Automatic assembly equipment for anti-explosion sheet substrate

Abstract

The application relates to the technical field of new energy batteries, and discloses an automatic assembling equipment for anti-explosion plate substrates, one end of a feeding flow line is connected with a substrate incoming flow line, the feeding flow line passes through an assembling machine, and the two sides of the feeding flow line are provided with a left discharging buffer line, a right discharging buffer line and two anti-explosion plate welding machines; a substrate carrying module, a substrate reverse NG discharging module, a substrate reverse NG box, an anti-explosion plate reverse NG box, an anti-explosion plate feeding clip, a width-adjusting flow line, a turnover mechanism, a lower CCD, an upper CCD, a four-axis robot, an anti-explosion plate assembling NG temporary storage box, a substrate assembling NG temporary storage box and a discharging carrying module are arranged on the machine table of the assembling machine; through automatic flow line and robot operation, the rapid carrying, positioning, assembling and detection of the substrate are realized, manual cost is reduced, production efficiency is improved, the anti-explosion plate substrate can be accurately assembled, the error caused by manual operation is avoided, and the quality stability of products is improved.

Description

Technical Field

[0001] This invention belongs to the field of new energy battery technology, specifically relating to an automatic assembly equipment for explosion-proof substrates. Background Technology

[0002] In the new energy battery industry, the assembly and welding of explosion-proof substrates can increase the safety performance of batteries, effectively prevent accidents such as short circuits and overheating, and prevent battery explosions or fires. The use of explosion-proof substrates can improve the battery's resistance to vibration and impact, and enhance the stability and reliability of the battery during transportation and use.

[0003] After the substrate explosion-proof sheet is assembled, it needs to be welded using an explosion-proof sheet welding machine. Traditionally, the assembly of the substrate explosion-proof sheet involves manually picking up the substrate and explosion-proof sheet separately, and then assembling them. This process requires manual quality assessment of the substrate and explosion-proof sheet, and manual assembly is time-consuming and inefficient, failing to meet the demands of large-scale production. Furthermore, manual quality assessment is susceptible to human error, potentially leading to inconsistent quality. In addition, inaccurate placement of the explosion-proof sheet and weak welding can occur during manual assembly, affecting overall product quality. Operators may also make mistakes due to negligence or improper operation, resulting in incorrect installation of the explosion-proof sheet and affecting the safety performance of the new energy battery. Manual assembly requires significant human and material resources, increasing production costs. Differences in operator skills during manual assembly can also lead to inconsistent product quality, affecting the overall consistency and stability of the product. Summary of the Invention

[0004] To overcome the shortcomings of existing technologies, this invention proposes an automatic assembly equipment for explosion-proof substrates.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] An automatic assembly equipment for explosion-proof sheet substrates includes a feeding line, one end of which is connected to a substrate receiving line. The feeding line passes through an assembly machine, and a left unloading buffer line, a right unloading buffer line, and two explosion-proof sheet welding machines are provided on both sides of the feeding line.

[0007] The assembly machine is equipped with a substrate handling module, a substrate reverse NG unloading module, a substrate reverse NG material box, an explosion-proof sheet reverse NG material box, an explosion-proof sheet loading clip, a width adjustment assembly line, a flipping mechanism, a lower CCD, an upper CCD, a four-axis robot, an explosion-proof sheet assembly NG temporary storage box, a substrate assembly NG temporary storage box, and an unloading and handling module.

[0008] The substrate handling module is used to transfer substrates from the substrate receiving line to the substrate width adjustment line. The substrate reverse NG unloading module is used to transfer defective substrates from the width adjustment line to the substrate reverse NG hopper. The flipping mechanism is provided through the through-hole on the width adjustment line and is used to flip incoming good substrates. The lower CCD is used to position the explosion-proof sheet, and the upper CCD is used for substrate positioning and re-inspection of the position of the explosion-proof sheet substrate after assembly. The explosion-proof sheet feeding spring is used to feed the explosion-proof sheets. The explosion-proof sheet reverse NG hopper is located on the explosion-proof sheet feeding spring. The center position of the clamp is used for temporary storage of defective explosion-proof sheets. The robotic arm of the four-axis robot grabs the explosion-proof sheet from the explosion-proof sheet loading clip, positions and identifies the reverse side by taking a picture with the lower CCD, and then puts it into the assembly of good product substrates. The good explosion-proof sheet substrates assembled by the four-axis robot are sent out through the width adjustment production line. The assembled defective explosion-proof sheet substrates are transferred to the explosion-proof sheet assembly NG temporary storage box or the substrate assembly NG temporary storage box through the unloading and handling module. The good explosion-proof sheet substrates assembled on the width adjustment production line are respectively transported to the left unloading buffer line and the right unloading buffer line through the unloading and handling module.

