An explosion-proof sheet assembly appearance detection module

Abstract

The application provides an anti-explosion piece assembly appearance detection module, which comprises a mounting plate and a feeding dust removal mechanism, a feeding carrying manipulator, a lower surface photographing detection assembly, an annular conveying mechanism, a first upper surface photographing detection assembly, a second upper surface photographing detection assembly, a long-side photographing detection assembly, a short-side photographing detection assembly, a third upper surface photographing detection assembly, a discharging carrying manipulator, an NG material conveying mechanism and an OK material conveying mechanism which are mounted on the mounting plate; the feeding dust removal mechanism is used for feeding products and removing dust from the products; the lower surface photographing detection assembly is arranged on the right side of the feeding dust removal mechanism; the annular conveying mechanism is arranged on the right side of the lower surface photographing detection assembly and comprises an annular conveying device and a plurality of carriers which are mounted on the power output end of the annular conveying device; the feeding carrying manipulator is arranged between the feeding dust removal mechanism and the annular conveying mechanism; and the discharging carrying manipulator is located at the end station of the annular conveying mechanism.

Description

Technical Field

[0001] This invention relates to the field of automated testing equipment technology, and in particular to a visual inspection module for explosion-proof sheet assembly. Background Technology

[0002] The explosion-proof diaphragm assembly includes an aluminum plate, a blue film installed in the middle of the aluminum plate, and poles installed on both sides of the aluminum plate. The poles have a metal surface and a plastic surface. During the processing, in order to ensure the performance of the explosion-proof diaphragm assembly, its appearance needs to be inspected. This includes checking for bumps and scratches on the upper surface and sides of the aluminum plate, bumps and scratches on the metal surface of the poles, missing material on the plastic surface, and defects in the blue film. There are many inspection items, and in the past, different inspection equipment and positioning fixtures were usually used for multiple inspections, resulting in low efficiency and inability to meet production needs. Before the appearance inspection, the product must be dusted, otherwise it will easily affect the inspection results. In the past, the workpiece was manually dusted with an air gun before being placed into the inspection equipment for inspection, which also affected work efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide an explosion-proof sheet assembly appearance inspection module to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An explosion-proof sheet assembly appearance inspection module includes a mounting plate and a feeding and dust removal mechanism, a loading and handling robot, a lower surface photographing and inspection component, a ring conveying mechanism, a first upper surface photographing and inspection component, a second upper surface photographing and inspection component, a long side photographing and inspection component, a short side photographing and inspection component, a third upper surface photographing and inspection component, a unloading and handling robot, an NG material conveying mechanism, and an OK material conveying mechanism mounted on the mounting plate.

[0006] The feeding and dust removal mechanism is used to feed the product and remove dust from the product;

[0007] The lower surface imaging and detection component is located on the right side of the feeding and dust removal mechanism;

[0008] The annular conveying mechanism is located on the right side of the lower surface photographic detection component, and includes an annular conveying device and several carriers installed at the power output end of the annular conveying device; the carriers are provided with positioning parts for positioning products;

[0009] The loading and handling robot is positioned between the feeding and dust removal mechanism and the circular conveyor mechanism. It is used to transport the products on the feeding and dust removal mechanism to the carrier of the circular conveyor mechanism. During the handling process, the products pass over the lower surface photo-detection component.

[0010] The first upper surface photo detection component, the second upper surface photo detection component, the long side photo detection component, the short side photo detection component, and the third upper surface photo detection component are respectively arranged on the side of the annular conveyor mechanism;

[0011] The unloading and handling robot is located at the end of the circular conveyor mechanism and is used to remove the products from the carrier and place them in the NG material conveyor mechanism or the OK material conveyor mechanism.

[0012] Further description of the present invention: the feeding and dust removal mechanism includes a feeding conveyor belt device, a transfer handling robot, a lower dust collection device, a transfer conveyor belt device, an upper dust collection device, and a barcode scanning and detection device; the feeding conveyor belt device is horizontally arranged in front of the left side of the mounting plate; the lower dust collection device is arranged behind the right side of the feeding conveyor belt device; the transfer conveyor belt device is horizontally arranged with its left end located behind the lower dust collection device; the transfer handling robot is vertically arranged on the left side of the lower dust collection device and the transfer conveyor belt device, and is used to transport the product from the right end of the feeding conveyor belt device to the left end of the transfer conveyor belt device, during which the product passes over the lower dust collection device; the upper dust collection device and the barcode scanning and detection device are respectively mounted above the transfer conveyor belt device and are distributed left and right.

