Membrane material laying method and device, storage medium and electronic equipment

Abstract

The invention relates to the technical field of flexible material composite processing, in particular to a film material laying method and device, a storage medium and electronic equipment. Before the film material moves and covers, the air flow parallel to the surface of the base material continuously acts on the lower surface of the film material to counteract the droop trend generated by the film material, so that the film material is kept in a pre-flattening state before being in contact with the base material, which is a key premise for avoiding wrinkles. When the free end of the membrane material begins to contact the substrate and forms a moving contact line, a pressure air flow with a vertically downward component is immediately applied to the upper surface of the membrane material behind the contact line. The airflow moves along with the contact line, the membrane material can be compacted on the base material in real time, air between the membrane material and the base material is effectively driven, and therefore air bubbles are prevented from being wrapped in the membrane material. Meanwhile, the action area of the pre-flattening airflow is dynamically adjusted according to the position of the contact line, it is ensured that the pre-flattening airflow only acts on the suspended part which is not in contact, and the situation that the airflow interferes with the attached area or causes secondary wrinkling of the membrane material is prevented.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of flexible material processing, and in particular to a film material laying method and device, a storage medium and an electronic device. BACKGROUND

[0002] In modern manufacturing, especially in the fields of furniture, architectural decoration, electronic device shell and high-end composite material production, surface film covering of various types of boards (such as wood shaving board, medium density fiberboard, metal plate, plastic plate, etc.) is a key post-processing technology. The main purposes of covering the substrate with a film include: 1. Giving and improving surface properties: covering the surface of the substrate with a functional film (such as PVC decorative film, PET protective film, wood grain transfer film, optical diffusion film, etc.) can significantly improve the wear resistance, corrosion resistance, scratch resistance, weather resistance and cleanliness of the product. 2. Achieving aesthetic decoration: the film can provide rich colors, textures (such as wood grain, stone grain, cloth grain) and gloss, meeting the diverse appearance design needs and greatly improving the added value and market competitiveness of the product. 3. Simplifying production process and environmental protection: compared with traditional spraying and baking paint processes, the film covering process is cleaner and more efficient, which can reduce the emission of volatile organic compounds (VOC) and meet the development trend of green manufacturing.

[0003] At present, a typical automatic film covering process usually includes the following steps: first, the substrate (such as a board) is placed on a conveying line by a feeding mechanism; second, the pre-cut film is moved to above the substrate by a grabbing mechanism (such as a vacuum suction cup); third, the film is covered on the surface of the substrate; and finally, the substrate with the covered film is sent into a hot press to firmly bond the hot melt adhesive or coating on the back of the film to the surface of the substrate under certain temperature, pressure and time, thereby completing the covering.

[0004] However, in the above process, the completion quality of the key step of "covering the film on the substrate" directly determines the quality of the final product. The existing covering technology, whether relying on a simple placement of a robot or using certain auxiliary means, has the following common and difficult-to-overcome technical problems: 1. Film wrinkle and folding problem: the middle region of the film (especially large size, thin and soft film) is prone to sagging due to gravity during the process from the suspended state to the contact with the substrate. When the robot releases the film or lays it flat, the sagging part will contact the substrate before the edge, which is prone to form horizontal or vertical wrinkles, or even folds. Once these defects are formed, they cannot be eliminated in the subsequent hot pressing process, but will be permanently pressed into the product, resulting in the rejection of the finished product.

[0005] 2. Bubble wrapping and poor adhesion: At the moment of contact between the film material and the base material, if the air between them cannot be effectively discharged, it will be enclosed between the interface to form bubbles. The prior art lacks dynamic means to effectively exhaust air during the initial covering stage. Usually, air exhaust completely relies on the subsequent hot pressing stage, but at this time the film material has been in contact for a long time, the air migration path is long, and it is difficult to completely remove, resulting in local poor adhesion, product bubble hidden danger, affecting the service life and appearance.

[0006] 3. Uncontrollable covering process and poor initial adhesion: The prior art lacks active and accurate control of the "front line" of the contact between the film material and the base material. The film material contacts the base material in a certain random form and at a certain angle. This uncontrollable initial contact causes uneven initial stress distribution of the film material on the base material, which lays the foundation for the generation of wrinkles and bubbles, and seriously affects the covering position accuracy.

[0007] 4. Insufficient automation and reliability: In order to solve the above problems, manual preliminary flattening and alignment are still needed in some cases, which is low in efficiency and poor in consistency. Some automatic solutions are difficult to run stably due to their complexity or weak adaptability (for example, sensitive to changes in film material types and sizes).

[0008] Therefore, there is an urgent need in the art for a new film material laying method, which can realize complete, flat and bubble-free pre-adhesion of the film material on the base material before entering the hot pressing station, and fundamentally improve the yield, automation level and production efficiency of the film coating process. SUMMARY

[0009] The present application provides a film material laying method, device, storage medium and electronic equipment, which solves the technical problem that the film material laying method in the prior art is prone to form wrinkles or even folds.

[0010] The first aspect of the present application provides a film material laying method, comprising: S1: fixing the first end of the film material, so that the film material is suspended above the base material, and the second end opposite to the first end of the film material is in a natural state; S2: generating a first air flow parallel to the surface of the base material, and making it act on the adhesion surface of the film material; S3: moving the film material towards the base material, so that the second end first contacts the surface of the base material, and forms a contact line moving from the second end to the first end; S4: performing cooperative control during the laying process: S41: generating a second air flow acting on the back surface of the film material behind the contact line, the direction of the second air flow having a pressure component towards the surface of the base material, and the back surface being opposite to the adhesion surface; S42: dynamically adjusting the first airflow according to the position of the contact line, so that the effective action area of the first airflow follows and concentrates on the portion of the suspended membrane material in front of the contact line.

[0011] In a first possible implementation of the method of the first aspect, the dynamically adjusting the first airflow comprises: S421: determining an airflow action decay zone in front of the contact line according to the real-time position of the contact line; S422: controlling the first airflow to gradually weaken from an initial value in the airflow action decay zone in the opposite direction of the movement of the contact line; S423: controlling the first airflow to maintain an effective intensity in the area in front of the contact line outside the airflow action decay zone to support the suspended membrane material.

[0012] In combination with the membrane material laying method provided in the first aspect or the first possible implementation of the method of the first aspect, in a second possible implementation of the method of the first aspect, the generating the second airflow comprises: S411: controlling the airflow outlet of the second airflow to move during the laying process; S412: synchronizing the moving speed of the airflow outlet with the moving speed of the contact line; S413: maintaining a preset lag distance between the airflow outlet and the contact line.

[0013] In a third possible implementation of the method of the first aspect, S4 further comprises: S43: acquiring the shape information of the suspended membrane material in front of the contact line in real time through a first sensor; S44: dynamically adjusting the parameters of the first airflow according to the shape information, so that the suspended membrane material maintains a predetermined flattened shape.

[0014] In combination with the membrane material laying method provided in the first aspect or the third possible implementation of the method of the first aspect, in a fourth possible implementation of the method of the first aspect, S4 further comprises: S45: acquiring the interface information of the adhered area behind the contact line in real time through a second sensor; S46: adjusting the parameters of the second airflow acting on the corresponding area according to the interface information to improve the adhesion quality.

[0015] In combination with the first possible implementation of the method of the first aspect, in a fifth possible implementation of the method of the first aspect, S4 further comprises: S47: when the first airflow is weakened or withdrawn, generating a third airflow perpendicular to the first airflow and the second airflow in the airflow action decay zone for a preset time for blowing.

