Carrying device and detection equipment

Abstract

The utility model relates to a carrying device and detection equipment. The carrying device comprises a machine table, a clamping module, an air floating module and an induction module, wherein the clamping module, the air floating module and the induction module are arranged on the machine table; wherein the clamping module can clamp one side of a product; the air floatation module is used for air floatation supporting in the product carrying process; the induction module is used for obtaining the height between the product and the machine table in the carrying process. According to the carrying device provided by the invention, when the product needs to be carried, the clamping module clamps one side of the product, and after the induction module feeds back height information of the product, the levelness of the product is adjusted through the air floating module, and the product is supported in an air floating manner, so that horizontal and stable clamping and carrying of the product are realized; the clamping module and the air floating module are matched to horizontally and stably clamp and carry the product, the air floating module can support the product in the carrying process in an air floating mode, the product carrying stability is high, the air floating module cannot cause damage, shielding and other adverse effects on the surface of the product, and the product detection reliability is improved.

Description

Technical Field

[0001] The present application relates to the technical field of product handling, and particularly to a handling device and a detection device. Background Art

[0002] With the increasingly wide application of products such as display modules and semiconductors, in order to ensure product quality, it is necessary to detect various optical properties of the products through an optical module. For example, when photographing and detecting a display module, a suction cup is usually used to adsorb the display module and transport it to a detection position for performance detection.

[0003] However, during the process of adsorbing and transporting a large-size display module by a suction cup, the suction cup will leave adsorption marks on the surface of the display module, seriously affecting the detection result of the display module. Summary of the Utility Model

[0004] Based on this, in view of the problem that adsorption marks will be left on the surface of the display module during the process of adsorbing and transporting the display module by the existing suction cup, it is necessary to provide a handling device and a detection device.

[0005] A handling device for handling products, the handling device includes a machine table, and a clamping module, an air-floating module and an induction module which are all arranged on the machine table; wherein:

[0006] The clamping module can clamp one side of the product;

[0007] The air-floating module is used for air-floating support of the product during handling;

[0008] The induction module is used to obtain the height between the product and the machine table during handling.

[0009] In one embodiment, the air-floating module includes an air-floating module and a plurality of air blowing holes connected to the air-floating module, and the air blowing holes are used for blowing a fixed amount of gas towards the surface of the product.

[0010] In one embodiment, the plurality of air blowing holes are arranged in an array on the machine table, and the plurality of air blowing holes are spaced apart along the circumferential direction of the machine table.

[0011] In one embodiment, the clamping module includes a clamping module and a driving module, and the driving module is in transmission connection with the clamping module;

[0012] The clamping module includes a first driving member, a second driving member, a clamping plate and a suction plate. A clamping space for clamping the product is formed between the clamping plate and the suction plate. The first driving member is in transmission connection with the clamping plate and is used to drive the clamping plate to move towards or away from the suction plate. The second driving member is in transmission connection with the suction plate and is used to drive the suction plate to move towards or away from the clamping plate.

[0013] In one embodiment, the clamping module further includes a positioning module and a rectifying module;

[0014] The positioning module includes a third driving member and a positioning guide wheel in transmission connection with the third driving member. The positioning guide wheel is movably arranged on the machine table and is located on the same side of the clamping module. The positioning guide wheel can abut against the side surface of the product;

[0015] The rectifying module is used to rectify the position of the product.

[0016] In one embodiment, the handling device further includes an abutting module. The abutting module and the clamping module are arranged at opposite sides of the machine table at intervals. When the product is loaded onto the machine table, the clamping module can clamp one side of the product, and the abutting module can abut against the other side of the product.

[0017] In one embodiment, the abutting module includes a fourth driving member and an abutting roller in transmission connection with the fourth driving member. The abutting roller can move towards or away from the clamping module and can abut against the side surface of the product.

