COG binding machine with buffer material online recycling and cast iron framework

Abstract

The application discloses a COG binding machine with buffer material online recovery and cast iron framework, and relates to the field of liquid crystal module assembly equipment.The device comprises a rack, a feeding unit, an ACF attaching unit, a pre-pressing unit, a main pressing unit, a discharging unit and a mechanical hand carrying system.The support frame of the main pressing unit is integrally cast from cast iron material and is internally provided with a reinforcing rib structure;the buffer material supply and recovery mechanism with the front release and rear collection structure comprising a floating roller and a tension sensor is arranged below the main pressing platform, so that the flexible buffer material is automatically supplied online, the tension is adjusted in real time and the waste material is recovered;the mechanical hand carrying system adopts a linear motor to drive the X shaft and four groups of independent mechanical hand modules, cooperates with a position detection sensor array and a multi-axis cooperative control module to realize multi-process parallel operation and anti-interference.The application effectively solves the problems of the existing device, such as frequent replacement of the buffer material, influence of thermal deformation on precision and interference of multiple mechanical hands, significantly improves the binding yield and production rhythm, and is suitable for efficient mass production of LCD screens.

Description

Technical Field

[0001] This invention relates to the field of liquid crystal display module assembly equipment technology, and specifically to a COG (Chip on Glass) bonding machine with online buffer material recycling and cast iron frame for bonding driver chips (ICs) to glass substrates (LCDs). Background Technology

[0002] COG bonding is a critical process for bonding driver IC chips to LCD glass substrates using anisotropic conductive adhesive (ACF). As the display industry continues to demand higher throughput and precision, traditional medium-sized COG bonding equipment is increasingly revealing the following technical challenges: 1. High consumption of cushioning material and impact on continuity: Existing equipment typically uses unidirectional conveying or manual replacement of cushioning material (such as Teflon tape) in the pressing unit. After each pressing, waste material needs to be manually cleaned or the machine needs to be stopped for replacement, which not only wastes auxiliary materials, but also causes fluctuations in the internal temperature field of the machine due to frequent manual intervention, affecting the stability of hot pressing and thus reducing the bonding yield.

[0003] 2. The contradiction between handling efficiency and accuracy: Traditional multi-station equipment often uses independent XYZ axis robots connected in series, resulting in large accumulated errors and occupying a large space. If the number of robots is increased to improve productivity, motion interference is very likely to occur in a confined space. Moreover, ordinary aluminum profile frames are difficult to maintain micron-level alignment accuracy under the vibration generated by the high-speed start and stop of linear motors.

[0004] Insufficient thermal stability: Medium-sized screens have relatively high pressure, and ordinary racks are prone to thermal deformation under long-term high-temperature operation, resulting in uneven contact between the pressure head and the substrate and poor pressing.

[0005] Therefore, developing a COG binding machine that can achieve online automatic recycling of cushioning materials, has a high-rigidity thermally stable structure, and can operate at high speed with multiple robotic arms has become an urgent technical challenge to be solved. Summary of the Invention

[0006] The purpose of this invention is to provide a COG binding machine with online buffer material recycling and cast iron frame. Through an innovative front-release and rear-recovery buffer material mechanism, an integrated cast iron frame support structure, and a multi-manipulator collaborative system driven by a linear motor, it solves the problems of waste of auxiliary materials, poor thermal stability, and low production efficiency in the prior art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A COG bonding machine with online cushioning material recycling and cast iron frame includes a frame, feeding unit, ACF attaching unit, pre-compression unit, pressing unit, discharging unit, robotic arm handling system, IC supply unit, and control system.

[0008] The feeding unit is located on one side of the frame and is used to transport LCD substrates. It includes an electrostatic belt, a speed-regulating motor, a position detection sensor, and a Y-direction shaping mechanism driven by a cylinder. A feeding vision correction system is also provided above it.

[0009] The ACF application unit, pre-pressing unit, and main pressing unit are arranged sequentially along the processing flow. The ACF application unit includes a carbide or ceramic indenter, an ACF supply mechanism driven by a stepper motor, and a work platform driven by a Y-axis servo motor.

