Gluing and film tearing equipment for carrier

Abstract

The invention relates to the field of automatic equipment for adhesive tape pasting and film tearing, in particular to carrier adhesive tape pasting and film tearing equipment which comprises a first robot, a material moving mechanical arm, an upper film tearing mechanical arm, an adhesive film positioning table, a lower film tearing mechanical arm, a carrier positioning table and a film pressing device. The upper film tearing manipulator tears the upper film after the adhesive film is adhered to the top wall of the carrier, and the adhesive film positioning table is used for the material moving manipulator to take the adhesive film; the lower film tearing manipulator tears the lower film when the material moving manipulator is suspended above the lower film tearing manipulator; the carrier positioning table is used for placing a carrier, so that the material moving manipulator can conveniently attach the adhesive film with the lower film torn off to the top wall of the carrier; the film pressing device automatically presses or rolls the adhesive film after the upper film is torn off, so that the adhesive film is tightly attached to the carrier. By designing the special film pressing device, automatic extrusion and rolling after the adhesive film is attached are realized, bubbles are eliminated, and the attaching quality is improved; and meanwhile, the structure and the action process of the film tearing manipulator are optimized, and the size of the film tearing module is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automated equipment for glue sticking and film tearing, and in particular to a device for glue sticking and film tearing on a carrier, and more particularly to a device for glue sticking and film tearing on a chip tinning carrier. Background Art

[0002] In the fields of electronic product manufacturing, precision device assembly, etc., adhesive films are often used for protection, fixing or conduction, and need to be precisely attached to the surface of the carrier or product. Traditional adhesive film peeling equipment can realize automatic film peeling and automatic adhesive application, but lacks automatic film pressing technology. Although the adhesive film has been automatically attached to the carrier, it is difficult to effectively eliminate the bubbles between the adhesive film and the carrier, which affects the quality of the bonding. The film peeling robot of the existing equipment has a slow film peeling speed and requires a large space for film peeling, which affects the volume of the equipment and the overall production efficiency. Summary of the invention

[0003] The object of the present invention is to provide a carrier glue laminating and film tearing device to solve the problem that the film tearing module of the conventional glue laminating and film tearing device is bulky and it is difficult to remove bubbles between the glue film and the carrier after glue laminating.

[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: A carrier glue and film tearing device comprises: a first robot, a material moving manipulator and a film tearing manipulator, the material moving manipulator and the film tearing manipulator are both installed on the executive part of the first robot, the material moving manipulator is used to absorb or clamp the glue film, the film tearing manipulator is used to grab the upper film pasted on the top wall of the glue film after the glue film is pasted on the top wall of the carrier, the executive part of the first robot can move at least in the horizontal and vertical directions, so as to move the glue film to different workstations, and cooperate with the action of the film tearing manipulator to tear off the upper film; and, arranged within the activity range of the material moving manipulator: a glue film positioning table for placing the The adhesive film can be grasped and constrained in height and horizontal position for the material transfer robot to take; the film tearing robot is used to grab the lower film adhered to the bottom wall of the adhesive film when the material transfer robot is suspended above itself, and cooperate with the action of the first robot to tear off the lower film; the carrier positioning platform is used to place the carrier so that the top wall of the carrier is exposed within the range of movement of the material transfer robot, so that the material transfer robot can stick the adhesive film with the lower film torn off to the top wall of the carrier; the film pressing device is used to squeeze and / or roll the top wall of the adhesive film downward after the upper film is torn off the adhesive film, so that the adhesive film fits tightly to the carrier.

[0005] Furthermore, it also includes a second robot, a loading robot and a film silo, the loading robot is installed on the execution part of the second robot, the loading robot is used to adsorb or clamp the film, the film positioning platform and the film silo are both located within the activity range of the loading robot, and the execution part of the second robot can move at least in the horizontal and vertical directions, so as to move the film from the film silo to the film positioning platform.

[0006] Furthermore, the film tearing robot includes: a first mechanical clamp, used to clamp the convex strip on the edge of the lower film; a seventh linear drive, fixedly connected to the frame and transmission-connected to the first mechanical clamp, used to drive the first mechanical clamp to move in a direction away from the adhesive film to tear off the lower film.

[0007] Furthermore, the actuator of the seventh linear actuator moves obliquely downward and toward an end away from the lower film clamped by the first mechanical clamp.

[0008] Furthermore, the material transfer robot includes: a robot connecting seat, fixedly connected to the actuator of the first robot; a second suction cup mounting seat, which can be vertically slidably suspended below the robot connecting seat through a first sliding column; a second vacuum suction cup, fixedly connected to the second suction cup mounting seat, and generating suction force for adsorbing the adhesive film through a vacuum pump; a first spring, which is sleeved on the outer side of the first sliding column, and whose two ends respectively abut against the robot connecting seat and the second suction cup mounting seat, so as to provide a force for the material transfer robot to stick the adhesive film to the carrier.

[0009] Furthermore, the material transfer robot also includes a third vacuum suction cup, which is fixedly connected to the second suction cup mounting seat and is arranged around the second vacuum suction cup on the edge of the second suction cup mounting seat, and the diameter of the second vacuum suction cup is larger than the diameter of the third vacuum suction cup.

[0010] Furthermore, the film tearing robot includes: an eighth linear drive, a ninth linear drive and a tenth linear drive connected in sequence, and a second mechanical gripper and a third mechanical gripper, wherein the eighth linear drive is fixedly connected to the executive part of the first robot, the second mechanical gripper is fixedly connected to the executive part of the ninth linear drive, and the third mechanical gripper is fixedly connected to the executive part of the tenth linear drive; the eighth linear drive, the ninth linear drive and the tenth linear drive are respectively oriented in three different directions perpendicular to each other, and when the convex strip on one side of the upper film falls into the working range of the second mechanical gripper, the third mechanical gripper is facing the other side of the upper film having the convex strip.

