Crystal expansion production line

Abstract

The present application relates to the field of crystal expansion machines, and in particular to a crystal expansion production line. The crystal expansion production line includes a release paper peeling machine, a film expansion machine, a film curing machine and an assembly machine arranged in sequence along a first preset direction; the release paper peeling machine includes a peeling mechanism and a first circulation bin, the peeling mechanism is used to peel off the release paper of the film material to be removed, and transport the film material after the paper is removed to the first circulation bin; the film expansion machine includes a second robot arm, a film expansion mechanism and a second circulation bin, the second robot arm transports the film material after the paper is removed from the first circulation bin to the film expansion mechanism, and transports the film material after the film is expanded to the second circulation bin; the third robot arm can transport the film material after the film is expanded from the second circulation bin to the film curing device, and transport the processed film material to the third circulation bin; the assembly machine includes a fourth robot arm and an assembly mechanism, the fourth robot arm can transport the processed film material from the third circulation bin to the assembly mechanism; the assembly mechanism is used to assemble the processed film material with the fixed material tray.

Description

Technical Field

[0001] The present application relates to the field of crystal expansion machines, and in particular to a crystal expansion production line. Background Art

[0002] In the prior art, the fully automatic crystal expansion machine integrates the devices for implementing various crystal expansion processes into one device, which makes the device bulky and inconvenient to transport. Summary of the invention

[0003] The purpose of the present application is to provide a crystal expansion production line for implementing an automated crystal expansion process. The four machines are independent modules for easy transportation; and the crystal expansion production line can automatically connect the front and rear machines to reduce labor costs.

[0004] The present application provides a wafer expansion production line, comprising a release paper peeling machine, a wafer expansion machine, a film curing machine and an assembly machine arranged in sequence along a first preset direction;

[0005] The release paper peeling machine comprises a peeling mechanism and a first circulation bin, wherein the peeling mechanism is used to peel off the release paper of the film material to be removed, and transport the film material after the removal of the paper to the first circulation bin;

[0006] The sheet expanding machine comprises a second mechanical arm, a sheet expanding mechanism and a second circulation bin, wherein the first circulation bin is located within the picking range of the second mechanical arm, so that the second mechanical arm can transport the film material after paper removal from the first circulation bin to the sheet expanding mechanism; the sheet expanding mechanism is used to expand the film material after paper removal, and the second mechanical arm can transport the expanded film material to the second circulation bin;

[0007] The adhesive film curing machine comprises a third mechanical arm, an adhesive film curing device and a third circulation bin, wherein the second circulation bin is located within the picking range of the third mechanical arm, so that the third mechanical arm can transport the expanded film material in the second circulation bin to the adhesive film curing device; the adhesive film curing device is used to cure the adhesive film of the expanded film material, and the third mechanical arm can transport the processed film material to the third circulation bin;

[0008] The assembly machine includes a fourth robot arm and an assembly mechanism. The third circulation bin is located within the picking range of the fourth robot arm, so that the fourth robot arm can transport the processed film material from the third circulation bin to the assembly mechanism; the assembly mechanism is used to assemble the processed film material with the fixed material tray.

[0009] In the above technical solution, further, the stripping mechanism includes a loading bin assembly, a processing platform and a first mechanical arm;

[0010] The loading bin assembly includes two lifting bins, one of which is used to carry the film material to be removed, and the other is used to carry the support ring, and the lifting bin can adjust the height of the film material to be removed or the support ring relative to the lifting bin;

[0011] The two lifting bins are both located within the picking range of the first mechanical arm, and the first mechanical arm can transport the to-be-removed film materials in the lifting bins to the processing platform, and the processing platform is used to position the to-be-removed film materials;

[0012] The first robot arm can also remove the release paper of the film material to be de-papered on the processing platform, and place the support ring of the lifting bin on the de-papered film material on the processing platform;

[0013] The first robot arm can also transport the de-papered film material combined with the support ring to the first circulation bin.

[0014] In the above technical solution, further, the upper bin assembly also includes a shooting unit;

[0015] The photographing unit comprises a bracket and a first position adjustment component mounted on the bracket, a photographing device and a light source component;

[0016] The two lifting bins are arranged side by side, and the first position adjustment component is connected to the camera device to drive the camera device to reciprocate along a second preset direction, so that the movement trajectory of the camera device passes through the two lifting bins, thereby visually positioning the film material to be removed or the support ring of the lifting bin;

[0017] The light source component is located between the photographing device and the two lifting bins.

[0018] In the above technical solution, further, it also includes a waste bin and a collection bin;

[0019] The waste bin is located at the processing platform to carry the release paper removed by the first robot arm;

[0020] Among the multiple film materials to be processed carried by the lifting bin, a partition is provided between two adjacent film materials to be processed; the collecting bin is located within the picking range of the robot arm, and the robot arm can transport the partition of the lifting bin to the collecting bin.

[0021] In the above technical solution, further, the sheet expanding mechanism includes a first material storage mechanism, a separation platform and a sheet expanding machine;

[0022] The first material storage mechanism can carry at least one mother-and-child ring, the first material storage mechanism and the separation platform are both located within the picking range of the second mechanical arm, and the second mechanical arm can transport the mother-and-child ring of the first material storage mechanism to the separation platform;

[0023] The separation platform includes a positioning part and a pulling part, the inner ring of the mother-and-child ring can be sleeved on the positioning part, the pulling part can hook the outer ring of the mother-and-child ring, and can move relative to the positioning part to separate the outer ring of the mother-and-child ring from the inner ring;

[0024] The second robot arm can transport the film materials after paper removal from the outer ring, the inner ring and the first circulation bin to the film expanding machine respectively.

[0025] In the above technical solution, further, the first material storage mechanism includes two lifting silos, one of which is used to store the mother-and-child rings to be loaded, and the other is used to store the support ring for the robot arm to unload materials, and the lifting silo can adjust the height of the mother-and-child rings or the support ring relative to the lifting silo.

[0026] In the above technical solution, further, the sheet expansion mechanism also includes a coding mechanism, the coding mechanism is located at the second circulation bin, the coding mechanism includes a second position adjustment component and a coding terminal, and the second position adjustment component is used to drive the coding terminal to move in three directions perpendicular to each other.