[0010] The robotic arm handling system is equipped with a linear motor-driven X-axis for high-speed transport of LCD substrates between the feeding unit, ACF bonding unit, pre-pressing unit, and main pressing unit.

[0011] The support frame of the pressing unit is integrally cast from cast iron. The support frame integrally cast from cast iron has a reinforcing rib structure inside to provide a pressing environment with high rigidity and high thermal stability. The pressing unit also includes a buffer material supply and recycling mechanism located below the pressing platform. The mechanism adopts a front-release and rear-retract structure and is equipped with an unwinding assembly and a winding assembly. It is used to supply flexible buffer material to the pressing area before the pressing head is pressed down, and to roll the used buffer material waste into the winding assembly for online recycling after the pressing head is lifted. A floating roller is also provided between the unwinding assembly and the pressing area. The floating roller can float up and down to buffer the sudden tension changes of the flexible buffer material.

[0012] Furthermore, the cushioning material supply and recovery mechanism also includes a tension control component, which includes a tension sensor, a torque motor, and a PID controller. The tension sensor is located at the shaft of the floating roller and is used to detect the tension value of the flexible cushioning material in real time and transmit the signal to the PID controller. The PID controller adjusts the output torque of the torque motor according to the received signal, so as to synchronously adjust the conveying tension of the flexible cushioning material according to the pressing action.

[0013] Furthermore, the robotic arm handling system includes an X-axis guide rail driven by the linear motor, and four independently movable robotic arm modules mounted on the X-axis guide rail. Each robotic arm module is equipped with a vacuum nozzle, and its driving structure includes: a motor, lead screw, and guide rail for the Y-axis; a servo motor for the Q-axis; and a cylinder for lifting the Z-axis. The robotic arm handling system also includes a position detection sensor array, which is distributed along the X-axis guide rail and electrically connected to the control system. The control system includes a multi-axis collaborative control module, which is configured to: receive real-time position signals from each robotic arm module fed back by the position detection sensor array, and generate interlocking control signals according to a preset safety distance threshold to independently control the start and stop of each robotic arm module to avoid interference. Physical anti-collision strips or proximity switches are also provided between adjacent robotic arm modules.

[0014] The control system stores an anti-collision coordination program. By monitoring the position coordinates of each module in real time, it coordinates the movement trajectories of the four robotic arm modules on the same X-axis guide rail to avoid interference and achieve parallel operation. The coordinated control of the four robotic arm modules is achieved as follows: the control system plans an independent movement trajectory for each module and monitors its X-axis position in real time. When the system predicts that two modules may enter the minimum safe distance, the anti-collision logic prioritizes the movement of one module, implementing deceleration or waiting instructions for the other module until the path is safe. This structure based on a shared linear motor X-axis, combined with the coordinated control logic, increases the equipment's UPH (unit-per-hour productivity) by approximately 40% compared to traditional dual-robotic arm solutions.

[0015] Furthermore, the pre-compression unit includes a pre-compression head, a quartz back support pressing platform, and an alignment platform; the alignment platform is driven by an X-axis servo motor, a Y-axis servo motor, and a Q-axis DD motor, and works in conjunction with a bottom vision inspection component to achieve high-precision angle and position adjustment.

[0016] Furthermore, the pressing unit comprises multiple independent pressing stations (preferably three groups), each group consisting of an independent pressing head. The platform is controlled to move by a Y-axis servo motor and a DD motor, and the pressing head is controlled to move up and down by a servo motor and a cylinder. The pressing unit is also equipped with a pressing positioning vision system, including at least one CCD camera, for final position verification before pressing.

[0017] Furthermore, the IC supply unit includes two sets of IC trays, an IC pick-up axis, and an IC transfer axis, all driven by servo motors to achieve uninterrupted material supply from the dual trays.

[0018] Furthermore, the discharge unit is a belt conveyor with an angle adjustable between 0° and 15°, enabling intelligent connection with the next process.

