Full-automatic AOI (automatic optical inspection) machine

Abstract

The utility model discloses a full-automatic AOI detection machine which comprises a first machine base, a first carrying table installed on the first machine base and used for carrying and positioning a product to be detected, and an AOI detection camera arranged above the first carrying table and used for photographing the product to be detected so as to carry out AOI detection, and the first carrying table is provided with a first vacuum adsorption hole; the first machine base is further provided with a feeding conveying mechanism and a first carrying device used for carrying a to-be-detected product conveyed on the feeding conveying mechanism to the first carrying table, and the first machine base is provided with a positioning camera used for photographing the to-be-detected product fixed by the first carrying device for positioning. The first machine base is further provided with a second carrying device used for automatically discharging products completing AOI detection work on the first carrying table. Automatic feeding, carrying, photographing and positioning, AOI detection and automatic discharging of products to be detected are achieved, full-automatic AOI detection work is achieved, the working efficiency is high, and the productivity is improved.

Description

Technical Field:

[0001] The utility model relates to the technical field of AOI detection, in particular to a full-automatic AOI detector. Background Art:

[0002] The Chinese full name of AOI (abbreviation for Automated Optical Inspection) is Automatic Optical Inspection, which is a device for detecting common defects encountered in welding production based on optical principles. AOI is a newly emerging testing technology, but it has developed rapidly, and many manufacturers have launched AOI testing equipment.

[0003] The Chinese patent application with the application number 202310462128.9 discloses an AOI detector, which includes a machine body. A detection camera is movably connected inside the machine body. A chute is provided on one side of the top of the machine body. A slider is slidably connected in the chute. A moving plate is fixedly provided at the top of the slider. A plurality of first springs are fixedly provided at the top of the moving plate. The top ends of the plurality of first springs are fixedly arranged at the bottom end of a placement plate. Pulling ropes are fixedly provided on both sides of the placement plate; by arranging the moving plate, the first springs, the placement plate, the pulling ropes and the rotating wheels, during detection, the PCB board is placed on the placement plate, and then under the cooperation of the first sprocket, the second sprocket and the chain, the rotation of the rotating wheels is driven. The rotating wheels drive the movement of the pulling ropes, and at the same time, in cooperation with the use of the first springs, the up-and-down movement of the placement plate is driven, the height of the placement plate is adjusted, that is, the distance between the detection camera and the PCB board is adjusted, which is convenient for fully detecting the PCB board and improves the detection effect of the machine body.

[0004] However, the above AOI detector has the following deficiencies: When loading the PCB board on the placement plate or taking out the PCB board relative to the placement plate, the above AOI detector does not have any automated mechanism to achieve automated loading or unloading, but manual loading and unloading is adopted, and the efficiency of the entire AOI detection is not high, and full-automatic AOI detection work cannot be achieved.

[0005] When using the above AOI detector to perform AOI detection on the LCD with the polarizing film pasted, the same above technical problems also exist.

[0006] In view of this, the inventor proposes the following technical solutions. Content of the Utility Model:

[0007] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a full-automatic AOI detector.

[0008] To solve the above technical problems, the utility model adopts the following technical solutions: The full-automatic AOI detection machine includes a first machine base, a first carrier installed on the first machine base and used for carrying and positioning the product to be detected, and an AOI detection camera arranged above the first carrier and used for taking pictures of the product to be detected for AOI detection. The first carrier is provided with first vacuum adsorption holes; the first machine base is further provided with a feeding conveyor mechanism and a first handling device for handling the product to be detected conveyed by the feeding conveyor mechanism to the first carrier. The first machine base is provided with a positioning camera for taking pictures of the product to be detected fixed by the first handling device for positioning, and the first machine base is further provided with a second handling device for automatically discharging the product that has completed the AOI detection work on the first carrier.