[0018] In one embodiment, the machine table includes an air-floating platform and a bracket. The air-floating platform is for the installation of the clamping module; wherein:

[0019] A plurality of adjusting feet are arranged at intervals along the circumferential direction of the bracket;

[0020] The air-floating platform includes an installation table, a plurality of air-floating members and adjusting members. The installation table is arranged on the bracket through the plurality of air-floating members. The plurality of air-floating members are arranged at intervals along the circumferential direction of the installation table. The adjusting members are used to adjust the levelness of the installation table.

[0021] A detection device, the detection device includes:

[0022] The handling device according to any one of the above technical solutions; and

[0023] An imaging module, which is arranged at the detection position of the machine table and is used to photograph and detect the product transported to the detection position by the handling device.

[0024] In one embodiment, the camera module includes a truss, a detection camera, and a rejudgment camera. The truss is fixed to the machine table. The detection camera is movably arranged on the truss in multiple directions, and the rejudgment camera is movably arranged on the truss in multiple directions.

[0025] For the above-mentioned handling device and detection equipment, when it is necessary to handle a product, the clamping module clamps one side of the product, and the induction module obtains the height between the product and the machine table during the handling process. After the induction module feeds back the height information of the product, the air-floating module adjusts the levelness of the product and air-floating supports the product, realizing the horizontal and stable clamping and handling of the product. The handling device provided by the present application has the clamping module and the air-floating module cooperate to horizontally and stably clamp and handle the product, and the air-floating module can air-floating support the product during the handling process. The handling stability of the product is high, and the air-floating module will not cause adverse effects such as damage and occlusion to the surface of the product, improving the detection reliability of the product. Description of the Drawings

[0026] Figure 1 It is a schematic structural diagram of the detection equipment provided in some embodiments.

[0027] Figure 2 It is a schematic structural diagram of the air-floating module provided in some embodiments.

[0028] Figure 3 It is a schematic structural diagram of the clamping module provided in some embodiments.

[0029] Figure 4 It is a schematic structural diagram of the clamping module provided in some embodiments.

[0030] Figure 5 It is a schematic structural diagram of the machine table provided in some embodiments.

[0031] Reference Numerals:

[0032] 100, handling device;

[0033] 110, machine table; 111, air-floating platform; 1111, installation table; 1112, air-floating member; 1113, adjusting member; 112, bracket; 113, adjusting floor foot; 120, clamping module; 121, clamping module; 1211, first driving member; 1212, second driving member; 1213, clamping plate; 1214, adsorption plate; 1215, first clamping plate; 1216, second clamping plate; 122, driving module; 123, positioning module; 1231, third driving member; 1232, positioning guide wheel; 124, rectifying module; 130, air-floating module; 131, air-floating module; 132, air-blowing hole; 140, abutting module; 141, fourth driving member; 142, abutting roller;

[0034] 200, Product;

[0035] 300, Detection Device;

[0036] 310, Camera Module; 311, Truss; 312, Detection Camera; 313, Rejudgment Camera. Detailed Embodiment

[0037] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed embodiments of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description 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 departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0038] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 to the present application.

[0039] In addition, if terms such as "first" and "second" appear, these terms are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if the term "plural" appears, the meaning of "plural" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0040] In the present application, unless otherwise clearly defined and limited, if terms such as "installation", "connection", "connection", "fixation", etc. appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0041] In this application, unless otherwise clearly specified and defined, when a first feature is described as being "on" or "under" a second feature or the like, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0042] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0043] The following introduces the technical solutions provided by the embodiments of this application with reference to the accompanying drawings.

[0044] Refer to Figure 1 As shown, this application provides a handling device 100. The handling device 100 includes a machine table 110, a clamping module 120, an air-floating module 130 and an induction module (not shown in the figure). The handling device 100 is used for handling the product 200. Among them, in this embodiment, the product 200 is a display module, especially a large-size display screen. Of course, in other feasible embodiments, the product 200 can also be a semiconductor, a circuit board, etc. The specific type of the product 200 is not limited in this application.