[0019] Furthermore, the overall vision system includes a vision inspection module for LCD feeding, a high-magnification optical lens module for IC pre-pressing alignment, and a vision inspection module for pre-pressing positioning; the image processing unit connected to each module is connected to the CCD camera signal output terminal of each vision inspection module, and the image processing unit is configured to perform edge grayscale gradient analysis processing on the received image data to output sub-pixel level position coordinate signals to the control system.

[0020] Furthermore, the specific workflow of the "front-release, rear-retract" cushioning material mechanism is as follows: After receiving the pressing command, the control system first controls the unwinding assembly to release a certain length of cushioning material, while the tension control assembly keeps it flat; after the pressing head completes the pressing, holding, heating, cooling, and lifting actions, the rewinding assembly starts to wind up and retract the used cushioning material area, while new cushioning material is pulled to the working position, preparing for a pressing cycle. This structure allows for continuous and full utilization of the cushioning material.

[0021] Furthermore, compared to conventional aluminum alloy frames, the cast iron frame can reduce thermal deformation by more than 60% after 4 hours of continuous operation, thereby stabilizing the alignment accuracy of the press within ±4μm over a long period of time.

[0022] The beneficial effects of this invention are as follows: 1. Significantly improves production efficiency and reduces costs: The online recycling mechanism for buffer material with "front release and rear collection" realizes automatic recycling of waste materials and continuous supply of new materials, eliminating downtime caused by manual waste cleaning, greatly extending continuous working time, and significantly improving the utilization rate of buffer material, thereby reducing production costs.

[0023] 2. Extremely high thermal stability and alignment accuracy: This pressure unit adopts a cast iron frame support structure, which effectively absorbs the micro-vibrations generated by the high-speed motion of the linear motor by utilizing the high damping characteristics of cast iron. Combined with its excellent thermal stability, it ensures that the deformation of the frame is minimal under long-term high temperature and high pressure environment, thereby guaranteeing an ultra-high alignment accuracy within ±4μm.

[0024] 3. High-speed parallel processing capability: Based on the X-axis driven by a linear motor and 4 independent robotic arm modules, combined with intelligent anti-collision logic, it realizes parallel processing of multiple processes such as material picking, bonding, pre-pressing, and pressing, which significantly improves the equipment's UPH (upper capacity per hour) and the single IC production cycle can reach 3.5 seconds / chip.

[0025] 4. Intelligent and flexible: It integrates a multi-channel vision system and sub-pixel algorithm, combined with an angle-adjustable discharge production line, which can adapt to the intelligent connection requirements of products of different sizes and downstream process machines. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a schematic diagram of the pre-compression unit structure of the present invention.

[0028] Figure 3 This is a schematic diagram of the pressure unit structure of the present invention. Figure 4 This is a schematic diagram of the IC supply unit structure of the present invention.

[0029] In the diagram: 1. Frame; 2. Feeding unit; 3. ACF application unit; 31. Press head; 32. ACF supply drive mechanism; 33. Working platform; 4. Pre-pressing unit; 41. Pre-pressing head; 42. Pressing platform; 43. Alignment platform; 44. Bottom vision inspection component; 5. Pressing unit; 51. Cast iron frame; 52. Pressing head mechanism; 53. Buffer material supply and recovery mechanism; 54. Pressing platform; 55. Pressing positioning vision system; 531. Unwinding component; 532. Rewinding component; 533. Floating roller and tension control component; 6. Discharge unit; 7. Robotic handling system; 71. Linear motor driven X-axis guide rail; 72. Robotic module; 8. IC supply unit; 81. IC tray; 82. IC pick-up axis; 83. IC transfer axis; 9. Control system. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figures 1 to 4 As shown, this embodiment provides a COG bonding machine with online buffer material recycling and a cast iron frame suitable for 0.96 to 7-inch LCD substrates. The equipment is arranged sequentially along the processing flow: feeding unit 2, ACF bonding unit 3, pre-pressing unit 4, pressing unit 5, and discharging unit 6. A robotic handling system 7 crosses over these units to transport the substrates. An IC supply unit 8 is located on the side of the equipment.

