Multi-layer special-shaped RIM adhesive tape bonding assembly robot

Abstract

The application discloses a multi-layer special-shaped RIM adhesive tape laminating and assembling mechanical arm, which comprises a bearing structure provided with a bearing table, and a lifting gripper mechanism arranged below the bearing table; the gripper mechanism comprises a mounting plate mounted on the bottom of the bearing table through a guide part, a plurality of negative pressure suction nozzles connected to the bottom of the mounting plate, and a rubber ring fixed to the bottom of the negative pressure suction nozzle; a pressing mechanism is arranged with a pre-pressing roller located at the rear side of the moving direction of the bearing table and a mounting box arranged at the upper end of the bearing table, and two swing arms are rotatably connected to the two ends of the pre-pressing roller. Through the arrangement of the pre-pressing roller and the variable speed mechanism, self-adaptive pre-pressing during the lamination of the multi-layer special-shaped RIM adhesive tape is realized, which helps to reduce the interlayer bubbles, improves the lamination uniformity, and further guarantees the alignment of the edges of the adhesive tape in cooperation with the design of the calibration mechanism, is suitable for manufacturing scenes with high lamination precision requirements, and improves the lamination efficiency and quality as a whole.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, and in particular to a multi-layer irregularly shaped RIM tape bonding and assembly robotic arm. Background Technology

[0002] In manufacturing scenarios such as electronic components and automotive parts, the bonding of multi-layer irregularly shaped tapes typically requires a high degree of consistency in edge position, bonding path, and thickness direction among the tape layers. Because the thickness, flexibility, and outer contour of different tape layers may vary, problems such as edge misalignment, uneven localized pressing, and residual air bubbles between layers can easily occur during the bonding process.

[0003] Existing manual tape bonding methods rely on operator experience, resulting in low bonding efficiency and consistency. Current robotic arms primarily focus on tape gripping or unidirectional pressing, but the gripping components tend to continue occupying space on the tape surface during the pressing stage, affecting the venting and pre-compression processes at the tape ends. Furthermore, they lack a pre-compression linkage structure that coordinates with tape edge alignment. Therefore, a tape bonding and assembly robotic arm that can allow the gripping components to relatively avoid overlap during pre-compression and improve edge alignment stability is still needed. Summary of the Invention

[0004] The purpose of this invention is to solve the above-mentioned technical problems by proposing a multi-layer irregular RIM tape bonding and assembly robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A multi-layer irregular RIM tape bonding and assembly robot includes a support structure with a support platform and a lifting gripper mechanism below the support platform. The gripper mechanism includes a mounting plate installed on the bottom of the support platform via a guide section, and a plurality of negative pressure suction nozzles are connected to the bottom of the plate. Rubber rings are fixed to the bottom of the negative pressure suction nozzles. The clamping mechanism is equipped with a pre-pressing roller located on the rear side of the carrier platform in the direction of movement and a mounting box located on the upper part of the carrier platform. Two swing arms are rotatably connected to both ends of the pre-pressing roller. The mounting box is equipped with a speed change mechanism connected to the swing arms. The speed change mechanism is equipped with a winding wheel, which is connected to the mounting plate through a pull rope. The lowering of the support platform causes the pre-compression roller to abut against the conveyor belt, which in turn causes the swing arm to swing and the winding wheel to rotate and wind up the rope via the speed change mechanism, thereby driving the gripper mechanism to move upward. The camera is mounted at the bottom of the support platform.

[0006] Preferably, the end of the support platform is provided with a storage groove, and a plurality of first springs are fixed on the inner wall of the storage groove.

[0007] Preferably, the supporting structure further includes a calibration mechanism that slides within the storage groove. The calibration mechanism includes an L-shaped plate that is slidably connected within the storage groove, and the L-shaped plate is fixedly connected to a first spring. The L-shaped plate has a receiving groove on the side facing the support platform. The receiving groove extends through the bottom of the L-shaped plate. A calibration plate is slidably connected in the receiving groove. Two vertically arranged strip grooves are provided through the calibration plate. A locking pin is slidably connected in each strip groove and the locking pin is fixed to the inner wall of the receiving groove.

