Packaging device and method

Abstract

The invention provides a packaging device and method.The packaging device comprises a feeding and discharging mechanism, a carrying mechanism, a turnover mechanism and at least two packaging and printing mechanisms, the packaging and printing mechanisms are used for printing packaging materials on the side edge of a substrate in sequence, and the turnover mechanism is in transmission fit with the substrate and used for driving the substrate to turn over; and the carrying mechanism is used for carrying the substrate to a processing station of the packaging and printing mechanism. According to the invention, more than two packaging and printing stations can be provided at the same time for packaging, automation of substrate position change in the packaging process can be realized by adopting the feeding and discharging mechanism and the carrying mechanism, the packaging position of the substrate can be flexibly changed by adopting the turnover mechanism, and compared with a transfer printing process adopted in the prior art, the packaging process provided by the invention has the advantages that the production efficiency is improved; the process is simpler, and the efficiency is higher.

Description

Technical Field

[0001] The present invention relates to the field of packaging technology, and in particular to a packaging device and method. Background Art

[0002] The pixels in the display panel are composed of electronic components such as liquid crystal molecules, semiconductors, batteries and circuits. The control chip of the display panel can process the input digital signal and convert it into the required pixel brightness value, thereby forming an image or text to be displayed on the screen. During the production process of the display panel, it is necessary to cut the metal such as the wiring or electrode of the substrate, so that some metal is exposed on the side of the display panel. The exposed metal is prone to oxidation and corrosion, resulting in a decrease in the reliability of the display panel. Therefore, the side of the display panel needs to be encapsulated.

[0003] At present, the side encapsulation of display panels mostly adopts pad printing technology, which is a high-precision printing process and is often used to produce electronic components, optical instruments, medical equipment, ceramics, glass and other items with complex shapes or high surface requirements. Pad printing can make patterns, texts, logos and other details reproduced clearly and accurately. Because pad printing has strong adaptability and compatibility with different substrates, it is widely used in the manufacturing industry. However, the pad printing process has the disadvantages of complex process flow and low efficiency.

[0004] The Chinese patent document discloses a "side encapsulation method of a display panel and a display panel", and its publication number is CN114883472A. The patent document uses a side encapsulation mold to cover the exposed metal on the first side of the display panel with a side encapsulation adhesive, thereby preventing the exposed metal from being corroded, thereby avoiding oxidation and corrosion of the exposed metal, and improving the reliability of the display panel. However, the patent relies on a side encapsulation mold with a special structural design, and is not suitable for side encapsulation of display panels of different shapes and sizes. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a packaging device and method for solving the problem that the existing display panel side packaging adopts a pad printing process, which has a complex process flow and low efficiency.

[0006] To achieve the above-mentioned purpose and other related purposes, the present invention provides a packaging device, including a loading and unloading mechanism, a conveying mechanism, a flipping mechanism and at least two packaging printing mechanisms, wherein the packaging printing mechanism is used to print packaging materials on the side of a substrate in sequence, the flipping mechanism is coordinated with the substrate transmission and is used to drive the substrate to flip, and the conveying mechanism is used to transport the substrate to the processing station of the packaging printing mechanism.

[0007] In the above technical solution of the present application, a packaging device is formed by adopting a loading and unloading mechanism, a conveying mechanism, a flipping mechanism and at least two packaging and printing mechanisms. The packaging device can provide more than two packaging and printing stations for packaging at the same time. The loading and unloading mechanism and the conveying mechanism can realize the automation of the position change of the substrate during the packaging process. The flipping mechanism can flexibly change the packaging position of the substrate. Compared with the pad printing process adopted in the prior art, the packaging process of the present application has a simpler process and higher efficiency.

[0008] Preferably, the packaging printing mechanism includes an XY motion platform and a printing mechanism arranged above the motion platform, the printing mechanism includes a dispensing machine and a printing needle assembly, the motion platform is provided with a rotating mechanism and a horizontal suction cup and a vertical suction cup for carrying the substrate, the rotating mechanism includes a horizontal rotating mechanism for driving the horizontal suction cup to rotate in the horizontal direction and a vertical rotating mechanism for driving the vertical suction cup to rotate in the vertical direction.

