Film tearing and pressure maintaining method

Abstract

The invention relates to the field of rubberizing and film tearing methods, in particular to a film tearing and pressure maintaining method which comprises the following steps: tearing off a lower film; the bottom wall of the adhesive film is laid and attached to the top wall of the carrier through a material moving mechanical arm, and the adhesive film is attached to the carrier; a second mechanical clamping jaw is used for clamping the protruding strip on one side of the upper film, the second mechanical clamping jaw is driven to move upwards so that one side of the upper film can be separated from the adhesive film, a third mechanical clamping jaw is used for clamping the other side of the side, provided with the protruding strip, of the upper film, and then the second mechanical clamping jaw and the third mechanical clamping jaw are driven to move upwards so that the upper film can be torn off; pressure is applied to the top wall of the adhesive film, so that the adhesive film is tightly attached to the carrier, and bubbles between the adhesive film and the carrier are removed. According to the embodiment of the invention, by designing the film pressing method, automatic extrusion and rolling after the adhesive film is attached are realized, bubbles are eliminated, the attaching quality is improved, meanwhile, the structure and the action process of the film tearing manipulator are optimized, and the size of the film tearing module is reduced.

Description

Technical Field

[0001] The invention relates to the field of automated equipment for adhesive laminating and film tearing, and in particular to a film tearing and pressure maintaining method. Background Art

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

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

[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: A film tearing and pressure-maintaining method comprises the following steps: tearing off the lower film: using a material transfer robot to absorb the top of a film, using a first mechanical gripper to clamp a convex strip on the edge of the lower film, and driving the material transfer robot and the first mechanical gripper to move relative to each other, so that the lower film is torn off; pasting the film: using a carrier positioning platform to fix a carrier, using the material transfer robot to lay the bottom wall of the film on the top wall of the carrier, so that the film and the carrier are in contact; tearing off the upper film: using a second mechanical gripper to clamp a convex strip on one side of the upper film, driving the second mechanical gripper to move upward, so that one side of the upper film is separated from the film, using a third mechanical gripper to clamp the other side of the upper film having one side of the convex strip, and then driving the second mechanical gripper and the third mechanical gripper to move upward, so that the upper film is torn off; squeezing the film: applying pressure to the top wall of the film, so that the film and the carrier are in close contact, and removing bubbles between the film and the carrier.

[0005] Furthermore, before tearing off the lower film, the film is positioned using a film positioning table so that the bottom wall of the film faces downward for the material transfer robot to take.

[0006] Furthermore, before the film is positioned, the second robot and the loading manipulator are used to take out the film from the film silo and move it to the film positioning platform.

[0007] Furthermore, the film silo includes a film rack and a liftable film lifting plate, and the film lifting plate is used to lift the films one by one to the working height of the loading robot.

[0008] Furthermore, the material transfer robot includes a second vacuum suction cup and a third vacuum suction cup arranged around its edge, the second vacuum suction cup is used to absorb the central area of ​​the film, and the third vacuum suction cup is used to absorb the edge area of ​​the film to prevent the edge of the film from sagging.

[0009] Furthermore, when the adhesive film is pasted, the material transfer robot presses the adhesive film toward the carrier through the force provided by the first spring.

[0010] Furthermore, when tearing off the lower film, the first mechanical clamp is driven to move obliquely downward along the extension direction of the convex strip of the lower film, and the material moving robot is driven to move upward at the same time, so as to improve the film tearing efficiency.

[0011] Furthermore, after tearing off the upper film, a pressing plate is used to press the top wall of the adhesive film downwards so that the adhesive film is closely fitted to the carrier.

[0012] Furthermore, after tearing off the upper film, a pressure roller is used to press downward on the top wall of the adhesive film, and the pressure roller is driven to roll along the surface of the adhesive film, so that the adhesive film is closely attached to the carrier.

[0013] Furthermore, the pressing plate and the pressing roller are allowed to move slightly in the vertical direction at both ends or at four corners through elastic connecting parts so as to adapt to the flatness of the top wall of the adhesive film.