[0009] The two explosion-proof sheet welding machines are used to weld the good explosion-proof sheet substrates coming from the left and right feeding buffer lines, respectively.

[0010] Preferably, the substrate receiving line is provided with a positioning module and a positioning adjustment plate that cooperate with the substrate for positioning and limiting. The positioning module can accurately position the substrate to a suitable position.

[0011] Preferably, the substrate handling module includes a first support, a first lead screw linear module disposed on the first support and aligned with the substrate receiving assembly line conveying direction, a first Z-axis lead screw linear module disposed on the slide of the first lead screw linear module, a first connecting plate disposed on the slide of the first Z-axis lead screw linear module, and two first suction cups fixedly disposed at the bottom of the first connecting plate.

[0012] Preferably, the substrate reverse NG unloading module includes a second bracket, a transverse lead screw linear module disposed on the second bracket, a second Z-axis lead screw linear module disposed on the transverse lead screw linear module slide, a second connecting plate disposed on the second Z-axis lead screw linear module slide, and a second suction cup disposed on the second connecting plate.

[0013] Preferably, the unloading and handling module includes a third bracket, a third lead screw linear module mounted on the third bracket, a third Z-axis lead screw linear module mounted on the slide of the third lead screw linear module, a third connecting plate mounted on the slide of the third Z-axis lead screw linear module, and explosion-proof suction cup and substrate suction cup fixed on the third connecting plate.

[0014] Preferably, the upper CCD is fixed on a vertical bracket on the top of the machine tool.

[0015] Preferably, the protective frame on the top of the machine is equipped with a controller, which is used to control the substrate handling module, the substrate reverse NG unloading module, the explosion-proof sheet loading clip, the width adjustment production line, the flipping mechanism, the lower CCD, the upper CCD, the four-axis robot, and the unloading and handling module.

[0016] The technical effects and advantages of this invention are as follows:

[0017] This automated assembly equipment for explosion-proof substrates, through automated production lines and robotic operation, enables rapid handling, positioning, assembly, and testing of substrates, significantly improving production efficiency. Compared to manual operation, the automated equipment reduces reliance on human intervention, lowers labor costs, and can operate continuously, further enhancing production efficiency. Using upper and lower CCDs for positioning and identification, it accurately assembles explosion-proof substrates, avoiding human error and improving product quality stability. The equipment employs an explosion-proof welding machine for welding operations, eliminating potential safety hazards associated with manual welding and improving production safety.

[0018] This automated assembly equipment for explosion-proof sheet substrates can automatically load and assemble substrates and explosion-proof sheets, as well as remove and temporarily store defective products. It replaces manual visual inspection with machine identification and automated mechanical assembly with manual assembly. The automated assembly equipment can improve production speed, shorten production cycle, and thus improve overall production efficiency. Through machine identification and inspection, defective products can be detected and removed in a timely manner, thereby improving overall product quality. The automated assembly equipment can accurately assemble products, reducing the generation of defective products due to human error. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a top sectional view of the present invention;

[0021] Figure 3 This is a first-view structural schematic diagram of the assembly machine of the present invention;

[0022] Figure 4 This is a structural schematic diagram of the assembly machine of the present invention from a second perspective;

[0023] Figure 5 This is a top sectional view of the assembly machine of the present invention;

[0024] Figure 6 This is a schematic diagram of the substrate receiving production line of the present invention;

[0025] Figure 7 This is a first-view structural schematic diagram of the substrate handling module of the present invention;

[0026] Figure 8 This is a schematic diagram of the substrate handling module of the present invention from a second perspective;

[0027] Figure 9 This is a schematic diagram of the substrate reverse NG unloading module of the present invention;

[0028] Figure 10 This is a schematic diagram of the material handling module of the present invention;

[0029] Figure 11 This is a schematic diagram of the structure of the vertical support of the present invention.

