Handling system

Abstract

This utility model relates to a material handling system, comprising: a support base; a support beam disposed on the support base, the extension direction of the support beam being parallel to a first direction; a shuttle device movably mounted on the support beam along the first direction to move relative to the support beam between a first work station and a transfer work station; and a handling device movably mounted on the support beam along the first direction to move relative to the support beam between the transfer work station and a testing work station; wherein, in the first direction, the transfer work station is located between the first work station and the testing work station. In this material handling system, both the shuttle device and the handling device are mounted on the support beam, meaning that the installation references of the shuttle device and the handling device are the same, allowing the shuttle device and the handling device to resonate, eliminating the influence of individual vibrations, thereby reducing positioning errors and improving the material handling stability of the material handling device.

Description

Technical Field

[0001] This utility model relates to the field of testing and sorting equipment technology, and in particular to a handling system. Background Technology

[0002] In the semiconductor manufacturing process, products (chips) need to undergo rigorous testing and classification to ensure that their performance and quality meet standards. During testing, products are typically transferred from the loading station to the testing station for testing. After testing, they are then transferred from the testing station to the unloading station for unloading. This transfer of products is usually achieved through a material handling system.

[0003] To improve handling efficiency, handling systems are often equipped with a shuttle device and a conveying device. The shuttle device transfers products between the first station and the intermediate station, while the conveying device transfers products between the intermediate station and the testing station. The first station can serve as a loading station and / or an unloading station.

[0004] In traditional technology, the installation references of the shuttle device and the conveying device are different, so the resonance effect cannot be achieved, resulting in large positioning errors and poor material handling stability of the conveying device. Utility Model Content

[0005] Therefore, it is necessary to provide a material handling system that can improve upon the aforementioned problems.

[0006] A transport system, comprising:

[0007] Support base;

[0008] A support beam is disposed on the support base, and the extension direction of the support beam is parallel to the first direction;

[0009] The shuttle device is movably mounted on the support beam along the first direction, so as to move relative to the support beam between the first station and the intermediate station;

[0010] A conveying device is movably mounted on the support beam along the first direction to move relative to the support beam between the transfer station and the testing station;

[0011] In the first direction, the transfer station is located between the first station and the testing station.

[0012] In the aforementioned material handling system, both the shuttle device and the handling device are mounted on the support beam. This means that the installation references for the shuttle device and the handling device are the same, allowing them to resonate and eliminating the influence of individual vibrations. This reduces positioning errors and improves the material handling device's stability in picking up and placing materials.

[0013] In one embodiment, the conveying system further includes a first drive unit connected to the support beam, and the conveying device is mounted on the first drive unit;

[0014] The first driving device is used to drive the conveying device to move relative to the support beam along the first direction.

[0015] In one embodiment, in the first direction, the first station is located outside the extension length of the support beam, while the transfer station and the testing station are located within the extension length of the support beam.

[0016] In one embodiment, the conveying system further includes a second drive device, which includes a fixed part and a movable part. The fixed part is connected to the support beam, and the movable part is movably disposed on the fixed part along the first direction.

[0017] The shuttle device is connected to the movable part, and the first end of the fixed part extends beyond the support beam along the first direction, so that the shuttle device can move to the first work station.

[0018] In one embodiment, the conveying device is mounted on one side of the support beam along the second direction;

[0019] The second drive device is installed below the support beam along a third direction, and at least a portion of the shuttle device extends along the second direction to the side of the support beam where the conveying device is located;

[0020] The first direction, the second direction, and the third direction intersect each other.

[0021] In one embodiment, the second end of the fixing part along the first direction is located within the extension length of the support beam, and the direction of the second end pointing to the first end is the positive direction of the first direction;

[0022] The shuttle device includes a transfer mechanism and a shuttle mechanism. The transfer mechanism has a third end and a fourth end that are connected to each other. The third end is connected to the movable part. The fourth end extends in the positive direction of the first direction relative to the third end. The shuttle mechanism is connected to the fourth end and extends in the positive direction of the first direction relative to the fourth end.

[0023] In one embodiment, the shuttle device includes a shuttle mechanism, the shuttle mechanism including a first drive assembly and a shuttle assembly, the first drive assembly being connected to the support beam, and the shuttle assembly being connected to the first drive assembly;

[0024] The first driving component is used to drive the shuttle assembly to move along the second direction;

[0025] The first direction and the second direction intersect.

[0026] In one embodiment, the shuttle device includes a shuttle and a heating element. The shuttle is connected to the support beam and is used to carry products. The heating element is mounted on the shuttle to heat the shuttle and control the temperature of the products carried on the shuttle.

[0027] In one embodiment, the shuttle device further includes a temperature sensor mounted on the shuttle for detecting the temperature of the shuttle.

[0028] In one embodiment, the shuttle device includes a shuttle and an air blowing element. The shuttle is connected to the support beam and is used to carry the product. The air blowing element is mounted on the shuttle to blow drying gas onto the product carried by the shuttle. Attached Figure Description

[0029] Figure 1 A structural diagram of a handling system provided in an embodiment of this application.

[0030] Figure 2 for Figure 1 The diagram shows the structure of the shuttle device and the second drive device of the conveying system shown in the figure.

[0031] Figure 3 for Figure 1 Exploded view of the transport system shown;

[0032] Figure 4 for Figure 2 Exploded view of the structure shown;

[0033] Figure 5 This is a structural diagram of the structure shown in Figure 2 from another perspective;

[0034] Figure 6 for Figure 1 A structural diagram of a partial structure of the conveying system shown;

[0035] Figure 7 for Figure 1 The diagram shows the structure of the conveying device in the conveying system.