[0009] Furthermore, in the above technical solution, the feeding conveyor mechanism includes a first frame body installed on the first machine base, a first conveyor belt installed on the first frame body, and a first motor assembly for driving the first conveyor belt to operate. A first stop bar is further arranged at the end of the first frame body, and the first stop bar is placed at the end of the first conveyor belt; a positioning push block for pushing the product to be detected on the first conveyor belt to cooperate with the first stop bar to position the product to be detected is arranged on the side of the first frame body, and the positioning push block is installed on a positioning cylinder.

[0010] Furthermore, in the above technical solution, the first handling device includes a second frame body installed on the first machine base, a first X-axis driving module installed on the second frame body, a first Y-axis driving module installed on the first X-axis driving module, a first Z-axis driving module installed on the first Y-axis driving module, and a first mounting bracket rotatably installed on the first Z-axis driving module through a first rotation driving mechanism and a plurality of first vacuum suction cups installed on the first mounting bracket.

[0011] Furthermore, in the above technical solution, a first vertical rod is arranged on the first machine base, and an adjustable-height first light source is arranged on the first vertical rod. The first light source is located above the positioning camera and between the feeding conveyor mechanism and the first carrier; a first machine frame is arranged on the first machine base, and the AOI detection camera is arranged in the first machine frame.

[0012] Furthermore, in the above technical solution, a replaceable light-shielding paper is arranged on the upper end surface of the first carrier. The light-shielding paper has a window for accommodating the product to be detected. Among them, the first vacuum adsorption holes are exposed in the window. A positioning column is arranged on the first carrier, and a positioning hole for positioning with the positioning column is arranged on the light-shielding paper. The light-shielding paper is sleeved on the positioning column through the positioning hole to be positioned on the upper end surface of the first carrier; second light sources are arranged around the light-shielding paper.

[0013] Furthermore, in the above technical solution, the second handling device includes a second X-axis driving module installed on the first base, a second Z-axis driving module installed on the second X-axis driving module, a first lifting frame installed on the second Z-axis driving module, and a plurality of second vacuum suction cups installed on the first lifting frame and adjustable in position.

[0014] Furthermore, in the above technical solution, a transition carrier is further provided on the first base. A second vacuum suction hole is provided on the transition carrier. A sampling conveyor belt is provided beside the transition carrier. The second handling device is used to transport the product that has completed the AOI detection work on the first carrier to the transition carrier. A loading device for loading the product is provided beside the first base. The loading manipulator in the loading device is further used to transport the product on the transition carrier to the sampling conveyor belt.

[0015] Furthermore, in the above technical solution, the loading device includes a second frame, at least one loading lifting table installed in the second frame, at least one empty tray loading lifting table located behind the loading lifting table, and the above-mentioned loading manipulator installed at the upper end of the second frame and above the loading lifting table and the empty tray loading lifting table. The loading manipulator is used to suck and place the product on the tray on the loading lifting table. The loading manipulator is further used to suck the empty tray on the empty tray loading lifting table and place it on the loading lifting table or stack it on the tray full of products on the loading lifting table.

[0016] Furthermore, in the above technical solution, the loading manipulator includes a third X-axis driving module installed at the upper end of the second frame, an X-axis moving seat installed at the lower end of the third X-axis driving module, a third Z-axis driving module installed on one side of the X-axis moving seat, a third lifting frame installed at the lower end of the third Z-axis driving module, and a plurality of third vacuum suction cups installed on the third lifting frame and adjustable in position, a third Y-axis driving module installed on the other side of the X-axis moving seat, a fourth Z-axis driving module installed at the lower end of the third Y-axis driving module, and a fourth mounting frame rotatably installed on the fourth Z-axis driving module through a second rotation driving mechanism and a plurality of fourth vacuum suction cups installed on the fourth mounting frame.

[0017] Furthermore, in the above technical solution, the number of both the loading lifting table and the empty tray loading lifting table is two, and they are distributed in a cross shape.

