 200 is used to obtain the material 101 transmitted from other equipment, transfer the good material 101 to the good bin 500, and transfer the bad material 101 to the bad bin 600. Usually, these transmitted materials 101 have completed the inspection and are transmitted as good materials 101 or bad materials 101. As an example, the good material 101 is transmitted from the good material channel, and the bad material 101 is transmitted from the bad material channel. The tray handling assembly 300 is used to transport the tray or to transfer the tray 102 at a specific position on the good bin 500 to the good unloading cache stacking tray assembly 400. Such a structural design can realize the unloading process of the material 101 that has completed the inspection through one or more good bins 500 and one or more bad bins 600.

[0065] Combination Figure 3 and Figure 4 In one embodiment, the material unloading machine 100 further includes a frame 700, and the material unloading manipulator assembly 200, the material tray handling assembly 300, the good material unloading buffer stacking assembly 400, the good product bin 500 and the bad bin 600 are all arranged on the frame 700; Figure 5 In this embodiment, the material unloading manipulator assembly 200 has a movement direction 201 parallel to the upper surface 710 of the frame 700. In this embodiment, the good product bin 500 includes two good product bins arranged side by side along the fourth movement direction 111, or the good product unloading cache stacking plate assembly 400 is used as one of the good product bins; the bad product bin 600 includes two bad product bins arranged side by side along the fourth movement direction 111. Such a structural design enables the unloading machine 100 to have a greater carrying capacity for good or bad products.

[0066] Combination Figure 2 and Figure 5 In each embodiment, the material unloading manipulator assembly 200 is configured to obtain the material 101, transfer the good material 101 to the upper part of the material tray 102 of the good bin 500 along the first movement direction 201, and place the good material 101 on the material tray 102 of the good bin 500 along the second movement direction 202; and transfer the bad material 101 to the upper part of the material tray 102 of the bad bin 600 along the first movement direction 201, and place the bad material 101 on the material tray 102 of the bad bin 600 along the second movement direction 202. With such a structural design, the material unloading manipulator assembly 200 places the material 101 into the good bin 500 and the bad bin 600 according to good or bad products, which is easy to cooperate with other structures to realize the unloading function, and is conducive to simplifying its own structure, and the positions of the good bin 500 and the bad bin 600 can be flexibly adjusted according to position restrictions.

[0067] Furthermore, the tray handling assembly 300 is respectively arranged adjacent to the good product unloading cache stacking tray assembly 400 and the good product bin 500, and the tray handling assembly 300 is arranged to transfer the tray 102 full of materials 101 on the good product bin 500 to the good product unloading cache stacking tray assembly 400. Such a structural design, through the cooperation of the material unloading manipulator assembly 200, the good product unloading cache stacking tray assembly 400 and the tray handling assembly 300, provides an efficient and convenient cache area, making the good product bin 500 relatively larger, avoiding operation stagnation due to the full load of the good product bin 500, thereby helping to improve production efficiency.

[0068] As an example, in this embodiment, the first movement direction 201 is perpendicular to the second movement direction 202. The first movement direction 201 is parallel to the upper surface 710 of the frame 700, and the second movement direction 202 is perpendicular to the upper surface 710 of the frame 700. In one embodiment, Figure 5 and Figure 6 As shown, the material unloading machine 100 also includes a docking and transplanting component 110, which is configured to obtain the material 101 that has completed the inspection, that is, the material 101 can be marked as a good product or a bad product after other equipment has completed the inspection; the docking and transplanting component 110 transports the material 101 to the material unloading manipulator component 200 along the fourth movement direction 111; combined Figure 2 , the first movement direction 201, the second movement direction 202 and the fourth movement direction 111 are perpendicular to each other; that is, the first movement direction 201 is perpendicular to the second movement direction 202 and the fourth movement direction 111 respectively, and the second movement direction 202 is perpendicular to the fourth movement direction 111.