[0045] The clamping module 120 is arranged on the machine 110 by means of screw connection, welding, etc., and the clamping module 120 can be clamped on one side of the product 200. The air flotation module 130 is arranged on the machine 110 by means of screw connection, welding, etc., and the air flotation module 130 is used for air flotation support of the product 200 during the transportation process. If only one side of the product 200 is clamped by the clamping module 120, the side of the product 200 away from the clamping module 120 is prone to a large degree of tilt, especially for large-sized products 200, the tilt degree of the product 200 is greater. Based on this, after the clamping module 120 clamps one side of the product 200, the air flotation module 130 is used to support the product 200 with air flotation, so as to ensure that the product 200 will not be separated from the clamping module 120 due to gravity during the clamping process of the clamping module 120. That is, when the product 200 needs to be transported, the clamping module 120 clamps one side of the product 200 and supports the product 200 by air floating through the air floating module 130 . The air floating module 130 cooperates with the clamping module 120 to stably clamp and transport the product 200 .

[0046] The sensing module is arranged on the machine 110, and is used to obtain the height between the product 200 and the machine 110 during the transportation process. Since the inclination degree of each area of ​​the product 200 will be different when the product 200 is clamped by the clamping module 120, at this time, the height between the product 200 and the machine 110 is sensed by the sensing module to obtain the inclination degree of each area of ​​the product 200, and the inclination degree of each area of ​​the product 200 is fed back to the operator or the central control module, and the amount of gas delivered to each area by the air flotation module 131 is adjusted to change the air flotation support degree of the air flotation module 130 for different areas of the product 200, so that the product 200 can be adjusted to be completely horizontal, thereby adjusting the horizontal stability of the product 200 during the transportation process. Among them, the sensing module can be a height sensor, a proximity switch, or other components that can sense the height of the position of the product 200. The specific component type of the sensing module is not limited in this application.

[0047] When the above-mentioned transport device 100 needs to transport the product 200, the clamping module 120 clamps one side of the product 200, and obtains the height between the product 200 and the machine 110 during the transport process through the sensing module. After the sensing module feeds back the height information of the product 200, the air flotation module 130 adjusts the horizontality of the product 200 and air flotation supports the product 200, so as to achieve horizontal and stable clamping and transport of the product 200. The clamping module 120 and the air flotation module 130 cooperate to clamp and transport the product 200 horizontally and stably, and the air flotation module 130 can air flotation support the product 200 during the transport process, the transport stability of the product 200 is high, and the air flotation module 130 will not cause damage, shielding and other adverse effects on the surface of the product 200, thereby improving the detection reliability of the product 200.

[0048] In one embodiment, refer toFigure 1 As shown in Figure 2 FIG. 1, the air floating module 130 includes an air floating module 131 and a plurality of air blowing holes 132. The plurality of air blowing holes 132 are all connected to the air floating module 131. The air floating module 131 conveys a fixed amount of gas into the air blowing holes 132, so that the air blowing holes 132 can blow a fixed amount of gas toward the surface of the product 200 to perform air floating support on the product 200.

[0049] Furthermore, referring to Figure 1 FIGS. 2 Figure 2 and 3, the plurality of air blowing holes 132 are arranged in an array on the machine table 110, and the plurality of air blowing holes 132 are spaced apart along the circumferential direction of the machine table 110. In this way, the plurality of air blowing holes 132 can simultaneously blow a fixed amount of gas toward the lower surface of the product 200 to perform air floating support on the product 200 during the handling process. Since there are differences in the inclination degrees of different regions of the product 200 during the process of being clamped by the clamping module 120, at this time, the amount of gas conveyed by the air floating module 131 toward each air blowing hole 132 can be adjusted to change the air floating support degree of the air floating module 130 for different regions of the product 200, and the product 200 can be adjusted to be completely horizontal to adjust the horizontal stability of the product 200 during the handling process.

