AOI visual inspection equipment

Abstract

The utility model discloses AOI visual inspection equipment which comprises a feeding machine and an inspection machine. The feeding machine is provided with a full-tray feeding position, a feeding arm and a first transplanting mechanism; the detection machine is provided with a first detection station, a second transplanting mechanism, a second detection station and a third transplanting mechanism; the feeding arm is used for moving to-be-detected products at the full-tray feeding station to the first transplanting mechanism, the first transplanting mechanism is used for moving the to-be-detected products to the first detection station, and the second transplanting mechanism is used for moving the to-be-detected products at the first detection station to the second detection station. And the third transplanting mechanism is used for moving the to-be-detected product at the second detection station to the next station. Therefore, by designing the full-automatic AOI visual inspection equipment, the automation degree is further improved, so that the detection efficiency is improved, the detection cost is saved, and the detection quality is also ensured; and the discharging machine is further arranged, so that it is guaranteed that feeding and discharging are both completed by equipment, and the risk of secondary damage to products is reduced.

Description

Technical Field

[0001] The utility model relates to the field of AOI vision detection equipment, in particular to an AOI vision detection equipment. Background Art

[0002] With the improvement of living standards, people have higher and higher requirements for the quality of electronic products. For retailers, the appearance of products often determines whether they can provide the best guarantee to customers. For example, the charging cases of earphones and the cases of watches need to be strictly inspected for appearance when leaving the factory to prevent products with appearance defects from entering the market. The traditional inspection method is through human eyes, which not only makes mistakes but also has high inspection costs. Later, vision detection equipment emerged, but the existing vision detection equipment has a low degree of automation. Usually, manual feeding and discharging are carried out, which cannot further save labor costs and improve inspection efficiency. At the same time, there are uncontrollable risk factors of secondary damage to products during manual feeding and discharging.

[0003] Therefore, it is necessary to study a new technical solution to solve the above problems. Content of the Utility Model

[0004] In order to solve the defects and deficiencies of the above-mentioned prior art, the utility model provides an AOI vision detection equipment, which designs a fully automated AOI vision detection equipment, basically realizing automated feeding and automated detection, thereby improving the inspection efficiency, saving the inspection cost, and ensuring the inspection quality. Secondly, a discharging machine is also provided to ensure that both feeding and discharging are completed by the equipment, reducing the risk of secondary damage to products.

[0005] To achieve the above object, the utility model adopts the following technical solution:

[0006] An AOI vision detection equipment includes a feeding machine and an inspection machine arranged in sequence from left to right. The feeding machine is provided with a full-dish feeding position, a feeding arm, and a first transplanting mechanism. The inspection machine is sequentially provided with a first inspection station, a second transplanting mechanism, a second inspection station, and a third transplanting mechanism from left to right. The feeding arm is used to move the product to be inspected at the full-dish feeding position to the first transplanting mechanism. The first transplanting mechanism is used to move the product to be inspected to the first inspection station. The second transplanting mechanism is used to move the product to be inspected at the first inspection station to the second inspection station. The third transplanting mechanism is used to move the product to be inspected at the second inspection station to the next station.

[0007] As a preferred solution, the loading machine is further provided with a first moving platform, a material taking position, and an empty tray receiving position. The material taking position is located between the empty tray receiving position and the full tray loading position. The first moving platform includes a first receiving plate and a second receiving plate that move synchronously. The first receiving plate reciprocates between the full tray loading position and the material taking position, and the second receiving plate reciprocates between the material taking position and the empty tray receiving position.

[0008] As a preferred solution, the first transplanting mechanism includes a first transfer platform, and the first transfer platform has a plurality of first positioning jigs for positioning the products to be tested.

[0009] As a preferred solution, the material taking position is provided with a lifting mechanism and a third clamping mechanism installed on the lifting mechanism. The lifting mechanism includes two vertically arranged lifting cylinders, and the third clamping mechanism includes two horizontally arranged clamping cylinders. The two lifting cylinders are arranged back to back, and the two clamping cylinders are arranged back to back.

[0010] As a preferred solution, the first detection station includes a first rotating platform and a plurality of first detection cameras. The first rotating platform has a plurality of second positioning jigs for positioning the products to be tested.

