Detection mechanism and carrier plate photographing maintenance machine

Abstract

The utility model provides a detection mechanism and a carrier plate photographing maintenance machine, the detection mechanism comprises an annular light source assembly and a strip-shaped light source assembly, the annular light source assembly is sleeved on the periphery of a lens assembly through the cooperative use of the annular light source assembly and the strip-shaped light source assembly; the light-emitting axis and the central axis of the lens assembly are on the same straight line, so that the lens assembly is ensured to be uniformly and consistently illuminated in a shooting range; and the annular light source assembly and the strip-shaped light source assembly are combined for use, so that more uniform and more stable lighting conditions can be provided. The strip-shaped light source assembly is rotationally connected with the first mounting frame, so that the light supplementing angle can be flexibly adjusted to adapt to different detection requirements, the detection mechanism can adjust the illumination intensity and direction according to requirements, the contrast ratio between different areas in images collected by the lens body is enhanced, and the detection accuracy is improved. Defects on the carrier plate can be conveniently highlighted, so that the detection is more accurate and reliable.

Description

Technical Field

[0001] The utility model relates to the field of photographic testing equipment, in particular to a testing mechanism and a carrier board photographic repair machine. Background Art

[0002] In the field of electronics manufacturing, a substrate specifically refers to an IC substrate, which is a substrate used to carry ICs (integrated circuits) and has internal wiring to conduct signals between the chip and the circuit board.

[0003] Traditional carrier inspection involves a significant amount of manual work, such as manually loading and unloading materials and flipping the carrier on the transport platform. Furthermore, existing inspection technologies employ only a camera and a single ring-shaped fill light for illumination. As carrier product design becomes increasingly complex, new defect types, such as dents or raised solder joints, are increasingly appearing on production lines. Existing technologies cannot effectively detect these defects using single-direction illumination.

[0004] Therefore, it is necessary to provide a detection mechanism and a carrier board photo inspection machine to solve the above technical problems. Utility Model Content

[0005] The utility model provides a detection mechanism and a carrier board photographing and repairing machine to solve the problems in the prior art that the carrier board detection technology adopts manual loading and unloading and flipping of the carrier board for low detection efficiency, and the detection mechanism adopts a single lighting method and cannot effectively detect surface defects of the carrier board.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a detection mechanism for photographing and detecting a carrier on a carrier platform, the detection mechanism comprising:

[0007] Support frame;

[0008] A lens assembly is connected to the support frame, and the lens assembly is located above the carrying platform;

[0009] an annular light source assembly connected to the support frame, the annular light source assembly being sleeved around the lens assembly, the annular light source assembly being used to provide illumination, the light emitting axis of the annular light source assembly being collinear with the central axis of the lens assembly; and

[0010] A strip light source assembly is located on one side of the lens assembly, the strip light source assembly is connected to the support frame, and the strip light source assembly is used to provide a fill light source;

[0011] Wherein, the bar-shaped light source assembly includes:

[0012] A first mounting frame, a top end of which is connected to the supporting frame; and

[0013] A strip-shaped lamp body connected to the first mounting bracket;

[0014] The strip-shaped lamp body is rotatably connected to the first mounting bracket, and a plane where the strip-shaped lamp body rotates is perpendicular to a central axis of the lens assembly.

[0015] In the detection mechanism of the present invention, the support frame includes:

[0016] a first mounting plate, arranged vertically, the lens assembly being connected to the first mounting plate;

[0017] One end of the second mounting plate is connected to the first mounting plate. The second mounting plate is an annular structure. The lens assembly passes through the second mounting plate. The annular light source assembly is connected to the bottom end of the second mounting plate.

[0018] In the present invention, the detection mechanism further comprises:

[0019] A rotating seat, rotatably mounted on the second mounting plate, the rotating seat being a hollow cylindrical structure, the rotating seat being sleeved on the outside of the lens assembly, and the top end of the rotating seat being connected to the first mounting bracket; and

[0020] The driving assembly is arranged on the second mounting plate and is connected to the rotating seat. The driving assembly drives the rotating seat to rotate, thereby driving the bar-shaped light source assembly to rotate.

[0021] In the present invention, the lens assembly includes:

[0022] A lens body connected to the support frame; and

[0023] a point light source, disposed on one side of the lens body and emitting light downward;

[0024] A spectrometer is tilted and arranged below the lens body, and a detection port is provided on the side of the spectrometer away from the lens body; and

[0025] a reflector, obliquely arranged below the point light source, and reflecting the light emitted by the point light source to the beam splitter;

[0026] The light emitted by the point light source is reflected by the reflector and the beam splitter in sequence onto the carrier plate of the carrier platform, and then passes through the beam splitter after being reflected by the carrier plate to enter the lens body for imaging.

[0027] In the present invention, the lens assembly further comprises:

[0028] a second mirror box, the top of which is rotatably connected to the lens body, the top of which is communicated with the light inlet of the lens body, the bottom of which is provided with a light-transmitting opening facing the supporting platform, and the side of which is connected to the reflector; and

[0029] The second lens frame is arranged in the second lens box. The beam splitter is arranged on the second lens frame, and the angle between the beam splitter and the reflector is adjustable.

[0030] In the present invention, the top end of the second lens box is rotatably connected to the lens body;

[0031] The lens assembly further comprises a connecting piece, one end of which is connected to the second lens box, and the other end of which is connected to the top end of the rotating seat.

[0032] In the present invention, the rotating seat includes:

[0033] A first fixing plate is located at the top of the rotating base, and the top of the first fixing plate is connected to the first mounting bracket;

[0034] A second fixed plate is located at the bottom end of the rotating base, and the bottom end of the second fixed plate is rotatably connected to the second mounting plate through a first horizontal bearing;

[0035] a connecting post connecting the first fixing plate to the second fixing plate; and

[0036] a gear ring, disposed on the second fixing plate, and sleeved on the outside of the connecting column, with a first tooth groove being provided on a circumferential side of the gear ring;

[0037] The driving assembly includes a rotating motor and a driving gear. The rotating motor is arranged on the first mounting plate. The output end of the rotating motor is provided with a driving gear, and the driving gear is engaged with the first tooth groove of the gear ring.