[0011] Furthermore, the first robot includes two rotary drives and a sixth linear drive connected in sequential transmission, the actuator of the rotary drive can rotate independently around a vertical axis, the actuator of the sixth linear drive can be lifted and lowered vertically, and the material transfer robot and the film tearing robot are both installed on the actuator of the sixth linear drive.

[0012] Furthermore, the film pressing device includes: a plate pressing device, including a pressing plate that can be independently raised and lowered and whose four corners can be independently moved in the horizontal and vertical directions, and a thirteenth linear drive that drives the pressing plate to be raised and lowered; a rolling device, including a pressing roller that can be independently raised and lowered and whose two ends can be independently moved in the horizontal and vertical directions, and a fourteenth linear drive that drives the pressing roller to be raised and lowered; an eleventh linear drive, fixedly connected to the frame, and transmission-connected to the plate pressing device and the rolling device; wherein the actuator of the eleventh linear drive moves horizontally, thereby driving the plate pressing device and the rolling device to avoid the material transfer robot, and driving the pressing roller to roll back and forth on the film.

[0013] Furthermore, the rolling device also includes a rotating shaft connecting the actuator of the fourteenth linear drive and the pressure roller, the rotating shaft is connected to the actuator of the fourteenth linear drive through a bearing seat, so that the rotating shaft can rotate around a horizontal axis, the pressure roller is coaxially sleeved on the outside of the rotating shaft, the rotating shaft and the pressure roller are connected through an elastic sleeve, the elastic sleeve is inserted in the annular gap formed between the rotating shaft and the pressure roller, the elastic sleeve is used to keep the rotating shaft and the pressure roller coaxially connected, and the elastic sleeve can radially expand and contract so that the pressure roller The two ends can independently move in the vertical direction relative to the two ends of the rotating shaft; the plate pressing device also includes a guide column connecting the actuator of the thirteenth linear drive and the pressure plate, the actuator of the thirteenth linear drive is fixedly connected to a guide sleeve sleeved on the outside of the guide column, and the top of the guide column is formed with a conical head that expands upward and radially outward, so that the guide column can suspend the pressure plate below the guide sleeve, and the outer diameter of the guide column is smaller than the inner diameter of the guide sleeve, so that each guide column can independently move axially relative to the guide sleeve. Compared with the prior art, the present application has the following beneficial effects: A carrier glue and film tearing equipment is provided. By designing a special film pressing device, the automatic extrusion and rolling steps after the film is attached are realized, which can effectively eliminate bubbles, make the film and the carrier fit tightly, and improve the bonding quality. At the same time, the structure and action process of the film tearing robot and the film tearing robot are optimized, and the volume of the film tearing module is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0015] Figure 1 An exploded view of a film according to an embodiment of the present invention; Figure 2 A top view of an embodiment of the present invention; Figure 3 It is a three-dimensional diagram of a second robot, a feeding manipulator, a film positioning platform and a film silo according to an embodiment of the present invention; Figure 4 The partial structure and the loading manipulator of the second robot of the embodiment of the present invention; Figure 5 A three-dimensional diagram of a film silo according to an embodiment of the present invention; Figure 6 A top view of a film silo according to an embodiment of the present invention; Figure 7 for Figure 6 Cross-sectional view in the AA direction; Figure 8 for Figure 6 Cross-sectional view in the BB direction; Fig. 9 A three-dimensional diagram of a film positioning platform according to an embodiment of the present invention; Fig.10 The three-dimensional diagram of the film positioning platform of the embodiment of the present invention from different viewing angles; Fig.11 The first robot, the material transfer robot and the film tearing robot of the embodiment of the present invention; Fig.12 for Fig.11 A local enlarged view of point C; Fig.13 It is an enlarged view of the material transfer robot and its parts according to an embodiment of the present invention; Fig.14 A three-dimensional diagram of a carrier positioning platform and a laminating device according to an embodiment of the present invention; Fig.15 It is a front view of a carrier positioning platform and a laminating device according to an embodiment of the present invention; Fig.16 A film pressing device according to an embodiment of the present invention; Fig.17 for Fig.16 Cross-sectional view in the EE direction; Fig.18 for Fig.16A cross-sectional view in the FF direction; Fig.19 A three-dimensional diagram of a carrier positioning platform according to an embodiment of the present invention; Fig. 20 A front view of a carrier positioning platform according to an embodiment of the present invention; Fig.21 for Fig. 20 Cross-sectional view in DD direction; The numbers in the figure represent the following: 11-upper film; 12-adhesive film; 13-lower film; 14-convex strip; 15-carrier; 16-socket; 2-first robot; 21-rotation drive; 22-sixth linear drive; 23-material transfer manipulator; 231-robot connection seat; 232-second suction cup mounting seat; 233-first sliding column; 234-first spring; 235-second vacuum suction cup; 236-third vacuum suction cup; 24-film tearing manipulator; 241-eighth linear drive; 242-ninth linear drive; 243-tenth linear drive; 244-second mechanical gripper; 245-third mechanical gripper; 31-film positioning platform; 311-film supporting plate; 312-film positioning strip; 313-film pushing plate; 314-fifth linear drive; 32-second robot; 321-first linear drive; 322-second linear drive; 323-loading manipulator; 324-first suction cup mounting seat; 325-first vacuum suction cup; 33-film silo; 331-film rack; 3311-film positioning cylinder; 3312-film supporting rod; 3313-handle; 3314-rack positioning seat; 332-film lifting plate; 3321-notch; 333-third linear drive; 334-first slide rail; 335-rack positioning piece; 336-fourth linear drive; 41-film tearing robot; 411-first mechanical gripper; 412-seventh linear drive; 42-hopper; 43-waste film box; 44-second slide rail; 5-carrier positioning platform; 51-carrier pallet; 52-carrier conveyor; 521CCD-camera; 522-barcode scanner; 53-fifteenth linear drive; 54-carrier positioning member; 541-insert plate; 55-sixteenth linear drive; 6-film pressing device; 61-eleventh linear drive; 62-twelfth linear drive; 63-plate pressing device; 631-pressing plate; 632-thirteenth linear drive; 633-guide column; 634-conical head; 635-guide sleeve; 636-second spring; 64-rolling device; 641-pressure roller; 642-fourteenth linear drive; 643-rotating shaft; 644-bearing seat; 645-elastic sleeve; 65-pressure sensor. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] Figure 1 An exploded view of the adhesive film 12 is shown. The adhesive film 12 is a sheet with a sticky bottom wall and a non-sticky top wall. The top and bottom walls of the adhesive film 12 are respectively adhered with an upper film 11 and a lower film 13. Adhesive film peeling refers to tearing off the films on both sides of the adhesive film 12 and attaching the adhesive film 12 to the surface of the carrier 15. The specific process flow is: tearing off the lower film 13 attached to the bottom wall of the adhesive film 12, sticking the sticky bottom wall of the adhesive film 12 to the top wall of the carrier 15, and then tearing off the upper film 11 attached to the top wall of the adhesive film 12, and then applying pressure from top to bottom to the adhesive film 12 to eliminate bubbles between the two and make the adhesive film 12 fit tightly with the carrier 15.