[0011] The second detection station includes a second rotating platform and a plurality of second detection cameras. The second rotating platform has a plurality of third positioning jigs for positioning the products to be tested.

[0012] As a preferred solution, a discharging machine is further included. The third transplanting mechanism transfers the products to be tested at the second detection station to the discharging machine. The discharging machine includes an OK product receiving position, an NG product receiving position, a first discharging arm, a second discharging arm, an OK product buffer position, and an NG product buffer position.

[0013] The first discharging arm is used to move the samples to be tested transferred from the testing machine to the OK product buffer position or the NG product buffer position. The second discharging arm is used to move the samples to be tested at the OK product buffer position and the NG product buffer position to the OK product receiving position and the NG product receiving position respectively.

[0014] As a preferred solution, the discharging machine further includes an OK tray loading position, an NG tray loading position, a second moving platform, and a third moving platform.

[0015] There is a first receiving position between the OK tray loading position and the OK product receiving position, and a second receiving position between the NG tray loading position and the NG product receiving position.

[0016] The second moving platform is used to sequentially transfer the OK trays from the OK tray loading position to the first receiving position for receiving and the OK product receiving position; the third moving platform is used to sequentially transfer the NG trays from the NG tray loading position to the second receiving position for receiving and the NG product receiving position.

[0017] Compared with the prior art, the present utility model has obvious advantages and beneficial effects. Specifically, as can be seen from the above technical solutions, it mainly designs a fully automated AOI vision inspection device, basically realizing automated feeding and automated inspection, thereby improving the inspection efficiency, saving the inspection cost, and ensuring the inspection quality. Secondly, a blanking machine is also provided to ensure that both feeding and blanking are completed by the device, reducing the risk of secondary damage to the product.

[0018] To more clearly elaborate the structural features and functions of the present utility model, the following will combine the accompanying drawings and specific embodiments to detail the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structural schematic diagram of an embodiment of the present utility model;

[0020] Figure 2 is a three-dimensional structural schematic diagram of the embodiment of the present utility model with the protective cover removed;

[0021] Figure 3 is a top view schematic diagram of an embodiment of the present utility model;

[0022] Figure 4 is Figure 3 a partial enlarged view of part A in

[0023] Figure 5 is Figure 3 a partial enlarged view of part B in

[0024] Figure 6 is Figure 3 a partial enlarged view of part C in

[0025] Figure 7 is a first partial structural schematic diagram of the loading machine in an embodiment of the present utility model;

[0026] Figure 8 is Figure 7 a partial enlarged view of

[0027] Figure 9 is a second partial structural schematic diagram of the loading machine in an embodiment of the present utility model;

[0028] Figure 10 is Figure 9 a partial enlarged view of

[0029] Figure 11Schematic diagram of the partial structure of the inspection machine in the embodiment of the present utility model;

[0030] Figure 12 Schematic diagram of the partial structure of the blanking machine in the embodiment of the present utility model;

[0031] Figure 13 Another schematic diagram of the partial structure of the inspection machine in the embodiment of the present utility model;

[0032] Figure 14 Schematic diagram of the structure of the first rotating platform in the embodiment of the present utility model;

[0033] Figure 15 is Figure 14 partial enlarged view of;

[0034] Figure 16 The third schematic diagram of the partial structure of the loading machine in the embodiment of the present utility model.

[0035] Explanation of the attached drawing reference numerals:

[0036] 10. Loading machine; 11. Full-dish loading position; 111. First clamping mechanism; 12. Loading arm; 13. First transplanting mechanism; 131. First transfer platform; 132. First handling arm; 14. First moving platform; 141. First receiving plate; 142. Second receiving plate; 15. Unloading position; 151. Third clamping mechanism; 152. Lifting mechanism; 16. Empty-dish receiving position; 161. Second clamping mechanism; 20. Inspection machine; 21. First inspection station; 211. First rotating platform; 2111. Mounting plate; 2112. First motor; 2113. Second motor; 212. First inspection camera; 213. Second positioning fixture; 2131. Positioning block; 2132. Profiling fixture; 2133. Product to be tested; 22. Second transplanting mechanism; 23. Second inspection station; 231. Second rotating platform; 232. Second inspection camera; 24. Third transplanting mechanism; 30. Blanking machine; 31. OK-dish loading position; 311. First receiving position; 32. NG-dish loading position; 321. Second receiving position; 33. OK-product receiving position; 34. NG-product receiving position; 35. First blanking arm; 36. Second blanking arm; 37. OK-product buffer position; 38. NG-product buffer position; 39. Blanking position. Detailed implementation manners

[0037] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the attached drawings. Obviously, the described embodiments are only the preferred embodiments of the present utility model.

