High-precision resistor printer

Abstract

The application discloses a high-precision resistor printing machine, which comprises a framework and fixedly connected modules, such as a feeding box module, a suction hand module, a linear transplanting module, a product dust sticking module, a CCD alignment module, a printing linear module, a printing platform module, a printing module, an AOI detection module, a blanking streamline module, an NG material discharging module and a large discharging clamp jaw blanking module, wherein the installation datum of each module is uniformly a T-shaped groove guide rail on the framework, and linkage control is realized by a PLC control system; high-precision product carrying is realized by adopting a double-motor module, a separated linear module and a suction block platform; four-point accurate positioning of a substrate is realized by a CCD camera cooperating with front and back light image taking and Z-axis automatic focusing; a UVW platform is used to automatically adjust the position of a screen plate, accurate alignment of the two ends of the substrate and the screen plate is realized, and the industrial production demand of 01005 type chip resistors is met.

Description

Technical Field

[0001] This invention relates to the field of electronic component manufacturing equipment technology, specifically to a high-precision printing machine suitable for 01005 type chip resistors, which can realize high-precision and automated printing of chip resistor substrates, and meet the ultra-high technical requirements of micro chip resistors for printing repeatability positioning accuracy within ±5μm and printing film thickness uniformity within ±3μm. Background Technology

[0002] Chip resistors are core components in electronic circuits. The 01005 type chip resistor, as a micro chip resistor, has a substrate size of 0.4mm×0.2mm, which is characterized by its small size and thinness. Its production process places stringent requirements on the positioning accuracy, printing pressure control and equipment stability of the printing equipment.

[0003] Currently, existing resistor printing machines have many technical defects when used for printing 01005 type chip resistors, and cannot meet the high-precision production requirements. The specific problems are as follows:

[0004] 1. Insufficient product handling and positioning accuracy: Existing printing presses mostly use cam conveyor frames to handle and transfer products, and use mechanical structures to achieve product alignment. The positioning error of the cam conveyor transmission method is more than 20μm, which cannot achieve precise transfer of micro-sized substrates. Moreover, the accuracy of mechanical positioning depends on the accuracy of the workpiece itself. After long-term operation of the equipment, the workpiece is prone to wear, which further reduces the positioning accuracy and cannot meet the positioning requirements of 01005 type chip resistors.

[0005] 2. Outdated printing pressure control method: The printing head of existing printing presses is mostly driven by cylinders to move up and down. The printing pressure is controlled by a mechanical structure of cylinder and tension spring. The pressure output is achieved by adjusting the air pressure value through a pressure regulating valve. The pressure fluctuation range is ±15KPa. The pressure needs to be manually taught regularly. The adjustment operation depends on experienced professionals. The maintenance is difficult and the pressure output stability is poor, which can easily lead to uneven printing film thickness. The film thickness deviation can reach more than 10μm.

[0006] 3. Low alignment accuracy between screen and substrate: The screen installation position of existing printing machines needs to be manually adjusted, and the adjustment error is more than 10μm. There are inherent differences in the pattern position accuracy of different screens, and the error of manual adjustment cannot be eliminated, which directly affects the overall printing accuracy and makes it difficult to adapt to the micro-small printing pattern requirements of 01005 type chip resistors.

[0007] 4. Lack of real-time detection and closed-loop adjustment mechanism: Existing printing presses do not have an integrated online detection module. After printing, operators need to repeatedly check the product quality with a microscope. The inspection time for a single product is ≥5 seconds, which is cumbersome and inefficient. At the same time, it is impossible to detect the offset of printed graphics and printing defects in real time. Repeated trial printing is required to confirm the machine status, resulting in a large amount of product and paste loss. The trial printing loss rate can reach more than 15%.

[0008] 5. Poor visual positioning effect: Although some existing equipment is equipped with visual positioning components, most of them use single / dual cameras for image acquisition, without professional light source assistance and autofocus structure. The image clarity is low, the number of positioning points is small, and the positioning error is more than 15μm. It cannot achieve accurate determination of the substrate position, which poses a potential accuracy risk for subsequent printing. Summary of the Invention

[0009] The purpose of this invention is to provide a high-precision resistor printing machine, which aims to solve the problems of low positioning accuracy, inaccurate pressure control, low screen adjustment efficiency, and lack of real-time detection and closed-loop adjustment in existing printing machines, and to achieve μm-level positioning and uniform film thickness output for 01005 type chip resistor printing.

[0010] The objective of this invention is achieved through the following technical solution:

[0011] A high-precision resistive printing machine adopts a dual-head structure design with consistent functions for the left and right heads. The whole machine consists of a frame, a material feeding box module, a suction hand module, a linear transfer module, a product dust-adhesion module, a CCD alignment module, a printing linear module, a printing platform module, a printing module, a material unloading and transfer module, an AOI detection module, a material unloading flow module, an NG discharge module, a large-row gripper unloading module, and a screen cleaning mechanism. Each module is fixedly connected to the frame (1) by bolts. The installation reference between modules is uniformly the T-slot guide rail on the frame, and the spacing error is ≤0.02mm.

[0012] The printing press also includes a PLC control system for realizing the linkage control of each module, with the timing deviation of each module's action ≤0.01s.

[0013] As a further improvement of the present invention, the linear transplanting module includes a transplanting platform fixedly connected to the frame, and the transplanting platform is integrated with a dual-moving sub-module, a first bracket and a second bracket; a first suction block platform is provided on the first bracket; a vertical lifting component is provided on the second bracket, and a second suction block platform is provided on the vertical lifting component; a third suction block platform is provided on one of the moving parts of the dual-moving sub-module, and a fourth suction block platform is provided on the other moving part via a rotary cylinder.

[0014] As a further improvement of the present invention, the CCD alignment module includes a slide bracket fixedly connected to the skeleton, and adjustable slides are symmetrically distributed on the slide bracket. The adjustable slides integrate an X / Y manual slide and a Z-axis electric slide. The moving end of the Z-axis electric slide is connected to a CCD camera through a camera bracket. The CCD alignment module is configured with four CCD cameras arranged in a rectangular array, and each CCD camera is independently equipped with a bowl light source and a backlight assembly.