[0050] It should be noted that when the clamping module 120 clamps one side of the product 200, the inclination degree of the side of the product 200 close to the clamping module 120 is smaller, and the inclination degree of the side of the product 200 far from the clamping module 120 is larger. At this time, the amount of gas conveyed by the air floating module 131 into the air blowing holes 132 on the side close to the clamping module 120 is smaller, and the amount of gas conveyed by the air floating module 131 into the air blowing holes 132 on the side far from the clamping module 120 is larger, so as to change the air floating support degree of the air floating module 130 for different regions of the product 200, and the product 200 can be adjusted to be completely horizontal to adjust the horizontal stability of the product 200 during the handling process.

[0051] In one embodiment, referring to Figure 1 FIGS. 4 Figure 3 and Figure 4As shown, the clamping module 120 includes a clamping module 121 and a driving module 122. The driving module 122 is drivingly connected to the clamping module 121 so that when the clamping module 121 holds the product 200, the driving module 122 can drive the product 200 to move relative to the machine table 110 to achieve the handling operation of the product 200. Among them, in this embodiment, the driving module 122 is a linear driving module. The clamping module 121 includes a first driving member 1211, a second driving member 1212, a clamping plate 1213 and a suction plate 1214. A clamping space (not shown in the figure) for clamping the product 200 is formed between the clamping plate 1213 and the suction plate 1214. The first driving member 1211 is drivingly connected to the clamping plate 1213, and the first driving member 1211 is used to drive the clamping plate 1213 to move in a direction close to or away from the suction plate 1214. The second driving member 1212 is drivingly connected to the suction plate 1214, and the second driving member 1212 is used to drive the suction plate 1214 to move in a direction close to or away from the clamping plate 1213 to change the size of the clamping space, so as to facilitate the clamping module 121 to perform the operation of receiving and clamping the product 200.

[0052] Exemplarily, when the clamping module 120 needs to perform a clamping operation on the product 200, first, the first driving member 1211 outputs power to the clamping plate 1213, and the second driving member 1212 outputs power to the suction plate 1214, so that the clamping plate 1213 and the suction plate 1214 move in a direction away from each other, and the clamping space increases to facilitate the product 200 to enter the clamping space; then, after the product 200 enters the clamping space, the second driving member 1212 outputs power to the suction plate 1214 in the reverse direction, and the suction plate 1214 moves in a direction close to the clamping plate 1213 and adsorbs the lower surface of the product 200 to perform negative pressure adsorption support on the product 200; finally, the first driving member 1211 outputs power to the clamping plate 1213 in the reverse direction, so that the clamping plate 1213 moves in a direction close to the suction plate 1214 and abuts against the upper surface of the product 200, and the clamping space decreases so that the product 200 can be clamped by the clamping module 120. Conversely, after the handling operation of the product 200 is completed, the first driving member 1211 drives the clamping plate 1213 to move in a direction away from the suction plate 1214, and the second driving member 1212 drives the suction plate 1214 to move in a direction away from the clamping plate 1213, that is to say, the clamping plate 1213 and the suction plate 1214 move in a direction away from each other, which is convenient for the picking and placing operation of the product 200.

[0053] Among them, in this embodiment, refer to Figure 4As shown, the clamping plate 1213 includes a first clamping plate 1215 and a second clamping plate 1216. The first clamping plate 1215 is in transmission connection with the first driving member 1211. The second clamping plate 1216 is connected to the first clamping plate 1215, and the second clamping plate 1216 protrudes to the side of the first clamping plate 1215 facing the adsorption plate 1214. The second clamping plate 1216 and the adsorption plate 1214 form a clamping space for clamping the product 200. Moreover, the first driving member 1211 and the second driving member 1212 can be any one of a driving motor and a driving cylinder. Of course, in other feasible embodiments, the first driving member 1211 and the second driving member 1212 can also be a driving hydraulic cylinder or other elements capable of outputting power. The specific element types of the first driving member 1211 and the second driving member 1212 are not limited in this application.