[0038] It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this utility model belongs. The terms used in the specification of this utility model herein are only for the purpose of describing specific embodiments and are not intended to limit this utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0040] Refer to the attached Figures 1 to 16 , in an AOI vision inspection device in an embodiment of the present utility model, it includes a loading machine 10, an inspection machine 20, and an unloading machine 30 arranged in sequence from left to right; the loading machine 10 is provided with a full-dish loading position 11, a loading arm 12, and a first transfer mechanism 13; the inspection machine 20 is sequentially provided with a first inspection station 21, a second transfer mechanism 22, a second inspection station 23, and a third transfer mechanism 24 from left to right;

[0041] The loading arm 12 is used to move the product to be inspected at the full-dish loading position 11 to the first transfer mechanism 13, the first transfer mechanism 13 is used to move the product to be inspected to the first inspection station 21, the second transfer mechanism 22 is used to move the product to be inspected at the first inspection station 21 to the second inspection station 23, and the third transfer mechanism 24 is used to move the product to be inspected at the second inspection station 23 to the unloading machine 30.

[0042] Specifically: the loading machine 10 is further provided with a first moving platform 14, a material taking position 15, and an empty-dish receiving position 16, and the first transfer mechanism 13 includes a first transfer platform 131 and a first handling arm 132; the empty-dish receiving position 16 and the full-dish loading position 11 are respectively arranged at the rear side and the front side of the loading machine 10, and the material taking position 15 is located between the empty-dish receiving position 16 and the full-dish loading position 11; as Figure 16 shown, the first moving platform 14 includes a first receiving plate 141 and a second receiving plate 142 that move synchronously, the first receiving plate 141 reciprocates between the full-dish loading position 11 and the material taking position 15, and the second receiving plate 142 reciprocates between the material taking position 15 and the empty-dish receiving position 16.

[0043] During operation, the first receiving plate 141 moves to the full-dish loading position 11 to pick up the first tray. At this time, the second receiving plate 142 is located at the picking position 15. After the first receiving plate 141 picks up the first tray, the first receiving plate 141 moves the first tray to the picking position 15. Then, the first loading arm 12 takes out the product to be tested from the first tray to the first transfer platform 131, and the first handling arm 132 moves the product to be tested on the first transfer platform 131 to the first detection station 21. The first transfer platform 131 has a plurality of first positioning jigs for positioning the product to be tested.

[0044] It should be added that a lifting mechanism 152 is also provided at the picking position 15. When the first receiving plate 141 moves the first tray to the picking position 15, the lifting mechanism 152 lifts the first tray, so that the first tray is separated from the first receiving plate 141. Then, the first receiving plate 141 resets to the full-dish loading position 11 to wait for receiving the second tray. At this time, the second receiving plate 142 is located at the picking position 15, and the lifting mechanism 152 puts the first tray down into the second receiving plate 142. When the first receiving plate 141 picks up the second tray to the picking position 15, the second receiving plate 142 moves the first tray (the product to be tested has been emptied) to the empty-dish receiving position 16; and so on in a cycle. The full-dish loading position 11 has a first clamping mechanism 111, and the empty-dish receiving position 16 has a second clamping mechanism 161. The first clamping mechanism 111 is used to clamp the second-to-bottom tray in the tray bin at the full-dish loading position 11, so that the bottom tray is separated and falls onto the first receiving plate 141. The second clamping mechanism 161 is used to clamp the empty tray on the second receiving plate 142, so that the empty tray is separated from the second receiving plate 142 and falls into the empty-tray bin at the empty-dish receiving position 16. The lifting mechanism 152, the first clamping mechanism 111, and the second clamping mechanism 161 are mainly formed by assembling air cylinders. Of course, a third clamping mechanism 151 is also installed on the lifting mechanism 152. During operation, the third clamping mechanism 151 first clamps the first tray, and then the lifting mechanism 152 raises the third clamping mechanism 151, so as to separate the first tray from the first receiving plate 141. The lifting mechanism 152 includes two vertically arranged lifting air cylinders, and the third clamping mechanism 151 includes two horizontally arranged clamping air cylinders; the two lifting air cylinders are arranged opposite to each other, and the two clamping air cylinders are arranged opposite to each other; the specific setting methods of the first clamping mechanism 111 and the second clamping mechanism 161 are basically the same as those of the third clamping mechanism 151 and are conventional technologies, so they will not be elaborated here.