[0015] As a further improvement of the present invention, the printing straight line module includes a first straight line module and a second straight line module that are staggered and parallel to each other. A fifth suction block platform is provided on the first straight line module, and a sixth suction block platform is provided on the second straight line module. Both the fifth suction block platform and the sixth suction block platform are vacuum adsorption platforms, and needle-shaped cylinders for driving their lifting and lowering are symmetrically arranged at the bottom.

[0016] As a further improvement of the present invention, the printing module includes a printing head module and four printing lifting modules. The four printing lifting modules are rectangularly distributed around the printing platform module and are connected to the four corners of the printing head module and move synchronously. The printing head module integrates a doctor blade and a return ink blade. The doctor blade and the return ink blade are each driven by an independent servo motor to move up and down independently using a ball screw. A pressure sensor is installed at the connection position between the doctor blade and the corresponding ball screw.

[0017] As a further improvement of the present invention, the screen mounting position of the printing head module is equipped with a UVW platform, which is linked with the CCD alignment module signal to automatically adjust the position of the screen in the X / Y / θ directions according to the substrate position result detected by the CCD camera.

[0018] As a further improvement of the present invention, the AOI inspection module includes an offset detection system and a full appearance inspection system; the offset detection system includes an arched offset inspection bracket and a vision bracket driven by a horizontal transmission mechanism, and an offset detection camera is fixedly connected to the vision bracket; the full appearance inspection system includes a first full inspection bracket and a second full inspection bracket, an industrial full inspection camera is provided on the first full inspection bracket, and a full inspection slide driven by a full inspection cylinder is provided on the second full inspection bracket.

[0019] As a further improvement of the present invention, the material feeding box module is provided with an anti-stacking system, which is composed of an optical fiber detection sensor and an air blowing block.

[0020] As a further improvement of the present invention, the product dust-adhesive module includes a first dust-adhesive bracket, a second dust-adhesive bracket, a driven rotating shaft, a driven rotating shaft, a dust-adhesive stepper motor, a dust-adhesive transfer cylinder, and dust-adhesive rollers. The dust-adhesive stepper motor is equipped with an encoder to drive the driven rotating shaft to move the adhesive belt. The dust-adhesive rollers are rotatably mounted on the dust-adhesive roller bracket, and the dust-adhesive rollers press the adhesive belt to roll and clean the substrate.

[0021] As a further improvement of the present invention, the NG discharge module includes an NG discharge frame and a discharge transmission mechanism disposed on its upper end. A discharge cylinder is vertically mounted on one side of the discharge transmission mechanism, and a pusher block is provided on the piston end of the discharge cylinder.

[0022] The above technical solution has the following beneficial effects:

[0023] 1. By adopting a dual-moving sub-module and a separate linear module in conjunction with a high-precision suction platform to replace the traditional cam handling, and combining a four-CCD camera with front and backlight imaging and Z-axis autofocus, as well as the UVW platform for automatic adjustment of the screen, the printing repeatability positioning accuracy can reach ±5μm, and the screen and substrate alignment error is ≤±0.003mm, which fully meets the stringent precision requirements of the 01005 type chip resistor.

[0024] 2. A servo motor drives a ball screw in conjunction with a pressure sensor, replacing the traditional mechanical pressure adjustment. This enables digital display and one-button adjustment of printing pressure with an accuracy of ±0.2N. During operation, the pressure fluctuation range is ≤±0.5N, thus ensuring that the uniformity of the printed film thickness is within ±3μm, significantly improving product quality and achieving a product yield of ≥99%.

[0025] 3. The integrated AOI detection module enables full-dimensional online detection of printing offset and printing quality. It can also adjust parameters such as printing pressure and screen position in real time based on the detection data, forming a closed-loop control of "printing-detection-adjustment" to correct deviations in a timely manner and reduce the trial printing loss rate to ≤3%, which greatly reduces material waste.

[0026] 4. Adopting a dual-head structure design, each module is modularly connected through a high-precision linear mechanism, enabling rapid substrate turnover. The equipment cycle time (CT) is ≤1.5s / piece, and the printing efficiency is ≥2400 pieces / hour, which is more than 100% higher than existing equipment. At the same time, the equipment operation is uniformly linked by a PLC control system, with a timing deviation of ≤0.01s, ensuring long-term operational stability. Attached Figure Description

[0027] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0028] The structures, proportions, sizes, etc. shown in this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 This is a schematic diagram of the material feeding box module structure provided by the present invention.

[0031] Figure 3 This is a schematic diagram of the suction-hand module structure provided by the present invention.

[0032] Figure 4 This is a schematic diagram of the linear transplanting module structure provided by the present invention.

[0033] Figure 5 This is a schematic diagram of the dust-adhesive module structure provided by the present invention.

[0034] Figure 6 This is a schematic diagram of the CCD alignment module structure provided by the present invention.

[0035] Figure 7 This is a schematic diagram of the printed linear module structure provided by the present invention.

[0036] Figure 8 This is a schematic diagram of the printing platform module structure provided by the present invention.

[0037] Figure 9 This is a schematic diagram of the printing module structure provided by the present invention.

[0038] Figure 10 This is a schematic diagram of the printing head module structure provided by the present invention.

[0039] Figure 11 This is a schematic diagram of the material feeding and transplanting module structure provided by the present invention.

[0040] Figure 12 This is a schematic diagram of the offset detection system provided by the present invention.

[0041] Figure 13 A schematic diagram of the appearance inspection system provided by the present invention.

[0042] Figure 14 This is a schematic diagram of the NG feeder module structure provided by the present invention.

[0043] Figure 15 This is a schematic diagram of the large-scale gripper unloading module provided by the present invention.

[0044] Figure 16 This is a partial structural diagram of the large-gripper unloading module provided by the present invention.

