Material removing mechanism and automatic material removing device and method

Abstract

The invention discloses a material rejecting mechanism and an automatic material rejecting device and method.The material rejecting mechanism comprises a mounting plate and a Z-axis assembly, an unwinding wheel, a material rejecting block, a speed setting wheel and a winding wheel are arranged on the mounting plate, an adhesive tape is wound around the unwinding wheel, and the face, facing an external material belt, of the adhesive tape is sticky. The automatic material removing device comprises a base, a processor, a visual detection module, an X-axis assembly and a material removing mechanism are arranged on the base, the X-axis assembly is connected with a Z-axis assembly in the material removing mechanism to drive the Z-axis assembly to move in the X-axis direction, and a speed sensor and a defective product sensor are further arranged on a mounting plate of the material removing mechanism. The defective product sensor is used for detecting whether defective products adhere to the adhesive tape between the material removing block and the speed setting wheel in the material removing mechanism or not. The material removing mechanism is an automatic material removing device, is simple in structure and can remove materials on line; according to the online automatic material rejecting method, material rejecting can be conducted on multiple rows of material belts on line, and rejecting omission can be avoided.

Description

Technical Field

[0001] The present invention relates to the field of defective product rejection devices, and in particular to a material rejection mechanism and an automatic material rejection device and method. Background Art

[0002] In the die-cutting production process, product quality inspection and rejection of defective products are crucial links. Traditional inspection and rejection of defective products mainly rely on manual visual inspection and manual rejection. This method is not only inefficient, but also prone to missed inspections, which in turn has an adverse effect on the final quality of the product.

[0003] In recent years, with the rapid development of automation and intelligent technology, automated material removal devices have gradually replaced traditional manual operations and become an effective means to improve production efficiency and ensure product quality. However, most existing automated material removal devices use a solution that combines visual recognition with a three-axis manipulator. Its structure is relatively complex, and in order to enable the manipulator to accurately perform the removal action and avoid affecting the operation of the material belt, the material belt often needs to be stopped during material removal, making it impossible to remove materials online, affecting production efficiency. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, one of the objects of the present invention is to provide a material picking mechanism, a second object of the present invention is to provide an automatic material picking device, which has a simple structure and can pick materials online; a third object of the present invention is to provide an online automatic material picking method, which can pick materials from multiple rows of material belts online and avoid missed picking.

[0005] One of the purposes of the present invention is achieved by the following technical solution:

[0006] A material removal mechanism comprises: a mounting plate and a Z-axis assembly, wherein the Z-axis assembly is used to drive the mounting plate to move along the Z-axis direction; an unwinding wheel, a material removal block, a speed-matching wheel and a reeling wheel are arranged on the mounting plate, an adhesive tape is wound around the unwinding wheel, a free end of the adhesive tape on the unwinding wheel passes through one end of the material removal block toward an external material tape and the speed-matching wheel in sequence, and is then reeled onto the reeling wheel, the speed-matching wheel is used to drive the adhesive tape to move, and the reeling wheel is used to reel up the adhesive tape, and the adhesive tape is sticky on a side facing the external material tape.

[0007] Furthermore, one end of the material removing block facing the external material strip is in an arc shape.

[0008] Furthermore, a roller is provided at one end of the material removing block facing the external material belt.

[0009] The second object of the present invention is achieved by adopting the following technical solution:

[0010] An automated material removal device comprises: a base, on which a processor, a visual inspection module, an X-axis assembly and a material removal mechanism as described in any one of claims 1 to 3 are arranged, the external material belt is suitable for passing through the base during transportation, the visual inspection module is used to detect defective products in the external material belt on the base, the X-axis assembly is connected to the Z-axis assembly in the material removal mechanism to drive the Z-axis assembly to move along the X-axis direction, a speed sensor and a defective product sensor are also arranged on the mounting plate of the material removal mechanism, the speed sensor is used to detect the movement speed of the tape in the material removal mechanism, the defective product sensor is used to detect whether there are defective products on the tape between the material removal block and the speed wheel in the material removal mechanism, and the X-axis assembly, Z-axis assembly, visual inspection module, speed sensor, speed wheel and defective product sensor are respectively connected to the processor signal.