[0036] Figure 8 for Figure 7 A structural diagram of the conveying device shown from another perspective;

[0037] Figure 9 for Figure 7 A structural diagram of the conveying device shown from another perspective;

[0038] Figure 10 for Figure 7 A structural diagram of a portion of the conveying device shown;

[0039] Figure 11 for Figure 10 An exploded view of the structure shown;

[0040] Figure 12 for Figure 10 Another exploded view of the structure shown;

[0041] Figure 13 for Figure 10 A structural diagram of the structure shown from another perspective;

[0042] Figure 14 for Figure 13 Enlarged view of point E of the structure shown;

[0043] Figure 15 for Figure 7 The diagram shows the structure of the first eccentric pin of the adjusting mechanism of the conveying device (the structure of the second eccentric pin is the same as that of the first eccentric pin);

[0044] Figure 16 for Figure 7 An exploded view of the conveying device described above, concealing the vision mechanism and light source;

[0045] Figure 17 for Figure 9 Enlarged view of section B of the conveying device shown;

[0046] Figure 18 for Figure 7 A cross-sectional view of the conveying device shown;

[0047] Figure 19 for Figure 18 Enlarged view of point D of the conveying device shown;

[0048] Figure 20 for Figure 9 Enlarged view of point A of the conveying device shown.

[0049] Explanation of reference numerals in the attached figures:

[0050] 1000, conveying system; 10a, support base; 11a, support column; 20a, support beam; 100b, shuttle device; 10b, transfer mechanism; 11b, third end; 12b, fourth end; 13b, first transfer plate; 131b, first transfer section; 132b, second transfer section; 14b, second transfer plate; 141b, third transfer section; 142b, fourth transfer section; 15b, third transfer plate; 151b, first step section; 152b, second step section; 20b, shuttle mechanism; 21 b. First drive assembly; 22b. Shuttle assembly; 221b. Shuttle; 222b. Heating element; 223b. Temperature sensor; 224b. Air blowing element; 100c. Conveying device; 10c. Mounting structure; 11c. Drive mechanism; 12c. Mounting base; 20c. Vision mechanism; 21c. Camera; 22c. Lens; 30c. Suction nozzle mechanism; 31c. Adsorption surface; 32c. Second drive assembly; 321c. Housing; 322c. Ventilation element; 33c. Suction nozzle assembly; 331c. Suction nozzle rod; 332c, Suction nozzle; 341c, Connecting rod; 342c, First anti-drop sleeve; 343c, Second anti-drop sleeve; 344c, First set screw; 345c, Second set screw; 40c, Adjustment mechanism; 41c, First adjusting plate; 411c, First sleeve part; 412c, Second sleeve part; 42c, Second adjusting plate; 43c, First rotating shaft; 44c, Second rotating shaft; 45c, First eccentric pin; 451c, First through part; 46c, Second eccentric pin; 47c, First adjusting element; 48c, First fixing element. Components; 49c, second adjusting component; 410c, second fixing component; 4101c, second rod part; 4102c, second head; 50c, light source; 60c, vacuum generator; 100d, first driving device; 10d, first stator; 20d, first mover; 100e, second driving device; 10e, fixing part; 11e, first end; 12e, second end; 20e, moving part; O, first station; P, transfer station; Q, test station; X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0051] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0052] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0055] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0056] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0057] See Figure 1 One embodiment of this application provides a handling system 1000, which includes a support base 10a and a support beam 20a. The support beam 20a is supported on the support base 10a, and the support base 10a forms the mounting base for the support beam 20a.

[0058] Optionally, continue reading Figure 1 The support base 10a includes two support columns 11a, which are spaced apart along a first direction X. A support beam 20a extends along the first direction X and is erected above the two support columns 11a. It should be understood that in some other embodiments, the structure of the support base 10a is not limited.

[0059] Specifically, both the support base 10a and the support beam 20a are made of marble. Of course, in some other embodiments, the material of the support base 10a and the support beam 20a is not limited.

[0060] Furthermore, the conveying system 1000 includes a shuttle device 100b and a conveying device 100c. The shuttle device 100b is movably mounted on the support beam 20a along a first direction X, so as to move relative to the support beam 20a between a first station O and a transfer station P. The conveying device 100c is movably mounted on the support beam 20a along the first direction X, so as to move relative to the support beam 20a between the transfer station P and the testing station Q. In the first direction X, the transfer station P is located between the first station O and the testing station Q.

[0061] In some specific embodiments, the first station O can serve as a loading station. When the first station O serves as a loading station, after the external structure transports the product (such as a chip) to the shuttle device 100b at the first station O, the shuttle device 100b moves from the loading station to the transfer station P. The transport device 100c picks up the product from the shuttle device 100b at the transfer station P, moves the product to the testing station Q, and places the product on the testing table at the testing station Q for testing. Specifically, the transport device 100c is a transport device 100c capable of precision transport.

[0062] In other specific embodiments, the first station O can also be used as an unloading station. When the first station O is used as an unloading station, the conveying device 100c will transport the product that has been tested at the test station Q to the shuttle device 100b at the transfer station P. The shuttle device 100b will drive the product through the transfer station P to the unloading station, and the external structure will pick up the product on the shuttle device 100b and unload it.

[0063] It is understood that in some implementations, the first station O can serve as both a loading station and a unloading station, and this is not limited here.

