Carrier rubberizing and film stripping apparatus

Abstract

The present application relates to the field of automatic equipment for adhesive film tearing, in particular to a carrier adhesive film tearing equipment, comprising a first robot, a material moving manipulator, an upper film tearing manipulator, an adhesive film positioning table, a lower film tearing manipulator, a carrier positioning table and a film pressing device, the material moving manipulator is used for adsorbing or clamping the adhesive film, the upper film tearing manipulator tears the upper film after the adhesive film is pasted on 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 suspends above it; the carrier positioning table is used for placing the carrier, facilitating the material moving manipulator to paste the adhesive film with the lower film torn on the top wall of the carrier; and the film pressing device automatically presses or rolls the adhesive film after tearing the upper film, so that the adhesive film is tightly attached to the carrier. The present application realizes automatic extrusion and rolling of the adhesive film after pasting by designing a special film pressing device, eliminates air bubbles and improves the attachment quality; meanwhile, the structure and action process of the film tearing manipulator are optimized, and the size of the film tearing module is reduced.

Description

Technical Field

[0001] This invention relates to the field of automated equipment for applying and removing adhesive films, specifically to an adhesive film application and removal device for a carrier, and more particularly to an adhesive film application and removal device for a chip tin-plating carrier. Background Technology

[0002] In fields such as electronics manufacturing and precision component assembly, adhesive films are often used for protection, fixation, or conductivity, requiring precise attachment to the surface of carriers or products. Traditional adhesive film application and removal equipment can automatically remove and apply the film, but lacks an automatic film pressing process. Although the film is automatically attached to the carrier, it is difficult to effectively eliminate air bubbles between the film and the carrier, affecting the bonding quality. Existing equipment also has a slow film-removing robot, and the film removal process requires a large space, affecting the size of the equipment and overall production efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a carrier adhesive film application and removal device to solve the problems of the bulky film removal module of traditional adhesive film application and removal devices and the difficulty in removing air bubbles between the adhesive film and the carrier after application.

[0004] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A carrier adhesive film application and removal device includes: a first robot, a material transfer manipulator, and a film removal manipulator. Both the material transfer manipulator and the film removal manipulator are mounted on the execution unit of the first robot. The material transfer manipulator is used to adsorb or grip the adhesive film, and the film removal manipulator is used to grasp the film adhered to the top wall of the carrier after the adhesive film is adhered to it. The execution unit of the first robot is capable of moving at least horizontally and vertically to move the adhesive film to different workstations and, in conjunction with the action of the film removal manipulator, to remove the film. The device also includes an adhesive film positioning platform disposed within the range of motion of the material transfer manipulator for placing the adhesive film. The system includes: an adhesive film that constrains the height and horizontal position of the adhesive film for the material handling robot to pick up; a film-tearing robot for grasping the lower film adhered to the bottom wall of the adhesive film when the material handling robot is suspended above it, and for tearing off the lower film in coordination with the action of the first robot; a carrier positioning platform for placing the carrier, exposing the top wall of the carrier within the range of motion of the material handling robot, so that the material handling robot can adhere the adhesive film with the lower film removed to the top wall of the carrier; and a film-pressing device for pressing and / or rolling the top wall of the adhesive film downwards after the upper film is removed, so that the adhesive film is tightly adhered to the carrier.

[0005] Furthermore, it also includes a second robot, a loading robot, and a film hopper. The loading robot is installed on the execution unit of the second robot and is used to adsorb or clamp the film. The film positioning platform and the film hopper are both located within the range of motion of the loading robot. The execution unit of the second robot is capable of moving at least in the horizontal and vertical directions, thereby moving the film from the film hopper to the film positioning platform.

[0006] Furthermore, the film-tearing robot includes: a first mechanical gripper for gripping the protrusions on the edge of the lower film; and a seventh linear actuator, fixedly connected to the frame and driven to the first mechanical gripper, for driving the first mechanical gripper to move away from the adhesive film to tear off the lower film.

[0007] Furthermore, the actuator of the seventh linear actuator moves downward and tilted away from the end of the lower membrane that is held by the first mechanical gripper.

[0008] Furthermore, the material handling robot includes: a robot connector fixedly connected to the execution unit of the first robot; a second suction cup mounting base vertically slidable below the robot connector via a first sliding column; a second vacuum suction cup fixedly connected to the second suction cup mounting base, generating suction force to adsorb the adhesive film via a vacuum pump; and a first spring sleeved on the outside of the first sliding column, with its two ends respectively abutting against the robot connector and the second suction cup mounting base, for providing force for the material handling robot to adhere the adhesive film to the carrier.