[0011] Furthermore, a Y-axis component is also provided on the base, and the Y-axis component is connected to the X-axis component to drive the X-axis component to move along the Y-axis direction, and the Y-axis component is connected to the processor signal.

[0012] Furthermore, the Z-axis assembly in the material-ejecting mechanism includes a Z-axis slide rail, a Z-axis lead screw, a Z-axis slider and a first driving component. The Z-axis slider is slidably matched with the Z-axis slide rail, and the Z-axis slider is also transmission-connected to the Z-axis lead screw. When the Z-axis lead screw rotates, it can drive the Z-axis slider to move along the Z-axis slide rail. The first driving component is used to drive the Z-axis lead screw to rotate. The Z-axis slider is also connected to the mounting plate in the material-ejecting mechanism, and the first driving component is connected to the processor signal.

[0013] Furthermore, the X-axis assembly in the material-ejecting mechanism includes an X-axis slide rail, an X-axis lead screw, an X-axis slider and a second driving member. The X-axis slider is slidably matched with the X-axis slide rail, and the X-axis slider is also transmission-connected to the X-axis lead screw. When the X-axis lead screw rotates, it can drive the X-axis slider to move along the X-axis slide rail. The second driving member is used to drive the X-axis lead screw to rotate. The X-axis slider is also connected to the Z-axis slide rail in the material-ejecting mechanism, and the second driving member is signal-connected to the processor.

[0014] Furthermore, the Y-axis assembly in the material-ejecting mechanism includes a Y-axis slide rail, a Y-axis lead screw, a Y-axis slider and a second driving component. The Y-axis slider is slidably matched with the Y-axis slide rail, and the Y-axis slider is also transmission-connected to the Y-axis lead screw. When the Y-axis lead screw rotates, it can drive the Y-axis slider to move along the Y-axis slide rail. The second driving component is used to drive the Y-axis lead screw to rotate. The Y-axis slider is also connected to the X-axis slide rail in the material-ejecting mechanism, and the third driving component is connected to the processor signal.

[0015] Furthermore, the number of the Y-direction slide rails is two, and the two Y-direction slide rails are spaced apart along the X-axis direction to form a gantry structure with the X-direction slide rail.

[0016] The third object of the present invention is achieved by adopting the following technical solution:

[0017] An online automatic material removal method using an automatic material removal device is characterized by comprising the following steps:

[0018] Step S1, the visual inspection module detects a defective product position in the material strip;

[0019] Step S2, the X-axis assembly and the Y-axis assembly are operated so that the end of the material removal block facing the material belt is located in front of the movement direction of the detected defective product;

[0020] Step S3, when the defective product moves to the position directly below the end of the material strip facing the rejecting block, the Z-axis assembly drives the mounting plate to move downward along the Z-axis direction, and at the same time, the speed-matching wheel drives the tape to move and makes the tape speed equal to the moving speed of the material strip;

[0021] Step S4: When the adhesive tape contacts the detected defective product, the Z-axis assembly drives the mounting plate to move upward along the Z-axis direction;

[0022] Step S5, the defective product sensor detects whether there are defective products on the tape between the ejection block and the speed wheel; if the defective product sensor detects a defective product, the vision module continues to detect another defective product position in the material belt, and repeats steps S2-S4; if the defective product sensor does not detect a defective product, the X-axis assembly runs again to make the ejection block facing one end of the material belt again in front of the movement direction of the detected defective product, and repeats steps S3-S4.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) In the material-removing mechanism, the movement speed of the adhesive tape is consistent with the movement speed of the material tape. Therefore, when the adhesive tape at the material-removing block contacts the defective product, the adhesive tape and the material tape are actually in a relatively static state in the direction of travel of the material tape, thereby avoiding the influence of the material tape operation on the material tape due to the large speed difference when the adhesive tape contacts the defective product. Therefore, the material-removing mechanism of the present invention does not need to stop the material tape operation when removing the material, thereby realizing online material removal and ensuring production efficiency.

[0025] (2) The material-removing mechanism does not need to set up a walking mechanism along the direction of travel of the material belt to achieve relative inhibition with the material belt, which saves space and has a simple structure.