[0018] In order to facilitate tearing off the upper film 11 and the lower film 13 from both sides of the adhesive film 12, the corners of the upper film 11 and the lower film 13 are respectively provided with convex strips 14 extending outward along the length direction of the adhesive film 12. The purpose of this embodiment is to use automated adhesive film tearing equipment to complete the process of tearing off the upper film 11, the lower film 13 and the adhesive film 12.

[0019] Figure 2 A top view of the glue and film peeling equipment is shown, and the glue and film peeling equipment includes: The first robot 2, the material transfer manipulator 23 and the film tearing manipulator 24, both of which are installed on the execution part of the first robot 2, the material transfer manipulator 23 is used to absorb or clamp the adhesive film 12, and the film tearing manipulator 24 is used to grab the upper film 11 pasted on the top wall of the adhesive film 12 after the adhesive film 12 is pasted on the top wall of the carrier 15, and the execution part of the first robot 2 can at least move along the horizontal and vertical directions, so as to move the adhesive film 12 to different workstations, and cooperate with the action of the film tearing manipulator 24 to tear off the upper film 11; And, arranged within the range of motion of the material transfer manipulator 23: The film positioning table 31 is used to place the film 12 and constrain the height and horizontal position of the film 12 so that the material transfer robot 23 can take it; The film tearing robot 41 is used to grab the lower film 13 attached to the bottom wall of the adhesive film 12 when the material transfer robot 23 is suspended above itself, and tear off the lower film 13 in coordination with the action of the first robot 2; The carrier positioning platform 5 is used to transport and temporarily place the carrier 15 so that the top wall of the carrier 15 is exposed within the range of motion of the material transfer robot 23, so that the material transfer robot 23 can paste the adhesive film 12 torn off the lower film 13 on the top wall of the carrier 15; The film pressing device 6 is used to press and / or roll the top wall of the adhesive film 12 downward after the upper film 11 is torn off the adhesive film 12 , so that the adhesive film 12 is closely fitted to the carrier 15 .

[0020] The process flow of glue and film peeling equipment is: The material transfer robot 23 grabs the film 12 on the film positioning platform 31, and moves the film 12 to above the film tearing-off robot 41, so that the lower film 13 is suspended on the execution part of the film tearing-off robot 41; the film tearing-off robot 41 clamps the lower film 13, and at the same time, the first robot 2 drives the material transfer robot 23 to move upward to separate the lower film 13 from the bottom wall of the film 12; the material transfer robot 23 moves the film 12 to above the carrier positioning platform 5, so that the bottom wall of the film 12 fits the top wall of the carrier 15; the film tearing-off robot 24 clamps the upper film 11, and at the same time, the first robot 2 drives the material transfer robot 23 to move upward to separate the upper film 11 from the top wall of the film 12; the film pressing device 6 squeezes and / or rolls the top wall of the film 12 downward to remove bubbles between the film 12 and the carrier 15.

[0021] Furthermore, before the film 12 is moved to the film positioning table 31, the film 12 is placed inside the film silo 33, and the film 12 is stacked along the vertical direction. The film 12 is moved from the film silo 33 to the film positioning table 31 by the second robot 32 and the loading robot 323, thereby achieving loading.

[0022] Figure 3 The positional relationship among the second robot 32 , the loading manipulator 323 , the film positioning table 31 and the film silo 33 is shown, where the loading process of the film 12 is performed.

[0023] Combination Figure 3 The film silo 33 is arranged beside the film positioning platform 31, and the loading manipulator 323 is installed on the executive part of the second robot 32 for adsorbing or clamping the film 12. The film positioning platform 31 and the film silo 33 are both located within the movable range of the loading manipulator 323. The executive part of the second robot 32 can at least move in the horizontal and vertical directions, thereby moving the film 12 to the film positioning platform 31 in sequence.