[0038] In the present invention, the support frame further comprises:

[0039] A column bracket, located on one side of the lens assembly;

[0040] A first guide rail assembly is transversely arranged on the column bracket, and the first guide rail assembly is used to drive the lens assembly to move horizontally;

[0041] The second guide rail assembly is connected to the first guide rail assembly, and the second guide rail assembly is slidably connected to the first mounting plate along the vertical direction, and the second guide rail assembly drives the lens assembly to move along the vertical direction.

[0042] The utility model also provides a carrier board photographing and repairing machine, which comprises:

[0043] base;

[0044] a carrying platform, provided on the base, for placing a carrying plate; and

[0045] The detection mechanism as described above is arranged on the base and located above the carrying platform, and is used to take photos and detect the carrier on the carrying platform;

[0046] In the present invention, the carrier board photographing and repairing machine further comprises:

[0047] A running platform, provided on the base, for transporting the carrying platform, wherein the movement trajectory of the carrying platform includes a detection position and a flip position for reversing the transfer plate, and a flip groove is provided on the carrying platform; and

[0048] A flipping mechanism is provided on the base and is located on the peripheral side of the carrier platform, and is used to clamp and flip the carrier plate;

[0049] Wherein, the turning mechanism includes:

[0050] The clamping jaw includes a first clamping rod and a second clamping rod that open and close relative to each other;

[0051] A clamping cylinder connected to the clamping jaws, wherein the clamping cylinder drives the opening and closing of the clamping jaws;

[0052] a rotating cylinder connected to the clamping cylinder, wherein the rotating cylinder drives the clamping cylinder to rotate, thereby driving the clamping claw to rotate; and

[0053] A lifting component is arranged on the base and is connected to the rotary cylinder. The lifting component drives the rotary cylinder to move up and down, thereby driving the clamping claw to move up and down.

[0054] Compared with the prior art, the present invention has the following beneficial effects: in the detection mechanism and carrier board photography and repair machine of the present invention, the detection mechanism includes a ring light source assembly and a strip light source assembly. The detection mechanism uses the ring light source assembly and the strip light source assembly in combination. The ring light source assembly is arranged around the lens assembly, and its light-emitting axis is aligned with the central axis of the lens assembly, ensuring that the lens assembly is evenly and consistently illuminated within the shooting range. The combined use of the ring light source assembly and the strip light source assembly can provide more uniform and stable lighting conditions. The present invention also provides a strip light source assembly that is rotatably connected to the first mounting bracket, so that the fill light angle can be flexibly adjusted to meet different detection requirements. The detection mechanism can adjust the light intensity and direction as needed, thereby enhancing the contrast between different areas in the image captured by the lens body, facilitating the highlighting of defects on the carrier board, and making the detection more accurate and reliable.

[0055] In addition to the above-mentioned detection mechanism, the carrier board photo inspection machine is also provided with an operating platform so that the carrier board can be automatically transported to the detection position for detection by the carrying platform. After the detection is completed, the carrier board is automatically transported to the flipping position through the operating platform and flipped over by the flipping mechanism, thereby realizing automatic flipping detection of the back side of the carrier board and reducing manual operation costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. The drawings described below are only drawings corresponding to some embodiments of the present invention.

[0057] Figure 1 This is a schematic diagram of the overall structure of the carrier photographing and repairing machine according to the first embodiment of the present utility model.

[0058] Figure 2 This is a schematic diagram of the detection mechanism of the first embodiment of the present utility model.

[0059] Figure 3 This is a front view of the detection mechanism of the first embodiment of the present utility model.

[0060] Figure 4 This is a schematic diagram of the overall structure of the lens assembly of the first embodiment of the present invention.

[0061] Figure 5 This is a cross-sectional view of the lens assembly according to the first embodiment of the present invention.

[0062] Figure 6 This is a schematic diagram of the back structure of the carrier photographing and repairing machine according to the first embodiment of the present utility model.

[0063] Figure 7 This is a schematic diagram of the flipping mechanism of the first embodiment of the present utility model.

[0064] Figure 8 This is a schematic diagram of the overall structure of the lens assembly of the second embodiment of the present invention.

[0065] Figure 9 This is a cross-sectional view of a lens assembly according to a second embodiment of the present invention.

[0066] Figure 10 This is a cross-sectional view of the rotating seat of the second embodiment of the present utility model.

[0067] Figure 11 This is a three-dimensional view of a rotating base according to the second embodiment of the present invention.

[0068] Figure 12 This is a schematic structural diagram of a second mirror box according to a second embodiment of the present invention.

[0069] Figure 13 This is a structural schematic diagram of a second lens frame according to a second embodiment of the present invention.

[0070] Figure 14 This is a cross-sectional view of a second lens frame according to a second embodiment of the present invention.

[0071] Figure numerals of the first embodiment: 11, base; 111, frame; 1111, column bracket; 1112, first guide rail assembly; 1113, second guide rail assembly; 12, carrier platform; 13, detection mechanism; 131, support frame; 1311, first mounting plate; 1312, second mounting plate; 132, lens assembly; 1321, lens body; 1322, point light source; 1323, spectroscope; 1324, reflector; 1325, first mirror box; 133, Ring light source assembly; 134, strip light source assembly; 1341, first mounting bracket; 13411, first fixing hole; 13412, first arc-shaped adjustment slot; 13413, first adjustment hole; 1342, strip light body; 14, flipping mechanism; 141, clamping claw; 1411, first clamping rod; 1412, second clamping rod; 142, clamping cylinder; 143, rotating cylinder; 144, lifting assembly; 15, first material box; 16, second material box; 17, operating platform.

[0072] Second embodiment reference numerals: 23, detection mechanism; 231, support frame; 2311, first mounting plate; 2312, second mounting plate; 232, lens assembly; 2321, lens body; 2322, point light source; 2323, spectroscope; 2324, reflector; 2325, second mirror box; 23251, first fixing portion; 23252, second fixing portion; 23253, first mounting hole; 23254, second mounting hole; 23255, reflective light transmission hole; 2326, second horizontal bearing; 233, ring light source assembly; 234, strip light source assembly; 2341, first mounting frame; 2342, Strip lamp body; 235, rotating seat; 2351, first fixing plate; 23511, second adjustment hole; 23512, third adjustment hole; 2352, connecting column; 2353, second fixing plate; 2354, gear ring; 236, driving assembly; 2361, rotating motor; 2362, driving gear; 237, first horizontal bearing; 238, connecting plate; 239, second lens frame; 2391, first connecting plate; 23911, first light-transmitting hole; 2392, second connecting plate; 2393, third connecting plate; 2394, fourth connecting plate; 2395, first adjusting screw; 2396, second adjusting screw. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0074] In the figures, structurally similar elements are denoted by the same reference numerals.