[0032] I. Overall Layout and Process Feeding and calibration: The LCD substrate is fed in by the electrostatic belt of the feeding unit 2. After being calibrated by the Y-direction shaping mechanism, the feeding vision calibration system captures the image, calculates the position deviation through the sub-pixel positioning algorithm, and sends the correction coordinates to the robot.

[0033] ACF Application: The robotic arm transports the LCD to the working platform of ACF application unit 3, where the platform uses vacuum adsorption to fix the substrate. The ACF supply mechanism delivers ACF tape to the designated position, and the carbide indenter completes the application under the command of the control system.

[0034] IC Pre-compression: The LCD with ACF applied is transported to the alignment platform of pre-compression unit 4. Simultaneously, the robotic arm of IC supply unit 8 picks up ICs from the tray and transfers them to the pre-compression position. The high-magnification CCD camera (e.g., 6 megapixels, 6x magnification) of the bottom vision inspection component simultaneously captures the alignment marks on the LCD and IC. The image processing unit calculates the offset and drives the X and Y axis servo motors and the Q axis DD motor of the alignment platform for high-precision fine-tuning (adjustment accuracy up to ±1μm). After alignment, the pre-compression head presses down for initial bonding.

[0035] IC voltage: such as Figure 3 As shown, the pre-compressed semi-finished product is transported to pressing unit 5. This pressing unit has 3 independent workstations that can process products in parallel. Figure 3 As shown, the main body of this pressing unit is a cast iron frame 51, which integrates a pressing head mechanism 52 and a buffer material supply and recovery mechanism 53. Before pressing, the unwinding component 531 of the buffer material supply and recovery mechanism 53 releases a new section of Teflon buffer material, and the tension control roller 533 keeps it flat in the pressing area. After the pressing unit performs final verification by positioning vision, the pressing head driven by the servo motor and cylinder presses down, completing the final bonding under high temperature and high pressure. After the pressing head is lifted, the winding component 532 moves to recover the used buffer material, and a new buffer material is placed in place. The cast iron frame 51 ensures that the platform does not drift during the entire pressing process. How does the winding component coordinate with micro-motion to eliminate impact tension at the moment the pressing head presses down?

[0036] Robotic arm collaboration: such as Figure 1 and Figure 2 As shown, the four robotic arm modules 72 share an X-axis guide rail 71 driven by a linear motor. The control system monitors the position of each module in real time. For example, when module 1 moves to the feeding position to pick up material, module 2 can move to the ACF attaching position to place material, module 3 can move to the pressing position, and module 4 can move to the pre-pressing position. Their Y-axis movements are independent. When the system detects that modules 1 and 2 may move towards each other on the X-axis and enter a dangerous distance, the anti-collision logic will instruct the module that moves later to pause, and it will restart after the module that moves first has passed.

[0037] Material discharge: The finished product is placed on the conveyor belt of the discharge unit 6 by a robotic arm. The angle of the conveyor belt can be adjusted according to the height of the next process equipment to achieve seamless transfer. The IC chip is automatically transferred from the dual-disc supply unit to the pre-pressing and main pressing stations via the IC pick-up shaft and IC transfer shaft. In this embodiment, three stations are preferred, but two or more can be set as needed.

[0038] II. Pre-compression unit like Figure 2 As shown, the pre-pressing unit 4 includes a pre-pressing head 41, a quartz back support pressing platform 42, and an alignment platform 43. The alignment platform 43 is driven by an X-axis servo motor, a Y-axis servo motor, and a Q-axis DD motor, eliminating transmission backlash and achieving nanometer-level angle and position adjustments. A bottom vision inspection component 44 is configured at the bottom of the pre-pressing unit 4 to acquire alignment mark images of the substrate and chip and feed the data back to the control system 9.

[0039] III. Recycling of the Pressure Unit and Buffer Material The core support structure of this pressure unit 5 is a support frame integrally cast from cast iron, with internal reinforcing ribs to enhance rigidity.

[0040] Performance advantages: Tested under harsh conditions of continuous operation for 4 hours, ambient temperature of 25℃±2℃, and pressure temperature of 180℃, the thermal deformation of the cast iron skeleton is controlled within 2μm.

