Display screen attached substrate feeding equipment

Abstract

The utility model provides a display screen attached substrate feeding device. The display screen attached substrate feeding device comprises a material disc feeding and discharging device, a material disc lifting device, a first substrate transferring device, a substrate correcting device, a film tearing platform device, an easy-to-tear-and-paste feeding device, a film tearing transferring device, a second substrate transferring device, a dispensing platform device and a substrate dispensing device. According to the display screen attaching substrate feeding device, a roller feeding mode is adopted, material taking is conducted through the material taking mechanical arm, 3S / PCS beat production can be achieved, the feeding efficiency of FPL attaching feeding equipment is improved, the two feeding modes of manual work and VGA trolley are compatible, non-stop material changing is achieved through TRAY disc feeding, and the equipment utilization rate is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of flat panel display screen manufacturing, in particular to a display screen attached substrate feeding device. Background Art

[0002] At present, the traditional small-size FPL / PS attachment on the market generally adopts the CASSE loading method (i.e., manually loading one by one by stacking the FPL material boxes layer by layer) with the linear layout production line, which cannot meet the requirements of efficient loading of FPL through the TRAY tray; the traditional FPL / PS attachment generally adopts manual loading, which cannot meet the requirements of docking VGA cart loading; when changing materials for traditional FPL attachment, the production line needs to be stopped first, and then the empty material box is manually unloaded and replaced with a new one, thereby reducing the FPL / PS attachment production cycle. Therefore, the loading efficiency of traditional FPL / PS attachment loading equipment is low, resulting in a relatively slow FPL / PS attachment production line cycle, usually 4S / PCS (i.e., the cycle of attaching a single FPL / PS, usually 4 seconds / piece), and with the increase in the production capacity of electronic paper equipment, the requirements for the loading efficiency of FPL attachment loading equipment are getting higher and higher, and the applicability of the traditional 4S beat production line will become narrower and narrower, and it cannot meet the needs of market development. Utility Model Content

[0003] The utility model provides a display screen attached substrate feeding device to solve the technical problems of low efficiency and slow production rhythm of the display screen attached substrate feeding device in the prior art.

[0004] In order to solve the above problems, the technical solution adopted by the utility model is:

[0005] The utility model provides a display screen substrate feeding device, comprising:

[0006] A material tray loading and unloading device, a material tray lifting device, a first substrate transfer device, a substrate correction device, a film tearing platform device, an easy-tear sticker feeding device, a film tearing transfer device, a second substrate transfer device, a glue dispensing platform device and a substrate glue dispensing device;

[0007] The tray loading and unloading device is used to transfer the tray stack carrying the substrates to the tray lifting device, and to recover the empty tray stack from the tray lifting device; the tray lifting device is used to lift the tray stack layer by layer, so as to cooperate with the first substrate transfer device to transfer the substrates one by one from the topmost tray stacked by the tray lifting device to the substrate correction device, and to form an empty tray stack by the tray lifting device; the substrate correction device is used to perform posture correction on the substrate, so as to match the posture of the substrate with the substrate dispensing position, and to transfer the corrected substrate to the film tearing platform device;

[0008] The film-tearing platform device is used to convey the substrate to the substrate film-tearing position; the film-tearing transfer device is used to take the easy-tear sticker from the easy-tear sticker feeding device, and transfer the easy-tear sticker to the substrate film-tearing position to tear off the release film from the substrate;

[0009] The second substrate transfer device is used to transfer the substrate from the substrate film tearing position to the glue dispensing platform device, and to transfer the glued substrate from the glue dispensing platform device to the substrate unloading position; the glue dispensing platform device is used to transfer the substrate to the substrate glue dispensing position so that the substrate glue dispensing device can dispense glue on the substrate.

[0010] Preferably, the tray lifting device comprises: a first tray lifting device, a second tray lifting device and a tray transferring device; the tray loading and unloading device is used to transfer the tray stack to the first tray lifting device, and to recover the empty tray stack from the second tray lifting device; the first tray lifting device is used to lift the tray stack layer by layer, so as to cooperate with the first substrate transferring device to transfer the substrates one by one from the topmost tray of the tray stack stacked by the first tray lifting device to the substrate correction device, and to form empty trays layer by layer on the topmost layer of the tray stack stacked by the first tray lifting device; the tray transferring device is used to transfer the empty trays one by one from the topmost layer of the tray stack stacked by the first tray lifting device to the second tray lifting device; the second tray lifting device is used to lower the received empty trays layer by layer and stack them to form an empty tray stack.

[0011] Preferably, the first tray lifting device and the second tray lifting device are arranged on one side of the tray loading and unloading device in the first horizontal direction; the first tray lifting device is arranged on one side of the second tray lifting device in the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; the tray transfer device is arranged on one side of the first tray lifting device and the second tray lifting device in the first horizontal direction away from the tray loading and unloading device;

[0012] The substrate correction device is arranged on the other side of the second material tray lifting device in the second horizontal direction; the easy-tear label feeding device is arranged on the side of the material tray transferring device in the first horizontal direction away from the second material tray lifting device, and the substrate gluing device is arranged on the side of the easy-tear label feeding device in the first horizontal direction away from the second material tray lifting device; the second substrate transferring device is arranged on the side of the substrate correction device in the first horizontal direction away from the material tray loading and unloading device; the film tearing platform device extends along the first horizontal direction between the second material tray lifting device, the material tray transferring device and the substrate correction device and the easy-tear label feeding device, and the second substrate transferring device.

[0013] Furthermore, the display screen attached substrate loading device also includes: a base, used to carry a first tray lifting device, a second tray lifting device, a tray transfer device, a first substrate transfer device, a substrate correction device, a film tearing platform device, an easy-tear sticker feeding device, a film tearing transfer device, a film tearing device, a second substrate transfer device, a glue dispensing platform device and a substrate glue dispensing device; the first tray lifting device and the second tray lifting device are arranged at one end of the base in the first horizontal direction; the tray loading and unloading device is a VGA trolley, including: a vehicle body, movably arranged on one side of the base in the first horizontal direction close to the first tray lifting device and the second tray lifting device;

[0014] The tray loading and unloading conveying mechanism is arranged on the vehicle body and corresponds to and is close to the first tray lifting device and the second tray lifting device respectively; the tray loading and unloading conveying mechanism is used to carry at least one tray stack formed by stacking a plurality of trays, and to transport the tray stack to the tray loading position of the first tray lifting device;

[0015] The material feeding and blocking mechanism is arranged on the material tray feeding and transmission mechanism, and is used to block or release the material tray pile;

[0016] The first tray lifting device is used to lift the tray stack layer by layer from the tray loading position, and cooperate with the first substrate transfer device to form empty trays layer by layer on the top layer of the tray stack; the tray transfer device is used to transfer the empty trays one by one from the top layer of the tray stack to the tray unloading position of the second tray lifting device; the second tray lifting device is used to lower the received empty trays layer by layer at the tray unloading position and stack them into an empty tray stack, and transport the stacked empty trays to the tray unloading transmission mechanism; the tray unloading transmission mechanism is used to receive the empty tray stack;

[0017] The material unloading blocking mechanism is arranged on the material tray unloading transmission mechanism and is used to block or release the empty material tray pile.

[0018] Preferably, the first tray lifting device comprises: a first silo, the top of which is open, and the tray loading position is located inside the first silo; a first rolling support mechanism, which is arranged inside the first silo, and is used to receive and carry the tray stack from the tray loading transmission mechanism, and roll the tray stack to the tray loading position; a first lifting mechanism, which is used to drive the first rolling support mechanism to lift and lower in the first silo, so that the tray stack is lifted layer by layer at the tray loading position, and cooperates with the action of the first substrate transfer device to form empty trays layer by layer on the top layer of the tray stack;

[0019] The second tray lifting device includes: a second silo with an open top, and a tray unloading position located inside the second silo; a second rolling support mechanism, disposed inside the second silo, for receiving and carrying empty trays from the tray transfer device, and rolling the empty tray stack to the tray unloading transmission mechanism after the empty tray stack is completed;

[0020] The second lifting mechanism is used to drive the second rolling support mechanism to rise and fall in the second silo, so that the empty trays are lowered layer by layer at the tray unloading position and stacked on the second rolling support mechanism to form a pile of empty trays.

[0021] Preferably, the first substrate transfer device includes: a first Y-axis drive mechanism, used to drive the first X-axis drive mechanism to reciprocate along the second horizontal direction; the first X-axis drive mechanism is used to drive at least one first Z-axis drive mechanism to reciprocate along the first horizontal direction; the first Z-axis drive mechanism is used to drive the first Q-axis drive mechanism to move up and down in the vertical direction; the first Q-axis drive mechanism is used to drive the first substrate transfer mechanism to rotate around the vertical axis; the first substrate transfer mechanism is used to transfer the substrate from the material tray lifting device to the substrate correction device.

[0022] Preferably, the substrate correction device comprises: a correction platform, wherein a correction structure for positioning the substrate is provided at a substrate correction position, the correction structure comprising an X-axis correction cylinder and a Y-axis correction cylinder, which are respectively used to perform posture correction on the substrate from the second horizontal direction and the first horizontal direction at the substrate correction position, so as to cooperate with the action of the first substrate transfer device to position the substrate at the correction structure and match the substrate dispensing position;

[0023] The second X-axis driving mechanism is used to drive the second Z-axis driving mechanism to reciprocate along the first horizontal direction; the second Z-axis driving mechanism is used to drive the second substrate moving mechanism to move up and down along the vertical direction; the second substrate moving mechanism is used to move the substrate from the substrate correction position to the film tearing platform device.