[0009] Furthermore, the material handling robot also includes a third vacuum suction cup, which is fixedly connected to the second suction cup mounting base and is arranged around the edge of the second suction cup mounting base. 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 actuator, a ninth linear actuator, and a tenth linear actuator connected in sequence, as well as a second mechanical gripper and a third mechanical gripper. The eighth linear actuator is fixedly connected to the execution unit of the first robot, the second mechanical gripper is fixedly connected to the execution unit of the ninth linear actuator, and the third mechanical gripper is fixedly connected to the execution unit of the tenth linear actuator. The eighth, ninth, and tenth linear actuators are respectively oriented in three different directions perpendicular to each other. When the protrusion on one side of the film falls into the working range of the second mechanical gripper, the third mechanical gripper is directly opposite the side of the film with the protrusion.

[0011] Furthermore, the first robot includes two rotary drives and a sixth linear drive connected in sequence. The actuators of the rotary drives are capable of rotating independently around a vertical axis, and the actuators of the sixth linear drive are capable of vertical lifting. The material transfer manipulator and the film-tearing manipulator are both mounted on the actuators of the sixth linear drive.

[0012] Furthermore, the film pressing device includes: a plate pressing device, comprising a pressing plate capable of independent lifting and lowering and whose four corners can move independently in the horizontal and vertical directions, and a thirteenth linear actuator for driving the pressing plate to lift and lower; a rolling device, comprising a pressure roller capable of independent lifting and lowering and whose two ends can move independently in the horizontal and vertical directions, and a fourteenth linear actuator for driving the pressure roller to lift and lower; and an eleventh linear actuator, fixedly connected to the frame and drively connected to the plate pressing device and the rolling device; wherein, the actuator of the eleventh linear actuator moves horizontally, thereby driving the plate pressing device and the rolling device to avoid the material transfer robot, and driving the pressure 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 via a bearing housing, allowing the rotating shaft to rotate around a horizontal axis. The pressure roller is coaxially fitted onto the outside of the rotating shaft. The rotating shaft and the pressure roller are connected by an elastic sleeve, which is inserted into the annular gap formed between the rotating shaft and the pressure roller. The elastic sleeve maintains the coaxial connection between the rotating shaft and the pressure roller, and is also capable of radial expansion and contraction, allowing the pressure roller to... Both ends are capable of moving independently in the vertical direction relative to the two ends of the rotating shaft; the plate pressing device further includes a guide post connecting the actuator of the thirteenth linear actuator and the pressure plate, the actuator of the thirteenth linear actuator is fixedly connected to a guide sleeve sleeved on the outside of the guide post, the top end of the guide post is formed with an upwardly and radially outwardly expanding conical head, so that the guide post can suspend the pressure plate below the guide sleeve, the outer diameter of the guide post is smaller than the inner diameter of the guide sleeve, so that each guide post can move axially independently relative to the guide sleeve. This application has the following advantages compared with the prior art: This invention provides a carrier adhesive film application and removal device. By designing a dedicated film pressing device, it realizes the automatic extrusion and rolling steps after the adhesive film is applied, which can effectively eliminate air bubbles, make the adhesive film adhere tightly to the carrier, and improve the bonding quality. At the same time, it optimizes the structure and operation process of the film application robot and the film removal robot, and reduces the size of the film removal module. Attached Figure Description