[0027] In the above technical solution, further, the assembly mechanism includes a second material storage mechanism and an assembly platform;

[0028] The second material storage mechanism is capable of carrying at least one fixed material tray, the second material storage mechanism and the assembly platform are both located within the picking range of the fourth robotic arm, and the fourth robotic arm is capable of transporting the fixed material tray of the second material storage mechanism to the assembly platform;

[0029] The fourth robot arm is capable of transporting the processed film material from the third transfer bin to the assembly platform;

[0030] The assembly platform includes a platform base and an opening mechanism connected to the platform base, the platform base is used to support the fixed material tray, and the opening mechanism can open the buckles on the fixed material tray for fixing the processed film material, so that the processed film material placed on the fixed material tray can be fixed by the buckles to form an assembled film material.

[0031] In the above technical solution, further, the second material storage mechanism includes a material bin box and a material transfer module;

[0032] The silo box carries a plurality of stacked fixed material trays, a side of the silo box is provided with an opening, and the material transfer module is opposite to the opening;

[0033] The material moving module comprises a third position adjustment component, a connecting part and a bearing part, wherein the third position adjustment component is used to drive the connecting part to move, and the connecting part is used to be detachably connected to the fixed material tray to move the fixed material tray of the silo box to the bearing part;

[0034] The fourth robot arm is capable of picking up the fixed tray of the carrying portion.

[0035] In the above technical solution, further, the second material storage mechanism also includes a loading and transporting assembly, a steering assembly and a unloading and transporting assembly;

[0036] The loading and transporting assembly is used to transport the plurality of silo boxes carrying the fixed material trays in sequence along a first direction to a material fetching position, and the material transfer module is located at the material fetching position;

[0037] The fourth robot arm can transport the assembled film material to the carrying portion; the material transfer module can transport the assembled film material back to the silo box; the material unloading transport component is used to transport the plurality of silo boxes carrying the assembled film material to the unloading position in sequence along the second direction;

[0038] The steering assembly is located between the rear end of the loading and transporting assembly and the front end of the unloading and transporting assembly to steer the silo box.

[0039] Compared with the prior art, the beneficial effects of this application are:

[0040] The crystal expansion production line provided in the present application can realize a complete crystal expansion process by sequentially setting up a release paper peeling machine, a film expansion machine, a film curing machine and an assembly machine, and the setting of the four independent machines is more flexible and convenient during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A first structural schematic diagram of a crystal expansion production line provided in this application;

[0043] Figure 2 A second structural schematic diagram of the crystal expansion production line provided in this application;

[0044] Figure 3 A schematic diagram of the structure of a release paper peeling machine provided in the present application;

[0045] Figure 4 A schematic diagram of the structure of the lifting silo provided for this application;

[0046] Figure 5 A schematic diagram of the structure of the support flap provided for this application;

[0047] Figure 6 A schematic diagram of the structure of the first pickup unit provided in this application;

[0048] Figure 7 A schematic diagram of the structure of the processing platform provided for this application;

[0049] Figure 8 A schematic diagram of the structure of the film expansion machine provided for this application;

[0050] Fig. 9 A schematic diagram of the structure of the separation platform provided in this application from a first viewing angle;

[0051] Fig.10 A schematic diagram of the structure of the separation platform provided in this application at a second viewing angle;

[0052] Fig.11 A schematic diagram of the structure of the second pickup unit provided in this application;

[0053] Fig.12 for Figure 8 The enlarged schematic diagram in the middle;

[0054] Fig.13 A schematic diagram of the structure of the lifting silo for storing the support ring provided in this application;

[0055] Fig.14 A schematic diagram of the structure of the assembly machine provided for this application;

[0056] Fig.15 for Fig.14 The enlarged schematic diagram in the middle;

[0057] Fig.16 A schematic diagram of the structure of the material transfer module provided in this application;

[0058] Fig.17 A schematic diagram of the structure of the loading and transporting assembly provided for this application;

[0059] Fig.18 A schematic diagram of the structure of the steering assembly provided for this application;

[0060] Fig.19This is a schematic structural diagram of the fourth pickup unit provided in this application.

[0061] In the figure: 101-release paper peeling machine; 102-sheet expanding machine; 103-film curing machine; 104-assembling machine; 105-protective cover; 106-first circulation bin; 107-processing platform; 109-first mechanical arm; 110-lifting bin; 111-bin body; 112-feeding slide rail; 113-positioning assembly; 114-main support component; 115-auxiliary support component; 116-turn plate body; 117-turn plate driving mechanism; 118-first shooting unit; 119-waste bin; 120-collection bin; 121-first picking unit; 1 22-suction cup component; 123-first defective bin; 124-rotation drive device; 125-grip body; 126-suction plate; 127-static detector; 128-separation platform; 129-sheet expander; 130-first fixed plate; 131-limiting boss; 132-hooking claw; 133-first avoidance; 134-second fixed plate; 135-fixed column; 136-limiting column; 137-connecting base; 138-linear bearing; 139-second shooting part; 140-second picking part; 141-second mounting frame; 142-grip assembly; 14 3-suction cup assembly; 144-positioning camera; 145-positioning light source; 146-second defective bin; 147-second circulation bin; 148-first positioning part; 149-second positioning part; 150-connecting piece; 151-second avoidance port; 152-inkjet printing mechanism; 153-stacking mechanism; 154-second main body; 155-second mechanical arm; 156-film curing device; 158-third mechanical arm; 159-third circulation bin; 160-third defective bin; 161-assembly platform; 162-platform base; 163-buckle; 164-telescopic hook ;165-bin box;166-material transfer module;167-fixed tray;168-third position adjustment assembly;169-connecting part;170-bearing part;171-loading transport assembly;172-steering assembly;173-unloading transport assembly;174-carrier plate;175-steering track;176-steering drive component;178-support plate;179-second lifting plate;180-guide plate;181-fixed base;182-guide column;183-fourth picking part;184-fourth mounting frame;185-gripping claw component;186-fourth defective bin. DETAILED DESCRIPTION

[0062] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0063] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0064] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0065] Embodiment 1

[0066] See also Figures 1 to 19 As shown, the wafer expansion production line provided in the present application includes a first preset direction ( Figure 1 The release paper peeling machine 101, the wafer expanding machine 102, the film curing machine 103 and the assembly machine 104 are arranged in the direction A shown in the figure. The above four machines can realize the assembly line operation of the wafer expanding process, and each machine can also be operated and transported as an independent module.