[0008] Preferably, the guide portion consists of four groups arranged in a rectangular pattern; each guide portion includes a sleeve fixed to the bottom of the support platform, a sliding column slidably connected inside the sleeve, a connecting column fixed to the bottom of the sliding column, the connecting column being fixedly connected to the upper end of the mounting plate, a limit ring fixed to the inner wall of the sleeve, the sliding column passing through the limit ring and slidably connected to it, and a second spring fixed to the support platform and the mounting plate, the second spring being sleeved on the outside of the sleeve.

[0009] Preferably, the supporting structure further includes a bracket installed on the support platform, a fixed pulley is installed on the bracket, and the pull rope is wound around the outside of the fixed pulley.

[0010] Preferably, the supporting structure further includes two connecting frames mounted on the supporting platform, and the connecting frames are provided with connecting holes.

[0011] Preferably, limit posts are fixed to both ends of the outer wall of the mounting box. When the swing arm abuts against the upper end of the limit post, the bottom of the preload roller is higher than the bottom of the rubber ring.

[0012] Preferably, the transmission mechanism includes a drive shaft that runs through the mounting box, and the two ends of the drive shaft are fixedly connected to two swing arms; A first gear is fixed on the drive shaft, a driven shaft is rotatably connected inside the mounting box, a second gear is fixed on the driven shaft, the second gear meshes with the first gear, and the winding wheel is mounted on the driven shaft.

[0013] Preferably, the clamping mechanism further includes two sets of torsion springs, which are sleeved on the outside of the drive shaft and have their ends disposed on the mounting box and the swing arm.

[0014] Preferably, the outer diameter of the second gear is smaller than the outer diameter of the first gear.

[0015] Compared with the prior art, the beneficial effects of this invention are as follows: 1. The pressing mechanism includes a pre-pressing roller, which can pre-press the tape before bonding, helping to reduce initial air bubbles. It also rolls along the tape surface with uniform pre-pressing force to further eliminate interlayer air bubbles and uneven pressing, thereby improving the tightness of multi-layer tape bonding.

[0016] 2. The rubber ring enhances the seal between the negative pressure nozzle and the tape surface, ensuring the stability of negative pressure adsorption. It also prevents the negative pressure nozzle from scratching the tape surface, protecting the integrity of the tape. Furthermore, the rubber ring and the tape are in line contact, reducing the adhesion area with the lower tape during subsequent pressing, thus allowing any remaining air inside to escape.

[0017] 3. The bearing structure is equipped with a calibration mechanism. Through the cooperation of the L-shaped plate and the calibration plate, the multi-layer tape can be pre-calibrated before bonding to ensure that the edges of each layer of tape are aligned, thereby improving the bonding quality, without affecting the downward movement of the bearing platform.

[0018] 4. Because the end is limited by the calibration plate and the rear is pressed by the pre-pressure roller, the second layer of substrate is not easy to shift. Even after the second layer of substrate is no longer adsorbed, the edge alignment accuracy between the second layer of substrate and the first layer of substrate can still be improved.

[0019] In summary, this invention achieves adaptive pre-compression during the bonding of multi-layer irregularly shaped RIM tapes by setting a pre-compression roller and a speed-changing mechanism. This helps reduce interlayer bubbles and improve bonding uniformity. Furthermore, the design of the calibration mechanism further ensures the alignment of the tape edges. This invention is suitable for manufacturing scenarios with high bonding accuracy requirements, and improves overall bonding efficiency and quality. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a multi-layer irregular RIM tape bonding and assembly robot proposed in this invention; Figure 2 This is a side view of a multi-layer irregularly shaped RIM tape bonding and assembly robot proposed in this invention; Figure 3 This is a schematic diagram of the calibration mechanism in a multi-layer irregular RIM tape bonding and assembly robot proposed in this invention; Figure 4 This is a schematic diagram of the storage slot in a multi-layer irregularly shaped RIM tape bonding and assembly robot, as proposed in this invention. Figure 5 This is a schematic diagram of the negative pressure suction nozzle in a multi-layer irregularly shaped RIM tape bonding and assembly robot proposed in this invention; Figure 6 This is a schematic diagram of the internal structure of the mounting box in a multi-layer irregularly shaped RIM tape bonding and assembly robot proposed in this invention; Figure 7 This is a schematic diagram of the speed change mechanism in a multi-layer irregular RIM tape bonding and assembly robot proposed in this invention; Figure 8 This is a cross-sectional structural diagram of the guide section in a multi-layer irregular RIM tape bonding and assembly machine proposed in this invention.

