A spider hand retractor

Abstract

The present application relates to the technical field of circuit board production equipment, and specifically discloses a spider hand board collecting machine, the technical solution of which is as follows: comprising a frame, the frame is provided with a material conveying mechanism, a detection mechanism is provided at the head end of the conveying direction of the material conveying mechanism, a sorting mechanism for sorting good circuit boards and defective circuit boards is provided at the end of the conveying direction of the material conveying mechanism, the detection mechanism is electrically connected to the sorting mechanism, a good product conveying mechanism for conveying good circuit boards is provided at one end of the conveying direction of the material conveying mechanism, a defective product conveying mechanism for conveying defective circuit boards is provided at the other end of the conveying direction of the material conveying mechanism, when the detection mechanism detects that the circuit board is good, the detection mechanism controls the sorting mechanism to transfer the circuit board to the good product conveying mechanism, and when the detection mechanism detects that the circuit board is defective, the detection mechanism controls the sorting mechanism to transfer the circuit board to the defective product conveying mechanism. The present application has the following effects.

Description

Technical Field

[0001] The present application relates to the technical field of circuit board production equipment, and in particular to a spider arm circuit board collecting machine. Background Art

[0002] The development trend of the circuit board production industry is increasingly moving towards intelligence, automation and high productivity. The functional concentration of automated equipment is becoming more and more important. The development of the industry has put forward higher requirements for equipment research and development.

[0003] In the related art, after the production of circuit boards is completed, they are generally placed on a conveyor belt and transported to a receiving station for centralized collection. After the production of circuit boards is completed, there are good and bad products, and the staff needs to manually distinguish and collect the good and bad products at the receiving station. The manual distinguishing and collecting of good and bad products by the staff is cumbersome and inefficient, and this problem needs to be solved urgently. Summary of the invention

[0004] In order to facilitate the separation and collection of good and defective products, thereby improving the collection efficiency of circuit boards, the present application provides a spider arm board collection machine.

[0005] The present application provides a spider hand trigger collecting machine, which adopts the following technical solution:

[0006] A spider arm board collecting machine comprises a frame, wherein the frame is provided with an incoming material conveying mechanism for conveying circuit boards, a detection mechanism for detecting circuit boards is provided at the head end of the conveying direction of the incoming material conveying mechanism, a sorting mechanism for sorting good circuit boards and defective circuit boards is provided at the end of the conveying direction of the incoming material conveying mechanism, the detection mechanism is electrically connected to the sorting mechanism, a good product conveying mechanism for conveying good circuit boards is provided on one side of the end of the conveying direction of the incoming material conveying mechanism, and a defective product conveying mechanism for conveying defective circuit boards is provided on the other side of the end of the conveying direction of the incoming material conveying mechanism, when the detection mechanism detects that the circuit board is good, the detection mechanism controls the sorting mechanism to transfer the circuit board to the good product conveying mechanism, and when the detection mechanism detects that the circuit board is defective, the detection mechanism controls the sorting mechanism to transfer the circuit board to the defective product conveying mechanism.

[0007] By adopting the above technical scheme, the frame supports the incoming material conveying mechanism, the detection mechanism, the sorting mechanism, the good product conveying mechanism and the defective product conveying mechanism. When the circuit board flows into the incoming material conveying mechanism for conveying, the detection mechanism detects the circuit board. When the circuit board is detected as a good product, the detection mechanism sends an electrical signal to the sorting mechanism, and the sorting mechanism transfers the good product circuit board conveyed to the end of the incoming material conveying mechanism to the good product conveying mechanism for conveying and collection, thereby realizing the conveying and collection operation of the good product circuit board. When the circuit board is detected as a defective product, the detection mechanism sends an electrical signal to the sorting mechanism, and the sorting mechanism transfers the defective product circuit board conveyed to the end of the incoming material conveying mechanism to the defective product conveying mechanism for conveying and collection, thereby realizing the conveying and collection operation of the defective product circuit board. The distinguishing and collecting of good and defective circuit boards does not require manual operation by the staff, and the degree of automation is high, which is convenient for distinguishing and collecting good and defective circuit boards, and is beneficial to improving the collection efficiency of circuit boards.

[0008] Preferably, the incoming material conveying mechanism includes a first conveying roller, a first conveying belt, a first driving member and an encoder. There are multiple first conveying rollers, and the multiple first conveying rollers are arranged in parallel and at intervals along the conveying direction of the circuit board, and the multiple first conveying rollers are rotatably connected to the frame, the first conveying belt surrounds the multiple first conveying rollers, and the first conveying belt is driven by the rotation of the first conveying rollers, the first driving member is installed on the frame to drive the first conveying roller to rotate, and the encoder is installed on the frame, and the encoder is electrically connected to the first driving member to control the transmission rate of the first conveying belt.

[0009] By adopting the above technical solution, when the circuit board flows onto the first conveyor belt, the first driving member drives the first conveyor roller to rotate, and the rotation of the first conveyor roller drives the first conveyor belt to transmit, thereby realizing the transportation of the circuit board. The encoder is electrically connected to the first driving member to control the speed at which the first driving member drives the first conveyor roller to rotate, thereby realizing the control of the transmission speed of the first conveyor belt. When the interval between two adjacent circuit boards conveyed on the first conveyor belt is too long, the encoder increases the transmission speed of the first conveyor belt. When the interval between two adjacent circuit boards conveyed on the first conveyor belt is too short, the encoder reduces the transmission speed of the first conveyor belt, thereby facilitating the sorting mechanism to pick up the circuit board conveyed to the end of the conveying direction of the incoming material conveying mechanism.

[0010] Preferably, the detection mechanism includes a CCD camera and a spotlight, the first conveyor belt has a detection point, the detection point is located at the head end of the conveying direction of the first conveyor belt, the spotlight is installed on the frame and faces the detection point, the CCD camera is installed on the frame and faces the detection point, and the CCD camera is electrically connected to the sorting mechanism.

[0011] By adopting the above technical solution, when the detection mechanism detects the circuit board, the spotlight is aimed at the circuit board moved to the detection point to improve the clarity of the detection operation, and then the CCD camera is aimed at the circuit board for detection operation. When the CCD camera detects that the circuit board is good, the CCD camera sends an electrical signal to the sorting mechanism, and the sorting mechanism transfers the good circuit board to the good conveying mechanism for transportation and collection. When the CCD camera detects that the circuit board is defective, the CCD camera sends an electrical signal to the sorting mechanism, and the sorting mechanism transfers the defective circuit board to the defective conveying mechanism for transportation and collection.