[0067] Preferably, the release paper stripping machine 101, the film expanding machine 102, the film curing machine 103 and the assembly machine 104 are all provided with a working platform and a protective cover 105. The working platform plays a supporting role, and the protective cover 105 can protect the internal structure during transportation.

[0068] First, the release paper stripping machine 101 performs a release paper stripping process on the film material. The release paper stripping machine 101 includes a stripping mechanism and a first circulation bin 106 . The stripping mechanism can strip the release paper of the film material to be stripped and transport the film material to the first circulation bin 106 after stripping.

[0069] Then, the film expanding machine 102 performs a film expanding process on the film material. The film expanding machine 102 includes a second mechanical arm 155, a film expanding mechanism, and a second circulation bin 147. The first circulation bin 106 is located within the picking range of the second mechanical arm 155, so that the second mechanical arm 155 can pick up the film material after paper removal placed on the first circulation bin 106, and transport the film material after paper removal to the film expanding mechanism. The film expanding mechanism can expand the film material after paper removal. After the film material expansion is completed, the second mechanical arm 155 can transport the expanded film material to the second circulation bin 147.

[0070] Then, the film curing machine 103 performs a film curing process on the film material. The film curing machine 103 includes a third robot arm 158, a film curing device 156 and a third circulation bin 159. The second circulation bin 147 is located within the picking range of the third robot arm 158, so that the third robot arm 158 can pick up the expanded film material placed on the second circulation bin 147 and transport the expanded film material to the film curing station of the film curing device 156; the film curing device 156 can cure the film of the expanded film material, and after the film material is cured, the third robot arm 158 can transport the processed film material to the third circulation bin 159.

[0071] Finally, the assembly machine 104 assembles the processed film material with the fixed material tray 167. The assembly machine 104 includes a fourth robot arm and an assembly mechanism, and the third transfer bin 159 is located within the picking range of the fourth robot arm, so that the fourth robot arm can transport the processed film material placed on the third transfer bin 159 to the assembly mechanism; the assembly mechanism is used to assemble the processed film material with the fixed material tray 167.

[0072] The crystal expansion production line provided in the present application can realize a complete crystal expansion process by sequentially arranging a release paper peeling machine 101, a film expansion machine 102, a film curing machine 103 and an assembly machine 104, and the arrangement of the four independent machines is more flexible and convenient during transportation.

[0073] The following is an introduction to each machine in order of operation:

[0074] 1. Release paper peeling machine 101

[0075] See also Figures 3 to 7 As shown, the peeling mechanism of the release paper peeling machine 101 includes a loading bin assembly, a processing platform 107 and a first robotic arm 109. The loading bin assembly includes two lifting bins 110, one of which is used to carry the film material to be removed, and the other is used to carry the support ring. Since only the soft blue film is left after the release paper of the film material is removed, the support ring is attached to the blue film as a supporting structure of the blue film, which is convenient for the first robotic arm 109 and the second robotic arm 155 to pick it up.

[0076] The lifting silo 110 includes a silo body 111, a feed slide rail 112, a positioning assembly 113 and a main support component 114. The silo body 111 is a storage space formed by four vertical plates. The feed slide rail 112 formed by multiple rollers is located at the bottom of the storage space. Multi-layer stacked paper film materials to be removed or multi-layer stacked support rings can slide into the storage space along the feed slide rail 112, which is convenient for operators to load materials.

[0077] The main supporting component 114 includes a main lifting drive mechanism and a main supporting plate. The main lifting drive mechanism includes a main driving device and a main lifting slide rail connected to each other. The main driving device provides power, and the main lifting slide rail is connected to the main supporting plate to guide the lifting movement of the main supporting plate.

[0078] The main support plate extends into the material storage space to support the middle position of the multi-layer stacked film materials to be removed or the multi-layer stacked support rings from the bottom of the material storage space. When the first robot arm 109 removes the film materials to be removed or the support rings one by one, the film materials to be removed or the support rings on the top layer can be lifted to the opening at the top of the silo body 111, so as to be picked up by the first robot arm 109 later.

[0079] The positioning assembly 113 is located at the opening on the top of the silo body 111 to clamp and position the film material or the support ring to be removed that is transported by the main support plate. Figure 4 The positioning assembly 113 is configured as a square frame, and each side of the square frame is provided with a driving device (a cylinder is shown in the figure) so that the opposite sides can be moved closer or farther away to clamp, position and release the de-papering film or the support ring.

[0080] Of course, the positioning component 113 can be set to other shapes according to the actual shape of the product being loaded, and is not limited to the square frame in the figure.

[0081] In order to ensure that the device does not stop when loading, in the optional solution of this embodiment, the lifting silo 110 also includes an auxiliary material supporting component 115. When the remaining amount of materials (i.e., the paper film material or support ring to be removed) in the silo body 111 is small, the auxiliary material supporting component 115 can support and lift the materials. The main material supporting component 114 can be lowered to the bottom of the storage space to support the next batch of materials to be loaded. When the materials in the auxiliary material supporting component 115 are all taken away, the main material supporting component 114 will lift the next batch of materials, so that seamless supply of materials can be achieved.

[0082] Specifically, the auxiliary material supporting component 115 includes an auxiliary lifting drive mechanism and two material supporting flaps arranged opposite to each other; the two material supporting flaps are respectively located on opposite sides of the material storage space to support the edge positions of the multi-layer stacked film materials to be processed or the multi-layer stacked support rings from the bottom. Figure 4The supporting flap is located on the long side of the material, which can support a relatively larger area and is more stable. The auxiliary lifting drive mechanism is used to drive the supporting flap to rise and fall, so that the film material or support ring to be processed located on the top layer is lifted to the opening at the top of the silo body 111. The auxiliary lifting drive mechanism includes an auxiliary driving device, an auxiliary lifting slide rail and a connecting frame connected to each other. The auxiliary driving device provides power, the auxiliary lifting slide rail is connected to the connecting frame, and the connecting frame is connected to the supporting flap to guide the lifting and lowering movement of the main supporting plate.

[0083] More specifically, see Figure 5 As shown, the material support flap includes a flap body 116 and a flap drive mechanism 117. The mounting end of the flap drive mechanism 117 is fixed to the connecting frame, and the driving end of the flap drive mechanism 117 is connected to the flap body 116 to drive the flap body 116 to swing. When the flap body 116 swings to a horizontal state, the flap body 116 is used to hold up the film material to be processed or the support ring. When the main material support component 114 is running, the flap body 116 is retracted to save space. Figure 5 The B direction in FIG. 1 shows the flipping direction of the flap body 116 .