[0024] Preferably, the film tearing platform device comprises: a third X-axis driving mechanism, used to drive the film tearing platform to reciprocate along the first horizontal direction; the film tearing platform is used to receive the substrate from the second substrate moving mechanism and transfer it to the substrate film tearing position, and rotate the substrate by a certain angle after the substrate is transferred to the position;

[0025] The film tearing and transferring device includes: a second Y-axis driving mechanism, which is used to drive the third Z-axis driving mechanism to reciprocate along the second horizontal direction; the third Z-axis driving mechanism is used to drive at least one flip driving mechanism to vertically lift and lower; the flip driving mechanism is used to drive the easy-tear sticker suction head to flip, so that the easy-tear sticker suction head takes the easy-tear sticker from the easy-tear sticker feeding device and tears off the release film from the substrate at the substrate film tearing position.

[0026] Preferably, the second substrate transfer device comprises: a fourth X-axis driving mechanism, used to drive the fourth Z-axis driving mechanism to reciprocate along the first horizontal direction; the fourth Z-axis driving mechanism is used to drive the third substrate transfer mechanism to move up and down along the vertical direction; the third substrate transfer mechanism is used to move the substrate from the substrate film tearing position to the glue dispensing platform device;

[0027] The glue dispensing platform device comprises: at least one third Y-axis driving mechanism, used to drive the glue dispensing platform to reciprocate along the second horizontal direction between the glue dispensing loading and unloading position E and the substrate glue dispensing position;

[0028] The glue dispensing platform is used to receive the substrate at the glue dispensing loading and unloading position, and move the substrate to the substrate glue dispensing position for the substrate glue dispensing device to dispense glue on the substrate, and move the substrate back to the glue dispensing loading and unloading position after the glue dispensing is completed.

[0029] Preferably, the substrate dispensing device comprises: a fifth X-axis driving mechanism, used to drive the fifth Z-axis driving mechanism to reciprocate above the substrate dispensing position along the first horizontal direction; the fifth Z-axis driving mechanism is used to drive the dispensing mechanism to move up and down along the vertical direction, so as to dispense glue to the dispensing platform carrying substrate located at the substrate dispensing position;

[0030] The second substrate transfer device further includes: a sixth X-axis driving mechanism, used to drive the sixth Z-axis driving mechanism to reciprocate along the first horizontal direction;

[0031] The sixth Z-axis driving mechanism is used to drive the fourth substrate moving mechanism to move up and down in the vertical direction; the fourth substrate moving mechanism is used to move the substrate from the glue dispensing platform located at the glue dispensing loading and unloading position to the substrate unloading position.

[0032] Compared with the prior art, the utility model has the following beneficial effects:

[0033] The display screen attachment substrate feeding provided by the utility model adopts a roller loading method, and the material is picked up by a picking robot, which can realize 3S / PCS beat production, improve the loading efficiency of the FPL attachment feeding equipment, and is compatible with two loading methods of manual / VGA trolley. TRAY tray loading can realize material replacement without stopping the machine, thereby improving the equipment utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solution proposed by the present invention, a detailed description is given below in combination with embodiments and drawings. It should be understood that the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, these drawings can be changed under the concept of the present invention.

[0035] Figure 1 The assembly stereogram of the embodiment of the display screen substrate feeding device provided by the utility model Figure 1 ;

[0036] Figure 2 The assembly stereogram of the embodiment of the display screen substrate feeding device provided by the utility model Figure 2 ;

[0037] Figure 3The assembly stereogram of the embodiment of the display screen substrate feeding device provided by the utility model Figure 3 ;

[0038] Figure 4 for Figure 1 The display screen attaches the substrate loading equipment in the material tray loading device and the material tray lifting device to change the perspective of the stereoscopic Figure 1 ;

[0039] Figure 5 for Figure 1 The display screen attaches the substrate loading equipment in the material tray loading device and the material tray lifting device to change the perspective of the stereoscopic Figure 2 ;

[0040] Figure 6 for Figure 1 The three-dimensional structure of the first substrate transfer device of the display screen attachment substrate loading device Figure 1 ;

[0041] Figure 7 for Figure 1 The three-dimensional structure of the first substrate transfer device of the display screen attachment substrate loading device Figure 2 ;

[0042] Figure 8 for Figure 1 3D display screen attachment substrate correction device of substrate loading equipment Figure 1 ;

[0043] Fig. 9 for Figure 1 3D display screen attachment substrate correction device of substrate loading equipment Figure 2 ;

[0044] Fig.10 for Figure 1 A three-dimensional diagram of a film-tearing platform device of a display screen substrate-attaching feeding device;

[0045] Fig.11 for Figure 1 A three-dimensional diagram of an easy-tear sticker feeding device of a display screen substrate feeding device;

[0046] Fig.12 for Figure 1 A three-dimensional diagram of a film peeling and transferring device of a display screen attaching substrate feeding device;

[0047] Fig.13 for Fig.12 A partial enlarged structural diagram of the film tearing and transferring device;

[0048] Fig.14 for Figure 1A three-dimensional diagram of the glue dispensing platform device, substrate glue dispensing device and glue dispensing inspection device of the display screen attaching substrate feeding equipment.

[0049] Among them, the main markings of the figures in the figure are: 1. base; 2. tray loading and unloading device; 21. vehicle body; 22. tray loading and transmission mechanism; 23. loading and blocking mechanism; 24. tray unloading and transmission mechanism; 25. unloading and blocking mechanism; 3. tray lifting and lowering device; 31. first tray lifting and lowering device; 311. first material bin; 312. first rolling support mechanism; 313. first lifting mechanism; 32. second tray lifting and lowering device; 321. second material bin; 322. second rolling support mechanism; 323. second lifting mechanism; 33. tray transfer device; 331. tray Y-axis driving mechanism; 332. tray transfer Mechanism; 333, material tray transfer cantilever; 334, material tray transfer suction cup; 4, first substrate transfer device; 41, first Y-axis drive mechanism; 42, first X-axis drive mechanism; 43, first Z-axis drive mechanism; 44, first Q-axis drive mechanism; 45, first substrate transfer mechanism; 451, first material picking cantilever; 452, first material picking suction cup; 46, support rack; 47, substrate transfer bracket; 48, substrate transfer rack; 5, substrate correction device; 51, correction platform; 511, correction structure; 52, second X-axis drive mechanism; 53, second Z-axis drive mechanism; 54, second substrate transfer mechanism; 54 1. Second material-taking cantilever; 542. Second material-taking suction cup; 6. Film-tearing platform device; 61. Third X-axis driving mechanism; 62. Film-tearing platform; 621. Rotating positioning seat; 7. Easy-tear feeding device; 71. Left full material reel; 72. Left waste material reel; 73. Left pneumatic slide; 74. Right full material reel; 75. Right waste material reel; 76. Right pneumatic slide; 77. Waste film recovery box; 8. Film-tearing transfer device; 81. Second Y-axis driving mechanism; 82. Third Z-axis driving mechanism; 83. Flipping driving mechanism; 831. Suction head bracket; 832. Flipping driving unit; 833. Linear driving unit; 84. Easy-tear sticking suction head; 85, speed regulating valve; 9, second substrate transfer device; 91, fourth X-axis driving mechanism; 92, fourth Z-axis driving mechanism; 93, third substrate transfer mechanism; 94, sixth X-axis driving mechanism; 95, sixth Z-axis driving mechanism; 96, fourth substrate transfer mechanism; 10, glue dispensing platform device; 101, third Y-axis driving mechanism; 102, glue dispensing platform; 11, substrate glue dispensing device; 111, fifth X-axis driving mechanism; 112, fifth Z-axis driving mechanism; 113, glue dispensing mechanism; 12, glue dispensing inspection device; 13, glue head cleaning device; 14, tray pile; 15, empty tray pile.

[0050] Among them, other marks in the figure are: X, first horizontal direction; Y, second horizontal direction; Z, vertical direction; A, material tray loading position; B, material tray unloading position; C, substrate correction position; D, film tearing and connecting position; E, substrate film tearing position; F, glue dispensing and loading and unloading position; G, substrate glue dispensing position; H, substrate unloading position. DETAILED DESCRIPTION

[0051] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the following is a summary of the technical problems, technical solutions and beneficial effects to be solved by the present invention. Figure 1-14 And embodiments, the utility model is further described in detail.