[0013] In a further description of the present invention, the right end of the feeding conveyor belt device is provided with a right limiting block and a material separating component located to the left of the right limiting block; two sets of material separating components are provided and distributed front and back; the material separating component includes a first cylinder, a connecting block and a material blocking block; the first cylinder is fixed on the feeding conveyor belt device, and the power output end of the first cylinder is connected to the connecting block for controlling the up and down movement of the connecting block; the material blocking block is fixed at the bottom of the connecting block.

[0014] In a further description of the present invention, the transfer and handling robot includes a mounting frame, a Y-axis drive module, a connecting frame, two second cylinders, and two sets of first suction heads; the mounting frame is fixed on a mounting plate; the Y-axis drive module is mounted above the mounting frame and its power output end is connected to the connecting frame; the two second cylinders are mounted on the connecting frame on the left and right sides and their power output ends are connected to the first suction heads; two sets of the lower dust collection device are arranged on the left and right sides.

[0015] As further described in the present invention, the loading and handling robot includes a first robotic arm and a second suction head installed at the power output end of the first robotic arm; the unloading and handling robot includes a second robotic arm and a third suction head installed at the power output end of the second robotic arm.

[0016] In a further description of the present invention, the first upper surface imaging detection component, the second upper surface imaging detection component, the long side imaging detection component, the short side imaging detection component, and the third upper surface imaging detection component are arranged sequentially along the conveying direction of the annular conveying mechanism; the lower surface imaging detection component is used to detect defects on the lower surface of the product's pole post; the first upper surface imaging detection component is used to detect defects on the upper surface of the product's aluminum plate; the second upper surface imaging detection component is used to detect defects in the plastic portion of the upper surface of the pole post and blue film defects; the long side imaging detection component is used to detect defects on the front and rear sides of the product's aluminum plate and on the front and rear sides of the pole post; the short side imaging detection component is used to detect defects on the left and right sides of the product's aluminum plate and on the left and right sides of the pole post; and the third upper surface imaging detection component is used to detect defects on the metal surface of the product's pole post.

[0017] In a further description of the present invention, the position on the annular conveyor corresponding to the long-side photographic detection component is the long-side photographic station; the long-side photographic detection component includes a first camera mounting post, a first supplementary light mounting bracket, four first CCD cameras, and two first supplementary lights; the two first camera mounting posts are distributed on the front and rear sides of the long-side photographic station; the first supplementary light mounting bracket is straddling the side of the long-side photographic station; each first camera mounting post is equipped with two first CCD cameras that are distributed vertically and tilted; the two first supplementary lights are distributed front and rear on the first supplementary light mounting bracket.

[0018] In a further description of the present invention, the position on the annular conveyor corresponding to the short-side photo detection component is a short-side photo detection station; the short-side photo detection component includes a second supplementary light mounting bracket, two second CCD cameras, and two second supplementary lights; the second supplementary light mounting bracket is disposed on one side of the short-side photo detection station; the two second CCD cameras are distributed on the left and right sides of the short-side photo detection station and are obliquely mounted on the second supplementary light mounting bracket; the two second supplementary lights are mounted on the left and right sides of the second supplementary light mounting bracket.

[0019] In a further description of the present invention, the NG material conveying mechanism is longitudinally arranged in front of the left side of the annular conveying mechanism; the OK material conveying mechanism is laterally arranged on the right side of the NG material conveying mechanism; and the unloading and handling robot is located between the NG material conveying mechanism and the OK material conveying mechanism.