[0016] The second aspect of the present application provides a film material laying device, comprising: a film material fixing and manipulating unit configured to adsorb and fix a first end of a film material, and to manipulate the film material to move and descend, so that a second end of the film material opposite to the first end is first in contact with a substrate surface, and a contact line moving from the second end to the first end is formed; a first airflow generating unit configured to generate a first airflow parallel to the substrate surface and acting on a sticking surface of the film material; a second airflow generating unit configured to generate a second airflow acting on a back surface of the film material behind the contact line, the second airflow having a pressure component towards the substrate surface, and the back surface being opposite to the sticking surface; a controller in signal connection with the film material fixing and manipulating unit, the first airflow generating unit and the second airflow generating unit; the controller is configured to perform control so that during the laying process: the second airflow generating unit is controlled so that an action area of the second airflow moves along the contact line; the first airflow generating unit is dynamically adjusted according to the position of the contact line, so that an effective action area of the first airflow follows and concentrates on the overhanging film material part in front of the contact line.

[0017] In the first possible implementation of the second aspect, the first airflow generating unit is a long strip-shaped static pressure box structure having a slit-shaped air outlet extending along a first direction; the second airflow generating unit is a gas knife structure movable along the film material laying direction, having an airflow outlet extending along the first direction, and the length of the airflow outlet is not less than the size of the film material in the first direction; the first direction is perpendicular to the direction in which the film material is dragged in, and parallel to the substrate surface.

[0018] The third aspect of the present application provides an electronic device, comprising a memory, a processor and a computer program stored in the memory, the processor executes the computer program to realize the steps of any possible implementation of the film material laying method of the first aspect.

[0019] The fourth aspect of the present application provides a computer readable storage medium, having a computer program stored thereon, the computer program is executed by a processor to realize the steps of any possible implementation of the film material laying method of the first aspect.

[0020] The technical solution is characterized in that: before the film material moves to cover the substrate, a gas flow parallel to the surface of the substrate is applied to the lower surface of the film material, which can effectively offset the sagging tendency of the film material caused by gravity, so that the film material can be kept in a pre-flattened state before it contacts the substrate, which is a key prerequisite for avoiding wrinkles. When the free end of the film material starts to contact the substrate and forms a moving contact line, the method immediately applies a pressure gas flow with a vertical downward component to the upper surface of the film material behind the contact line. This gas flow acts as an invisible "pressure roller" that moves behind the contact line and can immediately compact the film material on the substrate and effectively drive the air between the two, thereby avoiding the wrapping of air bubbles. At the same time, the action area of the pre-flattening gas flow is dynamically adjusted according to the position of the contact line to ensure that it only acts on the suspended part that has not yet contacted, preventing the gas flow from interfering with the already attached area or causing the film material to wrinkle again. This set of "front support and rear pressure, dynamic zoning" cooperative control logic ensures that the film material is always in a controllable flat state from the first contact to the complete covering process, and realizes the immediate exhaust of the contact interface, thereby realizing wrinkle-free and bubble-free attachment. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0022] Figure 1 A flowchart of a film material laying method provided by the embodiments of the present application. DETAILED DESCRIPTION

[0023] The embodiments of the present application provide a film material laying method, device, storage medium and electronic equipment, which are used to solve the technical problem that the film material laying method in the prior art is prone to form wrinkles or even folds.

[0024] In order to make the purpose, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings of the embodiments of the present application. Obviously, the following described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0025] In the description of the embodiments 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 only for the convenience of describing the embodiments of 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 the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable 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 of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances. Example

[0027] Please see Figure 1 The membrane material laying method provided in this embodiment of the invention includes: S1: Fix the first end of the membrane material so that the membrane material is suspended above the substrate, and the second end of the membrane material opposite to the first end is in a natural state; The purpose of this step is to establish a stable and controllable starting state for the entire covering process. By fixing the first end of the membrane material, its posture and initial position in space can be precisely controlled, which is the foundation for achieving automated and precise covering. The key to this step lies in "fixing" and "suspension." "Fixing" usually refers to firmly gripping one end of the membrane material through methods such as vacuum adsorption or mechanical clamping to ensure that the membrane material will not slip or fall off during subsequent movement; "suspension" refers to maintaining a non-contact parallel or near-parallel relationship between the membrane material body and the substrate surface, creating space for airflow intervention. This step uses a gripping mechanism (such as a suction cup assembly at the end of a robotic arm) to firmly grip the first end of the membrane material and lift and move it directly above the initial position of the substrate, making the membrane material plane roughly parallel to the substrate plane and maintaining a set initial height. At this time, the membrane material hangs down naturally due to gravity, while the second end, opposite the first end, is in a free state, ready to serve as the starting contact point for covering.

[0028] S2: Generate a first airflow parallel to the substrate surface, which acts on the film bonding surface; This step aims to actively overcome the sagging of the film caused by gravity before it comes into contact with the substrate, and to create conditions for the formation of the ideal first contact. Its core role is to provide a non-contact support force to maintain the pre-flattening shape of the film in dynamic movement, which is the first key line of defense against wrinkle formation. The key point of this step is "parallel to the substrate surface" and "acting on the bonding surface". The airflow direction is parallel to create a uniform "air cushion" effect along the substrate surface to lift the film with fluid dynamics, rather than unstable shaking caused by vertical blowing; acting on the bonding surface (i.e. the future bonding surface with the substrate) is to directly support the part of the film that is most prone to sagging. This step starts an airflow generator below the suspended section of the film and above the substrate, generating a uniform laminar flow parallel to the substrate in the opposite direction of the film's drag direction. This airflow acts on the lower surface of the film, generating an upward force, thereby lifting the film to form a gentle wedge-shaped space from the second end to the first end, effectively eliminating the free sagging of the film.

[0029] S3: Manipulate the film to move towards the substrate, with the second end first contacting the substrate surface, and form a contact line moving from the second end to the first end; This step is the core action of driving the film into contact with the substrate and starting the covering process. The design aims to smoothly transition the film from a suspended state to contact with the substrate surface in a controllable manner, and to define a clear and traceable covering front. The key points are "manipulate movement and descent" and "the second end first contacts". Manipulate movement and descent need to be coordinated to simulate a "soft landing" process; "the second end first contacts" ensures that the covering starts from the free end of the film and gradually unfolds like a piece of paper, which is beneficial for the orderly expulsion of air from one side and avoids the formation of a closed air pocket in the middle of the film. This step controls the gripping mechanism to carry the first end of the film and move horizontally in a direction parallel to the substrate surface (i.e. the covering direction), while the overall height slowly decreases. Under this combined motion, the second end of the film, which is in a natural state and has the lowest position, first comes into contact with the substrate surface. This contact point then continues to extend towards the first end of the film as the film continues to move and descend, thereby forming a "contact line" that pushes forward in space.

[0030] S4: Perform coordinated control during the laying process: This step is the control center of the method, and its purpose is to dynamically and zonally coordinate the mechanical management of the film during the covering process, ensuring that the film in front of the contact line remains flat, while ensuring that the film behind the contact line is immediately compacted and bonded. It solves the contradiction between covering and compaction through the linkage of two sub-steps: S41: Generate a second airflow that acts on the back of the film behind the contact line, with the direction of the second airflow having a pressure component towards the substrate surface, and the back being opposite to the bonding surface; The role of this sub-step is to provide an instant compaction pressure at the moment and after the film material contacts the substrate, to promote adhesion and drive away interface air. The key points are "acting on the rear of the contact line" and "the direction has a pressure component towards the substrate surface". The action area is immediately behind the contact line, meaning that compaction occurs instantly, leaving no space for air to seep back; the airflow direction has a vertical downward component, which can generate effective normal pressure to "press" the film material onto the substrate. This sub-step starts a second airflow above the film material immediately after the contact line is formed, and the action point of the airflow is controlled in the area immediately behind the contact line. By making the direction of the airflow perpendicular to the substrate or inclined downward to the substrate, it generates a concentrated pressure area on the back of the film material, tightly pressing the just-contacted film material segment onto the substrate surface.