[0069] In order to facilitate the material unloading robot assembly 200 to process the material 101 at high speed, in this embodiment, the unloading machine 100 also includes a transfer flipping assembly 120, and the transfer flipping assembly 120 is configured to receive the material 101 of the docking and transplanting assembly 110, flip the good material 101 and convey it to the material unloading robot assembly 200 along the fourth movement direction 111, and directly convey the bad material 101 to the material unloading robot assembly 200 along the fourth movement direction 111; conversely Alternatively, the defective material 101 may be turned over and then conveyed to the material unloading robot assembly 200 along the fourth movement direction 111, and the good material 101 may be directly conveyed to the material unloading robot assembly 200 along the fourth movement direction 111; wherein the good material 101 is the material 101 that is marked as good after passing the test, and the defective material 101 is the material 101 that is marked as defective after passing the test, and may also be understood as the material 101 that is marked as defective after failing the test. With such a structural design, the docking and transfer of the material 101 that has been tested or in other previous processes can be achieved through the docking and transfer assembly 110 in cooperation with the material unloading robot assembly 200; the position distinction of the good or defective material 101 can also be achieved through the transfer and flipping assembly 120, so that the material unloading robot assembly 200 can quickly process the tested material 101, thereby improving production efficiency.

[0070] As an example, in one embodiment, Figure 7 and Figure 8As shown, a material tray 102 is provided on the defective bin 600 for receiving the defective material 101 transferred by the material unloading robot assembly 200. Fig. 9 and Fig.10 The material unloading manipulator assembly 200 and the tray handling assembly 300 are arranged side by side, and the tray handling assembly 300 is adjacent to the good material unloading cache stacking assembly 400, combined with Fig.11 and Fig.12 The good product bin 500 is arranged on the frame 700, and the good product material 101 transferred by the material unloading manipulator assembly 200 is placed on the material tray 102 of the good product bin 500. For the same material 101, the material tray 102 of the good product bin 500 and the material tray 102 of the bad bin 600 are set with the same specifications, or the material tray 102 of the good product bin 500, the material tray 102 of the bad bin 600 and the material tray 102 of the good product unloading buffer stacking tray assembly 400 are set with the same specifications. Such a structural design is conducive to simplifying the structure of the material unloading manipulator assembly 200 and the material tray handling assembly 300, avoiding excessive complexity resulting in large space occupation and high failure rate.

[0071] In one embodiment, if Fig.13As shown, the material unloading robot assembly 200 is provided with a material handling Y-axis 210, a material handling Z-axis robot 220 and a rotating motor 230; the material handling Z-axis robot 220 is arranged on the material handling Y-axis 210, the rotating motor 230 is arranged on the material handling Z-axis robot 220 or on the material handling Y-axis 210, and the rotating motor 230 is arranged to rotate in a third motion direction 203 perpendicular to the second motion direction 202 to adjust the position of the material handling Z-axis robot 220 so that the material handling Z-axis robot carrying the material 101 is The manipulator 220 is accurately aligned with the material tray 102; the material handling Y-axis 210 is configured to move along the first movement direction 201, so that the material handling Z-axis manipulator 220 moves to the position of obtaining the material 101, above the material tray 102 of the good bin 500, or above the material tray 102 of the bad bin 600; the material handling Z-axis manipulator 220 is configured to move along the second movement direction 202 to obtain the material 101, and place the good material 101 on the material tray 102 of the good bin 500, or place the bad material 101 on the material tray 102 of the bad bin 600. In other embodiments, the rotary motor 230 is disposed on the material handling Y-axis 210, the material handling Z-axis manipulator 220 is disposed on the rotary motor 230, and the rotary motor 230 is configured to rotate in a third movement direction 203 perpendicular to the second movement direction 202 to adjust the position of the material handling Z-axis manipulator 220. Such a structural design can provide a material unloading robot assembly 200 with a simple structure and efficient operation, without considering complex and expensive three-axis or higher robots, which is not only conducive to reducing production costs, but also conducive to improving unloading efficiency.

[0072] Exemplarily, the rotary motor 230 is configured to drive the material handling Z-axis manipulator 220 to rotate in a third movement direction 203 perpendicular to the second movement direction 202, so as to adjust the position of the material 101 carried by the material handling Z-axis manipulator 220 through the material handling Z-axis manipulator 220; or, the rotary motor 230 is configured to drive the position of the material 101 carried by the material handling Z-axis manipulator 220, so as to directly adjust the position of the material 101 carried by the material handling Z-axis manipulator 220. With such a structural design, the rotary motor 230 can be flexibly set, and it is only necessary to ensure that the material 101 carried by the material handling Z-axis manipulator 220 can accurately align with the material tray 102 of the good product bin 500 or the material tray 102 of the bad bin 600.