[0075] The terms "first" and "second" in the present invention are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor as limiting the order of precedence.

[0076] Please refer to Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the overall structure of the carrier photographing and repairing machine according to the first embodiment of the present utility model. Figure 2 The following is a preferred embodiment of a detection mechanism and a carrier photographing and repairing machine provided by the present invention that can solve the above technical problems.

[0077] The preferred embodiment of the detection mechanism and the carrier photographing and repairing machine provided by the present invention is: a detection mechanism and the carrier photographing and repairing machine, the carrier photographing and repairing machine includes a base 11, a carrying platform 12, a detection mechanism 13 and a flipping mechanism 14, a frame 111 is provided on the base 11, the carrying platform 12 is provided on the base 11 and is located below the frame 111, and the carrying platform 12 is used to place the carrier; the detection mechanism 13 is provided on the base 11, and the detection mechanism 13 is located above the carrying platform 12, and the detection mechanism 13 is used to take pictures and detect the carrier on the carrying platform 12; the flipping mechanism 14 is provided on the base 11 and is located on the side of the carrying platform 12, and the flipping mechanism 14 is used to clamp and flip the carrier, so that the equipment can take pictures and detect the back of the carrier.

[0078] Among them, the detection mechanism 13 includes a support frame 131, a lens assembly 132, a ring-shaped light source assembly 133 and a strip-shaped light source assembly 134; the support frame 131 is connected to the frame 111; the lens assembly 132 is connected to the support frame 131, the lens assembly 132 is located above the carrier platform 12, and the lens assembly 132 is used to take pictures and detect the carrier board on the carrier platform 12; the ring-shaped light source assembly 133 is connected to the support frame 131, the ring-shaped light source assembly 133 is arranged around the lens assembly 132, and the ring-shaped light source assembly 133 is used to provide lighting, and the light-emitting axis of the ring-shaped light source assembly 133 is in the same straight line with the central axis of the lens assembly 132; the strip-shaped light source assembly 134 is located on one side of the lens assembly 132, the strip-shaped light source assembly 134 is connected to the support frame 131, and the strip-shaped light source assembly 134 is used to provide a fill light source.

[0079] In this embodiment, the strip light source assembly 134 includes a first mounting frame 1341 and a strip light body 1342. The top end of the first mounting frame 1341 is connected to the support frame 131; the strip light body 1342 is connected to the first mounting frame 1341. The strip light body 1342 is rotatably connected to the first mounting frame 1341, and the plane in which the strip light body 1342 rotates is perpendicular to the central axis of the lens assembly 132. The position of the strip light source assembly 134 relative to the lens assembly 132 is adjustable, which increases the illumination range of the strip light source assembly 134.

[0080] The structure of the bar-shaped light source assembly 134 in this embodiment is described in detail as follows:

[0081] Combine Figure 2 and Figure 4 In this embodiment, a first fixing hole 13411 and a first arc-shaped adjustment groove 13412 are provided on the first mounting frame 1341. The first fixing hole 13411 is rotatably connected to the strip lamp body 1342. The first arc-shaped adjustment groove 13412 opens toward the first fixing hole 13411, and the first arc-shaped adjustment groove 13412 is rotatably connected to the strip lamp body 1342. The structural design is simple and easy to adjust and use.

[0082] Furthermore, a first adjustment hole 13413 is provided on the first mounting frame 1341, and the straight line where the long side of the first adjustment hole 13413 is located is perpendicular to the axis of the lens assembly 132. The first adjustment hole 13413 is adjustably connected to the support frame 131, so that the position of the strip light source assembly 134 relative to the carrier plate can be adjusted to meet the needs of the equipment for fill lighting of different models of carrier plates.

[0083] The structure of the support frame 131 in this embodiment is described as follows:

[0084] Combine Figure 2 and Figure 31312 , and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1311, and the second mounting plate 1312 is aligned with the first mounting plate 1312, and the second mounting plate 1312 is aligned with the first mounting plate 131

[0085] The structure of the lens assembly 132 in this embodiment is described as follows:

[0086] Combine Figure 4 and Figure 5 The lens assembly 132 includes a lens body 1321, a point light source 1322, a beam splitter 1323 and a reflector 1324; the lens body 1321 is connected to the support frame 131; the point light source 1322 is arranged on one side of the lens body 1321, and the point light source 1322 emits light downward; the beam splitter 1323 is arranged obliquely below the lens body 1321, and a detection port is provided on the side of the beam splitter 1323 away from the lens body 1321; the reflector 1324 is arranged obliquely below the point light source 1322, and the reflector 1324 reflects the light emitted by the point light source 1322 to the beam splitter 1323; wherein, the light emitted by the point light source 1322 is reflected in turn by the reflector 1324 and the beam splitter 1323 to the carrier plate of the carrier platform 12, and after reflection by the carrier plate, passes through the beam splitter 1323 and enters the lens body 1321 for imaging.

[0087] In this embodiment, the beam splitter 1323 is connected to the lens body 1321 through the first mirror box 1325, wherein the plane where the beam splitter 1323 and the plane where the reflector 1324 are located are parallel to each other, and the angle between the axis of the beam splitter 1323 and the lens body 1321 is 45 degrees.

[0088] The following describes other structures of the carrier board photographing and repairing machine in this embodiment:

[0089] Combine Figure 1 and Figure 2The rack 111 in this embodiment includes a column bracket 1111, a first guide rail assembly 1112 and a second guide rail assembly 1113; the column bracket 1111 is set on the base 11, and the column bracket 1111 is located on one side of the lens assembly 132; the first guide rail assembly 1112 is horizontally set on the column bracket 1111, and the first guide rail assembly 1112 is used to drive the lens assembly 132 to move horizontally; the second guide rail assembly 1113 is connected to the first guide rail assembly 1112, and the second guide rail assembly 1113 is slidably connected to the first mounting plate 1311 in the vertical direction, and the second guide rail assembly 1113 drives the lens assembly 132 to move in the vertical direction.