[0045] In the picture:

[0046] 1. Skeleton;

[0047] 2. Material feeding box module; 201. Material feeding frame; 202. Material feeding box; 203. Rotary clamping cylinder; 204. Clamping block; 205. Material feeding platform;

[0048] 3. Hand suction module; 301. Hand suction holder; 302. Transplanting platform; 303. Lead screw stepper motor; 304. Second feeding drive module; 305. Lifting double cylinder; 306. Suction cup assembly;

[0049] 4. Linear transplanting module; 401. Transplanting platform; 402. Dual-actuator module; 403. First support; 404. Second support; 405. Vertical lifting assembly; 406. Photoelectric sensor; 407. First suction block platform; 408. Third suction block platform; 409. Second suction block platform; 410. Rotary cylinder; 411. Fourth suction block platform;

[0050] 5. Product dust-adhesion module; 501. First dust-adhesion bracket; 502. Second dust-adhesion bracket; 503. Driven rotating shaft; 504. First drive shaft; 505. First tensioning shaft; 506. Driven rotating shaft; 507. Dust-adhesion stepper motor; 508. Dust-adhesion transfer cylinder; 509. Second drive shaft; 510. Dust-adhesion roller bracket; 511. Dust-adhesion roller;

[0051] 6. CCD positioning module; 601. Slide bracket; 602. X / Y manual slide; 603. Z-axis electric slide; 604. Camera bracket; 605. CCD camera;

[0052] 7. Printing linear module; 701. First linear module; 702. Second linear module; 703. Fifth suction block platform; 704. Sixth suction block platform;

[0053] 8. Printing platform module; 801. Platform substrate; 802. Printing cover plate; 803. Printing platform; 804. First servo motor;

[0054] 9. Printing module; 91. Print head module; 92. Printing lifting module; 911. Doctor blade; 912. Ink return blade;

[0055] 10. Material feeding and transfer module; 1001. Material feeding support column; 1002. Material feeding and transfer horizontal plate; 1003. Screw module; 1004. Horizontal transmission assembly; 1005. First material feeding suction block; 1006. Second material feeding suction block;

[0056] 11. AOI Inspection Module; 1101. Arched Offset Inspection Bracket; 1102. Vision Bracket; 1103. Offset Linear Slide Rail; 1104. Horizontal Transmission Mechanism; 1105. First Full Inspection Bracket; 1106. Second Full Inspection Bracket; 1107. Manual Rotary Slide Table; 1108. XYZ Axis Manual Slide Table; 1109. Full Inspection Cylinder; 1110. Full Inspection Slide Table;

[0057] 12. Material unloading assembly line module;

[0058] 13. NG discharge module; 1301. NG discharge frame; 1302. Discharge conveying mechanism; 1303. Discharge cylinder;

[0059] 14. Large-diameter gripper unloading module; 141. Protective cover system; 142. Large-diameter gripper module; 1421. Large-diameter support; 1422. Large-diameter transmission mechanism; 1423. Gripper support. Detailed Implementation

[0060] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0061] like Figure 1As shown in the figure, a high-precision resistor printing machine adopts a double-head structure design. The functions of the left and right head mechanisms are the same. The whole machine consists of a framework 1, a feeding cassette module 2, a suction hand module 3, a linear transplanting module 4, a product dust-removing module 5, a CCD alignment module 6, a printing linear module 7, a printing platform module 8, a printing module 9, a blanking transplanting module 10, an AOI inspection module 11, a blanking streamline module 12, an NG discharging module 13, a large clamping jaw blanking module 14, and a screen cleaning mechanism. Each module is fixedly connected to the framework 1 through bolts. The installation reference between modules is unified as the T-slot guide rail on the framework 1, and the spacing error is ≤0.02 mm. Each module is modularly connected to achieve the full-process automatic operation of the substrate from feeding, transplanting, cleaning, positioning, printing, inspection to blanking. The whole equipment is linked and controlled by a PLC control system (model: Siemens S7-1500), and the action timing deviation of each module is ≤0.01 s. The specific technical solutions are as follows:

[0062] As Figure 2 shown in the figure, the feeding cassette module 2 includes a feeding rack 201 connected to the framework 1. A feeding cassette 202 is arranged on one side of the feeding rack 201. The feeding cassette 202 moves back and forth along the direction of the linear guide rail under the drive of the first feeding drive module to complete the switching of the material taking position. Specifically, two horizontally arranged linear slide rails are arranged on one side of the feeding rack 201. The back of the feeding cassette 202 is fixedly connected to the slider on the linear slide rail. The first feeding drive module consists of a stepping motor, a synchronous belt, and synchronous belt wheels. The number of synchronous belt wheels is two, which are distributed between the two linear slide rails and pivotally arranged on the feeding rack 201. The synchronous belt is wound around the two synchronous belt wheels. The stepping motor is located on the other side of the feeding rack 201 and fixed on the feeding rack 201. The output shaft of the stepping motor is传动连接 with one of the synchronous belt wheels. A clamping component is arranged on the back of the feeding cassette 202 for fixedly connecting with the synchronous belt.

[0063] During use, the stepping motor drives the synchronous belt wheel to rotate, and drives the feeding cassette 202 to move by driving the synchronous belt to rotate, completing the switching of the feeding cassette 202. The linear guide rail realizes the guiding, and the transplanting stability error of the feeding cassette 202 is ≤0.05 mm.

[0064] A rotary clamping cylinder 203 is arranged on the feeding cassette 202, and a clamping block 204 for locking the bin clamp is arranged on the rotary clamping cylinder 203. A feeding carrier 205 for placing the substrate is arranged on the feeding cassette 202 below the rotary clamping cylinder 203. During use, the substrate is placed on the feeding carrier 205, and the rotary clamping cylinder 203 drives the clamping block 204 to flip, fixing the substrate on the feeding carrier 205.

[0065] Note: In the original text, "步进电机的输出轴与其中一个同步带轮传动连接" has an unclear phrase "传动连接", which is tentatively translated as "传动连接" here. You may need to adjust it according to the actual situation.The material feeding box 202 is also equipped with an anti-stacking system. The anti-stacking system works with a fiber optic detection sensor and an air blowing block (air blowing pressure 0.3-0.5MPa). The detection response time of the fiber optic detection sensor is ≤0.01s, which avoids the stacking problem during the substrate feeding process and realizes accurate and orderly substrate feeding.

[0066] The fiber optic detection sensor of the anti-overlapping system detects the position of the substrate. After confirming that there is no overlapping, the suction cup group of the suction hand module 3 takes the substrate out from the feeding stage 205 and places it on the suction block platform of the linear transfer module 4. The picking and placing positioning error is ≤0.02mm, and the feeding efficiency is 1200 pieces / h.

