Curved LCD film pasting device

Abstract

The application discloses a curved-surface LCD film pasting device, and belongs to the technical field of LCD film pasting, which comprises a first material bin, a first film taking manipulator, a first film tearing stage, a carrying manipulator, a first film pasting manipulator, a first positioning stage, a second positioning stage, a second material bin, a second film taking manipulator, a second film tearing stage, a second film pasting manipulator, a third positioning stage, a smoothing assembly, a first CCD camera and a third CCD camera which are arranged on a machine table. The curved-surface LCD film pasting device can conveniently perform surface and FPC film pasting work on the curved-surface LCD, realizes the alternate film pasting of the LCD film through the first positioning stage and the second positioning stage, greatly improves the film pasting efficiency, and through the multiple CCD cameras, the relative positions of the LCD film and the curved-surface LCD can be accurately corrected, and the relative positions of the FPC and the FPC film can be corrected, so that the pasting quality is ensured.

Description

Technical Field

[0001] This invention relates to the field of LCD film application technology, and more specifically to a curved LCD film application device. Background Technology

[0002] LCD stands for Liquid Crystal Display, a type of flat panel display used in televisions and computers. LCD screens utilize a liquid crystal solution in two polarizing materials; when an electric current passes through the liquid, the crystals rearrange to achieve image formation.

[0003] With the rapid development of the automotive LCD industry, small-sized flat LCDs can no longer meet the needs of new energy vehicles, leading to the emergence of large-sized curved automotive LCDs. Applying film to curved surfaces is more difficult than applying it to flat surfaces, requiring higher precision and application methods. Therefore, a curved LCD film application device is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to solve the problems of high application difficulty and high requirements for precision and application method when applying film to large-size curved automotive LCDs, and provides a curved LCD film application device.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution: The present invention includes a first material bin, a first film picking robot, a first film tearing platform, a transport robot, a first film coating robot, a first positioning platform, a second positioning platform, a second material bin, a second film picking robot, a second film tearing platform, a second film coating robot, a third positioning platform, a smoothing component, a first CCD camera, and a third CCD camera, all mounted on a machine platform.

[0006] The first hopper is used for manually feeding LCD films and storing LCD films;

[0007] The first film-removing robot is used to remove a set number of LCD films from the first hopper and move them to the first film-tearing platform;

[0008] The first film-peeling stage is used to move the LCD film on it to the first film-coating robot arm;

[0009] The robotic arm is used to move curved LCD screens;

[0010] The first coating robot is used to peel off an LCD film from the first film-peeling platform, move it to the first CCD camera to take a picture of the LCD film, and perform the coating work.

[0011] The first positioning stage, the second positioning stage, and the third positioning stage are all used to position the curved LCD.

[0012] The second hopper is used for manually feeding FPC films and for storing FPC films;

[0013] The second film-retrieving robot is used to retrieve multiple FPC film sheets from the second hopper;

[0014] The second film-tearing stage is used to move the FPC film thereon to the second film-coating robot.

[0015] The second laminating robot is used to peel off multiple FPC films from the second film-peeling platform, move them to the third CCD camera, take pictures of the FPC films, and perform the laminating work.

[0016] The smoothing component is used to smooth the FPC on the curved LCD.

[0017] Furthermore, both the first and second film-retrieving robotic arms include multiple first vacuum suction cups, a Z-axis linear drive unit, and an X-axis linear drive unit. The first vacuum suction cups are connected to the Z-axis linear drive unit, the Z-axis linear drive unit is connected to the X-axis linear drive unit, and the X-axis linear drive unit is connected to the machine tool.

[0018] Furthermore, the first film-tearing stage and the second film-tearing stage include a first stage frame, a first stage plate, a plurality of first positioning cylinders, and a stage linear drive unit; the first stage plate is connected to the first stage frame through the stage linear drive unit and is located at one end of the first stage frame; the first stage frame is connected to the machine base; and the first positioning cylinders are disposed on the first stage frame and slidably connected to it.

[0019] Furthermore, both the first and second film-tearing platforms also include a film-pressing mechanism, which is located at the other end of the first platform frame and is used to press the LCD film.