[0014] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0015] Figure 1 This is an exploded view of the adhesive film according to an embodiment of the present invention; Figure 2 This is a top view of an embodiment of the present invention; Figure 3 This is a perspective view of the second robot, the loading robot, the film positioning platform, and the film hopper according to an embodiment of the present invention. Figure 4 This is a partial structure of the second robot and the loading manipulator according to an embodiment of the present invention; Figure 5 This is a perspective view of the film hopper according to an embodiment of the present invention; Figure 6 This is a top view of the film hopper according to an embodiment of the present invention; Figure 7 for Figure 6 A cross-sectional view along the AA direction; Figure 8 for Figure 6 A cross-sectional view along the BB direction; Figure 9 This is a perspective view of the adhesive film positioning stage according to an embodiment of the present invention; Figure 10 These are perspective views of the adhesive film positioning stage from different angles according to an embodiment of the present invention. Figure 11 The first robot, the material handling manipulator, and the film-peeling manipulator are embodiments of the present invention. Figure 12 for Figure 11 A magnified view of a portion at point C; Figure 13 This is an enlarged view of the material handling robot and a portion thereof, according to an embodiment of the present invention. Figure 14 This is a perspective view of the carrier positioning platform and the film pressing device according to an embodiment of the present invention; Figure 15 This is a front view of the carrier positioning platform and the film pressing device according to an embodiment of the present invention; Figure 16 This is a film pressing device according to an embodiment of the present invention; Figure 17 for Figure 16 A cross-sectional view along the EE direction; Figure 18 for Figure 16A cross-sectional view along the FF direction; Figure 19 This is a perspective view of the vehicle positioning platform according to an embodiment of the present invention; Figure 20 This is a front view of the vehicle positioning platform according to an embodiment of the present invention; Figure 21 for Figure 20 A cross-sectional view along the DD direction; The labels in the diagram represent the following: 11-Upper film; 12-Adhesive film; 13-Lower film; 14-Raised strip; 15-Carrier; 16-Insert; 2-First robot; 21-Rotary actuator; 22-Sixth linear actuator; 23-Transfer manipulator; 231-Robot connector; 232-Second suction cup mount; 233-First sliding column; 234-First spring; 235-Second vacuum suction cup; 236-Third vacuum suction cup; 24-Film-peeling manipulator; 241-Eighth linear actuator; 242-Ninth linear actuator; 243-Tenth linear actuator; 244-Second mechanical gripper; 245-Third mechanical gripper; 31-Film positioning stage; 311-Film support plate; 312-Film positioning strip; 313-Film push plate; 314-Fifth linear actuator; 32-Second robot; 321-First linear actuator; 322-Second linear actuator; 323-Feeding robot; 324-First suction cup mounting base; 325-First vacuum suction cup; 33-Film hopper; 331-Film rack; 3311-Film positioning cylinder; 3312-Film support rod; 3313-Handle; 3314-Rack positioning seat; 332-Film lifting plate; 3321-Notch; 333-Third linear actuator; 334-First slide rail; 335-Rack positioning component; 336-Fourth linear actuator; 41-Tearing film robot; 411-First mechanical gripper; 412-Seventh linear actuator; 42-Hopper; 43-Waste film bin; 44-Second slide rail; 5-Carrier positioning platform; 51-Carrier pallet; 52-Carrier conveyor; 521-CCD camera; 522-Bar scanner; 53-Fifteenth linear actuator; 54-Carrier positioning component; 541-Insert plate; 55-Sixteenth linear actuator; 6-Film pressing device; 61-Eleventh linear actuator; 62-Twelfth linear actuator; 63-Plate pressing device; 631-Pressing plate; 632-Thirteenth linear actuator; 633-Guide column; 634-Conical head; 635-Guide sleeve; 636-Second spring; 64-Rolling device; 641-Pressure roller; 642-Fourteenth linear actuator; 643-Rotating shaft; 644-Bearing seat; 645-Elastic sleeve; 65-Pressure sensor. Detailed Implementation

[0016] 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.

[0017] Figure 1 An exploded view of the adhesive film 12 is shown. The adhesive film 12 is a sheet with an adhesive bottom wall and a non-adhesive top wall. An upper film 11 and a lower film 13 are respectively attached to the top and bottom walls of the adhesive film 12. The process of applying and removing the adhesive film refers to removing 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 is as follows: remove the lower film 13 attached to the bottom wall of the adhesive film 12, attach the adhesive bottom wall of the adhesive film 12 to the top wall of the carrier 15, then remove the upper film 11 attached to the top wall of the adhesive film 12, and then apply pressure from top to bottom to the adhesive film 12 to remove air bubbles between the two, so that the adhesive film 12 and the carrier 15 are tightly bonded.

[0018] In order to facilitate the removal of 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 each provided with a protruding strip 14 extending outward along the length of the adhesive film 12. The purpose of this embodiment is to use an automated adhesive application and film removal device to complete the process of removing the upper film 11, the lower film 13 and applying the adhesive film 12.

[0019] Figure 2 A top view of the adhesive application and film removal equipment is shown. The equipment includes: The first robot 2, the material transfer robot 23, and the film-tearing robot 24 are all installed on the execution part of the first robot 2. The material transfer robot 23 is used to adsorb or hold the adhesive film 12, and the film-tearing robot 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. The execution part of the first robot 2 can move at least in the horizontal and vertical directions, thereby moving the adhesive film 12 to different work positions, and tearing off the upper film 11 in coordination with the action of the film-tearing robot 24. And, within the range of motion of the material handling robot 23: The adhesive film positioning stage 31 is used to place the adhesive film 12 and constrain the height and horizontal position of the adhesive film 12 for the transfer robot 23 to pick up; The film-removing robot 41 is used to grab the lower film 13 that is pasted on the bottom wall of the adhesive film 12 when the material transfer robot 23 is suspended above itself, and to tear off the lower film 13 in conjunction with the action of the first robot 2. The carrier positioning platform 5 is used for transporting and temporarily placing the carrier 15, so that the top wall of the carrier 15 is exposed within the range of motion of the transfer robot 23, thereby enabling the transfer robot 23 to attach the adhesive film 12 with the lower film 13 removed 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 upper film 11 is torn off, so that the adhesive film 12 is tightly attached to the carrier 15.