[0030] In the picture:

[0031] 1. Feeding assembly line;

[0032] 2. Substrate receiving line; 21. Positioning module; 22. Positioning adjustment plate;

[0033] 3. Assembly machine; 31. Machine base; 32. Protective frame; 33. Controller; 34. Substrate handling module; 35. Substrate reverse NG unloading module; 36. Substrate reverse NG material box; 37. Explosion-proof sheet reverse NG material box; 38. Explosion-proof sheet loading clip; 39. Four-axis robot; 310. Flipping mechanism; 311. Lower CCD; 312. Upper CCD; 3121. Vertical support; 313. Width adjustment production line; 314. Explosion-proof sheet assembly NG temporary storage box; 315. Substrate assembly NG temporary storage box; 316. Unloading and handling module;

[0034] 3401, First bracket; 3402, First lead screw linear module; 3403, First Z-axis lead screw linear module; 3404, First connecting plate; 3405, First suction cup; 3406, Substrate reverse detection sensor;

[0035] 3501, Second bracket; 3502, Transverse lead screw linear module; 3503, Second Z-axis lead screw linear module; 3504, Second connecting plate; 3505, Second suction cup;

[0036] 3161. Third bracket; 3162. Third lead screw linear module; 3163. Third Z-axis lead screw linear module; 3164. Third connecting plate; 3165. Explosion-proof suction cup; 3166. Base plate suction cup;

[0037] 4. Left-bottom material buffer line;

[0038] 5. Right bottom material buffer line;

[0039] 6. Explosion-proof sheet welding machine. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] The following is in conjunction with the appendix Figure 1-11 This application will be described in further detail.

[0042] This application discloses an automatic assembly equipment for explosion-proof sheet substrates, including a feeding line 1, one end of which is connected to a substrate receiving line 2, the feeding line 1 passing through an assembly machine 3, and a left unloading buffer line 4, a right unloading buffer line 5, and two explosion-proof sheet welding machines 6 on both sides of the feeding line 1.

[0043] like Figure 3-5 As shown, the assembly machine 3 has a substrate handling module 34, a substrate reverse NG unloading module 35, a substrate reverse NG material box 36, an explosion-proof sheet reverse NG material box 37, an explosion-proof sheet loading clip 38, a width adjustment assembly line 313, a flipping mechanism 310, a lower CCD 311, an upper CCD 312, a four-axis robot 39, an explosion-proof sheet assembly NG temporary storage box 314, a substrate assembly NG temporary storage box 315, and an unloading and handling module 316 on its machine base 31.

[0044] The substrate handling module 34 is used to transfer substrates from the substrate receiving line 2 to the width adjustment line 313. The substrate reverse NG unloading module 35 is used to transfer defective substrates from the width adjustment line 313 to the substrate reverse NG box 36. The flipping mechanism 310 is provided through a through hole in the width adjustment line 313 and is used to flip incoming good substrates. The lower CCD 311 is used to position the explosion-proof sheet. The upper CCD 312 is used for substrate positioning and re-inspection of the position of the explosion-proof sheet substrate after assembly. The explosion-proof sheet feeding clip 38 is used to supply explosion-proof sheets. The explosion-proof sheet reverse NG box 37 is disposed on the explosion-proof sheet feeding clip. At the center of position 38, it is used for temporary storage of defective explosion-proof sheets. The robotic arm of the four-axis robot 39 grabs the explosion-proof sheets on the explosion-proof sheet loading clip 38, and after positioning and identifying the reverse direction by taking pictures with the lower CCD 311, it puts them into the assembly of good product substrates. The good explosion-proof sheet substrates assembled by the four-axis robot 39 are sent out through the width adjustment production line 313. The assembled defective explosion-proof sheet substrates are transferred to the explosion-proof sheet assembly NG temporary storage box 314 or the substrate assembly NG temporary storage box 315 through the unloading and handling module 316. The good explosion-proof sheet substrates assembled on the width adjustment production line 313 are respectively transported to the left unloading buffer line 4 and the right unloading buffer line 5 through the unloading and handling module 316.

[0045] The two explosion-proof sheet welding machines 6 are used to weld the good explosion-proof sheet substrates coming from the left feed buffer line 4 and the right feed buffer line 5, respectively.