[0020] Furthermore, the handling robot includes a first multi-axis robotic arm, a gripper, and multiple second vacuum suction cups. The first multi-axis robotic arm is mounted on the machine platform, the gripper is connected to the end of the first multi-axis robotic arm, and the multiple second vacuum suction cups are all disposed on the gripper.

[0021] Furthermore, the first CCD camera is located on one side of the first film-tearing stage to take pictures of the LCD film and obtain the position information of the LCD film; the third CCD camera is located on one side of the second film-tearing stage to take pictures of the FPC film and obtain the position information of the FPC film.

[0022] Furthermore, the first laminating robot includes a second multi-axis robotic arm, a first pneumatic laminating head, rollers, and a second CCD camera. The second multi-axis robotic arm is mounted on the machine platform, the first pneumatic laminating head is located at the end of the second multi-axis robotic arm, the rollers are located on the first pneumatic laminating head, and the second CCD camera is located at the end of the first pneumatic laminating head.

[0023] Furthermore, the second laminating robot includes a third multi-axis robotic arm, a second pneumatic laminating head, and a fourth CCD camera. The third multi-axis robotic arm is mounted on the machine platform, and the second pneumatic laminating head and the fourth CCD camera are both located at the ends of the third multi-axis robotic arm.

[0024] Furthermore, the first positioning platform, the second positioning platform, and the third positioning platform all include a lifting suction cup. The lifting suction cup in the third positioning platform adsorbs the convex surface of the curved LCD, and the lifting suction cup in the first positioning platform / second positioning platform adsorbs the convex surface of the curved LCD.

[0025] Furthermore, the third positioning platform is equipped with an FPC lifting mechanism, which includes a lifting cylinder and an upper lifting block. The lifting cylinder is mounted on the third positioning platform, and the upper lifting block is connected to the lifting cylinder. The smoothing assembly includes a transplanting arm, a pressing cylinder, and a pressing block. The transplanting arm is mounted on the machine platform, the pressing cylinder is mounted on the transplanting arm, and the pressing block is connected to the cylinder column of the pressing cylinder. The pressing block matches the shape of the upper lifting block.

[0026] Compared with the prior art, the present invention has the following advantages: the curved LCD film application device can conveniently perform surface and FPC film application on curved LCDs. Through the first positioning stage and the second positioning stage, the LCD film can be applied alternately, which greatly improves the film application efficiency. Furthermore, through the multiple CCD cameras, the relative position of the LCD film and the curved LCD, as well as the relative position of the FPC and the FPC film, can be accurately corrected, ensuring the application quality. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the curved LCD film application device in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the first membrane-retrieving robotic arm in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the structure of the first film-tearing platform in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the handling robot in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the structure of the first CCD camera in an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the structure of the first coating robot in an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the cooperation between the first positioning platform and the second positioning platform in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the second coating robot in an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the third positioning platform in an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of the smoothing component in an embodiment of the present invention. Detailed Implementation

[0037] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0038] like Figure 1 As shown, this embodiment provides a technical solution: a curved LCD film application device, including a machine base 1, a first material bin 11, a first film-removing robot 12, a first film-tearing platform 13, a transport robot 2, a first film-applying robot 31, a first positioning platform 32, a second positioning platform 33, a second material bin 41, a second film-removing robot 42, a second film-tearing platform 43, a second film-applying robot 51, a third positioning platform 52, a smoothing component 6, a first CCD camera 7, and a third CCD camera 8. The first material bin 11, the first film-removing robot 12, the first film-tearing platform 13, the transport robot 2, the first film-applying robot 31, the first positioning platform 32, the second positioning platform 33, the second material bin 41, the second film-removing robot 42, the second film-tearing platform 43, the second film-applying robot 51, the third positioning platform 52, the smoothing component 6, the first CCD camera 7, and the third CCD camera 8 are all mounted on the machine base 1.

[0039] In this embodiment, the first hopper 11 is used for manually feeding LCD films and storing LCD films.