[0018] After adopting the above technical solution, the utility model has the following beneficial effects compared with the prior art: The utility model can realize automatic feeding of the product to be detected through the feeding conveyor mechanism, and then the first handling device sucks the product to be detected, and the positioning camera takes pictures for positioning. After adjusting the product to be detected to a predetermined position by the first handling device, it is accurately handled and placed on the first carrier, ensuring the quality of the AOI detection camera taking pictures of the product to be detected for AOI detection. Finally, the second handling device automatically unloads the product that has completed the AOI detection work on the first carrier, thereby realizing automatic feeding, handling, picture taking and positioning, AOI detection, and automatic unloading of the product to be detected, achieving full-automatic AOI detection work, with high work efficiency and improved productivity. Brief Description of the Drawings:

[0019] Figure 1 is a perspective view of the utility model;

[0020] Figure 2 is an assembly drawing of the feeding conveyor mechanism and the first handling device in the utility model;

[0021] Figure 3 is an internal structure diagram of the utility model;

[0022] Figure 4 is an assembly drawing of the feeding conveyor mechanism and the first handling device in another perspective of the utility model;

[0023] Figure 5 is a partial perspective view of the utility model;

[0024] Figure 6 is a perspective view of the tray loading manipulator in the utility model;

[0025] Figure 7 is an assembly drawing of the feeding conveyor mechanism, the first handling device, the first carrier, the second handling device, and the sampling conveyor belt in the utility model;

[0026] Figure 8 is an assembly drawing of the tray loading lifting table and the empty tray loading lifting table in the utility model. Detailed Embodiments:

[0027] The following further describes the utility model in conjunction with specific embodiments and the drawings.

[0028] See Figure 1-8As shown in the figure, there is a fully automatic AOI inspection machine, which includes a first machine base 1, a first carrier 2 installed on the first machine base 1 and used to carry and position the product to be inspected, and an AOI inspection camera 3 arranged above the first carrier 2 and used to take pictures of the product to be inspected for AOI inspection. During specific operation, the product to be inspected is placed on the first carrier 2, and the AOI inspection camera 3 takes pictures of the product to be inspected for AOI inspection, which is a conventional technology in this field.

[0029] In this embodiment, the product to be inspected refers to the LCD with the polarizer attached. That is to say, after the polarizer is bonded to the LCD with glue, AOI inspection needs to be carried out on the LCD.

[0030] The first carrier 2 is provided with first vacuum suction holes 21. The product to be inspected placed on the first carrier 2 is adsorbed and positioned through the first vacuum suction holes 21, so as to ensure that the product to be inspected is stably positioned on the first carrier 2, avoid the phenomenon of displacement, and ensure the quality of the subsequent AOI inspection.

[0031] The first base 1 is further provided with a loading and conveying mechanism 4 and a first handling device 5 for handling the products to be detected conveyed on the loading and conveying mechanism 4 to the first stage 2. A positioning camera 10 is provided on the first base 1 for taking pictures and positioning the products to be detected fixed by the first handling device 5. The first base 1 is further provided with a second handling device 6 for automatically unloading the products that have completed the AOI detection work on the first stage 2. During specific operation, first, the loading and conveying mechanism 4 is used to load the products to be detected. Then, the first handling device 5 conveys the products to be detected on the loading and conveying mechanism 4 to the first stage 2. During this process, before the first handling device 5 conveys the products to be detected to the first stage 2, it first moves to the positioning camera 10, and the positioning camera 10 takes pictures and positions the products to be detected fixed by the first handling device 5. If it is found that the position of the products to be detected is incorrect, the first handling device 5 makes self-adjustment to adjust the position of the products to be detected to the predetermined position. Finally, the first handling device 5 accurately conveys and places the products to be detected on the first stage 2 to ensure the quality of the AOI detection camera 3 taking pictures and performing AOI detection on the products to be detected. After the AOI detection is completed, the second handling device 6 automatically unloads the products that have completed the AOI detection work on the first stage 2. That is to say, the utility model can realize automatic loading of the products to be detected through the loading and conveying mechanism 4, then the first handling device 5 sucks the products to be detected, and is photographed and positioned by the positioning camera 1. After the first handling device 5 adjusts the products to be detected to the predetermined position, it accurately conveys and places them on the first stage 2 to ensure the quality of the AOI detection camera 3 taking pictures and performing AOI detection on the products to be detected. Finally, the second handling device 6 automatically unloads the products that have completed the AOI detection work on the first stage 2, thereby realizing automatic loading, handling, photographing and positioning, AOI detection, and automatic unloading of the products to be detected, realizing full-automatic AOI detection work, with high work efficiency and improved productivity.