[0073] Exemplarily, the material handling Z-axis manipulator 220 is provided with a material handling Z-axis and a manipulator assembly, wherein the material handling Z-axis is arranged on the material handling Y-axis 210, and the manipulator assembly is arranged at one end of the material handling Z-axis away from the material handling Y-axis 210, and the rotating motor 230 is arranged on the material handling Z-axis and is rotationally connected with the manipulator assembly, and the rotating motor 230 is used to drive or drive the manipulator assembly to rotate in a third motion direction 203 perpendicular to the second motion direction 202 to adjust the position of the material handling Z-axis manipulator 220. The manipulator assembly carries or releases the material 101 by clamping or adsorption. With such a structural design, the material 101 can be quickly placed into the good product bin 500 and the bad product bin 600 according to good or bad products through the cooperation of the material unloading manipulator assembly 200 and the tray handling assembly 300.

[0074] In one embodiment, if Fig.14 As shown, the tray handling assembly 300 is provided with a tray handling Y-axis 310, a tray handling Z-axis 320 and a chuck cylinder 330; the tray handling Z-axis 320 is arranged on the tray handling Y-axis 310, and the chuck cylinder 330 is arranged on the tray handling Z-axis 320; the tray handling Y-axis 310 is arranged to move along the first movement direction 201, so that the tray handling Z-axis 320 is moved to above the good product warehouse 500 or above the good product unloading cache stack tray assembly 400; the tray handling Z-axis 320 is arranged to move along the second movement direction 202, so as to obtain the tray 102 full of materials 101 on the good product warehouse 500 through the chuck cylinder 330, or to place the tray 102 full of materials 101 on the good product unloading cache stack tray assembly 400 through the chuck cylinder 330. In other embodiments, an adsorption cylinder may be used instead of the chuck cylinder 330, and the tray 102 full of materials 101 on the good product bin 500 may be obtained by adsorption rather than by the clamping of the chuck cylinder 330, or the tray 102 full of materials 101 may be placed on the good product unloading cache stacking tray assembly 400. Such a structural design uses the good product unloading cache stacking tray assembly 400 in conjunction with the good product bin 500 and the tray handling assembly 300, providing a cache area, making the good product bin 500 relatively larger, avoiding operation stagnation due to full loading of the good product bin 500, and thus helping to improve production efficiency.

[0075] In one embodiment, if Fig.15As shown, the good product unloading cache stacking tray assembly 400 is provided with a conveying motor 410, a flat belt 420 and a roller 430; the flat belt 420 and the roller 430 are both configured to carry the tray 102 fully loaded with material 101 on the good product unloading cache stacking tray assembly 400; the conveying motor 410 is drivingly connected to the flat belt 420, and the conveying motor 410 drives the flat belt 420 to move, so as to transport the tray 102 fully loaded with material 101 along the fourth moving direction 111. Such a structural design has the advantages of simple structure and convenient implementation.

[0076] In one embodiment, if Fig.16 As shown, the good product bin 500 includes a good product full tray position 501, a good product positioning cylinder 502, a good product empty tray position 503, a good product conveying belt module 504, a good product supporting cylinder 505, a good product lifting shaft 506, a good product lifting cylinder 507 and a good product bracket 508; the good product lifting cylinder 507 is configured to drive the good product bracket 508 to move along the good product lifting shaft 506, and the extension direction of the good product lifting shaft 506 is parallel to the second movement direction 202; the good product full tray position 501, the good product positioning cylinder 502, the good product empty tray position 503, the good product conveying belt module 504 and the good product supporting cylinder 505 are respectively arranged on the good product bracket 508, the good product positioning cylinder 502 is used to position the material tray 102 on the good product bracket 508, so that the material tray 102 on the good product bracket 508 is located at the good product empty tray position 503; the good product supporting cylinder 505 is configured to support the good product conveying belt module 504, and the good product conveying belt module 504 is configured to convey the material tray 102 located at the good product empty tray position 503 to the good product full tray position 501, and the conveying direction of the good product conveying belt module 504 is parallel to the fourth movement direction 111. Similar to the above embodiment, in one of the embodiments, Fig.17As shown, the bad bin 600 includes a bad full disk position 601, a bad positioning cylinder 602, a bad empty disk position 603, a bad conveyor belt module 604, a bad supporting cylinder 605, a bad lifting shaft 606, a bad lifting cylinder 607 and a bad bracket 608; the bad lifting cylinder 607 is configured to drive the bad bracket 608 to move along the bad lifting shaft 606, and the extension direction of the bad lifting shaft 606 is parallel to the second movement direction 202; the bad full disk position 601, the bad positioning cylinder 602, the bad empty disk position 603, the bad conveyor belt module 604 and the bad supporting cylinder 605 are respectively arranged on the bad bracket 608, the bad positioning cylinder 602 is used to position the material tray 102 on the bad bracket 608, so that the material tray 102 on the bad bracket 608 is located in the bad empty tray position 603; the bad supporting cylinder 605 is arranged to support the bad conveying belt module 604, the bad conveying belt module 604 is arranged to convey the material tray 102 located in the bad empty tray position 603 to the bad full tray position 601, and the conveying direction of the bad conveying belt module 604 is parallel to the fourth movement direction 111. In the above embodiment, the shape and structure of the good product bin 500 and the bad bin 600 are the same, but the function definition and position setting are different.