[0040] like Figure 2As shown, in this embodiment, the first film-retrieving robot 12 is used to remove a set number of LCD films from the first hopper 11 and move them onto the first film-tearing platform 13. The first film-retrieving robot 12 includes multiple first vacuum suction cups 121, a Z-axis linear drive unit 122, and an X-axis linear drive unit 123. The first vacuum suction cups 121 are connected to the Z-axis linear drive unit 122, and the Z-axis linear drive unit 122 is connected to the X-axis linear drive unit 123. The Z-axis linear drive unit 122 moves downward, using the first vacuum suction cups 121 to remove the LCD films from the first hopper 11. At the same time, the Z-axis linear drive unit 122 moves upward, driving the first vacuum suction cups 121 and the LCD films they have picked up to rise. Then, the X-axis linear drive unit 123 drives the Z-axis linear drive unit 122 to move horizontally, transferring the LCD films onto the first film-tearing platform 13.

[0041] In this embodiment, the first film-retrieving robot also includes two film-shaking cylinders 124. The first vacuum suction cup 121 is connected to the Z-axis linear drive unit 122 through the film-shaking cylinders 124, and is used to alternately shake during film retrieval to prevent the LCD film below from being lifted.

[0042] like Figure 3 As shown, in this embodiment, the first film-peeling stage 13 is used to move the LCD film on it to the first film-coating robot 31. The first film-peeling stage 13 includes a first stage frame 131, a first stage plate 132, a plurality of first positioning cylinders 133, and a stage linear drive unit 134. The first stage plate 132 is connected to the first stage frame 131 through the stage linear drive unit 134 and is located at one end of the first stage frame 131. The first stage frame 131 is fixedly connected to the machine base 1. The first positioning cylinders 133 are disposed on the first stage frame 131 and slidably connected to it, and are used to position the LCD film on the first stage plate 132. The stage linear drive unit 134 moves the first stage plate 132 and the LCD film on it to the other end, so that the first film-coating robot 31 can take the LCD film from the first stage plate 132.

[0043] The first film-peeling platform 13 also includes a film-pressing mechanism 135. The film-pressing mechanism 135 is disposed at the other end of the first platform frame 131. The film-pressing mechanism 135 is used to press the LCD film to prevent the bottom film from being lifted when the LCD film is removed, which would cause the film removal failure (there is a bottom film under the LCD film, and 5 LCD films share one bottom film, so the LCD film to be attached to the LCD needs to be peeled off from the bottom film).

[0044] The first film-tearing platform 13 also includes a waste film recycling mechanism, which includes a clamping cylinder 1361 and a waste film bucket 1362. The clamping cylinder 1361 and the waste film bucket 1362 are both mounted on the first platform frame 131. The waste film bucket 1362 is located on one side of the clamping cylinder 1361. The clamping cylinder 1361 is used to clamp the bottom film (waste film) of the LCD film and move it to the waste film bucket 1362 for release, thereby realizing waste film recycling.

[0045] like Figure 4 As shown, in this embodiment, the handling robot 2 is used to handle a curved LCD. The handling robot 2 includes a first multi-axis robotic arm 21, a clamp 22, and multiple second vacuum suction cups 23. The first multi-axis robotic arm 21 is fixedly mounted on the machine base 1. The clamp 22 is connected to the end of the first multi-axis robotic arm 21. The multiple second vacuum suction cups 23 are all disposed on the clamp 22 to perform vacuum adsorption on the curved LCD, thereby realizing handling.

[0046] like Figure 5 As shown, in this embodiment, the first CCD camera 7 is located on one side of the first film-peeling stage 13. The first CCD camera 7 includes a camera 71 and a connecting plate 72. The camera 71 is arranged in a tangential direction (perpendicular to the tangent of the starting position of the curved LCD to be filmed) and connected to the connecting plate 72. The connecting plate 72 is fixed on the machine base 1.

[0047] like Figure 6 As shown, in this embodiment, the first coating robot 31 is used to peel off an LCD film from the first film-peeling stage 13, move it to the first CCD camera 7 to take pictures of the LCD film to calibrate its coordinates, and perform coating work; the first coating robot 31 includes a second multi-axis robot arm 311, a first pneumatic coating head 312, and a roller 313. The second multi-axis robot arm 311 is mounted on the machine base 1, the first pneumatic coating head 312 is located at the end of the second multi-axis robot arm 311, and the roller 313 is located on the first pneumatic coating head 312.