[0020] The beneficial effects of this invention are as follows:

[0021] This design uses a feeding and dust removal mechanism to feed and remove dust from the product. A loading and handling robot then moves the product from the feeding and dust removal mechanism to the carrier at the loading station of the circular conveyor. During the transport process, the bottom of the product is photographed and inspected when it passes the lower surface photographing and inspection component. In the circular conveyor, the carrier is transported by the circular conveyor device. During the transport process, the first upper surface photographing and inspection component, the second upper surface photographing and inspection component, the long side photographing and inspection component, the short side photographing and inspection component, and the third upper surface photographing and inspection component photograph and inspect each part of the product respectively. After the inspection is completed, the unloading and handling robot moves the product out. Products that are NG (not good) are transported to the NG material conveying mechanism for delivery, while products that are all OK are transported to the OK material conveying mechanism for delivery. This design can automatically complete the comprehensive appearance inspection of the workpiece, improving work efficiency. Attached Figure Description

[0022] Figure 1 This is a structural diagram of the product tested by the present invention;

[0023] Figure 2 This is a top view of the overall structure of the invention;

[0024] Figure 3 This is a structural diagram of the feeding and dust removal mechanism of the present invention;

[0025] Figure 4 This is a structural diagram of the separator assembly of the present invention;

[0026] Figure 5 This is a structural diagram of the transfer and handling robot in this invention;

[0027] Figure 6 This is a structural diagram of the material handling robot, the lower surface photographic detection component, the annular conveying mechanism, the first upper surface photographic detection component, the second upper surface photographic detection component, the long side photographic detection component, the short side photographic detection component, the third upper surface photographic detection component, and the unloading robot mounted on the mounting plate.

[0028] Figure 7 This is a structural diagram of the vehicle of the present invention;

[0029] Figure 8 This is a structural diagram of the long-side image detection component of the present invention;

[0030] Figure 9 This is a structural diagram of the short-side image detection component of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings:

[0032] like Figure 1-9As shown, an explosion-proof sheet assembly appearance inspection module includes a mounting plate 1 and a feeding and dust removal mechanism 2, a loading and handling robot 3, a lower surface photographing and inspection component 4, a ring conveying mechanism 5, a first upper surface photographing and inspection component 6, a second upper surface photographing and inspection component 7, a long side photographing and inspection component 8, a short side photographing and inspection component 9, a third upper surface photographing and inspection component 10, a unloading and handling robot 11, an NG material conveying mechanism 12, and an OK material conveying mechanism 13.

[0033] The feeding and dust removal mechanism 2 is used to feed the product 100 and remove dust from the product 100;

[0034] like Figure 2-5 As shown, the feeding and dust removal mechanism 2 includes a feeding conveyor belt device 21, a transfer handling robot 22, a lower dust collection device 23, a transfer conveyor belt device 24, an upper dust collection device 25, and a barcode scanning and detection device 26. The feeding conveyor belt device 21 is horizontally positioned in front of the left side of the mounting plate 1. The lower dust collection device 23 is positioned behind the right side of the feeding conveyor belt device 21. The transfer conveyor belt device 24 is horizontally positioned with its left end located behind the lower dust collection device 23. The transfer handling robot 22 is vertically positioned to the left of the lower dust collection device 23 and the transfer conveyor belt device 24, and is used to transport the product 100 from the right end of the feeding conveyor belt device 21 to the left end of the transfer conveyor belt device 24. During the transport process, the product 100 passes over the lower dust collection device 23. The upper dust collection device 25 and the barcode scanning and detection device 26 are separate. The transfer conveyor belt device 24 is not installed above the transfer conveyor belt device 24 and is arranged on both sides. The product 100 is fed in from the left end of the feeding conveyor belt device 21 and transported to the right by the feeding conveyor belt device 21. The transfer handling robot 22 moves the product 100 from the right end of the feeding conveyor belt device 21 to the left end of the transfer conveyor belt device 24. During the transport, the product 100 passes over the lower dust suction device 23, which sucks up the dust from the bottom of the product 100. The transfer conveyor belt device 24 controls the product 100 to be transported to the right. During the transport, it passes through the upper dust suction device 25 and the barcode scanning and detection device 26 in sequence. The upper dust suction device 25 sucks up the dust from the upper surface of the product 100, and the barcode scanning and detection device scans the product 100 to obtain the product 100 information. When the product 100 is transported to the right end of the transfer conveyor belt device 24, it waits for picking.