[0084] In the optional solution of this embodiment, both lifting bins 110 are located within the picking range of the first robot arm 109. The first robot arm 109 can transport the film material to be removed from the lifting bin 110 to the processing platform 107. The processing platform 107 is used to position the film material to be removed to prevent the film material from moving when the first robot arm 109 removes the release paper. After the release paper of the film material to be processed on the processing platform 107 is removed, the first robot arm 109 places the support ring of the lifting bin 110 on the film material after paper removal on the processing platform 107. Subsequently, the first robot arm 109 transports the film material after paper removal combined with the support ring to the first circulation bin 106.

[0085] In an optional solution of this embodiment, the loading bin assembly further includes a first photographing unit 118. When the first mechanical arm 109 picks up materials, the first photographing unit 118 can guide the first mechanical arm 109 to align the materials to ensure that the materials can be picked up accurately. The first photographing unit 118 includes a bracket and a position adjustment component installed on the bracket, a photographing device and a light source component. Figure 3 As shown, two lifting bins 110 are arranged side by side, and the position adjustment component (including a slide rail and a driving device) is connected to the shooting device to drive the shooting device to move along a second preset direction ( Figure 3 The light source component is located between the shooting device and the two lifting bins 110 to provide sufficient light for the shooting device and improve the shooting effect.

[0086] The release paper stripping machine 101 also includes a waste bin 119 and a collection bin 120. The waste bin 119 is located at the processing platform 107. After the first robotic arm 109 peels off the release paper of the film material, the release paper can be thrown into the waste bin 119. Among the multiple films to be processed carried by the lifting bin 110, a partition is provided between two adjacent films to be processed. Before the first robotic arm 109 picks up the film material, the partition needs to be removed first. The collection bin 120 is located within the picking range of the first robotic arm 109, and the first robotic arm 109 can transport the partition to the collection bin 120.

[0087] In an optional solution of this embodiment, the first mechanical arm 109 includes a first main body and a first picking portion 121, and the first picking portion 121 is installed at the free end of the first main body. The first picking portion 121 includes a first mounting frame and a suction cup component 122 and a clamping claw component installed on the first mounting frame. The suction cup component 122 can be used to absorb film materials and partitions. The clamping claw component is used to clamp the release paper so that the release paper can be peeled off. The clamping claw component includes a rotation drive device 124 and a clamping claw body 125. The clamping claw body 125 is driven to open and close by a cylinder, and the rotation drive device 124 is used to drive the clamping claw body 125 to rotate along a preset axis. Figure 3 The first robot arm 109 shown in the figure is a six-axis articulated robot, and the rotation drive device 124 provides a "seventh axis" for the clamp body 125 to cope with the delicate operation process of removing the release paper.

[0088] In an optional scheme of this embodiment, the processing platform 107 includes an air suction plate 126, on which a plurality of air suction holes arranged in an array are provided, and the joints connecting the air suction holes can be connected to the adsorption device so that the bearing surface of the air suction plate 126 is in a negative pressure state, thereby achieving the positioning of the paper film material to be removed.

[0089] Optionally, the processing platform 107 is provided with an electrostatic detector 127 to detect the electrostatic charge of the film material. The film material whose electrostatic charge exceeds the preset value is a defective product and needs to be removed. Specifically, the release paper peeling machine 101 is also provided with a plurality of first defective product bins 123 for carrying defective products. The first defective product bin 123 and the first circulation bin 106 are provided with limit stops in the circumferential direction of the bearing surface to limit the film material.

[0090] 2. Film expansion machine 102

[0091] In the wafer expansion process, the expanded wafer film needs to be fixed with a mother-and-child ring, and the excess wafer film is cut off. Therefore, the mother-and-child ring needs to be disassembled to form a mother ring and a child ring before being loaded into the wafer expansion machine 129.

[0092] See also Figures 8 to 13As shown, specifically, the film expanding mechanism of the film expanding machine station 102 includes a first material storage mechanism, a separation platform 128 and a film expanding machine 129. The first material storage mechanism can carry multiple layers of stacked parent and child rings, and the first material storage mechanism and the separation platform 128 are both located within the picking range of the second mechanical arm 155. The second mechanical arm 155 can sequentially transport the parent and child rings placed in the first material storage mechanism to the separation platform 128, and the separation platform 128 can separate the parent and child rings into child rings and parent rings.

[0093] Specifically, the separation platform 128 includes a positioning part and a pulling part. The inner ring (child ring) of the parent and child rings can be sleeved on the positioning part to fix the child ring; the pulling part can hook the outer ring (parent ring) of the parent and child rings, and can move relative to the positioning part to separate the outer ring and inner ring of the parent and child rings; the second robot 155 can transport the outer ring, inner ring and the film material after paper removal of the first circulation warehouse 106 to the film expanding station of the film expanding machine 129 respectively, and the film expanding machine 129 can implement the film expanding process.

[0094] In an optional scheme of this embodiment, the separation platform 128 includes a lifting drive device, a first fixed plate 130 and a first lifting plate, the first lifting plate is located at the bottom of the first fixed plate 130, and the lifting drive device is specifically a cylinder to drive the first lifting plate to lift and lower to approach or move away from the first fixed plate 130.

[0095] The positioning portion is a limiting boss 131 formed on the top surface of the first fixed plate 130. The limiting boss 131 is cylindrical to match the shape of the parent and child rings. Preferably, the top edge of the limiting boss 131 can be set as a transition slope to facilitate the placement of the parent and child rings on the limiting boss 131.

[0096] The pulling part is a plurality of hook claws 132 disposed on the top surface of the first lifting plate, and the plurality of hook claws 132 are arranged in the circumferential direction of the limiting boss 131; Fig. 9 Four hooks 132 are shown, and the hooks 132 are driven to extend and retract by a cylinder. The number of hooks 132 can be set according to actual conditions and is not limited to the number shown in the figure. Preferably, multiple hooks 132 are evenly arranged in the circumferential direction of the limiting boss 131 to evenly distribute the pulling force. The first fixed plate 130 is provided with a first avoidance opening 133 corresponding to the hooks 132. When the first lifting plate is raised or lowered, the hooks 132 can pass through the first avoidance opening 133 to avoid collision between the hooks 132 and the first fixed plate 130.

