Wafer expanding production line

Abstract

The invention relates to the field of wafer expanding machines, in particular to a wafer expanding production line. The wafer expanding production line comprises a release paper stripping machine table, a wafer expanding machine table, an adhesive film curing machine table and an assembling machine table which are sequentially arranged in the first preset direction. The release paper stripping machine table comprises a stripping mechanism and a first circulation bin, and the stripping mechanism is used for stripping release paper of a film material to be subjected to paper removal and conveying the film material subjected to paper removal to the first circulation bin; the sheet expanding machine table comprises a second mechanical arm, a sheet expanding mechanism and a second circulation bin, and the second mechanical arm conveys the paper-removed film material of the first circulation bin to the sheet expanding mechanism and conveys the sheet-expanded film material to the second circulation bin; the third mechanical arm can convey the expanded film material of the second circulation bin to the adhesive film curing device and convey the treated film material to the third circulation bin; the assembling machine table comprises a fourth mechanical arm and an assembling mechanism, and the fourth mechanical arm can convey the treated film materials of the third circulation bin to the assembling mechanism; and the assembling mechanism is used for assembling the treated film material and the fixed tray.

Description

[0001] This application is a divisional application of Chinese application No. 202210893666.9, filed on July 27, 2022, entitled "Crystal Expansion Production Line". Technical Field

[0002] This application relates to the field of crystal expansion machines, and in particular to a crystal expansion production line. Background Technology

[0003] In the existing technology, fully automatic crystal expansion machines integrate the devices for each crystal expansion process into one piece of equipment, resulting in a large size of equipment that is inconvenient to transport. Summary of the Invention

[0004] The purpose of this application is to provide a die expansion production line for implementing an automated die expansion process. The four machines are independent modules, which facilitates transportation. The die expansion production line can automatically connect with the machines in front and behind to reduce labor costs.

[0005] This application provides a crystal expansion production line, including a release paper peeling machine, a wafer expansion machine, an adhesive film curing machine, and an assembly machine arranged sequentially along a first preset direction;

[0006] The release paper peeling machine includes a peeling mechanism and a first transfer chamber. The peeling mechanism is used to peel the release paper off the film material to be depaperized and to transport the depaperized film material to the first transfer chamber.

[0007] The film enlarging machine includes a second robotic arm, an enlarging mechanism, and a second transfer chamber. The first transfer chamber is located within the picking range of the second robotic arm, so that the second robotic arm can transport the de-papered film material from the first transfer chamber to the enlarging mechanism. The enlarging mechanism is used to enlarge the de-papered film material, and the second robotic arm can transport the enlarged film material to the second transfer chamber.

[0008] The film curing machine includes a third robotic arm, a film curing device, and a third transfer chamber. The second transfer chamber is located within the picking range of the third robotic arm, so that the third robotic arm can transport the expanded film material from the second transfer chamber to the film curing device. The film curing device is used to cure the film of the expanded film material, and the third robotic arm can transport the processed film material to the third transfer chamber.

[0009] The assembly machine includes a fourth robotic arm and an assembly mechanism. The third transfer chamber is located within the picking range of the fourth robotic arm, so that the fourth robotic arm can transport the processed film material from the third transfer chamber to the assembly mechanism. The assembly mechanism is used to assemble the processed film material with a fixed tray.

[0010] In the above technical solution, the stripping mechanism further includes a feeding hopper assembly, a processing platform, and a first robotic arm;

[0011] The feeding hopper assembly includes two lifting hoppers, one of which is used to carry the paper film to be removed, and the other is used to carry the support ring. The lifting hoppers can adjust the height of the paper film to be removed or the support ring relative to the lifting hoppers.

[0012] Both of the lifting hoppers are located within the picking range of the first robotic arm. The first robotic arm can transport the paper film to be removed from the lifting hoppers to the processing platform, which is used to position the paper film to be removed.

[0013] The first robotic arm can also remove the release paper from the paper-to-be-removed film material on the processing platform and place the support ring of the lifting hopper on the paper-removed film material on the processing platform.

[0014] The first robotic arm is also capable of transporting the de-papered film material, which is coupled with the support ring, to the first transfer chamber.

[0015] In the above technical solution, the feeding hopper assembly further includes a camera unit;

[0016] The shooting unit includes a bracket and a first position adjustment component, a shooting device, and a light source component mounted on the bracket;

[0017] The two lifting hoppers are arranged side by side. The first position adjustment component is connected to the shooting device to drive the shooting device to reciprocate along the second preset direction so that the movement trajectory of the shooting device passes through the two lifting hoppers, thereby visually positioning the paper film material to be removed or the support ring in the lifting hopper.

[0018] The light source component is located between the shooting device and the two lifting hoppers.

[0019] The above technical solution further includes a waste bin and a collection bin;

[0020] The waste bin is located at the processing platform to hold the release paper removed by the first robotic arm;

[0021] Among the multiple films to be processed carried by the lifting hopper, a partition is provided between two adjacent films to be processed; the collection bin is located within the picking range of the robotic arm, and the robotic arm can transport the partition of the lifting hopper to the collection bin.

[0022] In the above technical solution, the expanding mechanism further includes a first material storage mechanism, a separation platform, and a expanding machine;

[0023] The first storage mechanism is capable of carrying at least one mother and daughter ring. Both the first storage mechanism and the separation platform are located within the picking range of the second robotic arm. The second robotic arm is capable of transporting the mother and daughter rings of the first storage mechanism to the separation platform.

[0024] The separation platform includes a positioning part and a pulling part. The inner ring of the mother and daughter ring can be fitted onto the positioning part, and the pulling part can hook onto the outer ring of the mother and daughter ring and can move relative to the positioning part to separate the outer ring of the mother and daughter ring from the inner ring.

[0025] The second robotic arm can transport the outer ring, the inner ring, and the de-papered film material from the first transfer chamber to the film expander, respectively.

[0026] In the above technical solution, the first storage mechanism further includes two lifting hoppers, one for storing the mother and daughter rings to be loaded, and the other for storing the support rings to be unloaded by the robotic arm. The lifting hopper can adjust the height of the mother and daughter rings or the support rings relative to the lifting hopper.