[0052] Please also read Figure 1-3 The display screen substrate feeding device provided by the utility model comprises:

[0053] A tray loading and unloading device 2, a tray lifting device 3, a first substrate transfer device 4, a substrate correction device 5, a film tearing platform device 6, an easy-tear sticker feeding device 7, a film tearing transfer device 8, a second substrate transfer device 9, a glue dispensing platform device 10 and a substrate glue dispensing device 11; wherein the tray loading and unloading device 2 is used to transfer a tray stack 14 carrying substrates to the tray lifting device 3, and to recover an empty tray stack 15 from the tray lifting device 3; the tray lifting device 3 is used to lift the tray stack 14 layer by layer, so as to cooperate with the first substrate transfer device 4 to transfer the substrates one by one from the top tray stacked by the tray lifting device 3 to the substrate correction device 5, and to form an empty tray stack 15 by the tray lifting device 3; The correction device 5 is used to correct the posture of the substrate so that the posture of the substrate matches the substrate glue dispensing position G, and transfer the corrected substrate to the film tearing platform device 6; the film tearing platform device 6 is used to transfer the substrate to the substrate film tearing position E; the film tearing transfer device 8 is used to take the easy-tear label from the easy-tear label feeding device 7, and transfer the easy-tear label to the substrate film tearing position E to tear off the release film of the substrate; the second substrate transfer device 9 is used to transfer the substrate from the substrate film tearing position E to the glue dispensing platform device 10, and transfer the glued substrate from the glue dispensing platform device 10 to the substrate unloading position H; the glue dispensing platform device 10 is used to transfer the substrate to the substrate glue dispensing position G, so that the substrate glue dispensing device 11 can dispense glue on the substrate.

[0054] Please also read Figure 1-5 In this embodiment, the tray lifting device 3 includes:

[0055] The first tray lifting device 31, the second tray lifting device 32 and the tray transferring device 33; the tray loading and unloading device 2 is used to transfer the tray stack 14 to the first tray lifting device 31, and to recover the empty tray stack 15 from the second tray lifting device 32; the first tray lifting device 31 is used to lift the tray stack 14 layer by layer, so as to cooperate with the first substrate transferring device 4 to transfer the substrates one by one from the top layer of the tray stack 14 stacked by the first tray lifting device 31 to the substrate correction device 5, and make the top layer of the tray stack 14 stacked by the first tray lifting device 31 form empty trays layer by layer; the tray transferring device 33 is used to transfer the empty trays one by one from the top layer of the tray stack 14 stacked by the first tray lifting device 31 to the second tray lifting device 32; the second tray lifting device 32 is used to lower the received empty trays layer by layer and stack them to form an empty tray stack 15.

[0056] Please also read Figure 1-5 In this embodiment, the first tray lifting device 31 and the second tray lifting device 32 are arranged on one side of the tray loading and unloading device 2 in the first horizontal direction X; the first tray lifting device 31 is arranged on one side of the second tray lifting device 32 in the second horizontal direction Y, and the second horizontal direction Y is perpendicular to the first horizontal direction X; the tray transfer device 33 is arranged on one side of the first tray lifting device 31 and the second tray lifting device 32 in the first horizontal direction X away from the tray loading and unloading device 2; the substrate correction device 5 is arranged on the other side of the second tray lifting device 32 in the second horizontal direction Y The easy-tear label feeding device 7 is arranged on the side of the tray transfer device 33 away from the second tray lifting device 32 in the first horizontal direction X, and the substrate glue dispensing device 11 is arranged on the side of the easy-tear label feeding device 7 away from the second tray lifting device 32 in the first horizontal direction X; the second substrate transfer device 9 is arranged on the side of the substrate correction device 5 away from the tray loading and unloading device 2 in the first horizontal direction X; the film tearing platform device 6 extends along the first horizontal direction X between the second tray lifting device 32, the tray transfer device 33 and the substrate correction device 5 and the easy-tear label feeding device 7, and the second substrate transfer device 9.

[0057] Please also read Figure 1-5 In this embodiment, the display screen substrate loading device further includes:

[0058] The base 1 is used to carry the first tray lifting device 31, the second tray lifting device 32, the tray transfer device 33, the first substrate transfer device 4, the substrate correction device 5, the film tearing platform device 6, the easy-tear sticker feeding device 7, the film tearing transfer device 8, the second substrate transfer device 9, the glue dispensing platform device 10 and the substrate glue dispensing device 11; the first tray lifting device 31 and the second tray lifting device 32 are arranged at one end of the base 1 in the first horizontal direction X; the tray loading and unloading device 2 is a VGA trolley, including:

[0059] The vehicle body 21 is movably arranged on one side of the base 1 in the first horizontal direction X close to the first tray lifting device 31 and the second tray lifting device 32; the tray loading transmission mechanism 22 and the tray unloading transmission mechanism 24 are arranged on the vehicle body 21 and correspond to the first tray lifting device 31 and the second tray lifting device 32 respectively; the tray loading transmission mechanism 22 is used to carry at least one tray stack 14 composed of multiple tray stacks 14, and transport the tray stack 14 to the tray loading position A of the first tray lifting device 31; the loading and blocking mechanism 23 is arranged on the tray loading transmission mechanism 22, and is used to block or release the tray stack 14; the first tray lifting device 31 is used to The tray stack 14 is lifted up layer by layer from the tray loading position A, and cooperates with the first substrate transfer device 4 to form empty trays layer by layer at the top layer of the tray stack 14; the tray transfer device 33 is used to transfer the empty trays one by one from the top layer of the tray stack 14 to the tray unloading position B of the second tray lifting device 32; the second tray lifting device 32 is used to lower the received empty trays layer by layer at the tray unloading position B and stack them into an empty tray stack 15, and convey the stacked empty tray stack 15 to the tray unloading transmission mechanism 24; the tray unloading transmission mechanism 24 is used to receive the empty tray stack 15; the unloading blocking mechanism 25 is arranged on the tray unloading transmission mechanism 24, and is used to block or release the empty tray stack 15.

[0060] Please also read Figure 1-5 In this embodiment, the first tray lifting device 31 includes:

[0061] The first material bin 311 is arranged on the base 1, and the first material bin 311 is open at the top away from the base 1, and the above-mentioned material tray loading position A is located inside the first material bin 311; the first rolling support mechanism 312 is arranged inside the first material bin 311, and is used to receive and carry the material tray stack 14 from the material tray loading transmission mechanism 22, and roll the material tray stack 14 to the material tray loading position A in the first material bin 311; the first lifting mechanism 313 is used to drive the first rolling support mechanism 312 to rise and fall in the first material bin 311, so that the material tray stack 14 is lifted layer by layer at the material tray loading position A, and cooperates with the action of the first substrate transfer device 4 to form empty material trays layer by layer on the top layer of the material tray stack 14;

[0062] Please also read Figure 1-5 The second tray lifting device 32 includes:

[0063] The second material bin 321 is arranged on the base 1, and the second material bin 321 is open at the top away from the base 1, and the above-mentioned tray unloading position B is located inside the second material bin 321; the second rolling support mechanism 322 is arranged inside the second material bin 321, and is used to receive and carry empty trays from the tray transfer device 33, and roll the empty tray pile 15 to the tray unloading transmission mechanism 24 after the empty tray pile 15 is stacked; the second lifting mechanism 323 is used to drive the second rolling support mechanism 322 to rise and fall in the second material bin 321, so that the empty trays descend layer by layer at the tray unloading position B and are stacked on the second rolling support mechanism 322 to form an empty tray pile 15.

[0064] Please also read Figure 1-3 In the present embodiment, the tray transfer device 33 comprises: a tray Y-axis drive mechanism 331, which is used to drive the tray transfer mechanism 332 to reciprocate between the first tray lift 31 and the second tray lift 32 along the second horizontal direction Y on the same side of the first tray lift 31 and the second tray lift 32 (the same side on the first horizontal direction X); the tray transfer mechanism 332 is used to transfer the empty trays one by one from the top layer of the tray stack 14 to the tray unloading position B of the second tray lift 32.

[0065] In this embodiment, the Y-axis driving mechanism 331 of the material tray uses a synchronous pulley mechanism to drive the moving parts and drive the material tray moving mechanism 332 to reciprocate along the second horizontal direction Y. A linear mechanism such as a screw nut may also be used.

[0066] See also Figure 2 In the present embodiment, the tray moving mechanism 332 is a tray moving robot, which includes a tray moving cantilever 333 and a vacuum / negative pressure input unit installed on the tray moving cantilever 333. The tray moving cantilever 333 is provided with a plurality of tray moving suction cups 334 connected to the vacuum / negative pressure gas source input by the vacuum / negative pressure input unit. The tray moving mechanism 332 moves the empty trays one by one from the top layer of the tray stack 14 to the tray unloading position B of the second tray lifting device 32 through the plurality of tray moving suction cups 334.

[0067] To sum up, in the present embodiment, the first tray lifting device 31 is used to receive the tray stack 14 from the tray loading and unloading device 2 (tray loading and conveying mechanism 22), so as to cooperate with the first substrate transferring device 4 to transfer the substrates one by one from the topmost tray stacked by the first tray lifting device 31 to the substrate correction device 5, and cooperate with the tray transferring device 33 to transfer the empty trays one by one from the top layer of the tray stack 14 to the second tray lifting device 32; the second tray lifting device 32 is used to receive and stack the empty trays to form an empty tray stack 15, and transport the stacked empty tray stack 15 to the tray unloading device (tray unloading and conveying mechanism 24).

[0068] In one embodiment (not shown in the figure), the positions of the tray loading transmission mechanism 22 and the tray unloading transmission mechanism 24 of the VGA trolley can be swapped, that is, the tray loading transmission mechanism 22 and the tray unloading transmission mechanism 24 are respectively close to the second tray lifting device 32 and the first tray lifting device 31. At this time, the tray loading position A is located at the second tray lifting device 32, and the tray unloading position B is located at the first tray lifting device 31; the second tray lifting device 32 is used to transfer the tray loading transmission mechanism 22 to the first tray lifting device 31; The tray stack 14 transported by 22 is lifted up layer by layer from the tray loading position A, and cooperates with the first substrate transferring device 4 to transfer the substrates one by one from the topmost tray stacked by the second tray lifting device 32 to the substrate correction device 5, and cooperates with the tray transferring device 33 to transfer the empty trays one by one from the top layer of the tray stack 14 to the first tray lifting device 31; the first tray lifting device 31 is used to receive and stack the empty trays to form an empty tray stack 15, and transport the stacked empty tray stack 15 to the tray unloading transmission mechanism 24.