[0021] In the diagram: 100 Support structure, 101 Support platform, 1011 First spring, 1012 Camera, 1013 Storage slot, 102 Connecting frame, 103 Calibration mechanism, 1031 L-shaped plate, 1032 receiving groove, 1033 calibration plate, 1034 strip groove, 1035 locking pin, 104 fixed pulley, 200 pressing mechanism, 201 mounting box, 202 upper cover plate, 203 swing arm, 204 pre-pressure roller, 205 limit post, 206 torsion spring, 207 speed change mechanism, 2071 drive shaft, 2072 winding wheel, 2073 driven shaft, 2074 second gear, 2075 first gear, 300 gripper mechanism, 301 mounting plate, 302 guide part, 3021 sleeve, 3022 sliding column, 3023 limit ring, 3024 connecting column, 3025 second spring, 303 negative pressure suction nozzle, 3031 rubber ring, 304 pull rope. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] Reference Figures 1-8 A multi-layer irregularly shaped RIM tape bonding and assembly robot includes: The support structure 100 serves as the mounting base and carrier for the entire robotic arm. It is used to mount the gripper mechanism 300, the clamping mechanism 200, and the camera 1012. It also provides positional support and calibration during the tape application process, as detailed below: The support structure 100 includes a support platform 101, which is made of high-strength aluminum alloy and has sufficient structural rigidity to prevent deformation during bonding that could affect bonding accuracy. A receiving groove 1013 is provided at the end of the support platform 101. The receiving groove 1013 has a rectangular structure, and multiple first springs 1011 are evenly fixed to its inner wall. The first springs 1011 are made of stainless steel and have good elastic recovery performance, providing elastic force for the subsequent calibration mechanism 103.

[0024] The supporting structure 100 also includes a calibration mechanism 103 slidably connected in the storage groove 1013. The calibration mechanism 103 is used to pre-calibrate the multi-layer tape to ensure that the edges of each layer of tape are aligned before bonding. Specifically, the calibration mechanism 103 includes an L-shaped plate 1031, which is slidably embedded in the storage groove 1013. One end of the L-shaped plate 1031 is fixedly connected to the free end of a plurality of first springs 1011. Under the elastic action of the first springs 1011, the L-shaped plate 1031 can slide back and forth along the length of the storage groove 1013 to avoid interference with the pre-pressing work during subsequent pre-pressing.

[0025] The L-shaped plate 1031 has a receiving groove 1032 on the side facing the support platform 101. The receiving groove 1032 extends through the bottom of the L-shaped plate 1031 and is used to install the calibration plate 1033. The calibration plate 1033 is slidably connected in the receiving groove 1032 and its position can be adjusted along the height direction of the receiving groove 1032 to accommodate FPC tape or multi-layer RIM tape of different thicknesses (such as 0.3mm+0.6mm), ensuring that the calibration plate 1033 can accurately abut the edge of the tape. Two vertically arranged strip grooves 1034 are provided through the calibration plate 1033. The two strip grooves 1034 are symmetrically distributed, and a locking pin 1035 is slidably connected in each strip groove 1034. The locking pin 1035 is fixed to the inner wall of the receiving groove 1032 and has a locking cap to prevent the calibration plate 1033 from disengaging from the locking pin 1035.

[0026] The support structure 100 also includes a bracket (not specifically numbered) mounted on the support platform 101. A fixed pulley 104 is rotatably mounted on the bracket. The fixed pulley 104 is made of wear-resistant engineering plastic with a smooth surface. It is used to change the transmission direction of the pull rope 304, reduce the friction during the transmission of the pull rope 304, and ensure the smoothness of the transmission. In addition, the support structure 100 also includes two connecting frames 102 symmetrically mounted on the support platform 101. The connecting frames 102 are provided with through holes for connecting the entire robot to an external moving mechanism (such as a robotic arm), so as to realize the position movement and posture adjustment of the robot in the bonding operation.

[0027] The gripper mechanism 300 is used to grip multi-layer adhesive tape and precisely deliver it to the bonding position. Simultaneously, it works with the pressing mechanism 200 to achieve tape bonding. The specific structure is as follows: The gripper mechanism 300 is located below the support platform 101 and can rise and fall synchronously with the support platform 101. It includes a mounting plate 301, which is hollow and connected to an external negative pressure device. The mounting plate 301 is installed at the bottom of the support platform 101 through four sets of guide parts 302. The four sets of guide parts 302 are rectangularly distributed to ensure the stability of the mounting plate 301 during the lifting process and avoid tilting or deviation.