[0031] S42: According to the position of the contact line, dynamically adjust the first airflow so that its effective action area follows and concentrates on the suspended film material part in front of the contact line.

[0032] The role of this sub-step is to precisely manage the action range of the first airflow, so that it exits in time after completing the pre-flattening mission, avoiding interference with the already attached area or conflict with the action of the second airflow. The key points are "according to the position of the contact line" and "dynamic adjustment". The core is to adjust the distribution of a physical field (first airflow field) in real time according to a moving spatial coordinate (contact line position). This sub-step tracks the moving position of the contact line in real time, and based on this position information, controls the output of the first airflow generation unit. The specific adjustment logic is: the effective action intensity (such as flow rate, pressure) of the first airflow is maintained at a high level in the suspended film material area in front of the contact line, to ensure the lifting effect; while in the area behind the contact line that has been attached or just attached, the airflow output is quickly weakened or closed. In this way, the action area of the first airflow is like a "air curtain" following the movement of the contact line, always focusing on the film material part that is about to contact, without interfering with the compaction area behind that is responsible for the second airflow.

[0033] The present application can realize the method described above through different hardware combinations. Two preferred embodiments are provided below: Method 1 (based on integrated air flow module): Steps S1 and S3 are performed by a six-axis industrial robot and its end-of-arm vacuum suction array. The first air flow of step S2 is provided by a long strip-shaped static pressure box installed above the substrate, opposite the direction of film material entry. The bottom of the static pressure box is provided with a slit air outlet, which covers the full width of the substrate. The air is supplied by a centrifugal fan and the total pressure is adjusted by a proportional valve. The second air flow of step S41 is provided by a "air knife" carried by a linear module that can be servoed to move in the covering direction. The air knife outlet length also covers the full width of the substrate. The air is supplied by an independent air source and the pressure can be controlled by an adjusting valve. The coordinated control of step S4 is realized by a programmable logic controller (PLC). The PLC receives real-time position signals of the robot (to calculate the contact line position) and synchronously controls the moving speed of the linear module, and dynamically adjusts the opening of the first air flow proportional valve and the second air flow adjusting valve through an analog output module, to realize dynamic zoning control of the air flow.

[0034] Method 2 (based on distributed air flow unit): Steps S1 and S3 are performed by a high-precision three-axis Cartesian coordinate manipulator and its end-of-arm flexible suction cup. The first air flow of step S2 is provided by a group of multiple independent high-speed fans arranged in the width direction of the substrate. The speed of each fan can be adjusted individually by a PWM signal. The second air flow of step S41 is provided by a group of independent nozzles installed on a movable crossbeam. The opening and flow of each nozzle can be controlled individually by a solenoid valve. The coordinated control of step S4 is realized by a system composed of a motion controller and an industrial computer. The control software in the computer calculates the contact line position according to the real-time coordinates of the manipulator, and generates control instructions: on the one hand, it controls the servo motor of the movable crossbeam to make it move synchronously with the contact line; on the other hand, according to the preset air flow distribution map, it sends different PWM and switch signals to the fan array of the first air flow and the nozzle array of the second air flow, to realize more refined and adaptive air flow dynamic adjustment to local characteristics of the film material.

[0035] The beneficial effects of the present embodiment include: ①By using airflow parallel to the substrate surface to continuously act on the lower surface of the film material before it moves to cover, the tendency of the film material to sag due to gravity can be effectively offset, so that it maintains a pre-flattened state before contacting the substrate, which is the key premise for avoiding wrinkle generation. When the free end of the film material begins to contact the substrate and form a moving contact line, the method immediately applies a pressure airflow with a vertical downward component to the upper surface of the film material behind the contact line. This airflow, like an invisible "pressure roller", moves closely behind the contact line and can immediately compact the film material on the substrate and effectively drive out the air between them, thereby avoiding the wrapping of air bubbles. At the same time, the action area of the pre-flattening airflow is dynamically adjusted according to the position of the contact line to ensure that it only acts on the suspended part that has not yet contacted, preventing the airflow from interfering with the already attached area or causing the film material to wrinkle again. This set of "front support and rear pressure, dynamic zoning" cooperative control logic ensures that the film material is always in a controllable flat state from the first contact to the complete covering process, and achieves immediate air exhaust at the contact interface, thereby realizing wrinkle-free and bubble-free attachment.

[0036] ②The method greatly improves the controllability, stability and automation level of the laying process. The entire process uses a moving contact line as a spatial reference, and all control actions (including airflow switching, intensity adjustment and action area movement) are dynamically linked and closed-loop feedback with this reference. This makes the film material placement process, which was originally dependent on the experience of operators and susceptible to interference, into an automated process that can be precisely programmed and parameterized controlled. By presetting or adjusting airflow parameters and motion trajectories in real time, the system can automatically adapt to different film material characteristics (such as weight, stiffness) and covering speeds, ensuring consistent and reliable laying results under different production batches and process requirements, significantly reducing the dependence on manpower and quality fluctuations caused by inconsistent operation.

[0037] Optimization Example One In order to more accurately and operably realize the smooth transition of the airflow action area, prevent local instability of the film material caused by airflow boundary mutation, and further improve the certainty and adaptability of control, the optimization example optimizes the first airflow to the following steps: S421: According to the real-time position of the contact line, determine a airflow action decay area located in front of the contact line; The purpose of this step is to define a clear spatial scope for the dynamic adjustment of the first airflow. Its core function is to calculate and delineate a virtual control area (i.e., airflow action decay zone) that follows the movement of the contact line in real time, thereby transforming abstract position tracking into specific, programmable control boundaries. The key points of this step are "based on real-time position" and "determination." "Based on real-time position" means that the spatial coordinates of the decay zone are strictly bound to the movement of the contact line, which is the basis for dynamic control; "determination" includes the process of calculation or mapping, which is usually based on pre-set forward and backward offset distances relative to the contact line to define a strip-shaped area. The control system (such as PLC or motion controller) continuously acquires signals representing the real-time position of the contact line (e.g., derived from the position coordinates of the master robot arm), and according to the pre-set forward offset distance (d2) and backward offset distance (d3), it calculates in real time a strip-shaped area in the coordinate space of the substrate surface, with the contact line as the reference, starting at a distance d2 in front of it and ending at a distance d3 behind it. This area is defined as the airflow action decay zone at the current time.

[0038] S422: Control the first airflow to gradually weaken its intensity from the initial value in the direction opposite to the movement of the contact line within the airflow action decay zone. The purpose of this step is to achieve a smooth and controllable decrease in the intensity of the first airflow within the decay zone, to avoid creating a steep pressure gradient between the effective and ineffective zones of the airflow, thereby ensuring that the film material experiences a smooth change in force when crossing this region, preventing shaking or secondary sagging due to the sudden disappearance of the airflow. The key points are "in the direction opposite to the movement" and "gradually weaken from the initial value." "In the direction opposite to the movement of the contact line" indicates the spatial dimension of the intensity change, i.e., the airflow intensity changes along the direction opposite to the film material being pulled in (the direction opposite to the movement of the contact line); "gradually weaken from the initial value" defines the trend, requiring the intensity to decrease continuously, rather than being turned off in steps. The control system generates a control instruction for the output intensity of the first airflow based on the decay zone range determined in step S421. This instruction causes the first airflow generating unit (such as a static pressure tank) to output airflow parameters (air pressure or flow rate) within the decay zone, which smoothly decreases from the "initial value" required to maintain the normal flattening of the film material to an intensity close to zero as the position moves from the start of the section (close to the main body of the suspended film material) to the end of the section (close to the contact line) according to the pre-set decay law (such as linear decrease, exponential decay).