[0090] Combine Figure 1 and Figure 6 The carrier board photographing and repairing machine in this embodiment also includes a first material box 15, a second material box 16, a scheduling robot (not shown in the figure), a running platform 17 and a flipping mechanism 14 arranged on the base 11; wherein the first material box 15 is used to place uninspected carrier boards, and the second material box 16 is used for inspected carrier boards; the scheduling robot is used to clamp and transport the carrier boards between the first material box 15 and the carrier platform 12, and to clamp and transport the carrier boards between the carrier platform 12 and the second material box 16.

[0091] The operating platform 17 is used to transport the carrier 12. The motion trajectory of the carrier 12 includes a loading position, a unloading position, a detection position, and a flip position for flipping the carrier. The carrier 12 is provided with a flip groove; the flip mechanism 14 is provided on the base 11, and the flip mechanism 14 is located at one end of the operating platform 17. The flip mechanism 14 is used to flip the carrier.

[0092] like Figure 8 As shown, the flipping mechanism 14 in this embodiment includes a clamping jaw 141, a clamping cylinder 142, a rotating cylinder 143 and a lifting assembly 144; the clamping jaw 141 includes a first clamping rod 1411 and a second clamping rod 1412 that open and close relative to each other; the clamping cylinder 142 is connected to the clamping jaw 141, and the clamping cylinder 142 drives the opening and closing of the clamping jaw 141; the rotating cylinder 143 is connected to the clamping cylinder 142, and the rotating cylinder 143 drives the clamping cylinder 142 to rotate, thereby driving the clamping jaw 141 to rotate; the lifting assembly 144 is arranged on the base 11, and the lifting assembly 144 is connected to the rotating cylinder 143, and the lifting assembly 144 drives the rotating cylinder 143 to move up and down, thereby driving the clamping jaw 141 to move up and down.

[0093] The carrier board photographing and repairing machine realizes the fully automatic transportation and flipping operation of the carrier board from the first material box 15 to the supporting platform 12 and then to the second material box 16 by coordinating the work of the dispatching manipulator, the operating platform 17 and the flipping mechanism 14, which greatly improves the degree of automation of the repair process, reduces manual intervention and improves work efficiency.

[0094] The loading, unloading, inspection, and flipping positions arranged along the motion trajectory of the carrier 12 make the transport and inspection of carriers more organized and efficient. Furthermore, the flipping mechanism 14, combined with the photographic inspection process, enables detailed inspection of both sides of the carrier, ensuring carrier quality. The gripping and flipping operation of the flipping mechanism 14 also ensures that the carrier is not damaged during flipping, further ensuring inspection quality.

[0095] The working principle of the utility model carrier board photographing and repairing machine:

[0096] S11: Loading the carrier board.

[0097] The dispatching robot picks up the carrier plate to be tested from the first material box 15 and transports it to the carrier platform 12 at the loading position. The operating platform 17 drives the carrier platform 12 to move the carrier plate from the loading position to the testing position.

[0098] S12: The detection mechanism 13 detects the front side of the carrier board.

[0099] When the carrier 12 is located at the inspection position, the lens assembly 132 illuminates the front of the carrier through the annular light source assembly 133 and the bar light source assembly 134, and the lens body 1321 takes a photo of the front of the carrier for inspection.

[0100] Light from point light source 1322 is reflected by reflector 1324 and beam splitter 1323, illuminating the carrier board, allowing lens body 1321 to capture a clear image. Light from point light source 1322 is reflected by reflector 1324 and beam splitter 1323 onto the carrier board, then reflected by the carrier board and then through beam splitter 1323 into lens body 1321, completing the image capture process.

[0101] The lens assembly 132 can move horizontally or vertically according to the adjustment of the first guide rail assembly 1112 and the second guide rail assembly 1113 to obtain images of different areas of the carrier.

[0102] S13: Turn over the carrier board.

[0103] After the front surface inspection of the carrier is completed, the operating platform 17 drives the carrying platform 12 to move the carrier to the flip position.

[0104] S131: The clamping claw 141 of the flipping mechanism 14 is driven by the lifting assembly 144 to descend, and the clamping cylinder 142 drives the clamping claw 141 to close and clamp the carrier plate.

[0105] S132: The lifting assembly 144 lifts the clamping claw 141, and the rotary cylinder 143 drives the clamping claw 141 to rotate 180 degrees to achieve the flipping of the carrier plate.

[0106] S133: The lifting assembly 144 descends again and places the flipped carrier onto the carrier platform 12 to prepare for back surface inspection.

[0107] S14: The detection mechanism 13 detects the back side of the carrier board.

[0108] The turned-over carrier is driven by the operating platform 17 to be transported to the inspection position by the carrying platform 12, and the lens assembly 132 takes a photo of the back of the carrier for inspection.

[0109] Likewise, the annular light source assembly 133 and the bar light source assembly 134 provide sufficient lighting to ensure that the lens assembly 132 can obtain a clear rear image.

[0110] S15: Detection completed.

[0111] After the back surface inspection is completed, the operating platform 17 drives the carrier platform 12 to move the carrier plate to the unloading position.

[0112] The robot is dispatched to pick up the inspected carrier from the carrier platform 12 and transport it to the second material box 16 .

[0113] 6. The control system performs image processing and analysis.

[0114] The image data collected by the detection mechanism is transmitted to the control system for processing and analysis.

[0115] The control system identifies defects in the image, such as scratches, stains, dents, etc., through a preset algorithm.

[0116] The qualification of the carrier board is determined based on the identification result and confirmed by the user.

[0117] As described above, the working process of the carrier board photographing and repairing machine of the present invention for detecting the carrier board is completed.

[0118] During the entire working process, all components work together to ensure that the carrier board photo inspection machine can complete the carrier board photo inspection task efficiently and accurately.