[0032] A first frame 13 is provided on the first base 1, and the AOI detection camera 3 is arranged inside the first frame 13. An outer shell or an openable door leaf is provided on the first frame 13 to form a working chamber. An FFU device is further provided at the upper end of the first frame 13 to ensure that the working chamber is in a dust-free state and ensure product quality.

[0033] A first vertical rod 11 is provided on the first base 1, and an adjustable-height first light source 12 is provided on the first vertical rod 11. The first light source 12 is located above the positioning camera 10 and is placed between the loading conveyor mechanism 4 and the first stage 2. The first light source 12 can illuminate the product to be detected adsorbed and fixed by the first handling device 5, ensuring the quality of the photo taken by the positioning camera 10 of the product to be detected fixed by the first handling device 5. Among them, since the height of the first light source 12 is adjustable, the effect of adjusting the light can be achieved, so as to meet the better or best effect of the photo taken by the positioning camera 10.

[0034] A replaceable light-shielding paper 22 is provided on the upper end surface of the first stage 2. The light-shielding paper 22 has a window 221 for accommodating the product to be detected. Among them, the first vacuum adsorption hole 21 is exposed in the window 221. Through the design of the light-shielding paper 22, the product to be detected can be in a non-light-shielded area, thereby improving the optical effect and enabling the AOI detection camera 3 to achieve a better photo-taking effect, and further ensuring the AOI detection quality.

[0035] Among them, second light sources 24 are provided around the light-shielding paper 22. By emitting light from the second light sources 24 to irradiate the product to be detected, the AOI detection camera 3 can achieve a better photo-taking effect and the quality of the taken photos is higher.

[0036] Positioning posts 23 are provided on the first stage 2, and positioning holes 222 for positioning with the positioning posts 23 are provided on the light-shielding paper 22. The light-shielding paper 22 is sleeved on the positioning posts 23 through the positioning holes 222 to be positioned on the upper end surface of the first stage 2. Its assembly structure is stable and the installation is convenient. When it is necessary to detect products to be detected with different sizes, it is necessary to replace the light-shielding paper 22 with windows 221 of different sizes to meet the use requirements, and then accurately detect products to be detected with different sizes.

[0037] The feeding and conveying mechanism 4 includes a first frame body 41 installed on the first machine base 1, a first conveyor belt 42 installed on the first frame body 41, and a first motor assembly 43 for driving the first conveyor belt 42 to operate. A first stop bar 411 is further provided at the end of the first frame body 41, and the first stop bar 411 is placed at the end of the first conveyor belt 42. A positioning push block 412 for pushing the product to be detected on the first conveyor belt 42 to cooperate with the first stop bar 411 to position the product to be detected is provided on the side of the first frame body 41, and the positioning push block 412 is installed on a positioning cylinder 413. During operation, the product to be detected is placed on the first conveyor belt 42 and is conveyed forward by the first conveyor belt 42 until it is blocked by the first stop bar 411. Then, the positioning cylinder 413 drives the positioning push block 412 to extend, so that the positioning push block 412 pushes the product to be detected to move laterally, and further cooperates with the first stop bar 411 to position the product to be detected, so that the first handling device 5 can accurately suck the product to be detected.