[0027] In the above technical solution, the expanding mechanism further includes a coding mechanism located at the second transfer chamber. The coding mechanism includes a second position adjustment component and a coding head. The second position adjustment component is used to drive the coding head to move in three mutually perpendicular directions.

[0028] In the above technical solution, the assembly mechanism further includes a second material storage mechanism and an assembly platform;

[0029] The second storage mechanism is capable of carrying at least one fixed material tray. Both the second storage mechanism and the assembly platform are located within the picking range of the fourth robotic arm. The fourth robotic arm is capable of transporting the fixed material tray of the second storage mechanism to the assembly platform.

[0030] The fourth robotic arm is capable of transporting the processed film material from the third transfer chamber to the assembly platform;

[0031] The assembly platform includes a platform base and an opening mechanism connected to the platform base. The platform base is used to support the fixed material tray. The opening mechanism can open the buckles on the fixed material tray for fixing the processed film material, so that the processed film material placed on the fixed material tray can be fixed by the buckles to form the assembled film material.

[0032] In the above technical solution, the second storage mechanism further includes a hopper box and a material transfer module;

[0033] The hopper box carries a plurality of stacked fixed trays, and the side of the hopper box has an opening, with the material transfer module opposite to the opening;

[0034] The material transfer module includes a third position adjustment component, a connecting part, and a supporting part. The third position adjustment component is used to drive the connecting part to move. The connecting part is used to detachably connect with the fixed material tray to move the fixed material tray of the hopper box to the supporting part.

[0035] The fourth robotic arm is capable of picking up the fixed tray of the carrier.

[0036] In the above technical solution, the second material storage mechanism further includes a feeding and conveying component, a steering component, and a discharging and conveying component;

[0037] The feeding and transporting assembly is used to sequentially transport multiple hopper boxes carrying the fixed material tray to the material picking position along a first direction, and the material transfer module is located at the material picking position;

[0038] The fourth robotic arm can transport the assembled film material to the carrier; the material transfer module can return the assembled film material to the hopper box; the unloading and transporting assembly is used to transport multiple hopper boxes carrying the assembled film material sequentially to the unloading position along the second direction;

[0039] The steering assembly is located between the tail end of the loading conveyor assembly and the head end of the unloading conveyor assembly to steer the hopper box.

[0040] Compared with the prior art, the beneficial effects of this application are as follows:

[0041] The crystal expansion production line provided in this application can realize the complete crystal expansion process by sequentially setting up a release paper peeling machine, a wafer expansion machine, an adhesive film curing machine and an assembly machine. Moreover, the setting of the four independent machines makes transportation more flexible and convenient. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0043] Figure 1 A first structural schematic diagram of the crystal expansion production line provided in this application;

[0044] Figure 2 This is a schematic diagram of the second structure of the crystal expansion production line provided in this application;

[0045] Figure 3 This application provides a structural schematic diagram of the release paper peeling machine.

[0046] Figure 4 This is a structural schematic diagram of the lifting hopper provided in this application;

[0047] Figure 5 This is a structural schematic diagram of the material-carrying flap provided in this application;

[0048] Figure 6 A schematic diagram of the structure of the first pickup unit provided in this application;

[0049] Figure 7 A schematic diagram of the processing platform provided in this application;

[0050] Figure 8 This is a schematic diagram of the structure of the wafer enlarger provided in this application;

[0051] Figure 9 A schematic diagram of the separation platform provided in this application from a first-view perspective;

[0052] Figure 10 A schematic diagram of the separation platform provided in this application from a second perspective;

[0053] Figure 11 A schematic diagram of the structure of the second pickup unit provided in this application;

[0054] Figure 12 for Figure 8 Enlarged view of the center;

[0055] Figure 13 A schematic diagram of the lifting hopper of the storage support ring provided in this application;

[0056] Figure 14 A structural schematic diagram of the assembly machine provided in this application;

[0057] Figure 15 for Figure 14 Enlarged view of the center;

[0058] Figure 16 This is a schematic diagram of the material transfer module provided in this application;

[0059] Figure 17 This is a structural schematic diagram of the material loading and transport assembly provided in this application;

[0060] Figure 18 A schematic diagram of the steering component provided in this application;

[0061] Figure 19A schematic diagram of the structure of the fourth pickup unit provided in this application.

[0062] In the diagram: 101-Release paper peeling machine; 102-Expanding machine; 103-Film curing machine; 104-Assembly machine; 105-Protective cover; 106-First transfer bin; 107-Processing platform; 109-First robotic arm; 110-Lifting bin; 111-Binding bin body; 112-Feeding slide rail; 113-Positioning component; 114-Main material support component; 115-Auxiliary material support component; 116-Flip plate body; 117-Flip plate drive mechanism; 118-First imaging unit; 119-Waste bin; 120-Collection bin; 121-First pickup unit; 22-Suction cup component; 123-First defective product bin; 124-Rotation drive device; 125-Gripper body; 126-Suction plate; 127-Electrostatic detector; 128-Separation platform; 129-Expanding machine; 130-First fixing plate; 131-Limiting boss; 132-Hook; 133-First clearance opening; 134-Second fixing plate; 135-Fixed column; 136-Limiting column; 137-Connecting base; 138-Linear bearing; 139-Second imaging unit; 140-Second pickup unit; 141-Second mounting bracket; 142-Gripper assembly; 14 3-Suction cup assembly; 144-Positioning camera; 145-Positioning light source; 146-Second defective product bin; 147-Second transfer bin; 148-First positioning part; 149-Second positioning part; 150-Connector; 151-Second clearance opening; 152-Coding mechanism; 153-Palletizing mechanism; 154-Second main body; 155-Second robotic arm; 156-Film curing device; 158-Third robotic arm; 159-Third transfer bin; 160-Third defective product bin; 161-Assembly platform; 162-Platform base; 163-Snap-on; 164-Telescopic hook ; 165-Material hopper box; 166-Transfer module; 167-Fixed tray; 168-Third position adjustment component; 169-Connecting part; 170-Bearing part; 171-Loading and transporting component; 172-Steering component; 173-Unloading and transporting component; 174-Carrier plate; 175-Steering rail; 176-Steering drive component; 178-Support plate; 179-Second lifting plate; 180-Guide plate; 181-Fixed base; 182-Guide column; 183-Fourth pickup part; 184-Fourth mounting bracket; 185-Gripper component; 186-Fourth defective product bin. Detailed Implementation

[0063] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0065] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0066] Example 1

[0067] See Figures 1 to 19 As shown, the die expansion production line provided in this application includes a first preset direction ( Figure 1 The release paper peeling machine 101, the film expanding machine 102, the adhesive film curing machine 103, and the assembly machine 104 shown in direction A) can realize the assembly line operation of the crystal expanding process, and each machine can also be used as an independent module for operation and transportation.