[0097] In an optional solution of this embodiment, the separation platform 128 also includes a second fixed plate 134 and a fixed column 135; the second fixed plate 134 is located on the side of the first lifting plate away from the first fixed plate 130; in order not to affect the movement of the first lifting plate, the first lifting plate is provided with a through hole that allows the fixed column 135 to pass through.

[0098] The fixing column 135 is located between the first fixing plate 130 and the second fixing plate 134, and is used to connect the first fixing plate 130 and the second fixing plate 134 that are spaced apart; the first fixing plate 130, the fixing column 135 and the second fixing plate 134 are combined to form a stable bracket structure. Preferably, the fixing column 135 is a plurality of ( Fig.10 Four fixing columns 135 are shown, which are respectively located at the four corners of the first fixing plate 130 and the second fixing plate 134 to improve the overall stability.

[0099] Furthermore, the separation platform 128 further includes a limiting column 136 and a connecting base 137; the connecting base 137 is located on a side of the second fixing plate 134 away from the first lifting plate, and the limiting column 136 is located between the first lifting plate and the connecting base 137 to connect the first lifting plate and the connecting base 137 which are arranged at intervals; Fig.10 The connecting base 137 shown in the figure includes two connecting plates, each of which is used to connect the bottoms of two adjacent limiting columns 136 to ensure that the limiting columns 136 will not be skewed. The second fixing plate 134 is provided with a limiting hole through which the limiting column 136 can pass, so as to provide guidance for the movement of the limiting column 136. Preferably, a linear bearing 138 is provided at the limiting hole to reduce the friction force therein and ensure that the movement of the limiting column 136 is not stuck.

[0100] In an optional scheme of this embodiment, a second shooting unit 139 is provided at the separation platform 128. Different from the first shooting unit 118 of the release paper peeling machine 101, the second shooting unit 139 at the separation platform 128 is used to scan the mother and child rings on the separation platform 128, and the first position adjustment component of the shooting unit drives the shooting device and the light source component to move, so as to avoid the second robot arm 155 and prevent the second robot arm 155 from colliding when picking up the mother and child rings.

[0101] In an optional solution of this embodiment, the second robotic arm 155 includes a second main body 154 and a second picking part 140, and the second picking part 140 is installed at the free end of the second main body 154; the second picking part 140 includes a second mounting frame 141 and a clamping claw assembly 142 and a suction cup assembly 143 installed on the second mounting frame 141.

[0102] Among them, the clamping claw assembly 142 includes a clamping drive unit, a flipping drive unit and two relative clamping units. The clamping drive unit is used to drive the two clamping units to move closer or farther away to achieve the picking up of the sub-ring, the mother ring and the blue film after the sub-ring and the mother-child ring are combined. Specifically, the clamping drive unit includes a stepper motor, a belt assembly and a screw assembly installed on the second mounting frame 141.

[0103] When placing the sub-ring and the mother ring into the film expander 129, the sub-ring is placed on the main body of the film expander 129, and the mother ring is placed on the flip cover of the film expander 129. After the second robot 155 picks up the mother ring from the separation platform 128 and before placing the mother ring into the flip cover of the film expander 129, the direction of the mother ring needs to be flipped to ensure that when the flip cover is pressed down to the main body of the film expander 129, the mating surfaces of the mother ring and the sub-ring can be opposite, thereby achieving the blue film being clamped between the mother ring and the sub-ring.

[0104] Furthermore, the clamping part includes a fixing part and a clamping claw part, the clamping claw part is rotatably connected to the fixing part, and the flip driving part is installed on the fixing part to drive the clamping claw part to rotate relative to the fixing part; Fig.11 As shown, the flip driving part includes a stepping motor and a belt assembly to drive the clamping jaw to rotate relative to the fixing member.

[0105] Optionally, the suction cup assembly 143 includes a lifting drive unit and a suction cup unit, the suction cup unit is used to absorb the film material, and the lifting drive unit is used to drive the suction cup unit to lift and lower to avoid the clamping jaw assembly 142. When the suction cup assembly 143 is in motion, the suction cup unit can be lowered to absorb the material. When the clamping jaw assembly 142 is in motion, the suction cup unit can be raised to avoid collision with the suction cup assembly 143 when the clamping jaw member is flipped over the material being clamped.

[0106] Optionally, the second picking unit 140 further includes a positioning camera 144 mounted on the second mounting frame 141 and a positioning light source 145 corresponding to the positioning camera 144. Fig.11 Two positioning cameras 144 are shown, which are respectively arranged on both sides of the second mounting frame 141, so as to realize multi-angle precise visual positioning of the material.

[0107] Preferably, a visual positioning camera 144 is also provided on the working platform of the sheet expanding machine 102. The visual positioning camera 144 can visually position the material picked up by the second robotic arm 155 from the bottom of the second robotic arm 155, thereby ensuring more accurate positioning of the material.

[0108] In an optional solution of this embodiment, the film expanding machine 102 is also provided with a second defective product warehouse 146 for carrying defective products; after the film expanding machine 129 performs the film expanding operation, the expanded film material that passes the inspection can be transported to the second circulation warehouse 147 for the next process, and the film material that fails the inspection is sent to the second defective product warehouse 146.

[0109] like Fig.12As shown, the second circulation bin 147 includes a first positioning portion 148, a second positioning portion 149 and a connecting member 150. The connecting member 150 is used to connect the first positioning portion 148 and the second positioning portion 149. A first positioning hole is formed between the first positioning portion 148 and the second positioning portion 149. The first positioning hole is a stepped hole. The stepped hole and the shape of the mother-and-child ring are adapted to position the film material after expansion. A second avoidance opening 151 is formed between the first positioning portion 148 and the second positioning portion 149. The second avoidance opening 151 is used to avoid the clamping claw to avoid collision during flipping. The second defective product bin 146 is formed with a second positioning hole. The second positioning hole is also a stepped hole. The stepped hole and the shape of the mother-and-child ring are adapted to position the defective products after expansion.