[0045] The first detection station 21 includes a first rotating platform 211 and a plurality of first detection cameras 212. The first rotating platform 211 is provided with a plurality of second positioning fixtures 213 for positioning the products to be tested. The aforementioned first handling arm 132 transports the products to be tested on the first transfer platform 131 to the first rotating platform 211.

[0046] The second detection station 23 includes a second rotating platform 231 and a plurality of second detection cameras 232. The second rotating platform 231 is provided with a plurality of third positioning fixtures for positioning the products to be tested. The aforementioned second transplanting mechanism 22 transports the products to be tested at the first detection station 21 to the second rotating platform 231.

[0047] The second transplanting mechanism 22 includes a second transfer platform and a second handling arm. The third transplanting mechanism 24 includes a third transfer platform and a third handling arm. The structures of the second transfer platform, the third transfer platform and the aforementioned first transfer platform 131 are basically the same. A positioning fixture for positioning the products to be tested is provided on the transfer platform, and it is used to drive the products to be tested on the positioning fixture to move to the right to facilitate the handling arm to grab them to the next station. Also, the left and right movement of the first transfer platform 131, the second transfer platform and the third transfer platform can be realized by a cylinder and a guide rod, or by a motor and a lead screw structure. This is a conventional technology and not the key point of protection of the present invention, so it will not be elaborated here.

[0048] The structures of the first handling arm 132, the second handling arm, the third handling arm and the first blanking arm 35 and the second blanking arm 36 described below are roughly the same, and all include a plurality of vacuum adsorption cylinders, which adsorb and move the products to be tested by vacuum adsorption. Similarly, the left and right movement of the first handling arm 132, the second handling arm, the third handling arm, the first blanking arm 35 and the second blanking arm 36 can be realized by structures such as a cylinder, a guide rod and a gantry, or by structures such as a motor, a gantry and a transmission lead screw. These movement structures are conventional technologies and not the key point of protection of the present invention, so they will not be elaborated here.

[0049] It can be supplemented that: the first positioning fixture, the second positioning fixture 213 and the third positioning fixture are roughly the same. Here, the second positioning fixture 213 is taken as an example for illustration: The second positioning fixture 213 generally includes a positioning block 2131 and a profiling fixture 2132. The profiling fixture 2132 is installed on the equipment through the positioning block 2131. The profiling fixture 2132 is preferably made of Teflon. Preferably, an adsorption air channel is provided in the profiling fixture 2132 and the positioning block 2131, and the adsorption air channel is connected to a trachea, and the products to be tested are adsorbed and stabilized by vacuum adsorption. Preferably, the surface of the profiling fixture 2132 is coated with silica gel to avoid scratching the products to be tested.

[0050] Furthermore, the specific structures of the first rotating platform 211 and the second rotating platform 231 are substantially the same. Here, the first rotating platform 211 is taken as an example: The first rotating platform 211 includes a mounting plate 2111, a first motor 2112, and a second motor 2113. A plurality of the second positioning jigs 213 are installed on the mounting plate 2111 at intervals along the length direction of the mounting plate 2111. The first motor 2112 is used to drive the entire mounting plate 2111 to swing left and right (usually, its swing range is 270 degrees); The second motor 2113 is installed on the mounting plate 2111 and is used to drive the second positioning jig 213 to rotate around its vertical axis, and its rotation angle is usually 360 degrees; Here, it can be added that the second motor 2113 is drivingly connected to a rotating shaft through a transmission wheel, and the rotating shaft drives a plurality of second positioning jigs 213 in series; The second positioning jig 213 is installed and connected with a "cross steering device", so as to realize the 360-degree rotation of the second positioning jig 213. The "cross steering device" is a prior art, and those skilled in the art also call it a "high-precision cross steering device". For example, the specific structure of a cross steering device is also disclosed in documents such as Chinese Patent CN218625366U, and will not be elaborated here.