[0009] In the above technical solution of the present application, a horizontal suction cup and a vertical suction cup for carrying the substrate can provide a stable fixation for the upper, lower and side packaging printing of the substrate. A horizontal rotation mechanism for driving the horizontal suction cup to rotate in the horizontal direction and a vertical rotation mechanism for driving the vertical suction cup to rotate in the vertical direction can flexibly adjust the suction cup position according to the requirements of the packaging printing position, thereby improving the automation of packaging printing and achieving higher efficiency.

[0010] Preferably, the packaging printing mechanism also includes a distance measuring component, a calibration component and a needle cleaning component. The calibration component includes a vertical positioning component and a horizontal positioning component. The calibration component is used to calibrate the position of the substrate before printing and feed back to the rotating mechanism. The rotating mechanism is used to drive the horizontal suction cup and / or the vertical suction cup to rotate to the corresponding printing position according to the feedback result; the distance measuring component is used to test the thickness of the packaging film formed after printing; the printing needle assembly includes a plurality of printing needles, and the needle cleaning assembly is used to clean the printing needles.

[0011] A calibration component is used to calibrate the position of the substrate before printing and feed back to the rotating mechanism. The rotating mechanism is used to drive the horizontal suction cup and / or the vertical suction cup to rotate to the corresponding printing position according to the feedback result. A distance measuring component is used to test the thickness of the packaging film formed after printing, which can synergistically improve the accuracy of packaging printing.

[0012] More preferably, both the vertical positioning component and the horizontal positioning component adopt CCD visual positioning components.

[0013] Preferably, the flipping mechanism includes a linear module, a flipping gripper mounted above the linear module and a flipping drive for driving the flipping gripper to flip. A transition suction cup is provided between the linear module and the flipping gripper, and the transition suction cup can make a linear motion along the linear module. A lifting mechanism is provided between the transition suction cup and the linear module, and the lifting mechanism includes a lifting drive and a lifting plate. The lifting drive is used to drive the lifting plate to drive the transition suction cup to move closer to or away from the flipping gripper.

[0014] In the above technical solution of the present application, the flipping principle is as follows: a transition suction cup is used to carry the substrate to be flipped, and is transported to the position corresponding to the lifting plate directly below the flip gripper in combination with the linear module. A lifting drive is used to drive the lifting plate to drive the transition suction cup close to the flip gripper, and the flip gripper is used to grab the substrate. The lifting drive drives the lifting plate to drive the transition suction cup away from the flip gripper to ensure that there is enough flipping space, and the flip drive drives the flip gripper to drive the substrate to complete the flipping. The lifting drive drives the lifting plate to drive the transition suction cup to approach the flip gripper again, and the flip gripper releases the substrate after the flipping is completed. The transition suction cup absorbs the substrate and transports it to the next processing station along the linear module. Both the transition suction cup and the flip gripper are based on the principle of negative pressure adsorption for adsorption and grasping.

[0015] Preferably, the transport mechanism comprises at least two six-axis robots, and the six-axis robot comprises a robot body and a variable-distance gripper.

[0016] In the above technical solution of the present application, the six-axis robot has six rotating axes, including a base drive axis, a shoulder drive axis, an arm drive axis, an arm drive axis, a wrist flip axis and a gripper drive axis, each axis can rotate directly and independently, so that the handling mechanism of the present application has high operability in the processing space. The variable-distance gripper can adjust the spacing of the gripping part as needed to adapt to substrates of different sizes, so that the gripper can flexibly respond to the needs of different workstations and improve the work efficiency of packaging printing.

[0017] Preferably, the loading and unloading mechanism includes a loading unit, a unloading unit and a positioning component for photographing and positioning the loading and unloading substrates. The loading unit includes a loading and conveying linear module, a loading suction cup for carrying the substrate, a loading and scanning unit and a loading and variable-pitch linear module. The loading suction cup is movably arranged above the loading and conveying linear module, and the loading suction cup can perform linear motion along the loading and conveying linear module; the unloading unit includes a unloading and conveying linear module, a unloading suction cup for carrying the substrate, a unloading and scanning unit and a unloading and variable-pitch linear module. The unloading suction cup is movably arranged below the unloading and conveying linear module, and the unloading suction cup can perform linear motion along the unloading and conveying linear module.

