Substrate stack detection mechanism

Abstract

The application relates to the technical field of mechanical equipment stacking detection, in particular to a substrate stacking detection mechanism, which comprises a rack, a supporting seat is arranged on the top of the rack in the horizontal direction, a sliding table is slidably arranged on the top of the supporting seat in the horizontal direction, two discharging plates are arranged on the top of the sliding table, the discharging plates are horizontally arranged, the two discharging plates are distributed at the left and right ends of the sliding table in a spaced mode, a clamping jaw for clamping a substrate is arranged above the discharging plates, the clamping jaw is slidably arranged above the discharging plates in the horizontal direction, the clamping jaw is connected with a detection sensor, and the detection sensor determines the number of clamped substrates by detecting the thickness of the clamped substrates. The application can effectively identify the phenomenon that the number of clamped substrates is too large due to positioning errors or human factors, can effectively prevent multiple substrates from flowing into subsequent processes, can effectively avoid product scrapping and equipment damage caused by stacking, and can significantly reduce production cost.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment stacking inspection technology, and in particular to a substrate stacking inspection mechanism. Background Technology

[0002] With the continuous development of automated manufacturing technology, automated mechanical grippers are usually used in the production process of PCB substrates to replace manual labor in gripping and handling the substrates, so as to improve production efficiency and reduce labor costs.

[0003] In related technologies, mechanical grippers are susceptible to fluctuations in gripping accuracy when handling PCB substrates due to factors such as positioning errors, equipment vibration, or human error. Normally, a mechanical gripper should only grip one PCB substrate at a time. However, under the influence of these errors and interference factors, the gripper frequently grips two or more substrates simultaneously, resulting in "overlapping" or "sticking." If this abnormal situation of gripping multiple substrates at once is not detected and eliminated in a timely manner, it can lead to severe material waste in subsequent processing steps (such as bonding, cutting, and hot pressing), causing significant waste of raw materials and potentially damaging molds or equipment, posing a considerable production hazard. Summary of the Invention

[0004] This application provides a substrate stacking detection mechanism, which aims to detect the number of substrates in real time at the moment of mechanical gripping, effectively identify the phenomenon of excessive substrates being gripped due to positioning errors or human factors, thereby effectively preventing multiple substrates from flowing into subsequent processes, effectively avoiding product scrap and equipment damage caused by stacking, and thus significantly reducing production costs.

[0005] This application provides a substrate stacking detection mechanism, which adopts the following technical solution: A substrate stacking detection mechanism includes a frame, a support base mounted horizontally on the top of the frame, a slide table slidably mounted on the top of the support base in the horizontal direction, and two feeding plates provided on the top of the slide table. The feeding plates are horizontally arranged and distributed at intervals on the left and right ends of the slide table. A gripper for gripping substrates is provided above the feeding plates. The gripper is slidably mounted above the feeding plates in the horizontal direction. The gripper is connected to a detection sensor. The detection sensor determines the number of substrates gripped by the gripper by detecting the thickness of the substrates gripped by the gripper.

[0006] By adopting the above technical solution, when the number of substrates gripped by the gripper is greater than one, it is instantly determined that the number of substrates gripped is too large. This effectively identifies the phenomenon of gripping too many substrates due to positioning errors or human factors, effectively prevents multiple substrates from flowing into subsequent processes, effectively avoids product scrap and equipment damage caused by stacking materials, and thus significantly reduces production costs.

[0007] During operation, the grippers slide horizontally to the substrate storage area and pick up the corresponding substrate. At the moment of gripping, a sensor detects the thickness of the substrate gripped by the grippers to determine the number of substrates gripped. Once the sensor confirms the correct number of substrates, the grippers transfer the gripped substrates to one of the feeding plates on the slide table. After the substrates are placed, the slide table slides horizontally, moving the feeding plate below the grippers. The grippers then continue gripping substrates onto this feeding plate. Finally, the slide table moves both feeding plates to the next processing step to continue processing the substrates.