[0038] The first handling device 5 includes a second frame body 51 installed on the first machine base 1, a first X-axis driving module 52 installed on the second frame body 51, a first Y-axis driving module 53 installed on the first X-axis driving module 52, a first Z-axis driving module 54 installed on the first Y-axis driving module 53, and a first mounting bracket 55 rotatably installed on the first Z-axis driving module 54 through a first rotary driving mechanism 57 and a plurality of first vacuum suction cups 56 installed on the first mounting bracket 55. When the first handling device 5 works, the first X-axis driving module 52, the first Y-axis driving module 53, and the first Z-axis driving module 54 drive the first mounting bracket 55 and the first vacuum suction cups 56 to move in the XYZ three-axis directions, and can be driven by the first rotary driving mechanism 57 to rotate in the horizontal direction. Furthermore, it can drive the first vacuum suction cups 56 to accurately land on the product to be detected and suck the product to be detected. Before the first handling device 5 places the product to be detected on the first carrier 2, it first moves above the positioning camera 1, and the positioning camera 1 takes a picture for positioning. The first X-axis driving module 52, the first Y-axis driving module 53, the first Z-axis driving module 54, and the first rotary driving mechanism 57 work to adjust the position of the product to be detected to achieve the function of deviation correction.

[0039] The second handling device 6 includes a second X-axis driving module 61 installed on the first machine base 1, a second Z-axis driving module 62 installed on the second X-axis driving module 61, a first lifting frame 63 installed on the second Z-axis driving module 62, and a plurality of second vacuum suction cups 64 installed on the first lifting frame 63 and with adjustable positions. Its structure is simple.

[0040] A transition carrier 7 is further provided on the first machine base 1. Second vacuum suction holes 71 are provided on the transition carrier 7. A sampling conveyor belt 8 is provided beside the transition carrier 7. The second handling device 6 is used to transfer the products that have completed the AOI detection work on the first carrier 2 to the transition carrier 7. A loading device 9 for loading the products onto trays is provided beside the first machine base 1. The loading manipulator 94 in the loading device 9 is further used to transfer the products on the transition carrier 7 to the sampling conveyor belt 8 for manual sampling inspection. The purpose of adding the transition carrier 7 is to achieve manual sampling inspection and facilitate subsequent tray loading.

[0041] The loading device 9 includes a second machine frame 91, at least one loading lifting table 92 installed in the second machine frame 91, at least one empty tray loading lifting table 93 located behind the loading lifting table 92, and the above-mentioned loading manipulator 94 installed at the upper end of the second machine frame 91 and above the loading lifting table 92 and the empty tray loading lifting table 93. The loading manipulator 94 is used to suck and place the products on the trays on the loading lifting table 92. The loading manipulator 94 is further used to suck the empty trays on the empty tray loading lifting table 93 and place them on the loading lifting table 92 or stack them on the trays full of products on the loading lifting table 92. During operation, the loading manipulator 94 sucks the empty trays on the empty tray loading lifting table 93 and places them on the loading lifting table 92 or stacks them on the trays full of products on the loading lifting table 92, and sucks and places the products positioned on the transition carrier 7 on the trays on the loading lifting table 92. Its structure is simple and easy to use.

[0042] The dish loading manipulator 94 includes a third X-axis driving module 941 installed at the upper end of the second rack 91, an X-axis moving seat 942 installed at the lower end of the third X-axis driving module 941, a third Z-axis driving module 943 installed on one side of the X-axis moving seat 942, a third lifting frame 944 installed at the lower end of the third Z-axis driving module 943, and a plurality of third vacuum suction cups 945 installed on the third lifting frame 944 and capable of adjusting positions. A third Y-axis driving module 940 is installed on the other side of the X-axis moving seat 942, a fourth Z-axis driving module 946 is installed at the lower end of the third Y-axis driving module 940, and a fourth mounting bracket 948 is rotatably installed on the fourth Z-axis driving module 946 through a second rotation driving mechanism 947, and a plurality of fourth vacuum suction cups 949 are installed on the fourth mounting bracket 948. Among them, the third X-axis driving module 941, the third Z-axis driving module 943, the third lifting frame 944, and the third vacuum suction cups 945 are used to suck the empty trays on the empty tray loading lifting table 93 and place them on the dish loading lifting table 92 or stack them on the trays full of products on the dish loading lifting table 92. The third X-axis driving module 941, the third Y-axis driving module 940, the fourth Z-axis driving module 946, the second rotation driving mechanism 947, the fourth mounting bracket 948, and the fourth vacuum suction cups 949 are used to suck the products positioned on the transfer carrier 7 and place them on the trays on the dish loading lifting table 92, or suck the products positioned on the transfer carrier 7 and place them on the sampling conveyor belt 8.