[0014] Compared with the prior art, this application has the following beneficial effects: A film tearing and pressure maintaining method is provided. By designing a film pressing method, automatic extrusion and rolling of the adhesive film after attachment are realized, bubbles are eliminated, and the lamination quality is improved. At the same time, the structure and action process of the film tearing robot are optimized, and the volume of the film tearing module is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0016] Figure 1 An exploded view of a film according to an embodiment of the present invention; Figure 2 A top view of an embodiment of the present invention; Figure 3 It is a three-dimensional diagram of a second robot, a feeding manipulator, a film positioning platform and a film silo according to an embodiment of the present invention; Figure 4 The partial structure and the loading manipulator of the second robot of the embodiment of the present invention; Figure 5 The first robot, the material transfer robot and the film tearing robot of the embodiment of the present invention; Figure 6 for Figure 5 A local enlarged view of point C; Figure 7 It is an enlarged view of the material transfer robot and its parts according to an embodiment of the present invention; Figure 8 A three-dimensional diagram of a carrier positioning platform and a laminating device according to an embodiment of the present invention; Fig. 9 It is a front view of a carrier positioning platform and a laminating device according to an embodiment of the present invention; Fig.10 A film pressing device according to an embodiment of the present invention; Fig.11 for Fig.10 Cross-sectional view in the EE direction; Fig.12 for Fig.10 The reference numerals in the cross-sectional view in the FF direction are as follows: 11-upper film; 12-adhesive film; 13-lower film; 14-convex strip; 2-first robot; 21-rotation drive; 22-sixth linear drive; 23-material transfer manipulator; 231-robot connection seat; 232-second suction cup mounting seat; 233-first sliding column; 234-first spring; 235-second vacuum suction cup; 236-third vacuum suction cup; 24-film tearing manipulator; 241-eighth linear drive; 242-ninth linear drive; 243-tenth linear drive; 244-second mechanical gripper; 245-third mechanical gripper; 31-film positioning table; 32-second robot; 321-first linear drive; 322-second linear drive; 323-loading manipulator; 324-first suction cup mounting seat; 325-first vacuum suction cup; 33-film silo; 331-film rack; 332-film lifting plate; 41-film tearing robot; 411-first mechanical gripper; 412-seventh linear drive; 42-hopper; 43-waste film box; 44-second slide rail; 5-carrier positioning platform; 51-carrier pallet; 52-carrier conveyor; 6-film pressing device; 61-eleventh linear drive; 62-twelfth linear drive; 63-plate pressing device; 631-pressing plate; 632-thirteenth linear drive; 633-guide column; 634-conical head; 635-guide sleeve; 636-second spring; 64-rolling device; 641-pressure roller; 642-fourteenth linear drive; 643-rotating shaft; 644-bearing seat; 645-elastic sleeve; 65-pressure sensor. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Figure 1 An exploded view of the adhesive film 12 is shown. The adhesive film 12 is a sheet with a sticky bottom wall and a non-sticky top wall. The top and bottom walls of the adhesive film 12 are respectively pasted with an upper film 11 and a lower film 13. Adhesive film pasting and film tearing refers to tearing off the films on both sides of the adhesive film 12 and attaching the adhesive film 12 to the surface of the carrier. The specific process flow is: tearing off the lower film 13 attached to the bottom wall of the adhesive film 12, pasting the sticky bottom wall of the adhesive film 12 on the top wall of the carrier, and then tearing off the upper film 11 attached to the top wall of the adhesive film 12, and then applying pressure from top to bottom to the adhesive film 12 to eliminate bubbles between the two and make the adhesive film 12 fit tightly to the carrier.

[0019] In order to facilitate tearing off the upper film 11 and the lower film 13 from both sides of the adhesive film 12, the corners of the upper film 11 and the lower film 13 are respectively provided with convex strips 14 extending outward along the length direction of the adhesive film 12. The purpose of this embodiment is to use automated adhesive film tearing equipment to complete the process of tearing off the upper film 11, the lower film 13 and the adhesive film 12.