[0008] Preferably, the end of the gripper is connected to a first drive motor and a first lead screw.

[0009] By adopting the above technical solution, the first drive motor and the first lead screw drive the gripper to slide in the horizontal direction.

[0010] Preferably, the gripper includes a first clamping plate and a second clamping plate, the first clamping plate and the second clamping plate are used to grip the substrate, the first clamping plate is slidably disposed in a direction toward or away from the second clamping plate, and the end of the second clamping plate is connected to a drive cylinder.

[0011] By adopting the above technical solution, the first clamping plate is driven by the driving cylinder to slide towards or away from the second clamping plate.

[0012] Preferably, a second drive motor and a second lead screw are installed at the bottom of the support base. A movable plate is sleeved around the second lead screw. The side end of the movable plate is connected to the movable base. A movable platform is integrally connected to the top of the movable base. A transition plate is integrally connected to the top of the movable platform. The end of the transition plate away from the movable platform is integrally connected to the bottom of the slide table.

[0013] By adopting the above technical solution, in specific operations, when the slide needs to slide, the second drive motor drives the moving plate to slide in the horizontal direction through the second lead screw. While the moving plate is sliding, it simultaneously drives the moving seat and the moving table to slide in the horizontal direction. During the sliding process, the moving table drives the slide to slide in the horizontal direction through the adapter plate on its top.

[0014] Preferably, both the left and right ends of the top of the support base are fixedly mounted with slide rails in the horizontal direction, and a slide block is slidably mounted on the slide rail. The end of the slide block away from the slide rail is connected to the adapter plate.

[0015] By adopting the above technical solution, the slide rail and slide block provide stable guidance for the sliding of the slide table during the horizontal sliding process, which helps to ensure the stability of the slide table during the horizontal sliding process and effectively ensures that the feeding plate slides accurately under the gripper.

[0016] Preferably, guide plates are installed at both the left and right ends of the front end of the feeding plate in the horizontal direction. The guide plates are used to limit and guide the substrate, and guide grooves are formed on the guide plates along their length.

[0017] By adopting the above technical solution, after the gripper picks up the substrate, the left and right ends of the substrate are respectively inserted into the corresponding guide grooves, and the substrate is stably guided by the guide grooves.

[0018] Preferably, guide ramps are installed on both the upper and lower sides of the end of the guide plate, and both guide ramps are inclined.

[0019] By adopting the above technical solution, after the gripper picks up the substrate, the guide slope accurately guides the substrate into the guide groove, which can effectively prevent the substrate from getting stuck in the guide groove and improve the efficiency of the gripper picking up the substrate onto the feeding plate.

[0020] Preferably, the guide plate includes an upper top plate and a lower bottom plate, the guide groove is formed between the upper top plate and the lower bottom plate, the two guide inclined surfaces are respectively connected to the upper top plate and the lower bottom plate, and the upper top plate is slidably disposed in a direction closer to or farther from the lower bottom plate.

[0021] By adopting the above technical solution, the upper top plate is designed to slide towards or away from the lower bottom plate, thereby adjusting the height of the guide groove. When dealing with substrates of different sizes, it is not necessary to replace the guide plate with one of the corresponding size. When the substrate height increases, the upper top plate slides away from the lower bottom plate; in this state, the overall height of the guide groove increases accordingly, thus guiding the substrate with increased height. When the substrate height decreases, the upper top plate slides towards the lower bottom plate; in this state, the overall height of the guide groove decreases accordingly, thus guiding the substrate with decreased height.

[0022] This setup can significantly improve the overall adaptability of the testing facility, thereby improving the efficiency of daily substrate processing.

[0023] Preferably, a drive rack is installed vertically at the bottom of the guide plate, the top of the drive rack is connected to the upper top plate, a drive gear is meshed with one side of the drive rack, a drive turbine is meshed vertically on the side of the drive gear away from the drive rack, and a handle is connected to the end of the drive turbine away from the drive rack.