[0012] Preferably, the sorting mechanism includes a spider arm robot for transferring circuit boards, the first conveyor belt has a material picking point, the material picking point is located at the end of the conveying direction of the first conveyor belt, the spider arm robot is arranged on the frame and is electrically connected to the CCD camera, when the spider arm robot receives the electrical signal from the CCD camera, the spider arm robot takes the circuit board out of the material picking point and transfers it to the good product conveying mechanism or the defective product conveying mechanism.

[0013] The spider arm robot has the advantages of high speed and stability. When the circuit board is transported to the material picking point, the spider arm robot transfers the good circuit board to the good product conveying mechanism for conveying and collection, and transfers the defective circuit board to the defective product conveying mechanism for conveying and collection under the control of the CCD camera, thereby realizing the sorting operation of good and defective circuit boards.

[0014] Preferably, the good product conveying mechanism includes a good product receiving component and a good product conveying component, the good product receiving component is located on one side of the material picking point and is used to receive and stack the good product circuit boards, and the good product conveying component is located behind the good product receiving component and is used to convey the stacked circuit boards.

[0015] By adopting the above technical solution, when the circuit board is detected as good, the spider arm transfers the good circuit board to the good conveying mechanism, and the good receiving component receives and stacks the good circuit boards. After multiple good circuit boards are stacked, the good conveying component conveys and collects the stacked good circuit boards, which is beneficial to improving the collection efficiency of good circuit boards.

[0016] Preferably, the good product receiving assembly includes a first carrier frame, a second conveying roller, a second conveyor belt, a second driving member and a first lifting member. The first carrier frame is located on one side of the end of the conveying direction of the first conveyor belt. There are multiple second conveying rollers, and the multiple second conveying rollers are arranged in parallel and spaced apart, and the multiple second conveying rollers are rotatably connected to the first carrier frame. The second conveyor belt surrounds the multiple second conveying rollers, and the second conveyor belt is driven by the rotation of the second conveying rollers. The second driving member is installed on the first carrier frame to drive the second conveying roller to rotate, and the first lifting member is installed on the frame to drive the first carrier frame to move vertically up and down.

[0017] By adopting the above technical solution, the first carrier supports the second conveyor roller, the second conveyor belt and the second driving member. In the process of the spider arm transferring the good circuit board to the good conveying mechanism, the spider arm grabs the good circuit board to the top of the second conveyor belt, and then the first lifting member drives the first carrier to move vertically upward to receive the good circuit board. The setting of the first lifting member reduces the distance that the good circuit board falls on the second conveyor belt, so that the second conveyor belt can receive the good circuit board, which is beneficial to reduce the damage of the good circuit board caused by collision during stacking. After the stacking operation of the good circuit board on the second conveyor belt is completed, the second driving member drives the second conveyor roller to rotate, and the rotation of the second conveyor roller drives the second conveyor belt to transmit, so as to transport the stacked good circuit board to the good conveying assembly for transportation and collection, so that the collection operation of the good circuit board is simple and convenient.

[0018] Preferably, the first lifting member includes a first lifting seat, a first screw, a first guide rod and a third driving member, the first screw is vertically arranged, the third driving member is installed on the frame to drive the first screw to rotate, the first lifting seat is fixedly connected to the first supporting frame, the first lifting seat is threadedly sleeved on the first screw, the first guide rod is vertically fixed on the frame, and the first lifting seat is movably sleeved on the first guide rod.

[0019] By adopting the above technical solution, the third driving member drives the first screw to rotate, the first lifting seat is threadedly sleeved on the first screw, and the first lifting seat is movably sleeved on the first guide rod, so that the rotation of the first screw drives the first lifting seat to move vertically up and down along the length direction of the first guide rod, the first guide rod guides the movement of the first lifting seat and can prevent the first lifting seat from rotating, thereby realizing the vertical up and down movement of the first lifting seat, and the vertical up and down movement of the first lifting seat drives the second conveyor belt to move vertically up and down to receive the qualified circuit board.

[0020] Preferably, the rack is provided with a first sensor, which is located on one side of the first carrier and is used to sense the height of the good circuit board carried by the first carrier, and the first sensor is electrically connected to the third driving member.

[0021] By adopting the above technical solution, the first sensor senses the height of the first carrier carrying the good circuit board as the carrying position of the good circuit board. When the first sensor senses the good circuit board carried on the second conveyor belt, the first sensor sends an electrical signal to the third driving member to keep the height of the second conveyor belt unchanged so as to carry the good circuit board waiting for material, which is beneficial to improve the stability of the second conveyor belt when carrying the good circuit board.

[0022] Preferably, the defective product conveying mechanism includes a defective product receiving component and a defective product conveying component. The defective product receiving component is located on the other side of the material picking point relative to the good product conveying mechanism and is used to receive and stack defective circuit boards. The defective product conveying component is located behind the defective product receiving component and is used to convey the stacked circuit boards.

[0023] By adopting the above technical solution, when a circuit board is detected as a defective product, the spider arm robot transfers the defective circuit board to the defective product conveying mechanism, and the defective product receiving component receives and stacks the defective circuit boards. When multiple defective circuit boards are stacked, the defective product conveying component conveys and collects the stacked defective circuit boards, which is beneficial to improving the collection efficiency of defective circuit boards.

[0024] Preferably, an auxiliary conveying mechanism is provided behind the end of the conveying direction of the incoming material conveying mechanism. When there are more good circuit boards than defective circuit boards, the auxiliary conveying mechanism is used to carry and convey the good circuit boards. When there are more defective circuit boards than good circuit boards, the auxiliary conveying mechanism is used to carry and convey the defective circuit boards.

[0025] During the conveying and collection process of circuit boards, the number of good and defective products is not exactly the same. When there are more good circuit boards than defective circuit boards, the good circuit boards need to be conveyed after they are stacked in the good receiving components. The stacked good circuit boards are conveyed to the good conveying components for collection. At this time, the good receiving components cannot receive the next good circuit board. The spider arm can transfer the good circuit boards to the auxiliary conveying mechanism, which carries and conveys the good circuit boards. When there are more defective circuit boards than good circuit boards, the defective circuit boards need to be conveyed after they are stacked in the defective receiving components, so as to convey the stacked defective circuit boards to the defective conveying components for collection. At this time, the defective receiving components cannot receive the next defective circuit board. The spider arm can transfer the defective circuit boards to the auxiliary conveying mechanism, which carries and conveys the defective circuit boards, thereby reducing the waiting time for the spider arm to transfer the circuit boards, and further improving the collection efficiency of the circuit boards.