[0035] The right end of the feeding conveyor belt device 21 is provided with a right limiting block 211 and a material separating component 212 located to the left of the right limiting block 211; the material separating component 212 is provided in two sets and distributed front and back; the material separating component 212 includes a first cylinder 2121, a connecting block 2122 and a baffle block 2123; the first cylinder 2121 is fixed on the feeding conveyor belt device 21, and the power output end of the first cylinder 2121 is connected to the connecting block 2122 to control the up and down movement of the connecting block 2122; the baffle block 2123 is fixed at the bottom of the connecting block 2122. When the rightmost product 100 of the feeding conveyor belt device 21 contacts the right limiting block 211, there is a sensor at this position. After the sensor detects the presence of product 100, the first cylinder 2121 controls the connecting block 2122 to move downward, driving the baffle block 2123 to move downward to block the product 100 on the left, separating the two products 100, and allowing two products 100 to be transported simultaneously.

[0036] The transfer and handling robot 22 includes a mounting frame 221, a Y-axis drive module 222, a connecting frame 223, two second cylinders 224, and two sets of first suction heads 225. The mounting frame 221 is fixed on the mounting plate 1. The Y-axis drive module 222 is mounted above the mounting frame 221 and its power output end is connected to the connecting frame 223. The two second cylinders 224 are mounted on the connecting frame 223 and their power output ends are connected to the first suction heads 225. The lower dust collection device 23 is arranged in two sets on the left and right. The two second cylinders 224 control the two first suction heads 225 to move up and down to transport the product 100. The two first suction heads 225 respectively pick up the product 100 on the left and right sides of the separating component 212 and transport it backward. The two sets of dust collection devices are arranged to remove dust from the bottom of the two products 100 respectively.

[0037] like Figure 6-7 As shown, the lower surface photographic detection component 4 is located on the right side of the feeding and dust removal mechanism 2;

[0038] The annular conveying mechanism 5 is located on the right side of the lower surface photographic detection component 4, and includes an annular conveying device 51 and several carriers 52 installed at the power output end of the annular conveying device 51; the carriers 52 are provided with positioning parts 521 for positioning the product 100; the product 100 is placed on the carriers 52 for positioning and is transported with the carriers 52, and the leftmost position on the annular conveying mechanism 5 is the loading station.

[0039] The loading and handling robot 3 is located between the feeding and dust removal mechanism 2 and the ring conveyor mechanism 5. It is used to transport the products on the feeding and dust removal mechanism 2 to the carrier 52 of the ring conveyor mechanism 5. During the transportation process, the product 100 passes over the lower surface photographing and detection component 4. The loading and handling robot 3 picks up the product from the right end of the transfer conveyor belt device 24 and places it on the carrier 52 of the loading station of the ring conveyor mechanism 5. When the product 100 passes the lower surface photographing and detection component 4 during the transportation process, the lower surface of the product 100 is photographed and detected by the lower surface photographing and detection component 4.

[0040] The first upper surface imaging detection component 6, the second upper surface imaging detection component 7, the long side imaging detection component 8, the short side imaging detection component 9, and the third upper surface imaging detection component 10 are respectively disposed beside the annular conveying mechanism 5; the first upper surface imaging detection component 6, the second upper surface imaging detection component 7, the long side imaging detection component 8, the short side imaging detection component 9, and the third upper surface imaging detection component 10 are arranged sequentially along the conveying direction of the annular conveying mechanism 5; the lower surface imaging detection component 4 is used to detect defects on the lower surface of the pole post 103 of the product 100; the first upper surface imaging detection component... The first component 6 is used to detect defects on the upper surface of the aluminum plate 101 of the product 100; the second upper surface imaging detection component 7 is used to detect defects in the plastic part 1032 on the upper surface of the pole post 103 and defects in the blue film 102; the long side imaging detection component 8 is used to detect defects on the front and rear sides of the aluminum plate 101 of the product 100 and defects on the front and rear sides of the pole post 103; the short side imaging detection component 9 is used to detect defects on the left and right sides of the aluminum plate 101 of the product 100 and defects on the left and right sides of the pole post 103; the third upper surface imaging detection component 10 is used to detect defects on the metal surface 1032 of the pole post of the product 100.