[0024] Figure 4 The partial structure of the second robot 32 and the loading robot 323 are shown.

[0025] Combination Figure 4The second robot 32 is a two-degree-of-freedom Cartesian coordinate robot, including a first linear driver 321 whose actuator moves in the horizontal direction and a second linear driver 322 whose actuator moves in the vertical direction. The loading robot 323 moves in the horizontal and vertical directions under the drive of the first linear driver 321 and the second linear driver 322 to perform the action of adsorbing and moving the film 12.

[0026] Specifically, the first linear drive 321 is a synchronous belt slide, the second linear drive 322 is a cylinder slide, the first linear drive 321 is fixedly connected to the frame, the second linear drive 322 is fixedly connected to the actuator of the first linear drive 321, and the loading robot 323 is fixedly connected to the actuator of the second linear drive 322.

[0027] The loading robot 323 includes a first suction cup mounting seat 324 and a plurality of first vacuum suction cups 325 fixedly connected to the first suction cup mounting seat 324 and distributed along a rectangular array. The first vacuum suction cups 325 generate suction force for adsorbing the adhesive film 12 through a vacuum pump, which is not shown in the figure.

[0028] Figure 5 and Figure 6 The three-dimensional view and the top view of the film silo 33 are shown respectively. Figure 7 and Figure 8 They are two cross-sectional views of the film silo 33 .

[0029] Combination Figure 5 , Figure 6 , Figure 7 and Figure 8 , the film silo 33 comprises: The film material rack 331 includes a film positioning cylinder 3311 and a film supporting rod 3312 connected to the bottom of the film positioning cylinder 3311. The film supporting rod 3312 is used to support the bottom wall of the film 12, and the film positioning cylinder 3311 is used to limit the four sides of the film 12. The film lifting plate 332 is movably disposed below the film material rack 331 and can vertically move through the gap between the film positioning cylinder 3311 and the film supporting rod 3312 to lift the film 12 on the film supporting rod 3312 to the working height of the loading robot 323; The third linear drive 333 is fixedly connected to the frame and is transmission-connected to the film lifting plate 332 , and is used for lifting the remaining films 12 upward by the thickness of a film 12 after the loading robot 323 takes away a film 12 .

[0030] Specifically, the film positioning cylinder 3311 is a rectangular cylinder formed by four vertical plates. The four inner walls of the film positioning cylinder 3311 are respectively used to contact the four sides of the film 12. The center line of the film positioning cylinder 3311 is vertically set. The film lifting plate 332 is a horizontally set flat plate. The film lifting plate 332 and the film positioning cylinder 3311 are clearance-matched, and the film lifting plate 332 is provided with a notch 3321 for avoiding the film support rod 3312, so that the film lifting plate 332 can move along the axis of the film positioning cylinder 3311. The third linear drive 333 is an electric screw slide.

[0031] Preferably, combined Figure 5 , Figure 6 and Figure 8 The film material rack 331 is horizontally movably connected to the frame through a first slide rail 334, and the first slide rail 334 is installed on both sides of the film material rack 331 in the width direction. A handle 3313 is fixedly connected to the side of the film material rack 331 facing the staff, and a material rack positioning seat 3314 is provided on the side of the film material rack 331 facing away from the staff. The material rack positioning seat 3314 is used to connect the material rack positioning piece 335 to lock the position of the film material rack 331. The material rack positioning piece 335 can be movably connected to the frame and is driven by a fourth linear drive 336 to connect or detach from the material rack positioning seat 3314.

[0032] Specifically, the rack positioning seat 3314 has a socket, the rack positioning member 335 is a pin slidably connected to the frame, and the fourth linear drive 336 is a thrust cylinder. When the pin is inserted into the socket, the film rack 331 cannot move through the first slide rail 334.

[0033] When the film 12 inside the film rack 331 is used up by the loading robot 323, the third linear drive 333 drives the film lifting plate 332 to descend to the bottom of the film rack 331, and then the cylinder drives the pin to disengage from the rack positioning seat 3314, so that the staff can pull out the film rack 331 to replenish the film 12 inside it.

[0034] Fig. 9 and Fig.10 Two stereoscopic views of the adhesive film positioning stage 31 from different perspectives are shown, where the positioning process of the adhesive film 12 is performed.

[0035] Combination Fig. 9 , Fig.10 , the film positioning platform 31 comprises: The film support plate 311 is horizontally arranged and fixedly connected to the frame, and is used to support the bottom wall of the film 12; Two film positioning strips 312 are respectively arranged at two adjacent sides of the film support plate 311 and fixedly connected to the top wall of the film support plate 311 to abut against two adjacent sides of the film 12; Two film push plates 313 are respectively arranged at two opposite sides of the two film positioning strips 312, and can be horizontally slidably connected to the film support plate 311 relative to the corresponding film positioning strips 312, and are used to abut against the other two adjacent sides of the film 12; The two fifth linear drivers 314 are fixedly connected to the film support plate 311 and are respectively connected to the two film push plates 313 for driving the two film push plates 313 to move toward their respective corresponding film positioning strips 312 to cooperate with the two film positioning strips 312 to clamp the four sides of the film 12, thereby completing the positioning work.

[0036] Specifically, the fifth linear drive 314 is a thrust cylinder, and the two thrust cylinders are respectively facing the long side and the short side of the film support plate 311. A through hole is set in the center of the film support plate 311, and a photoelectric switch is installed in the through hole. The photoelectric switch is used to detect whether there is a film 12 above the film support plate 311, so that the controller determines whether it is necessary to start the fifth linear drive 314.

