An automatic rubberizing apparatus

Abstract

An automatic rubber sticking equipment comprises a feeding device, a rubber stripping device and a rubber sticking device; the feeding device comprises a storage rack for storing a sheet material, a first pneumatic suction cup and a first transfer manipulator for driving the first pneumatic suction cup; the rubber stripping device comprises a feeding support plate, a transition inclined plate, a discharging support plate, a rubber belt, a winding and unwinding mechanism for winding and unwinding the rubber belt, a first compression roller mechanism arranged at the input end of the transition inclined plate, a second compression roller mechanism arranged at the output end of the transition inclined plate, a second driving mechanism for driving the horizontal displacement of the discharging support plate and a visual detection system arranged above the discharging support plate; the rubber sticking device comprises a deviation rectifying mechanism arranged at one side of the discharging support plate, a circulating conveying mechanism for conveying the material to be stuck with rubber, a second pneumatic suction cup and a second transfer manipulator for driving the second pneumatic suction cup. The present application integrates multiple processes of the rubber sticking production line, improves the complicated process of the traditional rubber sticking assembly line production, reduces the production cost and improves the production efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to a rubber production line, in particular to an automatic rubber coating equipment. BACKGROUND

[0002] The rubber coating production line includes but is not limited to the rubber coating of display, mobile phone, lamp and other equipment. The common way is to apply glue to the glue sheet, and then transport the glue sheet with glue to the rubber coating area for rubber coating operation. The whole process is complicated and needs several production lines to cooperate. SUMMARY

[0003] The technical problem to be solved by the present application is to provide an automatic rubber coating equipment with high automation, high production efficiency and low production cost.

[0004] To solve the above technical problems, the technical scheme of the present application is: an automatic rubber coating equipment, comprising a feeding device, a rubber stripping device and a rubber coating device;

[0005] The feeding device comprises a storage rack for storing sheet materials, a first pneumatic suction cup and a first transfer manipulator for driving the first pneumatic suction cup; the storage rack comprises a limiting mechanism around the sheet material, a supporting plate for supporting the sheet material and a first driving mechanism for driving the supporting plate to rise and fall;

[0006] The rubber stripping device comprises a feeding support plate, a transition inclined plate, a discharging support plate, an adhesive tape, a winding and unwinding mechanism for winding and unwinding the adhesive tape, a first pressure roller mechanism arranged at the input end of the transition inclined plate, a second pressure roller mechanism arranged at the output end of the transition inclined plate, a second driving mechanism for driving the discharging support plate to horizontally displace, and a visual detection system arranged above the discharging support plate; the output end of the feeding support plate is connected with the input end of the transition inclined plate, and the output end of the transition inclined plate is connected with the input end of the discharging support plate; the winding and unwinding mechanism comprises a feeding shaft for fixing the adhesive tape roll, a discharging shaft for recovering the adhesive tape, a plurality of transition rollers and a third driving mechanism; the adhesive tape is discharged from the feeding shaft, passes through the feeding support plate, the transition inclined plate and the transition rollers in sequence and is recovered on the discharging shaft; the first pressure roller mechanism comprises a first air cylinder vertically downward and a first pressure roller connected with the first air cylinder; the second pressure roller mechanism comprises a second air cylinder obliquely downward and a second pressure roller connected with the second air cylinder; the discharging support plate can enter the lower part of the transition inclined plate under the action of the second driving mechanism;

[0007] The gluing device comprises a deviation rectifying mechanism arranged on one side of the discharge support plate, a circulating conveying mechanism for conveying the material to be glued, a second pneumatic suction disc and a second transfer manipulator for driving the second pneumatic suction disc; the deviation rectifying mechanism comprises a first clamping plate, a second clamping plate and a clamping cylinder for driving the first clamping plate and the second clamping plate to open and close, a clamping opening is formed between the first clamping plate and the second clamping plate, an adjusting rod is threadedly connected to the first clamping plate, one end of the adjusting rod extends into the clamping opening, and the minimum distance of the clamping opening is adjusted through the adjusting rod; the second pneumatic suction disc comprises a gas cavity and a long strip-shaped suction nozzle arranged at the bottom of the gas cavity, and the long strip-shaped suction nozzle can extend into the clamping opening; the circulating conveying mechanism comprises a first conveying section located below the second pneumatic suction disc, a second conveying section located at the input end of the first conveying section, a third conveying section located at the output end of the first conveying section and a tray, the first conveying section comprises an upper conveying belt and a lower conveying belt, the second conveying section comprises a second movable conveying belt and a first lifting mechanism for driving the second movable conveying belt to lift, and the third conveying section comprises a third movable conveying belt and a second lifting mechanism for driving the third movable conveying belt to lift.