[0119] Combine Figure 8 and Figure 9 , Figure 8 This is a schematic diagram of the overall structure of the lens assembly of the second embodiment of the present invention.

[0120] Figure 9 The following is a second embodiment of a detection mechanism and a carrier board photographing and repairing machine provided by the present invention that can solve the above technical problems.

[0121] A detection mechanism and a carrier photographing and inspection machine, comprising a base, a carrying platform, a detection mechanism 23, and a flipping mechanism. The base is provided with a frame, the carrying platform is provided on the base and located below the frame, and the carrying platform is used to place the carrier; the detection mechanism 23 is provided on the base and located above the carrying platform, and is used to photograph and inspect the carrier on the carrying platform; the flipping mechanism is provided on the base and located around the carrying platform, and is used to clamp and flip the carrier, so that the device can photograph and inspect the back of the carrier. The base, carrying platform, and flipping mechanism in this embodiment are substantially the same as those described in the first embodiment, and are not described in detail here.

[0122] Among them, the detection mechanism 23 includes a support frame 231, a lens assembly 232, a ring light source assembly 233 and a strip light source assembly 234; the support frame 231 is connected to the frame; the lens assembly 232 is connected to the support frame 231, the lens assembly 232 is located above the carrier platform, and the lens assembly 232 is used to take pictures and detect the carrier on the carrier platform; the ring light source assembly 233 is connected to the support frame 231, the ring light source assembly 233 is mounted on the side of the lens assembly 232, and the ring light source assembly 233 is used to provide lighting, and the light-emitting axis of the ring light source assembly 233 is in the same straight line with the central axis of the lens assembly 232; the strip light source assembly 234 is located on one side of the lens assembly 232, the strip light source assembly 234 is connected to the support frame 231, and the strip light source assembly 234 is used to provide a fill light source.

[0123] The support frame 231 includes a first mounting plate 2311 and a second mounting plate 2312. The first mounting plate 2311 is vertically arranged on one side of the support frame 231, and the lens assembly 232 is connected to the first mounting plate 2311; one end of the second mounting plate 2312 is connected to the first mounting plate 2311, and the second mounting plate 2312 is a ring-shaped structure. The lens assembly 232 passes through the second mounting plate 2312, and the ring-shaped light source assembly 233 is connected to the bottom end of the second mounting plate 2312; the strip light source assembly 234 is connected to the top end of the second mounting plate 2312. The structural layout is compact. The lens assembly 232, the ring light source assembly 233 and the strip light source assembly 234 are centrally installed on the support frame 231, and are aligned through the second mounting plate 2312 of the ring structure, which simplifies the assembly structure of the light source assembly, so that the ring light source assembly 233 and the strip light source assembly 234 can provide sufficient lighting for the lens assembly 232.

[0124] In this embodiment, the light source assembly 234 is rotatably connected to the top of the second mounting plate 2312. The detection mechanism 23 further includes a rotating base 235, a driving assembly 236, and a first horizontal bearing 237. The rotating base 235 is a hollow cylindrical structure, which is sleeved on the outside of the lens assembly 232. The rotating base 235 is rotatably mounted on the second mounting plate 2312 and rotatably connected to the second mounting plate 2312 via the first horizontal bearing 237. The top of the rotating base 235 is connected to the bar-shaped light source assembly 234. The driving assembly 236 is disposed on the second mounting plate 2312 and connected to the rotating base 235. The driving assembly 236 drives the rotating base 235 to rotate, thereby driving the bar-shaped light source assembly 234 to rotate.

[0125] The structure of the rotating seat 235 in this embodiment is described in detail as follows:

[0126] Combine Figure 10 and Figure 11 In this embodiment, the rotating base 235 includes a first fixing plate 2351, a connecting post 2352, a second fixing plate 2353, and a gear ring 2354. The first fixing plate 2351 is located at the top of the rotating base 235 and is connected to the bar light source assembly 234. The second fixing plate 2353 is located at the bottom of the rotating base 235 and is rotatably connected to the second mounting plate 2312 via a first horizontal bearing 237. The connecting post 2352 connects the first fixing plate 2351 and the second fixing plate 2353. The gear ring 2354 is disposed on the second fixing plate 2353 and is sleeved around the connecting post 2352. A first tooth groove is provided on the circumference of the gear ring 2354.

[0127] The strip light source assembly 234 includes a first mounting bracket 2341 and a strip light body 2342, which is connected to the first mounting bracket 2341. The first fixing plate 2351 is provided with a plurality of second adjustment holes 23511 arranged in a line perpendicular to the axis of the lens assembly 232. The second adjustment holes 23511 are adjustably connected to the first mounting bracket 2341 of the strip light source assembly 234, allowing the position of the strip light source assembly 234 relative to the carrier board to be adjusted, allowing the device to provide fill lighting for different carrier board models.

[0128] The drive assembly 236 includes a rotary motor 2361 and a drive gear 2362. The rotary motor 2361 is mounted on the second mounting plate 2312. The output end of the rotary motor 2361 is provided with a drive gear 2362, which engages with a first tooth groove on the gear ring 2354. The drive assembly 236 drives the gear ring 2354 to rotate by engaging the drive gear 2362, thereby causing the rotating base 235 to drive the bar-shaped light source assembly 234 to rotate about the axis of the lens assembly 232. The drive assembly 236 in this embodiment can also be a screw drive structure, or the rotary motor can be directly connected to the rotating base 235 to rotate, which will not be described in detail here.

[0129] The second implementation of the lens assembly 232 in this embodiment is described below:

[0130] Combine Figure 10 In this embodiment, the lens assembly 232 includes a lens body 2321, a point light source 2322, a beam splitter 2323 and a reflector 2324; the lens body 2321 is connected to the support frame 231; the point light source 2322 is arranged on one side of the lens body 2321, and the point light source 2322 emits light downward; the beam splitter 2323 is arranged obliquely below the lens body 2321, and a detection port is provided on the side of the beam splitter 2323 away from the lens body 2321; the reflector 2324 is arranged obliquely below the point light source 2322, and the reflector 2324 reflects the light emitted by the point light source 2322 to the beam splitter 2323; wherein, the light emitted by the point light source 2322 is reflected in turn by the reflector 2324 and the beam splitter 2323 to the carrier plate of the carrier platform, and after being reflected by the carrier plate, passes through the beam splitter 2323 and enters the lens body 2321 to form an image.