[0110] In the optional solution of this embodiment, a coding mechanism 152 is provided at the second circulation bin 147 for coding the qualified products after expansion. The coding mechanism 152 includes a second position adjustment component and a coding platform, and the second position adjustment component is used to drive the coding platform to move in three directions perpendicular to each other. Fig.12 As shown, the figure shows an X-axis module, a Y-axis module and a Z-axis module, so as to accurately adjust the position of the spray terminal and also avoid the second robot arm 155 to avoid collision.

[0111] In an optional solution of this embodiment, the first material storage mechanism includes two lifting silos 110, one of which is used to store the mother-and-child rings to be loaded, and the other is used to store the support rings to be unloaded.

[0112] The structure of the lifting bin 110 for storing the parent and child rings is consistent with that of the lifting bin 110 of the release paper peeling machine 101, and will not be described in detail here.

[0113] like Fig.13 As shown, the structure of the lifting bin 110 for storing support rings is slightly different. The lifting bin 110 for storing support rings also includes a bin body 111, a positioning assembly 113 and a material supporting component. The bin body 111 is surrounded to form a material storage space. However, only one set of material supporting components is provided, including a lifting drive mechanism and a material supporting plate. The lifting drive mechanism is used to drive the material supporting plate to rise and fall. The material supporting plate is located in the material storage space to support the side edges of the multi-layer stacked support rings and enable the support ring located on the top layer to be lifted to the opening at the top of the bin body 111.

[0114] Preferably, the lifting silo 110 for storing support rings also includes a stacking mechanism 153, and the stacking mechanism 153 includes a plurality of stacking drive mechanisms and stacking flaps arranged in sequence along the height direction. After a certain number of support rings are stacked on the supporting plate, the lifting drive mechanism drives the supporting plate to descend to the bottommost stacking mechanism 153 so that the support rings are supported by the stacking mechanism 153; then after the supporting plate is folded and rises to the top, the supporting plate flips to a horizontal position to continue to support the support rings. After a certain number of support rings are stacked on the supporting plate, they are transported to the upper several stacking mechanisms 153 in sequence.

[0115] The stacking drive mechanism drives the stacking flap to flip to a horizontal supporting state to carry the support ring on the support plate, and then the operator can take the support ring from the stacking flap, and the support ring can be recycled.

[0116] 3. Film curing machine 103

[0117] See also Figure 2 As shown, the film curing machine 103 includes a third robotic arm 158, three film curing devices 156 and a third circulation bin 159. The film curing device 156 is specifically an ultraviolet dissolving machine, which uses UV light to irradiate the fixed film to cure and harden the UV film, thereby reducing the viscosity of the dicing fixed film to facilitate subsequent packaging processes.

[0118] In an optional solution of this embodiment, the third mechanical arm 158 includes a third main body and a third picking part, and the third picking part is installed at the free end of the third main body; the third picking part specifically includes a third mounting frame and a clamping claw assembly 142 installed on the third mounting frame. The structure of the clamping claw assembly 142 of the third picking part is similar to that of the clamping claw assembly 142 of the second picking part 140, and will not be repeated here.

[0119] In an optional solution of this embodiment, the film curing machine 103 is also provided with a third defective product bin 160 for carrying defective products; the film material that has passed the film curing test can be transported to the third circulation bin 159 for the next process, and the film material that has failed the test is transported to the third defective product bin 160. The structure of the third circulation bin 159 is similar to that of the second circulation bin 147, and the structure of the third defective product bin 160 is consistent with that of the second defective product bin 146, which will not be described in detail here.

[0120] 4. Assembly Machine 104

[0121] See also Figures 14 to 19As shown, the assembly mechanism of the assembly machine 104 includes a second material storage mechanism and an assembly platform 161. The second material storage mechanism can carry a plurality of fixed material trays 167, and the processed film material can be embedded in the mounting holes of the fixed material trays 167, and the fixed material trays 167 are used to protect the film material. The second material storage mechanism and the assembly platform 161 are both located within the picking range of the fourth robotic arm, and the fourth robotic arm can sequentially transport the plurality of fixed material trays 167 of the second material storage mechanism to the assembly platform 161, and the fourth robotic arm can transport the processed film material of the third circulation bin 159 to the assembly platform 161; at the assembly platform 161, the fixed material trays 167 can be combined with the processed film material.

[0122] Specifically, the assembly platform 161 includes a platform base 162 and an opening mechanism connected to the platform base 162. The platform base 162 is used to support the fixed material tray 167. The opening mechanism can open the buckle 163 on the fixed material tray 167 for fixing the processed film material, so that the processed film material placed on the fixed material tray 167 can be fixed by the buckle 163 to form an assembled film material.

[0123] In an optional solution of this embodiment, the platform base 162 includes a base body and a supporting boss formed on the base body, and the supporting boss is used to support the fixed material tray 167. Preferably, the supporting boss is provided with a fixing groove, and the shape and size of the fixing groove are adapted to the shape of the fixed material tray 167 to fix the fixed material tray 167.

[0124] The opening mechanism includes a plurality of telescopic hook claws 164 , which are mounted on the base body and arranged in the circumference of the supporting boss. The telescopic hook claws 164 are correspondingly arranged with the buckles 163 . Fig.15 Four telescopic hooks 164 (two of which are blocked by the fourth mechanical arm) are shown, respectively facing the buckles 163 at the four corners of the rectangular fixed material tray 167. The telescopic hook 164 includes a driving cylinder and a hook 132. The telescopic hook 164 is fixed to the base body through an L-shaped plate. The height of the hook 132 can be adapted to the height of the buckle 163 of the fixed material tray 167 on the supporting boss.

[0125] In an optional scheme of this embodiment, the second material storage mechanism includes a silo box 165 and a material transfer module 166; the silo box 165 carries a plurality of stacked fixed material trays 167, an opening is provided on the side of the silo box 165, and the material transfer module 166 is opposite to the opening, and the material transfer module 166 can take out the fixed material trays 167 in the silo box 165 from the opening one by one.

[0126] Specifically, the material moving module 166 includes a third position adjustment component 168, a connecting portion 169 and a bearing portion 170. The third position adjustment component 168 is used to drive the connecting portion 169 to move. The connecting portion 169 is used to be detachably connected to the fixed material tray 167 to pull the fixed material trays 167 of different heights out to the bearing portion 170. Fig.16 The connecting portion 169 shown in the figure is hook-shaped and can hook the hook-shaped portion formed by the fixed material tray 167, thereby realizing a detachable connection between the two; then the fourth robot arm can pick up the fixed material tray 167 of the carrying portion 170 and send the fixed material tray 167 to the assembly platform 161.