[0026] (3) The automatic material removal device also uses a defective product sensor to detect whether there are defective products stuck on the tape. When the defective product sensor does not detect defective products, the material can be removed again, thereby ensuring the reliability of the material removal and preventing defective products from flowing into the next process. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the material removal mechanism of the present invention without the Z-axis component;

[0028] Figure 2 It is a schematic diagram of the automatic material removal device of the present invention.

[0029] In the figure: 1. Mounting plate; 11. Speed ​​sensor; 12. Defective product sensor; 2. Z-axis assembly; 21. Z-axis guide rail; 22. Z-axis slider; 3. Unwinding wheel; 4. Removing block; 41. Roller; 5. Speed ​​wheel; 6. Rewinding wheel; 7. Tape; 8. Base; 9. X-axis assembly; 91. X-axis guide rail; 92. X-axis lead screw; 93. X-axis slider; 10. Y-axis assembly; 101. Y-axis guide rail; 102. Y-axis lead screw; 103. Y-axis slider; 110. Material tape. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0033] Embodiment 1

[0034] Reference Figure 1-2A material-removing mechanism comprises: a mounting plate 1 and a Z-axis assembly 2, wherein the Z-axis assembly 2 is used to drive the mounting plate 1 to move along the Z-axis direction; a discharge wheel 3, a material-removing block 4, a speed wheel 5 and a reel 6 are arranged on the mounting plate 1, a tape 7 is wound around the discharge wheel 3, a free end of the tape 7 on the discharge wheel 3 passes through one end of the material-removing block 4 toward an external material tape 110 and the speed wheel 5 in sequence, and is then reeled onto the reel 6, the speed wheel 5 is used to drive the tape 7 to move, and the reel 6 is used to reel up the tape 7, and the tape 7 has stickiness on one side facing the external material tape 110.

[0035] The working method of the material removal mechanism of the present invention is as follows: before use, the material removal mechanism is placed above the material belt 110. During the operation of the material belt 110, when defective products in the material belt 110 appear below the material removal block 4 of the material removal mechanism, the Z-axis assembly 2 starts to work and drives the mounting plate 1 to move downward along the Z-axis direction. At the same time, the speed wheel 5 drives the tape 7 to move, and makes the movement speed of the tape 7 consistent with the movement speed of the material belt 110; when the tape 7 at the material removal block 4 contacts the defective products, the Z-axis assembly 2 drives the mounting plate 1 to move upward along the Z-axis direction, thereby sticking the defective products away from the material belt 110 to achieve material removal. In the above process, since the movement speed of the adhesive tape 7 is consistent with the movement speed of the material belt 110, when the adhesive tape 7 at the picking block 4 contacts the defective product, the two are actually in a relatively static state in the moving direction of the material belt 110, thereby avoiding the influence of excessive speed difference when the adhesive tape 7 contacts the defective product on the operation of the material belt 110. That is, the picking mechanism of the present invention does not need to stop the operation of the material belt 110 when picking materials, thereby realizing online picking and ensuring production efficiency.

[0036] In addition, the material removal mechanism of the present invention only needs to make the movement speed of the tape 7 the same as that of the material belt 110 to achieve relative stillness in the direction of travel of the material belt 110 when the two are in contact, without the need to set up a walking mechanism along the direction of travel of the material belt 110 to achieve this, thus saving space and having a simple structure.

[0037] In this embodiment, one end of the material removal block 4 facing the external material belt 110 is an arc surface. Through the setting of the arc surface, the movement of the adhesive tape 7 at the material removal block 4 can be smoother, reducing the damage of the adhesive tape 7 caused by the poor operation of the adhesive tape 7.

[0038] In other embodiments, one end of the material removal block 4 facing the external material belt 110 can be set as a roller 41. Similarly, the roller 41 can also make the movement of the adhesive tape 7 smoother, reducing the damage of the adhesive tape 7 caused by the poor operation of the adhesive tape 7.