[0026] In summary, the present application includes at least one of the following beneficial technical effects:

[0027] 1. By setting an incoming material conveying mechanism, a detection mechanism, a sorting mechanism, a good product conveying mechanism and a defective product conveying mechanism, when the circuit board flows into the incoming material conveying mechanism for conveying, the detection mechanism detects the circuit board, and when the circuit board is detected as a good product, the detection mechanism sends an electrical signal to the sorting mechanism, and the sorting mechanism transfers the good product circuit board conveyed to the end of the incoming material conveying mechanism to the good product conveying mechanism for conveying and collection, thereby realizing the conveying and collection operation of the good product circuit board, and when the circuit board is detected as a defective product, the detection mechanism sends an electrical signal to the sorting mechanism, and the sorting mechanism transfers the defective product circuit board conveyed to the end of the incoming material conveying mechanism to the defective product conveying mechanism for conveying and collection, thereby realizing the conveying and collection operation of the defective product circuit board, the distinguishing and collecting of good and defective circuit boards does not require manual operation by the staff, and the degree of automation is high, so it is convenient to distinguish and collect good and defective circuit boards, which is beneficial to improve the collection efficiency of circuit boards.

[0028] 2. By setting a first sensor, the first sensor is electrically connected to the third driving member. When the first sensor senses the good circuit board carried on the second conveyor belt, the first sensor sends an electrical signal to the third driving member so that the height of the second conveyor belt remains unchanged to carry the good circuit board for waiting for material, which is beneficial to improve the stability of the second conveyor belt when carrying the good circuit board.

[0029] 3. By setting up an auxiliary conveying mechanism, when there are more good circuit boards than defective circuit boards, the good circuit boards need to be conveyed after they are stacked in the good receiving assembly, and the stacked good circuit boards are conveyed to the good conveying assembly for collection. At this time, the good receiving assembly cannot receive the next good circuit board, and the spider arm can transfer the good circuit boards to the auxiliary conveying mechanism, and the auxiliary conveying mechanism carries and conveys the good circuit boards. When there are more defective circuit boards than good circuit boards, the defective circuit boards need to be conveyed after they are stacked in the defective receiving assembly, so as to convey the stacked defective circuit boards to the defective conveying assembly for collection. At this time, the defective receiving assembly cannot receive the next defective circuit board, and the spider arm can transfer the defective circuit boards to the auxiliary conveying mechanism, and the auxiliary conveying mechanism carries and conveys the defective circuit boards, which is beneficial to reduce the waiting time when the spider arm transfers the circuit boards, and further helps to further improve the collection efficiency of the circuit boards. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the plate collecting machine in the embodiment of the present application.

[0031] Figure 2 It is a structural schematic diagram of the plate collecting machine from another perspective in the embodiment of the present application.

[0032] Figure 3 yes Figure 1 Enlarged view of part A in the middle.

[0033] Figure 4 It is a structural schematic diagram of the good product conveying mechanism in the embodiment of the present application.

[0034] Figure 5 yes Figure 4 Enlarged view of part B in the middle.

[0035] Figure 6 It is a schematic diagram of the structure of the defective product conveying mechanism in the embodiment of the present application.

[0036] Figure 7 yes Figure 6 Enlarged view of part C in the middle.

[0037] Figure 8 It is a structural schematic diagram of the auxiliary conveying mechanism in an embodiment of the present application.

[0038] Fig. 9 yes Figure 8 Enlarged view of part D in the middle.

[0039] Description of reference numerals:

[0040] 1. Frame; 2. Incoming material conveying mechanism; 21. First conveying roller; 22. First conveying belt; 23. First driving member; 231. First driving motor; 24. Encoder; 3. Detection mechanism; 31. CCD camera; 32. Spotlight; 4. Sorting mechanism; 41. Spider arm; 5. Good product conveying mechanism; 51. Good product receiving assembly; 511. First carrier; 512. Second conveying roller; 513. Second conveying belt; 514. Second driving member; 5141. Second driving motor; 515. First lifting member; 5151. First lifting seat; 5152. First screw rod; 5153. First guide rod; 5154. Third driving motor; 52. Good product conveying assembly; 521. Third conveying roller; 522. Third conveying belt; 523. Fourth driving member; 5231. Fourth driving motor; 6. Defective product conveying mechanism; 61. Defective product receiving assembly; 611. Second The carrier frame; 612, the fourth conveyor roller; 613, the fourth conveyor belt; 614, the fifth driving member; 6141, the fifth driving motor; 615, the second lifting member; 6151, the second lifting seat; 6152, the second screw rod; 6153, the second guide rod; 6154, the sixth driving motor; 62, the defective product conveying assembly; 621, the fifth conveyor roller; 622, the fifth conveyor belt; 623, the seventh driving member; 6231, the seventh driving motor; 7, the detection point; 8, the material picking point; 9, the first infrared sensor; 10, the second infrared sensor; 11, the auxiliary conveying mechanism; 111, the third carrier frame; 112, the sixth conveyor roller; 113, the sixth conveyor belt; 114, the eighth driving member; 1141, the eighth driving motor; 115, the third lifting member; 1151, the third lifting seat; 1152, the third screw rod; 1153, the third guide rod; 1154, the ninth driving motor. DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-9 This application is described in further detail.

[0042] The present application embodiment discloses a spider hand trigger collecting machine, referring to Figure 1 and Figure 2, including a frame 1, the frame 1 is provided with a material conveying mechanism 2 for conveying circuit boards, and the material conveying mechanism 2 receives the circuit boards completed in the previous process. A detection mechanism 3 for detecting the circuit boards is provided at the head end of the conveying direction of the material conveying mechanism 2, and at the same time, a sorting mechanism 4 for sorting good circuit boards and defective circuit boards is provided at the end of the conveying direction of the material conveying mechanism 2. The detection mechanism 3 is electrically connected to the sorting mechanism 4, so that the sorting mechanism 4 can perform sorting operations according to the detection results. In addition, a good product conveying mechanism 5 for conveying good circuit boards is provided on one side of the end of the conveying direction of the incoming material conveying mechanism 2, and a defective product conveying mechanism 6 for conveying defective circuit boards is provided on the other side of the end of the conveying direction of the incoming material conveying mechanism 2. The good product conveying mechanism 5 and the defective product conveying mechanism 6 are arranged relative to the incoming material conveying mechanism 2. When the detection mechanism 3 detects that the circuit board is good, the detection mechanism 3 controls the sorting mechanism 4 to transfer the circuit board to the good product conveying mechanism 5 for conveying and collecting the good circuit board. When the detection mechanism 3 detects that the circuit board is defective, the detection mechanism 3 controls the sorting mechanism 4 to transfer the circuit board to the defective product conveying mechanism 6 for conveying and collecting the defective circuit board. The distinguishing and collecting of good and defective circuit boards does not require manual operation by the staff, and the degree of automation is high, which is convenient for distinguishing and collecting good and defective circuit boards, and further helps to improve the collection efficiency of circuit boards.