[0018] Preferably, the loading unit and / or unloading unit further comprises a cleaning unit, and the cleaning unit is used for cleaning the substrate carried by the loading unit and / or unloading unit.

[0019] More preferably, the cleaning unit adopts a dry ultrasonic dust removal device (USC).

[0020] Preferably, the positioning assembly includes a loading positioning assembly and a unloading positioning assembly. The loading positioning assembly and the unloading positioning assembly can be used to position the substrate during the loading and unloading stages to ensure the stability of the entire device production line.

[0021] More preferably, both the loading positioning component and the unloading positioning component adopt CCD visual positioning components.

[0022] Preferably, along the direction of the production line, the packaging device also includes a buffer table, a curing furnace and a cooling table in sequence before the unloading unit. The curing furnace is used to cure the packaging material on the surface of the substrate after packaging. The buffer table includes a number of parallel cache units for temporarily storing the substrates to be cured that need to be transported to the curing furnace. The cooling table includes a number of parallel cooling units for cooling the cured substrates that need to be transported to the unloading unit.

[0023] Preferably, a transfer table is provided before the buffering table, and the transfer table is used to carry the substrates to be transported to the buffering table.

[0024] The present invention also provides a packaging method, using the above packaging device, comprising the following steps: (1) Use the loading and unloading mechanism to transport the substrate to the material picking position of the transport mechanism; (2) Using a transport mechanism to transport the substrate to a processing station of a packaging printing mechanism; (3) The flipping mechanism cooperates with the substrate transmission to drive the substrate to flip to the printing position; (4) Using a packaging printing mechanism to print packaging materials on the sides of the substrate in sequence; (5) Repeat steps (3) and (4) until the side packaging of the substrate is completed; (6) The substrate that has completed the side packaging is transported to the loading and unloading mechanism by using a transport mechanism, and the substrate that has completed the side packaging is transported to the next workstation by using the loading and unloading mechanism.

[0025] Preferably, the loading and unloading mechanism comprises a loading unit and a unloading unit, and the unloading unit also comprises a transfer table, a buffer table, a curing furnace and a cooling table in sequence before step (6), and also comprises: The substrate to be cured, which has completed the side encapsulation on the encapsulation printing mechanism, is transported to the transfer table by a transport mechanism; A transport mechanism is used to transport the substrate to be cured on the transfer table to the buffer table; The transport mechanism is used to transport the substrate to be cured on the intermediate buffer table to the curing furnace to cure the packaging material on the surface of the substrate; A transport mechanism is used to transport the substrate cured in the curing furnace to the cooling table for cooling; The cooled substrate is transported to the unloading unit using a transport mechanism.

[0026] As described above, the packaging device and method of the present invention have the following beneficial effects: (1) The packaging device of the present application can provide more than two packaging printing stations for packaging at the same time. The loading and unloading mechanism and the handling mechanism can realize the automation of the position change of the substrate during the packaging process. The flipping mechanism can flexibly change the packaging position of the substrate; (2) The horizontal suction cup and the vertical suction cup used to carry the substrate can provide a stable fixation for the upper, lower and side packaging printing of the substrate. The horizontal rotation mechanism used to drive the horizontal suction cup to rotate in the horizontal direction and the vertical rotation mechanism used to drive the vertical suction cup to rotate in the vertical direction can flexibly adjust the suction cup position according to the requirements of the packaging printing position, thereby improving the automation of packaging printing and achieving higher efficiency; (3) The handling mechanism uses a six-axis robot with six rotating axes and a variable-pitch gripper. Each axis can rotate directly and independently, making the handling mechanism highly maneuverable in the processing space. The variable-pitch gripper can adjust the spacing of the gripping parts as needed to adapt to substrates of different sizes, allowing the gripper to flexibly respond to the needs of different workstations and improve the work efficiency of packaging printing; (4) Compared with the pad printing process used in the prior art, the packaging process of the present application is simpler and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Shown is a schematic diagram of the structure of the packaging device.

[0028] Figure 2 Shown is a schematic diagram of the structure of the encapsulated printing mechanism.

[0029] Figure 3 Display as Figure 2 Enlarged view of point A in the middle.

[0030] Figure 4 Shown is a schematic diagram of the structure of the flip mechanism.