[0069] Please also read Figure 1-5 In the present embodiment, both the tray loading and unloading transmission mechanism 22 and the tray unloading transmission mechanism 24 adopt a roller line transmission mechanism that circulates and reciprocates along the first horizontal direction X, and the tray pile 14 and the empty tray pile 15 correspond to the loading roller line supported and transmitted on the tray loading and transmission mechanism 22 and the unloading roller line of the tray unloading transmission mechanism 24 respectively; the loading and stopping mechanism 23 is arranged at the middle position of the upper roller line along the first horizontal direction X, so that the two tray piles 14 that are simultaneously located on the loading roller line (placed successively by personnel or robots on the upper roller line away from the loading position of the first tray lifting device 31) can be separated by the loading and stopping mechanism 23.

[0070] The material unloading stopping mechanism 25 is arranged at one end of the unloading roller line away from the second material tray lifting device 32 along the first horizontal direction X, so that two empty material tray piles 15 that are simultaneously located on the unloading roller line (placed successively by the material tray transferring device 33 at the loading position of the unloading roller line close to the other end of the second material tray lifting device 32) can be stopped on the unloading roller line by the unloading stopping mechanism 25 because the empty material tray placed later is blocked by the unloading stopping mechanism 25. After the operator or the industrial robot moves the empty material tray pile 15 placed first on the unloading roller line from the VGA trolley for unloading, the empty material tray pile 15 placed later continues to be transported by the unloading roller line to the unloading stopping mechanism 25. At this time, the material tray transferring device 33 places a new empty material tray pile 15 to the loading position of the unloading roller line, and so on to realize the cyclic unloading of the empty material tray pile 15 that has taken the substrate by the display screen attaching substrate loading equipment.

[0071] In other embodiments, the tray loading transmission mechanism 22 and the tray unloading transmission mechanism 24 may also adopt a synchronous belt or mesh chain transmission mechanism that cyclically transmits in a reciprocating manner along the first horizontal direction X.

[0072] Please also read Figure 1-4 In this embodiment, both the loading stop mechanism 23 and the unloading stop mechanism 25 adopt cylinder stop mechanisms, and the loading stop plate and the unloading stop plate are driven by the cylinder to vertically rise and fall, so as to respectively correspondingly realize the loading stop of the material tray pile 14 and the unloading stop of the empty material tray pile 15. In other embodiments, the loading stop mechanism 23 and the unloading stop mechanism 25 may also adopt slide cylinder stop mechanisms, and the loading slide and the unloading slide are driven by the slide cylinder to vertically rise and fall, so as to respectively correspondingly realize the loading stop of the material tray pile 14 and the unloading stop of the empty material tray pile 15.

[0073] Please also read Figure 1-5 In this embodiment, the first silo 311 and the second silo 321 both adopt a frame structure, preferably a frame-type silo that can adjust the size of the internal stacking space of the silo in the first horizontal direction X and the second horizontal direction Y. In other embodiments, the first silo 311 and the second silo 321 can also adopt a closed silo, and the base 1 is respectively provided with a clearance opening at the material tray loading position A and the material tray unloading position B, and the corresponding lifting and moving parts of the first lifting mechanism 313 and the second lifting mechanism 323 and the first rolling support mechanism 312 and the second rolling support mechanism 322 driven by them can pass through the clearance opening and extend into the internal accommodation space of the base 1.

[0074] In this embodiment, the first lifting mechanism 313 and the second lifting mechanism 323 both use a synchronous pulley mechanism driven by a motor to drive the moving parts and the first rolling support mechanism 312 and the second rolling support mechanism 322 fixedly connected thereto to move up and down. In other embodiments, the first lifting mechanism 313 and the second lifting mechanism 323 may also use a screw nut, a lifting cylinder or the like as a lifting mechanism.

[0075] Please also read Figure 1-5 In the present embodiment, the first rolling support mechanism 312 and the second rolling support mechanism 322 both adopt a roller line transmission mechanism similar to the above-mentioned tray loading transmission mechanism 22 and the tray unloading transmission mechanism 24, which circulates reciprocatingly along the first horizontal direction X. They may also be replaced by a synchronous belt or mesh chain transmission mechanism, which will not be described in detail here.

[0076] Please also read Figure 1-3 , 6, 7, in this embodiment, the first substrate transfer device 4 includes:

[0077] The first Y-axis driving mechanism 41 is used to drive the first X-axis driving mechanism 42 to reciprocate along the second horizontal direction Y, so that the first substrate moving mechanism 45 of the first substrate moving device 4 takes the substrate from the tray loading position A of the tray lifting device 3 and transports it to the substrate correction device 5 along the second horizontal direction Y; the first X-axis driving mechanism 42 is used to drive at least one first Z-axis driving mechanism 43 to reciprocate along the first horizontal direction X, so as to cooperate with the first Y-axis driving mechanism 41 to drive the first X-axis driving mechanism 42 to move in the second horizontal direction Y, so that the first substrate moving mechanism 45 moves left and right between the substrate placement slots directly above the top tray of the tray stack 14; A Z-axis driving mechanism 43 is used to drive the first Q-axis driving mechanism 44 to move up and down in the vertical direction Z, so as to cooperate with the first Y-axis driving mechanism 41 and the first X-axis driving mechanism 42 to drive the first substrate moving mechanism 45, and take the substrates one by one from each substrate placement slot of the top layer of the tray stack 14 located at the tray loading position A and transfer them to the substrate correction device 5; the first substrate moving mechanism 45 is fixedly installed on the rotating moving part of the first Q-axis driving mechanism 44, and the first Q-axis driving mechanism 44 is used to drive the rotating moving part to drive the first substrate moving mechanism 45 to rotate around the vertical axis of the rotating moving part, so as to adjust the posture and relative position of the substrate taken by the first substrate moving mechanism 45.

[0078] See also Figure 6 , 7 In this embodiment, the first substrate transfer device 4 also includes a support bracket 46 arranged on the base 1, and the first Y-axis drive mechanism 41 is fixedly suspended on the support bracket 46, and extends along the second horizontal direction Y between the first material tray lifting device 31, the second material tray lifting device 32, the film tearing platform device 6 and the substrate correction device 5.

[0079] See also Figure 6 , 7 In this embodiment, the support bracket 46 includes a left support bracket and a right support bracket arranged in parallel and spaced apart, and the left support bracket and the right support bracket extend respectively along the second horizontal direction Y; the first Y-axis driving mechanism 41 is installed on the left support bracket or the right support bracket, and one axial end of the first X-axis driving mechanism 42 (in the first horizontal direction X) is fixedly installed on the moving part of the first Y-axis driving mechanism 41; the right support bracket or the left support bracket is provided with a Y-axis guiding structure extending along the second horizontal direction Y, and the other axial end of the first X-axis driving mechanism 42 (in the first horizontal direction X) can be movably installed on the Y-axis guiding structure, so that when one axial end of the first X-axis driving mechanism 42 is driven by the first Y-axis driving mechanism 41 to reciprocate along the second horizontal direction Y, the other axial end of the first X-axis driving mechanism 42 moves synchronously with it along the Y-axis guiding structure.

[0080] See also Figure 6 , 7In this embodiment, the first substrate transfer device 4 further includes:

[0081] The substrate transfer bracket 47 extends along the first horizontal direction X, and the two ends of the substrate transfer bracket 47 in the first horizontal direction X are respectively fixedly connected to the moving part of the first Y-axis driving mechanism 41 and movably connected to the Y-axis guide structure; the first X-axis driving mechanism 42 is fixedly installed on the substrate transfer bracket 47.

[0082] See also Figure 6 , 7 In this embodiment, the first substrate transfer device 4 further includes:

[0083] The substrate moving rack 48 is fixedly mounted on the moving part of the first X-axis driving mechanism 42 ; the first Z-axis driving mechanism 43 is fixedly mounted on the substrate moving rack 48 .

[0084] See also Figure 6 , 7 In the present embodiment, the first Y-axis driving mechanism 41 and the first X-axis driving mechanism 42 both adopt synchronous pulley driving mechanisms, and the Y-axis guiding structure adopts a guide rail. One axial end of the substrate transfer bracket 47 is fixedly mounted on the moving part of the first Y-axis driving mechanism 41 (synchronous pulley driving mechanism), and the other axial end of the substrate transfer bracket 47 is movably mounted on the Y-axis guiding structure through a slider matching the guide rail.

[0085] In other embodiments, the first Y-axis driving mechanism 41 and the first X-axis driving mechanism 42 may also use linear driving mechanisms such as screw nuts, gear racks, etc., and the Y-axis guiding structure may also use guide rods.

[0086] In this embodiment, the first Z-axis driving mechanism 43 adopts a first Z-axis cylinder mechanism installed on the substrate transfer rack 48, and the first Q-axis driving mechanism 44 is fixedly installed on the lifting and lowering moving part of the first Z-axis cylinder mechanism.