[0008] The principle of the present application is that the sheet materials are stored in the storage rack in layers, the first transfer manipulator cooperates with the first pneumatic suction disc to take and place the sheet materials in the storage rack one by one on the feeding support plate of the rubber stripping device; after the sheet material is placed on the feeding support plate, the release paper of the sheet material is attached to the adhesive surface of the adhesive tape on the feeding support plate, the sheet material moves together with the adhesive tape, before the sheet material enters the transition inclined plate, the first compression roller mechanism compresses the sheet material on the adhesive tape to ensure reliable contact between them, the sheet material enters the discharge support plate with the adhesive tape, the discharge support plate enters below the transition inclined plate under the action of the second driving mechanism, the adhesive tape is folded back from the output end of the transition inclined plate and tears away the release paper, the remaining foam adhesive strip naturally enters the discharge support plate, the second compression roller mechanism can be used to stably compress the foam adhesive strip on the discharge support plate, with the entering of the foam adhesive strip, the second driving mechanism drives the discharge support plate to move outward synchronously until the foam adhesive strip is completely transferred and laid flat on the discharge support plate; the second transfer manipulator drives the second pneumatic suction disc to suck the foam adhesive strip along the length direction, at the same time, the visual detection system photographs the relative position of the second pneumatic suction disc and the foam adhesive strip, if the second pneumatic suction disc and the foam adhesive strip are not parallel, the second pneumatic suction disc with the foam adhesive strip enters the clamping opening of the deviation rectifying mechanism, the position of the foam adhesive strip is adjusted through the clamping force of the first clamping plate and the second clamping plate, so that the two are kept parallel; the material to be glued is stopped at the gluing station by the circulating conveying mechanism, the second transfer manipulator cooperates with the second pneumatic suction disc to glue the foam adhesive strip on the material to be glued, and the material is output after the gluing process is completed.

[0009] As an improvement, the sheet material comprises a release paper and a plurality of foam adhesive strips arranged in parallel on the release paper, the bottom of the foam adhesive strip has an adhesive layer, and the upper surface of the discharge support plate is provided with an anti-sticking layer.

[0010] As improvement, the limiting mechanism comprises a front stopper, a rear stopper and side stoppers on both sides, the front stopper is provided with a plurality of air holes, the front stopper is connected to high-pressure gas, and the rear stopper is moved forward and backward through the cooperation of a sliding block and a sliding rail.

[0011] As improvement, the first pneumatic suction cup comprises a support and a plurality of movable suction nozzles arranged on the support, the edge of the support is provided with an elongated hole, and the movable suction nozzles are locked in the elongated hole through bolts.

[0012] As improvement, the visual detection system comprises a camera support, a camera and an illuminating lamp, the second compression roller mechanism is fixed on the camera support through an angle-adjustable support, the camera is installed on the camera support through the cooperation of a sliding block and a sliding block, and the illuminating lamp is fixed on the camera support.

[0013] As improvement, the winding and unwinding mechanism is arranged on one side of the storage rack, the third driving mechanism comprises a box body, a transmission gear arranged in the box body and a motor, the first transfer mechanical hand is fixed on the top of the box body through a feeding support, and the first compression roller mechanism is installed on the feeding support.

[0014] As improvement, the output end of the transition inclined plate is provided with a sensor, the sensor is fixed on the transition inclined plate through a sensor support, and the bottom of the output end of the transition inclined plate is provided with a slope.

[0015] As improvement, the second transfer mechanical hand comprises a rotary motor for driving the rotation of the second pneumatic suction cup and a three-axis mechanical arm for driving the rotary motor.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] Through the cooperation of the first transfer mechanical hand and the first pneumatic suction cup, the sheet material can be sequentially taken and placed on the adhesive tape, and the automatic feeding of the sheet material is completed; through the adhesive tape, the sheet material can be moved and the release paper can be automatically torn away, and the automatic stripping of the sheet material is completed; through the circulating conveying mechanism, the material to be pasted can be automatically conveyed, through the cooperation of the second transfer mechanical hand and the second pneumatic suction cup, the foam rubber strip can be pasted on the material to be pasted, and the automatic pasting is completed. The present application integrates multiple processes of the pasting production line, improves the complicated process of the traditional pasting assembly line production, reduces the production cost and improves the production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a perspective view of the present application.