[0043] Reference Figure 1 and Figure 3 The material conveying mechanism 2 includes a first conveying roller 21, a first conveying belt 22, a first driving member 23 and an encoder 24. Specifically, there are multiple first conveying rollers 21, and the multiple first conveying rollers 21 are arranged in parallel and spaced apart along the conveying direction of the circuit board, and the multiple first conveying rollers 21 are located on the same horizontal plane and are rotatably connected to the side wall of the frame 1. The first conveying belt 22 surrounds the multiple first conveying rollers 21, so that the first conveying belt 22 is driven as the first conveying rollers 21 rotate. The first driving member 23 is installed on the frame 1 to drive the first conveying rollers 21 to rotate. The encoder 24 is installed on the frame 1, and the encoder 24 is electrically connected to the first driving member 23 to control the transmission rate of the first conveying belt 22.

[0044] In the present embodiment, the first driving member 23 is selected as a motor driving module, specifically, the first driving member 23 includes a first driving motor 231, a first driving gear, a first driven gear and a first toothed chain. The first driving motor 231 is horizontally fixed on the frame 1, the first driving gear is fixedly sleeved on the output shaft of the first driving motor 231, the first driven gear is fixedly sleeved on one end of a first conveying roller 21, the first toothed chain is meshed around the first driving gear and the first driven gear, the output shaft of the first driving motor 231 rotates to drive the first driving gear to rotate, the first driving gear rotates to drive the first driven gear to rotate through the first toothed chain, the first driven gear rotates to drive the first conveying roller 21 to rotate to realize the transmission of the first conveyor belt 22, this is a conventional setting of conveyor belt transmission, and will not be described here.

[0045] Reference Figure 1 and Figure 3 The detection mechanism 3 includes a CCD camera 31 and a spotlight 32. The first conveyor belt 22 has a detection point 7. The detection point 7 is located at the head end of the conveying direction of the first conveyor belt 22. The spotlight 32 is installed on the frame 1 and faces the detection point 7. In this embodiment, the number of spotlights 32 is set to two. The two spotlights 32 are located on both sides above the first conveyor belt 22 and face the detection point 7 for focusing. The CCD camera 31 is installed on the frame 1 and is located directly above the detection point 7. The CCD camera 31 faces the detection point 7 to detect the circuit board moved to the detection point 7. Figure 2 The CCD camera 31 is electrically connected to the sorting mechanism 4. The CCD camera 31 feeds back the detection result to the sorting mechanism 4. The sorting mechanism 4 distinguishes the good circuit boards from the defective circuit boards according to the detection result.

[0046] Reference Figure 1 and Figure 2 The sorting mechanism 4 includes a spider arm robot 41 for transferring circuit boards. The spider arm robot 41 has the characteristics of high speed and stability. The first conveyor belt 22 also has a material picking point 8, which is located at the end of the conveying direction of the first conveyor belt 22, and the spider arm robot 41 is located above the material picking point 8. The spider arm robot 41 is arranged on the frame 1 and is electrically connected to the CCD camera 31. When the spider arm robot 41 receives the electrical signal of the CCD camera 31, the spider arm robot 41 takes the circuit board out of the material picking point 8 and transfers it to the good product conveying mechanism 5 or the defective product conveying mechanism 6, that is, when the CCD camera 31 detects that the circuit board is a good product, the spider arm robot 41 transfers the good circuit board conveyed to the material picking point 8 to the good product conveying mechanism 5, and when the CCD camera 31 detects that the circuit board is a defective product, the spider arm robot 41 transfers the defective circuit board conveyed to the material picking point 8 to the defective product conveying mechanism 6.

[0047] Reference Figure 4 The good product conveying mechanism 5 includes a good product receiving component 51 and a good product conveying component 52. The good product receiving component 51 is located at one side of the material taking point 8 and is used to receive and stack the good product circuit boards. The good product conveying component 52 is located behind the good product receiving component 51 and is used to convey the stacked circuit boards. When the good product circuit boards are stacked in the good product receiving component 51, the good product receiving component 51 transfers the stacked good product circuit boards to the good product conveying component 52, and the good product conveying component 52 conveys and collects the stacked good product circuit boards.

[0048] Reference Figure 4 and Figure 5 The good product receiving component 51 includes a first carrier frame 511, a second conveyor roller 512, a second conveyor belt 513, a second driving member 514 and a first lifting member 515. Specifically, the first carrier frame 511 is located on one side of the end of the first conveyor belt 22 in the conveying direction and is used to support the second conveyor roller 512, the second conveyor belt 513 and the second driving member 514. There are multiple second conveyor rollers 512, and the multiple second conveyor rollers 512 are arranged in parallel and spaced apart on the same horizontal plane. The multiple second conveyor rollers 512 are rotatably connected to the side wall of the first carrier frame 511. The second conveyor belt 513 surrounds the multiple second conveyor rollers 512, and the second conveyor belt 513 is driven by the rotation of the second conveyor rollers 512. The second driving member 514 is installed on the first carrier frame 511 to drive the second conveyor rollers 512 to rotate. The first lifting member 515 is installed on the frame 1 to drive the first carrier frame 511 to move vertically up and down. The spider arm robot 41 transfers the good circuit boards to the second conveyor belt 513 for stacking. When the good circuit boards are stacked on the second conveyor belt 513, the transmission of the second conveyor belt 513 transfers the stacked good circuit boards to the good conveying assembly 52.

[0049] In this embodiment, the second driving member 514 is also selected as a motor driving module, specifically, the second driving member 514 includes a second driving motor 5141, a second driving gear, a second driven gear and a second tooth chain. The second driving motor 5141 is horizontally fixed on the first carrier frame 511, the second driving gear is fixedly sleeved on the output shaft of the second driving motor 5141, the second driven gear is fixedly sleeved on one end of a second conveying roller 512, the second tooth chain is meshed around the second driving gear and the second driven gear, the output shaft of the second driving motor 5141 rotates to drive the second driving gear to rotate, the second driving gear rotates to drive the second driven gear to rotate through the second tooth chain, the second driven gear rotates to drive the second conveying roller 512 to rotate to realize the transmission of the second conveyor belt 513, this is a conventional setting of conveyor belt transmission, it will not be elaborated here.

[0050] Reference Figure 4 and Figure 5The first lifting member 515 includes a first lifting seat 5151, a first screw rod 5152, a first guide rod 5153 and a third driving member. Specifically, the first screw rod 5152 is vertically arranged. In the present embodiment, the third driving member is configured as a third driving motor 5154, which is fixedly arranged on the frame 1, and the output shaft of the third driving motor 5154 is vertically arranged upward. The third driving motor 5154 is located directly below the first supporting frame 511, and the first screw rod 5152 is coaxially fixedly connected to the output shaft of the third driving motor 5154. The rotation of the output shaft of the third driving motor 5154 drives the first screw rod 5152 to rotate. The first lifting seat 5151 is fixedly connected to the bottom of the first supporting frame 511, and the first lifting seat 5151 is threadedly sleeved on the first screw rod 5152. The first guide rod 5153 is vertically fixedly arranged on the frame 1, and the first lifting seat 5151 is movably sleeved on the first guide rod 5153.