[0031] Figure 5 Display as Figure 4 Side view of.

[0032] Figure 6 Shown is a schematic diagram of the structure of a six-axis robot.

[0033] Figure 7Shown is a schematic diagram of the structure of the loading unit.

[0034] Figure 8 Shown is a schematic diagram of the cooling stage structure.

[0035] Explanation of the accompanying drawings: transport mechanism 1, robot body 11, variable-pitch gripper 12, flipping mechanism 2, linear module 21, flipping gripper 22, flipping drive 23, transition suction cup 24, lifting drive 25, lifting plate 26, packaging and printing mechanism 3, XY motion platform 31, dispensing machine 32, horizontal suction cup 33, vertical suction cup 34, vertical positioning assembly 35, horizontal positioning assembly 36, needle cleaning assembly 37, printing needle 38, loading unit 4, loading and conveying linear module 41, loading suction cup 42, loading and scanning unit 43, loading variable-pitch linear module 44, cleaning unit 45, loading positioning assembly 46, unloading unit 5, cache table 6, curing oven 7, cooling table 8, cooling unit 81, transfer table 9. DETAILED DESCRIPTION

[0036] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below 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.

[0037] In the description of the present application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0038] Unless otherwise clearly specified and limited, the terms "connection", "fixation" and "setting" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] like Figure 1As shown, the embodiment of the present application provides a packaging device, including a loading and unloading mechanism, a conveying mechanism 1, a flipping mechanism 2 and two packaging printing mechanisms 3. The packaging printing mechanism is used to print packaging materials on the side of the substrate in sequence. The flipping mechanism cooperates with the substrate transmission and is used to drive the substrate to flip. The conveying mechanism is used to convey the substrate to the processing station of the packaging printing mechanism. The conveying mechanism includes two six-axis robots. Figure 6 As shown, the six-axis robot includes a robot body 11 and a variable-distance gripper 12. The loading and unloading mechanism includes a loading unit 4, a unloading unit 5 and a positioning component for photographing and positioning the loading and unloading substrates, and the positioning component includes a loading positioning component 46 and an unloading positioning component. Along the production line direction, the packaging device also includes a transfer table 9, a buffer table 6, a curing furnace 7 and a cooling table 8 in sequence before the unloading unit. The curing furnace is used to cure the packaging material on the surface of the substrate after packaging. The buffer table includes 7 parallel cache units for temporarily storing the substrates to be cured that need to be transported to the curing furnace. Figure 8 As shown, the cooling table 8 includes 7 cooling units 81 arranged in parallel, which are used to cool the solidified substrates to be transported to the unloading unit, and the transfer table is used to carry the substrates to be transported to the buffer table.

[0040] like Figure 2 As shown, the packaging printing mechanism includes an XY motion platform 31, a printing mechanism arranged above the motion platform, a distance measuring component, a calibration component and a needle cleaning component 37, the calibration component includes a vertical positioning component 35 and a horizontal positioning component 36, the printing mechanism includes a glue dispenser 32 and a printing needle component, the motion platform is provided with a rotating mechanism and a horizontal suction cup 33 and a vertical suction cup 34 for carrying the substrate, the rotating mechanism includes a horizontal rotating mechanism for driving the horizontal suction cup to rotate in the horizontal direction and a vertical rotating mechanism for driving the vertical suction cup to rotate in the vertical direction. The calibration component is used to calibrate the position of the substrate before printing and feed back to the rotating mechanism, the rotating mechanism is used to drive the horizontal suction cup and / or the vertical suction cup to rotate to the corresponding printing position according to the feedback result; the distance measuring component is used to test the thickness of the packaging film formed after printing; as shown Figure 3 As shown, the printing needle assembly includes a plurality of printing needles 38, and the needle cleaning assembly is used for cleaning the printing needles.

[0041] like Figure 4 and Figure 5As shown, the flip mechanism includes a linear module 21, a flip gripper 22 mounted above the linear module, and a flip drive 23 for driving the flip gripper to flip. A transition suction cup 24 is provided between the linear module and the flip gripper, and the transition suction cup can make a linear motion along the linear module. A jacking mechanism is provided between the transition suction cup and the linear module, and the jacking mechanism includes a jacking drive 25 and a jacking plate 26. The jacking drive is used to drive the jacking plate to drive the transition suction cup to approach or move away from the flip gripper. Guide columns are movably provided at the four corners of the jacking plate, and the jacking plate can approach or move away from the flip gripper along the guide columns under the action of the jacking drive. The flip drive drives the flip gripper to flip through a gear transmission mechanism.