[0024] By adopting the above technical solution, in practical use, the operator can manually crank the handle. During rotation, the handle drives the drive turbine to rotate synchronously, which in turn drives the drive gear. As the drive gear begins to rotate, it meshes with the drive rack, causing the drive rack to rise and fall vertically. This vertical movement of the drive rack simultaneously causes the upper top plate to slide vertically, allowing it to move closer to or further away from the lower bottom plate. During this sliding process, the height of the guide groove is adjusted according to the height of the specific substrate to ensure it matches the height of the corresponding substrate.

[0025] Preferably, the side end of the drive rack is connected to a plurality of support rods via horizontally arranged connecting rods. The plurality of support rods are evenly distributed at intervals along the length direction of the upper top plate, and the plurality of support rods are integrally connected to each other via horizontally arranged connecting rods.

[0026] By adopting the above technical solution, multiple support rods simultaneously drive the upper top plate to slide vertically during the sliding process, which helps to ensure the stability of the upper top plate during the sliding process.

[0027] In summary, this application includes at least one of the following beneficial technical effects: 1. When the gripper grabs more than one substrate, it instantly determines that too many substrates have been grabbed. This effectively identifies the phenomenon of grabbing too many substrates due to positioning errors or human factors, effectively preventing multiple substrates from flowing into subsequent processes, effectively avoiding product scrap and equipment damage caused by stacking materials, and thus significantly reducing production costs.

[0028] In actual operation, the grippers slide horizontally to the substrate storage area and pick up the corresponding substrate. At the moment of gripping, a detection sensor detects the thickness of the substrate gripped by the grippers to determine the number of substrates gripped. After the detection sensor confirms that the number of substrates gripped by the grippers is correct, the grippers deliver the gripped substrates to one of the feeding plates on the slide table. After the substrates are placed, the slide table slides horizontally, moving the feeding plate containing the substrates below the grippers. At this point, the grippers continue to grip the substrates onto this feeding plate. The slide table then moves both feeding plates to the next processing step to continue processing the substrates. 2. The upper top plate is set to slide towards or away from the lower bottom plate, thereby adjusting the height of the guide groove. When dealing with substrates of different sizes, it is not necessary to replace the guide plate with one of the corresponding size. When the substrate height increases, the upper top plate is slid away from the lower bottom plate. In this state, the overall height of the guide groove increases accordingly, thus guiding the substrate with increased height. When the substrate height decreases, the upper top plate is slid towards the lower bottom plate. In this state, the overall height of the guide groove decreases accordingly, thus guiding the substrate with decreased height.

[0029] This setup can significantly improve the overall adaptability of the testing facility, thereby improving the efficiency of daily substrate processing. 3. In practical use, the operator can manually crank the handle. As the handle rotates, it drives the drive turbine to rotate synchronously. The drive turbine, in turn, drives the drive gear. As the drive gear rotates, it meshes with the drive rack, causing the drive rack to move vertically up and down. This vertical movement of the drive rack simultaneously causes the upper top plate to slide vertically, moving it closer to or away from the lower bottom plate. During this sliding process, the height of the guide groove is adjusted according to the height of the specific substrate to ensure it matches the height of the substrate. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a structural schematic diagram illustrating the positional relationship between the first drive motor, the first lead screw, and the drive cylinder in a specific embodiment of this application; Figure 3 This is a structural schematic diagram illustrating the positional relationship of the second drive motor, the second lead screw, the moving plate, the moving base, the moving stage, and the adapter plate in a specific embodiment of this application. Figure 4 This is a structural schematic diagram illustrating the positional relationship between the upper top plate and the lower bottom plate in a specific embodiment of this application; Figure 5 yes Figure 4 Enlarged view of point A in the middle; Figure 6 This is a structural schematic diagram illustrating the positional relationship of the support rods in a specific embodiment of this application.