[0077] In one embodiment, an automatic optical inspection device 900 is Fig.18 As shown, it includes a detection device 800 and a feeder 100 described in any embodiment. For example, the feeder 100 is adjacent to the detection device 800 to obtain the material 101 conveyed by the detection device 800; specifically, the material feeder manipulator assembly 200 of the feeder 100 obtains the material 101 conveyed by the detection device 800. Such a design, through the cooperation of the material feeder manipulator assembly 200 and the tray handling assembly 300, the material 101 is placed into the good product bin 500 and the bad product bin 600 according to good or bad products. On the one hand, it is easy to cooperate with other structures to realize the feeder function; on the other hand, it is conducive to simplifying its own structure, and the positions of the good product bin 500 and the bad product bin 600 can be flexibly adjusted according to the position limit; on the other hand, the good product feeder cache stacking tray assembly 400 is used to cooperate with the good product bin 500 and the tray handling assembly 300 to provide a cache area, so that the good product bin 500 is relatively larger, avoiding the operation stagnation caused by the full load of the good product bin 500, thereby improving the production efficiency.

[0078] As an example, in one embodiment, the automatic optical inspection equipment 900 includes a detection device 800 and a feeder 100, and the feeder 100 includes a material feeding robot assembly 200, a tray handling assembly 300, a good material feeding cache stack assembly 400, a good bin 500 and a bad bin 600; the material feeding robot assembly 200 is configured to obtain material 101, transfer the good material 101 to above the tray 102 of the good bin 500 along a first movement direction 201, and place the good material 101 into the good bin 500 along a second movement direction 202. The tray 102 of the good bin 500 is transferred to the tray 102 of the bad bin 600 along the first movement direction 201, and the bad material 101 is placed on the tray 102 of the bad bin 600 along the second movement direction 202; the tray handling assembly 300 is respectively arranged adjacent to the good unloading cache stacking tray assembly 400 and the good bin 500, and the tray handling assembly 300 is arranged to transfer the tray 102 full of material 101 on the good bin 500 to the good unloading cache stacking tray assembly 400. Those skilled in the art can understand that because the automatic optical inspection equipment 900 is provided with the unloading machine 100, the automatic optical inspection equipment 900 also has the beneficial technical effects of the unloading machine 100, which will not be repeated here.

[0079] The following is an example of a specific operation.

[0080] Manually move the stacked trays 102 to the empty tray position, and the bottom empty tray 102 is lowered to the good product conveying belt module 504 or the bad product conveying belt module 604. The belt conveying module includes the good product conveying belt module 504 or the bad product conveying belt module 604, and the empty tray is lowered to the working position, including the good product empty tray position 503 of the good product bin 500 and the bad empty tray position 603 of the bad bin 600. This step can be coordinated with the transfer flip component 120 to realize the tray flipping process. Then cooperate with the material unloading manipulator component 200 to unload the material, and move to the full tray position after the material is full, including the good product full tray position 501 of the good product bin 500 and the bad full tray position 601 of the bad bin 600, and stack the full trays, that is, the trays 102 full of materials 101, respectively through the lifting cylinder; wherein, the lifting cylinder includes the good product lifting cylinder 507 of the good product bin 500 and the bad lifting cylinder 607 of the bad bin 600. It is understandable that the good lifting cylinder 507 and the bad lifting cylinder 607 are only different in name, and the specific structures can be the same or different.