[0041] Comparative results: Compared with traditional aluminum profile frames (thermal deformation of about 8-10μm), this structure significantly improves the positioning accuracy and stability of the equipment, ensuring processing quality under long-term high-temperature operation.

[0042] The pressure platform 54 is equipped with a fully automatic cushioning material supply and recycling mechanism 53, which aims to realize online automatic replacement of cushioning material and waste recycling, eliminating manual intervention.

[0043] 1. Overall Layout: The structure adopts a "front unwinding and rear winding" layout: the unwinding assembly 531 is located on the front side of the mechanism, and the winding assembly 532 is located on the rear side.

[0044] The main components include: unwinding assembly 531, winding assembly 532, floating roller and tension control assembly 533.

[0045] 2. Workflow: Material feeding stage: After receiving the pressing signal from the pressure head, the control system 9 instructs the unwinding assembly to release a set length (e.g., 5mm) of new Teflon buffer material to the pressing area.

[0046] Pressing stage: The pressing head presses down to complete this pressing process.

[0047] Recycling stage: After the pressing is completed, the pressure head is lifted, and the winding assembly 532 is immediately started to wind the waste material that has covered the pressing area backward into the winding reel, realizing online recycling of waste material.

[0048] 3. High-precision tension control system To ensure that the cushioning material remains flat and adheres to the body during high-speed reciprocating motion and to avoid uneven compression caused by wrinkles, the mechanism is equipped with a closed-loop tension control system.

[0049] 4. Hardware Components: Floating roller: Located between the unwinding assembly and the pressing area, it can float up and down to physically buffer sudden tension changes in the flexible buffer material.

[0050] Detection and execution: The tension sensor is set at the floating roller shaft (or the tension is fed back by the displacement sensor) to detect the tension value in real time; the execution end adopts a torque motor.

[0051] 5. Control core: PID controller.

[0052] Control logic: The tension sensor transmits real-time signals to the PID controller.

[0053] The PID controller dynamically adjusts the output torque of the torque motor based on the received signals and the lifting and lowering status of the pressure head.

[0054] The system ensures that the cushioning material remains under constant tension throughout the entire operation through real-time feedback and dynamic adjustment.

[0055] 6. Dual-station independent control and motion mechanism Dual-station design: The main pressing unit 5 contains two independent main pressing stations, each consisting of an independent pressing head, supporting parallel or alternating operations.

[0056] 7. Motion control: Platform movement: This pressure platform is controlled by a Y-axis servo motor and a DD motor (direct drive motor) to move to the precise alignment position.

[0057] Pressure head movement: The pressure head adopts a composite drive method of "servo motor controlling pressure + cylinder controlling up and down movement" to ensure accurate pressure and rapid action.

[0058] 8. Summary of Technical Results High stability: The cast iron skeleton controls thermal deformation to the micron level, significantly improving alignment accuracy at high temperatures.

[0059] High efficiency and continuity: It realizes automatic supply of cushioning material and waste recycling, and the equipment can run 24 hours a day without interruption, completely eliminating downtime caused by manual replacement of cushioning material.

[0060] 9. Cost and maintenance optimization: Constant tension control eliminates wrinkles and improves product yield.

[0061] The number of uses per roll of cushioning material has been increased from 500 to 1500, significantly reducing the cost of consumables.

[0062] Automation level: The entire process requires no human intervention, achieving truly unmanned continuous production.

[0063] IV. Robotic Handling System like Figure 1 As shown, the robotic arm handling system employs a single long-stroke X-axis guide rail 71 driven by a linear motor. Four independently movable robotic arm modules 72 are slidably mounted on this X-axis guide rail 71, breaking the spatial limitations of traditional multi-axis serial connections. Each robotic arm module 72 is equipped with a vacuum nozzle for picking up and handling LCD substrates.