[0031] Reference numerals in the attached drawings: 1. Frame; 2. Support base; 3. Slide table; 4. Feeding plate; 5. Gripper; 51. First clamping plate; 52. Second clamping plate; 6. Detection sensor; 7. First drive motor; 8. First lead screw; 9. Drive cylinder; 10. Second drive motor; 11. Second lead screw; 12. Moving plate; 13. Moving base; 14. Moving stage; 15. Adapter plate; 16. Slide rail; 17. Slide seat; 18. Guide plate; 181. Top plate; 182. Bottom plate; 19. Guide groove; 20. Guide slope; 21. Drive rack; 22. Drive gear; 23. Drive worm; 24. Handle; 25. Support rod. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1 -Appendix Figure 6 This application will be described in further detail below.

[0033] Example: This application discloses a substrate stacking detection mechanism, referring to... Figure 1 and Figure 2 The system includes a frame 1, a support base 2 horizontally mounted on top of the frame 1, a slide table 3 horizontally slidably mounted on top of the support base 2, and two feeding plates 4 horizontally positioned on top of the slide table 3, spaced apart at the left and right ends of the slide table 3. Above the feeding plates 4 are grippers 5 for picking up substrates. The grippers 5 are horizontally slidably mounted above the feeding plates 4, picking up substrates onto them. Simultaneously, the grippers 5 are connected to a detection sensor 6. When the grippers 5 pick up substrates, the detection sensor 6 determines the number of substrates picked up by detecting the thickness of the substrates picked up by the grippers 5. When the grippers 5 pick up more than one substrate, it instantly determines that too many substrates have been picked up, thus effectively identifying the phenomenon of picking up too many substrates due to positioning errors or human factors. This effectively prevents multiple substrates from flowing into subsequent processes, effectively avoiding product scrap and equipment damage caused by stacked materials, and significantly reducing production costs.

[0034] In actual operation, the gripper 5 slides horizontally to the substrate storage area and picks up the corresponding substrate. At the moment of picking, the detection sensor 6 detects the thickness of the substrate picked up by the gripper 5 to determine the number of substrates picked up by the gripper 5. After the detection sensor 6 confirms that the number of substrates picked up by the gripper 5 is correct, the gripper 5 sends the picked-up substrates to one of the feeding plates 4 on the slide table 3. After the substrates are placed, the slide table 3 slides horizontally, moving the feeding plate 4 containing the substrates below the gripper 5. At this time, the gripper 5 continues to pick up substrates and place them on the feeding plate 4. The slide table 3 then slides both feeding plates 4 to the next processing step to continue processing the substrates.

[0035] Specifically, refer to Figure 1 and Figure 2The end of the gripper 5 is connected to a first drive motor 7 and a first lead screw 8, which drive the gripper 5 to slide in the horizontal direction.

[0036] Specifically, refer to Figure 1 and Figure 2 The gripper 5 includes a first clamping plate 51 and a second clamping plate 52, which are used to grip the substrate. The first clamping plate 51 slides toward or away from the second clamping plate 52. A drive cylinder 9 is connected to the end of the second clamping plate 52, which drives the first clamping plate 51 to slide toward or away from the second clamping plate 52.

[0037] Specifically, refer to Figure 1 , Figure 2 as well as Figure 3 A second drive motor 10 and a second lead screw 11 are installed at the bottom of the support base 2. A movable plate 12 is sleeved around the second lead screw 11. The side end of the movable plate 12 is connected to the movable base 13. A movable platform 14 is integrally connected to the top of the movable base 13. The movable platform 14 is generally rectangular. A transition plate 15 is integrally connected to the top of the movable platform 14. The end of the transition plate 15 away from the movable platform 14 is integrally connected to the bottom of the slide table 3.