[0081] The material unloading robot assembly 200 includes a material handling Y-axis 210, a material handling Z-axis robot 220 and a rotating motor 230. The material handling Y-axis 210 can be understood as providing the Y-axis, i.e., the first movement direction 201, the material handling Z-axis robot 220 can be understood as providing the Z-axis, i.e., the second movement direction 202, and the rotating motor 230 can be understood as providing the R-axis, i.e., the third movement direction 203. The material unloading robot assembly 200 cooperates with the movement of the material tray 102 to unload the material 101 into the material tray 102.

[0082] The tray handling assembly 300 includes a tray handling Y-axis 310, a tray handling Z-axis 320 and a chuck cylinder 330, which transfers the tray 102 loaded with materials 101 on the good product bin 500 to the belt roller cache assembly of the good product unloading cache stack assembly 400, such as a flat belt 420 and a roller 430.

[0083] The good product unloading buffer stacking tray assembly 400 includes a conveying motor 410, a flat belt 420 and a roller 430, etc. The tray handling assembly 300 or its clamping cylinder 330 or other manipulator stacks the tray 102 on the flat belt 420. After it is full, the entire stack of materials of the tray 102 loaded with material 101 is conveyed to the roller 430, and then the tray 102 loaded with material 101 is taken away manually outside the equipment to complete the unloading.

[0084] It should be noted that other embodiments of the present application also include a feeder and automatic optical inspection equipment that can be implemented by combining the technical features in the above embodiments.

[0085] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of patent protection of the present application shall be subject to the attached claims.

Claims

1. A blanking machine (100), characterized in that: It comprises a material unloading manipulator component (200), a material tray transport component (300), a good product unloading buffer stacking component (400), a good product bin (500) and a bad product bin (600); The material unloading robot assembly (200) is configured to obtain material (101), transfer good material (101) to above the material tray (102) of the good product bin (500) along a first movement direction (201), and place the good material (101) on the material tray (102) of the good product bin (500) along a second movement direction (202); and transfer bad material (101) to above the material tray (102) of the bad product bin (600) along the first movement direction (201), and place the bad material (101) on the material tray (102) of the bad product bin (600) along the second movement direction (202); The tray transport assembly (300) is respectively arranged adjacent to the good product unloading cache stacking tray assembly (400) and the good product bin (500), and the tray transport assembly (300) is arranged to transfer a tray (102) full of materials (101) on the good product bin (500) to the good product unloading cache stacking tray assembly (400).

2. The blanking machine (100) according to claim 1, characterized in that: The material unloading machine (100) further comprises a docking and transplanting component (110), wherein the docking and transplanting component (110) is configured to obtain the material (101) that has completed the inspection and transport the material (101) to the material unloading manipulator component (200) along a fourth movement direction (111); The first movement direction (201), the second movement direction (202), and the fourth movement direction (111) are perpendicular to each other.

3. The blanking machine (100) according to claim 2, characterized in that: The material unloading machine (100) further comprises a transfer flipping assembly (120), wherein the transfer flipping assembly (120) is configured to receive the material (101) from the docking and transplanting assembly (110), flip the good material (101) and convey it to the material unloading manipulator assembly (200) along a fourth movement direction (111), and convey the bad material (101) directly to the material unloading manipulator assembly (200) along the fourth movement direction (111).

4. The blanking machine (100) according to claim 1, characterized in that: The material unloading manipulator assembly (200) is provided with a material handling Y-axis (210), a material handling Z-axis manipulator (220) and a rotating motor (230); The material handling Z-axis manipulator (220) is arranged on the material handling Y-axis (210), the rotary motor (230) is arranged on the material handling Z-axis manipulator (220), and the rotary motor (230) is arranged to rotate in a third movement direction (203) perpendicular to the second movement direction (202) to adjust the position of the material handling Z-axis manipulator (220); The material handling Y-axis (210) is configured to move along the first movement direction (201) so that the material handling Z-axis manipulator (220) moves to a position for acquiring materials (101), above a material tray (102) of a good product bin (500), or above a material tray (102) of a bad product bin (600); The material handling Z-axis robot (220) is configured to move along the second movement direction (202) to obtain materials (101) and place good materials (101) on a material tray (102) of a good bin (500), or place bad materials (101) on a material tray (102) of a bad bin (600).