[0068] Preferably, the release paper peeling machine 101, the film expanding machine 102, the adhesive film curing machine 103, and the assembly machine 104 are all equipped with working platforms and protective covers 105. The working platforms provide support, and the protective covers 105 protect the internal structure during transportation.

[0069] First, the release paper peeling machine 101 performs a release paper peeling process on the film material. The release paper peeling machine 101 includes a peeling mechanism and a first transfer chamber 106. The peeling mechanism can peel the release paper off the film material to be depaperized and transport the depaperized film material to the first transfer chamber 106.

[0070] Then, the film expander 102 performs an expansion process on the film material. The film expander 102 includes a second robotic arm 155, an expansion mechanism, and a second transfer chamber 147. The first transfer chamber 106 is located within the picking range of the second robotic arm 155, so that the second robotic arm 155 can pick up the de-papered film material placed on the first transfer chamber 106 and transport the de-papered film material to the expansion mechanism. The expansion mechanism can expand the de-papered film material. After the film material is expanded, the second robotic arm 155 can transport the expanded film material to the second transfer chamber 147.

[0071] Next, the film curing machine 103 performs a film curing process on the film material. The film curing machine 103 includes a third robotic arm 158, a film curing device 156, and a third transfer chamber 159. The second transfer chamber 147 is located within the picking range of the third robotic arm 158, so that the third robotic arm 158 can pick up the expanded film material placed on the second transfer chamber 147 and transport the expanded film material to the film curing station of the film curing device 156; the film curing device 156 can cure the film of the expanded film material. After the film material has undergone film curing treatment, the third robotic arm 158 can transport the treated film material to the third transfer chamber 159.

[0072] Finally, the assembly station 104 assembles the processed film material with the fixed tray 167. The assembly station 104 includes a fourth robotic arm and an assembly mechanism. The third transfer chamber 159 is located within the picking range of the fourth robotic arm, so that the fourth robotic arm can transport the processed film material placed on the third transfer chamber 159 to the assembly mechanism; the assembly mechanism is used to assemble the processed film material with the fixed tray 167.

[0073] The crystal expansion production line provided in this application can realize the complete crystal expansion process by sequentially setting up a release paper peeling machine 101, a wafer expansion machine 102, an adhesive film curing machine 103 and an assembly machine 104, and the setting of the four independent machines makes transportation more flexible and convenient.

[0074] The following is a description of each machine in the order of operation:

[0075] 1. Release paper peeling machine 101

[0076] See Figures 3 to 7 As shown, the release paper peeling machine 101's peeling mechanism includes a feeding bin assembly, a processing platform 107, and a first robotic arm 109. The feeding bin assembly includes two lifting bins 110, one of which is used to hold the paper film to be peeled, and the other is used to hold the support ring. Since only the soft blue film remains after the release paper is removed, the support ring is attached to the blue film to serve as a support structure for the blue film, making it easier for the first robotic arm 109 and the second robotic arm 155 to pick it up.

[0077] The lifting hopper 110 includes a hopper body 111, a feeding slide rail 112, a positioning component 113, and a main material support component 114. The hopper body 111 is a storage space formed by four vertical plates. The feeding slide rail 112, formed by multiple rollers, is located at the bottom of the storage space. Multi-layer stacked paper film materials to be removed or multi-layer stacked support rings can slide into the storage space along the feeding slide rail 112, which is convenient for operators to load materials.

[0078] The main material support component 114 includes a main lifting drive mechanism and a main material support plate. The main lifting drive mechanism includes a main drive device and a main lifting slide rail connected to each other. The main drive device provides power, and the main lifting slide rail is connected to the main material support plate to guide the lifting and lowering movement of the main material support plate.

[0079] The main support plate extends into the storage space to support the middle position of the multi-layer stacked paper film to be removed or the multi-layer stacked support rings from the bottom of the storage space. When the first robotic arm 109 removes the paper film to be removed or the support rings one by one, the paper film to be removed or the support ring located at the top can be lifted to the opening at the top of the hopper body 111, so that the first robotic arm 109 can pick it up later.

[0080] The positioning component 113 is located at the opening at the top of the hopper body 111 to clamp and position the paper film material to be removed or the support ring transported by the main support plate. Figure 4 The positioning component 113 is configured as a square frame, and each side of the square frame is provided with a drive device (cylinder shown in the figure) so that opposite sides can move closer or further away to clamp, position and release the paper film or support ring to be removed.

[0081] Of course, the positioning component 113 can be set to other shapes according to the actual shape of the product being fed, and is not limited to the square frame shown in the figure.

[0082] To ensure uninterrupted operation during material feeding, in this embodiment, the lifting hopper 110 may include an auxiliary material support component 115. When the remaining material (i.e., paper film to be removed or support ring) in the hopper body 111 is small, the auxiliary material support component 115 can support and lift the material. The main material support component 114 can descend to the bottom of the storage space to support the next batch of material. After the material in the auxiliary material support component 115 is removed, the main material support component 114 lifts the next batch of material, thus achieving a seamless supply of materials.