[0038] In actual operation, when the slide table 3 needs to slide, the second drive motor 10 drives the moving plate 12 to slide in the horizontal direction through the second lead screw 11. While the moving plate 12 is sliding, it simultaneously drives the moving seat 13 and the moving table 14 to slide in the horizontal direction. During the sliding process, the moving table 14 drives the slide table 3 to slide in the horizontal direction through the adapter plate 15 on its top.

[0039] Furthermore, referring to Figure 1 , Figure 2 as well as Figure 3 Both ends of the top of the support base 2 are secured to the slide rail 16 by bolts along the horizontal direction. A slide block 17 is slidably mounted on the slide rail 16, and the end of the slide block 17 away from the slide rail 16 is connected to the adapter plate 15. During the horizontal sliding of the slide table 3, the slide rail 16 and the slide block 17 provide stable guidance for the sliding of the slide table 3, thereby helping to ensure the stability of the slide table 3 during the horizontal sliding process and effectively ensuring that the feeding plate 4 slides accurately under the gripper 5.

[0040] Furthermore, referring to Figure 1 , Figure 2 as well as Figure 4 Guide plates 18 are installed horizontally on both the left and right ends of the front end of the feeding plate 4. During the process of the gripper 5 grabbing the substrate and moving it to the feeding plate 4, the guide plate 18 limits and guides the substrate so that the substrate can fall accurately onto the feeding plate 4 for subsequent reprocessing.

[0041] Reference Figure 2 , Figure 4 as well as Figure 5 The guide plate 18 has a guide groove 19 along its length. After the gripper 5 grabs the substrate, the left and right ends of the substrate are respectively inserted into the corresponding guide groove 19, and the substrate is stably guided by the guide groove 19.

[0042] Furthermore, referring to Figure 2 , Figure 4 as well as Figure 5 Guide ramps 20 are installed on both the upper and lower sides of the guide plate 18, and both guide ramps 20 are inclined. After the gripper 5 grips the substrate, the guide ramps 20 accurately guide the substrate into the guide groove 19, thereby effectively preventing the substrate from getting stuck during the process of entering the guide groove 19, which helps to improve the efficiency of the gripper 5 in gripping the substrate to the feeding plate 4.

[0043] Furthermore, referring to Figure 4 and Figure 5 The guide plate 18 includes an upper top plate 181 and a lower bottom plate 182. A guide groove 19 is formed between the upper top plate 181 and the lower bottom plate 182. Two guide inclined surfaces 20 are respectively connected to the upper top plate 181 and the lower bottom plate 182. The upper top plate 181 is slidably disposed in a direction closer to or farther away from the lower bottom plate 182.

[0044] The upper top plate 181 is slidable towards or away from the lower bottom plate 182, thereby adjusting the height of the guide groove 19. When dealing with substrates of different sizes, it is not necessary to replace the guide plate 18 with one of the corresponding size. When the substrate height increases, the upper top plate 181 is slid away from the lower bottom plate 182. In this state, the overall height of the guide groove 19 increases, thus guiding the substrate with increased height. When the substrate height decreases, the upper top plate 181 is slid towards the lower bottom plate 182. In this state, the overall height of the guide groove 19 decreases, thus guiding the substrate with decreased height.

[0045] This setup can significantly improve the overall adaptability of the testing facility, thereby improving the efficiency of daily substrate processing.

[0046] Specifically, refer to Figure 4 and Figure 5 A drive rack 21 is vertically mounted on the bottom of the guide plate 18, and the top of the drive rack 21 is connected to the upper top plate 181. A drive gear 22 is meshed with one side of the drive rack 21, and a drive turbine 23 is meshed with the side of the drive gear 22 away from the drive rack 21 in a vertical direction. A handle 24 is connected to the end of the drive turbine 23 away from the drive rack 21.