[0067] like Figure 3 As shown, the suction hand module 3 includes a suction hand holder 301 connected to the frame 1. A horizontally distributed transplanting platform 302 is provided on one side of the suction hand holder 301. A vertical lead screw module driven by a lead screw stepper motor 303 is mounted on the suction hand holder 301. The transplanting platform 302 is fixedly connected to the slider of the vertical lead screw module, enabling the lead screw stepper motor 303 to drive the transplanting platform 302 to move along the Z-axis. A second feeding drive module 304 is provided on the transplanting platform 302. The second feeding drive module 304 consists of a stepper motor, a synchronous belt, and synchronous pulleys. Two synchronous pulleys are distributed between two linear slide rails and pivotally mounted on the transplanting platform 302. The synchronous belt is wound around the two synchronous pulleys. The stepper motor is located on the other side of the transplanting platform 302 and fixed to it. The output shaft of the stepper motor is connected to one of the synchronous pulleys. A clamping assembly is provided on the back of the lifting double cylinder 305 for fixed connection with the synchronous belt. The piston end of the lifting double cylinder 305 is equipped with a suction cup assembly 306 for gripping the substrate.

[0068] The suction cup assembly 306 has four silicone suction cups with an adsorption orifice diameter of 0.3mm and a vacuum negative pressure of -0.6 to -0.8MPa. In conjunction with the photoelectric system, a lead screw stepper motor 303 enables the vertical movement of the suction cup assembly 306 along the Z-axis. The stepper motor drives the synchronous belt and synchronous pulley to achieve horizontal movement, with a movement speed of 0-500mm / s. This completes the loading and unloading of the substrate from the feeding platform 205 to the linear transfer module 4, with a loading and unloading positioning error ≤0.02mm.

[0069] like Figure 4As shown, the linear transplanting module 4 includes a transplanting platform 401 that is fixedly connected to the frame 1 by bolts. The installation reference of the transplanting platform 401 matches the T-slot guide rail on the frame 1, and the installation spacing error is ≤0.02mm. The transplanting platform 401 integrates a dual-movement sub-module 402, a first bracket 403, and a second bracket 404. The components are modularly connected and adapted to the overall action sequence of the linear transplanting module 4. The first bracket 403 is vertically fixed to one side of the dual-movement sub-module 402, and a first suction block platform 407 is horizontally arranged on its top surface. This platform is a vacuum adsorption structure that can stably adsorb the substrate. The second support 404 is distributed on the same side as the first support 403, and a vertical lifting assembly 405 is mounted on it. The vertical lifting assembly 405 adopts a lead screw module driven by a servo motor. A lifting platform is fixedly connected to the transmission slider of the lead screw module. A second suction block platform 409 is set on the upper surface of the lifting platform. In order to accurately control the lifting height of the second suction block platform 409, a set of photoelectric sensors 406 are installed at the corresponding positions of the vertical side wall of the second support 404 and the lifting platform. The detection response time of the photoelectric sensor 406 is ≤0.01s, which can sense the height position of the lifting platform in real time, so that the movement accuracy error of the lifting platform is ≤0.01mm.

[0070] The dual-moving module 402 is a dual-drive independent control structure. Its two moving parts can move independently back and forth along the module guide rail, with a movement stability error ≤0.05mm. A third suction platform 408 is fixed to the upper end of one of the moving parts, and a rotary cylinder 410 is vertically fixed to the other moving part. A fourth suction platform 411 is provided at the output end of the rotary cylinder 410. The first suction platform 407, the second suction platform 409, the third suction platform 408, and the fourth suction platform 411 are all vacuum adsorption platforms, and the adsorption negative pressure is adapted to the suction cup assembly of the suction module 3. The installation height of the first suction platform 407 and the third suction platform 408 is consistent. When the third suction platform 408 moves with the moving part to the docking position on the side of the first suction platform 407, the two can be seamlessly combined to form an integrated platform for the stable placement and transfer of the substrate. After the third suction platform 408 picks up the substrate, it can move precisely to the opposite position of the second suction platform 409 with the mover and complete the precise transfer of the substrate. After the second suction platform 409 picks up the substrate, it is driven by the vertical lifting component 405 to be raised to the working position of the product dust removal module 5 to complete the dust removal operation on the substrate surface. After the operation is completed, the vertical lifting component 405 drives the second suction platform 409 to move down to the docking height with the fourth suction platform 411 and transfer the substrate to the fourth suction platform 411. Finally, the fourth suction platform 411, with the linkage action of the rotary cylinder 410 and the mover, precisely transfers the substrate to the designated position of the next process. The positioning error of the entire transfer process is ≤0.02mm, ensuring the continuity and accuracy of the substrate transfer.

[0071] like Figure 5 As shown, the product adhesive module 5 includes a first adhesive bracket 501 and a second adhesive bracket 502, which are fixedly connected to the frame 1 by bolts. The two are distributed in parallel and spaced apart, forming a working space for the substrate to pass through and complete the adhesive application. The mounting reference of the brackets is consistent with the T-slot guide rail of the frame 1, and the installation spacing error is ≤0.02mm. The upper end of the first adhesive bracket 501 is rotatably mounted with a driven shaft 503 through a bearing seat. The bearing seat adopts a high-precision deep groove ball bearing to ensure smooth and jam-free rotation of the shaft. At the corresponding position of the first adhesive bracket 501 around the driven shaft 503, a first drive shaft 504 and a first tensioning shaft 505 are also fixedly installed. Both are set parallel to the driven shaft 503 and play an auxiliary role in guiding and tensioning the tape.

[0072] The upper end of the second adhesive sticking bracket 502 is also rotatably mounted with a drive shaft 506 via a bearing seat. One end of the drive shaft 506 is connected to the output shaft of the adhesive sticking stepper motor 507. The adhesive sticking stepper motor 507 is equipped with an encoder, which can accurately feedback the rotation angle of the shaft. A second drive shaft 509 parallel to the drive shaft 506 is also fixed on the second adhesive sticking bracket 502, which works with the first drive shaft 504 to guide the tape. An adhesive sticking transfer cylinder 508 is horizontally mounted on the side of the second adhesive sticking bracket 502. Its piston end is fixedly connected to the adhesive sticking roller bracket 510, which can drive the adhesive sticking roller bracket 510 to reciprocate in the horizontal direction. The adhesive sticking roller 511 rotatably mounted on the adhesive sticking roller bracket 510 can move with the bracket to adhere to the substrate surface and roll.