[0054] Further, referring to Figure 1 , Figure 3 and Figure 4 As shown, the clamping module 120 further includes a positioning module 123 and a rectifying module 124. The positioning module 123 includes a third driving member 1231 and a positioning guide wheel 1232. The positioning guide wheel 1232 is in transmission connection with the third driving member 1231. The positioning guide wheel 1232 is movably arranged on the machine table 110, and the positioning guide wheel 1232 is located on the same side of the clamping module 121. The positioning guide wheel 1232 can abut against the side surface of the product 200. When clamping operation needs to be performed on the product 200, the third driving member 1231 can drive the positioning guide wheel 1232 to move towards the direction of abutting against the side surface of the product 200. When the positioning guide wheel 1232 abuts against the side surface of the product 200, the positioning guide wheel 1232 can position the product 200, ensuring that the product 200 is clamped by the clamping module 120 at a preset position, and improving the reliability of the clamping position of the clamping module 120 for the product 200. Moreover, during the process of the positioning guide wheel 1232 abutting against the side surface of the product 200, the positioning guide wheel 1232 and the side surface of the product 200 are in high pair contact, avoiding adverse phenomena such as scratching and scuffing of the product 200 by the positioning guide wheel 1232. Among them, the third driving member 1231 can be any one of a driving motor and a driving cylinder. Of course, in other feasible embodiments, the third driving member 1231 can also be a driving hydraulic cylinder or other elements capable of outputting power. The specific element types of the third driving member 1231 are not limited in this application.

[0055] In addition, the rectifying module 124 is used to rectify the position of the product 200 so that the product 200 is located at a preset position for the clamping module 120 to clamp. Exemplarily, the rectifying module 124 includes two rectifying cylinders. The two rectifying modules are arranged at intervals on opposite sides of the machine table 110. By the extension and abutment of the two rectifying cylinders, the abutment rectification of the sides of products 200 with different sizes can be adapted.

[0056] In one embodiment, referring toFigure 1 As shown, the handling device 100 further includes an abutting module 140, and the abutting module 140 and the clamping module 120 are disposed on opposite sides of the machine table 110. When the product 200 is loaded onto the machine table 110, the clamping module 120 can clamp one side of the product 200, and the abutting module 140 can abut against the other side of the product 200. When the clamping module 120 clamps one side of the product 200 and at the same time the abutting module 140 abuts against the other side of the product 200, the abutting module 140 can regularize the levelness of the product 200. Exemplarily, when the product 200 is loaded onto the machine table 110, first, the clamping module 120 clamps one side of the product 200; then, the product 200 is supported by air floating through the air floating module 130. During the air floating support process of the air floating module 130, the air floating module 130 adjusts the product 200 to be completely horizontal by delivering an appropriate amount of gas; finally, after the product 200 is completely horizontal, the abutting module 140 abuts against the other side of the product 200 to regularize the levelness of the product 200 and ensure the horizontal stability of the product 200 during subsequent handling.

[0057] Further, referring to Figure 1 As shown, the abutting module 140 includes a fourth driving member 141 and an abutting roller 142. The fourth driving member 141 is in transmission connection with the abutting roller 142. The abutting roller 142 can move in a direction approaching or departing from the clamping module 120, and the abutting roller 142 can abut against the side surface of the product 200. The abutting roller 142 and the clamping module 120 cooperate to regularize the levelness of the product 200. By driving the abutting roller 142 to move in a direction approaching or departing from the clamping module 120 through the fourth driving member 141, it is adapted to clamp products 200 of different specifications, expanding the usage scenarios of the handling device 100. During the process of the abutting roller 142 abutting against the side surface of the product 200, the abutting roller 142 and the side surface of the product 200 are in high pair contact, avoiding adverse phenomena such as scratching and damage to the product 200 caused by the abutting module 140.

[0058] Wherein, the fourth driving member 141 can be any one of a driving motor and a driving cylinder. Of course, in other feasible embodiments, the fourth driving member 141 can also be a driving hydraulic cylinder or other elements capable of outputting power. The specific type of the fourth driving member 141 is not limited in this application.