[0037] Fig.11 The positional relationship among the first robot 2 , the material transfer robot 23 , and the film tearing robot 41 is shown, where the process of tearing off the lower film 13 is performed.

[0038] Combination Figure 2 and Fig.11 The first robot 2 is a three-degree-of-freedom cylindrical coordinate robot, which includes a rotary driver 21 with two actuators capable of independently rotating around a vertical axis, and a sixth linear driver 22 with an actuator capable of vertical lifting and lowering, and a material transfer manipulator 23 is installed on the actuator of the sixth linear driver 22.

[0039] Fig.12 yes Fig.11 A partial enlarged view of point C. Fig.12 A film tearing robot 41 is shown.

[0040] Combination Fig.12 , the film tearing robot 41 comprises: The first mechanical clamp 411 is used to clamp the convex strip 14 at the edge of the lower film 13; The seventh linear drive 412 is fixedly connected to the frame and transmission-connected to the first mechanical clamp 411 , and is used for driving the first mechanical clamp 411 to move in a direction away from the adhesive film 12 so as to tear off the lower film 13 .

[0041] Preferably, the seventh linear drive 412 is a rodless cylinder slide, and the slider of the rodless cylinder slide moves obliquely downward and toward the end with the convex strip 14 away from the lower film 13. At the same time, the sixth linear drive 22 drives the material transfer robot 23 to move the adhesive film 12 upward, thereby tearing off the lower film 13 more efficiently.

[0042] Combination Fig.11 A hopper 42 and a waste film box 43 are arranged in sequence below the film tearing robot 41. The torn lower film 13 falls into the waste film box 43 along the hopper 42. The waste film box 43 is horizontally movably connected to the frame through a second slide rail 44. The staff can pull out the waste film box 43 to clean the lower film 13 when necessary.

[0043] Fig.13 An enlarged view of the material transfer robot 23 and a part thereof is shown.

[0044] Combination Fig.12 , Fig.13 , the material transfer manipulator 23 comprises: The robot connecting seat 231 is fixedly connected to the execution part of the first robot 2; The second suction cup mounting seat 232 is vertically slidably suspended below the robot connecting seat 231 through the first sliding column 233. The top end of the first sliding column 233 is connected with a flange extending radially outward to prevent the second suction cup mounting seat 232 from falling downward. The second vacuum suction cup 235 is fixedly connected to the second suction cup mounting base 232 and generates suction force for adsorbing the adhesive film 12 through a vacuum pump; The first spring 234 is sleeved on the outside of the first sliding column 233, and the two ends of the spring are respectively against the robot connecting seat 231 and the second suction cup mounting seat 232, so as to provide a force for the material transfer robot 23 to stick the film 12 on the carrier 15; The third vacuum suction cup 236 is fixedly connected to the second suction cup mounting seat 232 and is disposed at the edge of the second suction cup mounting seat 232 around the second vacuum suction cup 235 .

[0045] The second vacuum suction cup 235 and the third vacuum suction cup 236 both generate suction force to adsorb the adhesive film 12 through a vacuum pump, wherein the diameter of the second vacuum suction cup 235 is greater than the diameter of the third vacuum suction cup 236. The second vacuum suction cup 235 is used to bear the weight of the adhesive film 12, and the third vacuum suction cup 236 is used to adsorb the corners of the adhesive film 12 to prevent the edges of the adhesive film 12 from sagging.

[0046] Fig.14 and Fig.15 The carrier positioning table 5 and the film pressing device 6 are shown, and the processes of applying the adhesive film 12, tearing off the film 11 and pressing the adhesive film 12 are performed here.

[0047] The carrier positioning platform 5 is used to place the carrier 15 , and to position the height and horizontal position of the carrier 15 , and to support the carrier 15 from bottom to top, and to provide the carrier 15 with a reaction force for bearing the pressure of the adhesive film 12 and the laminating film 12 .

[0048] Combination Fig.12 , Fig.13 The film tearing manipulator 24 is installed on the execution part of the first robot 2 , and the first robot 2 , the film tearing manipulator 24 and the carrier positioning platform 5 jointly complete the process of tearing off the upper film 11 .

[0049] The film tearing robot 24 comprises: The eighth linear drive 241, the ninth linear drive 242 and the tenth linear drive 243, as well as the second mechanical gripper 244 and the third mechanical gripper 245 are connected in sequence, wherein the eighth linear drive 241 is fixedly connected to the execution part of the first robot 2, the second mechanical gripper 244 is fixedly connected to the execution part of the ninth linear drive 242, and the third mechanical gripper 245 is fixedly connected to the execution part of the tenth linear drive 243; The eighth linear drive 241 , the ninth linear drive 242 , and the tenth linear drive 243 are oriented towards three different directions perpendicular to each other, so that the second mechanical gripper 244 has two degrees of freedom, and the third mechanical gripper 245 has three degrees of freedom.

[0050] Specifically, the eighth linear drive 241, the ninth linear drive 242 and the tenth linear drive 243 are all cylinder slides. The actuator of the eighth linear drive 241 moves horizontally along the width direction of the film 12, the actuator of the ninth linear drive 242 moves along the vertical direction, and the actuator of the tenth linear drive 243 moves horizontally along the length direction of the film 12. When the ridge 14 located at the edge of the upper film 11 falls into the working range of the second mechanical clamp 244, the third mechanical clamp 245 is facing the other side of the upper film 11 having the ridge 14.