[0039] S423: Control the first airflow to maintain effective intensity in the area outside the airflow action decay zone and in front of the contact line to support the suspended film material.

[0040] The purpose of this step is to ensure that the first air flow provides sufficient and stable lifting force in the main area of the suspended membrane body outside the decay zone, which is the fundamental guarantee for maintaining the overall flat shape of the membrane. The key point is to "maintain effective strength". "Effective strength" refers to the air flow strength required to overcome the membrane gravity, inertial force and possible electrostatic attraction force to maintain the predetermined flat shape. For the area located in front of the decay zone of the air flow action (i.e. further away from the contact line, the part of the membrane completely suspended), the control system instructs the first air flow generation unit to maintain its output strength at a stable, pre-calibrated level, so that the present application can achieve the above-mentioned step through different control strategies. The first implementation is based on pre-set positions and function models: for example, when covering a wooden substrate with a width of 1.2 meters, the pre-set front offset distance d2 is 60 mm and the rear offset distance d3 is 80 mm. The control system calculates the contact line coordinates X_loc in real time according to the mechanical arm encoder, and then the decay zone range is [X_loc - d3, X_loc + d2]. The first air flow uses a slit-type air outlet static pressure box along the width direction of the substrate, and a high-response proportional valve is installed on the air supply pipeline. The control system calculates and outputs the control signal to the proportional valve in real time according to the position coordinates through the pre-loaded linear decay function (for example, in the decay zone, the target air pressure P = P0 * (1 - (X - (X_loc - d3)) / (d2 + d3)), where X is the current position, and P0 is the initial air pressure), so that the outlet air pressure of the static pressure box decreases linearly in the decay zone. In front of the decay zone, the proportional valve receives a constant signal to maintain the initial air pressure P0. In turn, it provides reliable "air cushion" support for most of the suspended membrane.

[0041] The second implementation introduces a combination of feedforward and feedback: for the same substrate, the control system not only determines the decay zone according to the pre-set distance, but also receives scanning data from the line array laser profiler on the actual shape of the suspended membrane. When it is detected that the actual height of the membrane at the start of the decay zone is lower than expected, the control system will dynamically fine-tune the starting strength value or decay slope of the decay function to adapt to the actual state of the membrane. At the same time, the pressure sensor data of the second air flow unit (air knife) can also be used as auxiliary feedback. If a slight wrinkle trend is found in the front edge due to the first air flow exiting too quickly, the rear offset distance d3 can be appropriately increased to extend the "tail" auxiliary effect of the first air flow behind the contact line, achieving a more gentle transition.

[0042] By introducing the aforementioned steps, the dynamic adjustment of the first airflow is transformed from a macroscopic concept into an executable control strategy with clear spatial boundaries and quantified intensity variation rules. This brings significant benefits: first, it realizes the smooth and disturbance-free transition of the first airflow from "strong action" to "no action", completely avoiding the membrane material shaking or local instability caused by the sudden change of airflow boundary, ensuring the stability of the covering process. Second, by parameterizing the definition of the attenuation zone (d2, d3) and the attenuation law, the airflow control has high adjustability and adaptability, which can be quickly optimized by modifying parameters to adapt to different materials, weights and sizes of the membrane material, greatly enhancing the robustness and universality of the process. Finally, this fine zoning airflow control provides an optimal mechanical environment for the entire deformation process of the membrane material from suspension to adhesion, which is the key technical guarantee to achieve high-quality and zero-defect adhesion.

[0043] Optimization Example 2 In order to overcome the problem of uneven compaction and poor dynamic matching with the contact line caused by the fixed or rough control of the second airflow action position, the second airflow is optimized in the following steps: S411: Control the movement of the airflow outlet of the second airflow during the laying process; This step aims to change the action point of the second airflow from static to dynamic to adapt to the continuous movement of the contact line during the laying process. The purpose is to realize the dynamic coverage of the compaction action, ensuring that the newly contacted membrane material can be timely affected by the compaction airflow throughout the laying path. The key point of this step is "control… to move", which requires the second airflow generation unit to have a drivable motion mechanism. When implementing, attention should be paid to the stability and precision of the movement to avoid shaking affecting the stability of the airflow. For example, the second airflow generation unit (such as an air knife) is installed on a motion executor composed of a servo motor, a linear module or a robot, etc. During the laying process, the executor is driven by the control system to drive the airflow outlet to move reciprocally or follow the surface of the base material parallel to the membrane material dragging direction.

[0044] S412: Synchronize the moving speed of the airflow outlet with the moving speed of the contact line; The core role of this step is to achieve the "real-time following" of the second airflow to the contact line, ensuring that the compaction position is closely related to the contact line position in time and space, avoiding the lag or advance of compaction caused by different speeds. The key point is "synchronous moving speed", which means that the driving speed of the second airflow outlet needs to be dynamically adjusted according to the real-time moving speed of the contact line. When implementing, attention should be paid to the response speed of the control system to eliminate following errors. The control system obtains the variable representing the moving speed of the contact line in real time (for example, the motion instruction or encoder feedback directly from the mechanical arm or conveyor belt driving the film material to move), and takes this speed value as the set value, drives the second airflow motion executor through the closed-loop control algorithm (such as PID control), so that the actual moving speed of the second airflow motion executor is consistent with the set value.

[0045] S413: Keep a preset lag distance between the airflow outlet and the contact line.

[0046] The purpose of this step is to define an optimal action position for compaction relative to the contact line. Keeping a preset lag distance instead of directly acting on the contact line is to give the film and substrate a very short initial contact and preliminary exhaust moment, and then the airflow performs compaction, which often can obtain better gas chasing effect and prevent the film from wrinkling caused by direct impact of the airflow on the contact front. The key point is "preset lag distance", which is a process parameter that can be optimized according to the characteristics, viscosity of the film and the pressure of the airflow. When calculating the target position of the second airflow outlet, the control system does not directly use the real-time position of the contact line, but adds a fixed distance value (d1) in the opposite direction of the contact line movement (i.e. towards the attached area) based on the position. During the movement, the control system ensures that the actual position of the airflow outlet always maintains at "target contact line position - d1" through position closed loop.

[0047] The present application can achieve the above steps through different motion and control architectures. The first implementation is based on master-slave position synchronization control: for example, in the embodiment of applying PVC decorative film to a wooden substrate, the film material is dragged and covered by a six-axis robot. The air knife for generating the second air flow is installed on a linear module driven by a servo motor. The control system of the robot sends its real-time tool center point (TCP) speed to the PLC responsible for controlling the linear module through a field bus (such as EtherCAT). The PLC takes this speed as the moving speed instruction of the air knife module, achieving speed synchronization. At the same time, the PLC continuously receives the real-time TCP position coordinates sent by the robot, and calculates the theoretical contact line position (X_loc) from them, then subtracts the preset lag distance (for example, 20mm) to get the target position of the air knife, and makes the actual position of the air knife track this target through position loop control, thereby achieving moving (S411) and maintaining lag distance (S413) at the same time. The second implementation is based on unified trajectory planning and collaborative motion control: in the same embodiment, the robot and the air knife module are controlled by the same multi-axis motion controller. Before the laying begins, the motion controller has planned the motion trajectory of the robot (including position and speed curves). According to this master trajectory, the controller automatically generates a slave trajectory, the speed curve of which is synchronized with the master trajectory (S412 is achieved), but the position curve is overall shifted backward on the path by a preset lag distance (such as 20mm) (S413 is achieved). During the laying process, the motion controller synchronously drives the robot and the air knife module to execute their respective planned trajectories, thereby achieving the synchronous and lagging movement of the air knife relative to the contact line (S411 is achieved).