[0020] Figure 2 A top view of the glue and film peeling equipment is shown, and the glue and film peeling equipment includes: The first robot 2, the material moving manipulator 23 and the film tearing manipulator 24, both of which are installed on the execution part of the first robot 2, the material moving manipulator 23 is used to absorb or clamp the adhesive film 12, and the film tearing manipulator 24 is used to grab the upper film 11 pasted on the top wall of the adhesive film 12 after the adhesive film 12 is pasted on the top wall of the carrier, and the execution part of the first robot 2 can at least move along the horizontal and vertical directions, so as to move the adhesive film 12 to different workstations, and cooperate with the action of the film tearing manipulator 24 to tear off the upper film 11; And, arranged within the range of motion of the material transfer manipulator 23: The film positioning table 31 is used to place the film 12 and constrain the height and horizontal position of the film 12 so that the material transfer robot 23 can take it; The film tearing robot 41 is used to grab the lower film 13 attached to the bottom wall of the adhesive film 12 when the material transfer robot 23 is suspended above itself, and tear off the lower film 13 in coordination with the action of the first robot 2; The carrier positioning platform 5 is used to transport and temporarily place the carrier so that the top wall of the carrier is exposed within the range of motion of the material transfer robot 23, so that the material transfer robot 23 can paste the adhesive film 12 torn off the lower film 13 on the top wall of the carrier; The film pressing device 6 is used to press and / or roll the top wall of the adhesive film 12 downward after the upper film 11 is torn off the adhesive film 12, so that the adhesive film 12 is closely fitted to the carrier.

[0021] The process flow of glue and film peeling equipment is: The material transfer robot 23 grabs the film 12 on the film positioning platform 31, and moves the film 12 to above the film tearing-off robot 41, so that the lower film 13 is suspended on the execution part of the film tearing-off robot 41; the film tearing-off robot 41 clamps the lower film 13, and at the same time, the first robot 2 drives the material transfer robot 23 to move upward to separate the lower film 13 from the bottom wall of the film 12; the material transfer robot 23 moves the film 12 to above the carrier positioning platform 5, so that the bottom wall of the film 12 fits the top wall of the carrier; the film tearing-off robot 24 clamps the upper film 11, and at the same time, the first robot 2 drives the material transfer robot 23 to move upward to separate the upper film 11 from the top wall of the film 12; the film pressing device 6 squeezes and / or rolls the top wall of the film 12 downward to remove bubbles between the film 12 and the carrier.

[0022] Furthermore, before the film 12 is moved to the film positioning table 31, the film 12 is placed inside the film silo 33, and the film 12 is stacked along the vertical direction. The film 12 is moved from the film silo 33 to the film positioning table 31 by the second robot 32 and the loading robot 323, thereby achieving loading.

[0023] Figure 3 The positional relationship among the second robot 32 , the loading manipulator 323 , the film positioning table 31 and the film silo 33 is shown, where the loading process of the film 12 is performed.

[0024] Combination Figure 3 The film silo 33 is arranged beside the film positioning platform 31, and the loading manipulator 323 is installed on the executive part of the second robot 32 for adsorbing or clamping the film 12. The film positioning platform 31 and the film silo 33 are both located within the movable range of the loading manipulator 323. The executive part of the second robot 32 can at least move in the horizontal and vertical directions, thereby moving the film 12 to the film positioning platform 31 in sequence.

[0025] Figure 4 The partial structure of the second robot 32 and the loading robot 323 are shown.

[0026] Combination Figure 4 The second robot 32 is a two-degree-of-freedom Cartesian coordinate robot, including a first linear driver 321 whose actuator moves in the horizontal direction and a second linear driver 322 whose actuator moves in the vertical direction. The loading robot 323 moves in the horizontal and vertical directions under the drive of the first linear driver 321 and the second linear driver 322 to perform the action of adsorbing and moving the film 12.

[0027] 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.

[0028] The loading robot 323 includes a first suction cup mounting seat 324 and a plurality of first vacuum suction cups 325 fixedly connected to the first suction cup mounting seat 324 and distributed along a rectangular array. The first vacuum suction cups 325 generate suction force for adsorbing the adhesive film 12 through a vacuum pump, which is not shown in the figure.