[0073] Both the driven shaft 503 and the driving shaft 506 are fitted with tape reels. When the dust-adhesion stepper motor 507 drives the driving shaft 506 to rotate, it pulls the tape on the tape reel on the driven shaft 503. After being guided by various drive shafts and tension shafts, the tape is wound onto the tape reel on the driving shaft 506. The tape travel speed is adjustable from 0-100mm / s. The dust-adhesion module 5 is also equipped with a magnetic powder clutch brake, which is connected to the tape reel drive to achieve rapid stopping of the tape rotation. The braking response time is ≤0.05s. The encoder accurately controls the tape travel distance with an error of ≤0.5mm. During dust-adhesion operation, the dust-adhesion roller 511 presses the tape onto the substrate surface and rolls it, achieving the removal of dirt and dust from the substrate surface. The substrate cleanliness rate is ≥99.9%, improving the quality of subsequent printing processes.

[0074] like Figure 6As shown, the CCD alignment module 6 includes a slide bracket 601 that is fixedly connected to the frame 1 by bolts. The mounting reference of the bracket is consistent with the T-slot guide rail of the frame 1, and the installation error is ≤0.02mm. The slide bracket 601 has a notch in the middle for the camera to capture images, and adjustable slides are symmetrically distributed on the end faces of the bracket on both sides of the notch. The adjustable slide integrates an X / Y manual slide 602 and a Z-axis electric slide 603. The Z-axis electric slide 603 is equipped with a lead screw module driven by a servo motor, which realizes precise vertical movement through lead screw transmission. The moving end of the slide is fixedly connected to a camera bracket 604, and the CCD camera 605 is correspondingly installed on the preset position of the camera bracket 604.

[0075] During operation, the horizontal orientation of the CCD camera 605 can be manually calibrated by adjusting the fine-tuning knobs of the X / Y axis manual slide 602, ensuring accurate image capture. The Z-axis electric slide 603, linked to the PLC control system, automatically drives the CCD camera 605 up and down to complete the focusing action, achieving a focusing accuracy of ±0.002mm. This CCD alignment module 6 is equipped with four CCD cameras 605, arranged in a rectangular array at the notch of the slide bracket 601, simultaneously capturing images at the four positioning points of the substrate. The camera's image capture response time is ≤0.02s, with no image capture delay. Each CCD camera 605 is independently equipped with a bowl light source and backlight assembly, using multiple light sources to enhance the image clarity of the substrate points, providing accurate visual inspection data for subsequent printing positioning and ensuring that the positioning error meets the high-precision operation requirements of the equipment.

[0076] like Figure 7 As shown, the printing linear module 7 is fixedly connected to the frame 1 by bolts. The T-slot guide rail of the frame 1 is matched with the mounting reference, and the spacing error is ≤0.02mm. The core of the printing linear module 7 is the separation linear module, which is composed of a first linear module 701 and a second linear module 702 arranged in a staggered parallel distribution. The two are driven independently and work together to ensure the continuity and accuracy of substrate transfer. The slide rail slider of the first linear module 701 is equipped with a fifth suction platform 703. The module is equipped with a first drive module that drives the platform to move back and forth. The first drive module consists of a first stepper motor, a first synchronous belt, and four synchronous pulleys. The four synchronous pulleys are pivotally set at the four corners of the first linear module 701. The first synchronous belt is wound around and tensioned on the outside of the synchronous pulleys. The first stepper motor is fixed on the side frame of the first linear module 701, and its output shaft is connected to one of the synchronous pulleys. The fifth suction platform 703 is fixed to the first synchronous belt by special fittings to realize horizontal movement driven by the stepper motor.

[0077] The structure of the second linear module 702 is identical to that of the first linear module 701. A sixth suction block platform 704 is mounted on its slide rail slider. The second drive module of the module consists of a second stepper motor, a second synchronous belt, and four synchronous pulleys. The synchronous pulleys are distributed at the four corners of the second linear module 702. After the second synchronous belt is wound and tensioned, it is connected to the second stepper motor fixed on the side. The sixth suction block platform 704 is also fixed to the second synchronous belt through an assembly to achieve independent horizontal movement.

[0078] Both the fifth suction platform 703 and the sixth suction platform 704 are vacuum adsorption platforms. Both have needle-type cylinders symmetrically arranged at the bottom. The piston end of the needle-type cylinder is fixed to the bottom of the platform, which can drive the platform to achieve small-stroke up and down lifting and transfer. The lifting accuracy error is ≤0.01mm, which meets the height adaptation requirements of substrate docking and transfer.

[0079] During the operation of the linear printing module 7, the fifth suction platform 703 first moves to the position where it docks with the fourth suction platform 411 of the linear transfer module 4. After adjusting the height with a needle cylinder, it completes the substrate adsorption and transfer. Then, the fifth suction platform 703 moves to the docking position with the sixth suction platform 704 and accurately transfers the substrate onto the sixth suction platform 704. After the sixth suction platform 704 adsorbs the substrate, it is driven by the second drive module to move horizontally to directly below the CCD camera 605 of the CCD alignment module 6 to complete the visual positioning of the substrate. The positioning data is transmitted to the back-end server in real time. The back-end server has a built-in PLC control system, which drives the substrate to be transferred to the printing module 9 to complete the substrate loading action.

[0080] like Figure 8 As shown, the printing platform module 8 is bolted to the frame 1, and the mounting reference matches the T-slot guide rail of the frame 1 with a spacing error ≤0.02mm. The whole assembly consists of a platform base plate 801 and a printing cover plate 802 covering it. The top of the printing cover plate 802 has a notch, which precisely corresponds to the working position of the printing module 9 above. The top surface of the cover plate serves as a support surface, providing stable support for the squeegee printing action of the printing module 9 and ensuring uniform printing force.