[0048] By implementing the fine movement control step, the compaction effect of the second air flow realizes the qualitative change from "roughly acting on the rear" to "precise following and acting on the optimal position". The beneficial effects brought by it are significant and direct: first, it ensures that the compaction force can be continuously and without omission applied to the newly formed bonding interface throughout the dynamic laying process, overcoming the problem of incomplete action of the fixed air flow outlet at the beginning or end of the covering. Second, precise speed synchronization and lag distance control make the compaction timing just right, neither hindering the natural formation of the contact line and initial exhaust due to premature intervention, nor causing air residue due to late action, thereby maximizing the efficiency of driving bubbles and promoting initial adhesion. Finally, this highly controllable and position-accurate compaction method provides reliable technical support for obtaining uniform and consistent high-quality bonding interfaces.

[0049] Optimization example 3 To cope with the uncertainty factors in actual production, such as the slight fluctuation of film material properties (e.g. stiffness, weight distribution), environmental airflow interference or mechanical movement deviation, and to ensure that the flattened shape of the suspended film material can be stably maintained in the ideal state under various conditions, the following steps are added to S4 in this optimization example: S43: Real-time acquisition of the shape information of the suspended film material in front of the contact line by the first sensor. The purpose of this step is to provide the control system with direct and objective measurement data of the physical state of the suspended film material, so as to expand the control basis from pure theoretical position calculation to real-time perception of actual effects. Its core function is to realize the upgrade from "open-loop program control" to "closed-loop feedback control", and to provide information input for adaptive adjustment. The key points of this step are "through the first sensor" and "acquisition of shape information". The "first sensor" refers to a non-contact measurement device, such as a line laser profiler, a structured light sensor or a high-speed area array CCD camera, which is installed in a position that can completely scan the suspended film material area in front of the contact line. The "shape information" usually refers to the height distribution (profile), surface curvature or spatial coordinates of specific feature points of the film material in the vertical direction, which quantifies the actual flattening or wrinkling degree of the film material. During the laying process, the sensor continuously scans or shoots the target area at a certain frequency (e.g. several hundred to several thousand times per second), and converts the collected raw signals (e.g. laser displacement, image) into digital information that can represent the three-dimensional shape of the suspended film material through a data processing unit, and transmits it to the controller in real time.

[0050] S44: According to the shape information, dynamically adjust the parameters of the first airflow to maintain the predetermined flattened shape of the suspended film material.

[0051] The purpose of this step is to dynamically compensate and correct the output of the first airflow using the real-time profile data obtained in step S43, in order to actively eliminate or suppress any tendency to deviate from the predetermined profile. Its role is to convert the perceived information into control actions, forming a closed loop of "perception-decision-implementation", ensuring the accurate achievement of the control target (the predetermined flattening profile). The key points of this step are "dynamic adjustment according to profile information" and "maintaining the predetermined flattening profile". "Dynamic adjustment" means that the control instructions are updated in real time, and the response speed needs to match the process rhythm; "the predetermined flattening profile" is a control target, which can be quantified as a target height curve, a target curvature range or an allowed fluctuation threshold. The controller pre-stores or calculates in real time the target parameter curve corresponding to the "predetermined flattening profile". It compares the real-time profile information received from the first sensor with the target curve, and calculates the deviation (for example, the actual height of the film material at a certain point is lower than the target value, indicating that there is sag). Then, according to the pre-set control algorithm (such as proportional-integral-derivative control, PID), the controller generates adjustment instructions to dynamically change the control parameters (such as air pressure, total flow or local wind speed) of the first airflow generation unit (such as the proportional valve of the static pressure box, the frequency conversion fan or the distributed air nozzle array), so as to increase or decrease the lifting force of the corresponding area, in order to correct the deviation and make the actual profile of the suspended film material converge to the target profile.

[0052] The present invention can achieve the above steps through different sensing and feedback control strategies. The first embodiment is based on a linear laser profilometer and global pressure regulation: For example, in an embodiment of applying a wide-width optical diffusion film, a high-precision linear laser profilometer is installed on the side of the suspended membrane material, with its scanning line perpendicular to the covering direction and spanning the entire suspended width of the membrane material. The sensor scans at a frequency of 1 kHz, generating a curve reflecting the height profile of the membrane material's cross-section. The control system compares this real-time curve with an ideal, gently convex "target profile line." If the central region of the profile is found to be lower than the target line (indicating overall sag), the total air supply pressure of the first airflow static pressure box is increased proportionally; if one edge is found to be consistently lower (indicating tilt), the baffle of the corresponding side air duct within the static pressure box may be adjusted to achieve fine-tuning of the airflow distribution (S44). This achieves global and coarse local adjustment based on one-dimensional profile information. The second embodiment is based on area array vision and refined zoning control: In the same embodiment, a high-speed area array CCD camera is used as the first sensor to photograph the suspended membrane material area from an obliquely upward angle. The 3D point cloud model of the suspended membrane material is reconstructed in real time using machine vision algorithms (such as binocular vision or combined with reference objects of known size), thereby acquiring more comprehensive morphological information (S43). The first airflow generation unit employs an array of multiple independent high-speed fans arranged along the width of the substrate, with each fan capable of individual PWM speed control. The control system meshes the 3D model and compares the current height of each mesh region with the target height. For mesh regions with heights below a threshold, the control system increases the speed of one or more fans below them; for regions with excessively high heights, the corresponding fan speed is reduced (S44). This approach enables more refined adaptive airflow adjustment with higher spatial resolution.

[0053] By implementing real-time sensing and feedback control steps, the adjustment logic of the first airflow has evolved from "feedforward" control relying on a preset model to a "feedforward-feedback" composite control that integrates real-time status. This brings significant benefits: First, it greatly improves the system's robustness against interference, automatically compensating for fluctuations in flattening caused by batch differences in membrane materials, changes in environmental temperature and humidity, or slight equipment vibrations, ensuring high stability and consistency in lamination quality. Second, this closed-loop control widens the process window, reduces reliance on the accuracy of initial parameter settings, and lowers the difficulty of debugging and maintenance. Finally, by ensuring that the suspended membrane material is always in an optimal, controlled flattened state before contacting the substrate, it lays the most reliable foundation for subsequent flawless lamination.

[0054] Optimization Example 4 To directly and proactively ensure the final bonding quality between the membrane and the substrate, and to promptly diagnose and correct local defects (such as microbubbles or incomplete bonding) that occur during the bonding process, this optimized example adds the following steps to S4: S45: Real-time acquisition of interface information of the adhered area behind the contact line by the second sensor; The core purpose of this step is to realize online and non-destructive detection of the adhesion quality in the production process, and to change the traditional post-examination or final inspection into real-time monitoring covering the whole process. Its role is to provide direct feedback on the compaction effect for the control system, which is the premise of implementing precise process intervention. The key points of this step are "through the second sensor" and "acquisition of interface information". The "second sensor" needs to select a non-contact detection device that can penetrate the film material or is sensitive to the interface state, such as an infrared thermal imager, an ultrasonic flaw detector, or a detection head based on the principle of optical interference; "interface information" specifically refers to characteristic data reflecting the bonding state between the film material and the substrate, such as whether there is an air gap (bubble), the temperature distribution of the adhesion surface (which can indirectly reflect the contact thermal resistance), or the change in the reflection / transmission characteristics of the local area. For example, one or more second sensors are arranged behind the second airflow action unit along the coverage direction, and their detection field covers the film material area that has been processed by the second airflow. During the laying process, the sensor continuously scans the moving adhered interface and converts the collected physical signals (such as infrared radiation, ultrasonic echo, light intensity distribution) into digitized information that can quantitatively represent the interface adhesion quality, and transmits it to the controller in real time.