[0048] In this embodiment, the first coating robot 31 further includes a second CCD camera 314, which is disposed at the end of the first pneumatic coating head 312.

[0049] During the lamination process, the first lamination robot 31 peels an LCD film from the first film-peeling stage 13. Then, the first film-peeling stage 13 activates a vacuum (negative pressure, suction, controlled by PLC) to firmly hold the LCD film. The pressing mechanism 135 presses the base film firmly. The first lamination robot 31 activates the first vacuum suction cup 121 to hold the LCD film. Along the tail, at a certain angle, the LCD film is peeled off from the base film using vacuum adsorption. Then, the LCD film is moved to the first CCD camera 7 to take pictures and calibrate the coordinates. Then, the second multi-axis robot arm 311 moves the LCD film above the first positioning stage 32 and the second positioning stage 33. The second CCD camera 314 takes pictures along the curved surface of the curved LCD to calibrate the coordinates. The second multi-axis robot arm 311 corrects the position of the LCD film and then controls the LCD film to move downward to laminate the curved LCD. While breaking the vacuum, the rollers press down to compact the LCD film.

[0050] like Figure 7 As shown, the first positioning platform 32 and the second positioning platform 33 are used to position the curved LCD for the first laminating robot 31 to perform the laminating work. The second positioning platform 33 is located above the first positioning platform 32. The first positioning platform 32 and the second positioning platform 33 work alternately, which can improve the laminating efficiency to a certain extent.

[0051] The first positioning platform 32 includes a lower positioning platform plate 321, a lifting suction cup 322, and a plurality of second positioning cylinders 323. The lower positioning platform plate 321 is connected to the machine base 1 through a Y-axis linear drive unit 324. The plurality of second positioning cylinders 323 and the lifting suction cup 322 are all disposed on the lower positioning platform plate 321. The lifting suction cup 322 is used to hold the curved LCD tightly, and the plurality of second positioning cylinders 323 are used to position the curved LCD on the lower positioning platform plate 321.

[0052] The second positioning platform 33 includes an upper positioning platform plate 331, a lifting suction cup 322, and multiple second positioning cylinders 323. The upper positioning platform plate 331 is connected to the machine base 1 through a Y-axis linear drive unit 332. The multiple second positioning cylinders 323 and the lifting suction cup 322 are all mounted on the upper positioning platform plate 331. The lifting suction cup 322 is used to hold the curved LCD firmly, and the multiple second positioning cylinders 323 are used to position the curved LCD on the upper positioning platform plate 331.

[0053] Before lamination, the curved LCD to be laminated is placed on the first positioning platform 32 and the second positioning platform 33 by the handling robot 2. The curved LCD is clamped and positioned by the second positioning cylinder 323 and the lifting suction cup 322. Then, the first lamination robot 31 is used to alternately laminate the curved LCD on the first positioning platform 32 and the second positioning platform 33. The upper positioning platform 331 and the lower positioning platform 321 are driven to run on the horizontal plane by the Y-axis linear drive unit 332 and the Y-axis linear drive unit 324, respectively, thereby realizing the alternating lamination.

[0054] In this embodiment, the second hopper 41 is used for manually feeding FPC films and storing FPC films.

[0055] In this embodiment, the second film-retrieving robot 42 is used to retrieve three FPC films from the second hopper 41. The structure of the first film-retrieving robot 12 is the same as that of the second film-retrieving robot 42, but the spacing between the plurality of first vacuum suction cups 121 in the second film-retrieving robot 42 is different from the spacing between the plurality of first vacuum suction cups 121 in the first film-retrieving robot 12, and is designed according to the structure of the LCD film and the FPC film.

[0056] In this embodiment, the second film-tearing stage 43 is used to move the FPC film thereon to the second film-coating robot 51. The structure of the second film-tearing stage 43 is the same as that of the first film-tearing stage 13, but the spacing between the plurality of first positioning cylinders 133 in the second film-tearing stage 43 is different from the spacing between the plurality of first positioning cylinders 133 in the first film-tearing stage 13. The design is based on the structure of the LCD film and the FPC film.