[0051] The output shaft of the third driving motor 5154 rotates to drive the first screw 5152 to rotate, and the first screw 5152 rotates to drive the first lifting seat 5151 to move vertically up and down, and the vertical up and down movement of the first lifting seat 5151 drives the second conveyor belt 513 to move vertically up and down. When the spider hand manipulator 41 needs to transfer the good circuit board to the second conveyor belt 513, the second conveyor belt 513 moves vertically upward to receive the good circuit board to reduce the distance that the good circuit board falls on the second conveyor belt 513, and as the good circuit boards are stacked on the second conveyor belt 513, the second conveyor belt 513 gradually moves downward to keep the drop distance of the good circuit board on the second conveyor belt 513 consistent. It should be noted that the spider hand manipulator 41 is relatively large in size, and the setting of the first lifting member 515 reduces the up and down movement range of the spider hand manipulator 41 when transferring the circuit board, thereby reducing the occupied space of the board receiving machine.

[0052] Reference Figure 5 and Figure 6 The frame 1 is provided with a first sensor. In the present embodiment, the first sensor is configured as a first infrared sensor 9. The first infrared sensor 9 is located on one side of the first carrier frame 511 and is used to sense the height of the good circuit board carried by the first carrier frame 511. The first infrared sensor 9 is electrically connected to the third driving member. The vertical up and down movement of the second conveyor belt 513 is controlled by the sensing of the first infrared sensor 9 to improve the stability of the good circuit board when it is transferred to the second conveyor belt 513.

[0053] Reference Figure 4The good product conveying component 52 is located behind the good product receiving component 51 in the conveying direction. Specifically, the good product conveying component 52 includes a third conveying roller 521, a third conveying belt 522 and a fourth driving member 523. There are multiple third conveying rollers 521, and the multiple third conveying rollers 521 are arranged in parallel and spaced apart. The multiple third conveying rollers 521 are located on the same horizontal plane and are rotatably connected to the side wall of the frame 1. The third conveying belt 522 surrounds the multiple third conveying rollers 521, so that the third conveying belt 522 can be driven with the rotation of the third conveying rollers 521. The fourth driving member 523 is installed on the frame 1 to drive the third conveying rollers 521 to rotate.

[0054] In this embodiment, the fourth driving member 523 is also selected as a motor driving module, specifically, the fourth driving member 523 includes a fourth driving motor 5231, a fourth driving gear, a fourth driven gear and a fourth tooth chain. The fourth driving motor 5231 is horizontally fixed on the frame 1, the fourth driving gear is fixedly sleeved on the output shaft of the fourth driving motor 5231, the fourth driven gear is fixedly sleeved on one end of a third conveying roller 521, the fourth tooth chain is meshed around the fourth driving gear and the fourth driven gear, the output shaft of the fourth driving motor 5231 rotates to drive the fourth driving gear to rotate, the fourth driving gear rotates through the fourth tooth chain to drive the fourth driven gear to rotate, the fourth driven gear rotates by driving the third conveying roller 521 to rotate to realize the transmission of the third conveyor belt 522, the transmission of the third conveyor belt 522 drives the stacked good circuit boards to be transported and collected. It should be noted that after the good circuit boards are stacked on the second conveyor belt 513 , the second conveyor belt 513 moves in the vertical direction to a position aligned with the third conveyor belt 522 , so that the stacked good circuit boards can be transferred from the second conveyor belt 513 to the third conveyor belt 522 .

[0055] Reference Figure 6 Similar to the good product conveying mechanism 5, the defective product conveying mechanism 6 includes a defective product receiving component 61 and a defective product conveying component 62. The defective product receiving component 61 is located at the other side of the material taking point 8 relative to the good product receiving component 51 to receive and stack the defective circuit boards. The defective product conveying component 62 is located behind the defective product receiving component 61 to convey the stacked circuit boards. After the defective circuit boards are stacked in the defective product receiving component 61, the defective product receiving component 61 transfers the stacked defective circuit boards to the defective product conveying component 62, and the defective product conveying component 62 conveys and collects the stacked defective circuit boards.

[0056] Reference Figure 6 and Figure 7The defective product receiving assembly 61 includes a second carrier frame 611, a fourth conveyor roller 612, a fourth conveyor belt 613, a fifth driving member 614 and a second lifting member 615. Specifically, the second carrier frame 611 is located at the other side of the end of the conveying direction of the first conveyor belt 22 and is used to support the fourth conveyor roller 612, the fourth conveyor belt 613 and the fifth driving member 614. The number of the fourth conveyor rollers 612 is set to be multiple, and the multiple fourth conveyor rollers 612 are arranged in parallel and spaced apart on the same horizontal plane, and the multiple fourth conveyor rollers 612 are rotatably connected to the side wall of the second carrier frame 611, the fourth conveyor belt 613 surrounds the multiple fourth conveyor rollers 612, and the fourth conveyor belt 613 is driven with the rotation of the fourth conveyor roller 612, the fifth driving member 614 is installed on the second carrier frame 611 to drive the fourth conveyor roller 612 to rotate, and the second lifting member 615 is installed on the frame 1 to drive the second carrier frame 611 to move vertically up and down. The spider arm robot 41 transfers the defective circuit boards to the fourth conveyor belt 613 for stacking. After the defective circuit boards are stacked on the fourth conveyor belt 613, the transmission of the fourth conveyor belt 613 transfers the stacked defective circuit boards to the defective product conveying assembly 62.

[0057] In this embodiment, the fifth driving member 614 is also selected as a motor driving module, specifically, the fifth driving member 614 includes a fifth driving motor 6141, a fifth driving gear, a fifth driven gear and a fifth tooth chain. The fifth driving motor 6141 is horizontally fixed on the second carrier frame 611, the fifth driving gear is fixedly sleeved on the output shaft of the fifth driving motor 6141, the fifth driven gear is fixedly sleeved on one end of a fourth conveying roller 612, the fifth tooth chain is meshed around the fifth driving gear and the fifth driven gear, the output shaft of the fifth driving motor 6141 rotates to drive the fifth driving gear to rotate, the fifth driving gear rotates to drive the fifth driven gear to rotate through the fifth tooth chain, and the fifth driven gear rotates to drive the fourth conveying roller 612 to rotate to realize the transmission of the fourth conveyor belt 613.