[0041] like Figure 8 As shown, the position on the annular conveyor 51 corresponding to the long-side photographing detection component 8 is the long-side photographing station; the long-side photographing detection component 8 includes a first camera mounting post 81, a first supplementary light mounting bracket 82, four first CCD cameras 83, and two first supplementary lights 84; the two first camera mounting posts 81 are distributed on the front and rear sides of the long-side photographing station; the first supplementary light mounting bracket 82 is straddling the side of the long-side photographing station; each first camera mounting post 81 is equipped with two first CCD cameras 83 that are distributed vertically and tilted; the two first supplementary lights 84 are distributed on the front and rear sides of the first supplementary light mounting bracket 82, wherein the two first CCD cameras 83 are used to photograph the long sides of the front and rear sides of the aluminum plate 101, and the other two first CCD cameras 83 are used to photograph the long sides of the front and rear sides of the pole post 103.

[0042] like Figure 9As shown, the position on the annular conveyor 51 corresponding to the short-side photo detection component 9 is the short-side photo detection station; the short-side photo detection component 9 includes a second supplementary light mounting bracket 91, two second CCD cameras 92, and two second supplementary lights 93; the second supplementary light mounting bracket 91 is set on one side of the short-side photo detection station; the two second CCD cameras 92 are distributed on the left and right sides of the short-side photo detection station and are installed obliquely on the second supplementary light mounting bracket 91; the two second supplementary lights 93 are installed on the left and right sides of the second supplementary light mounting bracket 91. When the product 100 passes through the short-side photo detection station, the two second CCD cameras 92 take three photos of the product 100, respectively taking photos of the short side on one side of the two pole posts 103 and the short side on one side of the aluminum plate 101, so that all short sides of the aluminum plate 101 and pole posts 103 on the product 100 can be photo detected.

[0043] The unloading and handling robot 11 is located at the end of the ring conveyor 5 and is used to take out the product 100 from the carrier 52 and place it in the NG material conveyor 12 or the OK material conveyor 13.

[0044] like Figure 6 As shown, the loading and handling robot 3 includes a first robotic arm 31 and a second suction head 32 installed at the power output end of the first robotic arm 31; the unloading and handling robot 11 includes a second robotic arm 111 and a third suction head 112 installed at the power output end of the second robotic arm 111, which allows for flexible and fast handling.

[0045] like Figure 2 As shown, the NG material conveying mechanism 12 is longitudinally arranged in front of the left side of the annular conveying mechanism 5; the OK material conveying mechanism 13 is laterally arranged to the right side of the NG material conveying mechanism 12; the unloading and handling robot 11 is located between the NG material conveying mechanism 12 and the OK material conveying mechanism 13. This distribution makes reasonable use of space and improves the space utilization rate of the equipment.

[0046] The above description is not intended to limit the scope of the present invention. Any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the scope of the present invention.