[0064] The conveying system 1000 provided in this application embodiment has both the shuttle device 100b and the conveying device 100c mounted on the support beam 20a. That is, the installation reference of the shuttle device 100b and the conveying device 100c is the same, which enables the shuttle device 100b and the conveying device 100c to resonate, eliminating the influence of individual vibration, thereby reducing positioning error and improving the material picking and placing stability of the conveying device 100c.

[0065] In some embodiments, in the first direction X, the first station O is outside the extension length of the support beam 20a, while the transfer station P and the testing station Q are within the extension length of the support beam 20a. This arrangement reduces the extension length of the support beam 20a, thereby reducing the footprint of the entire handling system 1000.

[0066] See Figure 1 and Figure 2 The conveying system 1000 also includes a second drive device 100e, which includes a fixed part 10e and a movable part 20e. The fixed part 10e is connected to the support beam 20a, and the movable part 20e is movably disposed on the fixed part 10e along the first direction X. The shuttle device 100b is connected to the movable part 20e, and the first end 11e of the fixed part 10e extends beyond the support beam 20a along the first direction X, so that the shuttle device 100b can move to the first work station O.

[0067] In the above configuration, the movable part 20e is movably disposed on the fixed part 10e along the first direction X. Since the first end 11e of the fixed part 10e extends beyond the support beam 20a along the first direction X, when the movable part 20e drives the shuttle device 100b to move to the position where the fixed part 10e extends beyond the support beam 20a, the shuttle device 100b also extends beyond the extension length range of the support beam 20a, so as to ensure that the shuttle device 100b can move to the first work station O.

[0068] Optionally, the second drive device 100e is a second linear motor, which includes a second stator and a second mover. The second stator serves as the fixed part 10e, and the second mover serves as the movable part 20e.

[0069] It should be understood that in some other embodiments, the second drive device 100e may be configured in other ways, such as configuring the second drive device 100e as a second linear module, which is not limited here.

[0070] In some embodiments, see Figure 1 and Figure 3 The conveying device 100c is installed on one side of the support beam 20a along the second direction Y, and the second driving device 100e is installed below the support beam 20a along the third direction Z. At least a portion of the shuttle device 100b extends along the second direction Y to the side of the support beam 20a where the conveying device 100c is located. The first direction X, the second direction Y, and the third direction Z intersect each other. Specifically, the first direction X, the second direction Y, and the third direction Z are perpendicular to each other. In some embodiments, the first direction X is the length direction of the support beam 20a, the second direction Y is the width direction of the support beam 20a, and the third direction Z is the height direction of the support beam 20a.

[0071] In the above configuration, the conveying device 100c is installed on one side of the support beam 20a along the second direction Y, and the shuttle device 100b extends at least partially along the second direction Y to the side of the support beam 20a where the conveying device 100c is located. Thus, the conveying device 100c and the shuttle device 100b are located on the same side of the support beam 20a, so that the conveying device 100c can pick up the product on the shuttle device 100b.

[0072] Further reading Figure 1 and Figure 2 The second end 12e of the fixed part 10e along the first direction X is located within the extension length of the support beam 20a, and the direction of the second end 12e pointing to the first end 11e is the positive direction of the first direction X. The shuttle device 100b includes a transfer mechanism 10b and a shuttle mechanism 20b. The transfer mechanism 10b has a third end 11b and a fourth end 12b that are connected to each other. The third end 11b is connected to the movable part 20e, and the fourth end 12b extends in the positive direction of the first direction X relative to the third end 11b. The shuttle mechanism 20b is connected to the fourth end 12b and extends in the positive direction of the first direction X relative to the fourth end 12b.

[0073] With this configuration, the shuttle mechanism 20b can extend outward as far as possible along the positive direction of the first direction X, and also make the first station O extend beyond the extension length of the support beam 20a as much as possible, so that the external structure can place products onto the shuttle device 100b or take products away from the shuttle device 100b.

[0074] Optionally, the transfer mechanism 10b includes multiple transfer plates, and the movable part 20e is connected to the shuttle mechanism 20b via these multiple transfer plates. See some specific embodiments for details. Figure 4The transfer mechanism 10b includes a first transfer plate 13b, a second transfer plate 14b, and a third transfer plate 15b. The first transfer plate 13b is connected to the movable part 20e, the second transfer plate 14b is connected to the first transfer plate 13b, the third transfer plate 15b is connected to the second transfer plate 14b, and the shuttle mechanism 20b is connected to the third transfer plate 15b. That is, the movable part 20e is connected to the shuttle mechanism 20b through three transfer plates.

[0075] Furthermore, both the first adapter plate 13b and the second adapter plate 14b are L-shaped plates. The first adapter plate 13b includes a vertically arranged first adapter portion 131b and a second adapter portion 132b, and the second adapter plate 14b includes a vertically arranged third adapter portion 141b and a fourth adapter portion 142b. The third adapter plate 15b includes a first stepped portion 151b and a second stepped portion 152b that are stepped on each other. The first adapter portion 131b is connected to the movable portion 20e, the second adapter portion 132b is connected to the third adapter portion 141b, the fourth adapter portion 142b is connected to the first stepped portion 151b, and the shuttle mechanism 20b is connected to the second stepped portion 152b. The first stepped portion 151b, the first adapter plate 13b, and the second adapter plate 14b together form the third end 11b of the adapter mechanism 10b, and the second stepped portion 152b forms the fourth end 12b of the adapter mechanism 10b. This arrangement not only facilitates the connection between the shuttle mechanism 20b and the moving part 20e, but also allows at least a portion of the shuttle device 100b to extend along the second direction Y to the side of the support beam 20a where the conveying device 100c is located.

[0076] It is conceivable that in other embodiments, the adapter 10b may also adopt other configurations, which are not limited here.