5. The blanking machine (100) according to claim 1, characterized in that: The tray transport assembly (300) is provided with a tray transport Y axis (310), a tray transport Z axis (320) and a chuck cylinder (330); The tray transport Z axis (320) is arranged on the tray transport Y axis (310), and the chuck cylinder (330) is arranged on the tray transport Z axis (320); The tray transport Y axis (310) is configured to move along the first movement direction (201) so that the tray transport Z axis (320) moves above the good product bin (500) or above the good product unloading buffer stacking tray assembly (400); The tray transport Z axis (320) is configured to move along the second movement direction (202) so as to obtain a tray (102) full of materials (101) on the good product bin (500) through the chuck cylinder (330), or to place a tray (102) full of materials (101) on the good product unloading buffer stacking tray assembly (400) through the chuck cylinder (330).

6. The blanking machine (100) according to claim 1, characterized in that: The good product unloading cache stacking tray assembly (400) is provided with a transmission motor (410), a flat belt (420) and a roller (430); The flat belt (420) and the roller (430) are both configured to carry a material tray (102) fully loaded with material (101) on the good product unloading buffer stacking tray assembly (400); The conveying motor (410) is drivingly connected to the flat belt (420), and the conveying motor (410) drives the flat belt (420) to move, so as to convey the material tray (102) fully loaded with material (101) along a fourth movement direction (111).

7. The blanking machine (100) according to claim 1, characterized in that: The good product bin (500) comprises a good product full tray position (501), a good product positioning cylinder (502), a good product empty tray position (503), a good product transmission belt module (504), a good product support cylinder (505), a good product lifting shaft (506), a good product lifting cylinder (507) and a good product bracket (508); The good product lifting cylinder (507) is configured to drive the good product support (508) to move along the good product lifting shaft (506), and the extension direction of the good product lifting shaft (506) is parallel to the second movement direction (202); The good product full tray position (501), the good product positioning cylinder (502), the good product empty tray position (503), the good product conveyor belt module (504) and the good product supporting cylinder (505) are respectively arranged on the good product support (508); the good product positioning cylinder (502) is used to position the material tray (102) on the good product support (508) so that the material tray (102) on the good product support (508) is located at the good product empty tray position (503); The good product support cylinder (505) is configured to support the good product conveyor belt module (504), and the good product conveyor belt module (504) is configured to convey the material tray (102) at the good product empty tray position (503) to the good product full tray position (501), and the conveying direction of the good product conveyor belt module (504) is parallel to the fourth movement direction (111); The defective bin (600) comprises a defective full disk position (601), a defective positioning cylinder (602), a defective empty disk position (603), a defective conveyor belt module (604), a defective supporting cylinder (605), a defective lifting shaft (606), a defective lifting cylinder (607) and a defective bracket (608); The defective lifting cylinder (607) is configured to drive the defective support (608) to move along the defective lifting shaft (606), and the extension direction of the defective lifting shaft (606) is parallel to the second movement direction (202); The defective full tray position (601), the defective positioning cylinder (602), the defective empty tray position (603), the defective conveyor belt module (604) and the defective supporting cylinder (605) are respectively arranged on the defective bracket (608), and the defective positioning cylinder (602) is used to locate the position of the tray (102) on the defective bracket (608) so that the tray (102) on the defective bracket (608) is located at the defective empty tray position (603); The defective supporting cylinder (605) is configured to support the defective conveying belt module (604), and the defective conveying belt module (604) is configured to convey the material tray (102) at the defective empty tray position (603) to the defective full tray position (601), and the conveying direction of the defective conveying belt module (604) is parallel to the fourth movement direction (111).

8. The blanking machine (100) according to claim 1, characterized in that: The good product bin (500) comprises a first good product bin (510) and a second good product bin (520) arranged side by side along a fourth movement direction (111), or the good product unloading buffer stacking tray assembly (400) is used as the second good product bin (520); The defective bin (600) comprises a first defective bin (610) and a second defective bin (620) which are arranged side by side along a fourth moving direction (111).

9. The blanking machine (100) according to any one of claims 1 to 8, characterized in that: The material unloading machine (100) further comprises a frame (700), and the material unloading manipulator assembly (200), the material tray transport assembly (300), the good material unloading buffer stacking tray assembly (400), the good product bin (500) and the bad product bin (600) are all arranged on the frame (700); The material unloading robot assembly (200) has a movement direction (201) parallel to the upper surface (710) of the frame (700).

10. An automatic optical inspection device (900), characterized in that: It comprises a detection device (800) and a material unloading machine (100) as claimed in any one of claims 1 to 9, wherein a material unloading robot assembly (200) of the material unloading machine (100) obtains the material (101) conveyed by the detection device (800).

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