[0131] like Figure 10 、 Figure 12 As shown, in this embodiment, the second mirror box 2325 includes a first fixing portion 23251 and a second fixing portion 23252. The first fixing portion 23251 is rotatably connected to the lens body 2321, and the beam splitter 2323 is disposed within the second fixing portion 23252. The reflector 2324 is disposed on one side of the beam splitter 2323 and connected to one side of the second fixing portion 23252. The second fixing portion 23252 is provided with a reflective light-transmitting hole 23255 on the side facing the reflector 2324.

[0132] In this embodiment, a raised ring is provided on the outside of the lens body 2321, and a rotation groove is provided on the inner ring of the first fixing portion 23251. The rotation groove engages with the raised ring for rotation. The cross-sectional diameter of the second fixing portion 23252 is larger than that of the first fixing portion 23251. A second horizontal bearing 2326 is also provided within the second lens box 2325. The second horizontal bearing 2326 is disposed within the first fixing portion 23251. The lens body 2321 is rotatably connected to the bottom end of the first fixing portion 23251 via the second horizontal bearing 2326.

[0133] In addition, the lens body 2321 can also be rotatably connected to the second mirror box 2325 via other rotating parts such as a rotating shaft sleeve, which will not be described in detail here. In this embodiment, the lens body 2321 can also be disconnected from the second mirror box 2325, but this application preferably adopts a structure in which the lens body 2321 is rotatably connected to the second mirror box 2325. This ensures that the lens body 2321 and the light emitted by the point light source 2322 on the carrier are coaxial, thereby improving the accuracy of the lens assembly 232 in photographing and detecting the carrier.

[0134] Combine Figure 8 As shown, further, the lens assembly 232 also includes a connecting piece 238, which connects the second lens box 2325 to the top of the rotating seat 235. When the strip light source assembly 234 rotates relative to the lens body 2321, the light emitted by the point light source 2322 can also be rotated and adjusted synchronously, thereby improving the practicality of the carrier board photo repair machine.

[0135] A third adjustment hole 23512 is provided on the first fixing plate 2351, and the third adjustment hole 23512 is connected to the connecting piece 238. There are several groups of third adjustment holes 23512, and the straight line where the arrangement directions of the several third adjustment holes 23512 are located is perpendicular to the axis of the lens assembly 232, so that the first fixing plate 2351 can be used to assemble connecting pieces 238 of various sizes.

[0136] The connection structure of the beam splitter 2323 in this embodiment is described as follows:

[0137] Combine Figure 12 and Figure 13 As shown, in this embodiment, a second lens holder 239 is disposed within the second lens box 2325. The beam splitter 2323 is disposed on the second lens holder 239, and the angle between the beam splitter 2323 and the reflector 2324 is adjustable. The design of the beam splitter 2323 and the second lens holder 239 in the lens assembly 23 allows the angle of the beam splitter 2323 relative to the reflector 2324 to be adjusted, thereby enabling photographic inspection of the carrier at different angles, thereby increasing the comprehensiveness and accuracy of the inspection.

[0138] The second lens frame 239 includes a first connecting plate 2391, a second connecting plate 2392 and a third connecting plate 2393 and a fourth connecting plate 2394 which are arranged opposite to each other, wherein the cross-sections of the third connecting plate 2393 and the fourth connecting plate 2394 are both triangular structures, the third connecting plate 2393 and the fourth connecting plate 2394 are respectively connected to the two sides of the inner wall of the second mirror box 2325, the first connecting plate 2391 is located at the top of the second lens frame 239, and the two sides of the first connecting plate 2391 are connected to the top of the third connecting plate 2393 and the fourth connecting plate 2394, and the first connecting plate 2391 is provided with a first light-transmitting hole 23911 which is connected to the lens body 2321.

[0139] The spectrometer 2323 is arranged on the second connecting plate 2392. The two sides of the second connecting plate 2392 are respectively connected to the long sides of the third connecting plate 2393 and the fourth connecting plate 2394. The top plate of the second connecting plate 2392 is connected to the first connecting plate 2391. In this embodiment, the initial angle between the second connecting plate 2392 and the first connecting plate 2391 is 45°.

[0140] Further, such as Figure 14 As shown, screw holes are provided on both sides of the second connecting plate 2392, the third connecting plate 2393 is threadedly connected to one side of the periphery of the second connecting plate 2392 for fixing the beam splitter 2323 through a first adjusting screw 2395, and the fourth connecting plate 2394 is threadedly connected to the other side of the second connecting plate 2392 through a second adjusting screw 2396. This structure allows the angle between the beam splitter 2323 and the reflector 2324 to be adjusted, thereby improving the practicality of the lens assembly structure.

[0141] In this embodiment, a first mounting hole 23253 and a second mounting hole 23254 are provided on the side of the second mirror box 2325. The first mounting hole 23253 is fastened to the third connecting plate 2393 via screws. The second mounting hole 23254 on one side of the second mirror box 2325 is connected to one side of the beam splitter 2323 via a first adjustment screw 2395 that penetrates the third connecting plate 2393. The other side of the second mirror box 2325 is connected to the other side of the beam splitter 2323 via a second adjustment screw 2396 that penetrates the fourth connecting plate 2394. This structure allows the angle of the beam splitter 2323 to be adjusted to meet the different requirements of carrier board inspection.

[0142] To adjust the beam splitter 2323, rotate the first adjustment screw 2395 and the second adjustment screw 2396. Then, manually fine-tune the angle of the beam splitter 2323 relative to the reflector 2324 as needed. This allows the point light source 2322 to be positioned on the substrate to meet the varying needs of substrate testing. Once the beam splitter 2323 is adjusted to the desired angle, ensure that the first adjustment screw 2395 and the second adjustment screw 2396 are tightened to maintain the beam splitter's position.

[0143] The board inspection process of the board inspection machine of the second embodiment of the present invention is as follows:

[0144] S21: Loading the carrier plate.

[0145] The robot is dispatched to place the carrier to be inspected on the carrier table and move it to the inspection position.