[0077] Continue reading Figure 2 and Figure 4 The shuttle mechanism 20b includes a first drive assembly 21b and a shuttle assembly 22b. The first drive assembly 21b is connected to the transfer mechanism 10b, and the shuttle assembly 22b is connected to the first drive assembly 21b. Specifically, the first drive assembly 21b is sandwiched between the second step portion 152 and the shuttle assembly 22b. The first drive assembly 21b drives the shuttle assembly 22b to move relative to the second step portion 152 along the second direction Y, so that the shuttle assembly 22b moves relative to the support beam 20a along the second direction Y. In this way, the position of the shuttle assembly 22b in the first direction X and the second direction Y can be adjusted through the cooperation of the second drive device 100e and the first drive assembly 21b, so as to precisely adjust the position of the product in the first direction X and the second direction Y.

[0078] Optionally, the first drive assembly 21b is a third linear motor, which includes a third stator and a third mover. The third stator is connected to the second stepped portion 152, and the shuttle assembly 22b is connected to the third mover. The magnetic field generated by the third stator interacts with the magnetic field of the third mover, causing the third mover to drive the shuttle assembly 22b to move relative to the second stepped portion 152 along the second direction Y. Of course, in other embodiments, the first drive assembly 21b may be configured in other ways, which are not limited here.

[0079] In some embodiments, see Figure 5 The shuttle assembly 22b includes a shuttle 221b and a heating element 222b. The shuttle 221b is connected to the first drive assembly 21b and is used to carry the product. The heating element 222b is mounted on the shuttle 221b to heat the shuttle 221b and to control the temperature of the product carried on the shuttle 221b. The heating element 222b can perform a reheating process on products that have undergone low-temperature testing, ensuring stable temperature control.

[0080] Furthermore, the shuttle assembly 22b also includes a temperature sensor 223b, which is mounted on the shuttle 221b to detect the temperature of the shuttle 221b, so as to ensure the temperature recovery effect for the product.

[0081] The shuttle assembly 22b also includes an air blowing element 224b, which is mounted on the shuttle 221b for blowing drying gas onto the product carried by the shuttle 221b. The air blowing element 224b can blow drying gas onto the product being heated by the heating element 222b to prevent the product from frosting.

[0082] In some embodiments, see further reference. Figure 1 The conveying system 1000 also includes a first drive device 100d, which is connected to the support beam 20a, and a conveying device 100c is mounted on the first drive device 100d. The first drive device 100d is used to drive the conveying device 100c to move relative to the support beam 20a along a first direction X.

[0083] Optionally, see Figure 6 The first driving device 100d is a first linear motor, which includes a first stator 10d and a first mover 20d. The first stator 10d is connected to the support beam 20a. The first mover 20d is movably mounted on the first stator 10d along the first direction X. The first mover 20d can drive the conveying device 100c to move relative to the first stator 10d along the first direction X.

[0084] It should be understood that in some other embodiments, the first driving device 100d may be configured in other ways, such as being configured as a first linear module, which is not limited here.

[0085] See Figure 7 The conveying device 100c includes a mounting structure 10c, a vision mechanism 20c, and a suction nozzle mechanism 30c, both of which are mounted on the mounting structure 10c. The suction nozzle mechanism 30c is used to pick up and place products, while the vision mechanism 20c is used to capture the position of the products picked up or placed by the suction nozzle mechanism 30c. Specifically, before the suction nozzle mechanism 30c picks up a product, the vision mechanism 20c captures the position of the product, and the suction nozzle mechanism 30c picks up the product based on the capture result from the vision mechanism 20c. After the suction nozzle mechanism 30c places the product on the workstation, the vision mechanism 20c can also capture the position of the suction nozzle 332c to observe whether the product is placed in the target position, ensuring feeding accuracy.

[0086] In some embodiments, the vision mechanism 20c includes a camera 21c and a lens 22c. The camera 21c is mounted on the mounting structure 10c, and the lens 22c is connected to the camera 21c. The cooperation between the camera 21c and the lens 22c can improve the shooting effect of the vision mechanism 20c. Of course, in other embodiments, the specific structure of the vision mechanism 20c is not limited. For example, the vision mechanism 20c may be configured to include only the camera 21c.

[0087] The conveying device 100c also includes an adjustment mechanism 40c, a suction nozzle mechanism 30c and a vision mechanism 20c, at least one of which is positionally adjustable between the adjustment mechanism 40c and the mounting structure 10c.

[0088] In some embodiments, the suction nozzle mechanism 30c is connected to the mounting structure 10c via an adjusting mechanism 40c, which adjusts the position between the suction nozzle mechanism 30c and the mounting structure 10c. The vision mechanism 20c is directly connected to the mounting structure 10c. In other embodiments, the vision mechanism 20c is connected to the mounting structure 10c via an adjusting mechanism 40c, which adjusts the position between the vision mechanism 20c and the mounting structure 10c. The suction nozzle mechanism 30c is directly connected to the mounting structure 10c. In still other embodiments, the vision mechanism 20c is connected to the mounting structure 10c via an adjusting mechanism 40c, and the suction nozzle mechanism 30c is also connected to the mounting structure 10c via an adjusting mechanism 40c. The adjusting mechanism 40c connected to the vision mechanism 20c adjusts the position between the vision mechanism 20c and the mounting structure 10c, and the adjusting mechanism 40c connected to the suction nozzle mechanism 30c adjusts the position between the suction nozzle mechanism 30c and the mounting structure 10c.