[0039] Embodiment 2

[0040] Reference Figure 2, an automatic material removal device, comprising: a base 8, a processor, a visual inspection module, an X-axis component 9 and the material removal mechanism in Example 1 are arranged on the base 8, the external material belt 110 is suitable for passing through the base 8 during transportation, the visual inspection module is used to detect defective products in the external material belt 110 on the base 8, the X-axis component 9 is connected to the Z-axis component 2 in the material removal mechanism to drive the Z-axis component 2 to move along the X-axis direction, and a speed sensor 11 and a defective product sensor 12 are also arranged on the mounting plate 1 of the material removal mechanism, the speed sensor 11 is used to detect the movement speed of the tape 7 in the material removal mechanism, and the defective product sensor 12 is used to detect whether there are defective products on the tape 7 between the material removal block 4 and the speed wheel 5 in the material removal mechanism, and the X-axis component 9, the Z-axis component 2, the visual inspection module, the speed sensor 11, the speed wheel 5 and the defective product sensor 12 are respectively connected to the processor signal.

[0041] In actual use, the visual inspection module detects defective products on the material belt 110 on the base 8, and then the processor controls the X-axis component 9 to work to drive the Z-axis component 2 to move along the X-axis direction. When the ejection block 4 is located in the upper and front direction of the defective product, the Z-axis component 2 stops moving. Then, when the defective product moves to just below the ejection block 4, the processor controls the Z-axis component 2 and the speed wheel 5 to work. The Z-axis component 2 works to drive the mounting plate 1 to move downward along the Z-axis direction, and the speed wheel 5 works to make the movement speed of the tape 7 consistent with the movement speed of the material belt 110. Specifically, the movement speed of the tape 7 can be sensed by the speed sensor 11. After the tape 7 at the block 4 contacts the defective product, the Z-axis assembly 2 drives the mounting plate 1 to move upward along the Z-axis direction, thereby sticking the defective product off the material belt 110 to achieve material removal. In the above process, the defective product sensor 12 will also detect whether there are defective products stuck on the tape 7 between the material removal block 4 and the speed wheel 5. If the defective product sensor 12 detects a defective product, it means that the material removal is successful and the next defective product can be removed. If the defective product sensor 12 does not detect a defective product, it means that the material removal has failed. At this time, the processor will control the X-axis assembly 9 to work again, so that the material removal block 4 is located in the front and upper direction of the defective product's travel direction, and repeat the above-mentioned material removal action.

[0042] In summary, the automatic material picking device of the present invention, on the one hand, adopts the material picking mechanism of the first embodiment, and thus can also realize the function of online material picking. On the other hand, it also adopts a defective product sensor 12 to detect whether there are defective products on the tape 7, and when the defective product sensor 12 does not detect defective products, it can pick the materials again, thereby ensuring the reliability of the material picking and avoiding the defective products from flowing into the next process.

[0043] In the present embodiment, a Y-axis assembly 10 is also provided on the base 8, and the Y-axis assembly 10 is connected to the X-axis assembly 9 to drive the X-axis assembly 9 to move along the Y-axis direction, and the Y-axis assembly 10 is connected to the processor signal. By setting the Y-axis assembly 10, the automatic material removal device of the present invention can remove defective products on multiple rows of material belts. Specifically, after the Y-axis assembly 10 is set, the material removal block 4 can move to any position on the XY plane, so that the defective products on multiple rows of material belts can be removed. For the convenience of understanding, three-row material belts are now used as an example for explanation. Assuming that there is a defective product on the first row of material belts and a defective product on the third row of material belts, after the Y-axis assembly 10 is set, the material removal block 4 can first remove the defective products on the first row of material belts, and then remove the defective products on the third row of material belts.