[0146] The lens assembly 232 , the annular light source assembly 233 and the bar light source assembly 234 are all in their initial positions, ready for photo taking and detection.

[0147] S22: The detection mechanism 23 detects the front side of the carrier board.

[0148] S221: Initial detection (the annular light source assembly 233 is illuminated).

[0149] The annular light source assembly 233 is turned on to provide uniform lighting for the lens assembly 232. The lens assembly 232 takes a photo of the front of the carrier board and records the initial test results. Specifically,

[0150] S2211: When the carrier is located at the inspection position, the lens assembly 232 illuminates the front of the carrier through the annular light source assembly 233 and the bar light source assembly 234, and the lens body 2321 takes a photo of the front of the carrier for inspection.

[0151] S2212: The light emitted by the point light source 2322 is reflected by the reflector 2324 and the beam splitter 2323, illuminating the carrier board, so that the lens body 2321 can obtain a clear image.

[0152] S2213: The lens assembly 232 can move horizontally or vertically to obtain images of different areas of the carrier.

[0153] S222: Lighting inspection of the front side of the carrier board.

[0154] S2221: Left lighting detection.

[0155] The annular light source assembly 233 continues to remain in the on state.

[0156] The driving assembly 236 is started, and the gear ring 2354 is driven to rotate by rotating the motor 2361 and the driving gear 2362, so that the bar light source assembly 234 rotates around the axis of the lens assembly 232 until the light of the bar light source assembly 234 mainly illuminates the left side of the carrier board.

[0157] The lens assembly 232 takes a photo of the carrier board again for inspection, and records the inspection results under the left lighting.

[0158] S2222: Right lighting detection.

[0159] The annular light source assembly 233 continues to remain in the on state.

[0160] The driving assembly 236 continues to work, driving the bar light source assembly 234 to continue rotating, and the bar light source assembly 234 does not collide or interfere with the lens assembly 232 until the light from the bar light source assembly 234 mainly irradiates the right side of the carrier board.

[0161] The lens assembly 232 takes a photo of the carrier board and records the detection results under right lighting.

[0162] S223: Analyze the results of the front surface inspection of the carrier board.

[0163] Comprehensively analyze the initial inspection and side lighting inspection results of the carrier board to determine whether the carrier board has defects or is defective.

[0164] S23: Turn over the carrier board.

[0165] S231: After the front side inspection of the carrier is completed, the operating platform drives the carrier to move to the flip position.

[0166] S232: The gripper of the flipping mechanism is driven down by the lifting assembly, and the clamping cylinder drives the gripper to close and clamp the carrier plate.

[0167] S233: The lifting assembly raises the clamping claw, and the rotary cylinder drives the clamping claw to rotate 180 degrees to turn the carrier plate over.

[0168] S234: The lifting assembly descends again, and the flipped carrier is placed on the carrier platform, ready for backside inspection.

[0169] S24: Detection of the back side of the carrier board.

[0170] After turning over, the carrier is driven by the operating platform to the inspection position, and the lens assembly 232 takes a photo of the back of the carrier. Similarly, the ring light assembly 233 and the bar light assembly 234 provide sufficient lighting to ensure that the lens assembly 232 can obtain a clear back image. It specifically includes:

[0171] S2211: Initial detection (ring light source):

[0172] The annular light source assembly 233 is turned on to provide uniform illumination for the lens assembly 232 .

[0173] The lens assembly 232 takes a photo of the back side of the carrier board and records the initial detection result.

[0174] S2211: Lighting inspection on the back side of the carrier board.

[0175] S22111: Left lighting detection.

[0176] The annular light source assembly 233 continues to remain in the on state.

[0177] The driving assembly 236 is started, and the gear ring 2354 is driven to rotate by rotating the motor 2361 and the driving gear 2362, so that the bar light source assembly 234 rotates around the axis of the lens assembly 232 until the light of the bar light source assembly 234 mainly illuminates the left side of the carrier board.

[0178] The lens assembly 232 takes a photo of the carrier board again for inspection, and records the inspection results under the left lighting.

[0179] S22112: Right lighting detection.

[0180] The annular light source assembly 233 continues to remain in the on state.

[0181] The driving assembly 236 continues to work, driving the bar light source assembly 234 to continue rotating, and the bar light source assembly 234 does not collide or interfere with the lens assembly 232 until the light from the bar light source assembly 234 mainly irradiates the right side of the carrier board.

[0182] The lens assembly 232 takes a photo of the carrier board and records the detection results under right lighting.

[0183] S222: Analyze the inspection results of the back side of the carrier board.

[0184] Comprehensively analyze the initial inspection and side lighting inspection results of the back of the carrier to determine whether the carrier has defects or is defective.

[0185] S25: Inspection is completed, and the carrier board after inspection is cut.

[0186] After the back detection is completed, the operating platform moves the carrier to the unloading position.

[0187] The robot is dispatched to pick up the carrier plate that has been inspected from the carrier table and transport it to the second material box.

[0188] S26: The control system performs image processing and analysis.

[0189] The image data collected by the detection mechanism is transmitted to the control system for processing and analysis.

[0190] The control system identifies defects in the image, such as scratches, stains, dents, etc., through a preset algorithm.

[0191] The qualification of the carrier board is determined based on the identification result and confirmed by the user.

[0192] This completes the carrier board detection process of the carrier board photographing and repairing machine of the preferred embodiment.

[0193] The detection mechanism 23 of the carrier board inspection and repair machine is cleverly designed. The ring-shaped light source assembly 233 and the bar-shaped light source assembly 234 provide ample illumination for the lens assembly 232. The bar-shaped light source assembly 234 also features rotational adjustment to accommodate different carrier board models. Because carrier board defects can exhibit different characteristics under the same illumination mode depending on the angle of illumination, the structure of the second embodiment enables more accurate identification of different types of defects (such as scratches, stains, and dents).

[0194] The carrier board inspection and repair machine of the present invention utilizes a modular design, with each component relatively independent from the others, facilitating configuration and expansion based on actual needs. In the present invention, steps such as determining whether a carrier board is qualified based on the identification results are not specifically addressed as innovative features of this application, but rather as prior art applied to the carrier board inspection system. After the control system receives image data captured by the lens body in the inspection mechanism, it processes it using existing image processing and analysis techniques. The present application focuses on the structural design of the carrier board inspection and repair machine and the optimization of its lighting methods to ensure accurate and efficient inspections.