[0028] The specific structure of the guide part 302 is as follows: The guide part 302 includes a sleeve 3021 fixed to the bottom of the support platform 101. The sleeve 3021 is a hollow cylindrical structure with a smooth inner wall. A sliding column 3022 is slidably connected inside the sleeve 3021. The outer diameter of the sliding column 3022 is matched with the inner diameter of the sleeve 3021 to ensure smooth sliding. A connecting column 3024 is fixed to the bottom of the sliding column 3022. The bottom of the connecting column 3024 is fixedly connected to the upper end of the mounting plate 301 to realize the synchronous movement of the sliding column 3022 and the mounting plate 301. A limiting ring 3023 is fixed to the inner wall of 021. The limiting ring 3023 is used to limit the sliding stroke of the sliding column 3022, prevent the sliding column 3022 from coming out of the sleeve 3021 and limit the mounting plate 301 from continuing to move downward. A second spring 3025 is fixed between the bottom of the support platform 101 and the upper end of the mounting plate 301. The second spring 3025 is sleeved on the outside of the sleeve 3021. The second spring 3025 is always in a stretched state, providing a downward elastic force to the mounting plate 301, ensuring that the gripper mechanism 300 can stably grip the tape.

[0029] Multiple negative pressure suction nozzles 303 are evenly connected to the bottom of the mounting plate 301. The number of negative pressure suction nozzles 303 is reasonably set according to the size and shape of the tape. The multiple negative pressure suction nozzles 303 are evenly distributed to ensure uniform gripping force on the tape and prevent the tape from deforming or falling off during the gripping process. A rubber ring 3031 is fixed to the bottom of the negative pressure suction nozzle 303. The rubber ring 3031 is made of soft silicone, which has good sealing and flexibility. On the one hand, it can enhance the sealing between the negative pressure suction nozzle 303 and the tape surface, ensuring the stability of negative pressure adsorption. On the other hand, it can prevent the negative pressure suction nozzle 303 from scratching the tape surface, protecting the integrity of the tape. Moreover, the rubber ring 3031 has line contact with the tape, reducing the adhesion area with the tape on the lower side during subsequent pressing, so as to expel the air inside. The negative pressure suction nozzle 303 is connected to an external negative pressure device through an air tube (not shown). By controlling the start and stop of the negative pressure device, the gripping and release of the tape by the negative pressure suction nozzle 303 can be achieved.

[0030] The pressing mechanism 200 is used to pre-press and press the tape end during the bonding process, eliminating interlayer air bubbles, improving the tightness and thickness uniformity of the multilayer tape bonding, and facilitating subsequent pressing of the tape from this pre-pressing end without causing tape displacement; the specific structure is as follows: The pressing mechanism 200 includes a pre-pressing roller 204 and a mounting box 201. The pre-pressing roller 204 is located on the rear side of the carrier platform 101 in the direction of movement and is used to pre-press the tape before it is applied to eliminate initial air bubbles. The mounting box 201 is fixed to the upper end of the carrier platform 101 and is used to install components such as the speed change mechanism 207. The pre-pressing roller 204 is made of soft rubber with a smooth surface, which can adapt to the surface contour of irregular tapes and avoid damage to the tape. Two swing arms 203 are rotatably connected to both ends of the pre-pressing roller 204 through bearings. The upper end of the swing arms is connected to the speed change mechanism 207 and can drive the drive shaft 2071 of the speed change mechanism 207 to swing.

[0031] Both ends of the mounting box 201 are fixed with limit posts 205. The limit posts 205 are cylindrical structures used to limit the swing angle of the swing arm 203 and also determine the initial position of the swing arm 203. When the upper end of the swing arm 203 abuts against the limit post 205, the bottom of the pre-pressure roller 204 is higher than the bottom of the rubber ring 3031. At this time, the gripper mechanism 300 can grip the tape normally, avoiding the pre-pressure roller 204 from interfering with the gripping action of the tape. When the swing arm 203 swings upward and disengages from the limit post 205, the pre-pressure roller 204 moves upward and abuts against the surface of the tape to achieve the pre-pressurization operation.