[0089] Furthermore, the adjustment mechanism 40c connected to the suction nozzle mechanism 30c is used to adjust the adsorption surface 31c of the suction nozzle mechanism 30c (see [reference]). Figure 8The optical axis of the vision mechanism 20c is parallel to the first plane. The adjustment mechanism 40c, connected to the vision mechanism 20c, is used to adjust the optical axis of the vision mechanism 20c to be perpendicular to the first plane. Generally, the first plane is parallel to the plane where the product is located. When the product is supported on the support surface, the first plane is also parallel to the support surface supporting the product.

[0090] In the above configuration, since at least one of the suction nozzle mechanism 30c and the vision mechanism 20c is connected to the mounting structure 10c via the adjustment mechanism 40c, the adjustment mechanism 40c connected to the suction nozzle mechanism 30c can adjust the adsorption surface 31c of the suction nozzle mechanism 30c to be parallel to the first plane. When the adsorption surface 31c is parallel to the first plane, the contact area between the suction nozzle mechanism 30c and the product is larger, resulting in better adsorption of the product. The adjustment mechanism 40c connected to the vision mechanism 20c can adjust the optical axis of the vision mechanism 20c to be perpendicular to the first plane. When the optical axis is perpendicular to the first plane, the vision mechanism 20c can capture the product at a better angle, resulting in better capturing effects. Compared with the prior art, the method of adjusting the suction nozzle mechanism 30c and / or the vision mechanism 20c via the adjustment mechanism 40c in this application does not require disassembling the suction nozzle mechanism 30c and / or the vision mechanism 20c from the mounting structure 10c for adjustment, saving time and effort.

[0091] Furthermore, the conveying device 100c also includes a controller, and the vision mechanism 20c and the suction nozzle mechanism 30c are both electrically connected to the controller. The controller can control the operation of the vision mechanism 20c and the suction nozzle mechanism 30c.

[0092] It is conceivable that in other embodiments, the conveying device 100c may not include a controller, but the vision mechanism 20c and the suction mechanism 30c may be controlled by the controller of the conveying system 1000 including the conveying device 100c, which is not limited here.

[0093] In some embodiments, see further reference. Figure 7 The mounting structure 10c includes a drive mechanism 11c and a mounting base 12c. Both the drive mechanism 11c and the suction nozzle mechanism 30c are mounted on the mounting base 12c. The vision mechanism 20c is connected to the drive mechanism 11c, which drives the vision mechanism 20c to move along a third direction Z. The third direction Z intersects with the first plane. Specifically, the third direction Z is perpendicular to the first plane.

[0094] Since the conveying device 100c can move products between the transfer station P and the testing station Q, the position of the vision mechanism 20c in the third direction Z needs to be adjusted to adapt to the different positions of the stations in the third direction Z. By setting the mounting structure 10c to include a drive mechanism 11c, which drives the vision mechanism 20c to move along the third direction Z, it is easy to adjust the position of the vision mechanism 20c in the third direction Z to adapt to the imaging and inspection of products at different stations.

[0095] In some embodiments, the mounting base 12c is composed of multiple mounting plates. It is understood that in other embodiments, the specific structure of the mounting base 12c is not limited, as long as it can enable the mounting of the drive mechanism 11c and the suction nozzle mechanism 30c.

[0096] In some embodiments, the driving mechanism 11c is a third linear module, which drives the vision mechanism 20c to move along the third direction Z. It should be understood that in other embodiments, the structure of the driving mechanism 11c is not limited, and the driving mechanism 11c is configured as long as it can achieve the effect of driving the vision mechanism 20c to move along the third direction Z.

[0097] See Figure 8 and Figure 9 The conveying device 100c also includes a light source 50c, which is also connected to the third linear module. The light source 50c is positioned opposite the lens 22c along the third direction Z to provide supplementary lighting for the camera 21c. When the vision mechanism 20c moves along the third direction Z, the light source 50c moves synchronously with the vision mechanism 20c.

[0098] In some embodiments, the adjustment mechanism 40c is used to adjust the rotation of the nozzle mechanism 30c or the vision mechanism 20c relative to the mounting structure 10c about a first axis and a second axis. Specifically, the adjustment mechanism 40c connected to the nozzle mechanism 30c adjusts the rotation of the nozzle mechanism 30c relative to the mounting structure 10c about a first axis and a second axis, and the adjustment mechanism 40c connected to the vision mechanism 20c adjusts the rotation of the vision mechanism 20c relative to the mounting structure 10c about a first axis and a second axis. The first axis extends along a first direction X, and the second axis extends along a second direction Y. The first direction X and the second direction Y intersect and are both parallel to a first plane.

[0099] It should be noted that when both the suction mechanism 30c and the vision mechanism 20c are provided with an adjustment mechanism 40c, the first axis corresponding to the suction mechanism 30c and the vision mechanism 20c can be the same axis or two parallel axes, and the second axis corresponding to the suction mechanism 30c and the vision mechanism 20c can be the same axis or two parallel axes.

[0100] With the above configuration, the adjustment mechanism 40c can easily adjust the suction surface 31c to be parallel to the first plane by adjusting the suction nozzle mechanism 30c to rotate relative to the mounting structure 10c around the first axis and the second axis. Furthermore, the adjustment mechanism 40c can easily adjust the optical axis of the vision mechanism 20c to be perpendicular to the first plane by adjusting the vision mechanism 20c to rotate relative to the mounting structure 10c around the first axis and the second axis.

[0101] Of course, in other embodiments, the adjustment mechanism 40c can also adjust the adsorption surface 31c to be parallel to the first plane in other ways, and adjust the optical axis of the vision mechanism 20c to be parallel to the first plane in other ways, which is not limited here.

