| 摘要 |
A vision apparatus is provided to monitor and discern erroneous devices by inspecting planar or 3-dimensional images of plural devices. A plurality of transfers(120,130,140,150,160) are implemented on a main frame(110) to convey or retreat plural trays. A stacker for mounting the plural trays is formed on one side of the transfers(120,130,140,150,160). First and second robots(200,300) are implemented on a first support frame on the main frame(110) to grasp plural devices mounted on the conveyed trays. A first inspector(180) is formed on one side of the main frame(110) and includes plural cameras to inspect planar or 3-dimensional images of a bottom of the device grasped by the first and second robots. A second inspector(410) is implemented on a second support frame formed on one side of the main frame(110) and inspects an upper surface of the device whose bottom is inspected by the first inspector(180). A sorter(400) includes plural nozzles to discriminate and grasp the devices which are inspected by the first and second inspectors(180,400). A transfer robot(500) is formed on a third support frame formed on one side of the second support frame and transfers the tray located on the plural transfers(120,130,140,150,160).
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