[0046] This automated assembly equipment for explosion-proof substrates, through automated production lines and robotic operation, achieves rapid handling, positioning, assembly, and testing of substrates, significantly improving production efficiency. Compared to manual operation, the automated equipment reduces reliance on manual labor, lowers labor costs, and can operate continuously, further enhancing production efficiency. Using upper and lower CCD311 positioning and identification, it accurately assembles explosion-proof substrates, avoiding human error and improving product quality stability. The equipment employs an explosion-proof welding machine 6 for welding operations, avoiding potential safety hazards associated with manual welding and improving production safety.

[0047] like Figure 6 As shown, the substrate receiving production line 2 is equipped with a positioning module 21 and a positioning adjustment plate 22 that cooperate with the substrate for positioning and limiting. The positioning module 21 can accurately position the substrate to the appropriate position, making the automated production of the entire production line more stable and efficient. The accurate positioning module 21 can reduce the scrap rate caused by inaccurate positioning, thereby reducing production costs. The positioning module 21 can ensure that each substrate can be accurately positioned, avoiding product quality problems caused by substrate position deviation during production. The positioning adjustment plate 22 can be adjusted as needed to adapt to substrates of different specifications and sizes, improving the flexibility and applicability of the production line.

[0048] like Figure 7 As shown, the substrate handling module 34 includes a first support 3401, a first lead screw linear module 3402 disposed on the first support 3401 and in the same direction as the substrate receiving assembly line 2, a first Z-axis lead screw linear module 3403 disposed on the slide of the first lead screw linear module 3402, a first connecting plate 3404 disposed on the slide of the first Z-axis lead screw linear module 3403, and two first suction cups 3405 fixedly disposed at the bottom of the first connecting plate 3404.

[0049] The substrate handling module 34 is designed so that the two first suction cups 3405 can pick up the substrate and move it horizontally and vertically, making the handling process more automated and efficient, reducing the time and error of manual operation. The design of the first lead screw linear module 3402 and the first Z-axis lead screw linear module 3403 makes the substrate positioning more accurate, improving production efficiency and product quality. The design of the substrate handling module 34 makes the handling process safer and reduces the safety risks caused by improper manual operation.

[0050] Each of the first suction cups 3405 is equipped with a substrate reverse detection sensor 3406. The substrate reverse detection sensor 3406 is typically used to detect the correct mounting orientation of the substrate to prevent errors during the assembly and welding of the substrate and the explosion-proof sheet. This is very important for ensuring the functionality and reliability of the explosion-proof sheet and the substrate. The substrate reverse detection sensor 3406 can ensure that the substrate is installed correctly.

[0051] like Figure 8 As shown, the substrate reverse NG unloading module 35 includes a second support 3501, a transverse lead screw linear module 3502 disposed on the second support 3501, a second Z-axis lead screw linear module 3503 disposed on the slide of the transverse lead screw linear module 3502, a second connecting plate 3504 disposed on the slide of the second Z-axis lead screw linear module 3503, and a second suction cup 3505 disposed on the second connecting plate 3504.

[0052] The design of the substrate reverse NG unloading module 35 enables the second suction cup 3505 to pick up NG substrates (i.e. defective substrates) and move them horizontally and vertically, making the handling process more automated and efficient, reducing the time and error of manual operation. The horizontal lead screw linear module 3502 and the second Z-axis lead screw linear module 3503 make the positioning of NG substrates more accurate, making it easier to accurately transfer NG substrates to the substrate reverse NG material box 36.

[0053] like Figure 9 As shown, the unloading and handling module 316 includes a third support 3161, a third lead screw linear module 3162 disposed on the third support 3161, a third Z-axis lead screw linear module 3163 disposed on the slide of the third lead screw linear module 3162, a third connecting plate 3164 disposed on the slide of the third Z-axis lead screw linear module 3163, an explosion-proof suction cup 3165 and a substrate suction cup 3166 fixedly disposed on the third connecting plate 3164.