[0087] As a preferred implementation of this embodiment, the first Z-axis cylinder mechanism adopts a first slide cylinder mechanism, and the first Q-axis drive mechanism 44 is fixedly installed on the lifting and lowering slide of the first slide cylinder mechanism.

[0088] As another implementation of this embodiment, the first Z-axis cylinder mechanism may also adopt a first telescopic cylinder mechanism, and the first Q-axis driving mechanism 44 is fixedly mounted on the lifting and telescopic rod of the first telescopic cylinder mechanism.

[0089] See also Figure 6 , 7In this embodiment, the first Q-axis driving mechanism 44 adopts a rotary motor driving mechanism installed on the lifting moving part of the first Z-axis cylinder mechanism, and the first substrate moving mechanism 45 is fixedly installed on the rotating output shaft of the rotary motor driving mechanism (that is, the above-mentioned rotary moving part).

[0090] In other embodiments, the first Q-axis driving mechanism 44 may also adopt a rotary cylinder driving mechanism installed on the lifting moving part of the first Z-axis cylinder mechanism, and the first substrate moving mechanism 45 is fixedly installed on the rotating output shaft of the rotary cylinder driving mechanism (ie the above-mentioned rotating moving part).

[0091] See also Figure 6 , 7 In the present embodiment, the first substrate material moving mechanism 45 is a first material picking robot, which includes a first material picking cantilever 451 installed on the first Q-axis driving mechanism 44 and a vacuum / negative pressure input unit installed on the first material picking cantilever 451. The first material picking cantilever 451 is provided with a plurality of first material picking suction cups 452 connected to the vacuum / negative pressure gas source input by the vacuum / negative pressure input unit. The first substrate material moving mechanism 45 absorbs and transfers the substrates one by one from each substrate placement slot of the top material tray of the material tray stack 14 at the substrate loading position to the substrate correction device 5 through the first material picking suction cups 452.

[0092] See also Figure 6 , 7 In the present embodiment, a pair of first Z-axis driving mechanisms 43 are provided on the substrate transfer rack 48, and the pair of first Z-axis driving mechanisms 43 respectively drive a pair of first Q-axis driving mechanisms 44 to vertically lift and lower, and the pair of first Q-axis driving mechanisms 44 respectively drive a pair of first material picking manipulators (first substrate transfer mechanisms 45) to rotate, and the pair of first substrate transfer mechanisms 45 respectively pick up materials from two substrate placement slots of the material tray at the same time through multiple first material picking suction cups 452 of their first material picking cantilevers 451.

[0093] Please also read Figure 1-3 , 8, 9, in this embodiment, the substrate correction device 5 includes:

[0094] The correction platform 51 is arranged on the base 1 and is located on the other side of the second tray lifting device 32 in the second horizontal direction Y (away from the first tray lifting device 31). The substrate correction position C on the top of the correction platform 51 is provided with a correction structure 511 for positioning the substrate. The correction structure 511 includes an X-axis correction cylinder (not shown in the figure) and a Y-axis correction cylinder (not shown in the figure), which are respectively used to perform posture correction on the substrate in the second horizontal direction Y and the first horizontal direction X at the substrate correction position C, so as to cooperate with the action of the first substrate transfer device 4 (the first Q-axis drive mechanism 44 drives the first substrate transfer mechanism 45 to rotate around the vertical axis to adjust the posture and relative position of the substrate it picks up) so that the substrate is positioned on the correction structure 511 and glued with the substrate position G matches; the correction structure 511 is provided with a positioning adsorption structure connected to the vacuum / negative pressure gas source input by the vacuum / negative pressure input unit, which is used to position and adsorb the substrate; the second X-axis driving mechanism 52 is provided between the second material tray lifting device 32 and the correction platform 51, and extends along the first horizontal direction X between the substrate correction position C of the correction platform 51 and the above-mentioned substrate film tearing position E, and is used to drive the second Z-axis driving mechanism 53 to reciprocate between the substrate correction position C and the substrate film tearing position E along the first horizontal direction X; the second Z-axis driving mechanism 53 is used to drive the second substrate moving mechanism 54 to move up and down along the vertical direction Z; the second substrate moving mechanism 54 is used to transfer the substrate from the substrate correction position C of the correction platform 51 to the film tearing platform device 6.

[0095] In this embodiment, the second X-axis driving mechanism 52 adopts a linear mechanism such as a synchronous pulley and a lead screw nut.

[0096] See also Figure 8 , 9 In this embodiment, the substrate correction device 5 further includes:

[0097] The substrate moving support is fixedly mounted on the moving part of the second X-axis driving mechanism 52; the second Z-axis driving mechanism 53 is fixedly mounted on the substrate moving support.

[0098] See also Figure 8 , 9 In this embodiment, the second Z-axis driving mechanism 53 is fixedly mounted on the substrate moving support, and the second substrate moving mechanism 54 is fixedly mounted on the lifting and lowering moving part of the second Z-axis driving mechanism 53.

[0099] As a preferred implementation of this embodiment, the second Z-axis driving mechanism 53 adopts a second slide cylinder mechanism, and the second substrate moving mechanism 54 is fixedly installed on the lifting and lowering slide of the second slide cylinder mechanism.

[0100] As another implementation of this embodiment, the second Z-axis driving mechanism 53 may also adopt a second telescopic cylinder mechanism, and the second substrate moving mechanism 54 is fixedly mounted on the lifting and telescopic rod of the second telescopic cylinder mechanism.

[0101] See also Figure 8 , 9 In the present embodiment, the second substrate material moving mechanism 54 is a second material picking robot, which includes a second material picking cantilever 541 installed on the second Z-axis driving mechanism 53 and a vacuum / negative pressure input unit installed on the second material picking cantilever 541. The second material picking cantilever 541 is provided with a plurality of second material picking suction cups 542 connected to the vacuum / negative pressure gas source input by the vacuum input unit. The second substrate material moving mechanism 54 sucks and transfers the substrate from the substrate correction position C of the correction platform 51 to the film tearing platform device 6 through the second material picking suction cups 542.

[0102] See also Figure 8 , 9 In this embodiment, two correction structures 511 are provided at the substrate correction position C of the correction platform 51, and a pair of substrates transferred by the corresponding first material picking suction cups 452 of a pair of first material picking robots can be simultaneously received and positioned by the two correction structures 511.

[0103] Please also read Figure 1-3 10. In this embodiment, the film tearing platform device 6 includes:

[0104] The third X-axis driving mechanism 61 is used to drive the film tearing platform 62 to reciprocate along the first horizontal direction X; the film tearing platform 62 is used to receive the substrate from the second substrate moving mechanism 54 and transfer it to the substrate film tearing position E, and after the substrate is transferred into place, drive the substrate to rotate a certain angle through the second Q-axis driving mechanism (not shown in the figure).

[0105] See also Fig.10 In this embodiment, at least one rotating positioning seat 621 matching the shape of the substrate is provided on the top of the film-tearing platform 62, and the film-tearing platform 62 receives the substrate through the rotating positioning seat 621 and moves it to the substrate film-tearing position E. The rotating positioning seat 621 is provided with a positioning adsorption structure connected to the vacuum / negative pressure gas source input by the vacuum / negative pressure input unit, which is used to position and adsorb the substrate for subsequent film-tearing operations.

[0106] See also Figure 8-10 In this embodiment, the second material picking robot (second substrate moving mechanism 54) is provided with a pair of second material picking cantilevers 541, and the top of the film tearing platform 62 of the film tearing platform device 6 is matched with a pair of second material picking cantilevers 541 and provided with a pair of rotating positioning seats 621.

[0107] In this embodiment, the third X-axis driving mechanism 61 uses a synchronous pulley mechanism to drive the moving part and the film tearing platform 62 fixedly connected thereto to reciprocate along the first horizontal direction X, and a linear mechanism such as a lead screw nut may also be used.

[0108] In this embodiment, the second Q-axis driving mechanism uses a motor to drive the rotation positioning seat 621 and the substrate to rotate; in other embodiments, the second Q-axis driving mechanism may also use a rotary cylinder to drive the rotation positioning seat 621.

[0109] Please also read Figure 1-3 11. In this embodiment, the easy-tear sticker feeding device 7 includes:

[0110] A left full material reel 71 , a left waste material reel 72 , a left pneumatic slide 73 , a right full material reel 74 , a right waste material reel 75 , a right pneumatic slide 76 and a waste film recovery box 77 .

[0111] Among them, an easy-tear adhesive tape is wound on the left full-material reel 71, and is released from the left full-material reel 71 and moves to the left pneumatic slide 73 under the action of multiple driving wheels and guide wheels. The left pneumatic slide 73 drives the easy-tear adhesive tape to move horizontally for the easy-tear adhesive suction head 84 of the film tearing and transferring device 8 to take it. The easy-tear adhesive tape is separated from the left pneumatic slide 73 and moves to the left waste reel 72 through the action of the guide wheels; another easy-tear adhesive tape is wound on the right full-material reel 74, and is released from the right full-material reel 74 and moves to the right pneumatic slide 76 under the action of multiple driving wheels and guide wheels. The right pneumatic slide 76 drives the easy-tear adhesive tape to move horizontally for the easy-tear adhesive suction head 84 of the film tearing and transferring device 8 to take it. Finally, the easy-tear adhesive tape is separated from the right pneumatic slide 76 and moves to the right waste reel 75 through the action of the guide wheels.