[0029] Figure 5 and Figure 6 The three-dimensional view and the top view of the film silo 33 are shown respectively. Figure 7 and Figure 8 They are two cross-sectional views of the film silo 33 .

[0030] Combination Figure 5 , Figure 6 , Figure 7 and Figure 8 , the film silo 33 comprises: The film material rack 331 includes a film positioning cylinder 3311 and a film supporting rod 3312 connected to the bottom of the film positioning cylinder 3311. The film supporting rod 3312 is used to support the bottom wall of the film 12, and the film positioning cylinder 3311 is used to limit the four sides of the film 12. The film lifting plate 332 is movably disposed below the film material rack 331 and can vertically move through the gap between the film positioning cylinder 3311 and the film supporting rod 3312 to lift the film 12 on the film supporting rod 3312 to the working height of the loading robot 323; The third linear drive is fixedly connected to the frame and is transmission-connected to the film lifting plate 332 , and is used to lift the remaining films 12 upward by the thickness of a film 12 after the loading robot 323 takes away a film 12 .

[0031] Figure 5 The positional relationship among the first robot 2 , the material transfer robot 23 , and the film tearing robot 41 is shown, where the process of tearing off the lower film 13 is performed.

[0032] Combination Figure 2 and Figure 5 The first robot 2 is a three-degree-of-freedom cylindrical coordinate robot, which includes a rotary driver 21 with two actuators capable of independently rotating around a vertical axis, and a sixth linear driver 22 with an actuator capable of vertical lifting and lowering, and a material transfer manipulator 23 is installed on the actuator of the sixth linear driver 22.

[0033] Figure 6 yes Figure 5 A partial enlarged view of point C. Figure 6 A film tearing robot 41 is shown.

[0034] Combination Figure 6 , the film tearing robot 41 comprises: The first mechanical clamp 411 is used to clamp the convex strip 14 at the edge of the lower film 13; The seventh linear drive 412 is fixedly connected to the frame and transmission-connected to the first mechanical clamp 411 , and is used for driving the first mechanical clamp 411 to move in a direction away from the adhesive film 12 so as to tear off the lower film 13 .

[0035] Preferably, the seventh linear drive 412 is a rodless cylinder slide, and the slider of the rodless cylinder slide moves obliquely downward and toward the end with the convex strip 14 away from the lower film 13. At the same time, the sixth linear drive 22 drives the material transfer robot 23 to move the adhesive film 12 upward, thereby tearing off the lower film 13 more efficiently.

[0036] Combination Figure 5 A hopper 42 and a waste film box 43 are arranged in sequence below the film tearing robot 41. The torn lower film 13 falls into the waste film box 43 along the hopper 42. The waste film box 43 is horizontally movably connected to the frame through a second slide rail 44. The staff can pull out the waste film box 43 to clean the lower film 13 when necessary.

[0037] Figure 7 An enlarged view of the material transfer robot 23 and a part thereof is shown.

[0038] Combination Figure 6 , Figure 7 , the material transfer manipulator 23 comprises: The robot connecting seat 231 is fixedly connected to the execution part of the first robot 2; The second suction cup mounting seat 232 is vertically slidably suspended below the robot connecting seat 231 through the first sliding column 233. The top end of the first sliding column 233 is connected with a flange extending radially outward to prevent the second suction cup mounting seat 232 from falling downward. The second vacuum suction cup 235 is fixedly connected to the second suction cup mounting base 232 and generates suction force for adsorbing the adhesive film 12 through a vacuum pump; The first spring 234 is sleeved on the outside of the first sliding column 233, and the two ends of the first spring 234 respectively abut against the robot connecting seat 231 and the second suction cup mounting seat 232, so as to provide a force for the material transfer robot 23 to stick the film 12 on the carrier; The third vacuum suction cup 236 is fixedly connected to the second suction cup mounting seat 232 and is disposed at the edge of the second suction cup mounting seat 232 around the second vacuum suction cup 235 .