[0044] In this embodiment, the Z-axis assembly 2 in the material-ejecting mechanism includes a Z-axis slide rail 21, a Z-axis lead screw, a Z-axis slider 22 and a first driving member. The Z-axis slider 22 is slidably matched with the Z-axis slide rail 21, and the Z-axis slider 22 is also connected to the Z-axis lead screw for transmission. When the Z-axis lead screw rotates, it can drive the Z-axis slider 22 to move along the Z-axis slide rail 21. The first driving member is used to drive the Z-axis lead screw to rotate. The Z-axis slider 22 is also connected to the mounting plate 1 in the material-ejecting mechanism, and the first driving member is connected to the processor signal. The X-axis assembly 9 in the material-ejecting mechanism includes an X-axis slide rail 91, an X-axis lead screw 92, an X-axis slider 93 and a second driving member. The X-axis slider 93 slides with the X-axis slide rail 91, and the X-axis slider 93 is also connected to the X-axis lead screw 92. When the X-axis lead screw 92 rotates, it can drive the X-axis slider 93 to move along the X-axis slide rail 91. The second driving member is used to drive the X-axis lead screw 92 to rotate. The X-axis slider 93 is also connected to the Z-axis slide rail 21 in the material-ejecting mechanism, and the second driving member is connected to the processor signal. The Y-axis assembly 10 in the material-ejecting mechanism includes a Y-axis slide rail 101, a Y-axis lead screw 102, a Y-axis slider 103 and a second driving component. The Y-axis slider 103 slides with the Y-axis slide rail 101, and the Y-axis slider 103 is also connected to the Y-axis lead screw 102 for transmission. When the Y-axis lead screw 102 rotates, it can drive the Y-axis slider 103 to move along the Y-axis slide rail 101. The second driving component is used to drive the Y-axis lead screw 102 to rotate. The Y-axis slider 103 is also connected to the X-axis slide rail 91 in the material-ejecting mechanism, and the third driving component is connected to the processor signal.

[0045] In other embodiments, there are two Y-direction slide rails 101, which are arranged along the X-axis direction to form a gantry structure with the X-direction slide rail 91. With such an arrangement, the X-axis assembly 9 can be made more stable and reliable when moving along the Y-axis direction.

[0046] Embodiment 3

[0047] An online automatic material removal method using the automatic material removal device in the second embodiment comprises the following steps:

[0048] Step S1, the visual inspection module detects a defective product position in the material strip 110;

[0049] Step S2, the X-axis assembly 9 and the Y-axis assembly 10 operate so that the end of the material removal block 4 facing the material belt 110 is located in front of the movement direction of the detected defective product;

[0050] Step S3, when the defective product moves to the position directly below the end of the reject block 4 facing the material belt 110, the Z-axis assembly 2 drives the mounting plate 1 to move downward along the Z-axis direction, and at the same time, the speed-regulating wheel 5 drives the tape 7 to move and makes the speed of the tape 7 equal to the movement speed of the material belt 110;

[0051] Step S4, when the tape 7 contacts the detected defective product, the Z-axis assembly 2 drives the mounting plate 1 to move upward along the Z-axis direction;

[0052] Step S5, the defective product sensor 12 detects whether there are defective products on the tape 7 between the ejection block 4 and the speed wheel 5; if the defective product sensor 12 detects a defective product, the visual module continues to detect another defective product position in the material belt 110, and repeats steps S2-S4; if the defective product sensor 12 does not detect a defective product, the X-axis assembly 9 runs again to make the ejection block 4 facing one end of the material belt 110 again located in front of the movement direction of the detected defective product, and repeats steps S3-S4.

[0053] The above-mentioned online automatic material picking method can pick materials online, and when defective products are missed, the materials can be picked again, thereby ensuring the reliability of the material picking. At the same time, the above-mentioned method can also pick materials from multiple rows of material belts.

[0054] The above are only embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A material picking mechanism, characterized in that: include: A mounting plate and a Z-axis assembly, wherein the Z-axis assembly is used to drive the mounting plate to move along the Z-axis direction; an unwinding wheel, a material removal block, a speed regulating wheel and a winding wheel are arranged on the mounting plate, and an adhesive tape is wound around the unwinding wheel, and a free end of the adhesive tape on the unwinding wheel passes through one end of the material removal block toward the external material tape and the speed regulating wheel in sequence, and is then wound onto the winding wheel, the speed regulating wheel is used to drive the movement of the adhesive tape, and the winding wheel is used to wind up the adhesive tape, and the adhesive tape is sticky on a side facing the external material tape.

2. The material removal mechanism according to claim 1, characterized in that: One end of the material removing block facing the external material belt is in an arc shape.

3. The material picking mechanism according to claim 1, characterized in that: A roller is arranged at one end of the material removing block facing the external material belt.