[0042] Figure 7 As shown, the loading unit includes a loading and conveying linear module 41, a loading suction cup 42 for carrying a substrate, a loading code scanning unit 43, a loading variable pitch linear module 44 and a cleaning unit 45. The loading suction cup is movably arranged above the loading and conveying linear module, and the loading suction cup can make a linear motion along the loading and conveying linear module; the unloading unit includes an unloading and conveying linear module, a unloading suction cup for carrying a substrate, a unloading code scanning unit, an unloading variable pitch linear module and a cleaning unit. The unloading suction cup is movably arranged below the unloading and conveying linear module, and the unloading suction cup can make a linear motion along the unloading and conveying linear module. The cleaning unit adopts a dry ultrasonic dust removal device USC, which is used to clean the substrates carried by the loading unit and the unloading unit.

[0043] In the above embodiments of the present application, the vertical positioning assembly, the horizontal positioning assembly, the loading positioning assembly and the unloading positioning assembly all adopt CCD visual positioning assemblies.

[0044] The present application also provides a packaging method based on the above packaging device. Figure 1 As shown, the six-axis robot close to the loading unit is named six-axis robot No. 1, the six-axis robot close to the unloading unit is named six-axis robot No. 2, the packaging and printing mechanism close to the loading unit is named packaging and printing mechanism No. 1, and the packaging and printing mechanism far from the loading unit is named packaging and printing mechanism No. 1.

[0045] The following steps are involved: S1: The loading suction cup 42 of the loading unit 4 is used to receive the substrate from the upstream, and the loading conveying linear module 41 is used to convey the substrate to the cleaning unit 45 for cleaning the substrate. The loading code scanning unit 43 is used to scan the substrate, and then it is conveyed to the material picking position of the No. 1 six-axis robot. The No. 1 six-axis robot is used to grab the substrate to the loading positioning component 46 for photo positioning; S2: The No. 1 six-axis robot is used to grab the substrate and horizontally place it on the horizontal suction cup 33 of the No. 1 packaging printing mechanism 3, and the horizontal positioning component 36 is used to calibrate the position of the substrate and feedback it to the horizontal rotation mechanism. The horizontal rotation mechanism drives the horizontal suction cup to rotate to the corresponding printing position according to the feedback result, and then the printing mechanism is used to print the packaging material on the front of the substrate, and the distance measuring component is used to detect the thickness of the packaging film formed after printing on the front of the substrate; S3: The substrate with the front package completed is grasped and turned 90° by the No. 1 six-axis robot, and is placed on the vertical suction cup 34 of the No. 1 packaging printing mechanism 3. The vertical positioning component 35 is used to calibrate the position of the substrate and feedback is given to the vertical rotation mechanism. The vertical rotation mechanism drives the vertical suction cup to rotate to the corresponding printing position according to the feedback result, and then the printing mechanism is used to print the packaging material on the side and top sides of the substrate, and the distance measuring component is used to detect the thickness of the packaging film formed after printing on the side and top sides of the substrate; S4: Use the No. 1 six-axis robot to grab the substrate and flip it 180°, and then place it on the vertical suction cup 34 of the No. 1 packaging printing mechanism 3, and use the vertical positioning component 35 to calibrate the position of the substrate again, and feedback to the vertical rotation mechanism. The vertical rotation mechanism drives the vertical suction cup to rotate to the corresponding printing position according to the feedback result, and then use the printing mechanism to print the packaging material on the side and bottom of the substrate, and use the distance measuring component to detect the thickness of the packaging film formed after printing on the side and bottom of the substrate; S5: Use No. 1 six-axis robot to grab the substrate and place it on the transition suction cup 24 of the flip mechanism 2. The transition suction cup carries the substrate to be flipped, and is transported to the corresponding position of the lifting plate 26 directly below the flip gripper 22 in combination with the linear module 21. Use the lifting drive 25 to drive the lifting plate 26 to drive the transition suction cup 24 close to the flip gripper 22. Use the flip gripper 22 to grab the substrate. The lifting drive 25 drives the lifting plate 260 to drive the transition suction cup away from the flip gripper to ensure that there is enough flipping space. Use the flip drive 25 to drive the flip gripper 22 to drive the substrate to complete the positive and negative flipping, so that the bottom surface of the substrate faces up. Use the lifting drive to drive the lifting plate to drive the transition suction cup to approach the flip gripper again. The flip gripper releases the substrate after the flipping is completed. The transition suction cup absorbs the substrate with the bottom surface facing up and outputs it along the linear module 21; S6: Use the No. 1 six-axis robot to grab the substrate and place it horizontally on the horizontal suction cup 33 of the No. 1 packaging printing mechanism 3, use the horizontal positioning component 36 to calibrate the position of the substrate, and feed back to the horizontal rotation mechanism. The horizontal rotation mechanism drives the horizontal suction cup to rotate to the corresponding printing position according to the feedback result, and then use the printing mechanism to print the packaging material on the bottom surface of the substrate, and use the distance measuring component to detect the thickness of the packaging film formed after printing on the bottom surface of the substrate, so as to complete the side packaging of the substrate; S7: Use the No. 1 six-axis robot to grab the substrate that has completed the side packaging to the transfer table 9, use the No. 2 six-axis robot to grab the substrate to the buffer table 6, repeat the grabbing action to place the 7 substrates into the 7 buffer units respectively, and use the No. 2 six-axis robot to grab the 7 substrates from the buffer units to the curing furnace 7 in turn for curing; S8: Using the No. 2 six-axis robot, the seven substrates that have been cured are sequentially grabbed from the curing furnace 7 to the seven parallel cooling units 81 in the inner cooling platform 8 for cooling; S9: Use No. 2 six-axis robot to grab the 7 substrates that have completed cooling from the cooling table 7 to the unloading positioning component in turn for photography and positioning, and then place them on the unloading conveying linear module of the unloading unit 5. Use the unloading conveying linear module to convey the completed packaged substrate to the cleaning unit for cleaning, use the unloading scanning unit to scan the substrate, and then convey it to the next processing station.