[0112] Please also read Figure 1-3 , 12, 13, in this embodiment, the film tearing and transferring device 8 includes:

[0113] The second Y-axis driving mechanism 81 is used to drive the third Z-axis driving mechanism 82 to reciprocate along the second horizontal direction Y; the third Z-axis driving mechanism 82 is used to drive at least one flipping driving mechanism 83 to vertically lift and lower; the flipping driving mechanism 83 is used to drive the easy-tear sticker suction head 84 to flip, so that the easy-tear sticker suction head 84 takes the easy-tear sticker from the easy-tear sticker feeding device 7 and tears off the release film from the substrate at the substrate film tearing position E.

[0114] In this embodiment, the second Y-axis driving mechanism 81 uses a synchronous pulley mechanism to drive the moving part and the third Z-axis driving mechanism 82 fixedly connected thereto to reciprocate along the second horizontal direction Y, and a lead screw nut mechanism may also be used.

[0115] In this embodiment, the third Z-axis driving mechanism 82 uses a slide cylinder driving mechanism to drive the lifting moving part and the flip driving mechanism 83 fixedly connected thereto to perform vertical lifting and lowering movements.

[0116] In other embodiments, the third Z-axis driving mechanism 82 may also adopt a linear driving mechanism such as a telescopic rod cylinder or a lead screw nut.

[0117] See also Fig.12 , 13 In this embodiment, the film tearing and transferring device 8 further includes: a suction head bracket 831, which is fixedly mounted on the lifting and lowering moving part of the third Z-axis driving mechanism 82; the flipping driving mechanism 83 includes: a flipping driving unit 832, which is fixedly mounted on the suction head bracket 831 and is used to drive the linear driving unit 833 to flip;

[0118] The easy-tear stick suction head 84 is installed on the linear drive unit 833, and the linear drive unit 833 is used to drive the easy-tear stick suction head 84 to linearly telescope along the axial direction of the linear drive unit 833 (the linear movement direction of the moving part), so that when the easy-tear stick suction head 84 tears off the release film from the substrate with its flipped easy-tear stick, the linear drive unit 833 drives the easy-tear stick suction head 84 to linearly telescope along the axial direction of the linear drive unit 833, thereby assisting the easy-tear stick suction head 84 to tear off the release film from the substrate; the speed regulating valve 85 is used to adjust the flipping speed of the easy-tear stick suction head 84.

[0119] See also Fig.12 , 13 As a preferred embodiment, the axial direction of the linear drive unit 833 (the linear motion direction of the moving part) and the axial direction of the easy-tear sticker suction head 84 form an angle less than 90 degrees, that is, when the flip drive unit 832 drives the linear drive unit 833 to flip and move until the plane where the easy-tear sticker adsorbed by the easy-tear sticker suction head 84 (perpendicular to the axial direction of the easy-tear sticker suction head 84) is located is parallel to the horizontal plane, at this time, the axial direction of the linear drive unit 833 and the horizontal plane form an angle less than 90 degrees, and the easy-tear sticker suction head 84 uses the adsorbed easy-tear sticker to take the easy-tear sticker from the easy-tear sticker feeding device 7 (the horizontal feeding conveyor belt), or horizontally attach the easy-tear sticker to the release film on the upper surface of the horizontal substrate;

[0120] When the flip driving unit 832 drives the linear driving unit 833 to flip from the posture of forming an angle less than 90 degrees with the horizontal plane to the posture of the axial direction of the linear driving unit 833 being parallel to the horizontal plane, the axial direction of the easy-tear adhesive head 84 forms an angle less than 90 degrees with the horizontal plane. At this time, the plane where the easy-tear adhesive adsorbed by the easy-tear adhesive head 84 (perpendicular to the axial direction of the easy-tear adhesive head 84) is located forms an angle less than 90 degrees with the horizontal plane. The easy-tear adhesive head 84 cooperates with the linear driving unit 833 to drive the easy-tear adhesive head 84 to move horizontally and linearly, and performs the release film tearing operation on the substrate;

[0121] The linear drive unit 833 is used to drive the easy-tear sticker suction head 84 to perform linear telescopic movement along the axial direction of the linear drive unit 833 (the linear movement direction of the moving part), so that when the easy-tear sticker suction head 84 uses its flipped easy-tear sticker to tear off the release film from the substrate, the linear drive unit 833 drives the easy-tear sticker suction head 84 to perform linear telescopic movement along the axial direction of the linear drive unit 833, thereby assisting the easy-tear sticker suction head 84 to tear off the release film from the substrate.

[0122] See also Fig.12 , 13 In this embodiment, the third Z-axis driving mechanism 82 of the film tearing and transferring device 8 is used to drive a pair of flipping driving mechanisms 83 to vertically lift and lower, and a suction head bracket 831 fixedly installed on the lifting and lowering moving part of the third Z-axis driving mechanism 82 is installed with a pair of flipping driving mechanisms 83. The pair of flipping driving mechanisms 83 (linear driving unit 833 and flipping driving unit 832) respectively drive a pair of easy-to-tear suction heads 84 to flip.

[0123] See also Fig.13 In one embodiment, after the substrate is transferred to the position, the second Q-axis driving mechanism drives the substrate to rotate 45 degrees, so that the easy-tear sticking suction head 84 can subsequently tear off the release film of the substrate at the substrate film tearing position E.

[0124] Please also read Figure 1-3 In this embodiment, the second substrate transfer device 9 includes:

[0125] The fourth X-axis driving mechanism 91 is used to drive the fourth Z-axis driving mechanism 92 to reciprocate along the first horizontal direction X; the fourth Z-axis driving mechanism 92 is used to drive the third substrate moving mechanism 93 to move up and down along the vertical direction Z; the third substrate moving mechanism 93 is used to move the substrate from the substrate tearing position E to the dispensing platform device 10.

[0126] In this embodiment, the fourth X-axis driving mechanism 91 uses a synchronous pulley mechanism to drive the moving part and the fourth Z-axis driving mechanism 92 fixedly connected thereto to reciprocate along the first horizontal direction X.

[0127] In other embodiments, the fourth X-axis driving mechanism 91 may also adopt a linear driving mechanism such as a screw nut.

[0128] In this embodiment, the fourth Z-axis driving mechanism 92 uses a synchronous pulley mechanism to drive the lifting moving member and the third substrate moving mechanism 93 fixedly connected thereto to perform vertical lifting movements.

[0129] In other embodiments, the fourth Z-axis drive mechanism 92 may also adopt a linear drive mechanism such as a screw nut.

[0130] Please also read Figure 1-3In the present embodiment, the third substrate material moving mechanism 93 is a third material picking robot, which includes a third material picking cantilever installed on the fourth Z-axis driving mechanism 92 and a vacuum / negative pressure input unit installed on the third material picking cantilever. The third material picking cantilever is provided with a plurality of third material picking suction cups connected to the vacuum / negative pressure gas source input by the vacuum / negative pressure input unit. The third substrate material moving mechanism 93 sucks and transfers the substrate from the substrate film tearing position E of the film tearing platform 62 to the glue dispensing platform device 10 through the third material picking suction cup.

[0131] Please also read Figure 1-3 In this embodiment, the third substrate material moving mechanism 93 is provided with a pair of third material picking cantilevers, and the glue dispensing platform device 10 is provided with a pair of third Y-axis driving mechanisms 101. The pair of third Y-axis driving mechanisms 101 are respectively used to drive a pair of glue dispensing platforms 102 to reciprocate along the second horizontal direction Y between the glue dispensing loading and unloading positions F and the substrate glue dispensing position G.

[0132] Please also read Figure 1-3 , 14, in this embodiment, the dispensing platform device 10 includes:

[0133] At least one third Y-axis driving mechanism 101 is used to drive the glue dispensing platform 102 to reciprocate along the second horizontal direction Y between the glue dispensing loading and unloading position F and the substrate glue dispensing position G; the glue dispensing platform 102 is used to receive the substrate at the glue dispensing loading and unloading position F, and move the substrate to the substrate glue dispensing position G for the substrate glue dispensing device 11 to dispense glue on the substrate, and move the substrate back to the glue dispensing loading and unloading position F after the glue dispensing is completed.

[0134] In this embodiment, the third Y-axis driving mechanism 101 adopts a synchronous pulley mechanism to drive the moving parts and the fixedly connected dispensing platform 102 to reciprocate along the second horizontal direction Y. The dispensing platform 102 is provided with a vacuum / negative pressure input unit. The dispensing platform 102 is provided with a positioning adsorption structure connected to the vacuum / negative pressure gas source input by the vacuum / negative pressure input unit, which is used to position and adsorb the substrate for subsequent dispensing operations.

[0135] In other embodiments, the third Y-axis driving mechanism 101 may also adopt a linear driving mechanism such as a lead screw nut.

[0136] Please also read Figure 1-3 14. In the present embodiment, the glue dispensing platform device 10 is provided with a pair of third Y-axis driving mechanisms 101, and the pair of third Y-axis driving mechanisms 101 are respectively used to drive a pair of glue dispensing platforms 102 to reciprocate along the second horizontal direction Y at the glue dispensing loading and unloading position F and the substrate glue dispensing position G.