[0058] Reference Figure 6 and Figure 7The second lifting member 615 includes a second lifting seat 6151, a second screw 6152, a second guide rod 6153 and a sixth driving member. Specifically, the second screw 6152 is vertically arranged. In this embodiment, the sixth driving member is configured as a sixth driving motor 6154, which is fixedly arranged on the frame 1, and the output shaft of the sixth driving motor 6154 is vertically arranged upward. The sixth driving motor 6154 is located directly below the second supporting frame 611, and the second screw 6152 is coaxially fixedly connected to the output shaft of the sixth driving motor 6154. The rotation of the output shaft of the sixth driving motor 6154 drives the second screw 6152 to rotate. The second lifting seat 6151 is fixedly connected to the bottom of the second supporting frame 611, and the second lifting seat 6151 is threadedly sleeved on the second screw 6152. The second guide rod 6153 is vertically fixedly arranged on the frame 1, and the second lifting seat 6151 is movably sleeved on the second guide rod 6153.

[0059] The rotation of the output shaft of the sixth drive motor 6154 drives the second screw 6152 to rotate, and the second screw 6152 rotates to drive the second lifting seat 6151 to move vertically up and down, and the vertical up and down movement of the second lifting seat 6151 drives the fourth conveyor belt 613 to move vertically up and down. When the spider hand manipulator 41 needs to transfer the defective circuit board to the fourth conveyor belt 613, the fourth conveyor belt 613 moves vertically upward to receive the defective circuit board to reduce the distance that the defective circuit board falls on the fourth conveyor belt 613, and as the defective circuit board is stacked on the fourth conveyor belt 613, the fourth conveyor belt 613 gradually moves downward to keep the distance that the defective circuit board falls on the fourth conveyor belt 613 moderate and consistent. It should be noted that the spider hand manipulator 41 is relatively large in size, and the setting of the second lifting member 615 reduces the up and down movement range of the spider hand manipulator 41 when transferring the circuit board, thereby reducing the occupied space of the board receiving machine.

[0060] Reference Figure 4 The rack 1 is also provided with a second sensor. In this embodiment, the second sensor is provided as a second infrared sensor 10. Figure 7 The second infrared sensor 10 is located on one side of the second carrier 611 and is used to sense the height of the defective circuit boards carried by the second carrier 611. The second infrared sensor 10 is electrically connected to the sixth driving member. The vertical up and down movement of the fourth conveyor belt 613 is controlled by the sensing of the second infrared sensor 10 to improve the stability of the defective circuit boards when they are transferred to the fourth conveyor belt 613.

[0061] Reference Figure 6 and Figure 7The defective product conveying component 62 is located behind the defective product receiving component 61 in the conveying direction. Specifically, the defective product conveying component 62 includes a fifth conveying roller 621, a fifth conveying belt 622 and a seventh driving member 623. The number of the fifth conveying roller 621 is set to be multiple, and the multiple fifth conveying rollers 621 are arranged in parallel and spaced apart, and the multiple fifth conveying rollers 621 are located on the same horizontal plane and are rotatably connected to the side wall of the frame 1. The fifth conveying belt 622 surrounds the multiple fifth conveying rollers 621, so that the fifth conveying belt 622 can be driven with the rotation of the fifth conveying roller 621, and the seventh driving member 623 is installed on the frame 1 to drive the fifth conveying roller 621 to rotate.

[0062] In this embodiment, the seventh driving member 623 is also selected as a motor driving module, specifically, the seventh driving member 623 includes a seventh driving motor 6231, a seventh driving gear, a seventh driven gear and a seventh tooth chain. The seventh driving motor 6231 is horizontally fixed on the frame 1, the seventh driving gear is fixedly sleeved on the output shaft of the seventh driving motor 6231, the seventh driven gear is fixedly sleeved on one end of a fifth conveying roller 621, the seventh tooth chain is meshed around the seventh driving gear and the seventh driven gear, the output shaft of the seventh driving motor 6231 rotates to drive the seventh driving gear to rotate, the seventh driving gear rotates to drive the seventh driven gear to rotate through the seventh tooth chain, the seventh driven gear rotates to drive the fifth conveying roller 621 to rotate to realize the transmission of the fifth conveyor belt 622, and the transmission of the fifth conveyor belt 622 drives the defective circuit boards stacked together to be transported and collected. It should be noted that after the defective circuit boards are stacked on the fourth conveyor belt 613 , the fourth conveyor belt 613 moves in the vertical direction to a position aligned with the fifth conveyor belt 622 , so that the stacked defective circuit boards can be transferred from the fourth conveyor belt 613 to the fifth conveyor belt 622 .

[0063] In the actual production process of circuit boards, the ratio of good and defective circuit boards is uncertain. When there are more good circuit boards than defective ones, the good circuit boards need to be transported to the third conveyor belt 522 through the second conveyor belt 513 after being stacked in the good receiving component 51. At this time, the good receiving component 51 cannot receive the next good circuit board, and the spider arm 41 can only stop working and wait for materials. When the stacked good circuit boards are transported to the third conveyor belt 522, it can receive good circuit boards again. Similarly, when there are more defective circuit boards than good ones, the defective circuit boards need to be transported to the fifth conveyor belt 622 through the fourth conveyor belt 613 after being stacked in the defective receiving component 61. At this time, the defective receiving component 61 cannot receive the next defective circuit board, and the spider arm 41 can only stop working and wait for materials. When the stacked defective circuit boards are transported to the fifth conveyor belt 622, it can receive defective circuit boards again, which greatly reduces the transportation and collection efficiency of circuit boards.

[0064] Reference Figure 8 In order to further improve the conveying and collecting efficiency of circuit boards, an auxiliary conveying mechanism 11 is arranged behind the end of the conveying direction of the incoming material conveying mechanism 2. When there are more good circuit boards than defective circuit boards, the auxiliary conveying mechanism 11 is used to carry and convey the good circuit boards. When there are more defective circuit boards than good circuit boards, the auxiliary conveying mechanism 11 is used to carry and convey the defective circuit boards.

[0065] Reference Figure 8 and Fig. 9 The auxiliary conveying mechanism 11 includes a third carrier frame 111, a sixth conveying roller 112, a sixth conveying belt 113, an eighth driving member 114 and a third lifting member 115. Specifically, the third carrier frame 111 is located behind the end of the first conveying belt 22 in the conveying direction and is used to support the sixth conveying roller 112, the sixth conveying belt 113 and the eighth driving member 114. The number of the sixth conveying roller 112 is set to be multiple, and the multiple sixth conveying rollers 112 are parallel and spaced on the same horizontal plane, and the multiple sixth conveying rollers 112 are rotatably connected to the side wall of the third carrier frame 111, the sixth conveying belt 113 surrounds the multiple sixth conveying rollers 112, and the sixth conveying belt 113 is driven by the rotation of the sixth conveying roller 112, the eighth driving member 114 is installed on the third carrier frame 111 to drive the sixth conveying roller 112 to rotate, and the third lifting member 115 is installed on the frame 1 to drive the third carrier frame 111 to move vertically up and down. It should be noted that the sixth conveyor belt 113 is arranged parallel to the third conveyor belt 522 and the fifth conveyor belt 622, and the sixth conveyor belt 113 is located between the third conveyor belt 522 and the fifth conveyor belt 622. This arrangement makes it unnecessary for the auxiliary conveying mechanism 11 to occupy space again. On the premise of maintaining the original occupied space of the board collecting machine, the transportation and collection efficiency of the circuit boards is further improved.