[0081] A printing platform 803 is embedded inside the printing cover plate 802. Sliding blocks are fixed around the platform, sliding against a linear guide rail on the inner wall of the cover plate to guide its movement. A first servo motor 804 is vertically mounted on the platform base plate 801. This first servo motor 804 is connected to a lead screw and nut transmission mechanism, with the nut end of the lead screw and nut fixedly connected to the bottom of the printing platform 803. When the first servo motor 804 drives the lead screw to rotate, it drives the printing platform 803 to move smoothly up and down along the linear guide rail via the nut. The movement accuracy error is ≤0.01mm, allowing for precise adjustment of the substrate printing height according to printing requirements, adapting to the operational requirements of the printing module 9.

[0082] like Figure 9 As shown, the printing module 9 is bolted to the frame 1, and the installation reference matches the T-slot guide rail of the frame 1 with a spacing error ≤0.02mm. The core of the module consists of the printing head module 91 and four printing lifting modules 92. The four printing lifting modules 92 are rectangularly distributed around the printing platform module 8, corresponding to the four corners of the printing head module 91, with completely identical structures and synchronous linkage. The printing lifting module 92 consists of a servo motor, ball screw, linear bearing, and linear guide rail. The servo motor drives the ball screw to move the printing head module 91 up and down. The linear bearing and linear guide rail form a double guiding structure, effectively improving the stability of the up and down movement of the printing head module 91, with no wobble. Through the precise control of the servo motor, the printing head module 91 can automatically adjust its height position according to the printing requirements, adapting to the printing operation requirements of different sized substrates.

[0083] like Figure 10 As shown, the printhead module 91 integrates a doctor blade 911, an ink return blade 912, and a screen core component. Both the doctor blade 911 and the ink return blade 912 are driven by independent servo motors and ball screws for independent vertical movement. Both are guided by linear guides, achieving a movement accuracy of ±0.001mm, ensuring the precision of the ink scraping and return actions. A pressure sensor is installed at the connection point between the doctor blade 911 and the corresponding ball screw, which can collect and feedback printing pressure data in real time. The data is synchronized to the device's touchscreen for digital display, supporting one-button adjustment of the printing pressure. The pressure adjustment range is 5-50N, with an adjustment accuracy of ±0.2N, replacing the traditional mechanical pressure adjustment method and achieving precise and stable printing pressure output. The pressure fluctuation range during operation is ≤±0.5N. The screen mounting position is equipped with a UVW platform, which is linked with the CCD alignment module 6 signal. It can automatically adjust the position of the screen in the X / Y / θ directions according to the substrate position detected by the CCD camera. The adjustment response time is ≤0.1s, achieving high-precision alignment between the screen and the substrate with an alignment error of ≤±0.003mm. It completely replaces manual screen adjustment, completely eliminates positioning errors caused by manual operation, ensures high precision of resistive printing, and achieves uniformity of printed film thickness within ±3μm, effectively improving product printing quality and product yield ≥99%.

[0084] After the screen printing operation is completed, the blanking and transplanting module 10 transports the substrate to the AOI inspection module 11 for full-dimensional inspection of the printing quality. The substrates determined to be qualified through inspection are transferred by the blanking and transplanting module 10 to the blanking flow line module 12 for temporary storage; the substrates determined to be unqualified are synchronously transferred to the NG discharging module 13 for separate collection, achieving automatic sorting of qualified and unqualified substrates. The blanking flow line module 12 is a dedicated substrate buffer flow line, which can stack and buffer the qualified substrates after printing in an orderly manner. When the number of substrates cached in the blanking flow line module 12 reaches the preset value of the equipment, the large clamping jaw blanking module 14 is automatically activated, and the substrates in the flow line are grasped as a whole through the clamping jaw mechanism and precisely transplanted to the next processing section to complete the full process operation of this equipment.

[0085] As Figure 11 shown, the blanking and transplanting module 10 is bolt-fixed to the skeleton 1, and the installation reference matches the T-shaped groove guide of the skeleton 1, with a spacing error ≤ 0.02 mm. The main body of the blanking and transplanting module 10 consists of a blanking support column 1001 and a blanking and transplanting cross plate 1002. Vertical side plates are fixedly installed on both sides of the blanking support column 1001, and linear slide rails are installed vertically on the side plates. Corresponding sliders are installed at the corresponding positions of the blanking and transplanting cross plate 1002, and the two are slidably matched to form vertical guidance. A servo motor-driven screw module 1003 is also installed on the blanking support column 1001. The nut end of the screw module 1003 is fixedly connected to the blanking and transplanting cross plate 1002, driving the blanking and transplanting cross plate 1002 to achieve precise vertical lifting along the linear slide rail, with a lifting accuracy of ±0.01 mm.

[0086] A horizontal transmission component 1004 driven by a stepping motor is configured on the blanking and transplanting cross plate 1002. The horizontal transmission component 1004 includes two synchronous belt pulleys pivotally arranged at both ends of the blanking and transplanting cross plate 1002. One of the synchronous belt pulleys is传动连接 with the output shaft of the stepping motor, and the synchronous belt is wound and tensioned outside the two synchronous belt pulleys. Two groups of linear slide rails are also arranged in parallel on the blanking and transplanting cross plate 1002, which are slidably connected to the first blanking suction block 1005 and the second blanking suction block 1006 respectively. Both the first blanking suction block 1005 and the second blanking suction block 1006 are fixed to the synchronous belt and are driven by the stepping motor to achieve independent horizontal reciprocating movement, with a transplanting stability error ≤ 0.05 mm, and can complete the precise handling and transfer of the substrate between each blanking station.

[0087] The AOI inspection module 11 consists of an offset detection system and a full appearance inspection system, with a detection response time ≤ 0.5 s / sheet and a detection accuracy rate ≥ 99.95%; the detection data is transmitted to the PLC control system in real time. If the detection deviation exceeds ±3 μm, the system automatically adjusts parameters such as printing pressure and screen position, and the adjustment response time ≤ 0.2 s, forming a "printing - inspection - adjustment" closed-loop control.