[0195] The platform drive mechanism described in this embodiment is intended to achieve precise horizontal movement of the platform. Specifically, it may employ, but is not limited to, a cylinder guide assembly or a lead screw linear drive assembly, depending on the actual application scenario and performance requirements. Since the implementation principles and details of these drive methods are not the core innovation of this patent application, they will not be discussed in detail here.

[0196] In summary, although the present invention has been disclosed above with reference to preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims.

Claims

1. A detection mechanism for taking photos of a carrier on a loading platform, characterized in that: The detection mechanism includes: Support frame; A lens assembly is connected to the support frame, and the lens assembly is located above the carrying platform; an annular light source assembly connected to the support frame, the annular light source assembly being sleeved around the lens assembly, the annular light source assembly being used to provide illumination, the light emitting axis of the annular light source assembly being collinear with the central axis of the lens assembly; and A strip light source assembly is located on one side of the lens assembly, the strip light source assembly is connected to the support frame, and the strip light source assembly is used to provide a fill light source; Wherein, the bar-shaped light source assembly includes: A first mounting frame, a top end of which is connected to the supporting frame; and A strip-shaped lamp body connected to the first mounting bracket; The strip-shaped lamp body is rotatably connected to the first mounting bracket, and a plane where the strip-shaped lamp body rotates is perpendicular to a central axis of the lens assembly.

2. The detection mechanism according to claim 1, characterized in that: The support frame comprises: a first mounting plate, arranged vertically, the lens assembly being connected to the first mounting plate; One end of the second mounting plate is connected to the first mounting plate. The second mounting plate is an annular structure. The lens assembly passes through the second mounting plate. The annular light source assembly is connected to the bottom end of the second mounting plate.

3. The detection mechanism according to claim 2, characterized in that: The detection mechanism also includes: A rotating seat, rotatably mounted on the second mounting plate, the rotating seat being a hollow cylindrical structure, the rotating seat being sleeved on the outside of the lens assembly, and the top end of the rotating seat being connected to the first mounting bracket; and The driving assembly is arranged on the second mounting plate and is connected to the rotating seat. The driving assembly drives the rotating seat to rotate, thereby driving the bar-shaped light source assembly to rotate.

4. The detection mechanism according to claim 3, characterized in that: The lens assembly comprises: A lens body connected to the support frame; and a point light source, disposed on one side of the lens body and emitting light downward; A spectrometer is tilted and arranged below the lens body, and a detection port is provided on the side of the spectrometer away from the lens body; and a reflector, obliquely arranged below the point light source, and reflecting the light emitted by the point light source to the beam splitter; The light emitted by the point light source is reflected by the reflector and the beam splitter in sequence onto the carrier plate of the carrier platform, and then passes through the beam splitter after being reflected by the carrier plate to enter the lens body for imaging.

5. The detection mechanism according to claim 4, characterized in that: The lens assembly further comprises: a second mirror box, the top of which is rotatably connected to the lens body, the top of which is communicated with the light inlet of the lens body, the bottom of which is provided with a light-transmitting opening facing the supporting platform, and the side of which is connected to the reflector; and The second lens frame is arranged in the second lens box. The beam splitter is arranged on the second lens frame, and the angle between the beam splitter and the reflector is adjustable.

6. The detection mechanism according to claim 5, characterized in that: The top end of the second lens box is rotatably connected to the lens body; The lens assembly further comprises a connecting piece, one end of which is connected to the second lens box, and the other end of which is connected to the top end of the rotating seat.

7. The detection mechanism according to claim 3, characterized in that: The rotating seat comprises: A first fixing plate is located at the top of the rotating base, and the top of the first fixing plate is connected to the first mounting bracket; A second fixed plate is located at the bottom end of the rotating base, and the bottom end of the second fixed plate is rotatably connected to the second mounting plate through a first horizontal bearing; a connecting post connecting the first fixing plate to the second fixing plate; and a gear ring, disposed on the second fixing plate, and sleeved on the outside of the connecting column, with a first tooth groove being provided on a circumferential side of the gear ring; The driving assembly includes a rotating motor and a driving gear. The rotating motor is arranged on the first mounting plate. The output end of the rotating motor is provided with a driving gear, and the driving gear is engaged with the first tooth groove of the gear ring.

8. The detection mechanism according to claim 2, characterized in that: The support frame further comprises: A column bracket, located on one side of the lens assembly; A first guide rail assembly is transversely arranged on the column bracket, and the first guide rail assembly is used to drive the lens assembly to move horizontally; The second guide rail assembly is connected to the first guide rail assembly, and the second guide rail assembly is slidably connected to the first mounting plate along the vertical direction, and the second guide rail assembly drives the lens assembly to move along the vertical direction.

9. A carrier board photographing and repairing machine, characterized in that: include: base; A carrying platform, provided on the base, for placing a carrying plate; as well as The detection mechanism as described in claims 1-8 is arranged on the base and located above the supporting platform, and the detection mechanism is used to take pictures and detect the carrier on the supporting platform.

10. The carrier board photographing and repairing machine according to claim 9, characterized in that: The carrier board photographing and repairing machine also includes: A running platform, provided on the base, for transporting the carrying platform, wherein the movement trajectory of the carrying platform includes a detection position and a flip position for reversing the transfer plate, and a flip groove is provided on the carrying platform; and A flipping mechanism is provided on the base and is located on the peripheral side of the carrier platform, and is used to clamp and flip the carrier plate; Wherein, the turning mechanism includes: The clamping jaw includes a first clamping rod and a second clamping rod that open and close relative to each other; A clamping cylinder connected to the clamping jaws, wherein the clamping cylinder drives the opening and closing of the clamping jaws; a rotating cylinder connected to the clamping cylinder, wherein the rotating cylinder drives the clamping cylinder to rotate, thereby driving the clamping claw to rotate; and A lifting component is arranged on the base and is connected to the rotary cylinder. The lifting component drives the rotary cylinder to move up and down, thereby driving the clamping claw to move up and down.

Images