[0066] In the present embodiment, the eighth driving member 114 is also selected as a motor driving module, specifically, the eighth driving member 114 includes an eighth driving motor 1141, an eighth driving gear, an eighth driven gear and an eighth tooth chain. The eighth driving motor 1141 is horizontally fixed on the third carrier frame 111, the eighth driving gear is fixedly sleeved on the output shaft of the eighth driving motor 1141, the eighth driven gear is fixedly sleeved on one end of a sixth conveying roller 112, the eighth tooth chain is meshed around the eighth driving gear and the eighth driven gear, the output shaft of the eighth driving motor 1141 rotates to drive the eighth driving gear to rotate, the eighth driving gear rotates to drive the eighth driven gear to rotate through the eighth tooth chain, and the eighth driven gear rotates to drive the sixth conveying roller 112 to rotate to realize the transmission of the sixth conveyor belt 113.

[0067] Reference Figure 8 and Fig. 9The third lifting member 115 includes a third lifting seat 1151, a third screw 1152, a third guide rod 1153 and a ninth driving member. Specifically, the third screw 1152 is vertically arranged. In the present embodiment, the ninth driving member is configured as a ninth driving motor 1154, which is fixedly arranged on the frame 1, and the output shaft of the ninth driving motor 1154 is vertically arranged upward. The ninth driving motor 1154 is located directly below the third supporting frame 111, and the third screw 1152 is coaxially fixedly connected to the output shaft of the ninth driving motor 1154. The rotation of the output shaft of the ninth driving motor 1154 drives the third screw 1152 to rotate. The third lifting seat 1151 is fixedly connected to the bottom of the third supporting frame 111, and the third lifting seat 1151 is threadedly sleeved on the third screw 1152. The third guide rod 1153 is vertically fixedly arranged on the frame 1, and the third lifting seat 1151 is movably sleeved on the third guide rod 1153.

[0068] The output shaft of the third driving motor 5154 rotates to drive the third screw 1152 to rotate, and the third screw 1152 rotates to drive the third lifting seat 1151 to move vertically up and down, and the vertical up and down movement of the third lifting seat 1151 drives the sixth conveyor belt 113 to move vertically up and down. When the spider hand robot 41 needs to transfer the circuit board to the sixth conveyor belt 113, the sixth conveyor belt 113 moves vertically to receive the circuit board to reduce the distance the circuit board falls on the sixth conveyor belt 113, and as the circuit boards are stacked on the sixth conveyor belt 113, the sixth conveyor belt 113 gradually moves downward to keep the circuit board falling on the sixth conveyor belt 113 The distance is always consistent. When there are more good circuit boards than defective circuit boards, the good circuit boards waiting for material are transferred to the sixth conveyor belt 113 for stacking and collection. When there are more defective circuit boards than good circuit boards, the defective circuit boards waiting for material are transferred to the sixth conveyor belt 113 for stacking and collection.

[0069] The implementation principle of a spider hand board collecting machine in the embodiment of the present application is as follows: the incoming material conveying mechanism 2 conveys the circuit board, and when the circuit board is conveyed to the detection point 7, the CCD camera 31 detects the circuit board. When the circuit board is detected as a good product, the spider hand mechanical arm 41 transfers the good circuit board conveyed to the material collection point 8 to the second conveyor belt 513 for stacking according to the detection result of the CCD camera 31. When the good circuit board is stacked on the second conveyor belt 513, the second conveyor belt 513 conveys the good circuit board to the third conveyor belt 522 for conveying and collection, so as to complete the collection operation of the good circuit board; when the circuit board is detected as a good product, the spider hand mechanical arm 41 transfers the good circuit board conveyed to the material collection point 8 to the second conveyor belt 513 for stacking according to the detection result of the CCD camera 31. When the good circuit board is stacked on the second conveyor belt 513, the second conveyor belt 513 conveys the good circuit board to the third conveyor belt 522 for conveying and collection, so as to complete the collection operation of the good circuit board; When the board is detected as a defective product, the spider arm robot 41 transfers the defective circuit board transported to the material collection point 8 to the fourth conveyor belt 613 for stacking according to the detection result of the CCD camera 31. After the defective circuit boards are stacked on the fourth conveyor belt 613, the fourth conveyor belt 613 transports the defective circuit boards to the fifth conveyor belt 622 for transportation and collection, so as to complete the collection operation of the defective circuit boards. The distinguishing and collecting of good and defective circuit boards does not require manual operation by the staff, and the degree of automation is high, which facilitates the distinguishing and collecting of good and defective circuit boards, and is beneficial to improving the collection efficiency of circuit boards. When there are more good circuit boards than defective ones, the spider arm robot 41 transfers the good circuit boards to the sixth conveyor belt 113 for stacking and collection. When there are more defective circuit boards than good ones, the spider arm robot 41 transfers the defective circuit boards to the sixth conveyor belt 113 for stacking and collection. The auxiliary conveying mechanism 11 does not need to occupy space again. While maintaining the original space occupied by the board collecting machine, the conveying and collecting efficiency of the circuit boards is further improved.