[0020] The process flow of the adhesive application and film removal equipment is as follows: The transfer robot 23 grasps the adhesive film 12 on the adhesive film positioning table 31 and moves the adhesive film 12 above the film-tearing robot 41, so that the lower film 13 is suspended in the execution part of the film-tearing robot 41; the film-tearing robot 41 holds the lower film 13, and at the same time the first robot 2 drives the transfer robot 23 to move upward, so that the lower film 13 is separated from the bottom wall of the adhesive film 12; the transfer robot 23 moves the adhesive film 12 above the carrier positioning table 5, so that the bottom wall of the adhesive film 12 is attached to the top wall of the carrier 15; the upper film-tearing robot 24 holds the upper film 11, and at the same time the first robot 2 drives the transfer robot 23 to move upward, so that the upper film 11 is separated from the top wall of the adhesive film 12; the film-pressing device 6 presses and / or rolls the top wall of the adhesive film 12 downward to remove air bubbles between the adhesive film 12 and the carrier 15.

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

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

[0023] Combination Figure 3 The film hopper 33 is located next to the film positioning table 31. The loading robot 323 is installed on the execution part of the second robot 32 for adsorbing or clamping the film 12. The film positioning table 31 and the film hopper 33 are both within the range of motion of the loading robot 323. The execution part of the second robot 32 can move at least in the horizontal and vertical directions, thereby moving the film 12 to the film positioning table 31 in sequence.

[0024] Figure 4 A 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 actuator 321 whose actuator moves in the horizontal direction and a second linear actuator 322 whose actuator moves in the vertical direction. The loading robot 323 performs horizontal and vertical movements under the drive of the first linear actuator 321 and the second linear actuator 322, and performs the action of adsorbing and moving the adhesive 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 base 324 and a plurality of first vacuum suction cups 325 fixedly connected to the first suction cup mounting base 324 and distributed along a rectangular array. The first vacuum suction cups 325 generate suction force to adsorb the adhesive film 12 through a vacuum pump. The vacuum pump is not shown in the figure.

[0028] Figure 5 and Figure 6 A three-dimensional view and a top view of the film hopper 33 were presented respectively. Figure 7 and Figure 8 These are two cross-sectional views of the film hopper 33.

[0029] Combination Figure 5 , Figure 6 , Figure 7 and Figure 8 The film hopper 33 includes: The film holder 331 includes a film positioning cylinder 3311 and a film support rod 3312 connected to the bottom of the film positioning cylinder 3311. The film support 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 vertically mounted below the film rack 331 and can move vertically through the gap between the film positioning cylinder 3311 and the film support rod 3312 to lift the film 12 on the film support rod 3312 to the working height of the loading robot 323. The third linear actuator 333 is fixedly connected to the frame and driven to the film lifting plate 332. It is used to lift the remaining film 12 upward by the thickness of film 12 after the loading robot 323 takes away one 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 shape. The film lifting plate 332 is clearance-fitted with the film positioning cylinder 3311. The film lifting plate 332 is provided with a notch 3321 to avoid 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 lead screw slide.

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

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

[0033] When the adhesive film 12 inside the adhesive film rack 331 is used up by the loading robot 323, the third linear actuator 333 drives the adhesive film lifting plate 332 to descend below the adhesive film rack 331. Then, the cylinder drives the pin to disengage from the rack positioning seat 3314, allowing the operator to pull out the adhesive film rack 331 to replenish the adhesive film 12 inside.

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

[0035] Combination Figure 9 , Figure 10 The adhesive film positioning stage 31 includes: The film support plate 311 is horizontally set and fixedly connected to the frame to support the bottom wall of the film 12; Two adhesive film positioning strips 312 are respectively set on two adjacent sides of the adhesive film tray 311 and fixedly connected to the top wall of the adhesive film tray 311 to abut against the two adjacent sides of the adhesive film 12. Two adhesive film push plates 313 are respectively set on two opposite sides of the two adhesive film positioning strips 312, and can be horizontally slidably connected to the adhesive film support plate 311 relative to their respective adhesive film positioning strips 312, for abutting against the other two adjacent sides of the adhesive film 12. Two fifth linear actuators 314 are fixedly connected to the film support plate 311 and respectively driven to the two film push plates 313. They are used to drive the two film push plates 313 to move toward their respective corresponding film positioning strips 312, so as 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 actuator 314 is a thrust cylinder. The two thrust cylinders face the long side and short side of the film tray 311 respectively. The center of the film tray 311 is provided with a through hole, and a photoelectric switch is installed in the through hole. The photoelectric switch is used to detect whether there is film 12 above the film tray 311, so that the controller can determine whether the fifth linear actuator 314 needs to be started.