[0064] 1. Multi-degree-of-freedom driven structure Each robotic arm module has 72 degrees of freedom in multiple dimensions of motion, and its specific drive structure is as follows: Y-axis (lateral fine adjustment): A servo motor, in conjunction with a lead screw and guide rail, is used to drive the module to move precisely in the direction perpendicular to the X-axis. Q-axis (angle adjustment): Directly driven by a servo motor to achieve rotational alignment of the substrate; Z-axis (lifting motion): Driven by a cylinder, it achieves rapid downward adsorption and release.

[0065] This combined structure ensures high-speed response while maintaining micron-level alignment accuracy.

[0066] 2. Anti-interference control mechanism (hardware representation) To ensure the safe high-speed parallel operation of the four modules on the same track, the system has constructed a multi-level anti-interference protection system: Level 1 Protection (Sensor Monitoring and Interlocking): The robotic arm handling system also includes a position detection sensor array, which is distributed along the X-axis guide rail 71 and electrically connected to the control system 9. The control system 9 has a built-in multi-axis collaborative control module, which is configured to: receive position signals from each robotic arm module 72 fed back by the position detection sensor array in real time, and dynamically generate interlock control signals according to a preset safety distance threshold. When the distance between any two groups of modules approaches the threshold, the module immediately outputs a command to restrict the start, stop, or deceleration of the relevant modules, thus avoiding trajectory interference at the signal level.

[0067] Secondary protection (motion planning): The multi-axis collaborative control module also performs electronic cam E-Cam curve planning. Based on the current process status of each module (such as material picking, pasting, pre-pressing, and pressing), it pre-calculates and locks the speed and acceleration curves of each module to ensure that the theoretical distance between any two groups of modules is always greater than the safety threshold during high-speed reciprocating motion.

[0068] Level 3 protection (physical redundancy): Physical anti-collision strips or proximity switches are rigidly installed between two adjacent sets of robotic arm modules 72 as the last physical line of defense in case of electrical control failure, completely eliminating the risk of collision.

[0069] 3. Parallel workflow and performance data Based on the above structure, the system realizes a parallel operation mode for the entire process: when the first group of modules is performing the pressing operation, the second group can simultaneously perform pre-pressing, the third group performs ACF application, and the fourth group simultaneously performs material picking, with the four processes seamlessly connected.

[0070] Actual performance: This parallel handling solution optimizes the single IC production cycle time to 3.5 seconds.

[0071] V. Vision and Control System Above the pressing unit 5 is a pressing positioning vision system 55, which includes a vision inspection module for LCD feeding (i.e., feeding vision correction system); a vision inspection module for IC pre-pressing alignment (i.e., bottom vision inspection component 44), equipped with a high-magnification optical lens to acquire local alignment images of the chip and substrate; and a vision inspection module for pressing positioning (i.e., pressing positioning vision system). It also includes an image processing unit connected to each vision inspection module. This image processing unit has a built-in sub-pixel positioning algorithm, which improves the image coordinate accuracy to the 0.1 pixel level through edge extraction and grayscale interpolation processing, and feeds back high-precision coordinate signals to the control system 9 to drive each motion axis for compensation. The entire machine is equipped with three vision systems: a 1.6-megapixel CCD is used for coarse positioning at the feeding end; a 6-megapixel high-magnification lens (6x) is used at the pre-pressing end to acquire chip and substrate markings, and the image processing unit performs sub-pixel edge extraction and template matching to achieve an alignment accuracy of ±4μm; and a CCD is configured at the pressing end for final verification.

[0072] The image processing unit connected to each vision module is connected to the CCD camera signal output terminal of each vision detection module. The image processing unit is configured to perform edge grayscale gradient analysis on the received image data to output sub-pixel-level position coordinate signals to the control system. All vision data is transmitted to the main controller in real time via Gigabit Ethernet, forming a closed-loop feedback control.

[0073] VI. IC Supply Unit like Figure 4As shown, the IC supply unit 8 includes two sets of IC trays 81, an IC pick-up axis 82, and an IC transfer axis 83. The XYZ axis movement of the IC trays 81 and the IC pick-up axis 82, as well as the movement of the IC transfer axis 83, are all driven by servo motors in conjunction with lead screws and guide rails, which can realize uninterrupted material supply from the two trays and avoid host machine waiting due to material changes.