[0127] Preferably, a visual inspection device is provided at the bearing portion 170 , and the visual inspection device includes a detection camera and a detection light source, which can perform quality inspection on the fixed material tray 167 .

[0128] More specifically, the third position adjustment assembly 168 includes a lifting drive assembly, a mounting plate, and a horizontal drive assembly connected in sequence, and the horizontal drive assembly is connected to the connecting portion 169. The lifting drive assembly includes a first motor connected to each other and a first track arranged vertically, which is used to drive the mounting plate and the horizontal drive assembly to perform lifting movements, so that the connecting portion 169 can correspond to the fixed material trays 167 at different heights; the horizontal drive assembly includes a second motor connected to each other and a second track arranged horizontally, which is used to drive the connecting portion 169 to move on a horizontal plane to approach or move away from the silo, thereby taking out the fixed material tray 167.

[0129] In the optional solution of this embodiment, the second material storage mechanism also includes a loading and transporting assembly 171, a steering assembly 172 and a unloading and transporting assembly 173; the loading and transporting assembly 171 is used to transport multiple silo boxes 165 carrying fixed material trays 167 to the material taking position in sequence along the first direction, and the material transfer module 166 is located at the material taking position. The fourth robot arm can transport the assembled film material to the carrying portion 170; the material transfer module 166 can return the assembled film material to the silo box 165; the unloading and transporting assembly 173 is used to transport multiple silo boxes 165 carrying assembled film materials in sequence along the second direction to the unloading position. The steering assembly 172 is located between the tail end of the loading and transporting assembly 171 and the head end of the unloading and transporting assembly 173 to turn the silo box 165.

[0130] In this embodiment, specifically, the loading and transporting assembly 171 and the unloading and transporting assembly 173 can be a conveyor belt, and a carrier plate 174 is provided on the conveyor belt to hold up the silo box 165. The loading and transporting assembly 171 is used to sequentially transport multiple silos carrying fixed material trays 167 to the material taking position, and the material taking module is located at the material taking position. The loading and transporting assembly 171 can transport a larger number of fixed material trays 167, and the efficiency is higher.

[0131] After the robotic arm transports the assembled film material to the carrying part 170, the third position adjustment component 168 drives the connecting part 169 to move, and the connecting part 169 can push the assembled film material into the silo box 165; the unloading transport component 173 can transport multiple silo boxes 165 carrying the assembled film material to the unloading position in sequence.

[0132] That is to say, the silo box 165 can not only be used as a storage chamber for fixing the material tray 167, but also can be used as a storage chamber for the assembled film material, thereby improving the utilization rate of the silo box 165. The silo box 165 can be used for multiple purposes and can also reduce the overall volume of the device.

[0133] Furthermore, the second material storage mechanism further includes a steering assembly 172; the loading and transporting assembly 171 is arranged along the first direction ( Fig.14 The transport track extending in the D direction shown in FIG. 1 ) and the unloading transport assembly 173 are arranged along the second direction ( Fig.14 The transport track extends in the E direction shown in the figure, perpendicular to the D direction), and the steering assembly 172 is located between the tail end of the loading transport assembly 171 and the head end of the unloading transport assembly 173 to turn the silo box 165. The loading transport assembly 171 and the unloading transport assembly 173 have different transport directions, which can avoid the entire transport path being too long and causing the device to be too large.

[0134] Specifically, the steering assembly 172 includes a steering track 175, a steering drive component 176, a lifting drive component, and a support plate 178, a second lifting plate 179, a guide plate 180 and a fixed base 181 arranged in sequence along the height direction; the steering track 175 is installed on the top surface of the support plate 178; the steering drive component 176 is installed on the second lifting plate 179, and is used to drive the support plate 178 to rotate; the steering drive component 176 includes a motor, a driving gear, and a slewing bearing meshing with the driving gear, and the slewing bearing is also connected to the support plate 178.

[0135] The lifting drive component is used to drive the second lifting plate 179 to rise and fall, thereby driving the steering drive component 176 and the supporting plate 178 to rise and fall. A plurality of guide posts 182 are provided between the second lifting plate 179 and the fixed base 181, and the guide plate 180 is provided with guide holes through which the guide posts 182 can pass, so as to guide the lifting movement of the second lifting plate 179. Preferably, a linear bearing 138 is provided at the guide hole to reduce friction. The lifting drive component can be specifically a cylinder, and the guide plate 180 is provided with a through hole, and the drive rod of the cylinder can pass through the through hole to be connected to the second lifting plate 179.

[0136] In an optional solution of this embodiment, the fourth robot arm includes a fourth main body and a fourth picking portion 183, and the fourth picking portion 183 is installed at the free end of the fourth main body.

[0137] Specifically, the fourth picking part 183 includes a fourth mounting frame 184 and a clamping claw component 185 and a visual positioning component mounted on the fourth mounting frame 184; the clamping claw assembly 142 includes a clamping driving part and two opposite clamping parts, and the clamping driving part is used to drive the two clamping parts to move closer or farther away to achieve the picking of the expanded film material, the fixed material tray 167 and the assembled film material. Specifically, the clamping driving part includes a stepping motor, a belt assembly, a screw assembly and a slide rail assembly mounted on the fourth mounting frame 184.

[0138] The visual positioning component includes a positioning camera 144 and a light source component spaced apart from the positioning camera 144, and the light source component can provide sufficient light for the positioning camera 144. The visual positioning component can also scan the film material and detect whether the assembled film material is a qualified product.

[0139] In an optional solution of this embodiment, the assembly machine 104 further includes a fourth defective product bin 186, which can carry defective products with unqualified test results (including unqualified fixed material trays 167 and unqualified assembled film materials). The defective product bin is located within the picking range of the fourth robot arm, and the fourth robot arm can place the defective products in the defective product bin. The defective product bin of the assembly machine 104 has the same structure as the defective product bin of the release paper peeling machine 101.

[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application is described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In addition, a person skilled in the art can understand that although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means being within the scope of the present application and forming different embodiments.