Claims

1. A visual inspection module for explosion-proof sheet assembly, characterized in that: It includes a mounting plate and a feeding and dust removal mechanism, a loading and handling robot, a lower surface photography and detection component, a ring conveyor, a first upper surface photography and detection component, a second upper surface photography and detection component, a long side photography and detection component, a short side photography and detection component, a third upper surface photography and detection component, a unloading and handling robot, an NG material conveying mechanism, and an OK material conveying mechanism. The feeding and dust removal mechanism is used to feed products and remove dust from them. The feeding and dust removal mechanism includes a feeding conveyor belt device, a transfer handling robot, a lower dust collection device, a transfer conveyor belt device, an upper dust collection device, and a barcode scanning and detection device. The feeding conveyor belt device is horizontally positioned in front of the left side of the mounting plate. The lower dust collection device is positioned behind the right side of the feeding conveyor belt device. The transfer conveyor belt device is horizontally positioned with its left end located behind the lower dust collection device. The transfer handling robot is vertically positioned to the left of the lower dust collection device and the transfer conveyor belt device, used to transport the product from the right end of the feeding conveyor belt device to the left end of the transfer conveyor belt device, with the product passing over the lower dust collection device during the transport process. The upper dust collection device and the barcode scanning and detection device are respectively mounted above the transfer conveyor belt device and distributed left and right. The lower surface imaging and detection component is located on the right side of the feeding and dust removal mechanism; The annular conveying mechanism is located on the right side of the lower surface photographic detection component, and includes an annular conveying device and several carriers installed at the power output end of the annular conveying device; the carriers are provided with positioning parts for positioning products; The loading and handling robot is located between the feeding and dust removal mechanism and the ring conveyor mechanism. It is used to transport the products on the feeding and dust removal mechanism to the carrier of the ring conveyor mechanism. During the handling process, the products pass over the lower surface photo detection component. The first upper surface photo detection component, the second upper surface photo detection component, the long side photo detection component, the short side photo detection component, and the third upper surface photo detection component are respectively arranged on the side of the annular conveyor mechanism; The first upper surface imaging detection component, the second upper surface imaging detection component, the long side imaging detection component, the short side imaging detection component, and the third upper surface imaging detection component are sequentially arranged along the conveying direction of the annular conveying mechanism; the lower surface imaging detection component is used to detect defects on the lower surface of the product's electrode post; the first upper surface imaging detection component is used to detect defects on the upper surface of the product's aluminum plate; the second upper surface imaging detection component is used to detect defects in the plastic part of the upper surface of the electrode post and blue film defects; the long side imaging detection component is used to detect defects on the front and rear sides of the product's aluminum plate and the front and rear sides of the electrode post; the short side imaging detection component is used to detect defects on the left and right sides of the product's aluminum plate and the left and right sides of the electrode post; the third upper surface imaging detection component is used to detect defects on the metal surface of the product's electrode post. The position on the annular conveyor corresponding to the long-side photo-taking and detection component is the long-side photo-taking station; the long-side photo-taking and detection component includes a first camera mounting post, a first supplementary light mounting bracket, four first CCD cameras, and two first supplementary lights; the two first camera mounting posts are distributed on the front and rear sides of the long-side photo-taking station; the first supplementary light mounting bracket is straddling the side of the long-side photo-taking station; each first camera mounting post is equipped with two first CCD cameras that are vertically distributed and tilted; the two first supplementary lights are distributed front and rear on the first supplementary light mounting bracket; The unloading and handling robot is located at the end of the circular conveyor mechanism and is used to remove the products from the carrier and place them in the NG material conveyor mechanism or OK material conveyor mechanism. The right end of the feeding conveyor belt device is provided with a right limiting block and a material separating component located to the left of the right limiting block; two sets of material separating components are provided and distributed front and back; the material separating component includes a first cylinder, a connecting block and a blocking block; the first cylinder is fixed on the feeding conveyor belt device, and the power output end of the first cylinder is connected to the connecting block to control the up and down movement of the connecting block; the blocking block is fixed at the bottom of the connecting block; when the rightmost product of the feeding conveyor belt device contacts the right limiting block, the right limiting block has a sensor. After the sensor detects the presence of a product, the first cylinder controls the connecting block to move downward, which in turn drives the blocking block to move downward to block the product on the left, separating the two products, and allowing two products to be transported simultaneously; The transfer and handling robot includes a mounting frame, a Y-axis drive module, a connecting frame, two second cylinders, and two sets of first suction heads; the mounting frame is fixed on a mounting plate; the Y-axis drive module is mounted above the mounting frame and the power output end of the Y-axis drive module is connected to the connecting frame; Two second cylinders are mounted on the connecting frame, one on the left and one on the right, and the power output end of the second cylinders is connected to the first suction head; two sets of the lower dust collection device are arranged on the left and right. The position on the circular conveyor corresponding to the short-side photo detection component is the short-side photo detection station; the short-side photo detection component includes a second supplementary light mounting bracket, two second CCD cameras, and two second supplementary lights; the second supplementary light mounting bracket is set on one side of the short-side photo detection station; the two second CCD cameras are distributed on the left and right sides of the short-side photo detection station and are installed obliquely on the second supplementary light mounting bracket; the two second supplementary lights are installed on the left and right sides of the second supplementary light mounting bracket.

2. The explosion-proof sheet assembly appearance inspection module according to claim 1, characterized in that: The loading and handling robot includes a first robotic arm and a second suction head installed at the power output end of the first robotic arm; the unloading and handling robot includes a second robotic arm and a third suction head installed at the power output end of the second robotic arm.

3. The explosion-proof sheet assembly appearance inspection module according to claim 1, characterized in that: The NG material conveying mechanism is longitudinally positioned to the left front of the annular conveying mechanism; the OK material conveying mechanism is laterally positioned to the right of the NG material conveying mechanism; and the unloading and handling robot is located between the NG material conveying mechanism and the OK material conveying mechanism.

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