[0043] The number of the dish loading lifting table 92 and the empty tray loading lifting table 93 is two each, and they are distributed in a cross shape, which can meet the requirements of efficient production. The dish loading lifting table 92 and the empty tray loading lifting table 93 are both conventional products.

[0044] In summary, the present utility model can realize the automatic feeding of the products to be detected through the feeding conveyor mechanism 4, then the first handling device 5 sucks the products to be detected, and the positioning camera 1 takes pictures for positioning. After adjusting the products to be detected to the predetermined position by the first handling device 5, they are precisely handled and placed on the first carrier 2, ensuring the quality of the AOI inspection camera 3 taking pictures of the products to be detected for AOI inspection in the later stage. Finally, the second handling device 6 automatically unloads the products that have completed the AOI inspection work on the first carrier 2, so as to realize the automatic feeding, handling, picture taking and positioning, AOI inspection, and automatic unloading of the products to be detected, realizing the full-automatic AOI inspection work, with high work efficiency and improved productivity.

[0045] Certainly, the above are only specific embodiments of the present utility model, and are not intended to limit the scope of implementation of the present utility model. Any equivalent changes or modifications made according to the structure, features, and principles described in the scope of the patent application of the present utility model should be included in the scope of the patent application of the present utility model.

Claims

1. A full-automatic AOI inspection machine, which includes a first machine base (1), a first carrier (2) installed on the first machine base (1) and used for carrying and positioning the product to be inspected, and an AOI inspection camera (3) arranged above the first carrier (2) and used for taking pictures of the product to be inspected for AOI inspection, and is characterized in that: The first carrier (2) is provided with first vacuum suction holes (21); The first machine base (1) is further provided with a loading conveyor mechanism (4) and a first handling device (5) for handling the product to be inspected conveyed on the loading conveyor mechanism (4) to the first carrier (2). A positioning camera (10) for taking pictures to position the product to be inspected fixed by the first handling device (5) is arranged on the first machine base (1), and the first machine base (1) is further provided with a second handling device (6) for automatically unloading the product that has completed the AOI inspection work on the first carrier (2).

2. The full-automatic AOI inspection machine according to claim 1, wherein: The loading conveyor mechanism (4) includes a first frame body (41) installed on the first machine base (1), a first conveyor belt (42) installed on the first frame body (41), and a first motor assembly (43) for driving the first conveyor belt (42) to operate. A first stop bar (411) is further arranged at the end of the first frame body (41), and the first stop bar (411) is placed at the end of the first conveyor belt (42); A positioning push block (412) for pushing the product to be inspected on the first conveyor belt (42) to cooperate with the first stop bar (411) to position the product to be inspected is arranged on the side of the first frame body (41), and the positioning push block (412) is installed on a positioning cylinder (413).

3. The full-automatic AOI inspection machine according to claim 1, wherein: The first handling device (5) includes a second frame body (51) installed on the first machine base (1), a first X-axis driving module (52) installed on the second frame body (51), a first Y-axis driving module (53) installed on the first X-axis driving module (52), a first Z-axis driving module (54) installed on the first Y-axis driving module (53), and a first mounting bracket (55) rotatably installed on the first Z-axis driving module (54) through a first rotation driving mechanism (57) and a plurality of first vacuum suction cups (56) installed on the first mounting bracket (55).