[0059] In one embodiment, referring to Figure 1 and Figure 5As shown in the figure, the machine platform 110 includes an air-floating platform 111 and a bracket 112. The air-floating platform 111 is for the installation of the clamping module 120 and the abutting module 140. Among them, a plurality of adjusting feet 113 are arranged at intervals along the circumferential direction of the bracket 112. For example, when there are four adjusting feet 113, the four adjusting feet 113 are respectively located at the four diagonal corners of the bracket 112. Limited by the difference in the operating environment, when the machine platform 110 is placed on a working platform (usually the working ground), the machine platform 110 may have the bad phenomenon of inclination. At this time, the levelness of the bracket 112 on the working platform can be adjusted through the adjusting feet 113 to ensure the levelness during the handling of the product 200.

[0060] Among them, the air-floating platform 111 includes an installation table 1111, a plurality of air-floating members 1112 and an adjusting member 1113. The installation table 1111 is for the installation of the clamping module 120 and the abutting module 140. Preferably, the installation table 1111 is a marble platform to reduce the vibration of the product 200 during handling. The installation table 1111 is arranged on the bracket 112 through a plurality of air-floating members 1112. The plurality of air-floating members 1112 are arranged at intervals along the circumferential direction of the installation table 1111. For example, when there are four air-floating members 1112, the four air-floating members 1112 are respectively located at the four corners of the installation table 1111. The air-floating members 1112 can absorb and buffer the vibration generated by the machine platform 110 during operation, further reducing the vibration of the product 200 during handling. The adjusting member 1113 is used to adjust the levelness of the installation table 1111. Exemplarily, the adjusting member 1113 is an adjusting screw. The adjusting member 1113 is locked between the installation table 1111 and the bracket 112. Through the adjusting member 1113, the levelness of the installation table 1111 relative to the bracket 112 can be adjusted to adjust the installation table 1111 to a state horizontal relative to the working platform, ensuring the levelness during the handling of the product 200.

[0061] In addition, referring to Figure 1 As shown in the figure, the present application also provides a detection device 300. The detection device 300 includes a handling device 100 as described in the above technical solution and a camera module 310. The camera module 310 is arranged at the detection position of the machine platform 110. The camera module 310 is used to photograph and detect the product 200 carried by the handling device 100 to the detection position.

[0062] In the above detection device 300, the clamping module 120 and the air-floating module 130 cooperate to stably clamp and handle the product 200 horizontally, and the air-floating module 130 can air-floatingly support the product 200 during handling. The handling stability of the product 200 is high, and the air-floating module 130 will not cause adverse effects such as damage and occlusion to the surface of the product 200, improving the detection reliability of the camera module 310 for the product 200.

[0063] In one embodiment, referring to Figure 1As shown, the camera module 310 includes a truss 311, an inspection camera 312, and a re-inspection camera 313. The truss 311 is fixed to the machine table 110 by means of screw connection, welding, etc. For example, if the truss 311 is a gantry truss, the inspection camera 312 is movably arranged on the truss 311 in multiple directions, and the re-inspection camera 313 is movably arranged on the truss 311 in multiple directions. Specifically, when the handling device 100 transports the product 200 to the inspection position of the machine table 110, first, the inspection camera 312 takes a picture of the product 200 at the inspection position for inspection. If the product 200 passes the inspection, the product 200 is directly discharged as OK. If the product 200 fails the inspection, the re-inspection camera 313 takes a second picture of the product 200 at the inspection position when the truss 311 moves to the inspection position. If the product 200 passes the second inspection, the product 200 is discharged as OK. If the product 200 fails the second inspection, the product 200 is discharged as NG.

[0064] The following combines Figures 1-5 to describe in detail the handling and inspection actions of the inspection device 300 on the product 200 in this application.