[0019] Figure 2 It is a side view of the present application.

[0020] Figure 3 It is a top view of the present application.

[0021] Figure 4 is a schematic view of a storage rack.

[0022] Figure 5 is a schematic view of a first pneumatic suction cup.

[0023] Figure 6 is a schematic view of a peeling device.

[0024] Figure 7 is a schematic view of a deviation rectifying mechanism.

[0025] Figure 8 is a schematic view of a second pneumatic suction cup.

[0026] Figure 9 is a schematic view of a circulating conveying mechanism. DETAILED DESCRIPTION

[0027] The present application will be further described below in conjunction with the accompanying drawings.

[0028] As shown in Figures 1 to 3 , an automatic rubberizing equipment comprises a feeding device 1, a peeling device 2 and a rubberizing device 3; the feeding device 1 is used for feeding a sheet material 4, the peeling device 2 is used for separating the sheet material 4 from a release paper and a foam rubber strip, and the rubberizing device 3 is used for automatically pasting the foam rubber strip on a material to be rubberized 5. The sheet material 4 comprises the release paper and a plurality of foam rubber strips arranged in parallel on the release paper, and the bottom of the foam rubber strip has a sticky layer.

[0029] As shown in Figures 1 to 5As shown, the feeding device 1 comprises a storage rack 11 for storing the sheet material 4, a first pneumatic suction cup 12 and a first transfer manipulator 13 for driving the first pneumatic suction cup 12. The storage rack 11 comprises a limiting mechanism around the sheet material 4, a supporting plate for supporting the sheet material 4 and a first driving mechanism 111 for driving the supporting plate to move up and down. The limiting mechanism comprises a front stopper 112, a rear stopper 114 and side stoppers 113 on both sides. The front stopper 112 is provided with a plurality of air holes, and the front stopper 112 is connected to high-pressure gas. The rear stopper 114 moves forward and backward by the cooperation of a sliding block and a sliding rail. The air holes of the front stopper 112 can emit gas to separate the stacked sheet material 4, so as to facilitate the first pneumatic suction cup 12 to take the sheet material 4 and prevent multiple sheet materials 4 from being taken together. The position of the rear stopper 114 is adjustable, and the position of the rear stopper 114 is adjusted according to the length of the sheet material 4. Under the limiting of the stoppers in all directions, the position of the sheet material 4 can be basically in the correct feeding position. The first driving mechanism 111 is a screw nut mechanism. The motor drives the screw to rotate, and the rotation of the screw drives the nut to move up and down relative to the screw. The screw drives the supporting plate, and the first driving mechanism drives the supporting plate to move up one station every time a sheet material 4 is taken away. The first pneumatic suction cup 12 comprises a bracket 121 and a plurality of movable suction nozzles 123 provided on the bracket 121. The movable suction nozzles 123 are distributed in a rectangular shape. The edge of the bracket is provided with an elongated hole 122. The movable suction nozzles 123 are locked in the elongated hole 122 by bolts. After the bolts are unlocked, the movable suction nozzles 123 can move in the elongated hole 122. The position of the movable suction nozzles 123 can be set according to the size of the sheet material 4, so that the first pneumatic suction cup 12 can stably take the sheet material 4. The first transfer manipulator 13 has two moving directions. The horizontal direction is realized by a cylinder sliding table, and the vertical direction is realized by a common telescopic cylinder. The first transfer manipulator 13 drives the first pneumatic suction cup 12 to move horizontally and vertically, so as to take out the sheet material 4 in the storage rack 11 and send it to the stripping device 2.