[0055] S46: Adjusting the parameters of the second airflow acting on the corresponding area according to the interface information to improve the adhesion quality.

[0056] The purpose of this step is to use the real-time quality data obtained in step S45 to dynamically optimize the compaction action of the second airflow in a targeted and local manner. Its role is to upgrade the simple "compaction action" to "intelligent compaction based on compaction effect feedback", which can actively eliminate local defects and achieve uniform improvement of adhesion quality. The key points of this step are "adjusting according to interface information" and "acting on the parameters of the corresponding area". "Adjusting" means that the control instruction is a compensatory action based on the measured defects; "corresponding area" requires that the second airflow unit has certain partition control capability so as to be able to focus on processing the specific position where defects are detected. For example, the controller analyzes the received interface information and identifies areas that do not meet the quality standards (for example, a local high light transmittance area may indicate the presence of a bubble). Then, the controller generates an adjustment instruction to change the output parameters of the second airflow generation unit corresponding to the problem area. The adjustment method can include: instantaneously increasing the airflow pressure in the local area for "pressure compensation", prolonging the residence time of the airflow in the area, or adjusting the incident angle of the airflow.

[0057] The present application can achieve the above steps through different detection principles and airflow modulation methods. The first embodiment is based on infrared thermal imaging and partition pressure regulation: for example, when attaching a decorative film with pre-coated hot melt adhesive, an infrared thermal imager can be installed behind the air knife as the second sensor. Since the well-bonded area of the film and the substrate has fast heat conduction, the surface temperature is relatively low; while the area with air bubbles has high surface temperature due to air insulation. The infrared thermal imager generates a temperature field image of the bonded area in real time (S45). The control system identifies the "high temperature point" area above the set threshold through image processing algorithm. The second airflow generating unit uses a "partitioned air knife" with multiple independent air chambers along the length direction. When the system identifies that a "high temperature point" is located in the area corresponding to the Nth air chamber, it immediately instructs the electromagnetic proportional valve of that air chamber to add a short high pressure pulse on the basis of the original pressure, and intensively consolidates the point (S46). The second embodiment is based on ultrasonic transmission rate detection and overall parameter optimization: in the precise scenario of attaching an optical adhesive (OCA) film to a glass substrate, an ultrasonic sensor array can be used as the second sensor. Ultrasonic waves have less attenuation in well-bonded interfaces, while they are strongly reflected in interfaces with air layers. The sensor array scans and generates a two-dimensional distribution map reflecting the ultrasonic transmission rate (S45). The second airflow generating unit is a single air knife with overall adjustable pressure. The control system analyzes the transmission rate distribution map, and if it finds that the average transmission rate of a large area is lower than the standard, it determines that the overall consolidation pressure is insufficient, and instructs the proportional valve to increase the overall working pressure of the air knife. If only a few low transmission rate points are found, the air knife height or inclination angle can be adjusted to change the concentration of the airflow (S46).

[0058] By implementing the online quality feedback and adjustment step, the consolidation process of the second airflow changes from an "open-loop process setting" to a "closed-loop quality control system". The beneficial effects brought about by this are fundamental: first, it realizes online real-time guarantee and active correction of bonding quality, can intervene at the first time of defect generation or expansion, greatly reduces the unqualified rate of the final product, especially suitable for high-value product production with strict "zero defect" requirements. Second, the system has strong self-adaptation and self-optimization ability, can automatically compensate for the impact of material property fluctuations, environmental changes or slight drift of equipment state on bonding quality, significantly improving the stability and process robustness of the production process. Finally, this scheme deeply integrates quality control into the manufacturing process, providing a key technical foundation for realizing higher level intelligent manufacturing and digital process management.

[0059] Optimization Example 5 In order to further solve the problem that foreign matters such as static adsorption or environmental factors may cause a small amount of dust, fibers and other foreign matters to remain in the critical region where the film material and the base material are about to be in contact, thereby causing the inclusion defects to be generated even if the film material is flat and attached, the optimization example adds the following steps to S4: S47: When the first airflow is weakened or withdrawn, a third airflow perpendicular to the first airflow and the second airflow is generated in the airflow action attenuation zone for a preset time of blowing.

[0060] The purpose of this step is to perform non-contact efficient cleaning on the interface at the last moment before the attachment occurs, so as to eliminate any small particulate matters that may affect the final bonding quality. The core function is to seamlessly embed the cleaning action into the dynamic laying process, and to perform pinpoint and timing removal on the most critical "contact front" area without interfering with the main airflow flattening and compaction function. The key points of this step are that "when the first airflow is weakened or withdrawn" clearly defines the precise timing of the action trigger, ensuring that the cleaning occurs at the moment when the supporting airflow has basically withdrawn and the foreign matters lose the air cushion support and are easy to be removed; "in the airflow action attenuation zone" strictly limits the spatial range of the action, so as to focus on the narrow belt where the contact is about to occur, avoiding unnecessary energy consumption and interference with other areas; "generating a third airflow perpendicular to the first airflow and the second airflow" defines the spatial direction of the cleaning airflow, which is perpendicular to the direction that can most effectively blow the foreign matters on the horizontal base material or film material away; "blowing for a preset time" controls the action dose, and high-efficiency cleaning is achieved through short-time and strong pulse mode and over-intervention is prevented. For example, when the control system monitors that the intensity of the first airflow at a specific position point in the airflow action attenuation zone is lower than the set threshold (i.e. indicating "weakened or withdrawn"), it immediately instructs the third airflow nozzle located above the side of the region to start, and sprays a vertical or approximately vertical cleaning airflow with a duration that is accurately calculated (such as 50-200 milliseconds) to the strip area along the base material width direction where the target point is located, to blow the surface of the base material and / or the film attachment surface at the place, and then to be closed to give way to the final contact and compaction of the film material.

[0061] The present application can achieve the precise cleaning step through different trigger and control logic. The first implementation is based on the open-loop control of timing and position linkage: for example, in the equipment for coating high-end furniture decorative film, the third airflow is generated by a series of precision electromagnetic valve nozzles arranged along the width direction of the substrate. According to the motion speed of the main mechanical arm, the preset attenuation zone parameters (d2, d3), and the preset first airflow decay curve, the control system can accurately calculate the time point when each abscissa position point in the attenuation zone reaches the "first airflow exit" state during the coating process. The system preprograms accordingly, and when the motion mechanism reaches the corresponding position, it triggers the third airflow nozzle of the corresponding coordinate segment to open a pulse of a preset duration (such as 100 milliseconds) for blowing. This method relies on accurate motion synchronization and model calculation. The second implementation is based on feedback trigger of real-time airflow monitoring: in the same application scenario, a plurality of micro differential pressure sensors or air speed sensors are installed at key positions in the airflow action attenuation zone (for example, set at 10 mm behind the theoretical contact line) to monitor the local intensity of the first airflow in real time. When the sensor detects that the airflow pressure or speed at this point drops below the cleaning trigger threshold, it immediately sends a signal to the controller. The controller then instructs the third airflow nozzle group located above the sensor position to start blowing. The duration of the blowing can be fixed or dynamically adjusted according to the exit rate of the first airflow at this point. This method directly responds to changes in physical state and has stronger anti-interference ability.