[0070] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A spider hand retractor, characterized in that: The machine comprises a frame (1), the frame (1) being provided with a material conveying mechanism (2) for conveying circuit boards, a detection mechanism (3) for detecting circuit boards being provided at the head end of the material conveying mechanism (2) in the conveying direction, a sorting mechanism (4) for sorting good circuit boards from bad circuit boards being provided at the end of the material conveying mechanism (2) in the conveying direction, the detection mechanism (3) being electrically connected to the sorting mechanism (4), and a detection mechanism (3) for conveying good circuit boards being provided at one side of the end of the material conveying mechanism (2) in the conveying direction. A good product conveying mechanism (5) for circuit boards, a bad product conveying mechanism (6) for conveying bad product circuit boards is provided on the other side of the end of the conveying direction of the incoming material conveying mechanism (2); when the detection mechanism (3) detects that the circuit board is a good product, the detection mechanism (3) controls the sorting mechanism (4) to transfer the circuit board to the good product conveying mechanism (5); when the detection mechanism (3) detects that the circuit board is a bad product, the detection mechanism (3) controls the sorting mechanism (4) to transfer the circuit board to the bad product conveying mechanism (6); The material conveying mechanism (2) comprises a first conveying roller (21), a first conveying belt (22), a first driving member (23) and an encoder (24); the number of the first conveying rollers (21) is multiple, the multiple first conveying rollers (21) are arranged in parallel and spaced apart along the conveying direction of the circuit board, and the multiple first conveying rollers (21) are all rotatably connected to the frame (1); the first conveying belt (22) surrounds the multiple first conveying rollers (21), and the first conveying belt (22) is driven along with the rotation of the first conveying rollers (21); the first driving member (23) is installed on the frame (1) for driving the first conveying rollers (21) to rotate; the encoder (24) is installed on the frame (1), and the encoder (24) is electrically connected to the first driving member (23) for controlling the transmission speed of the first conveying belt (22); The detection mechanism (3) comprises a CCD camera (31) and a spotlight (32); the first conveyor belt (22) has a detection point (7); the detection point (7) is located at the head end of the conveying direction of the first conveyor belt (22); the spotlight (32) is mounted on the frame (1) and faces the detection point (7); the CCD camera (31) is mounted on the frame (1) and faces the detection point (7); and the CCD camera (31) is electrically connected to the sorting mechanism (4); The sorting mechanism (4) comprises a spider arm (41) for transferring circuit boards, the first conveyor belt (22) has a material taking point (8), the material taking point (8) is located at the end of the conveying direction of the first conveyor belt (22), the spider arm (41) is arranged on the frame (1) and is electrically connected to the CCD camera (31), when the spider arm (41) receives an electrical signal from the CCD camera (31), the spider arm (41) takes the circuit board out of the material taking point (8) and transfers it to the good product conveying mechanism (5) or the bad product conveying mechanism (6); The good product conveying mechanism (5) comprises a good product receiving component (51) and a good product conveying component (52), wherein the good product receiving component (51) is located on one side of the material taking point (8) and is used for receiving and stacking good product circuit boards, and the good product conveying component (52) is located behind the good product receiving component (51) and is used for conveying the stacked circuit boards; The good product receiving assembly (51) includes a first carrier (511), a second conveying roller (512), a second conveying belt (513), a second driving member (514) and a first lifting member (515). The first carrier (511) is located on one side of the end of the conveying direction of the first conveying belt (22). There are multiple second conveying rollers (512). The multiple second conveying rollers (512) are arranged in parallel and spaced apart. The multiple second conveying rollers (512) are all rotatably connected to the first carrier (511). The second conveying belt (513) surrounds the multiple second conveying rollers (512), and the second conveying belt (513) is driven by the rotation of the second conveying rollers (512). The second driving member (514) is installed on the first carrier (511) to drive the second conveying roller (512) to rotate. The first lifting member (515) is installed on the frame (1) to drive the first carrier (511) to move vertically up and down. The first lifting member (515) comprises a first lifting seat (5151), a first screw rod (5152), a first guide rod (5153) and a third driving member, wherein the first screw rod (5152) is vertically arranged, the third driving member is installed on the frame (1) and is used to drive the first screw rod (5152) to rotate, the first lifting seat (5151) is fixedly connected to the first supporting frame (511), the first lifting seat (5151) is threadedly sleeved on the first screw rod (5152), the first guide rod (5153) is vertically fixedly arranged on the frame (1), and the first lifting seat (5151) is movably sleeved on the first guide rod (5153); The frame (1) is provided with a first sensor, the first sensor is located at one side of the first carrier (511) and is used to sense the height of the good circuit board carried by the first carrier (511), and the first sensor is electrically connected to the third driving member; The defective product conveying mechanism (6) comprises a defective product receiving component (61) and a defective product conveying component (62); the defective product receiving component (61) is located on the other side of the material taking point (8) relative to the good product conveying mechanism (5) and is used for receiving and stacking defective circuit boards; the defective product conveying component (62) is located behind the defective product receiving component (61) and is used for conveying stacked circuit boards; An auxiliary conveying mechanism (11) is arranged behind the end of the conveying direction of the incoming material conveying mechanism (2). When there are more good circuit boards than defective circuit boards, the auxiliary conveying mechanism (11) is used to carry and convey the good circuit boards. When there are more defective circuit boards than good circuit boards, the auxiliary conveying mechanism (11) is used to carry and convey the defective circuit boards. The good product conveying assembly (52) comprises a third conveying roller (521), a third conveying belt (522) and a fourth driving member (523). The number of the third conveying rollers (521) is multiple, the multiple third conveying rollers (521) are arranged in parallel and spaced apart, and the multiple third conveying rollers (521) are located on the same horizontal plane and are rotatably connected to the side wall of the frame (1). The third conveying belt (522) surrounds the multiple third conveying rollers (521), so that the third conveying belt (522) can be driven with the rotation of the third conveying rollers (521), and the fourth driving member (523) is installed on the frame (1) and is used to drive the third conveying rollers (521) to rotate. The defective product conveying assembly (62) comprises a fifth conveying roller (621), a fifth conveying belt (622) and a seventh driving member (623). The number of the fifth conveying roller (621) is set to be multiple, the multiple fifth conveying rollers (621) are arranged in parallel and spaced apart, and the multiple fifth conveying rollers (621) are located on the same horizontal plane and are rotatably connected to the side wall of the frame (1). The fifth conveying belt (622) surrounds the multiple fifth conveying rollers (621), so that the fifth conveying belt (622) can be driven with the rotation of the fifth conveying rollers (621), and the seventh driving member (623) is installed on the frame (1) to drive the fifth conveying rollers (621) to rotate. The auxiliary conveying mechanism (11) comprises a third carrier frame (111), a sixth conveying roller (112), a sixth conveying belt (113), an eighth driving member (114) and a third lifting member (115); the third carrier frame (111) is located behind the end of the first conveying belt (22) in the conveying direction and is used to support the sixth conveying roller (112), the sixth conveying belt (113) and the eighth driving member (114); the number of the sixth conveying roller (112) is set to be multiple, the multiple sixth conveying rollers (112) are parallel and spaced on the same horizontal plane, and the multiple sixth conveying rollers (112) are all rotatably connected to the side wall of the third carrier frame (111). The sixth conveyor belt (113) is wound around a plurality of sixth conveyor rollers (112), and the sixth conveyor belt (113) is driven as the sixth conveyor rollers (112) rotate. The eighth driving member (114) is installed on the third carrier frame (111) and is used to drive the sixth conveyor rollers (112) to rotate. The third lifting member (115) is installed on the frame (1) and is used to drive the third carrier frame (111) to move vertically up and down. The sixth conveyor belt (113) is arranged parallel to the third conveyor belt (522) and the fifth conveyor belt (622), and the sixth conveyor belt (113) is located between the third conveyor belt (522) and the fifth conveyor belt (622).

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