[0102] See Figure 10 and Figure 11 The adjustment mechanism 40c includes a first adjustment plate 41c, a second adjustment plate 42c, a first rotating shaft 43c, and a second rotating shaft 44c. The first adjustment plate 41c is connected to the vision mechanism 20c or the suction nozzle mechanism 30c, and the second adjustment plate 42c connects the first adjustment plate 41c and the drive mechanism 11c. The first rotating shaft 43c extends along a first direction X, and the second rotating shaft 44c extends along a second direction Y. (See reference...) Figures 11-14 A first rotating shaft 43c passes through a first adjusting plate 41c and a second adjusting plate 42c, and a second rotating shaft 44c passes through a second adjusting plate 42c and a drive mechanism 11c. The first adjusting plate 41c rotates relative to the second adjusting plate 42c about a first axis via the first rotating shaft 43c, and the second adjusting plate 42c rotates relative to the mounting structure 10c about a second axis via the second rotating shaft 44c.

[0103] With the above configuration, since the first adjustment plate 41c is connected to the vision mechanism 20c or the suction nozzle mechanism 30c, when the first adjustment plate 41c rotates relative to the second adjustment plate 42c via the first rotating shaft 43c, the vision mechanism 20c or the suction nozzle mechanism 30c can rotate around the first axis relative to the mounting structure 10c. When the second adjustment plate 42c rotates relative to the mounting structure 10c via the second rotating shaft 44c, the vision mechanism 20c or the suction nozzle mechanism 30c can rotate around the second axis, so as to facilitate adjusting the adsorption surface 31c to be parallel to the first plane or the optical axis to be perpendicular to the first plane.

[0104] Optionally, continue reading Figure 11 The first adjustment plate 41c includes a first socket 411c and a second socket 412c. The first socket 411c is sleeved on the outside of the camera 21c, and the second socket 412c is sleeved on the outside of the lens 22c, thereby improving the stability of the camera 21c and the lens 22c.

[0105] In some embodiments, see further reference. Figure 11The adjusting mechanism 40c also includes a first eccentric pin 45c arranged parallel to the first rotating shaft 43c. The first eccentric pin 45c includes two eccentrically arranged first through-parts 451c (see reference). Figure 15 The two first through-holes 451c are respectively rotatably disposed within the first adjusting plate 41c and the second adjusting plate 42c. Since the two first through-holes 451c of the first eccentric pin 45c are eccentrically disposed, when the first eccentric pin 45c is rotated, the first eccentric pin 45c causes the first adjusting plate 41c to rotate relative to the second adjusting plate 42c around the first axis.

[0106] Furthermore, the adjusting mechanism 40c also includes a second eccentric pin 46c, which includes two eccentrically positioned second through-holes (the structure can be referenced). Figure 15 The two second through-holes are respectively rotatably disposed within the second adjusting plate 42c and the mounting structure 10c. Due to the eccentric arrangement of the two second through-holes of the second eccentric pin 46c, when the second eccentric pin 46c is rotated, the second eccentric pin 46c causes the second adjusting plate 42c to rotate relative to the mounting structure 10c around the second axis.

[0107] In other embodiments, see Figures 16-19 The adjustment mechanism 40c further includes a first adjusting member 47c and a first fixing member 48c. The first adjusting member 47c is screwed into one of the first adjusting plate 41c and the second adjusting plate 42c along the second direction Y, and its end face abuts against the other. The first fixing member 48c includes a first rod portion and a first head. The first rod portion passes through the first adjusting plate 41c and the second adjusting plate 42c along the second direction Y. The first head is connected to one end of the first rod portion. The first rod portion is screwed into one of the first adjusting plate 41c and the second adjusting plate 42c that is away from the first head, and is clearance-fitted to the other, with the first head able to abut against and fix it.

[0108] In the above configuration, when the first adjusting plate 41c needs to rotate in the positive direction relative to the second adjusting plate 42c around the first axis, the first fixing member 48c is loosened, and the first adjusting member 47c, which is screwed to one of the first adjusting plate 41c and the second adjusting plate 42c, is screwed on. The end face of the first adjusting member 47c applies force to the other of the first adjusting plate 41c and the second adjusting plate 42c, causing the first adjusting plate 41c to rotate relative to the second adjusting plate 42c around the first axis. After the positions of the first adjusting plate 41c and the second adjusting plate 42c are adjusted, the first fixing member is screwed on to fix the first adjusting plate 41c and the second adjusting plate 42c. When the first adjusting plate 41c needs to rotate in the opposite direction relative to the second adjusting plate 42c about the first axis, the first adjusting member 47c, which is screwed into one of the first adjusting plate 41c and the second adjusting plate 42c, is fixed by tightening the first fixing member 48c to fix the first adjusting plate 41c and the second adjusting plate 42c.

[0109] The adjusting mechanism 40c also includes a second adjusting member 49c and a second fixing member 410c. The second adjusting member 49c is screwed into one of the second adjusting plate 42c and the mounting structure 10c along the first direction X, and its end face abuts against the other. The second fixing member 410c includes a second rod portion 4101c and a second head 4102c (see reference). Figure 17 The second rod portion 4101c passes through the second adjusting plate 42c and the mounting structure 10c along the first direction X. The second head 4102c is connected to one end of the second rod portion 4101c. The second rod portion 4101c is screwed to one of the second adjusting plate 42c and the mounting structure 10c that is away from the second head, and is clearance-fitted to the other one, and the second head 4102c can abut against and be fixed to that one.