[0047] In practical use, the operator can manually crank the handle 24. As the handle 24 rotates, it drives the drive turbine 23 to rotate synchronously. The drive turbine 23, in turn, drives the drive gear 22 to rotate synchronously. As the drive gear 22 begins to rotate, it meshes with the drive rack 21. During this process, the drive rack 21 moves up and down vertically. Simultaneously, the drive rack 21 drives the upper top plate 181 to slide vertically, thus allowing the upper top plate 181 to slide closer to or further away from the lower bottom plate 182. During this sliding process, the height of the guide groove 19 is adjusted according to the height of the specific substrate to ensure it matches the height of the corresponding substrate.

[0048] Furthermore, referring to Figure 4 , Figure 5 as well as Figure 6 The side end of the drive rack 21 is connected to multiple support rods 25 via horizontally arranged connecting rods. The multiple support rods 25 are evenly distributed along the length of the upper top plate 181 and are integrally connected to each other via horizontally arranged connecting rods. During the sliding process of the upper top plate 181, the multiple support rods 25 simultaneously drive the upper top plate 181 to slide in the vertical direction, which helps to ensure the stability of the upper top plate 181 during the sliding process.

[0049] The implementation principle of a substrate stacking detection mechanism according to an embodiment of this application is as follows: The system includes a frame 1, with a support base 2 horizontally mounted on top of the frame 1. A slide table 3 is slidably mounted on the top of the support base 2 horizontally, and two feeding plates 4 are horizontally positioned on the top of the slide table 3, spaced apart at the left and right ends of the slide table 3. Above the feeding plates 4 are grippers 5 for picking up substrates. The grippers 5 are horizontally mounted above the feeding plates 4, picking up substrates onto them. Simultaneously, the grippers 5 are connected to a detection sensor 6. When the grippers 5 pick up substrates, the detection sensor 6 determines the number of substrates picked up by detecting the thickness of the substrates held by the grippers 5. When the grippers 5 pick up more than one substrate, it instantly determines that too many substrates have been picked up, effectively identifying the phenomenon of picking up too many substrates due to positioning errors or human factors. This effectively prevents multiple substrates from flowing into subsequent processes, effectively avoiding product scrap and equipment damage caused by stacked materials, and thus significantly reducing production costs.

[0050] In actual operation, the gripper 5 slides horizontally to the substrate storage area and picks up the corresponding substrate. At the moment of picking, the detection sensor 6 detects the thickness of the substrate picked up by the gripper 5 to determine the number of substrates picked up by the gripper 5. After the detection sensor 6 confirms that the number of substrates picked up by the gripper 5 is correct, the gripper 5 sends the picked-up substrates to one of the feeding plates 4 on the slide table 3. After the substrates are placed, the slide table 3 slides horizontally, moving the feeding plate 4 containing the substrates below the gripper 5. At this time, the gripper 5 continues to pick up substrates and place them on the feeding plate 4. The slide table 3 then slides both feeding plates 4 to the next processing step to continue processing the substrates.

[0051] In practical use, the operator can manually crank the handle 24. As the handle 24 rotates, it drives the drive turbine 23 to rotate synchronously. The drive turbine 23, in turn, drives the drive gear 22 to rotate synchronously. As the drive gear 22 begins to rotate, it meshes with the drive rack 21. During this process, the drive rack 21 moves up and down vertically. Simultaneously, the drive rack 21 drives the upper top plate 181 to slide vertically, thus allowing the upper top plate 181 to slide closer to or further away from the lower bottom plate 182. During this sliding process, the height of the guide groove 19 is adjusted according to the height of the specific substrate to ensure it matches the height of the corresponding substrate.

[0052] Furthermore, multiple drive racks 21 are provided along the length of the upper top plate 181, and these multiple drive racks 21 are evenly distributed at intervals along the length of the upper top plate 181. The multiple drive racks 21 are integrally connected by horizontally arranged connecting rods. During the sliding process of the upper top plate 181, the multiple drive racks 21 simultaneously drive the upper top plate 181 to slide in the vertical direction, which helps to ensure the stability of the upper top plate 181 during the sliding process.