[0083] Specifically, the auxiliary material support component 115 includes an auxiliary lifting drive mechanism and two oppositely arranged material support flaps; the two material support flaps are located on opposite sides of the storage space to support the multi-layered stacked film material to be processed or the edge position of the multi-layered stacked support rings from the bottom. Figure 4The material-supporting flap is located on the long side of the material, enabling it to support a relatively larger area and providing greater stability. An auxiliary lifting drive mechanism is used to drive the material-supporting flap to rise and fall, so that the film material to be processed or the support ring located on the top layer is lifted to the opening at the top of the hopper body 111. The auxiliary lifting drive mechanism includes an auxiliary drive device, an auxiliary lifting slide rail, and a connecting frame connected to each other. The auxiliary drive device provides power, the auxiliary lifting slide rail is connected to the connecting frame, and the connecting frame is connected to the material-supporting flap to guide the lifting and lowering movement of the main material-supporting plate.

[0084] More specifically, see Figure 5 As shown, the material-supporting flip plate includes a flip plate body 116 and a flip plate drive mechanism 117. The mounting end of the flip plate drive mechanism 117 is fixed to the connecting frame, and the driving end of the flip plate drive mechanism 117 is connected to the flip plate body 116 to drive the flip plate body 116 to swing. When the flip plate body 116 swings to a horizontal state, it is used to support the film material to be processed or the support ring. When the main material-supporting component 114 is running, the flip plate body 116 retracts to save space. Figure 5 The direction B in the figure shows the flipping direction of the flap body 116.

[0085] In this optional embodiment, both lifting hoppers 110 are located within the picking range of the first robotic arm 109. The first robotic arm 109 can transport the paper-removed film material from the lifting hoppers 110 to the processing platform 107. The processing platform 107 is used to position the paper-removed film material to prevent the film material from moving when the first robotic arm 109 removes the release paper. After the release paper of the film material to be processed on the processing platform 107 is removed, the first robotic arm 109 places the support ring of the lifting hopper 110 on the paper-removed film material on the processing platform 107. Subsequently, the first robotic arm 109 transports the paper-removed film material combined with the support ring to the first transfer chamber 106.

[0086] In an optional embodiment, the feeding hopper assembly further includes a first imaging unit 118. When the first robotic arm 109 picks up materials, the first imaging unit 118 can guide the first robotic arm 109 to align with the materials, ensuring accurate material pickup. The first imaging unit 118 includes a bracket and a position adjustment component mounted on the bracket, an imaging device, and a light source component. Figure 3 As shown, two lifting hoppers 110 are arranged side by side, and the position adjustment component (including slide rail and drive device) is connected to the shooting device to drive the shooting device along the second preset direction. Figure 3 The device reciprocates in the M direction (as shown), causing the trajectory of the shooting device to pass through the two lifting hoppers 110, thereby achieving visual positioning of the paper film to be removed and the support ring. The light source component is located between the shooting device and the two lifting hoppers 110, providing sufficient light for the shooting device and improving the shooting effect.

[0087] The release paper peeling machine 101 also includes a waste bin 119 and a collection bin 120. The waste bin 119 is located at the processing platform 107. After the first robotic arm 109 removes the release paper from the film material, it can throw the release paper into the waste bin 119. In the lifting bin 110, which carries multiple film materials to be processed, a partition is provided between adjacent film materials. Before the first robotic arm 109 picks up the film material, the partition needs to be removed. The collection bin 120 is located within the picking range of the first robotic arm 109, which can transport the partition to the collection bin 120.

[0088] In an optional embodiment, the first robotic arm 109 includes a first main body and a first picking-up part 121, with the first picking-up part 121 mounted on the free end of the first main body. The first picking-up part 121 includes a first mounting frame and a suction cup component 122 and a gripper component mounted on the first mounting frame. The suction cup component 122 can be used to absorb film material and separators. The gripper component is used to grip release paper so that the release paper can be peeled off. The gripper component includes a rotation drive device 124 and a gripper body 125. The gripper body 125 is driven to open and close by a cylinder, and the rotation drive device 124 drives the gripper body 125 to rotate along a preset axis. Figure 3 The first robotic arm 109 shown is a six-axis articulated robot, and the rotation drive 124 provides a "seventh axis" for the gripper body 125 to handle the delicate operation of removing the release paper.

[0089] In an optional embodiment, the processing platform 107 includes a suction plate 126 with multiple suction holes arranged in an array on the suction plate 126. The connectors connecting the suction holes can be connected to the adsorption device so that the bearing surface of the suction plate 126 is in a negative pressure state, thereby achieving the positioning of the paper film material to be removed.

[0090] Optionally, the processing platform 107 is equipped with an electrostatic detector 127 to detect the electrostatic charge of the film material. Film materials with electrostatic charge exceeding a preset value are considered defective and need to be rejected. Specifically, the release paper peeling machine 101 is also equipped with multiple first defective product bins 123 for carrying defective products. The first defective product bins 123 and the first transfer bins 106 are equipped with limit stops in the circumferential direction of their bearing surfaces to limit the movement of the film material.

[0091] II. Expanding Machine 102

[0092] In the wafer expansion process, the expanded wafer film needs to be fixed using a mother and daughter ring, and excess wafer film is removed. Therefore, the mother and daughter rings need to be disassembled to form a daughter ring and a mother ring before being fed into the wafer expander 129.

[0093] See Figures 8 to 13As shown, specifically, the expanding mechanism of the expanding machine 102 includes a first storage mechanism, a separation platform 128, and an expanding machine 129. The first storage mechanism can hold multiple stacked mother and daughter rings. Both the first storage mechanism and the separation platform 128 are located within the picking range of the second robotic arm 155. The second robotic arm 155 can sequentially transport the mother and daughter rings placed in the first storage mechanism to the separation platform 128, whereby the separation platform 128 can separate the mother and daughter rings to form a daughter ring and a mother ring.

[0094] Specifically, the separation platform 128 includes a positioning part and a pulling part. The inner ring (child ring) of the mother and child ring can be fitted onto the positioning part to fix the child ring. The pulling part can hook the outer ring (mother ring) of the mother and child ring and can move relative to the positioning part to separate the outer ring of the mother and child ring from the inner ring. The second robotic arm 155 can transport the outer ring, the inner ring and the paper-removed film material of the first transfer chamber 106 to the film expansion station of the film expander 129, and the film expander 129 can perform the film expansion process.