[0051] Furthermore, the blanking machine 30 includes an OK tray loading position 31, an NG tray loading position 32, an OK product receiving position 33, an NG product receiving position 34, a first blanking arm 35, a second blanking arm 36, an OK product buffer position 37, and an NG product buffer position 38.

[0052] Specifically: The OK tray loading position 31 and the NG tray loading position 32 are arranged on the blanking machine 30 in the left-right direction, and the OK product receiving position 33 and the NG product receiving position 34 are correspondingly arranged on the front sides of the OK tray loading position 31 and the NG tray loading position 32; There is a first receiving position 311 between the OK tray loading position 31 and the OK product receiving position 33, and there is a second receiving position 321 between the NG tray loading position 32 and the NG product receiving position 34.

[0053] The loading machine 10 further includes a second moving platform for driving the OK tray and a third moving platform for driving the NG tray. The specific structures and principles of the second moving platform and the third moving platform are basically the same as those of the aforementioned first moving platform 14, and will not be elaborated here. The second moving platform transports the OK tray from the OK tray loading position 31 to the first receiving position 311 for receiving materials. After the OK tray is full of materials, it transports the OK tray to the OK product receiving position 33; The third moving platform transports the NG tray from the NG tray loading position 32 to the second receiving position 321 for receiving materials. When full, it transports the NG tray to the NG product receiving position 34.

[0054] In actual application, a blanking position 39 is further provided on the blanking machine 30. The aforementioned third transfer mechanism 24 transports the tested samples that have completed the detection to the blanking position 39. The first blanking arm 35 classifies the tested samples at the blanking position 39 according to the feedback information of the detector and moves them to the OK product buffer position 37 and the NG product buffer position 38. The second blanking arm 36 transports the tested samples at the OK product buffer position 37 and the NG product buffer position 38 to the OK trays at the first receiving position 311 and the NG trays at the second receiving position 321 respectively.

[0055] Next, the working process of the present invention will be briefly described:

[0056] Step 1: The first moving platform 14 of the loading machine 10 transports the tray at the full-tray loading position 11 to the picking position 15. The loading arm 12 picks up the tested product on the tray at the first picking position 15 and places it on the first transfer platform 131 of the first transfer mechanism 13.

[0057] Step 2: The first transfer arm 132 of the first transfer mechanism 13 moves the tested product on the first transfer platform 131 to the second positioning fixture 213 on the first rotating platform 211 at the first detection station 21.

[0058] Step 3: As described above, the second positioning fixture 213 is installed on the first rotating platform 211. The first rotating platform 211 drives the second positioning fixture 213 to perform left-right swinging motion and 360-degree self-rotation motion of the second positioning fixture 213. The first detection camera 212 takes pictures of the tested product on the second positioning fixture 213 for detection and uploads it to the main control system.

[0059] Step 4: The second transfer mechanism 22 transports the tested product on the second positioning fixture 213 to the third positioning fixture on the second rotating platform 231. The second rotating platform 231 drives the tested product on the third positioning fixture to swing and rotate. The second detection camera 232 takes pictures of the tested product on the second rotating platform 231 for detection and uploads it to the main control system.

[0060] Step 5: In the blanking machine 30, the second moving platform transports the OK trays at the OK tray loading position 31 to the first receiving position 311, and the third moving platform transports the NG trays at the NG tray loading position 32 to the second receiving position 321.

[0061] Step 6: The third transfer mechanism 24 transports the tested samples on the second rotating platform 231 to the blanking position 39 of the blanking machine 30. The first blanking arm 35 classifies the tested samples at the blanking position 39 according to the feedback information of the main control system and places them in the corresponding OK product buffer position 37 and NG product buffer position 38.

[0062] Step 7: According to the feedback system of the main control system, the second blanking arm 36 correspondingly places the samples to be tested on the OK product buffer 37 and the NG product buffer 38 into the OK tray at the first receiving position 311 and the NG tray at the second receiving position 321.