[0065] First, when loading the product 200, the position of the product 200 is regularized by the regularization module 124; second, the side of the product 200 is positioned by the positioning module 123; then, the second driving member 1212 drives the suction plate 1214 to move towards the direction close to the clamping plate 1213 and pre-sucks the lower surface of the product 200 through the negative pressure adsorption effect; next, the first driving member 1211 drives the clamping plate 1213 to move towards the direction close to the suction plate 1214 and abuts against the upper surface of the product 200, and the clamping plate 1213 cooperates with the suction plate 1214 to clamp the product 200; continuously, the product 200 is aerostatically supported by the aerostatic module 130 to adjust the levelness of the product 200. After the product 200 is completely horizontal, the abutting module 140 abuts against the other side of the product 200 to regularize the levelness of the product 200; finally, the clamping module 120 in the handling device 100 cooperates with the aerostatic module 130 to transport the product 200 to the inspection position of the machine table 110, and the product 200 is photographed and inspected by the camera module 310.

[0066] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered to be within the scope described in this specification.

[0067] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patented application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A transport device for transporting products, characterized in that: The transport device includes a machine platform and a clamping module, an air flotation module and a sensing module all disposed on the machine platform; wherein: The clamping module is capable of clamping one side of the product; The air flotation module is used for air flotation support of the product during transportation; The sensing module is used to obtain the height between the product and the machine during transportation.

2. The transport device according to claim 1, characterized in that: The air flotation module comprises an air flotation module and a plurality of blowing holes connected to the air flotation module, and the blowing holes are used to blow a fixed amount of gas toward the surface of the product.

3. The transport device according to claim 2, characterized in that: A plurality of the blowing holes array is arranged on the machine platform, and the plurality of the blowing holes are distributed at intervals along the circumferential direction of the machine platform.

4. The transport device according to claim 1, characterized in that: The clamping module comprises a clamping module and a driving module, and the driving module is transmission-connected with the clamping module; The clamping module includes a first driving member, a second driving member, a clamping plate and an adsorption plate, a clamping space for clamping the product is formed between the clamping plate and the adsorption plate, the first driving member is transmission connected to the clamping plate, and is used to drive the clamping plate to move toward or away from the adsorption plate, and the second driving member is transmission connected to the adsorption plate, and is used to drive the adsorption plate to move toward or away from the clamping plate.

5. The transport device according to claim 4, characterized in that: The clamping module also includes a positioning module and a regularization module; The positioning module includes a third driving member and a positioning guide wheel drivingly connected to the third driving member, the positioning guide wheel is movably arranged on the machine platform and is located on the same side of the clamping module, and the positioning guide wheel can abut against the side of the product; The aligning module is used to align the position of the product.

6. The transport device according to claim 1, characterized in that: The transport device also includes a contact module, which is spaced apart from the clamping module on two opposite sides of the machine. When the product is loaded onto the machine, the clamping module can clamp one side of the product, and the contact module can contact the other side of the product.

7. The transport device according to claim 6, characterized in that: The abutment module comprises a fourth driving member and an abutment roller drivingly connected to the fourth driving member. The abutment roller can move toward or away from the clamping module and can abut against the side surface of the product.

8. The transport device according to claim 1, characterized in that: The machine comprises an air floating platform and a bracket, wherein the air floating platform is used for installing the clamping module; wherein: The bracket is provided with a plurality of adjusting feet at intervals along the circumferential direction thereof; The air floating platform includes a mounting platform, a plurality of air floating parts and an adjusting part. The mounting platform is arranged on the bracket through the plurality of air floating parts. The plurality of air floating parts are arranged at intervals along the circumferential direction of the mounting platform. The adjusting part is used to adjust the horizontality of the mounting platform.

9. A detection device, characterized in that: The detection equipment comprises: The handling device according to any one of claims 1 to 8; and A camera module is arranged at the detection position of the machine platform, and is used to photograph and detect the product transported by the transport device to the detection position.

10. The detection device according to claim 9, characterized in that: The camera module includes a truss, a detection camera and a re-judgment camera. The truss is fixed to the machine platform, the detection camera is movably arranged on the truss along multiple directions, and the re-judgment camera is movably arranged on the truss along multiple directions.

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