[0032] The speed change mechanism 207 is installed inside the mounting box 201 and is used to convert the swing motion of the swing arm 203 into the rotational motion of the take-up wheel 2072 and realize the speed change transmission. The specific structure is as follows: the speed change mechanism 207 includes a drive shaft 2071 that passes through the mounting box 201. The two ends of the drive shaft 2071 are rotatably connected to the mounting box 201 through bearings, and the two ends of the drive shaft 2071 are fixedly connected to the two swing arms 203. When the swing arms 203 swing, they can drive the drive shaft 2071 to rotate synchronously. A first gear 2075 is fixed on the drive shaft 2071. A driven shaft 2073 is rotatably connected to the mounting box 201 via a bearing. A second gear 2074 is fixed on the driven shaft 2073. The second gear 2074 meshes with the first gear 2075. A take-up reel 2072 is fixedly mounted on the driven shaft 2073. When the drive shaft 2071 rotates, the driven shaft 2073 and the take-up reel 2072 rotate synchronously through the meshing transmission of the first gear 2075 and the second gear 2074.

[0033] In this embodiment, the outer diameter of the second gear 2074 is smaller than that of the first gear 2075. An acceleration transmission design is adopted so that when the swing angle of the drive shaft 2071 (swing arm 203) is small, the winding wheel 2072 can achieve a larger angle of rotation, thereby quickly winding up the pull rope 304 and driving the gripper mechanism 300 to move upward. This ensures that while the pre-compression roller 204 is in contact with the conveyor belt, the gripper mechanism 300 can disengage from the conveyor belt in time to avoid interfering with the pre-compression operation.

[0034] In addition, the clamping mechanism 200 also includes two sets of torsion springs 206. The two sets of torsion springs 206 are respectively sleeved on the outside of both ends of the drive shaft 2071. One end of the torsion spring 206 is fixed to the inner wall of the mounting box 201, and the other end is fixed to the swing arm 203. The torsion spring 206 is always in a torsional state, providing a reset elastic force for the swing arm 203 and a pre-pressure force for the pre-pressure roller 204. When the bonding operation is completed, the swing arm 203 resets under the action of the torsion spring 206, driving the pre-pressure roller 204 to rise. At the same time, the winding wheel 2072 reverses, releasing the pull rope 304. The gripper mechanism 300 resets under the pulling force of the second spring 3025, ready for the next gripping operation.

[0035] One end of the pull rope 304 is fixedly connected to the upper end of the mounting plate 301, and the other end is fixedly connected to the winding wheel 2072 after passing around the set pulley 104. The pull rope 304 is made of high-strength nylon rope, which has good tensile strength and avoids breakage during transmission. The mounting box 201 is provided with a through hole, through which the pull rope 304 slides.

[0036] In addition, an upper cover plate 202 is installed on the upper end of the mounting box 201, and the upper cover plate 202 is fixed to the upper surface of the mounting box 201 by bolts.

[0037] Camera 1012 is fixedly mounted on the bottom of the support platform 101, located on one side of the gripper mechanism 300. Camera 1012 is a high-definition industrial camera, with its shooting direction facing the tape bonding surface. It is used to collect image information such as the bonding position and layer alignment of the tape in real time, and transmit the image information to an external control system (not shown). The external control system analyzes and processes the image information, judges the positioning deviation and layer misalignment of the tape, and controls the external moving mechanism to adjust the position of the robot arm to ensure the bonding accuracy of the multi-layer tape. At the same time, it can monitor the residual air bubbles during the bonding process in real time and adjust the pressing force of the pre-pressure roller 204 in a timely manner to avoid air bubble residue.

[0038] The overall working process of tape bonding in this invention is as follows: The specific workflow of this multi-layer irregular RIM tape bonding and assembly robot is as follows, taking the bonding of double-layer FPC tape (0.3mm + 0.6mm) as an example: An external moving mechanism or robotic arm drives the entire robotic arm to the tape storage position. At this time, the swing arm 203 abuts against the limiting post 205, and the bottom of the pre-pressure roller 204 is higher than the bottom of the rubber ring 3031. The negative pressure device is activated, and the negative pressure suction nozzle 303 generates negative pressure, adsorbing the second layer substrate (0.6mm) and adhering it to the first layer substrate (0.3mm). The camera 1012 collects the image of the tape gripping position in real time and transmits it to the control system to ensure that the tape gripping position is accurate and without deviation.