[0046] The working principle of the No. 2 package printing mechanism is exactly the same as that of the No. 1 package printing mechanism, and will not be repeated here.

[0047] In summary, the packaging device of the present invention can provide more than two packaging printing stations for packaging at the same time, and the use of loading and unloading mechanisms and conveying mechanisms can realize the automation of the position change of the substrate during the packaging process, and the use of a flipping mechanism can flexibly change the packaging position of the substrate. Compared with the pad printing process used in the prior art, the packaging process of the present application has a simpler process and higher efficiency. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0048] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A packaging device, characterized in that: It comprises a loading and unloading mechanism, a transport mechanism (1), a flipping mechanism (2) and at least two packaging and printing mechanisms (3), wherein the packaging and printing mechanism is used to print packaging materials on the side of a substrate in sequence, the flipping mechanism is in transmission cooperation with the substrate and is used to drive the substrate to flip, and the transport mechanism is used to transport the substrate to a processing station of the packaging and printing mechanism.

2. The packaging device according to claim 1, characterized in that: The packaging printing mechanism comprises an XY motion platform (31) and a printing mechanism arranged above the motion platform, the printing mechanism comprises a glue dispenser (32) and a printing needle assembly, the motion platform is provided with a rotating mechanism and a horizontal suction cup (33) and a vertical suction cup (34) for carrying a substrate, the rotating mechanism comprises a horizontal rotating mechanism for driving the horizontal suction cup to rotate in a horizontal direction and a vertical rotating mechanism for driving the vertical suction cup to rotate in a vertical direction.

3. The packaging device according to claim 2, characterized in that: The packaging printing mechanism further comprises a distance measuring component, a calibration component and a needle cleaning component (37), wherein the calibration component comprises a vertical positioning component (35) and a horizontal positioning component (36), wherein the calibration component is used to calibrate the position of the substrate before printing and to feed back to the rotating mechanism, wherein the rotating mechanism is used to drive the horizontal suction cup and / or the vertical suction cup to rotate to a corresponding printing position according to the feedback result; the distance measuring component is used to test the thickness of the packaging film formed after printing; the printing needle head component comprises a plurality of printing needle heads (38), and the needle head cleaning component is used to clean the printing needle heads.