[0074] Feeding unit 2 includes an electrostatic belt, a speed-regulating motor, and a positioning detection sensor for smooth conveying of the substrate. A Y-direction shaping mechanism is located on the side of feeding unit 2, driven by a cylinder to perform lateral shaping of the substrate; a feeding vision correction system is installed above to correct positional deviations when the substrate enters, ensuring accurate material handling by the robotic arm.

[0075] VII. Other Details The ACF application unit 3 includes a pressure head 31, an ACF supply drive mechanism 32, and a working platform 33. The pressure head 31 is made of hard alloy or ceramic material, which is wear-resistant and has uniform heat conduction. The working platform 33 is driven by a Y-axis servo motor, a lead screw, and a guide rail, and is equipped with a fine-tuning platform for lifting and adjustment. The surface is made of hard alloy, and the substrate is fixed by vacuum adsorption. The discharge unit 6 is a production line discharge structure, including an angle-adjustable belt conveyor connected to the frame via an electric push rod. The control end of the electric push rod is connected to the control system. The control system is configured to control the extension and retraction stroke of the electric push rod according to the preset height parameters of the downstream machine, so as to adjust the tilt angle of the belt conveyor, adapt to downstream equipment of different heights, and realize intelligent connection with the downstream machine.

[0076] Experimental Example: Verification of Technical Effects To verify the technical effectiveness of the present invention, the following comparative experiments were conducted: 1. Thermal stability test: Experimental group: The cast iron integral casting skeleton (with reinforcing ribs) described in this invention is used.

[0077] Control group: The frame was welded using traditional aluminum profiles.

[0078] Conditions: Continuous operation for 4 hours, local pressure temperature 180℃.

[0079] Results: The thermal deformation of the frame in the experimental group was 1.8 μm, and the bonding yield was 99.95%; the thermal deformation of the frame in the control group was 9.2 μm, and the bonding yield was 99.1%. This demonstrates that the cast iron skeleton significantly improves thermal stability and yield.

[0080] 2. Cushioning material recycling efficiency test: Experimental group: The front-release and rear-retract and floating roller tension control mechanism of the present invention is adopted.

[0081] Control group: The traditional method of manually replacing the cushioning material was used.

[0082] Results: The experimental group achieved 24-hour continuous operation without downtime, and the utilization rate of the buffer material increased by 35%; the control group needed to stop and change the material every 4 hours on average, with each time taking 15 minutes, and the average daily downtime was about 90 minutes.

[0083] 3. Multi-robot capacity testing: Experimental group: The four sets of robotic arm modules of this invention are used in conjunction with a position sensor array and interlock control.

[0084] Control group: Two sets of traditional independent XYZ axis robotic arms were used.

[0085] Results: The experimental group had a single IC production cycle time of 3.5 seconds and a UPH of 1028 pcs / h; the control group had a single IC production cycle time of 6.0 seconds and a UPH of 600 pcs / h. Capacity increased by approximately 71%.

[0086] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A COG binding machine with online buffer material recycling and cast iron frame, characterized in that: It includes a frame, feeding unit, ACF attaching unit, pre-compression unit, self-compression unit, discharging unit, robotic arm handling system, and control system; The feeding unit is located on one side of the frame and is used to transport LCD substrates; The ACF pasting unit, the pre-pressing unit, and the main pressing unit are arranged sequentially along the processing flow; The robotic arm handling system is equipped with a linear motor-driven X-axis for handling LCD substrates between the feeding unit, ACF bonding unit, pre-pressing unit, and self-pressing unit. The support frame of the pressure unit is integrally cast from cast iron, and the support frame integrally cast from cast iron has a reinforcing rib structure inside. The pressing unit also includes a buffer material supply and recycling mechanism located below the pressing platform. This mechanism adopts a front-release and rear-retract structure and is equipped with an unwinding assembly and a winding assembly. It is used to supply flexible buffer material to the pressing area before the pressing head is pressed down, and to roll the used buffer material waste into the winding assembly for online recycling after the pressing head is lifted. A floating roller is also provided between the unwinding assembly and the pressing area. The floating roller can float up and down to buffer the sudden tension changes of the flexible buffer material.