[0054] The explosion-proof chuck 3165 and the substrate chuck 3166 are used to pick up the explosion-proof chucks on the substrate. The third lead screw linear module 3162 and the third Z-axis lead screw linear module 3163 on the unloading and conveying module 316 are used to move the picked-up explosion-proof chucks in the horizontal or vertical direction, so as to facilitate the transfer of good substrate explosion-proof chucks to the left unloading buffer line 4 and the right unloading buffer line 5, or the transfer of defective substrate explosion-proof chucks to the explosion-proof chuck assembly NG temporary storage box 314 and the substrate assembly NG temporary storage box 315.

[0055] like Figure 11 As shown, the upper CCD 312 is fixed on the vertical bracket 3121 on the top of the machine base 31.

[0056] like Figure 10As shown, a controller 33 is mounted on the protective frame 32 at the top of the machine base 31. The controller 33 controls the substrate handling module 34, the substrate reverse NG unloading module 35, the explosion-proof sheet loading clip 38, the width adjustment assembly line 313, the flipping mechanism 310, the lower CCD 311, the upper CCD 312, the four-axis robot 39, and the unloading and handling module 316. The controller 33 plays a crucial role in the entire production system. Its main function is to coordinate and control the operation of various modules and equipment on the production line, ensuring that they complete their respective tasks in the correct sequence and at the right time. Through centralized control, the production process can be automated, efficient, and precise. Managing these steps with the controller 33 can also improve the production efficiency of the production line, reduce malfunctions and human errors, and ensure product consistency and quality.

[0057] The automatic assembly equipment for explosion-proof substrates involves the following steps: First, the substrates are fed into the substrate receiving line 2. After reaching the loading position, they are positioned by the positioning module 21 and the positioning adjustment plate 22. The substrate handling module 34 then transfers the substrates from the receiving line 2 to the width adjustment line 313. The substrate reverse NG unloading module 35 transfers defective substrates from the width adjustment line 313 to the substrate reverse NG box 36. Good substrates are flipped by the flipping mechanism 310 and then placed back into the width adjustment line 313 to await explosion-proof substrate assembly. The upper CCD 312 positions the substrate, and the four-axis robot 39's four-axis manipulator grasps the explosion-proof substrate. The lower CCD... After CD311 takes a picture and positions the device and identifies the reverse side, good explosion-proof sheets are loaded into the substrate, and defective explosion-proof sheets are placed into the explosion-proof sheet reverse NG material box 37. The four-axis robot 39 uses the four-axis manipulator to assemble the explosion-proof sheets according to the positioning of the upper and lower cameras. After assembly, the CCD 312 is used to check whether the assembly is complete. The unloading and handling module 316 picks up the assembled and checked substrate explosion-proof sheets. Defective sheets are picked up first and then the substrate. They are placed into the corresponding explosion-proof sheet assembly NG temporary storage box 314 and substrate assembly NG temporary storage box 315 in sequence. The unloading and handling module 316 picks up good sheets and places them into the left and right unloading buffers in sequence. They are then manually removed and transferred to the explosion-proof sheet welding machine 6 for welding.

[0058] The above-mentioned automated assembly equipment for explosion-proof sheet substrates can automatically load and assemble substrates and explosion-proof sheets, as well as remove and temporarily store defective products. It replaces manual visual inspection with machine identification and automated mechanical assembly with manual assembly. Automated assembly equipment can increase production speed, shorten production cycles, and thus improve overall production efficiency. It can replace manual labor in repetitive and tedious operations, reducing employee workload, improving work comfort, and helping employees maintain a good mental state and work attitude. The automated equipment has high precision and stability, ensuring the accuracy of product dimensions, shape, and other parameters. Simultaneously, machine identification and inspection can promptly identify and remove defective products, thereby improving overall product quality. Automated assembly equipment can precisely assemble products, reducing the generation of defective products due to human error. Furthermore, the defective product identification and removal mechanism helps reduce the risk of defective products flowing into subsequent production stages, ensuring the smooth operation of the entire production process. Automated assembly equipment can reduce reliance on skilled workers, lowering labor costs. Enterprises can then invest the saved human resources in other more valuable processes, achieving optimal resource allocation.