[0088] The offset detection system is as 注意:原文中“其中一个同步带轮与步进电机输出轴传动连接”部分的“传动连接”翻译可能不准确,建议根据实际准确的连接方式替换为更合适的表达,比如“connected to the output shaft of the stepping motor in a transmission manner” 。这里为了遵循指令要求,先按字面翻译。 Figure 12 As shown, the system includes an arched offset inspection bracket 1101 fixedly connected to the frame 1 by bolts. The bracket's installation reference is consistent with the T-slot guide rail of the frame 1, with an installation error ≤0.02mm. Two sets of horizontally distributed offset linear slide rails 1103 are arranged parallel to each other on the horizontal plate of the arched offset inspection bracket 1101. Anti-loosening sliders are correspondingly installed at the bottom of the vision bracket 1102, slidingly engaging with the offset linear slide rails 1103 to form a guide, with a movement stability error ≤0.05mm. A horizontal transmission mechanism 1104, consisting of a servo motor, synchronous belt, and synchronous pulley, is also provided on the horizontal plate of the arched offset inspection bracket 1101. The servo motor is equipped with an encoder, and one end of the vision bracket 1102 is fixedly connected to the synchronous belt on the horizontal transmission mechanism 1104 via a clamping assembly. An offset detection camera is vertically fixed to the vision bracket 1102. The offset detection camera is equipped with a dedicated supplementary light source, enabling accurate detection of printed graphic offset with a detection accuracy of ±0.001mm. The detection data is transmitted to the PLC control system in real time.

[0089] Full visual inspection system such as Figure 13 As shown, the system includes a first inspection bracket 1105 and a second inspection bracket 1106, which are bolted to the frame 1. Both brackets are installed with reference to the T-slot guide rail of the frame 1, with a spacing error ≤0.02mm, and are arranged in parallel intervals to form the inspection work space. A manual rotary slide 1107 is fixed to the top of the first inspection bracket 1105, with a rotation accuracy of ±0.01°. An XYZ-axis manual slide 1108 is installed at the rotating end of the manual rotary slide 1107, with an adjustment accuracy of 0.001mm for each axis. A downward-facing industrial inspection camera is fixed to the moving end of the XYZ-axis manual slide 1108, equipped with a bowl-shaped supplementary light source to improve image clarity. An inspection cylinder 1109 is horizontally mounted on the second inspection bracket 1106, with its piston end fixedly connected to the inspection slide 1110, which can drive the inspection slide 1110 to reciprocate along the preset guide rail of the bracket to the inspection position directly below the inspection camera. The full inspection slide 1110 is used to place the substrate to be inspected. A high-brightness backlight is embedded on the lower surface of the full inspection slide 1110. Together with the front supplementary light source, it realizes dual-light source assisted image acquisition. It can perform full-dimensional and accurate detection of printing quality defects such as substrate screen blockage, ink bleeding, dry printing, reverse printing, and missing printing, ensuring that no defects are missed.

[0090] The printing press of this invention integrates an AOI detection module 11 to achieve full-dimensional detection of printing offset and printing quality, with a detection accuracy of ≥99.95% and a single product detection time of ≤0.5s. It replaces manual microscope detection, is easy to operate, and improves detection efficiency by more than 10 times. At the same time, the equipment can adjust printing parameters in real time according to the detection values ​​to form a closed-loop control, correct printing deviations in a timely manner, and reduce the trial printing loss rate to ≤3%, which greatly reduces product and paste loss.

[0091] like Figure 14The NG feeding module 13 shown includes an NG feeding frame 1301 bolted to the frame 1. Its installation reference is consistent with the T-slot guide rail of the frame 1, with an installation error ≤0.02mm. The upper end of the NG feeding frame 1301 is equipped with a feeding transmission mechanism 1302 consisting of a servo motor, a flat belt, and pulleys. The servo motor is equipped with an encoder, which can precisely control the transmission speed and displacement, with a transfer stability error ≤0.05mm. A feeding cylinder 1303 is vertically mounted on one side of the feeding transmission mechanism 1302, with a pusher block at its piston end. In use, the servo motor drives the pulley to drive the flat belt, transferring the defective substrate directly above the feeding cylinder 1303. The feeding cylinder 1303 pushes out the pusher block to complete the feeding. Simultaneously, the module's buzzer and warning light are triggered, providing an audible and visual reminder for manual removal of the NG substrate, achieving orderly collection of defective products.

[0092] like Figure 15 , 16 The large-scale gripper unloading module 14 shown includes a protective cover system 141 and a built-in large-scale gripper module 142. The protective cover system 141 is a closed protective structure with symmetrical sliding doors on both sides. The doors are linked to the module's operation, allowing the large-scale gripper modules 142 on both sides to pass through for operation, thus providing safety protection. The large-scale gripper module 142 includes a large-scale support 1421 bolted to the frame 1. Its installation reference is consistent with the T-slot guide rail of the frame 1, with an installation error ≤0.02mm. The upper end of the large-scale support 1421 is equipped with a large-scale transmission mechanism 1422 composed of a stepper motor, synchronous belt, synchronous pulley, and parallel linear slide rail. The linear slide rail provides guiding and assisting transfer, with a movement stability error ≤0.05mm. The gripper support 1423 is slidably mounted on the linear slide rail via a slider. Its side is fixed to the synchronous belt by a clamping assembly and is driven by a stepper motor to achieve horizontal reciprocating movement. A lifting cylinder is vertically mounted on the gripper bracket 1423. The piston end of the cylinder is fixedly connected to the pneumatic gripper, which has an anti-slip structure. The lifting cylinder drives the gripper to complete precise up-and-down transfer with a lifting accuracy of ≤0.01mm. When the number of buffer substrates in the unloading assembly line module 12 reaches the preset value of the equipment, the large-scale conveying mechanism 1422 drives the gripper bracket 1423 to move to the picking position. The lifting cylinder drives the gripper to move down and pick up the substrate. Then, through horizontal transfer, the substrate is accurately transferred to the next processing section to complete the unloading operation of the entire batch of substrates.

[0093] The screen cleaning mechanism in this invention adopts a dry-wiping cleaning method and consists of a cleaning roller, a stepper motor, and a transfer cylinder. It can automatically clean the screen of the printing module according to the set number of printing sheets. The cleaning roller travel speed is 0-50mm / s, the cleaning pressure is 0.05-0.1MPa, and the cleaning time is ≤2s / cycle. This avoids printing defects caused by screen dirt, ensures the continuity of printing quality, and achieves a screen cleaning rate of ≥99%.