[0095] In an optional embodiment, the separation platform 128 includes a lifting drive device, a first fixed plate 130, and a first lifting plate. The first lifting plate is located at the bottom of the first fixed plate 130. The lifting drive device is specifically a cylinder to drive the first lifting plate to move up or down to approach or move away from the first fixed plate 130.

[0096] The positioning part is a limiting boss 131 formed on the top surface of the first fixing plate 130. The limiting boss 131 is cylindrical to match the shape of the female and male rings. Preferably, the top edge of the limiting boss 131 can be set as a transition slope to facilitate the fitting of the female and male rings onto the limiting boss 131.

[0097] The pulling part consists of multiple hooks 132 disposed on the top surface of the first lifting plate, and the multiple hooks 132 are arranged around the circumference of the limiting boss 131; Figure 9 The diagram shows four hooks 132, which are driven to extend and retract by a cylinder. The specific number of hooks 132 can be set according to actual conditions and is not limited to the number shown in the diagram. Preferably, the multiple hooks 132 are evenly arranged around the circumference of the limiting boss 131 to ensure uniform distribution of pulling force. The first fixing plate 130 has a first clearance opening 133 corresponding to the hooks 132. When the first lifting plate rises and falls, the hooks 132 can pass through the first clearance opening 133 to avoid collision between the hooks 132 and the first fixing plate 130.

[0098] In an optional embodiment, the separation platform 128 further includes a second fixing plate 134 and a fixing column 135; the second fixing plate 134 is located on the side of the first lifting plate away from the first fixing plate 130; in order not to affect the movement of the first lifting plate, the first lifting plate has a through hole through which the fixing column 135 can pass.

[0099] A fixed column 135 is located between a first fixed plate 130 and a second fixed plate 134, connecting the first fixed plate 130 and the second fixed plate 134 which are spaced apart. The first fixed plate 130, the fixed column 135, and the second fixed plate 134 combine to form a stable support structure. Preferably, there are multiple fixed columns 135. Figure 10 The diagram shows four fixed columns 135, located at the four corners of the first fixed plate 130 and the second fixed plate 134, to improve overall stability.

[0100] Furthermore, the separation platform 128 also includes a limiting column 136 and a connecting base 137; the connecting base 137 is located on the side of the second fixing plate 134 away from the first lifting plate, and the limiting column 136 is located between the first lifting plate and the connecting base 137, with the first lifting plate and the connecting base 137 arranged at a connecting interval. Figure 10 The connecting base 137 shown includes two connecting plates, each connecting plate being used to connect the bottoms of two adjacent limiting columns 136 to ensure that the limiting columns 136 do not tilt. The second fixing plate 134 has a limiting hole that allows the limiting columns 136 to pass through, so as to guide the movement of the limiting columns 136. Preferably, a linear bearing 138 is provided at the limiting hole to reduce the friction at that point and ensure that the movement of the limiting columns 136 is not jammed.

[0101] In an optional embodiment, a second imaging unit 139 is provided at the separation platform 128. Unlike the first imaging unit 118 of the release paper peeling machine 101, the second imaging unit 139 at the separation platform 128 is used to scan the mother and daughter rings on the separation platform 128. The first position adjustment component of the imaging unit drives the imaging device and the light source component to move, in order to avoid the second robotic arm 155 and prevent collisions when the second robotic arm 155 picks up the daughter and mother rings.

[0102] In an optional embodiment, the second robotic arm 155 includes a second main body 154 and a second picking-up part 140, with the second picking-up part 140 mounted on the free end of the second main body 154; the second picking-up part 140 includes a second mounting frame 141 and a gripper assembly 142 and a suction cup assembly 143 mounted on the second mounting frame 141.

[0103] The gripper assembly 142 includes a gripping drive unit, a flipping drive unit, and two opposing gripping units. The gripping drive unit is used to drive the two gripping units to move closer or further away to pick up the daughter ring, the mother ring, and the blue film after they are combined with the daughter and mother rings. Specifically, the gripping drive unit includes a stepper motor, a belt assembly, and a lead screw assembly mounted on the second mounting bracket 141.

[0104] When the daughter ring and the mother ring are placed into the expander 129, the daughter ring is placed on the body of the expander 129 and the mother ring is placed on the flip cover of the expander 129. After the second robotic arm 155 picks up the mother ring from the separation platform 128 and before placing the mother ring into the flip cover of the expander 129, the direction of the mother ring needs to be flipped to ensure that when the flip cover is pressed down onto the body of the expander 129, the mating surfaces of the mother ring and the daughter ring can face each other, thereby achieving the clamping of the blue film between the mother ring and the daughter ring.

[0105] Furthermore, the clamping part includes a fixing member and a gripper member, the gripper member being rotatably connected to the fixing member, and a flipping drive unit is mounted on the fixing member to drive the gripper member to rotate relative to the fixing member; as shown Figure 11 As shown, the flipping drive unit includes a stepper motor and a belt assembly to drive the gripper to rotate relative to the fixed member.

[0106] Optionally, the suction cup assembly 143 includes a lifting drive unit and a suction cup unit. The suction cup unit is used to adsorb the film material, and the lifting drive unit is used to drive the suction cup unit to rise and fall to avoid the gripper assembly 142. When the suction cup assembly 143 is activated, the suction cup unit can be lowered to adsorb the material. When the gripper assembly 142 is activated, the suction cup unit can be raised to prevent the gripper from colliding with the suction cup assembly 143 when the material is being gripped and flipped.

[0107] Optionally, the second pickup unit 140 further includes a positioning camera 144 mounted on the second mounting bracket 141 and a positioning light source 145 corresponding to the positioning camera 144. Figure 11 The image shows two positioning cameras 144 respectively located on both sides of the second mounting bracket 141 to achieve multi-angle precise visual positioning of materials.

[0108] Preferably, a visual positioning camera 144 is also installed on the working platform of the expander 102. The visual positioning camera 144 can perform visual positioning of the material picked up by the second robotic arm 155 from the lower part of the second robotic arm 155, so as to ensure more accurate positioning of the material.