[0063] Step 8: After the samples on the OK tray are full, the second moving platform transfers the OK tray at the first receiving position 311 to the OK product receiving position 33; after the samples on the NG tray are full, the third moving platform transfers the NG tray at the second receiving position 321 to the NG product receiving position 34.

[0064] The design focus of the present utility model is that it mainly designs a fully automated AOI vision detection device, which basically realizes automated feeding and automated detection, thereby improving the detection efficiency, saving the detection cost, and ensuring the detection quality; secondly, a blanking machine is also provided to ensure that both feeding and blanking are completed by the device, realizing the full automation of product appearance detection and reducing the risk of secondary damage to the product.

[0065] The above is only a preferred embodiment of the present utility model, and does not impose any limitation on the technical scope of the present utility model. Therefore, any minor modification, equivalent change, and modification made to the above embodiments based on the technical essence of the present utility model still fall within the scope of the technical solution of the present utility model.

Claims

1. An AOI visual inspection device, characterized in that: It includes a loader and a detection machine arranged from left to right; the loader is provided with a full tray loading position, a loading arm, and a first transfer mechanism; the detection machine is provided with a first detection station, a second transfer mechanism, a second detection station, and a third transfer mechanism; the loading arm is used to move the products to be tested at the full tray loading position to the first transfer mechanism, the first transfer mechanism is used to move the products to be tested to the first detection station, the second transfer mechanism is used to move the products to be tested at the first detection station to the second detection station, and the third transfer mechanism is used to move the products to be tested at the second detection station to the next station.

2. The AOI visual inspection equipment according to claim 1, characterized in that: The loading machine is also provided with a first moving platform, a material taking position, and an empty tray receiving position, wherein the material taking position is located between the empty tray receiving position and the full tray loading position; the first moving platform includes a first receiving plate and a second receiving plate which move synchronously, wherein the first receiving plate moves back and forth between the full tray loading position and the material taking position, and the second receiving plate moves back and forth between the material taking position and the empty tray receiving position.

3. The AOI visual inspection equipment according to claim 2, characterized in that: The first transfer mechanism includes a first transfer platform having a plurality of first positioning fixtures for positioning the product to be tested.

4. The AOI visual inspection equipment according to claim 3, characterized in that: The material taking position is provided with a lifting mechanism and a third clamping mechanism installed on the lifting mechanism; the lifting mechanism includes two vertically arranged lifting cylinders, and the third clamping mechanism includes two horizontally arranged clamping cylinders; the two lifting cylinders are arranged back to back, and the two clamping cylinders are arranged back to back.

5. The AOI visual inspection equipment according to claim 4, characterized in that: The first inspection station includes a first rotating platform and a plurality of first inspection cameras, and the first rotating platform is provided with a plurality of second positioning fixtures for positioning the product to be inspected; The second inspection station includes a second rotating platform and a plurality of second inspection cameras. The second rotating platform is provided with a plurality of third positioning fixtures for positioning the product to be inspected.

6. The AOI visual inspection equipment according to claim 5, characterized in that: It also includes a feeder, and the third transfer mechanism transfers the products to be tested at the second testing station to the feeder; the feeder includes an OK product receiving position, an NG product receiving position, a first feeder arm, a second feeder arm, an OK product buffer position, and an NG product buffer position; The first unloading arm is used to move the samples to be tested transmitted from the detection machine to the OK product cache position or the NG product cache position; the second unloading arm is used to move the samples to be tested in the OK product cache position and the NG product cache position to the OK product receiving position and the NG product receiving position respectively.

7. The AOI visual inspection equipment according to claim 6, characterized in that: The unloading machine also includes an OK tray loading position, an NG tray loading position, a second mobile platform, and a third mobile platform; There is a first material receiving position between the OK tray upper material position and the OK product receiving position, and there is a second material receiving position between the NG tray upper material position and the NG product receiving position; The second mobile platform is used to transfer the OK material tray from the upper material position of the OK tray to the first material receiving position and the OK product receiving position in sequence; the third mobile platform is used to transfer the NG material tray from the upper material position of the NG tray to the second material receiving position and the NG product receiving position in sequence.

Images