2. The COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, The pressure unit also includes a pressure head mechanism driven by a combination of a servo motor and a cylinder; The cushioning material supply and recovery mechanism also includes a tension control component, which is connected to the control system and is used to synchronously adjust the conveying tension of the flexible cushioning material according to the pressing action.

3. The COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, The robotic arm handling system includes an X-axis guide rail driven by the linear motor, and four robotic arm modules that can move independently and are mounted on the X-axis guide rail. Each robotic arm module is equipped with a vacuum nozzle. The driving structure of the robotic arm module includes: a motor, lead screw and guide rail for the Y-axis, a servo motor for the Q-axis, and a cylinder for lifting the Z-axis. The robotic arm handling system also includes a position detection sensor array, which is distributed along the X-axis guide rail and electrically connected to the control system. The control system includes a multi-axis collaborative control module, configured to receive real-time position signals from each robotic arm module fed back by the position detection sensor array, and generate interlock control signals based on a preset safety distance threshold to independently control the start and stop of each robotic arm module to avoid interference. Physical anti-collision strips or proximity switches are also provided between adjacent robotic arm modules.

4. The COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, The pre-compression unit includes a pre-compression head, a quartz back support pressing platform, and an alignment platform; The alignment platform is driven by an X-axis servo motor, a Y-axis servo motor, and a Q-axis DD motor to achieve high-precision angle and position adjustment. The pre-compression unit is also equipped with a bottom vision inspection component for acquiring alignment mark images of the substrate and the chip.

5. A COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, The pressing unit includes multiple independent pressing stations, each station consisting of an independent pressing head; The working mode of this pressing station includes: the platform is controlled to move by a Y-axis servo motor and a DD motor, and the pressing head is controlled to move up and down by a servo motor and a cylinder; The pressing unit is also equipped with a pressing positioning vision system, including at least one CCD camera, for performing final position verification before pressing.

6. A COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, The ACF application unit includes a pressure head, an ACF supply drive mechanism, and a working platform. The indenter material is a hard alloy or ceramic; The working platform is driven by a Y-axis servo motor, a lead screw, and a guide rail, and is equipped with a fine-tuning platform for lifting and adjusting. The surface of the working platform is made of a hard material, and the substrate is fixed by vacuum adsorption.

7. A COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, It also includes an IC supply unit, which includes two sets of IC trays, an IC pick-up axis, and an IC transfer axis; The movement of the IC tray, the XYZ axis of the IC picking axis, and the movement of the IC transmission axis are all driven by servo motors in conjunction with lead screws and guide rails to achieve uninterrupted material supply from the dual trays.

8. A COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, The feeding unit includes an electrostatic belt, a speed-regulating motor, and a position detection sensor. The feeding unit is also equipped with a Y-direction shaping mechanism, which is driven by a cylinder to shape the substrate. A feeding vision correction system is configured above the feeding unit to correct positional deviations when the substrate enters.

9. A COG binding machine with online buffer material recycling and a cast iron frame according to any one of claims 1 to 8, characterized in that, The discharge unit is a production line discharge structure, including an adjustable-angle conveyor belt; The angle-adjustable belt is connected to the frame via an electric push rod. The control end of the electric push rod is connected to the control system. The control system is configured to control the extension and retraction stroke of the electric push rod according to the preset height parameters of the next process machine, so as to adjust the tilt angle of the belt.

10. A COG binding machine with online buffer material recycling and cast iron frame according to claim 1, characterized in that, The complete vision system includes: A vision inspection module for LCD feeding; The vision inspection module used for IC pre-stress alignment is equipped with a high-magnification optical lens to obtain local alignment images of the chip and the substrate. A visual inspection module used for positioning this pressure; It also includes an image processing unit connected to each of the vision detection modules. The image processing unit is connected to the CCD camera signal output terminal of each vision detection module. The image processing unit is configured to perform edge grayscale gradient analysis processing on the received image data to output sub-pixel level position coordinate signals to the control system.

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