[0057] In this embodiment, the second coating robot 51 is used to peel off three FPC films from the second film-peeling stage 43, move to the third CCD camera 8 to take pictures of the FPC films to calibrate their coordinates, and perform the coating work.

[0058] In this embodiment, the third CCD camera 8 has the same structure as the first CCD camera 7.

[0059] like Figure 8 As shown, the second laminating robot 51 is used to peel three FPC films from the second film-peeling stage 43, move to the third CCD camera 8 to take pictures of the FPC films to calibrate their coordinates, and perform laminating work; the second laminating robot 51 includes a third multi-axis robot arm 511, a second pneumatic laminating head 512, and a fourth CCD camera 413. The third multi-axis robot arm 511 is mounted on the machine base 1, and the second pneumatic laminating head 512 and the fourth CCD camera 413 are both located at the end of the third multi-axis robot arm 511.

[0060] like Figure 9 As shown, the third positioning platform 52 is used to position the curved LCD for the second film-removing robot 42 to perform film-coating work. Its structure is the same as that of the first positioning platform 32 / second positioning platform 33, but the lifting suction cup 322 in the third positioning platform 52 adsorbs the convex surface of the curved LCD, while the lifting suction cup 322 in the first positioning platform 32 / second positioning platform 33 adsorbs the convex surface of the curved LCD.

[0061] The third positioning platform 52 is equipped with an FPC lifting mechanism, which includes a lifting cylinder 91 and an upper lifting block 92. The lifting cylinder 91 is mounted on the third positioning platform 52, and the upper lifting block 92 is connected to the lifting cylinder 91. Under the drive of the lifting cylinder 91, the FPC on the curved LCD is lifted, and the smoothing component 6 is used to press down and smooth the FPC. Then, the second lamination robot 51 performs CCD photography and lamination on the FPC of the curved LCD.

[0062] like Figure 10 As shown, the smoothing assembly 6 is used to smooth the FPC on the curved LCD; it includes a transplanting arm 61, a pressing cylinder 62, and a pressing block (contouring pressing head) 93; the transplanting arm 61 is mounted on the machine base 1, the pressing cylinder 62 is disposed on the transplanting arm 61, and the pressing block 93 is connected to the cylinder column of the pressing cylinder 62. The pressing block 93 matches the shape of the upper top block 92.

[0063] It should be noted that in this embodiment, both the transplanting arm and the linear drive unit are driven by a synchronous belt mechanism via a motor.

[0064] Working principle: Manual feeding is performed into the first material bin 11. The first film-removing robot 12 removes the LCD film from the first material bin 11 and transfers it using the first film-tearing platform 13. The transferred film is then photographed and corrected by the first CCD camera 7. The transport robot 2 transports the curved LCD to the first positioning platform 32 and the second positioning platform 33 for positioning. The second CCD camera 314 on the first laminating robot 31 photographs the curved LCD. The first laminating robot 31 corrects the position of the LCD film on it. The laminating head 312 and rollers 313 perform multi-segment vacuum lamination on the curved LCD. The transport robot 2 flips the curved LCD and places it on the third positioning platform 52. The FPC lifting mechanism lifts the FPC, and the smoothing component 6 smooths the FPC. The second material hopper 41 is manually fed in. The second film-retrieving robot 42 removes the EPC film from the second material hopper 41, and the second film-tearing platform 43 transfers it. The second film-retrieving robot 42 picks up three FPC films in succession and transfers them to the fourth CCD camera 8 for three photographs to mark their positions. The CCD camera on the second laminating robot 51 photographs the FPC, and the second laminating robot 51 corrects the position of the FPC films on it. The laminating head on the second laminating robot 51 performs a one-time lamination on the three FPCs.