[0110] With the above configuration, when the second adjusting plate 42c needs to rotate in the positive direction relative to the mounting structure 10c around the second axis, the second fixing member 410c is loosened, and the second adjusting member 49c, which is screwed into one of the second adjusting plate 42c and the mounting structure 10c, is tightened. The end face of the second adjusting member 49c applies force to the other of the second adjusting member 49c and the mounting structure 10c, causing the second adjusting plate 42c to rotate around the second axis relative to the mounting structure 10c. After the position of the second adjusting plate 42c and the mounting structure 10c is adjusted, the second fixing member 410c is tightened to fix the second adjusting plate 42c and the mounting structure 10c. When the second adjusting plate 42c needs to rotate in the opposite direction relative to the mounting structure 10c about the second axis, the second adjusting member 49c, which is screwed into one of the second adjusting plate 42c and the mounting structure 10c, is tightened so that the end face of the second adjusting member 49c is away from the other of the second adjusting plate 42c and the mounting structure 10c. The second fixing member 410c is tightened to fix the second adjusting plate 42c and the mounting structure 10c.

[0111] In some specific embodiments, the adjustment mechanism 40c connected to the vision mechanism 20c includes a first adjustment plate 41c, a second adjustment plate 42c, a first rotating shaft 43c, a second rotating shaft 44c, a first eccentric pin 45c, and a second eccentric pin 46c. The optical axis of the vision mechanism 20c is adjusted to be perpendicular to the first plane through the cooperation of these components. The adjustment mechanism 40c connected to the suction nozzle mechanism 30c includes a first adjustment plate 41c, a second adjustment plate 42c, a first rotating shaft 43c, a second rotating shaft 44c, a first adjustment member 47c, a first fixing member 48c, a second adjustment member 49c, and a second fixing member 410c. The suction surface 31c of the suction nozzle mechanism 30c is adjusted to be parallel to the first plane through the cooperation of these components.

[0112] It should be understood that in other embodiments, the adjustment mechanism 40c can be modified accordingly, such as by setting the adjustment mechanism 40c to include a first adjustment plate 41c, a second adjustment plate 42c, a first rotating shaft 43c, a second rotating shaft 44c, a first eccentric pin 45c, a second adjustment member 49c, and a second fixing member 410c, so that the optical axis of the vision mechanism 20c is adjusted to be perpendicular to the first plane or the adsorption surface 31c of the suction nozzle mechanism 30c is adjusted to be parallel to the first plane through the cooperation of each component.

[0113] In some embodiments, see further reference. Figure 8 The conveying device 100c includes two suction nozzle mechanisms 30c, which are distributed along a first direction X on both sides of the vision mechanism 20c. By including two suction nozzle mechanisms 30c in the conveying device 100c, the conveying device 100c can simultaneously convey multiple products, thereby improving work efficiency.

[0114] Specifically, when the conveying device 100c includes two suction nozzle mechanisms 30c, each suction nozzle mechanism 30c is connected to the mounting structure 10c through an adjustment mechanism 40c. The adjustment mechanism 40c is used to adjust the adsorption surface 31c of its corresponding suction nozzle mechanism 30c to be parallel to the first plane.

[0115] It is conceivable that in other embodiments, the conveying device 100c may be provided with only one suction mechanism 30c or more than two suction mechanisms 30c, which is not limited here.

[0116] Further reading Figure 8 and Figure 9The suction nozzle mechanism 30c includes a second drive assembly 32c and a suction nozzle assembly 33c connected to each other. The second drive assembly 32c is connected to the mounting structure 10c, and the suction nozzle assembly 33c is connected to the second drive assembly 32c. An adsorption surface 31c is formed on the suction nozzle assembly 33c. The second drive assembly 32c is used to drive the suction nozzle assembly 33c to move along a third direction Z to pick up and place products and to rotate about a third axis extending along the third direction Z. The third direction Z intersects with the first plane. Specifically, the third direction Z is perpendicular to the first plane. At this time, the first direction X, the second direction Y, and the third direction Z are all perpendicular to each other.

[0117] When the nozzle assembly 33c needs to pick up a product, the second drive assembly 32c drives the nozzle assembly 33c to approach the product to pick it up. When picking up the product requires transferring it from one station to another, the second drive assembly 32c drives the nozzle assembly 33c to move in the opposite direction, so that the nozzle assembly 33c avoids other structures during the product transfer process. Furthermore, since the second drive assembly 32c can also drive the nozzle assembly 33c to rotate around a third axis, it is convenient for the nozzle assembly 33c to place the product on the station in the correct posture.

[0118] Optionally, the nozzle assembly 33c is pluggably mounted on the first drive assembly 21b along the third direction Z to facilitate the replacement of the nozzle assembly 33c.

[0119] In some embodiments, see Figure 20 The second drive assembly 32c includes a housing 321c, a drive component, and a venting component 322c. The housing 321c is connected to the mounting structure 10c, and both the drive component and the venting component 322c are mounted on the housing 321c. The suction nozzle assembly 33c is mounted on the venting component 322c and communicates with its internal airflow channel. Specifically, the conveying device 100c also includes a vacuum generator 60c, and the airflow channel is connected to the vacuum generator 60c to create a vacuum state inside the suction nozzle assembly 33c to adsorb the product. The drive component drives the venting component 322c to move along a third direction Z and rotate around a third axis.

[0120] With the above configuration, the driving component can not only drive the nozzle assembly 33c to move along the third direction Z and rotate around the third axis through the vent 322c, but the vent 322c can also connect the nozzle assembly 33c with the vacuum generator 60c so as to form a vacuum state inside the nozzle assembly 33c.