[0037] Figure 11 The positional relationship between the first robot 2, the material transfer robot 23, and the film-removing robot 41 is shown, and the process of removing the lower film 13 is performed here.

[0038] Combination Figure 2 and Figure 11 The first robot 2 is a three-degree-of-freedom cylindrical coordinate robot, which includes two rotary actuators 21 with actuators that can rotate independently around a vertical axis, and a sixth linear actuator 22 with actuators that can move vertically up and down. The material handling manipulator 23 is installed on the actuator of the sixth linear actuator 22.

[0039] Figure 12 yes Figure 11 A magnified view of a portion at point C. Figure 12 The robotic arm 41 that peels off the film was shown in the middle.

[0040] Combination Figure 12 The membrane-peeling robotic arm 41 includes: The first mechanical gripper 411 is used to grip the protrusion 14 on the edge of the lower film 13; The seventh linear actuator 412 is fixedly connected to the frame and driven to the first mechanical gripper 411, and is used to drive the first mechanical gripper 411 to move away from the adhesive film 12 to tear off the lower film 13.

[0041] Preferably, the seventh linear actuator 412 is a rodless cylinder slide. The slider of the rodless cylinder slide moves downward and at an angle away from the end of the lower film 13 with the protrusion 14. At the same time, the sixth linear actuator 22 drives the transfer robot 23 to move the adhesive film 12 upward, thereby tearing off the lower film 13 more efficiently.

[0042] Combination Figure 11 Below the film-tearing robot 41, there are a hopper 42 and a waste film box 43 arranged in sequence. The torn lower film 13 falls into the interior of the waste film box 43 along the hopper 42. The waste film box 43 is horizontally connected to the frame via the second slide rail 44. When needed, the staff can pull out the waste film box 43 to clean the lower film 13 inside.

[0043] Figure 13 Enlarged views of the material handling robot 23 and its parts are shown.

[0044] Combination Figure 12 , Figure 13 The material handling robot 23 includes: Robot connector 231 is fixedly connected to the execution unit of the first robot 2; The second suction cup mounting base 232 can be vertically slidably suspended below the robot connecting base 231 via the first sliding post 233. The top of the first sliding post 233 is connected to a radially outward extending flange to prevent the second suction cup mounting base 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 to adsorb the adhesive film 12 through a vacuum pump; The first spring 234 is sleeved on the outside of the first sliding post 233, and its two ends abut against the robot connecting seat 231 and the second suction cup mounting seat 232 respectively, to provide force for the action of the material handling robot 23 to stick the adhesive film 12 onto the carrier 15; The third vacuum suction cup 236 is fixedly connected to the second suction cup mounting base 232 and is disposed around the edge of the second suction cup mounting base 232 around the second vacuum suction cup 235.

[0045] Both the second vacuum suction cup 235 and the third vacuum suction cup 236 generate suction to adsorb the adhesive film 12 through a vacuum pump. The diameter of the second vacuum suction cup 235 is larger than that of the third vacuum suction cup 236. The second vacuum suction cup 235 is used to support 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] Figure 14 and Figure 15 The vehicle positioning platform 5 and the film pressing device 6 are shown, where the processes of applying adhesive film 12, peeling off film 11 and pressing adhesive film 12 are performed.

[0047] The vehicle positioning platform 5 is used to place the vehicle 15, and to position the height and horizontal position of the vehicle 15, and to support the vehicle 15 from bottom to top, providing the vehicle 15 with a reaction force to withstand the pressure of the adhesive film 12 and the pressing film 12.

[0048] Combination Figure 12 , Figure 13 The film-tearing robot 24 is installed in the execution part of the first robot 2. The first robot 2, the film-tearing robot 24 and the carrier positioning table 5 work together to complete the process of tearing off the film 11.