[0065] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A curved LCD film application device, characterized in that, It includes a first material bin, a first film-removing robot, a first film-tearing platform, a transport robot, a first film-coating robot, a first positioning platform, a second positioning platform, a second material bin, a second film-removing robot, a second film-tearing platform, a second film-coating robot, a third positioning platform, a smoothing component, a first CCD camera, and a third CCD camera, all mounted on the machine platform. The first hopper is used for manually feeding LCD films and storing LCD films; The first film-peeling stage is used to move the LCD film on it to the first film-coating robot arm; The first film-removing robot is used to remove a set number of LCD films from the first hopper and move them to the first film-tearing platform; The robotic arm is used to move curved LCD screens; The first coating robot is used to peel off an LCD film from the first film-peeling platform, move it to the first CCD camera to take a picture of the LCD film, and perform the coating work. The first positioning stage, the second positioning stage, and the third positioning stage are all used to position the curved LCD. The second hopper is used for manually feeding FPC films and for storing FPC films; The second film-tearing stage is used to move the FPC film thereon to the second film-coating robot. The second film-retrieving robot is used to retrieve multiple FPC film sheets from the second hopper; The second laminating robot is used to peel off multiple FPC films from the second film-peeling platform, move them to the third CCD camera, take pictures of the FPC films, and perform the laminating work. The smoothing component is used to smooth the FPC on the curved LCD; The first film-tearing stage and the second film-tearing stage each include a first stage frame, a first stage plate, multiple first positioning cylinders, and a stage linear drive unit. The first platform plate is connected to the first platform frame through the platform linear drive unit and is located at one end of the first platform frame. The first platform frame is connected to the machine tool. The first positioning cylinder is set on the first platform frame and is slidably connected to it. The first CCD camera is located on one side of the first film-tearing stage to take pictures of the LCD film and obtain the position information of the LCD film; the third CCD camera is located on one side of the second film-tearing stage to take pictures of the FPC film and obtain the position information of the FPC film. The first laminating robot includes a second multi-axis robotic arm, a first pneumatic laminating head, rollers, and a second CCD camera. The second multi-axis robotic arm is mounted on the machine platform. The first pneumatic laminating head is located at the end of the second multi-axis robotic arm. The rollers are located on the first pneumatic laminating head. The second CCD camera is located at the end of the first pneumatic laminating head. The second laminating robot includes a third multi-axis robotic arm, a second pneumatic laminating head, and a fourth CCD camera. The third multi-axis robotic arm is mounted on the machine platform, and the second pneumatic laminating head and the fourth CCD camera are both located at the ends of the third multi-axis robotic arm. The first positioning platform, the second positioning platform, and the third positioning platform all include a lifting suction cup. The lifting suction cup in the third positioning platform adsorbs the convex surface of the curved LCD, and the lifting suction cup in the first positioning platform / second positioning platform adsorbs the convex surface of the curved LCD. The third positioning platform is equipped with an FPC lifting mechanism, which includes a lifting cylinder and an upper lifting block. The lifting cylinder is mounted on the third positioning platform, and the upper lifting block is connected to the lifting cylinder. The smoothing component includes a transplanting arm, a pressing cylinder, and a pressing block. The transplanting arm is mounted on the machine platform, the pressing cylinder is mounted on the transplanting arm, and the pressing block is connected to the cylinder column of the pressing cylinder. The pressing block and the upper lifting block are shaped to match.

2. The curved LCD film application device according to claim 1, characterized in that: Both the first and second film-retrieving robotic arms include multiple first vacuum suction cups, a Z-axis linear drive unit, and an X-axis linear drive unit. The first vacuum suction cups are connected to the Z-axis linear drive unit, the Z-axis linear drive unit is connected to the X-axis linear drive unit, and the X-axis linear drive unit is connected to the machine tool.

3. The curved LCD film application device according to claim 1, characterized in that: Both the first and second film-peeling platforms further include a film-pressing mechanism, which is located at the other end of the first platform frame and performs film-pressing processing on the LCD film.

4. The curved LCD film application device according to claim 1, characterized in that: The handling robot includes a first multi-axis robotic arm, a gripper, and multiple second vacuum suction cups. The first multi-axis robotic arm is mounted on the machine platform, the gripper is connected to the end of the first multi-axis robotic arm, and the multiple second vacuum suction cups are all mounted on the gripper.

Images