[0109] In an optional embodiment, the film expander 102 is also equipped with a second defective product bin 146 for carrying unqualified products; after the film expander 129 performs the film expander operation, the qualified expanded film material can be transported to the second transfer bin 147 for the next process, and the unqualified film material is sent to the second defective product bin 146.

[0110] like Figure 12As shown, the second transfer chamber 147 includes a first positioning part 148, a second positioning part 149, and a connector 150. The connector 150 connects the first positioning part 148 and the second positioning part 149. A first positioning hole is formed between the first positioning part 148 and the second positioning part 149. The first positioning hole is a stepped hole, and its shape is adapted to the shape of the female and male rings to position the expanded film material. A second clearance opening 151 is formed between the first positioning part 148 and the second positioning part 149 to avoid the gripper and prevent collisions during flipping. The second defective product chamber 146 has a second positioning hole, which is also a stepped hole. Its shape is adapted to the shape of the female and male rings to position the expanded defective products.

[0111] In an optional embodiment, a coding mechanism 152 is provided at the second transfer chamber 147 for coding the qualified products after enlargement. The coding mechanism 152 includes a second position adjustment component and a coding head. The second position adjustment component is used to drive the coding head to move in three mutually perpendicular directions. Figure 12 As shown in the figure, the X-axis module, Y-axis module and Z-axis module are used to precisely adjust the position of the spraying dock and also to avoid collisions with the second robotic arm 155.

[0112] In an optional embodiment, the first storage mechanism includes two lifting hoppers 110, one for storing the male and female rings to be loaded, and the other for storing the support rings to be unloaded.

[0113] The lifting hopper 110 for storing the mother and child rings has the same structure as the lifting hopper 110 of the release paper peeling machine 101, and will not be described in detail here.

[0114] like Figure 13 As shown, the structure of the lifting hopper 110 for the storage support ring is slightly different. The lifting hopper 110 for the storage support ring also includes a hopper body 111, a positioning component 113, and a material support component. The hopper body 111 encloses and forms a storage space. However, only one set of material support components is provided, including a lifting drive mechanism and a material support plate. The lifting drive mechanism is used to drive the material support plate to lift and lower. The material support plate is located in the storage space to support the side edges of the multi-layer stacked support rings and to lift and lower the support ring at the top to the opening at the top of the hopper body 111.

[0115] Preferably, the lifting hopper 110 for storing support rings further includes a stacking mechanism 153. The stacking mechanism 153 includes multiple stacking drive mechanisms and stacking flip plates arranged sequentially along the height direction. After a certain number of support rings are stacked on the support plate, the lifting drive mechanism drives the support plate to descend to the bottom stacking mechanism 153 so that the support rings are carried by the stacking mechanism 153. Then, after the support plate is retracted and rises to the top, the support plate flips to the horizontal to continue carrying the support rings. After a certain number of support rings are stacked on the support plate, they are sequentially transported to the stacking mechanisms 153 above.

[0116] The palletizing drive mechanism drives the palletizing flip plate to flip to a horizontal support state to support the support ring on the pallet. Then, the operator can remove the support ring from the palletizing flip plate. The support ring can be recycled.

[0117] III. Adhesive Film Curing Machine 103

[0118] See Figure 2 As shown, the adhesive film curing machine 103 includes a third robotic arm 158, three adhesive film curing devices 156, and a third transfer chamber 159. The adhesive film curing device 156 is specifically an ultraviolet adhesive debonding machine, which uses UV light to irradiate the fixed adhesive film to cure and harden the UV adhesive film, reducing the stickiness of the diced fixed film to facilitate subsequent packaging processes.

[0119] In an optional embodiment, the third robotic arm 158 includes a third main body and a third picking unit, with the third picking unit mounted on the free end of the third main body. Specifically, the third picking unit includes a third mounting frame and a gripper assembly 142 mounted on the third mounting frame. The gripper assembly 142 of the third picking unit has a similar structure to the gripper assembly 142 of the second picking unit 140, and will not be described in detail here.

[0120] In an optional embodiment, the film curing machine 103 is also equipped with a third defective product bin 160 for carrying substandard products. Film materials that pass the curing test can be transported to the third transfer bin 159 for the next process, while substandard film materials are sent to the third defective product bin 160. The structure of the third transfer bin 159 is similar to that of the second transfer bin 147, and the structure of the third defective product bin 160 is the same as that of the second defective product bin 146, which will not be described in detail here.

[0121] IV. Assembly machine 104

[0122] See Figures 14 to 19As shown, the assembly mechanism of the assembly machine 104 includes a second storage mechanism and an assembly platform 161. The second storage mechanism can hold multiple fixed trays 167, and the processed film material can be embedded in the mounting holes of the fixed trays 167. The fixed trays 167 are used to protect the film material. Both the second storage mechanism and the assembly platform 161 are within the picking range of the fourth robotic arm. The fourth robotic arm can sequentially transport the multiple fixed trays 167 of the second storage mechanism to the assembly platform 161, and the fourth robotic arm can also transport the processed film material from the third transfer chamber 159 to the assembly platform 161. At the assembly platform 161, the fixed trays 167 can be combined with the processed film material.

[0123] Specifically, the assembly platform 161 includes a platform base 162 and an opening mechanism connected to the platform base 162. The platform base 162 is used to support the fixed material tray 167. The opening mechanism can open the buckle 163 on the fixed material tray 167 for fixing the processed film material, so that the processed film material placed on the fixed material tray 167 can be fixed by the buckle 163 to form the assembled film material.

[0124] In an optional embodiment, the platform base 162 includes a base body and a supporting boss formed on the base body. The supporting boss is used to support the fixed tray 167. Preferably, the supporting boss has a fixing groove, the shape and size of which are adapted to the shape of the fixed tray 167 to fix the fixed tray 167.

[0125] The opening mechanism includes multiple telescopic hooks 164, which are installed on the base body and arranged around the support boss. The telescopic hooks 164 are correspondingly set with the buckles 163. Figure 15 The image shows four telescopic claws 164 (two of which are obscured by the fourth robotic arm), each corresponding to a latch 163 at one of the four corners of a rectangular fixed tray 167. Each telescopic claw 164 includes a drive cylinder and a claw 132. The telescopic claws 164 are fixed to the base body by an L-shaped plate, and the height of the claw 132 is adapted to the height of the latches 163 supporting the fixed tray 167 on the support platform.