[0049] The 24-piece robotic arm for peeling off the film includes: The eighth linear actuator 241, the ninth linear actuator 242, and the tenth linear actuator 243 are sequentially connected, as are the second mechanical gripper 244 and the third mechanical gripper 245. The eighth linear actuator 241 is fixedly connected to the execution unit of the first robot 2, the second mechanical gripper 244 is fixedly connected to the execution unit of the ninth linear actuator 242, and the third mechanical gripper 245 is fixedly connected to the execution unit of the tenth linear actuator 243. The eighth linear actuator 241, the ninth linear actuator 242, and the tenth linear actuator 243 are oriented in 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 actuator 241, the ninth linear actuator 242, and the tenth linear actuator 243 are all cylinder slides. The actuator of the eighth linear actuator 241 moves horizontally along the width direction of the film 12, the actuator of the ninth linear actuator 242 moves vertically, and the actuator of the tenth linear actuator 243 moves horizontally along the length direction of the film 12. When the protrusion 14 located at the edge of the upper film 11 falls into the working range of the second mechanical gripper 244, the third mechanical gripper 245 is directly opposite the side of the upper film 11 with the protrusion 14.

[0051] The workflow of the film-tearing robot 24 is as follows: the eighth linear actuator 241 and the ninth linear actuator 242 are activated, causing the second mechanical gripper 244 to grasp the protrusion 14 located on the edge of the upper film 11. Then, the eighth linear actuator 241 and the ninth linear actuator 242 are activated, causing the second mechanical gripper 244 to grasp the protrusion 14 and tear open a corner of the upper film 11, exposing the wide edge of the upper film 11 directly in front of the third mechanical gripper 245. Then, the tenth linear actuator 243 is activated, 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. Subsequently, the first robot 2 is activated, driving the material transfer robot 23 and the film-tearing robot 24 to move upward or tilted upward, so that the upper film 11 is torn off.

[0052] During the process of the first robot 2 driving the material transfer robot 23 and the film-tearing robot 24 to return to their positions, the film-tearing robot 24 throws the torn film 11 into the hopper 42, and the film 11 enters the waste film box 43 along the hopper 42.

[0053] Combination Figure 14 The film pressing device 6 is positioned above the carrier positioning table 5 by means of the eleventh linear driver 61 and the twelfth linear driver 62, so that when the first robot 2, the material transfer robot 23, and the film-peeling robot 24 perform the actions of applying adhesive film 12 and peeling film 11, they can move aside to the side of the carrier positioning table 5.

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

[0055] Figure 15 The vehicle positioning platform 5 and the film pressing device 6 were shown. Figure 16 The film pressing device 6 was presented. Figure 17 and Figure 18 Two cross-sectional views of the film pressing device 6 are shown.

[0056] Combination Figure 15 , Figure 16 , Figure 17 and Figure 18 The film pressing device 6 includes: The plate pressing device 63 includes a pressing plate 631 that can be independently raised and lowered and whose four corners can move independently by a small distance in the horizontal and vertical directions, and a thirteenth linear actuator 632 that drives the pressing plate 631 to be raised and lowered. The rolling device 64 includes a pressure roller 641 that can be raised and lowered independently and whose two ends can move independently by a small distance in the horizontal and vertical directions, and a fourteenth linear actuator 642 that drives the pressure roller 641 to be raised and lowered.

[0057] After the upper film 11 on the top wall of the adhesive film 12 is torn off, the thirteenth linear actuator 632 drives the pressure plate 631 to press down on the adhesive film 12. 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 adhesive film 12, so that the pressure plate 631, the adhesive film 12 and the carrier 15 are tightly attached. Then, the fourteenth linear actuator 642 drives the pressure roller 641 to press down on the adhesive film 12. 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 adhesive film 12, so that the pressure roller 641, the adhesive film 12 and the carrier 15 are tightly attached. Then, the eleventh linear actuator drives the pressure roller 641 to move horizontally, so that the pressure roller 641 rolls over the top wall of the adhesive film 12.

[0058] The thirteenth linear actuator 632 and the fourteenth linear actuator 642 each include a thrust cylinder and a pressure sensor 65. The pressure plate 631 and the pressure roller 641 are respectively connected to their respective thrust cylinders through their respective pressure sensors 65. The thrust cylinder is used to drive the pressure plate 631 and the pressure roller 641 to perform a 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. Then, the pressure is controlled by adjusting the air pressure input into the thrust cylinder so that the adhesive film 12 receives a preset pressure.

[0059] Combination Figure 17 The rolling device 64 also includes a rotating shaft 643 connecting the actuator of the fourteenth linear actuator 642 and the pressure roller 641. The rotating shaft 643 is connected to the actuator of the fourteenth linear actuator 642 through a bearing seat 644, so that the rotating shaft 643 can rotate around a horizontal axis. The pressure roller 641 is coaxially fitted on the outside 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 into 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 extend and retract radially, so that the two ends of the pressure roller 641 can move a small distance in the vertical direction relative to the two ends of the rotating shaft 643.