[0062] By implementing the precise blowing step, an active safeguard link for interface cleanliness is added to the original fine airflow control system. The beneficial effects brought by it are: first, it realizes the in-situ and online integration of the cleaning process and the coating process, fundamentally solves the problem of interface foreign matter inclusion without interrupting the production rhythm and introducing additional stations, which is particularly important for products with extremely high cleanliness requirements such as optical films and high-end decorative films. Second, since the timing and spatial range of its action are strictly limited within the "airflow action attenuation zone" and immediately after the first airflow exits, the cleaning action is highly precise and efficient, ensuring the cleaning effect and minimizing airflow interference, and ensuring "zero negative impact" on the main coating process. Finally, this scheme extends the quality control from macro flatness and bubble management to micro interface cleanliness management, providing a complete process solution for achieving higher product reliability. EMBODIMENT

[0063] The film material coating device provided by the embodiment of the present application is integrated in the form of a production line and is used for automatically attaching a wide decorative film to the surface of a plate substrate.

[0064] The specific structure and configuration of each unit are as follows: Film material fixation and manipulation unit: The core of this unit is a high-precision six-axis industrial robot. A flexible vacuum chuck array composed of multiple independent vacuum cups is installed on the flange at the end of the robot, which is used to reliably adsorb the first end of the film material (i.e. the trailing edge). The robot can accurately execute three-dimensional trajectory motion in space through its servo drive system, achieving the functions of picking up the film material from the rack, translating it to the starting end of the base material, and performing the required composite motion (horizontal dragging and synchronous descending).

[0065] First air flow generation unit: This unit is composed of an aluminum alloy static pressure box with a length slightly larger than the width of the base material. The static pressure box is installed across the base material conveying line through a support, located below the initial suspended position of the film material. The bottom of the static pressure box is provided with a precise slit air outlet extending along its length direction. The outlet direction is accurately adjusted to be parallel to the surface of the base material and consistent with the opposite direction of the film material design. The static pressure box is connected to a centrifugal fan driven by a frequency converter as the air source, and a high-response speed electric proportional regulating valve is installed on the air supply pipeline to accurately control the air pressure in the static pressure box, thereby adjusting the speed and intensity of the outlet air flow.

[0066] Second air flow generation unit: This unit is a "air knife" module. The air knife body is a long strip-shaped cavity, and its air outlet length also covers the full width of the base material. The air knife module is installed on a high-precision linear guide rail through a sliding block, which is arranged above the film material parallel to the covering direction of the base material. The guide rail is driven by a servo motor, which can accurately move the air knife along the guide rail. The air knife is connected to the factory compressed air pipe network, and the pressure of the output air flow is controlled through an electric proportional valve installed at the air inlet. The installation angle of the air knife can be finely adjusted to ensure that the center direction of its outlet air flow is perpendicular to the surface of the base material or has a small backward inclination angle.

[0067] Controller: The device uses a programmable logic controller as the core controller. The PLC communicates with the control system of the robot, the frequency converter driving the first air flow proportional valve and the fan, the servo driver driving the movement of the second air knife, and the proportional valve of the second air flow. In addition, the PLC is also equipped with analog input / output modules and high-speed counter modules for processing possible sensor signals.

[0068] Workflow and coordinated control of the device The controller is programmed to implement the following specific control logic to perform the laying process as defined in the preceding method claims: a) Initialization and picking up: the controller instructs the robot to move to the film material supply position, starts the vacuum chuck to adsorb the first end of the film material, and then lifts and positions the film material above the starting end of the base material.

[0069] b) First air flow pre-start: Controller outputs signals to start the centrifugal fan of the first air flow and open the proportional valve to a preset opening, so that the static pressure box generates parallel laminar flow and blows the suspended membrane material into shape.

[0070] c) Covering motion and contact line formation: Controller sends motion instructions to the robot, which drags the membrane material along the substrate surface at a preset speed V_t and descends at a preset speed V_r. This combined motion causes the second end of the membrane material to first contact the substrate, and the contact line is generated and moves towards the first end.

[0071] d) Second air flow following and compaction control: Position following: The controller reads the current tool center point position of the robot in real time, and calculates the theoretical contact line position X_loc accordingly. According to the formula Target position = X_loc - d (where d is a preset lag distance, for example 20mm), the target position of the second air knife is calculated in real time, and the air knife is controlled to move to this position by the servo driver.

[0072] Speed synchronization: The controller sends the horizontal dragging speed V_t of the robot to the servo driver of the air knife as a feedforward instruction, so that the moving speed of the air knife is synchronized with V_t.

[0073] e) Dynamic area adjustment of the first air flow: The controller also determines a dynamic "air flow action decay zone" ([X_loc - L_rear, X_loc + L_front]) according to the real-time calculated X_loc, combined with the preset front offset L_front (e.g. 60mm) and rear offset L_rear (e.g. 80mm).

[0074] A decay function (e.g. linear function) is preset in the controller. According to the relative proportion of the current position in the decay zone, a decay coefficient of 0% to 100% is calculated in real time. The controller multiplies this coefficient with the "base strength" set value of the first air flow to obtain the real-time control signal of the first air flow proportional valve at the current time. This makes the air flow strength in the decay zone smoothly decrease from 100% at X_loc + L_front to 0% at X_loc - L_rear. In the area in front of the decay zone, the proportional valve receives a constant "base strength" signal.

[0075] Specifically, the first air flow generating unit is a long strip-shaped static pressure box. The static pressure box is welded from a profile, and a flow uniformizing plate is arranged inside to ensure uniform air flow distribution. The slit-shaped air outlet of the static pressure box extends along the first direction (i.e. the width direction of the base material, perpendicular to the direction in which the film material is dragged in), and the length is designed to be 1600 mm to adapt to the film material with a maximum width of 1500 mm. The static pressure box is fixed to the rack of the base material conveying line through a rigid support, located below the initial suspended position of the film material, and the distance between the lower edge of the slit and the surface of the base material can be adjusted (usually set within the range of 30-100 mm). The second air flow generating unit is a gas knife structure that can move along the film material laying direction (i.e. the length direction of the base material). The gas knife body is a long strip-shaped cavity processed from aviation aluminum material, and the air outlet also extends along the first direction (the width direction of the base material), with a length of 1600 mm to ensure complete coverage of the film material width. The gas knife is fixed on the sliding table of a precision linear module (stroke 3 meters) driven by a servo motor through a connecting block. The air inlet of the gas knife is connected to the factory gas source through a flexible high-pressure air pipe, and a filtering pressure reducing valve and an electrical proportional valve are arranged in the pipeline. The gas knife can be angle-adjusted around a fulcrum to make the air outlet plane of the gas knife form a required angle (usually perpendicular or 5-15 degrees backward) with the surface of the base material.

[0076] To achieve the final cleaning of the bonding interface, the device is additionally provided with a third air flow generating unit. The unit is mainly composed of a cleaning gas knife assembly. The assembly is also a long strip-shaped structure, but its length direction is also arranged along the first direction. It is installed on the moving sliding table of the second air flow generating unit (main compaction gas knife) and located behind the main compaction gas knife in the laying direction (i.e. closer to the first end of the film material), and the two maintain a fixed distance (for example, 200 mm). The cleaning gas knife has an independent air supply pipeline and a high-speed on-off valve (such as a pulse electromagnetic valve), and the direction of its air outlet is set to be perpendicular to both the first air flow direction and the main pressure component direction of the second air flow. The length of the air outlet of the cleaning gas knife is slightly smaller than the width of the film material, for example, 1500 mm, to align and effectively cover the area. The third air flow generating unit can not be a fixed long strip gas knife, but can be composed of multiple independent nozzles arranged along the first direction, and each nozzle is controlled by a high-speed electromagnetic valve. These nozzles can be installed on an independent light beam driven by a stepping motor. In this configuration, the control logic can be more sophisticated. For example, the controller can program the nozzles at different positions to be triggered sequentially at corresponding times according to the model of the first air flow decay zone, simulating a moving cleaning wave. Alternatively, a dust sensor can be installed to trigger the nozzles at corresponding positions only in areas where foreign matter is detected, achieving on-demand cleaning.