[0053] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A substrate stacking detection mechanism, characterized in that: The system includes a frame (1), a support base (2) is mounted on the top of the frame (1) in a horizontal direction, a slide table (3) is slidably mounted on the top of the support base (2) in a horizontal direction, and two feeding plates (4) are provided on the top of the slide table (3). The feeding plates (4) are horizontally arranged and the two feeding plates (4) are distributed at intervals on the left and right ends of the slide table (3). A gripper (5) for gripping substrates is provided above the feeding plate (4). The gripper (5) is slidably mounted on the top of the feeding plate (4) in a horizontal direction. A detection sensor (6) is connected to the gripper (5). The detection sensor (6) determines the number of substrates gripped by the gripper (5) by detecting the thickness of the substrate gripped by the gripper (5).

2. The substrate stacking detection mechanism according to claim 1, characterized in that: The end of the gripper (5) is connected to a first drive motor (7) and a first lead screw (8).

3. The substrate stacking detection mechanism according to claim 2, characterized in that: The gripper (5) includes a first clamping plate (51) and a second clamping plate (52). The first clamping plate (51) and the second clamping plate (52) are used to grip the substrate. The first clamping plate (51) is slidably disposed in a direction close to or away from the second clamping plate (52). The end of the second clamping plate (52) is connected to a drive cylinder (9).

4. The substrate stacking detection mechanism according to claim 3, characterized in that: The support base (2) is equipped with a second drive motor (10) and a second lead screw (11). A movable plate (12) is sleeved around the second lead screw (11). The side end of the movable plate (12) is connected to the movable base (13). A movable platform (14) is integrally connected to the top of the movable base (13). A transition plate (15) is integrally connected to the top of the movable platform (14). The end of the transition plate (15) away from the movable platform (14) is integrally connected to the bottom of the slide table (3).

5. The substrate stacking detection mechanism according to claim 4, characterized in that: The top left and right ends of the support base (2) are both fixed with slide rails (16) in the horizontal direction. A slide block (17) is slidably installed on the slide rail (16). The end of the slide block (17) away from the slide rail (16) is connected to the adapter plate (15).

6. The substrate stacking detection mechanism according to claim 5, characterized in that: Guide plates (18) are installed at both ends of the front end of the feeding plate (4) in the horizontal direction. The guide plates (18) are used to limit and guide the substrate. The guide plates (18) have guide grooves (19) along their length.

7. The substrate stacking detection mechanism according to claim 6, characterized in that: Guide slopes (20) are installed on both the upper and lower sides of the end of the guide plate (18), and both guide slopes (20) are inclined.

8. The substrate stacking detection mechanism according to claim 7, characterized in that: The guide plate (18) includes an upper top plate (181) and a lower bottom plate (182). The guide groove (19) is formed between the upper top plate (181) and the lower bottom plate (182). The two guide inclined surfaces (20) are connected to the upper top plate (181) and the lower bottom plate (182) respectively. The upper top plate (181) is slidably disposed in a direction closer to or farther from the lower bottom plate (182).

9. The substrate stacking detection mechanism according to claim 8, characterized in that: A drive rack (21) is installed vertically at the bottom of the guide plate (18). The top of the drive rack (21) is connected to the upper top plate (181). A drive gear (22) is meshed with one side of the drive rack (21). A drive turbine (23) is meshed vertically on the side of the drive gear (22) away from the drive rack (21). A handle (24) is connected to the end of the drive turbine (23) away from the drive rack (21).

10. A substrate stacking detection mechanism according to claim 9, characterized in that: The side end of the drive rack (21) is connected to a plurality of support rods (25) by a horizontally arranged connecting rod. The plurality of support rods (25) are evenly distributed at intervals along the length direction of the upper top plate (181), and the plurality of support rods (25) are integrally connected to each other by a horizontally arranged connecting rod.

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