[0039] The second vacuum suction cup 235 and the third vacuum suction cup 236 both generate suction force to adsorb the adhesive film 12 through a vacuum pump, wherein the diameter of the second vacuum suction cup 235 is greater than the diameter of the third vacuum suction cup 236. The second vacuum suction cup 235 is used to bear the weight of the adhesive film 12, and the third vacuum suction cup 236 is used to adsorb the corners of the adhesive film 12 to prevent the edges of the adhesive film 12 from sagging.

[0040] Figure 8 and Fig. 9 The carrier positioning table 5 and the film pressing device 6 are shown, and the processes of applying the adhesive film 12, tearing off the film 11 and pressing the adhesive film 12 are performed here.

[0041] The carrier positioning platform 5 is used to place the carrier, locate the height and horizontal position of the carrier, and support the carrier from bottom to top, providing the carrier with a reaction force for bearing the pressure of the adhesive film 12 and the laminating film 12 .

[0042] Combination Figure 6 , Figure 7 The film tearing manipulator 24 is installed on the execution part of the first robot 2 , and the first robot 2 , the film tearing manipulator 24 and the carrier positioning platform 5 jointly complete the process of tearing off the upper film 11 .

[0043] The film tearing robot 24 comprises: The eighth linear drive 241, the ninth linear drive 242 and the tenth linear drive 243, as well as the second mechanical gripper 244 and the third mechanical gripper 245 are connected in sequence, wherein the eighth linear drive 241 is fixedly connected to the execution part of the first robot 2, the second mechanical gripper 244 is fixedly connected to the execution part of the ninth linear drive 242, and the third mechanical gripper 245 is fixedly connected to the execution part of the tenth linear drive 243; The eighth linear drive 241 , the ninth linear drive 242 , and the tenth linear drive 243 are oriented towards three different directions perpendicular to each other, so that the second mechanical gripper 244 has two degrees of freedom, and the third mechanical gripper 245 has three degrees of freedom.

[0044] Specifically, the eighth linear drive 241, the ninth linear drive 242 and the tenth linear drive 243 are all cylinder slides. The actuator of the eighth linear drive 241 moves horizontally along the width direction of the film 12, the actuator of the ninth linear drive 242 moves along the vertical direction, and the actuator of the tenth linear drive 243 moves horizontally along the length direction of the film 12. When the ridge 14 located at the edge of the upper film 11 falls into the working range of the second mechanical clamp 244, the third mechanical clamp 245 is facing the other side of the upper film 11 having the ridge 14.

[0045] The working process of the film tearing robot 24 is as follows: the eighth linear drive 241 and the ninth linear drive 242 are actuated to make the second mechanical gripper 244 grasp the convex strip 14 located at the edge of the upper film 11, and then, the eighth linear drive 241 and the ninth linear drive 242 are actuated to make the second mechanical gripper 244 grasp the convex strip 14 to tear off a corner of the upper film 11, so that the wide edge of the upper film 11 is exposed directly in front of the third mechanical gripper 245, and then the tenth linear drive 243 is actuated, and the third mechanical gripper 245 moves horizontally toward the upper film 11 and grasps the edge of the upper film 11, at this time, the two sides of the wide edge of the upper film 11 are grasped by the second mechanical gripper 244 and the third mechanical gripper 245 respectively, and then the first robot 2 is actuated to drive the material transfer robot 23 and the film tearing robot 24 to move upward or obliquely upward, so that the upper film 11 is torn off.

[0046] When the first robot 2 drives the material transfer manipulator 23 and the film tearing manipulator 24 to return to their positions, the film tearing manipulator 24 throws the torn upper film 11 into the hopper 42 , and the upper film 11 flows into the waste film box 43 along the hopper 42 .

[0047] Combination Figure 8 The film pressing device 6 can be horizontally and vertically moved above the carrier positioning platform 5 through the eleventh linear drive 61 and the twelfth linear drive 62, so that they can avoid to the side of the carrier positioning platform 5 when the first robot 2, the material transfer robot 23, and the film tearing robot 24 perform the actions of sticking the adhesive film 12 and tearing off the film 11.