Claims

1. A crystal expansion production line, characterized in that: It includes a release paper peeling machine, a film expanding machine, a film curing machine and an assembly machine which are sequentially arranged along a first preset direction; The release paper peeling machine comprises a peeling mechanism and a first circulation bin, wherein the peeling mechanism is used to peel off the release paper of the film material to be removed, and transport the film material after the removal of the paper to the first circulation bin; The sheet expanding machine comprises a second mechanical arm, a sheet expanding mechanism and a second circulation bin, wherein the first circulation bin is located within the picking range of the second mechanical arm, so that the second mechanical arm can transport the film material after paper removal from the first circulation bin to the sheet expanding mechanism; the sheet expanding mechanism is used to expand the film material after paper removal, and the second mechanical arm can transport the expanded film material to the second circulation bin; The adhesive film curing machine comprises a third mechanical arm, an adhesive film curing device and a third circulation bin, wherein the second circulation bin is located within the picking range of the third mechanical arm, so that the third mechanical arm can transport the expanded film material in the second circulation bin to the adhesive film curing device; the adhesive film curing device is used to cure the adhesive film of the expanded film material, and the third mechanical arm can transport the processed film material to the third circulation bin; The assembly machine comprises a fourth robot arm and an assembly mechanism, the third transfer bin is located within the picking range of the fourth robot arm, so that the fourth robot arm can transport the processed film material in the third transfer bin to the assembly mechanism; the assembly mechanism is used to assemble the processed film material with the fixed material tray; The film expanding mechanism comprises a first material storage mechanism, a separation platform and a film expanding machine; The first material storage mechanism can carry at least one mother-and-child ring, the first material storage mechanism and the separation platform are both located within the picking range of the second mechanical arm, and the second mechanical arm can transport the mother-and-child ring of the first material storage mechanism to the separation platform; The separation platform includes a positioning part and a pulling part, the inner ring of the mother-and-child ring can be sleeved on the positioning part, the pulling part can hook the outer ring of the mother-and-child ring, and can move relative to the positioning part to separate the outer ring of the mother-and-child ring from the inner ring; The second robot arm can transport the film materials after paper removal from the outer ring, the inner ring and the first circulation bin to the film expanding machine respectively.

2. The crystal expansion production line according to claim 1, characterized in that: The stripping mechanism includes a loading bin assembly, a processing platform and a first mechanical arm; The loading bin assembly includes two lifting bins, one of which is used to carry the film material to be removed, and the other is used to carry the support ring, and the lifting bin can adjust the height of the film material to be removed or the support ring relative to the lifting bin; The two lifting bins are both located within the picking range of the first mechanical arm, and the first mechanical arm can transport the to-be-removed film materials in the lifting bins to the processing platform, and the processing platform is used to position the to-be-removed film materials; The first robot arm can also remove the release paper of the film material to be de-papered on the processing platform, and place the support ring of the lifting bin on the de-papered film material on the processing platform; The first robot arm can also transport the de-papered film material combined with the support ring to the first circulation bin.

3. The crystal expansion production line according to claim 2, characterized in that: The upper bin assembly also includes a photographing unit; The photographing unit comprises a bracket and a first position adjustment component mounted on the bracket, a photographing device and a light source component; The two lifting bins are arranged side by side, and the first position adjustment component is connected to the camera device to drive the camera device to reciprocate along a second preset direction, so that the movement trajectory of the camera device passes through the two lifting bins, thereby visually positioning the film material to be removed or the support ring of the lifting bin; The light source component is located between the photographing device and the two lifting bins.

4. The crystal expansion production line according to claim 2, characterized in that: Also includes waste bins and collection bins; The waste bin is located at the processing platform to carry the release paper removed by the first robot arm; Among the plurality of film materials to be processed carried by the lifting bin, a partition is provided between two adjacent film materials to be processed; The collecting bin is located within the picking range of the robotic arm, and the robotic arm can transport the partition of the lifting bin to the collecting bin.

5. The crystal expansion production line according to claim 1, characterized in that: The first material storage mechanism includes two lifting silos, one of which is used to store the mother-and-child rings to be loaded, and the other is used to store the support rings for unloading by the second robotic arm, and the lifting silo can adjust the height of the mother-and-child rings or the support rings relative to the lifting silo.

6. The crystal expansion production line according to claim 1, characterized in that: The sheet expansion mechanism also includes a coding mechanism, which is located at the second circulation bin. The coding mechanism includes a second position adjustment component and a coding terminal, and the second position adjustment component is used to drive the coding terminal to move in three directions perpendicular to each other.

7. The crystal expansion production line according to claim 1, characterized in that: The assembly mechanism includes a second material storage mechanism and an assembly platform; The second material storage mechanism is capable of carrying at least one fixed material tray, the second material storage mechanism and the assembly platform are both located within the picking range of the fourth robotic arm, and the fourth robotic arm is capable of transporting the fixed material tray of the second material storage mechanism to the assembly platform; The fourth robot arm is capable of transporting the processed film material from the third transfer bin to the assembly platform; The assembly platform includes a platform base and an opening mechanism connected to the platform base, the platform base is used to support the fixed material tray, and the opening mechanism can open the buckles on the fixed material tray for fixing the processed film material, so that the processed film material placed on the fixed material tray can be fixed by the buckles to form an assembled film material.

8. The crystal expansion production line according to claim 7, characterized in that: The second material storage mechanism includes a material bin box and a material transfer module; The silo box carries a plurality of stacked fixed material trays, a side of the silo box is provided with an opening, and the material transfer module is opposite to the opening; The material moving module comprises a third position adjustment component, a connecting part and a bearing part, wherein the third position adjustment component is used to drive the connecting part to move, and the connecting part is used to be detachably connected to the fixed material tray to move the fixed material tray of the silo box to the bearing part; The fourth robot arm is capable of picking up the fixed tray of the carrying portion.

9. The crystal expansion production line according to claim 8, characterized in that: The second material storage mechanism also includes a loading and transporting assembly, a steering assembly and a unloading and transporting assembly; The loading and transporting assembly is used to transport the plurality of silo boxes carrying the fixed material trays in sequence along a first direction to a material fetching position, and the material transfer module is located at the material fetching position; The fourth robot arm is capable of transporting the assembled film material to the carrying portion; The material transfer module can return the assembled film material to the material bin box; the material unloading transport component is used to transport the plurality of material bin boxes carrying the assembled film material to the unloading position in sequence along the second direction; The steering assembly is located between the rear end of the loading and transporting assembly and the front end of the unloading and transporting assembly to steer the silo box.

Images