[0030] As Figure 1 、 2The stripping device 2 includes a feeding support plate 23, a transition inclined plate 24, a discharging support plate 25, an adhesive tape 21, a winding and unwinding mechanism 22 for winding and unwinding the adhesive tape 21, a first compression roller mechanism 27 arranged at the input end of the transition inclined plate 24, a second compression roller mechanism 28 arranged at the output end of the transition inclined plate 24, a second driving mechanism 251 for driving the horizontal displacement of the discharging support plate 25, and a visual detection system 26 arranged above the discharging support plate 25. The output end of the feeding support plate 23 is connected to the input end of the transition inclined plate 24, and the output end of the transition inclined plate 24 is connected to the input end of the discharging support plate 25. The feeding support plate 23 is arranged horizontally, the transition inclined plate 24 is arranged obliquely, and the discharging support plate 25 is arranged horizontally. An anti-sticking layer is arranged on the upper surface of the discharging support plate 25. After the foam adhesive tape is separated from the release paper, the foam adhesive tape enters the discharging support plate 25. Since the foam adhesive tape has a sticky surface, an anti-sticking layer is arranged on the discharging support plate 25 to prevent the foam adhesive tape from sticking to the discharging support plate 25. The winding and unwinding mechanism 22 includes a discharging shaft 222 for fixing the adhesive tape 21, a collecting shaft 223 for collecting the adhesive tape 21, a plurality of transition rollers 224, and a third driving mechanism 221. The adhesive tape 21 is unwound from the discharging shaft 222, passes through the feeding support plate 23, the transition inclined plate 24, and the transition rollers 224 in sequence, and is then collected on the collecting shaft 223. The sticky surface of the adhesive tape 21 faces upwards on the feeding support plate 23, the transition inclined plate 24, and the discharging support plate 25, and the movement of the adhesive tape 21 is not hindered by the sticky surface. The adhesive tape 21 is unwound from the discharging shaft 222, and after the adhesive tape 21 carries away the release paper, the adhesive tape 21 is wound on the collecting shaft 223. The winding and unwinding mechanism 22 is arranged on one side of the storage rack 11. The third driving mechanism 221 includes a box body, a transmission gear arranged in the box body, and a motor. The first transfer robot 13 is fixed to the top of the box body through a feeding support. The first compression roller mechanism 27 is mounted on the feeding support. The first compression roller mechanism 27 includes a first air cylinder arranged vertically downwards and a first compression roller connected to the first air cylinder. The second compression roller mechanism 28 includes a second air cylinder arranged obliquely downwards and a second compression roller connected to the second air cylinder. The discharging support plate 25 can enter the lower part of the transition inclined plate 24 under the action of the second driving mechanism 251. The second driving mechanism 251 includes a lead screw nut and a motor. The output end of the transition inclined plate 24 is provided with a sensor. The sensor is fixed to the transition inclined plate 24 through a sensor support. The output end of the transition inclined plate 24 is provided with an avoidance inclined surface. The avoidance inclined surface can facilitate the movement of the discharging support plate 25 into the lower part of the transition inclined plate. The visual detection system 26 includes a camera support, a camera, and an illuminating lamp. The second compression roller mechanism 28 is fixed to the camera support through an angle-adjustable support. The inclination angle of the second compression roller can be changed according to actual requirements. The camera is mounted on the camera support through the cooperation of a sliding block and a sliding groove. The illuminating lamp is fixed to the camera support. The illuminating lamp irradiates the detection area for the camera to shoot.