[0048] Specifically, the eleventh linear drive 61 and the twelfth linear drive 62 are both servo screw slides, wherein the eleventh linear drive 61 is fixedly connected to the frame, and the actuator of the eleventh linear drive 61 moves horizontally, the twelfth linear drive 62 is fixedly connected to the actuator of the eleventh linear drive 61, and the actuator of the twelfth linear drive 62 moves vertically, and the film pressing device 6 is fixedly installed on the actuator of the twelfth linear drive 62.

[0049] Fig. 9 The carrier positioning platform 5 and the film pressing device 6 are shown. Fig.10 A lamination device 6 is shown. Fig.11 and Fig.12 Two sectional views of the lamination device 6 are shown respectively.

[0050] Combination Fig. 9 , Fig.10 , Fig.11 and Fig.12 , the laminating device 6 comprises: The plate pressing device 63 includes a pressing plate 631 which can be independently raised and lowered and whose four corners can independently move micro distances in horizontal and vertical directions, and a thirteenth linear actuator 632 for driving the pressing plate 631 to be raised and lowered; The rolling device 64 includes a pressure roller 641 which can be independently raised and lowered and whose two ends can independently move micro distances along the horizontal and vertical directions, and a fourteenth linear drive 642 for driving the pressure roller 641 to rise and fall.

[0051] After the upper film 11 on the top wall of the film 12 is torn off, the thirteenth linear driver 632 drives the pressure plate 631 to press the film 12 downward, and the four corners of the pressure plate 631 move adaptively to eliminate the gap caused by the non-parallelism between the pressure plate 631 and the film 12, so that the pressure plate 631, the film 12 and the carrier are tightly fitted. Then, the fourteenth linear driver 642 drives the pressure roller 641 to press the film 12 downward, and the two ends of the pressure roller 641 move adaptively to eliminate the gap caused by the non-parallelism between the pressure roller 641 and the film 12, so that the pressure roller 641, the film 12 and the carrier are tightly fitted. Then, the eleventh linear driver drives the pressure roller 641 to move horizontally, so that the pressure roller 641 rolls over the top wall of the film 12.

[0052] Among them, the thirteenth linear drive 632 and the fourteenth linear drive 642 each include a thrust cylinder and a pressure sensor 65. The pressure plate 631 and the pressure roller 641 are respectively connected to the corresponding thrust cylinders through their corresponding pressure sensors 65. The thrust cylinder is used to drive the pressure plate 631 and the pressure roller 641 to perform a downward pressing action. The pressure sensor 65 is used to detect the pressure applied by the pressure plate 631 and the pressure roller 641 to the adhesive film 12, and then the pressure is controlled by adjusting the air pressure input into the thrust cylinder so that the adhesive film 12 obtains a preset pressure.

[0053] Combination Fig.11 The rolling device 64 also includes a rotating shaft 643 connecting the actuator of the fourteenth linear drive 642 and the pressure roller 641. The rotating shaft 643 is connected to the actuator of the fourteenth linear drive 642 through a bearing seat 644, so that the rotating shaft 643 can rotate around a horizontal axis. The pressure roller 641 is coaxially mounted on the outer side of the rotating shaft 643. The rotating shaft 643 and the pressure roller 641 are connected by an elastic sleeve 645. The elastic sleeve 645 is inserted in the annular gap formed between the rotating shaft 643 and the pressure roller 641. The elastic sleeve 645 is used to keep the rotating shaft 643 and the pressure roller 641 coaxially connected. At the same time, the elastic sleeve 645 can radially expand and contract, so that the two ends of the pressure roller 641 can move a micro distance in the vertical direction relative to the two ends of the rotating shaft 643.

[0054] Combination Fig.12 The plate pressing device 63 also includes a guide column 633 connecting the actuator of the thirteenth linear drive 632 and the pressure plate 631. The actuator of the thirteenth linear drive 632 is fixedly connected to a guide sleeve 635 sleeved on the outside of the guide column 633. The top of the guide column 633 is formed with a conical head 634 that expands upward and radially outward, so that the guide column 633 can suspend the pressure plate 631 below the guide sleeve 635. The outer diameter of the guide column 633 is smaller than the inner diameter of the guide sleeve 635, so that the guide column 633 can move axially relative to the guide sleeve 635 and move radially at a micro distance.