[0039] The robotic arm moves the first layer of substrate it has grasped to the bonding station and places the tape in the preset position of the workpiece to be bonded. Then, it grasps the second layer of substrate and bonds it to the first layer of substrate. When grasping the second layer of substrate, the calibration plate 1033 on the robotic arm is first controlled to abut against the end of the second layer of substrate. Then, the robotic arm is slowly controlled to move down until the rubber ring 3031 at the bottom of the negative pressure suction nozzle 303 abuts against the second layer of substrate. The negative pressure device works to generate negative pressure at the rubber ring 3031, thereby grasping the second layer of substrate. It should be noted that the side of the second substrate that contacts the first substrate is the adhesive surface, and at this time the first spring 1011 is in a naturally extended state, and the entire robot is in a horizontal working state. The second substrate is grasped and moved so that the calibration plate 1033 abuts against the end of the first substrate. At this time, the ends of the second substrate and the first substrate are flush. Since the materials of the second substrate and the first substrate are soft, the first spring 1011 will not stretch or contract. The external moving mechanism drives the calibration plate 1033 in the robotic arm to abut the edge of the tape to pre-calibrate the tape and ensure that the edge of the tape is aligned with the positioning reference of the workpiece to be bonded. The camera 1012 then captures the image again to confirm that the layer alignment meets the requirements until the first layer substrate and the second layer substrate are completely overlapped from the projection direction. The external moving mechanism drives the support platform 101 to move downward. The rubber ring 3031 grabs and adsorbs the second layer of substrate and first abuts against the bottom of the first layer of substrate. As the support platform 101 continues to move downward, the pre-pressure roller 204 abuts against the upper surface (0.6mm layer) of the tape. At this time, the negative pressure equipment stops working and no longer adsorbs the second layer of substrate. Because the end is limited by the calibration plate 1033, and the rear side is pressed by the pre-pressure roller 204, and the second layer of substrate and the first layer of substrate have multiple points of annular line contact, the second layer of substrate is not easy to shift. As the support platform 101 continues to move downward, the pre-pressure roller 204 is subjected to the reaction force of the conveyor belt and the station support, causing the swing arm 203 to swing downward around the drive shaft 2071. The torsion spring 206 is further twisted, and under the action of torque, it acts on the swing arm 203, increasing the pre-pressure of the pre-pressure roller 204. The swing arm 203 swings, causing the drive shaft 2071 to rotate. Through the meshing transmission of the first gear 2075 and the second gear 2074, the driven shaft 2073 and the winding wheel 2072 rotate. The winding wheel 2072 winds up the pull rope 304. After the pull rope 304 changes direction through the fixed pulley 104, it pulls the mounting plate 301 to move upward. The sliding column 3022 slides upward along the sleeve 3021. The second spring 3025 is further stretched. The negative pressure suction nozzle 303 moves upward with the mounting plate 301 and gradually detaches from the surface of the conveyor belt, so as not to affect the pre-pressure movement of the pre-pressure roller 204 towards the end of the first and second substrates.

[0040] As the support platform 101 continues to move, the pre-pressure roller 204, under the action of the swing arm 203, applies a uniform pre-pressure force to the tape and rolls along the tape surface to eliminate interlayer air bubbles and uneven pressing. Due to the action of the rubber ring 3031, the first and second substrate layers are bonded by line contact. Because the bonding area is small, the bonding strength between the two is weak. During the rolling process of the pre-pressure roller 204, the bonded part can be broken through, and the internal air can be discharged to avoid the presence of air bubbles between the two.

[0041] Meanwhile, the camera 1012 monitors the bonding process in real time. If a positioning deviation or air bubble residue is detected, the control system adjusts the position of the robotic arm in a timely manner to ensure bonding accuracy and quality.