[0137] See also Fig.14In this embodiment, the substrate dispensing device 11 includes: a fifth X-axis driving mechanism 111, which is used to drive the fifth Z-axis driving mechanism 112 to reciprocate along the first horizontal direction X above the substrate dispensing position G; the fifth Z-axis driving mechanism 112 is used to drive the dispensing mechanism 113 to move up and down along the vertical direction Z to dispense glue to the substrate carried on the dispensing platform 102 located at the substrate dispensing position G;

[0138] In this embodiment, the fifth X-axis driving mechanism 111 uses a synchronous pulley mechanism to drive the moving part and the fifth Z-axis driving mechanism 112 fixedly connected thereto to reciprocate along the first horizontal direction X.

[0139] In other embodiments, the fifth X-axis driving mechanism 111 may also adopt a linear driving mechanism such as a lead screw nut.

[0140] In this embodiment, the fifth Z-axis driving mechanism 112 uses a synchronous pulley mechanism to drive the lifting and lowering moving parts and the dispensing mechanism fixedly connected thereto to perform vertical lifting and lowering movements. A linear driving mechanism such as a lead screw nut may also be used.

[0141] See also Fig.14 In this embodiment, the dispensing mechanism 113 is a dispensing head for dispensing silver paste.

[0142] See also Fig.14 In this embodiment, the fifth X-axis driving mechanism 111 is used to simultaneously drive a pair of fifth Z-axis driving mechanisms 112 to reciprocate above the substrate dispensing position G along the first horizontal direction X, and a pair of fifth Z-axis driving mechanisms 112 simultaneously drive a pair of dispensing mechanisms 113 to move up and down along the vertical direction Z.

[0143] Please also read Figure 1-3 In this embodiment, the second substrate transfer device 9 also includes: a sixth X-axis driving mechanism 94, used to drive the sixth Z-axis driving mechanism 95 to move along the first horizontal direction X; the sixth Z-axis driving mechanism 95 is used to drive the fourth substrate moving mechanism 96 to move up and down along the vertical direction Z; the fourth substrate moving mechanism 96 is used to move the substrate from the glue dispensing platform 102 located at the glue dispensing loading and unloading position F to the substrate unloading position H.

[0144] In this embodiment, the sixth X-axis driving mechanism 94 uses a synchronous pulley mechanism to drive the moving part and the sixth Z-axis driving mechanism 95 fixedly connected thereto to reciprocate along the first horizontal direction X.

[0145] In other embodiments, the sixth X-axis drive mechanism 94 may also adopt a linear drive mechanism such as a screw nut.

[0146] In this embodiment, the sixth Z-axis driving mechanism 95 uses a synchronous belt pulley mechanism to drive the lifting moving member and the fourth substrate moving mechanism 96 fixedly connected thereto to perform vertical lifting movements.

[0147] In other embodiments, the sixth Z-axis driving mechanism 95 may also adopt a linear driving mechanism such as a screw nut.

[0148] Please also read Figure 1-3 In the present embodiment, the fourth substrate material moving mechanism 96 is a fourth material picking robot, which includes a fourth material picking cantilever installed on the sixth Z-axis driving mechanism 95 and a vacuum / negative pressure input unit installed on the fourth material picking cantilever. The fourth material picking cantilever is provided with a plurality of fourth material picking suction cups connected to the vacuum / negative pressure gas source input by the vacuum / negative pressure input unit. The fourth substrate material moving mechanism 96 sucks and moves the substrate from the glue dispensing loading and unloading position F of the glue dispensing platform 102 to the substrate unloading position H through the plurality of fourth material picking suction cups.

[0149] Please also read Figure 1-3 In this embodiment, the fourth substrate transfer mechanism 96 of the second substrate transfer device 9 is provided with a pair of fourth material taking cantilevers.

[0150] In this embodiment, the structures of the third material picking cantilever, the fourth material picking cantilever, the third material picking sucker and the fourth material picking sucker of the third substrate material moving mechanism 93 (third material picking robot) and the fourth substrate material moving mechanism 96 (fourth material picking robot) are respectively similar to the second material picking cantilever 541 and the second material picking sucker 542 of the second substrate transfer device 9 (second material picking robot), so please refer to the specific structure. Figure 1-3 The second substrate transfer device 9 (second material taking robot) will not be described in detail here.

[0151] See also Fig.14 In this embodiment, the display screen substrate loading device further includes:

[0152] The glue dispensing inspection device 12 is arranged on the fifth Z-axis driving mechanism 112. The glue dispensing inspection device 12 is provided with an industrial camera for photographing and inspecting the glue dispensing quality of the glue dispensing mechanism 113 on the substrate.

[0153] See also Fig.14 In this embodiment, the display screen substrate loading device further includes: a glue head cleaning device 13, and the glue head cleaning device 13 is provided with a cleaning tank for cleaning the glue dispensing head of the glue dispensing mechanism 113.

[0154] In this embodiment, the substrate is preferably EPD, and after the substrate is loaded and torn off in the display screen substrate loading equipment, it is transferred to the downstream substrate bonding equipment for chip bonding. The chip is preferably FPL or PS film.

[0155] In this embodiment, the material tray is preferably a TRAY tray.

[0156] Please also read Figure 1-3, taking the substrate as EPD and the material tray as TRAY tray, the above devices are adapted to simultaneously feed a pair of substrates as an example, the working process of the display screen substrate feeding device provided by the utility model is as follows:

[0157] S1: An operator or an industrial robot places two tray stacks 14 on the loading position of the tray loading conveying mechanism 22, and the loading stop mechanism 23 releases the first tray stack 14, so that the loading roller line conveys the previous tray stack 14 along the first horizontal direction X to the tray loading position A of the first tray lifting device 31, and the loading stop mechanism 23 then blocks the next tray stack 14 and stops it on the loading roller line, waiting for the previous tray stack 14 to complete the loading. After the tray is loaded and is completely transferred to the second tray lifting device 32 by the tray transfer device 33 to form a complete empty tray stack 15, the loading and blocking mechanism 23 releases the blockage and releases the next tray stack 14, so that the loading roller line continues to transport the next tray stack 14 along the first horizontal direction X to the first tray lifting device 31, and places a new tray stack 14 to the loading position of the loading roller line, and so on to realize the cyclic loading of the tray stack 14 loaded with substrates along the first horizontal direction X to the tray loading position A.

[0158] S2: The tray stack 14 moves along the first horizontal direction X to the unloading position of the loading roller line close to the first tray lifting device 31, and then rolls to the lifting roller line of the first rolling support mechanism 312 located inside the first material bin 311 of the first tray lifting device 31 and at the tray loading position A.

[0159] S3: The first Y-axis driving mechanism 41 of the first substrate transferring device 4 drives the first X-axis driving mechanism 42 to move along the second horizontal direction Y to above the tray loading position A, the first X-axis driving mechanism 42 drives the two first Z-axis driving mechanisms 43 to move along the first horizontal direction X to just above the two substrate placement slots of the topmost tray of the tray stack 14 located at the tray loading position A, the two first Z-axis driving mechanisms 43 synchronously drive a pair of first Q-axis driving mechanisms 44 and a pair of first substrate transferring mechanisms 45 to move up and down along the vertical direction Z, so that a pair of first substrate transferring mechanisms 45 (each of which has a first material taking suction cup 452 through a vacuum adsorption function) synchronously picks up a pair of substrates from the corresponding substrate placement slots of the topmost tray of the tray stack 14.

[0160] S4: The second X-axis driving mechanism 52 of the substrate correction device 5 drives the correction platform 51 to move along the first horizontal direction to the substrate correction position C, the first Y-axis driving mechanism 41 drives the first X-axis driving mechanism 42 to drive a pair of first substrate moving mechanisms 45 to move along the second horizontal direction Y to above the substrate correction position C, the two first Z-axis driving mechanisms 43 synchronously drive a pair of first Q-axis driving mechanisms 44 to descend along the vertical direction Z, and the pair of first Q-axis driving mechanisms 44 synchronously drive a pair of first substrate moving mechanisms 45 to rotate, so as to adjust the posture and relative position of a pair of substrates picked up by the pair of first substrate moving mechanisms 45 to match the pair of correction structures 511 of the correction platform 51 (matching the substrate dispensing position G), the vacuum adsorption of each first material picking suction cup 452 of the first substrate moving mechanism 45 is closed, and the vacuum adsorption of the correction structure 511 is turned on to position and adsorb the substrate.

[0161] S5: The third X-axis driving mechanism 61 of the film tearing platform device 6 drives the film tearing platform 62 to move along the first horizontal direction X to the film tearing material receiving position D close to the substrate correction position C, the second X-axis driving mechanism 52 drives the second Z-axis driving mechanism 53 to reciprocate along the first horizontal direction X between the substrate correction position C and the film tearing platform device 6, and the second Z-axis driving mechanism 53 drives the second substrate moving mechanism 54 to move up and down along the vertical direction Z, so that each second material picking suction cup 542 of a pair of second material picking cantilevers 541 of the second substrate moving mechanism 54 can synchronously transfer a pair of substrates from a pair of (vacuum suction closed) correction structures 511 at the substrate correction position C to a pair of rotating positioning seats 621 of the film tearing platform 62 located at the film tearing material receiving position D through the vacuum adsorption function.