[0126] In an optional embodiment, the second storage mechanism includes a hopper box 165 and a transfer module 166. The hopper box 165 carries a plurality of stacked fixed trays 167. An opening is provided on the side of the hopper box 165. The transfer module 166 is opposite to the opening and can sequentially remove the fixed trays 167 from the hopper box 165 through the opening.

[0127] Specifically, the material transfer module 166 includes a third position adjustment component 168, a connecting part 169, and a supporting part 170. The third position adjustment component 168 is used to drive the connecting part 169 to move. The connecting part 169 is used to detachably connect with the fixed material tray 167 so as to pull the fixed material tray 167 of different heights out to the supporting part 170. Figure 16 The connecting part 169 shown is hook-shaped and can hook onto the hook-shaped part formed by the fixed tray 167, thereby realizing a detachable connection between the two; then the fourth robotic arm can pick up the fixed tray 167 of the carrier part 170 and send the fixed tray 167 to the assembly platform 161.

[0128] Preferably, a visual inspection device is provided at the support part 170. The visual inspection device includes an inspection camera and an inspection light source, which can perform quality inspection on the fixed material tray 167.

[0129] More specifically, the third position adjustment assembly 168 includes a lifting drive assembly, a mounting plate, and a horizontal drive assembly connected in sequence, with the horizontal drive assembly connected to the connecting portion 169. The lifting drive assembly includes a first motor connected to it and a vertically arranged first track, used to drive the mounting plate and the horizontal drive assembly to perform lifting movements so that the connecting portion 169 can correspond to fixed material trays 167 at different heights; the horizontal drive assembly includes a second motor connected to it and a horizontally arranged second track, used to drive the connecting portion 169 to move on a horizontal plane to move closer to or away from the hopper, thereby removing the fixed material tray 167.

[0130] In an optional embodiment, the second material storage mechanism further includes a loading and transporting component 171, a steering component 172, and a unloading and transporting component 173. The loading and transporting component 171 is used to sequentially transport multiple hopper boxes 165 carrying fixed material trays 167 to the material picking position along a first direction, and the material transfer module 166 is located at the material picking position. The fourth robotic arm can transport the assembled film material to the carrying part 170; the material transfer module 166 can return the assembled film material to the hopper box 165; the unloading and transporting component 173 is used to sequentially transport multiple hopper boxes 165 carrying the assembled film material to the unloading position along a second direction. The steering component 172 is located between the tail end of the loading and transporting component 171 and the head end of the unloading and transporting component 173 to turn the hopper boxes 165.

[0131] In this embodiment, specifically, the loading and unloading conveyor assembly 171 and the unloading conveyor assembly 173 can be conveyor belts, with a carrier plate 174 provided on the conveyor belt to support the hopper boxes 165. The loading and loading conveyor assembly 171 is used to sequentially transport multiple hoppers carrying fixed material trays 167 to the picking position, where the picking module is located. The loading and loading conveyor assembly 171 can transport a larger number of fixed material trays 167, resulting in higher efficiency.

[0132] After the robotic arm transports the assembled film material to the carrier section 170, the third position adjustment component 168 drives the connecting part 169 to move. The connecting part 169 can push the assembled film material into the hopper box 165. The unloading and transporting component 173 can transport multiple hopper boxes 165 containing the assembled film material to the unloading position in sequence.

[0133] In other words, the hopper box 165 can not only serve as a storage compartment for fixing the material tray 167, but also as a storage compartment for the assembled film material, which improves the utilization rate of the hopper box 165. The multi-purpose use of the hopper box 165 can also reduce the overall size of the device.

[0134] Furthermore, the second storage mechanism also includes a steering assembly 172; the loading and transport assembly 171 is along the first direction ( Figure 14 The transport track extends along the second direction (as shown in the diagram, in the D direction), and the unloading transport assembly 173 extends along the second direction (as shown in the diagram, in the D direction). Figure 14 The transport track extends in direction E (perpendicular to direction D) as shown in the diagram. The steering assembly 172 is located between the tail end of the loading transport assembly 171 and the head end of the unloading transport assembly 173 to steer the hopper box 165. The loading transport assembly 171 and the unloading transport assembly 173 have different transport directions, which avoids the entire transport path from being too long and causing the device to be too large.

[0135] Specifically, the steering assembly 172 includes a steering rail 175, a steering drive component 176, a lifting drive component, and a support plate 178, a second lifting plate 179, a guide plate 180, and a fixed base 181 arranged sequentially along the height direction; the steering rail 175 is installed on the top surface of the support plate 178; the steering drive component 176 is installed on the second lifting plate 179 and is used to drive the support plate 178 to rotate; the steering drive component 176 includes a motor, a drive gear, and a slewing bearing meshing with the drive gear, and the slewing bearing is also connected to the support plate 178.

[0136] The lifting drive component is used to drive the second lifting plate 179 to rise and fall, thereby driving the steering drive component 176 and the support plate 178 to rise and fall. Multiple guide posts 182 are provided between the second lifting plate 179 and the fixed base 181. The guide plate 180 has guide holes through which the guide posts 182 can pass, guiding the lifting movement of the second lifting plate 179. Preferably, a linear bearing 138 is provided at the guide hole to reduce friction. Specifically, the lifting drive component can be a cylinder. The guide plate 180 has a through hole through which the cylinder's drive rod can connect to the second lifting plate 179.

[0137] In an optional embodiment, the fourth robotic arm includes a fourth main body and a fourth picking-up part 183, with the fourth picking-up part 183 mounted on the free end of the fourth main body.

[0138] Specifically, the fourth pickup unit 183 includes a fourth mounting frame 184 and a gripper component 185 and a vision positioning component mounted on the fourth mounting frame 184; the gripper assembly 142 includes a clamping drive unit and two opposing clamping parts, the clamping drive unit being used to drive the two clamping parts closer or further apart to achieve pickup of the expanded film material, the fixed material tray 167, and the assembled film material. Specifically, the clamping drive unit includes a stepper motor, a belt assembly, a lead screw assembly, and a slide rail assembly mounted on the fourth mounting frame 184.