4. The packaging device according to claim 1, characterized in that: The flipping mechanism comprises a linear module (21), a flip gripper (22) mounted above the linear module, and a flip driving member (23) for driving the flip gripper to flip; a transition suction cup (24) is provided between the linear module and the flip gripper, and the transition suction cup can perform linear motion along the linear module; a lifting mechanism is provided between the transition suction cup and the linear module, and the lifting mechanism comprises a lifting driving member (25) and a lifting plate (26); the lifting driving member is used to drive the lifting plate to drive the transition suction cup to approach or move away from the flip gripper.

5. The packaging device according to claim 1, characterized in that: The transport mechanism comprises at least two six-axis robots, and the six-axis robots comprise a robot body (11) and a variable-distance gripper (12).

6. The packaging device according to claim 1, characterized in that: The loading and unloading mechanism comprises a loading unit (4), a unloading unit (5) and a positioning component for photographing and positioning the loading and unloading substrates; the loading unit comprises a loading and conveying linear module (41), a loading suction cup (42) for carrying the substrate, a loading and scanning unit (43) and a loading and variable-pitch linear module (44); the loading suction cup is movably arranged above the loading and conveying linear module, and the loading suction cup can perform linear motion along the loading and conveying linear module; the unloading unit comprises a unloading and conveying linear module, a unloading suction cup for carrying the substrate, a unloading and scanning unit and a unloading and variable-pitch linear module; the unloading suction cup is movably arranged below the unloading and conveying linear module, and the unloading suction cup can perform linear motion along the unloading and conveying linear module.

7. The packaging device according to claim 6, characterized in that: The loading unit and / or unloading unit further comprises a cleaning unit (45), the cleaning unit being used to clean the substrate carried by the loading unit and / or unloading unit, and the positioning assembly comprises a loading positioning assembly (46) and an unloading positioning assembly.

8. The packaging device according to claim 6, characterized in that: Along the production line direction, the packaging device also includes a buffer table (6), a curing furnace (7) and a cooling table (8) in sequence before the unloading unit. The curing furnace is used to cure the packaging material on the surface of the substrate after packaging. The buffer table includes a plurality of parallel buffer units for temporarily storing the substrates to be cured that need to be transported to the curing furnace. The cooling table includes a plurality of parallel cooling units (81) for cooling the cured substrates that need to be transported to the unloading unit.

9. The packaging device according to claim 8, characterized in that: A transfer table (9) is also provided before the cache table, and the transfer table is used to carry substrates that need to be transported to the cache table.

10. A packaging method, characterized in that: The packaging device according to any one of claims 1 to 9 comprises the following steps: (1) Use the loading and unloading mechanism to transport the substrate to the material picking position of the transport mechanism; (2) Using a transport mechanism to transport the substrate to a processing station of a packaging printing mechanism; (3) The flipping mechanism cooperates with the substrate transmission to drive the substrate to flip to the printing position; (4) Using a packaging printing mechanism to print packaging materials on the sides of the substrate in sequence; (5) Repeat steps (3) and (4) until the side packaging of the substrate is completed; (6) The substrate that has completed the side packaging is transported to the loading and unloading mechanism by using a transport mechanism, and the substrate that has completed the side packaging is transported to the next workstation by using the loading and unloading mechanism.

11. The packaging method according to claim 10, characterized in that: The loading and unloading mechanism includes a loading unit and a unloading unit. The unloading unit also includes a transfer table, a buffer table, a curing furnace and a cooling table in sequence. Before step (6), it also includes: The substrate to be cured, which has completed the side encapsulation on the encapsulation printing mechanism, is transported to the transfer table by a transport mechanism; A transport mechanism is used to transport the substrate to be cured on the transfer table to the buffer table; The transport mechanism is used to transport the substrate to be cured on the intermediate buffer table to the curing furnace to cure the packaging material on the surface of the substrate; A transport mechanism is used to transport the substrate cured in the curing furnace to the cooling table for cooling; The cooled substrate is transported to the unloading unit using a transport mechanism.

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