[0051] The working process of the film tearing robot 24 is as follows: the eighth linear drive 241 and the ninth linear drive 242 are actuated to make the second mechanical gripper 244 grasp the convex strip 14 located at the edge of the upper film 11, and then, the eighth linear drive 241 and the ninth linear drive 242 are actuated to make the second mechanical gripper 244 grasp the convex strip 14 to tear off a corner of the upper film 11, so that the wide edge of the upper film 11 is exposed directly in front of the third mechanical gripper 245, and then the tenth linear drive 243 is actuated, and the third mechanical gripper 245 moves horizontally toward the upper film 11 and grasps the edge of the upper film 11, at this time, the two sides of the wide edge of the upper film 11 are grasped by the second mechanical gripper 244 and the third mechanical gripper 245 respectively, and then the first robot 2 is actuated to drive the material transfer robot 23 and the film tearing robot 24 to move upward or obliquely upward, so that the upper film 11 is torn off.

[0052] When the first robot 2 drives the material transfer manipulator 23 and the film tearing manipulator 24 to return to their positions, the film tearing manipulator 24 throws the torn upper film 11 into the hopper 42 , and the upper film 11 flows into the waste film box 43 along the hopper 42 .

[0053] Combination Fig.14 The film pressing device 6 can be horizontally and vertically moved above the carrier positioning platform 5 through the eleventh linear drive 61 and the twelfth linear drive 62, so that they can avoid to the side of the carrier positioning platform 5 when the first robot 2, the material transfer robot 23, and the film tearing robot 24 perform the actions of sticking the adhesive film 12 and tearing off the film 11.

[0054] Specifically, the eleventh linear drive 61 and the twelfth linear drive 62 are both servo screw slides, wherein the eleventh linear drive 61 is fixedly connected to the frame, and the actuator of the eleventh linear drive 61 moves horizontally, the twelfth linear drive 62 is fixedly connected to the actuator of the eleventh linear drive 61, and the actuator of the twelfth linear drive 62 moves vertically, and the film pressing device 6 is fixedly installed on the actuator of the twelfth linear drive 62.

[0055] Fig.15 The carrier positioning platform 5 and the film pressing device 6 are shown. Fig.16 A lamination device 6 is shown. Fig.17 and Fig.18 Two sectional views of the lamination device 6 are shown respectively.

[0056] Combination Fig.15 , Fig.16 , Fig.17 and Fig.18 , the laminating device 6 comprises: The plate pressing device 63 includes a pressing plate 631 which can be independently raised and lowered and whose four corners can independently move micro distances in horizontal and vertical directions, and a thirteenth linear actuator 632 for driving the pressing plate 631 to be raised and lowered; The rolling device 64 includes a pressure roller 641 which can be independently raised and lowered and whose two ends can independently move micro distances along the horizontal and vertical directions, and a fourteenth linear drive 642 for driving the pressure roller 641 to rise and fall.

[0057] After the upper film 11 on the top wall of the film 12 is torn off, the thirteenth linear driver 632 drives the pressure plate 631 to press the film 12 downward, and the four corners of the pressure plate 631 move adaptively to eliminate the gap caused by the non-parallelism between the pressure plate 631 and the film 12, so that the pressure plate 631, the film 12 and the carrier 15 are tightly fitted. Then, the fourteenth linear driver 642 drives the pressure roller 641 to press the film 12 downward, and the two ends of the pressure roller 641 move adaptively to eliminate the gap caused by the non-parallelism between the pressure roller 641 and the film 12, so that the pressure roller 641, the film 12 and the carrier 15 are tightly fitted. Then, the eleventh linear driver drives the pressure roller 641 to move horizontally, so that the pressure roller 641 rolls over the top wall of the film 12.

[0058] Among them, the thirteenth linear drive 632 and the fourteenth linear drive 642 each include a thrust cylinder and a pressure sensor 65. The pressure plate 631 and the pressure roller 641 are respectively connected to the corresponding thrust cylinders through their corresponding pressure sensors 65. The thrust cylinder is used to drive the pressure plate 631 and the pressure roller 641 to perform a downward pressing action. The pressure sensor 65 is used to detect the pressure applied by the pressure plate 631 and the pressure roller 641 to the adhesive film 12, and then the pressure is controlled by adjusting the air pressure input into the thrust cylinder so that the adhesive film 12 obtains a preset pressure.

[0059] Combination Fig.17 The rolling device 64 also includes a rotating shaft 643 connecting the actuator of the fourteenth linear drive 642 and the pressure roller 641. The rotating shaft 643 is connected to the actuator of the fourteenth linear drive 642 through a bearing seat 644, so that the rotating shaft 643 can rotate around a horizontal axis. The pressure roller 641 is coaxially mounted on the outer side of the rotating shaft 643. The rotating shaft 643 and the pressure roller 641 are connected by an elastic sleeve 645. The elastic sleeve 645 is inserted in the annular gap formed between the rotating shaft 643 and the pressure roller 641. The elastic sleeve 645 is used to keep the rotating shaft 643 and the pressure roller 641 coaxially connected. At the same time, the elastic sleeve 645 can radially expand and contract, so that the two ends of the pressure roller 641 can move a micro distance in the vertical direction relative to the two ends of the rotating shaft 643.

[0060] Combination Fig.18 The plate pressing device 63 also includes a guide column 633 connecting the actuator of the thirteenth linear drive 632 and the pressure plate 631. The actuator of the thirteenth linear drive 632 is fixedly connected to a guide sleeve 635 sleeved on the outside of the guide column 633. The top of the guide column 633 is formed with a conical head 634 that expands upward and radially outward, so that the guide column 633 can suspend the pressure plate 631 below the guide sleeve 635. The outer diameter of the guide column 633 is smaller than the inner diameter of the guide sleeve 635, so that the guide column 633 can move axially relative to the guide sleeve 635 and move radially at a micro distance.