[0139] The visual positioning component includes a positioning camera 144 and a light source component spaced apart from the positioning camera 144, the light source component providing sufficient light to the positioning camera 144. The visual positioning component can also scan the film material and detect whether the assembled film material is a qualified product.

[0140] In an optional embodiment, the assembly machine 104 further includes a fourth defective product bin 186, which can hold defective products that fail the inspection (including defective fixed trays 167 and defective assembled film materials). The defective product bin is located within the picking range of the fourth robotic arm, which can place defective products into the defective product bin. The defective product bin of the assembly machine 104 has the same defective product structure as that of the release paper peeling machine 101.

[0141] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application. In addition, those skilled in the art can understand that although some embodiments herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are meant to be within the scope of this application and form different embodiments.

Claims

1. A crystal expansion production line, characterized in that: The invention comprises a release paper peeling machine, a film expanding machine, a film curing machine and an assembly machine which are sequentially arranged along a first preset direction, and sequentially completes a release paper peeling process, a film expanding process, a film curing process of a film material, and a film material assembly process, wherein The peeling mechanism of the release paper peeling machine includes a loading bin assembly, a processing platform and a first robotic arm. The loading bin assembly includes two lifting bins. The lifting bins include a bin body, a feed slide rail, a positioning assembly, a main supporting component and an auxiliary supporting component. The bin body is a storage space formed by four vertical plates, and the feed slide rail formed by multiple rollers is located at the bottom of the storage space.

2. A crystal expansion production line according to claim 1, characterized in that: The auxiliary material supporting assembly includes an auxiliary lifting drive mechanism and two material supporting flaps arranged opposite to each other. The two material supporting flaps are respectively located on opposite sides of the material storage space to support the edge positions of multi-layer stacked film materials to be processed or multi-layer stacked support rings from the bottom.

3. A crystal expansion production line according to claim 1, characterized in that: The film expanding mechanism of the film expanding machine station includes a first material storage mechanism, a separation platform and a film expanding machine, the first material storage mechanism can carry multiple layers of stacked parent and child rings, the separation platform can separate the parent and child rings into child rings and parent rings, the first material storage mechanism and the separation platform are both located within the picking range of the second mechanical arm, and the second mechanical arm can sequentially transport the parent and child rings placed in the first material storage mechanism to the separation platform; The second robot arm can transport the film materials after paper removal from the outer ring, the inner ring and the first circulation bin to the film expanding machine respectively; The separation platform includes a positioning part and a pulling part. The inner ring (sub-ring) of the sub-ring can be sleeved on the positioning part to fix the sub-ring; the pulling part can hook the outer ring (sub-ring) of the sub-ring and can move relative to the positioning part to separate the outer ring from the inner ring of the sub-ring; the second robotic arm can transport the outer ring, the inner ring and the film material after paper removal of the first circulation bin to the film expanding station of the film expanding machine respectively.

4. A crystal expansion production line according to claim 3, characterized in that: The separation platform also includes a lifting drive device, a first fixed plate and a first lifting plate. The positioning portion is a limiting boss formed on the top surface of the first fixed plate. The limiting boss is cylindrical to match the shape of the parent ring. The pulling portion is a plurality of hook claws arranged on the top surface of the first lifting plate. The plurality of hook claws are arranged in the circumference of the limiting boss.

5. A crystal expansion production line according to claim 4, characterized in that: The second mechanical arm includes a second main body and a second picking part, and the second picking part is installed at the free end of the second main body; the second picking part includes a second mounting frame and a clamping claw assembly and a suction cup assembly installed on the second mounting frame.

6. A crystal expansion production line according to claim 5, characterized in that: The first material storage mechanism includes two lifting silos, one of which is used to store the mother-and-child rings to be loaded, and the other is used to store the support ring for the robot arm to unload materials, and the lifting silo can adjust the mother-and-child rings or the support ring relative to the lifting silo.

7. The crystal expansion production line according to claim 1, characterized in that: The adhesive film curing machine comprises a third mechanical arm, three adhesive film curing devices and a third circulation bin.

8. The crystal expansion production line according to claim 1, characterized in that: The assembly machine comprises a second material storage mechanism and an assembly platform; The second material storage mechanism can carry at least one fixed material tray, the second material storage mechanism and the assembly platform are both located within the picking range of the fourth robotic arm, and the fourth robotic arm can transport the fixed material tray of the second material storage mechanism to the assembly platform; The fourth robot arm is capable of transporting the processed film material from the third transfer bin to the assembly platform; The assembly platform includes a platform base and an opening mechanism connected to the platform base, the platform base is used to support the fixed material tray, and the opening mechanism can open the buckles on the fixed material tray for fixing the processed film material, so that the processed film material placed on the fixed material tray can be fixed by the buckles to form an assembled film material.

9. The crystal expansion production line according to claim 8, characterized in that: The second material storage mechanism includes a material bin box and a material transfer module; The silo box carries a plurality of stacked fixed material trays, a side of the silo box is provided with an opening, and the material transfer module is opposite to the opening; The material moving module comprises a third position adjustment component, a connecting part and a bearing part, wherein the third position adjustment component is used to drive the connecting part to move, and the connecting part is used to be detachably connected to the fixed material tray to move the fixed material tray of the silo box to the bearing part; The fourth robot arm is capable of picking up the fixed tray of the carrying portion.

10. The crystal expansion production line according to claim 9, characterized in that: The second material storage mechanism also includes a loading and transporting assembly, a steering assembly and a unloading and transporting assembly; The loading and transporting assembly is used to transport the plurality of silo boxes carrying the fixed material trays in sequence along a first direction to a material fetching position, and the material transfer module is located at the material fetching position; The fourth robot arm is capable of transporting the assembled film material to the carrying portion; The material transfer module can return the assembled film material to the material bin box; the material unloading transport component is used to transport the plurality of material bin boxes carrying the assembled film material to the unloading position in sequence along the second direction; The steering assembly is located between the rear end of the loading and transporting assembly and the front end of the unloading and transporting assembly to steer the silo box.

Images