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

[0061] Each guide post 633 can move in both horizontal and vertical directions, allowing the four corners of the pressure plate 631 to move slightly. This ensures that even when the bottom wall of the pressure plate 631 is not parallel to the top wall of the adhesive film 12, the pressure plate 631 can still adhere to the adhesive film 12.

[0062] Preferably, a second spring 636 is sleeved on the outer side of the guide post 633, with its two ends respectively abutting 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 travel of the small distance movement of the four corners of the pressure plate 631, reducing the friction between the outer wall of the guide post 633 and the inner wall of the guide sleeve 635, and at the same time enabling the pressure plate 631 to naturally reset when no external force is applied.

[0063] Figure 19 and Figure 20 Vehicle positioning platform 5 was presented. Figure 21 A cross-sectional view of the vehicle positioning platform 5 is shown.

[0064] Combination Figure 19 , Figure 20 , Figure 21 The vehicle positioning platform 5 includes: The carrier pallet 51 is fixedly connected to the frame and is used to support the bottom wall of the carrier 15; The vehicle conveyor 52 includes two parallel belt conveyors for supporting and moving the two sides of the vehicle 15, and the vehicle pallet 51 is disposed between the two belt conveyors. The fifteenth linear actuator 53 is fixedly connected to the frame and driven to one of the carrier pallet 51 and the carrier conveyor 52. It 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 actuator 53 is a cylinder slide. The actuator of the fifteenth linear actuator 53 is upwardly mounted and fixedly connected to the carrier conveyor 52. After the carrier 15 moves to directly above the carrier pallet 51 via the carrier conveyor 52, the carrier conveyor 52 stops working. The fifteenth linear actuator 53 drives the carrier conveyor 52 to descend, causing the carrier 15 to fall onto the carrier pallet 51. Then, the first robot 2 drives the material transfer manipulator 23 to perform the operations of applying adhesive film 12 and peeling off film 11. Next, the pressing device performs the plate pressing and rolling operations. Finally, the fifteenth linear actuator 53 drives the carrier conveyor 52 to rise, causing the carrier 15 to return to the carrier conveyor 52. The carrier conveyor 52 drives the carrier 15 to move to the station where the CCD camera 521 and the barcode scanner 522 are located to perform the quality inspection of the adhesive film 12.

[0066] In addition, the actuator of the fifteenth linear drive 53 is also equipped with a horizontally movable carrier positioning member 54. 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, which is fixedly connected to the actuator of the fifteenth linear drive 53, to move horizontally. When the carrier positioning member 54 is connected to the carrier 15, it restricts the movement of the carrier 15, thereby preventing the carrier 15 from moving when the adhesive film 12 is applied.

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

[0068] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered as falling within the scope of protection of the embodiments of the present invention.

Claims

1. A vehicle adhesive application and film removal device, characterized in that, include: The first robot (2), the material transfer manipulator (23), and the film-tearing manipulator (24) are all installed on the execution part of the first robot (2). The material transfer manipulator (23) is used to adsorb or hold the adhesive film (12). 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). The execution part of the first robot (2) can move at least in the horizontal and vertical directions, thereby moving the adhesive film (12) to different work positions, and tearing off the upper film (11) in coordination with the action of the film-tearing manipulator (24). And, within the range of motion of the material handling robot (23): A film positioning stage (31) is used to place the film (12) and constrain the height and horizontal position of the film (12) for use by the transfer robot (23); The film-removing robot (41) is used to grab the lower film (13) pasted on the bottom wall of the adhesive film (12) when the material transfer robot (23) is suspended above itself, and to tear off the lower film (13) in conjunction 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 motion of the transfer robot (23), thereby enabling the transfer robot (23) to attach the adhesive film (12) with the lower film (13) torn off to the top wall of the carrier (15); A 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 tightly attached to the carrier (15); The material handling robot (23) includes: The robot connector (231) is fixedly connected to the execution unit of the first robot (2); The second suction cup mounting base (232) can be vertically and slidably suspended below the robot connecting base (231) via the first sliding column (233); The second vacuum suction cup (235) is fixedly connected to the second suction cup mounting base (232) and generates suction force to adsorb 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 abut against the robot connecting seat (231) and the second suction cup mounting seat (232) respectively, to provide force for the action of the material handling robot (23) to stick the adhesive film (12) onto the carrier (15); The material handling robot (23) also includes a third vacuum suction cup (236), which is fixedly connected to the second suction cup mounting base (232) and is arranged around the edge of the second suction cup mounting base (232) around the second vacuum suction cup (235). The diameter of the second vacuum suction cup (235) is larger than the diameter of the third vacuum suction cup (236). The film pressing device (6) includes: The plate pressing device (63) includes a pressing plate (631) that can be raised and lowered independently and whose four corners can move independently in the horizontal and vertical directions, and a thirteenth linear actuator (632) that drives the pressing plate (631) to be raised and lowered. The rolling device (64) includes a pressure roller (641) that can be raised and lowered independently and whose two ends can move independently in the horizontal and vertical directions, and a fourteenth linear actuator (642) that drives the pressure roller (641) to be raised and lowered. The eleventh linear driver (61) is fixedly connected to the frame and is drively connected to the plate pressing device (63) and the rolling device (64). The actuator of the eleventh linear driver (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 pressure roller (641) to roll back and forth on the adhesive film (12); The rolling device (64) further includes a rotating shaft (643) connecting the actuator of the fourteenth linear actuator (642) and the pressure roller (641). The rotating shaft (643) is connected to the actuator of the fourteenth linear actuator (642) through a bearing seat (644), so that the rotating shaft (643) can rotate around a horizontal axis. The pressure roller (641) is coaxially fitted on the outside of the rotating shaft (643). The rotating shaft (643) and the pressure roller (641) are connected by an elastic sleeve (645), which is inserted into the annular gap formed between the rotating shaft (643) and the pressure roller (641).