[0061] Each guide column 633 can be actuated in the horizontal and vertical directions, so that the four corners of the pressing plate 631 can move a micro distance, so that when the bottom wall of the pressing plate 631 is not parallel to the top wall of the film 12, the pressing plate 631 can fit the film 12.

[0062] Preferably, the outer side of the guide column 633 is sleeved with a second spring 636 whose two ends respectively abut against the guide sleeve 635 and the pressure plate 631. The second spring 636 is used to apply a force to the pressure plate 631 that is always away from the guide sleeve 635, thereby limiting the micro-movement stroke of the four corners of the pressure plate 631, reducing the friction between the outer wall of the guide column 633 and the inner wall of the guide sleeve 635, and allowing the pressure plate 631 to naturally return to its original position when there is no external force.

[0063] Fig.19 and Fig. 20 The carrier positioning platform 5 is shown. Fig.21 A cross-sectional view of the carrier positioning stage 5 is shown.

[0064] Combination Fig.19 , Fig. 20 , Fig.21 , the carrier positioning platform 5 includes: The carrier support plate 51 is fixedly connected to the frame and is used to support the bottom wall of the carrier 15; The carrier conveyor 52 includes two belt conveyors parallel to each other, used to support and move the two sides of the carrier 15, and the carrier pallet 51 is arranged between the two belt conveyors; The fifteenth linear drive 53 is fixedly connected to the frame and is transmission-connected to one of the carrier pallet 51 and the carrier conveyor 52 , and is used to drive the carrier pallet 51 and the carrier conveyor 52 to move relative to each other in the vertical direction, so that the carrier 15 is transferred from the carrier conveyor 52 to the carrier pallet 51 .

[0065] Specifically, the fifteenth linear drive 53 is a cylinder slide, and the actuator of the fifteenth linear drive 53 is arranged upward and fixedly connected to the carrier conveyor 52. After the carrier 15 moves to the top of the carrier pallet 51 through the carrier conveyor 52, the carrier conveyor 52 stops working, and the fifteenth linear drive 53 drives the carrier conveyor 52 to descend, so that the carrier 15 falls on the carrier pallet 51, and then the first robot 2 drives the material transfer manipulator 23 to perform the adhesive film 12 and tear off the film 11 operations, and then the die pressing device performs the plate pressing and rolling operations, and finally, the fifteenth linear drive 53 drives the carrier conveyor 52 to rise, so that the carrier 15 returns to the carrier conveyor 52, and the carrier conveyor 52 drives the carrier 15 to move to the work station where the CCD camera 521 and the barcode scanner 522 are located to perform the adhesive film 12 quality inspection.

[0066] In addition, the actuator of the fifteenth linear drive 53 is also equipped with a carrier positioning member 54 that can move horizontally. The carrier positioning member 54 rises and falls synchronously with the carrier conveyor 52. The carrier positioning member 54 is driven by the sixteenth linear drive 55 fixedly connected to the actuator of the fifteenth linear drive 53 to perform horizontal movement. When the carrier positioning member 54 is connected to the carrier 15, the movement of the carrier 15 is restricted, thereby preventing the carrier 15 from moving when the adhesive film 12 is attached.

[0067] Specifically, the sixteenth linear actuator 55 is a cylinder slide, the carrier positioning member 54 includes two symmetrical plug plates 541, and two sockets 16 are provided on the side of the carrier 15 facing the carrier positioning member 54. After the plug plates 541 are connected to the sockets 16, the movement of the carrier 15 is restricted.

[0068] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A carrier glue and film removal device, characterized in that: include: A first robot (2), a material transfer robot (23) and a film tearing robot (24), wherein the material transfer robot (23) and the film tearing robot (24) are both installed on the execution part of the first robot (2), the material transfer robot (23) is used to absorb or clamp the adhesive film (12), and the film tearing robot (24) is used to grab the upper film (11) adhered to the top wall of the adhesive film (12) after the adhesive film (12) is adhered to the top wall of the carrier (15), and the execution part of the first robot (2) is capable of moving at least in the horizontal and vertical directions, so as to move the adhesive film (12) to different workstations, and cooperate with the action of the film tearing robot (24) to tear off the upper film (11); And, arranged within the range of movement of the material transfer robot (23): A film positioning platform (31) for placing the film (12) and constraining the height and horizontal position of the film (12) for use by the material transfer robot (23); a film tearing robot (41) for grabbing the lower film (13) adhered to the bottom wall of the adhesive film (12) when the material transfer robot (23) is suspended above itself, and tearing off the lower film (13) in coordination with the action of the first robot (2); A carrier positioning platform (5) is used to place the carrier (15) so that the top wall of the carrier (15) is exposed within the range of movement of the material transfer robot (23), thereby enabling the material transfer robot (23) to adhere the adhesive film (12) from which the lower film (13) has been torn off to the top wall of the carrier (15); The film pressing device (6) is used to press and / or roll the top wall of the adhesive film (12) downward after the adhesive film (12) is torn off the upper film (11), so that the adhesive film (12) and the carrier (15) are tightly fitted.

2. The carrier glue and film removal equipment according to claim 1, characterized in that: It also includes a second robot (32), a loading robot (323) and a film bin (33), wherein the loading robot (323) is installed on the execution part of the second robot (32), the loading robot (323) is used to absorb or clamp the film (12), the film positioning platform (31) and the film bin (33) are both located within the range of motion of the loading robot (323), and the execution part of the second robot (32) is capable of moving at least in the horizontal and vertical directions, thereby moving the film (12) from the film bin (33) to the film positioning platform (31).