[0121] The venting component 322c has a rod-shaped structure. The nozzle assembly 33c can be directly connected to the venting component 322c or connected to the venting component 322c through an intermediate connector.

[0122] For some specific implementation methods, please refer to [link / reference]. Figure 15The nozzle assembly 33c is connected to the venting component 322c via an intermediate connector. The intermediate connector includes a connecting rod 341c, a first anti-drop sleeve 342c, and a second anti-drop sleeve 343c. One end of the connecting rod 341c is sleeved over the venting component 322c. A first set screw 344c passes through the connecting rod 341c and the venting component 322c to secure them. The first anti-drop sleeve 342c is sleeved over the connecting rod 341c to cover the second set screw 345c and prevent it from falling off. The nozzle assembly 33c includes a nozzle rod 331c and a nozzle 332c. The nozzle 332c is connected to the nozzle rod 331c and is used to adsorb products. An adsorption surface 31c is formed on the nozzle 332c. The nozzle 332c can be made of materials such as rubber. The suction rod 331c is sleeved inside the other end of the connecting rod 341c. The second set screw 345c passes through the connecting rod 341c and the suction rod 331c to fix them together. The second anti-drop sleeve 343c is sleeved outside the connecting rod 341c to cover the second set screw 345c and prevent the second set screw 345c from falling off.

[0123] When it is necessary to replace the nozzle assembly 33c, first remove the second anti-drop sleeve 343c and the second set screw 345c, pull the nozzle rod 331c out of the connecting rod 341c, and then insert the new nozzle assembly 33c into the connecting rod 341c.

[0124] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0125] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A handling system, characterized in that include: Support base (10a); A support beam (20a) is disposed on the support base (10a), and the extension direction of the support beam (20a) is parallel to the first direction (X); The shuttle device (100b) is movably mounted on the support beam (20a) along the first direction (X) so as to move relative to the support beam (20a) between the first station (O) and the transfer station (P); A conveying device (100c) is movably mounted on the support beam (20a) along the first direction (X) to move relative to the support beam (20a) between the transfer station (P) and the testing station (Q); In the first direction (X), the transfer station (P) is located between the first station (O) and the test station (Q).

2. The handling system of claim 1, wherein, The transport system further includes a first drive device (100d), which is connected to the support beam (20a), and the transport device (100c) is mounted on the first drive device (100d). The first drive device (100d) is used to drive the conveying device (100c) to move relative to the support beam (20a) along the first direction (X).

3. The handling system of claim 1, wherein, In the first direction (X), the first station (O) is located outside the extension length range of the support beam (20a), while the transfer station (P) and the test station (Q) are located within the extension length range of the support beam (20a).

4. The handling system of claim 3, wherein, The conveying system further includes a second drive device (100e), which includes a fixed part (10e) and a movable part (20e). The fixed part (10e) is connected to the support beam (20a), and the movable part (20e) is movably disposed on the fixed part (10e) along the first direction (X). The shuttle device (100b) is connected to the movable part (20e), and the fixed part (10e) extends beyond the support beam (20a) at its first end (11e) along the first direction (X) so that the shuttle device (100b) can move to the first work station (O).

5. The handling system of claim 4, wherein, The conveying device (100c) is installed on one side of the support beam (20a) along the second direction (Y); The second drive device (100e) is mounted below the support beam (20a) in the third direction (Z), and at least a portion of the shuttle device (100b) extends in the second direction (Y) to the side of the support beam (20a) where the conveying device (100c) is located; The first direction (X), the second direction (Y), and the third direction (Z) intersect each other.

6. The handling system of claim 4, wherein, The second end (12e) of the fixing part (10e) along the first direction (X) is located within the extension length range of the support beam (20a), and the direction of the second end (12e) pointing to the first end (11e) is the positive direction of the first direction (X); The shuttle device (100b) includes a transfer mechanism (10b) and a shuttle mechanism (20b). The transfer mechanism (10b) has a third end (11b) and a fourth end (12b) connected to each other. The third end (11b) is connected to the movable part (20e). The fourth end (12b) extends in the positive direction of the first direction (X) relative to the third end (11b). The shuttle mechanism (20b) is connected to the fourth end (12b) and extends in the positive direction of the first direction (X) relative to the fourth end (12b).

7. The handling system of claim 1, wherein, The shuttle device (100b) includes a shuttle mechanism (20b), which includes a first drive assembly (21b) and a shuttle assembly (22b). The first drive assembly (21b) is connected to the support beam (20a), and the shuttle assembly (22b) is connected to the first drive assembly (21b). The first drive component (21b) is used to drive the shuttle component (22b) to move along the second direction (Y); The first direction (X) and the second direction (Y) intersect.

8. The handling system of claim 1, wherein, The shuttle device (100b) includes a shuttle (221b) and a heating element (222b). The shuttle (221b) is connected to the support beam (20a) and is used to carry products. The heating element (222b) is installed on the shuttle (221b) to heat the shuttle (221b) and control the temperature of the products carried on the shuttle (221b).

9. The handling system of claim 8, wherein, The shuttle device (100b) further includes a temperature sensor (223b), which is mounted on the shuttle (221b) for detecting the temperature of the shuttle (221b).

10. The handling system of claim 1, wherein, The shuttle device (100b) includes a shuttle (221b) and an air blowing component (224b). The shuttle (221b) is connected to the support beam (20a) and is used to carry the product. The air blowing component (224b) is mounted on the shuttle (221b) to blow dry gas onto the product carried by the shuttle (221b).

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