4. The full-automatic AOI inspection machine according to claim 1, wherein: A first vertical rod (11) is arranged on the first machine base (1), and an adjustable-height first light source (12) is arranged on the first vertical rod (11). The first light source (12) is located above the positioning camera (10) and is placed between the loading conveyor mechanism (4) and the first carrier (2); A first machine frame (13) is arranged on the first machine base (1), and the AOI inspection camera (3) is arranged inside the first machine frame (13).

5. The full-automatic AOI inspection machine according to any one of claims 1-4, characterized in that: A replaceable light-shielding paper (22) is disposed on the upper end surface of the first stage (2). The light-shielding paper (22) has a window (221) for accommodating a product to be detected. Among them, the first vacuum suction holes (21) are exposed in the window (221). A positioning post (23) is disposed on the first stage (2), and a positioning hole (222) for positioning with the positioning post (23) is disposed on the light-shielding paper (22). The light-shielding paper (22) is sleeved on the positioning post (23) through the positioning hole (222) to be positioned on the upper end surface of the first stage (2). Second light sources (24) are disposed around the light-shielding paper (22).

6. The fully automatic AOI inspection machine according to claim 5, wherein: The second handling device (6) includes a second X-axis driving module (61) mounted on the first machine base (1), a second Z-axis driving module (62) mounted on the second X-axis driving module (61), a first lifting frame (63) mounted on the second Z-axis driving module (62), and a plurality of second vacuum suction cups (64) mounted on the first lifting frame (63) and adjustable in position.

7. The full-automatic AOI inspection machine according to any one of claims 1-4, characterized in that: A transfer stage (7) is further disposed on the first machine base (1). Second vacuum suction holes (71) are disposed on the transfer stage (7). A sampling conveyor belt (8) is disposed beside the transfer stage (7). The second handling device (6) is used to transfer the product that has completed the AOI detection work on the first stage (2) to the transfer stage (7). A loading device (9) for loading the product onto a tray is disposed beside the first machine base (1). The loading manipulator (94) in the loading device (9) is further used to transfer the product on the transfer stage (7) to the sampling conveyor belt (8).

8. The fully automatic AOI inspection machine according to claim 7, wherein: The loading device (9) includes a second machine frame (91), at least one loading lifting table (92) mounted in the second machine frame (91), at least one empty tray loading lifting table (93) located behind the loading lifting table (92), and the above-mentioned loading manipulator (94) mounted on the upper end of the second machine frame (91) and above the loading lifting table (92) and the empty tray loading lifting table (93). The loading manipulator (94) is used to suck and place the product on the tray on the loading lifting table (92). The loading manipulator (94) is further used to suck the empty tray on the empty tray loading lifting table (93) and place it on the loading lifting table (92) or stack it on the tray full of products on the loading lifting table (92).

9. The full-automatic AOI inspection machine according to claim 8, wherein: The dish loading manipulator (94) includes a third X-axis driving module (941) installed at the upper end of the second frame (91), an X-axis moving seat (942) installed at the lower end of the third X-axis driving module (941), a third Z-axis driving module (943) installed on one side of the X-axis moving seat (942), a third lifting frame (944) installed at the lower end of the third Z-axis driving module (943), a plurality of third vacuum suction cups (945) installed on the third lifting frame (944) and adjustable in position, a third Y-axis driving module (940) installed on the other side of the X-axis moving seat (942), a fourth Z-axis driving module (946) installed at the lower end of the third Y-axis driving module (940), and a fourth mounting frame (948) rotatably installed on the fourth Z-axis driving module (946) through a second rotation driving mechanism (947), and a plurality of fourth vacuum suction cups (949) installed on the fourth mounting frame (948).

10. The full-automatic AOI inspection machine according to claim 8, wherein: The number of the dish loading lifting table (92) and the empty dish loading lifting table (93) is two each, and they are distributed in a cross shape.

Images