3. The carrier glue and film removal equipment according to claim 1, characterized in that: The film tearing robot (41) comprises: A first mechanical clamp (411) for clamping the convex strip (14) at the edge of the lower film (13); A seventh linear drive (412) is fixedly connected to the frame and drivingly connected to the first mechanical clamp (411), and is used to drive the first mechanical clamp (411) to move in a direction away from the adhesive film (12) so as to tear off the lower film (13).

4. The carrier adhesive and film removal device according to claim 3, characterized in that: The actuator of the seventh linear drive (412) moves obliquely downward and away from the end of the lower film (13) clamped by the first mechanical clamp (411).

5. The carrier adhesive and film removal device according to claim 1, characterized in that: The material transfer robot (23) comprises: A robot connecting seat (231) fixedly connected to the execution part of the first robot (2); A second suction cup mounting seat (232) is suspended vertically and slidably below the robot connecting seat (231) via a first sliding column (233); A second vacuum suction cup (235) is fixedly connected to the second suction cup mounting seat (232) and generates a suction force for adsorbing the adhesive film (12) through a vacuum pump; The first spring (234) is sleeved on the outside of the first sliding column (233), and its two ends respectively abut against the robot connecting seat (231) and the second suction cup mounting seat (232), so as to provide a force for the material transfer robot (23) to adhere the adhesive film (12) to the carrier (15).

6. The carrier adhesive and film removal device according to claim 5, characterized in that: The material transfer robot (23) further comprises a third vacuum suction cup (236), wherein the third vacuum suction cup (236) is fixedly connected to the second suction cup mounting seat (232) and is arranged around the second vacuum suction cup (235) at the edge of the second suction cup mounting seat (232), and the diameter of the second vacuum suction cup (235) is greater than the diameter of the third vacuum suction cup (236).

7. The carrier adhesive and film removal device according to claim 1, characterized in that: The film tearing robot (24) comprises: An eighth linear drive (241), a ninth linear drive (242) and a tenth linear drive (243), as well as a second mechanical gripper (244) and a third mechanical gripper (245) connected in sequence by transmission, wherein the eighth linear drive (241) is fixedly connected to an actuator of the first robot (2), the second mechanical gripper (244) is fixedly connected to an actuator of the ninth linear drive (242), and the third mechanical gripper (245) is fixedly connected to an actuator of the tenth linear drive (243); The eighth linear drive (241), the ninth linear drive (242) and the tenth linear drive (243) are respectively oriented in three different directions perpendicular to each other. When the convex strip (14) on one side of the upper film (11) falls into the working range of the second mechanical gripper (244), the third mechanical gripper (245) is directly opposite to the other side of the upper film (11) having the convex strip (14).

8. The carrier adhesive and film removal device according to claim 1, characterized in that: The first robot (2) comprises two rotary drives (21) and a sixth linear drive (22) connected in a sequential transmission manner, the actuator of the rotary drive (21) being capable of independently rotating around a vertical axis, the actuator of the sixth linear drive (22) being capable of vertical lifting and lowering, and the material transfer robot (23) and the film tearing robot (24) being both mounted on the actuator of the sixth linear drive (22).

9. The carrier adhesive and film removal device according to claim 1, characterized in that: The film pressing device (6) comprises: The plate pressing device (63) comprises a pressing plate (631) which can be independently raised and lowered and whose four corners can independently move in the horizontal and vertical directions, and a thirteenth linear drive (632) for driving the pressing plate (631) to be raised and lowered; The rolling device (64) comprises a pressure roller (641) which can be independently raised and lowered and whose two ends can independently move in the horizontal and vertical directions, and a fourteenth linear drive (642) for driving the pressure roller (641) to be raised and lowered; an eleventh linear driver (61), fixedly connected to the frame and drivingly connected to the plate pressing device (63) and the rolling device (64); The actuator of the eleventh linear drive (61) moves horizontally, thereby driving the plate pressing device (63) and the rolling device (64) to avoid the material transfer robot (23), and driving the pressing roller (641) to roll back and forth on the adhesive film (12).

10. The carrier adhesive and film removal device according to claim 9, characterized in that: The rolling device (64) further comprises a rotating shaft (643) connected to the actuator of the fourteenth linear drive (642) and the pressure roller (641); the rotating shaft (643) is connected to the actuator of the fourteenth linear drive (642) via a bearing seat (644) so ​​that the rotating shaft (643) can rotate around a horizontal axis; the pressure roller (641) is coaxially mounted on the outer side of the rotating shaft (643); the rotating shaft (643) and the pressure roller (641) are ) are connected by an elastic sleeve (645), the elastic sleeve (645) being inserted into a circular gap formed between the rotating shaft (643) and the pressing roller (641), the elastic sleeve (645) being used to keep the rotating shaft (643) and the pressing roller (641) coaxially connected, and the elastic sleeve (645) being able to radially expand and contract, so that the two ends of the pressing roller (641) can independently move in the vertical direction relative to the two ends of the rotating shaft (643); The plate pressing device (63) also includes a guide column (633) connecting the actuator of the thirteenth linear drive (632) and the pressure plate (631); the actuator of the thirteenth linear drive (632) is fixedly connected to a guide sleeve (635) sleeved on the outside of the guide column (633); the top end of the guide column (633) is formed with a conical head (634) that expands upward and radially outward, so that the guide column (633) can suspend the pressure plate (631) below the guide sleeve (635); the outer diameter of the guide column (633) is smaller than the inner diameter of the guide sleeve (635), so that each of the guide columns (633) can independently move axially relative to the guide sleeve (635).

Images