[0077] Correspondingly, the programming of the controller further integrates the control of the third air flow generating unit on the basis of executing the foregoing core logic: a) Core air flow control: the controller calculates the contact line according to the real-time position of the robot, and accordingly: controls the movement and pressure of the second air flow air knife to achieve follow-up compaction.

[0078] controls the proportional valve of the first air flow static pressure tank to achieve dynamic adjustment of air flow intensity based on the "air flow action decay zone" model (the specific logic is the same as before, for example, linear decay).

[0079] b) Precise trigger control of the third air flow: the blowing action of the third air flow is strictly related to the exit state of the first air flow. The controller has preset the first air flow intensity threshold for triggering the third air flow and the blowing preset time (for example, 100 ms).

[0080] During the laying process, the controller calculates the theoretical intensity value of the first air flow at a fixed point (such as 50 mm behind) in the "air flow action decay zone" behind the theoretical contact line (calculated according to the decay model).

[0081] When the calculated value is lower than the set intensity threshold, the controller immediately sends an opening signal to the pulse electromagnetic valve of the third air flow cleaning air knife to make it blow out a high-speed cleaning air flow vertically downward.

[0082] After the preset blowing time, the controller closes the electromagnetic valve and stops the third air flow.

[0083] Since the cleaning air knife and the main compaction air knife are fixed on the same moving slide, their action area can automatically follow the movement of the contact line, ensuring that the cleaning action always acts on the specific relative position in the "air flow action decay zone". Embodiment

[0084] The embodiment of the application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is executed by a processor, the film material laying method in the embodiment one is realized. The computer readable storage medium can be any available medium that can be stored by a computing device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (for example, a solid-state hard disk), etc. The computer readable storage medium includes instructions for instructing a computing device to execute any one of the film material laying methods provided in the embodiment one. Embodiment

[0085] The embodiment of the application also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to realize the film material laying method in the embodiment one.

[0086] Those skilled in the art can clearly understand that, for the convenience and brevity of description, other working processes of the above-described method can refer to the corresponding processes in the foregoing embodiments, which will not be described here.

[0087] Through the description of the foregoing embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary general hardware, and of course can also be realized by means of special hardware including special integrated circuits, special CPUs, special memories, special components, and the like. Generally, functions completed by computer programs can be easily realized by corresponding hardware, and specific hardware structures for realizing the same functions can also be various, such as analog circuits, digital circuits, or special circuits. However, for the present application, software program implementation is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a readable storage medium, such as a floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods of various embodiments of the present application.

[0088] In the foregoing embodiments, all or part of the embodiments can be realized by software, hardware, firmware, or any combination thereof. When realized by software, all or part of the embodiments can be realized in the form of a computer program product.

[0089] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another, for example, the computer instructions can be transmitted from one website, computer, training device or data center to another website, computer, training device or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that can be stored by the computer or a data storage device such as a training device, a data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)), etc.

[0090] The above examples are only used to illustrate the technical solutions of the present application, but not to limit the present application; although the present application has been described in detail with reference to the foregoing examples, those ordinarily skilled in the art should understand: the technical solutions recorded in the foregoing examples can still be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of laying a membrane material, characterized by, The method comprises: S1: fixing a first end of a film material, suspending the film material above a base material, and allowing a second end of the film material opposite to the first end to be in a natural state; S2: generating a first airflow parallel to a surface of the base material, and allowing the first airflow to act on a lamination surface of the film material; S3: controlling the film material to move towards the base material, allowing the second end to first contact the surface of the base material, and forming a contact line moving from the second end to the first end; S4: performing a cooperative control during a coating process: S41: generating a second airflow, allowing the second airflow to act on a back surface of the film material behind the contact line, and allowing a direction of the second airflow to have a pressure component towards the surface of the base material, the back surface being opposite to the lamination surface; S42: dynamically adjusting the first airflow according to a position of the contact line, and allowing an effective action area of the first airflow to follow and concentrate on a suspended film material part in front of the contact line.

2. The method of claim 1, wherein, The dynamic adjustment of the first airflow comprises: S421: determining an airflow action attenuation area in front of the contact line according to a real-time position of the contact line; S422: controlling the first airflow to move in a reverse direction of the contact line in the airflow action attenuation area, and gradually weakening an airflow intensity of the first airflow from an initial value; S423: controlling the first airflow to maintain an effective intensity in a region in front of the contact line and outside the airflow action attenuation area, and supporting the suspended film material.

3. The method of fabricating a membrane according to claim 1 or 2, wherein The generation of the second airflow comprises: S411: controlling a gas flow outlet of the second airflow to move during the coating process; S412: synchronizing a moving speed of the gas flow outlet with a moving speed of the contact line; S413: maintaining a preset lag distance between the gas flow outlet and the contact line.

4. The method of claim 1, wherein S4 further comprises: S43: acquiring, by a first sensor, shape information of the suspended film material in front of the contact line in real time; S44: dynamically adjusting parameters of the first airflow according to the shape information, and allowing the suspended film material to maintain a predetermined flattened shape.

5. The method according to claim 1 or 4, wherein S4 further comprises: S45: acquiring, by a second sensor, interface information of a lamination area behind the contact line in real time; S46: adjusting parameters of the second airflow acting on a corresponding area according to the interface information, and improving a lamination quality.

6. The method of claim 2, wherein, S4 further comprises: S47: when the first airflow is weakened or exits, generating a third airflow perpendicular to the first airflow and the second airflow in the airflow action attenuation area for a preset time for blowing.

7. A membrane laying device, characterized in that The method comprises: A film material fixing and controlling unit configured to adsorb and fix a first end of a film material, and capable of controlling the film material to move and descend, allowing a second end of the film material opposite to the first end to first contact a surface of a base material, and forming a contact line moving from the second end to the first end; A first airflow generating unit configured to generate a first airflow parallel to the surface of the base material, and allowing the first airflow to act on a lamination surface of the film material; A second airflow generating unit configured to generate a second airflow acting on a back surface of the film material behind the contact line, and allowing a direction of the second airflow to have a pressure component towards the surface of the base material, the back surface being opposite to the lamination surface; a controller, connected with the membrane fixing and handling unit, the first air flow generating unit and the second air flow generating unit; the controller is configured to perform control so that during the laying process: the second air flow generating unit is controlled to make the action area of the second air flow follow the contact line; the first air flow generating unit is dynamically adjusted according to the position of the contact line to make the effective action area of the first air flow follow and concentrate on the suspended membrane part in front of the contact line.

8. The membrane laying device according to claim 7, characterized in that: the first air flow generating unit is a long strip-shaped static pressure box structure with a slit-shaped air outlet extending along a first direction; the second air flow generating unit is a gas knife structure movable along the membrane laying direction, with a gas flow outlet extending along the first direction, and the length of the gas flow outlet is not less than the size of the membrane in the first direction; the first direction is perpendicular to the direction in which the membrane is dragged in, and parallel to the surface of the substrate.

9. An electronic device, comprising a memory, a processor and a computer program stored in the memory, characterized in that: the processor executes the computer program to implement the steps of the membrane laying method according to any one of claims 1 to 6.

10. A computer readable storage medium, having a computer program stored thereon, characterized in that: the computer program is executed by a processor to implement the steps of the membrane laying method according to any one of claims 1 to 6.

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