2. The vehicle adhesive application and film removal device according to claim 1, characterized in that, It also includes a second robot (32), a loading robot (323), and a film hopper (33). The loading robot (323) is installed on the execution part of the second robot (32). The loading robot (323) is used to adsorb or hold the film (12). The film positioning table (31) and the film hopper (33) are both located within the range of motion of the loading robot (323). The execution part of the second robot (32) can move at least in the horizontal and vertical directions, thereby moving the film (12) from the film hopper (33) to the film positioning table (31).

3. The vehicle adhesive application and film removal device according to claim 1, characterized in that, The film-peeling robot (41) includes: The first mechanical gripper (411) is used to grip the protrusion (14) at the edge of the lower film (13). The seventh linear actuator (412) is fixedly connected to the frame and driven to the first mechanical gripper (411), and is used to drive the first mechanical gripper (411) to move away from the adhesive film (12) to tear off the lower film (13).

4. The vehicle adhesive application and film removal device according to claim 3, characterized in that, The actuator of the seventh linear actuator (412) moves downward and tilted toward the end of the lower membrane (13) that is held by the first mechanical gripper (411).

5. The vehicle adhesive application and film removal device according to claim 1, characterized in that, The film-peeling robotic arm (24) includes: The eighth linear actuator (241), the ninth linear actuator (242), and the tenth linear actuator (243) are sequentially connected, as are the second mechanical gripper (244) and the third mechanical gripper (245). The eighth linear actuator (241) is fixedly connected to the execution unit of the first robot (2), the second mechanical gripper (244) is fixedly connected to the execution unit of the ninth linear actuator (242), and the third mechanical gripper (245) is fixedly connected to the execution unit of the tenth linear actuator (243). The eighth linear actuator (241), the ninth linear actuator (242), and the tenth linear actuator (243) are respectively oriented in three different directions perpendicular to each other. When the protrusion (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 the side of the upper film (11) with the protrusion (14).

6. The vehicle adhesive application and film removal device according to claim 1, characterized in that, The first robot (2) includes two rotary drives (21) connected in sequence and a sixth linear drive (22). The actuator of the rotary drive (21) can rotate independently around a vertical axis, and the actuator of the sixth linear drive (22) can move vertically up and down. The material transfer manipulator (23) and the film-tearing manipulator (24) are both installed on the actuator of the sixth linear drive (22).

7. The apparatus according to claim 1, wherein 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 extend and retract radially, so that the two ends of the pressure roller (641) can move independently in the vertical direction relative to the two ends of the rotating shaft (643). The plate pressing device (63) further includes a guide post (633) connecting the actuator of the thirteenth linear actuator (632) and the pressure plate (631). The actuator of the thirteenth linear actuator (632) is fixedly connected to a guide sleeve (635) sleeved on the outside of the guide post (633). The top end of the guide post (633) is formed with an upward and radially outward expanding conical head (634), so that the guide post (633) can suspend the pressure plate (631) below the guide sleeve (635). The outer diameter of the guide post (633) is smaller than the inner diameter of the guide sleeve (635), so that each guide post (633) can move axially independently relative to the guide sleeve (635).

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