[0055] Each guide column 633 can be actuated in the horizontal and vertical directions, so that the four corners of the pressing plate 631 can move a micro distance, so that when the bottom wall of the pressing plate 631 is not parallel to the top wall of the film 12, the pressing plate 631 can fit the film 12.

[0056] Preferably, the outer side of the guide column 633 is sleeved with a second spring 636 whose two ends respectively abut against the guide sleeve 635 and the pressure plate 631. The second spring 636 is used to apply a force to the pressure plate 631 that is always away from the guide sleeve 635, thereby limiting the micro-movement stroke of the four corners of the pressure plate 631, reducing the friction between the outer wall of the guide column 633 and the inner wall of the guide sleeve 635, and allowing the pressure plate 631 to naturally return to its original position when there is no external force.

[0057] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A film tearing and pressure maintaining method, characterized in that: The steps include: Tearing off the lower film: using a material transfer robot to absorb the top of the adhesive film, using a first mechanical clamp to clamp the convex strip on the edge of the lower film, and driving the material transfer robot and the first mechanical clamp to move relative to each other, so that the lower film is torn off; Pasting the adhesive film: using the carrier positioning platform to fix the carrier, and using the material transfer robot to lay the bottom wall of the adhesive film on the top wall of the carrier, so that the adhesive film and the carrier are in contact; Tearing off the upper film: using the second mechanical gripper to clamp the convex strip on one side of the upper film, driving the second mechanical gripper to move upward to separate one side of the upper film from the adhesive film, using the third mechanical gripper to clamp the other side of the upper film having the convex strip, and then driving the second mechanical gripper and the third mechanical gripper to move upward to tear off the upper film; Extruding the adhesive film: applying pressure to the top wall of the adhesive film so that the adhesive film and the carrier are closely attached and bubbles between the adhesive film and the carrier are removed.

2. A film tearing and pressure maintaining method according to claim 1, characterized in that: Before tearing off the lower film, the film is positioned using a film positioning table so that the bottom wall of the film faces downward for the material transfer robot to take.

3. A film tearing and pressure maintaining method according to claim 2, characterized in that: Before the adhesive film is positioned, the adhesive film is taken out from the adhesive film silo by using a second robot and a loading manipulator, and is moved to the adhesive film positioning platform.

4. A film tearing and pressure maintaining method according to claim 3, characterized in that: The film material bin comprises a film material rack and a liftable film lifting plate, and the film lifting plate is used to lift the films one by one to the working height of the feeding robot.

5. A film tearing and pressure maintaining method according to claim 1, characterized in that: The material transfer robot comprises a second vacuum suction cup and a third vacuum suction cup arranged around its edge, the second vacuum suction cup is used to absorb the central area of ​​the film, and the third vacuum suction cup is used to absorb the edge area of ​​the film to prevent the edge of the film from sagging.

6. A film tearing and pressure maintaining method according to claim 1, characterized in that: When the adhesive film is pasted, the material transfer robot presses the adhesive film toward the carrier through the force provided by the first spring.

7. A film tearing and pressure maintaining method according to claim 1, characterized in that: When tearing off the lower film, the first mechanical clamp is driven to move obliquely downward along the extension direction of the convex strip of the lower film, and the material moving robot is driven to move upward at the same time, so as to improve the film tearing efficiency.

8. A film tearing and pressure maintaining method according to claim 1, characterized in that: After tearing off the upper film, use a pressing plate to press the top wall of the adhesive film downwards so that the adhesive film fits tightly to the carrier.

9. A film tearing and pressure maintaining method according to claim 8, characterized in that: After tearing off the upper film, a pressure roller is used to press downward on the top wall of the adhesive film, and the pressure roller is driven to roll along the surface of the adhesive film so that the adhesive film is closely attached to the carrier.

10. A film tearing and pressure maintaining method according to claim 9, characterized in that: The pressing plate and the pressing roller are allowed to move at their two ends or four corners by a micro-distance in the vertical direction through elastic connecting parts, so as to adapt to the flatness of the top wall of the adhesive film.

Images