[0042] After bonding is completed, the external moving mechanism drives the support platform 101 to move upward, the reaction force on the pre-pressure roller 204 disappears, the swing arm 203 swings upward under the reset force of the torsion spring 206, driving the drive shaft 2071 to reverse, the winding wheel 2072 reverses to release the pull rope 304, the mounting plate 301 resets downward under the tension of the second spring 3025, and the negative pressure suction nozzle 303 returns to its initial position; the calibration mechanism 103 resets under the action of the first spring 1011, the robot moves to the next bonding station, and the above steps are repeated to realize continuous bonding operation.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A multi-layer irregularly shaped RIM tape bonding and assembly robot, characterized in that, It includes a support structure (100), which is provided with a support platform (101), and a lifting gripper mechanism (300) is provided below the support platform (101). The gripper mechanism (300) includes a mounting plate (301) installed at the bottom of the support platform (100) via a guide (302), and a plurality of negative pressure suction nozzles (303) are connected to the bottom of the plate. A rubber ring (3031) is fixed to the bottom of the negative pressure suction nozzle (303). The pressing mechanism (200) is provided with a pre-pressing roller (204) located on the rear side of the moving direction of the support platform (100) and a mounting box (201) located on the upper end of the support platform (100). The two ends of the pre-pressing roller (204) are rotatably connected to two swing arms (203). The mounting box (201) is provided with a speed change mechanism (207) connected to the swing arms (203). The speed change mechanism (207) is provided with a winding wheel (2072). The winding wheel (2072) is connected to the mounting plate (301) through a pull rope (304). The support platform (100) moves down, the pre-pressing roller (204) contacts the conveyor belt and is pressed, causing the swing arm (203) to swing and drive the winding wheel (2072) to rotate and wind up the rope (304) via the speed change mechanism (207), which in turn drives the gripper mechanism (300) to move up. A camera (1012) is mounted on the bottom of the support platform (101).

2. The multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The end of the support platform (101) is provided with a storage groove (1013), and a plurality of first springs (1011) are fixed on the inner wall of the storage groove (1013).

3. The multi-layer irregular RIM tape bonding and assembly robot according to claim 2, characterized in that, The supporting structure (100) further includes a calibration mechanism (103) that slides in the storage groove (1013). The calibration mechanism (103) includes an L-shaped plate (1031) that slides in the storage groove (1013). The L-shaped plate (1031) is fixedly connected to the first spring (1011). The L-shaped plate (1031) has a receiving groove (1032) on the side facing the support platform (101). The receiving groove (1032) penetrates the bottom of the L-shaped plate (1031). A calibration plate (1033) is slidably connected in the receiving groove (1032). Two vertically arranged strip grooves (1034) are provided through the calibration plate (1033). A locking pin (1035) is slidably connected in each of the strip grooves (1034). The locking pin (1035) is fixed to the inner wall of the receiving groove (1032).

4. The multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The guide section (302) consists of four groups arranged in a rectangular shape. The guide section (302) includes a sleeve (3021) fixed to the bottom of the support platform (101). A sliding column (3022) is slidably connected inside the sleeve (3021). A connecting column (3024) is fixed to the bottom of the sliding column (3022). The connecting column (3024) is fixedly connected to the upper end of the mounting plate (301). A limit ring (3023) is fixed to the inner wall of the sleeve (3021). The sliding column (3022) passes through the limit ring (3023) and is slidably connected to it. A second spring (3025) is fixed on the support platform (101) and the mounting plate (301). The second spring (3025) is sleeved on the outside of the sleeve (3021).

5. The multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The support structure (100) also includes a bracket installed on the support platform (101), on which a fixed pulley (104) is installed, and the pull rope (304) is wound around the outside of the fixed pulley (104).

6. The multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The supporting structure (100) also includes two connecting frames (102) installed on the supporting platform (100), and the connecting frames (102) are provided with connecting holes.

7. The multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The outer walls at both ends of the mounting box (201) are fixed with limit posts (205). When the swing arm (203) abuts against the upper end of the limit post (205), the bottom of the preload roller (204) is higher than the bottom of the rubber ring (3031).

8. The multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The speed change mechanism (207) includes a drive shaft (2071) that passes through the mounting box (201), and the two ends of the drive shaft (2071) are fixedly connected to two swing arms (203); A first gear (2075) is fixed on the drive shaft (2071), a driven shaft (2073) is rotatably connected inside the mounting box (201), a second gear (2074) is fixed on the driven shaft (2073), the second gear (2074) meshes with the first gear (2075), and the winding wheel (2072) is mounted on the driven shaft (2073).

9. A multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The clamping mechanism (200) also includes two sets of torsion springs (206), which are sleeved on the outside of the drive shaft (2071) and have their ends set on the mounting box (201) and the swing arm (203).

10. A multi-layer irregularly shaped RIM tape bonding and assembly robot according to claim 1, characterized in that, The outer diameter of the second gear (2074) is smaller than the outer diameter of the first gear (2075).

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