[0031] As Figures 1 to 3 shown, the rubber sticking device 3 includes a deviation rectifying mechanism 29 arranged on one side of the discharge support plate 25, a circulating conveying mechanism 33 for conveying the material 5 to be stuck, a second pneumatic suction cup 31, and a second transfer robot 32 for driving the second pneumatic suction cup 31. As Figure 7 shown, the deviation rectifying mechanism 29 includes a first clamping plate 291, a second clamping plate 292, and a clamping cylinder 294 for driving the first clamping plate 291 and the second clamping plate 292 to open and close, a clamping opening 293 is formed between the first clamping plate 291 and the second clamping plate 292, an adjusting rod 295 is threadedly connected to the first clamping plate 291, one end of the adjusting rod 295 extends into the clamping opening 293, and the minimum distance of the clamping opening 293 is adjusted by the adjusting rod 295. As Figure 8 shown, the second pneumatic suction cup 31 includes a gas cavity and a long strip-shaped suction nozzle arranged at the bottom of the gas cavity, and the long strip-shaped suction nozzle can extend into the clamping opening 293. The second transfer robot 32 includes a rotating motor 322 for driving the second pneumatic suction cup 31 to rotate and a three-axis mechanical arm 321 for driving the rotating motor, and the three-axis mechanical arm 321 can realize movement in XYZ three directions and can be driven by a cylinder or a screw nut. As Figure 9 shown, the circulating conveying mechanism 33 includes a first conveying section 331 located below the second pneumatic suction cup 31, a second conveying section 332 located at the input end of the first conveying section 331, a third conveying section 333 located at the output end of the first conveying section 331, and a tray; the first conveying section 331 includes an upper conveying belt 3311 and a lower conveying belt 3312, the upper conveying belt 3311 and the lower conveying belt 3312 are self-powered, the upper conveying belt 3311 realizes directional conveying of the tray from input to output, and the lower conveying belt 3312 realizes directional conveying of the tray from output to input; the second conveying section 332 includes a second movable conveying belt 3321 and a first lifting mechanism 3322 for driving the second movable conveying belt 3321 to lift, the second movable conveying belt 3321 is self-powered, and the first lifting mechanism 3322 realizes the butt joint with the upper conveying belt 3311 or the lower conveying belt 3312, and the first lifting mechanism 3322 can be realized by the cooperation of a belt and a guide rail; the third conveying section 333 includes a third movable conveying belt 3331 and a second lifting mechanism 3332 for driving the third movable conveying belt 3331 to lift, the third movable conveying belt 3331 is self-powered, and the second lifting mechanism 3332 realizes the butt joint with the upper conveying belt 3311 or the lower conveying belt 3312, and the second lifting mechanism 3332 can be realized by the cooperation of a belt and a guide rail.

[0032] The principle of the application: the sheet material 4 is stacked in the storage rack 11, the first transfer manipulator 13 cooperates with the first pneumatic suction cup 12 to take and place the sheet material 4 in the storage rack 11 one by one on the feeding support plate 23 of the stripping device 2; after the sheet material 4 is placed on the feeding support plate 23, the release paper of the sheet material 4 is attached to the adhesive surface of the adhesive tape 21 on the feeding support plate 23, the sheet material 4 moves together with the adhesive tape 21, before the sheet material 4 enters the transition inclined plate 24, the first compression roller mechanism 27 compresses the sheet material 4 on the adhesive tape 21 to ensure reliable contact, the sheet material 4 enters the discharging support plate 25 with the adhesive tape 21, the discharging support plate 25 enters the lower part of the transition inclined plate 24 under the action of the second driving mechanism 251, the adhesive tape 21 is folded back from the output end of the transition inclined plate 24 and tears off the release paper, the remaining foam tape naturally enters the discharging support plate 25, the second compression roller mechanism 28 can be used to stabilize the foam tape on the discharging support plate 25, with the entering of the foam tape, the second driving mechanism 251 drives the discharging support plate 25 to move outward synchronously until the foam tape is completely transferred and flattened on the discharging support plate 25; the second transfer manipulator 32 drives the second pneumatic suction cup 31 to suck the foam tape along the length direction, at the same time, the visual detection system 26 shoots the relative position of the second pneumatic suction cup 31 and the foam tape, if the second pneumatic suction cup 31 and the foam tape are not parallel, then the second pneumatic suction cup 31 with the foam tape enters the clamping port 293 of the correction mechanism 29, through the clamping force of the first clamping plate 291 and the second clamping plate 292, the position of the foam tape is adjusted to make them parallel; after the material to be pasted 5 stops on the pasting station along with the circulating conveying mechanism 33, the second transfer manipulator 32 cooperates with the second pneumatic suction cup 31 to paste the foam tape on the material to be pasted 5, after the pasting process is completed, the material is output.