[0059] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic assembly equipment for explosion-proof substrates, characterized in that, Including the feeding flow line (1), the feeding flow line (1) one end butt joint has the substrate incoming flow line (2), the feeding flow line (1) passes through the assembly machine (3) setting, the feeding flow line (1) both sides are equipped with left unloading buffer line (4), right unloading buffer line (5) and two anti-explosion piece welding machine (6); The machine table (31) of the assembly machine (3) is equipped with substrate carrying module (34), substrate reverse NG unloading module (35), substrate reverse NG box (36), anti-explosion piece reverse NG box (37), anti-explosion piece feeding clip (38), width adjustment flow line (313), turnover mechanism (310), lower CCD (311), upper CCD (312), four-axis robot (39), anti-explosion piece assembly NG temporary storage box (314), substrate assembly NG temporary storage box (315) and unloading carrying module (316); The substrate carrying module (34) is used to carry and transfer the substrate on the substrate incoming flow line (2) to the width adjustment flow line (313), the substrate reverse NG unloading module (35) is used to carry and transfer the defective substrate on the width adjustment flow line (313) to the substrate reverse NG box (36), the turnover mechanism (310) is arranged through the through hole on the width adjustment flow line (313), and the turnover mechanism (310) is used to turn over the incoming good substrate, the lower CCD (311) is used to position the anti-explosion piece, the upper CCD (312) is used to position and recheck the position of the assembled anti-explosion piece substrate, the anti-explosion piece feeding clip (38) is used for feeding the anti-explosion piece, the anti-explosion piece reverse NG box (37) is arranged at the center position of the anti-explosion piece feeding clip (38) and is used for temporary storage of defective anti-explosion pieces, the mechanical hand of the four-axis robot (39) grabs the anti-explosion piece on the anti-explosion piece feeding clip (38), and the good substrate is placed after reverse through the lower CCD (311) photographing positioning and identification, the good anti-explosion piece substrate assembled by the four-axis robot (39) is sent out through the width adjustment flow line (313), the defective anti-explosion piece substrate assembled is transferred to the anti-explosion piece assembly NG temporary storage box (314) or the substrate assembly NG temporary storage box (315) through the unloading carrying module (316), and the good anti-explosion piece substrate assembled after the width adjustment flow line (313) is carried and transferred to the left unloading buffer line (4) and the right unloading buffer line (5) through the unloading carrying module (316); Two anti-explosion piece welding machines (6) are used to weld the incoming good anti-explosion piece substrate on the left unloading buffer line (4) and the right unloading buffer line (5) respectively.

2. The automatic assembly equipment for the anti-explosion film substrate according to claim 1, characterized in that: The positioning module (21) matched with the substrate limiting positioning and the positioning adjusting plate (22) are arranged on the substrate incoming flow line (2).

3. The automatic assembly apparatus for the anti-explosion film substrate according to claim 1, characterized in that: The substrate conveying module (34) comprises a first support (3401), a first screw linear module (3402) arranged on the first support (3401) and consistent with the conveying direction of the substrate incoming line (2), a first Z-axis screw linear module (3403) arranged on the sliding table of the first screw linear module (3402), a first connecting plate (3404) arranged on the sliding table of the first Z-axis screw linear module (3403), and two first suction cups (3405) fixedly arranged on the bottom of the first connecting plate (3404). A substrate reverse detection sensor (3406) is correspondingly mounted on each of the first suction cups (3405).

4. The apparatus of claim 1, wherein: The substrate reverse NG unloading module (35) comprises a second support (3501), a transverse screw linear module (3502) arranged on the second support (3501), a second Z-axis screw linear module (3503) arranged on the sliding table of the transverse screw linear module (3502), a second connecting plate (3504) arranged on the sliding table of the second Z-axis screw linear module (3503), and a second suction cup (3505) arranged on the second connecting plate (3504).

5. The apparatus of claim 1, wherein: The unloading conveying module (316) comprises a third support (3161), a third screw linear module (3162) arranged on the third support (3161), a third Z-axis screw linear module (3163) arranged on the sliding table of the third screw linear module (3162), a third connecting plate (3164) arranged on the sliding table of the third Z-axis screw linear module (3163), an anti-explosion sheet suction cup (3165) and a substrate suction cup (3166) fixedly arranged on the third connecting plate (3164).

6. The apparatus of claim 1, wherein: The upper CCD (312) is fixed on a vertical support (3121) at the top of the machine table (31).

7. The apparatus of claim 1, wherein: The controller (33) is arranged on the protective frame (32) at the top of the machine table (31).

Images