[0094] This invention employs a dual-moving sub-module 402 and a separate linear module in conjunction with a suction block platform to achieve high-precision handling and positioning of products, replacing traditional cam handling and mechanical positioning structures and reducing equipment wear. Four CCD cameras, combined with front and backlight imaging and Z-axis autofocus, achieve precise four-point positioning of the substrate. With the UVW platform automatically adjusting the screen position, precise alignment of the substrate and screen at both ends is achieved, and the printing repeatability positioning accuracy can reach ±5μm, fully meeting the micro-miniature printing requirements of 01005 type chip resistors.

[0095] The printing press of this invention adopts a dual-head structure design, with a printing efficiency of ≥2400 pieces / h, which is more than 100% higher than that of existing printing presses. Each module is connected by a high-precision linear mechanism to achieve rapid product flow, with a cycle time (CT) of ≤1.5s / piece. The product dust-adhesion module 5, the screen cleaning mechanism, and the anti-overlapping system reduce printing defects from the source. Combined with AOI full-dimensional inspection, it effectively improves the product printing yield and is suitable for the industrial mass production needs of 01005 type chip resistors.

[0096] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0097] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-precision resistive printing machine, characterized in that, The device adopts a dual-head structure design with consistent functions for the left and right heads. The whole device consists of a frame (1), a material feeding box module (2), a suction hand module (3), a linear transfer module (4), a product dust sticking module (5), a CCD alignment module (6), a printing linear module (7), a printing platform module (8), a printing module (9), a material unloading and transfer module (10), an AOI detection module (11), a material unloading flow module (12), an NG discharge module (13), a large-scale gripper unloading module (14), and a screen cleaning mechanism. Each module is fixedly connected to the frame (1) with bolts. The installation reference between modules is the T-slot guide rail on the frame (1), and the spacing error is ≤0.02mm. The printing press also includes a PLC control system for realizing the linkage control of each module, with the timing deviation of each module's action ≤0.01s.

2. The high-precision resistive printing machine according to claim 1, characterized in that, The linear transplanting module (4) includes a transplanting platform (401) fixedly connected to the frame (1). The transplanting platform (401) is equipped with a dual-moving sub-module (402), a first support (403), and a second support (404). The first support (403) is equipped with a first suction block platform (407). The second support (404) is equipped with a vertical lifting component (405), and the vertical lifting component (405) is equipped with a second suction block platform (409). One of the moving parts of the dual-moving sub-module (402) is equipped with a third suction block platform (408), and the other moving part is equipped with a fourth suction block platform (411) via a rotary cylinder (410).

3. The high-precision resistive printing machine according to claim 1, characterized in that, The CCD alignment module (6) includes a slide bracket (601) fixedly connected to the frame (1). Adjustable slides are symmetrically distributed on the slide bracket (601). The adjustable slides integrate an X / Y manual slide (602) and a Z-axis electric slide (603). The moving end of the Z-axis electric slide (603) is connected to a CCD camera (605) through a camera bracket (604). The CCD alignment module (6) is configured with four CCD cameras (605) arranged in a rectangular array. Each CCD camera (605) is independently equipped with a bowl light source and a backlight assembly.

4. The high-precision resistive printing machine according to claim 1, characterized in that, The printing straight line module (7) includes a first straight line module (701) and a second straight line module (702) that are staggered and parallel. A fifth suction block platform (703) is provided on the first straight line module (701), and a sixth suction block platform (704) is provided on the second straight line module (702). Both the fifth suction block platform (703) and the sixth suction block platform (704) are vacuum adsorption platforms, and needle-shaped cylinders for driving their lifting and lowering are symmetrically arranged at the bottom.

5. The high-precision resistive printing machine according to claim 1, characterized in that, The printing module (9) includes a printing head module (91) and four printing lifting modules (92). The four printing lifting modules (92) are arranged in a rectangle around the printing platform module (8) and are connected to the four corners of the printing head module (91) and move synchronously. The printing head module (91) integrates a doctor blade (911) and an ink return blade (912). The doctor blade (911) and the ink return blade (912) are each driven by an independent servo motor to move the ball screw up and down independently. A pressure sensor is installed at the connection position between the doctor blade (911) and the corresponding ball screw.

6. The high-precision resistive printing machine according to claim 5, characterized in that, The screen mounting position of the printing head module (91) is equipped with a UVW platform, which is signal-linked with the CCD alignment module (6) to automatically adjust the position of the screen in the X / Y / θ directions according to the substrate position result detected by the CCD camera.

7. The high-precision resistive printing machine according to claim 1, characterized in that, The AOI inspection module (11) includes an offset detection system and a full appearance inspection system; the offset detection system includes an arched offset inspection bracket (1101) and a vision bracket (1102) driven by a horizontal transmission mechanism (1104), and an offset detection camera is fixedly connected to the vision bracket (1102); the full appearance inspection system includes a full inspection first bracket (1105) and a full inspection second bracket (1106), an industrial full inspection camera is provided on the full inspection first bracket (1105), and a full inspection slide (1110) driven by a full inspection cylinder (1109) is provided on the full inspection second bracket (1106).

8. The high-precision resistive printing machine according to claim 1, characterized in that, The material feeding box module (2) is equipped with an anti-stacking system in the material feeding box (202), which is composed of an optical fiber detection sensor and an air blowing block.

9. The high-precision resistive printing machine according to claim 1, characterized in that, The product dust-adhesive module (5) includes a first dust-adhesive bracket (501), a second dust-adhesive bracket (502), a driven rotating shaft (503), a driven rotating shaft (506), a dust-adhesive stepper motor (507), a dust-adhesive transfer cylinder (508), and a dust-adhesive roller (511). The dust-adhesive stepper motor (507) is equipped with an encoder and drives the driven rotating shaft (506) to pull the tape to move. The dust-adhesive roller (511) is rotatably mounted on the dust-adhesive roller bracket (510), and the dust-adhesive roller (511) presses the tape to roll and clean the substrate.

10. The high-precision resistive printing machine according to claim 1, characterized in that, The NG discharge module (13) includes an NG discharge frame (1301) and a discharge transmission mechanism (1302) disposed on its upper end. A discharge cylinder (1303) is vertically mounted on one side of the discharge transmission mechanism (1302), and a pusher block is provided at the piston end of the discharge cylinder (1303).

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