4. An automatic material removal device, characterized in that: include: A base, wherein a processor, a visual detection module, an X-axis assembly and a material removal mechanism as described in any one of claims 1 to 3 are arranged on the base, and the external material belt is suitable for passing through the base during transportation, and the visual detection module is used to detect defective products in the external material belt on the base, and the X-axis assembly is connected to the Z-axis assembly in the material removal mechanism to drive the Z-axis assembly to move along the X-axis direction, and a speed sensor and a defective product sensor are also arranged on the mounting plate of the material removal mechanism, and the speed sensor is used to detect the movement speed of the tape in the material removal mechanism, and the defective product sensor is used to detect whether there are defective products on the tape between the material removal block and the speed wheel in the material removal mechanism, and the X-axis assembly, Z-axis assembly, visual detection module, speed sensor, speed wheel and defective product sensor are respectively connected to the processor signal.

5. The automatic material removal device according to claim 4, characterized in that: The base is also provided with a Y-axis component, which is connected to the X-axis component to drive the X-axis component to move along the Y-axis direction, and the Y-axis component is connected to the processor signal.

6. The automatic material removal device according to claim 5, characterized in that: The Z-axis assembly in the material-ejecting mechanism includes a Z-axis slide rail, a Z-axis lead screw, a Z-axis slider and a first driving component. The Z-axis slider is slidably matched with the Z-axis slide rail, and the Z-axis slider is also transmission-connected to the Z-axis lead screw. When the Z-axis lead screw rotates, it can drive the Z-axis slider to move along the Z-axis slide rail. The first driving component is used to drive the Z-axis lead screw to rotate. The Z-axis slider is also connected to the mounting plate in the material-ejecting mechanism, and the first driving component is connected to the processor signal.

7. The automatic material removal device according to claim 6, characterized in that: The X-axis assembly in the material-ejecting mechanism includes an X-axis slide rail, an X-axis lead screw, an X-axis slider and a second driving member. The X-axis slider is slidably matched with the X-axis slide rail, and the X-axis slider is also transmission-connected to the X-axis lead screw. When the X-axis lead screw rotates, it can drive the X-axis slider to move along the X-axis slide rail. The second driving member is used to drive the X-axis lead screw to rotate. The X-axis slider is also connected to the Z-axis slide rail in the material-ejecting mechanism, and the second driving member is connected to the processor signal.

8. The automatic material removal device according to claim 7, characterized in that: The Y-axis assembly in the material-ejecting mechanism includes a Y-axis slide rail, a Y-axis lead screw, a Y-axis slider and a third driving component. The Y-axis slider is slidably matched with the Y-axis slide rail, and the Y-axis slider is also transmission-connected to the Y-axis lead screw. When the Y-axis lead screw rotates, it can drive the Y-axis slider to move along the Y-axis slide rail. The third driving component is used to drive the Y-axis lead screw to rotate. The Y-axis slider is also connected to the X-axis slide rail in the material-ejecting mechanism, and the third driving component is connected to the processor signal.

9. The automatic material removal device according to claim 8, characterized in that: The number of the Y-direction slide rails is two, and the two Y-direction slide rails are separated along the X-axis direction to form a gantry structure with the X-direction slide rail.

10. An online automatic material removal method using the automatic material removal device as claimed in claim 5, characterized in that: The steps include: Step S1, the visual inspection module detects a defective product position in the material strip; Step S2, the X-axis assembly and the Y-axis assembly are operated so that the end of the material removal block facing the material belt is located in front of the movement direction of the detected defective product; Step S3, when the defective product moves to the position directly below the end of the material strip facing the rejecting block, the Z-axis assembly drives the mounting plate to move downward along the Z-axis direction, and at the same time, the speed-matching wheel drives the tape to move and makes the tape speed equal to the moving speed of the material strip; Step S4: When the adhesive tape contacts the detected defective product, the Z-axis assembly drives the mounting plate to move upward along the Z-axis direction; Step S5, the defective product sensor detects whether there are defective products on the tape between the ejection block and the speed wheel; if the defective product sensor detects a defective product, the vision module continues to detect another defective product position in the material belt, and repeats steps S2-S4; if the defective product sensor does not detect a defective product, the X-axis assembly runs again to make the ejection block facing one end of the material belt again in front of the movement direction of the detected defective product, and repeats steps S3-S4.

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