Claims

1. An automatic adhesive bonding device, comprising a feeding device, a stripping device and an adhesive bonding device; The feeding device comprises a storage rack for storing a sheet material, a first pneumatic suction cup and a first transfer manipulator for driving the first pneumatic suction cup; the storage rack comprises a limiting mechanism located around the sheet material, a supporting plate for supporting the sheet material and a first driving mechanism for driving the supporting plate to lift and fall; The stripping device comprises a feeding support plate, a transition inclined plate, a discharging support plate, an adhesive tape, a winding and unwinding mechanism for winding and unwinding the adhesive tape, a first compression roller mechanism arranged at the input end of the transition inclined plate, a second compression roller mechanism arranged at the output end of the transition inclined plate, a second driving mechanism for driving the horizontal displacement of the discharging support plate and a visual detection system arranged above the discharging support plate; the output end of the feeding support plate is connected with the input end of the transition inclined plate, and the output end of the transition inclined plate is connected with the input end of the discharging support plate; the winding and unwinding mechanism comprises a discharging shaft for fixing the adhesive tape roll, a collecting shaft for collecting the adhesive tape, a plurality of transition rollers and a third driving mechanism; the adhesive tape is discharged from the discharging shaft, passes through the feeding support plate, the transition inclined plate and the transition rollers in sequence and is collected on the collecting shaft; the first compression roller mechanism comprises a first air cylinder vertically downward and a first compression roller connected with the first air cylinder, and the second compression roller mechanism comprises a second air cylinder obliquely downward and a second compression roller connected with the second air cylinder; The discharging support plate can enter the lower part of the transition inclined plate under the action of the second driving mechanism; the adhesive bonding device comprises a deviation rectifying mechanism arranged on one side of the discharging support plate, a circulating conveying mechanism for conveying the material to be bonded, a second pneumatic suction cup and a second transfer manipulator for driving the second pneumatic suction cup; the deviation rectifying mechanism comprises a first clamping plate, a second clamping plate and a clamping air cylinder for driving the first clamping plate and the second clamping plate to open and close, a clamping opening is formed between the first clamping plate and the second clamping plate, an adjusting rod is threadedly connected to the first clamping plate, one end of the adjusting rod extends into the clamping opening, and the minimum distance of the clamping opening is adjusted through the adjusting rod; the second pneumatic suction cup comprises an air cavity and an elongated suction nozzle arranged at the bottom of the air cavity, and the elongated suction nozzle can extend into the clamping opening; the circulating conveying mechanism comprises a first conveying section below the second pneumatic suction cup, a second conveying section at the input end of the first conveying section, a third conveying section at the output end of the first conveying section and a tray, the first conveying section comprises an upper conveying belt and a lower conveying belt, the second conveying section comprises a second movable conveying belt and a first lifting mechanism for driving the second movable conveying belt to lift and fall, and the third conveying section comprises a third movable conveying belt and a second lifting mechanism for driving the third movable conveying belt to lift and fall.

2. The automatic taping apparatus of claim 1, wherein: The sheet material comprises a release paper and a plurality of foam adhesive strips arranged in parallel on the release paper, the bottom of the foam adhesive strip has an adhesive layer, and the upper surface of the discharging support plate is provided with an anti-adhesion layer.

3. The automatic taping apparatus of claim 1, wherein: The limiting mechanism comprises a front stopper, a rear stopper and side stoppers located on both sides, a plurality of air holes are arranged on the front stopper, the front stopper is connected with high-pressure gas, and the rear stopper moves forward and backward through the cooperation of a sliding block and a sliding rail.

4. The automatic taping apparatus of claim 1, wherein: The first pneumatic suction cup comprises a support and a plurality of movable suction nozzles arranged on the support, and the edge of the support is provided with an elongated hole, and the movable suction nozzles are locked in the elongated hole through bolts.

5. The automatic taping apparatus of claim 1, wherein: The visual inspection system comprises a camera support, a camera and a lighting lamp, the second compression roller mechanism is fixed on the camera support through an angle-adjustable support, the camera is installed on the camera support through the cooperation of a sliding block and a sliding block, and the lighting lamp is fixed on the camera support.

6. The automatic taping apparatus of claim 1, wherein: The winding and unwinding mechanism is arranged on one side of the storage rack, the third driving mechanism comprises a box body, a transmission gear arranged in the box body and a motor, the first transfer manipulator is fixed on the top of the box body through a feeding support, and the first compression roller mechanism is installed on the feeding support.

7. The automatic taping apparatus of claim 1, wherein: The output end of the transition inclined plate is provided with a sensor, the sensor is fixed on the transition inclined plate through a sensor support, and the bottom of the output end of the transition inclined plate is provided with a clearance inclined surface.

8. The automatic taping apparatus of claim 1, wherein: The second transfer manipulator comprises a rotary motor for driving the rotation of the second pneumatic suction cup and a three-axis mechanical arm for driving the rotary motor.

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