[0162] S6: Repeat the above S3-S5, the first Y-axis driving mechanism 41 drives the first X-axis driving mechanism 42 to reciprocate between above the tray loading position A and above the substrate correction position C along the second horizontal direction, the first X-axis driving mechanism 42 drives the two first Z-axis driving mechanisms 43 to reciprocate between directly above each substrate placement slot of the topmost tray of the tray stack 14 at the tray loading position A along the first horizontal direction X, so that a pair of first substrate moving mechanisms 45 take and transfer substrates in pairs from each substrate placement slot of the topmost tray of the tray stack 14 at the tray loading position A to a pair of correction structures 511 at the substrate correction position C for positioning and adsorption, and the second X-axis driving mechanism 52 and the second Z-axis driving mechanism 53 cooperate to drive the second substrate moving mechanism 54 to synchronously transfer the substrates in pairs from the pair of correction structures 511 at the substrate correction position C to the film tearing and material receiving position D.

[0163] S7: As the topmost tray in the tray stack 14 is emptied layer by layer (all substrate placement slots in the tray are emptied), the tray Y-axis driving mechanism 331 of the tray transfer device 33 drives the tray transfer mechanism 332 to reciprocate along the second horizontal direction Y between the first tray lifting device 31 and the second tray lifting device 32, and cooperates with the first tray lifting device 31 to drive the first rolling support mechanism 312 to lift the tray stack 14 layer by layer at the tray loading position A (which is flush with the loading roller line of the tray loading transmission mechanism 22), so that the tray transfer mechanism The structure 332 (the individual tray transferring suction cups 334) moves the empty trays from the top layer of the tray pile 14 one by one to the lifting roller line of the second rolling support mechanism 322 located inside the second material bin 321 of the second tray lifting device 32 and at the tray unloading position B, and cooperates with the second lifting mechanism 323 to drive the second rolling support mechanism 322 to lower the empty trays layer by layer at the top layer at the tray unloading position B (which is flush with the initial top layer of the tray pile 14), so that the empty trays are stacked on the lifting roller line of the second rolling support mechanism 322 to form a stack of empty trays 15.

[0164] S8: Until the lifting roller line of the second rolling support mechanism 322 descends to the bottom layer of the tray unloading position B (aligned with the unloading roller line of the tray unloading transmission mechanism 24), a complete pile of empty trays 15 is formed at the tray unloading position B, the lifting roller line of the second rolling support mechanism 322 rolls the empty tray pile 15 along the first horizontal direction X to the loading position of the unloading roller line of the tray unloading transmission mechanism 24, the unloading roller line of the tray unloading transmission mechanism 24 continues to roll the empty tray pile 15 along the first horizontal direction X to the unloading position of the tray unloading transmission mechanism 24 away from the tray unloading position B, and the unloading blocking mechanism 25 blocks the empty tray pile 15 at the unloading roller line.

[0165] S9: Repeat S7-S8 above, the second lifting mechanism 323 transfers the tray transfer device 33 to the empty tray, and the second rolling support mechanism 322 at the tray unloading position B descends layer by layer and stacks them to form an empty tray pile 15, the second rolling support mechanism 322 rolls the complete stacked empty tray pile 15 to the unloading transmission mechanism 24 in turn, and blocks the empty tray pile 15 on the unloading transmission mechanism 24 through the unloading blocking mechanism 25, so that the operator or industrial robot can unload the empty tray pile 15, and so on, after the tray pile 14 full of substrates is cyclically loaded by the tray loading transmission mechanism 22 along the first horizontal direction X to the tray loading position A, the empty trays are stacked along the second horizontal direction at the tray unloading position B to form an empty tray pile 15, and the empty tray pile 15 is cyclically unloaded to the lower feeding transmission mechanism 24 along the first horizontal direction X, completing the substrate pre-loading process for attaching the display screen.

[0166] S10: Connect to S6, and proceed synchronously with S7-S9, the third X-axis driving mechanism 61 drives the film tearing platform 62 to move from the film tearing material receiving position D along the first horizontal direction X to the substrate film tearing position E, and a pair of rotating positioning seats 621 rotate a pair of substrates synchronously by 45 degrees; the second Y-axis driving mechanism 81 of the film tearing transfer device 8 drives a pair of third Z-axis driving mechanisms 82 to move along the second horizontal direction Y to above the substrate film tearing position E, and a pair of third Z-axis driving mechanisms 82 respectively drive a pair of flipping driving mechanisms 83 to move vertically up and down, and a pair of flipping driving mechanisms 83 (linear driving unit 833 and flipping driving unit 832) respectively drive a pair of easy-tear sticker suction heads 84 to simultaneously pick up a pair of easy-tear stickers from the left pneumatic slide 73 and the right pneumatic slide 76 of the easy-tear sticker feeding device 7, and at the substrate film tearing position E, the release film of the pair of substrates on the pair of rotating positioning seats 621 is torn off.

[0167] S11: A pair of third Y-axis driving mechanisms 101 of the glue dispensing platform device 10 respectively drive a pair of glue dispensing platforms 102 to move along the second horizontal direction Y to the glue dispensing loading and unloading position F, the fourth X-axis driving mechanism 91 of the second substrate transferring device 9 drives the fourth Z-axis driving mechanism 92 to move along the first horizontal direction X to the substrate film tearing position E, the fourth Z-axis driving mechanism 92 drives the third substrate transferring mechanism 93 to move vertically up and down, so that a pair of third material picking cantilevers respectively correspond to a pair of substrates from the substrate film tearing position E of the film tearing platform 62 through a plurality of third material picking suction cups at the same time, the fourth X-axis driving mechanism 91 drives the fourth Z-axis driving mechanism 92 to move from the substrate film tearing position E along the first horizontal direction X to the pair of glue dispensing platforms 102 at the glue dispensing loading and unloading position F for vacuum positioning and adsorption.

[0168] S12: Repeat the above S10-S11, the third X-axis driving mechanism 61 drives the film tearing platform 62 to move along the first horizontal direction X between the film tearing material receiving position D and the substrate film tearing position E, so as to transfer the substrates received by each second material picking suction cup 542 of a pair of second material picking cantilevers 541 to a pair of rotating positioning seats 621 of the film tearing platform 62 one by one in pairs, and at the same time, a pair of third Y-axis driving mechanisms 101 respectively drive a pair of glue dispensing platforms 102 to move along the second horizontal direction Y between the substrate film tearing position E and the glue dispensing loading and unloading position F, so as to transfer the substrates one by one in pairs from a pair of rotating positioning seats 621 to a pair of glue dispensing platforms 102, and so on and so forth to circulate the material transfer, and complete the process of transferring the film tearing of the substrate attached to the display screen to the glue dispensing process link.

[0169] S13: A pair of third Y-axis driving mechanisms 101 respectively drive a pair of dispensing platforms 102 to move from the dispensing loading and unloading position F to the substrate dispensing position G along the second horizontal direction Y, and the fifth X-axis driving mechanism 111 of the substrate dispensing device 11 drives a pair of fifth Z-axis driving mechanisms 112 along the first horizontal direction X, and moves to above the pair of dispensing platforms 102 at the substrate dispensing position G respectively, and a pair of fifth Z-axis driving mechanisms 112 simultaneously drive a pair of dispensing mechanisms 113 to move up and down along the vertical direction Z, so that the pair of dispensing mechanisms 113 simultaneously dispense glue to a pair of substrates carried on the pair of dispensing platforms 102 located at the substrate dispensing position G, and after the dispensing is completed, a pair of third Y-axis driving mechanisms 101 respectively drive a pair of dispensing platforms 102 to return from the substrate dispensing position G to the dispensing loading and unloading position F along the second horizontal direction Y.

[0170] S14: The sixth X-axis driving mechanism 94 of the second substrate transfer device 9 drives the sixth Z-axis driving mechanism 95 to move along the first horizontal direction X to the glue loading and unloading position F, and the sixth Z-axis driving mechanism 95 drives the fourth substrate transfer mechanism 96 to move up and down along the vertical direction Z, so that a pair of fourth material picking cantilevers of the fourth substrate transfer mechanism 96 respectively correspond to a plurality of fourth material picking suction cups, and simultaneously suck a pair of substrates from a pair of glue dispensing platforms 102 at the glue loading and unloading position F, and the sixth X-axis driving mechanism 94 drives the fourth substrate transfer mechanism 96 to move a pair of substrates along the first horizontal direction X to the substrate unloading position H for unloading by operators or industrial robots.

[0171] S15: Repeat the above S13-S14, a pair of third Y-axis driving mechanisms 101 respectively drive a pair of dispensing platforms 102 to reciprocate along the second horizontal direction Y between the dispensing loading and unloading position F and the substrate dispensing position G, so that the substrates are glued one by one in pairs by a pair of dispensing mechanisms 113, and at the same time, the sixth X-axis driving mechanism 94 drives the sixth Z-axis driving mechanism 95 to reciprocate along the first horizontal direction X between the dispensing loading and unloading position F and the substrate unloading position H, and so on and so forth, the substrates are unloaded one by one in pairs in a cycle to complete the display screen attachment substrate loading process.

[0172] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the utility model.

Claims

1. A display screen substrate feeding device, characterized in that: include: A material tray loading and unloading device, a material tray lifting device, a first substrate transfer device, a substrate correction device, a film tearing platform device, an easy-tear sticker feeding device, a film tearing transfer device, a second substrate transfer device, a glue dispensing platform device and a substrate glue dispensing device; The tray loading and unloading device is used to transfer the tray stack carrying the substrates to the tray lifting device, and to recover the empty tray stack from the tray lifting device; The tray lifting device is used to lift the tray stack layer by layer, so as to cooperate with the first substrate transfer device to transfer the substrates one by one from the top tray stacked by the tray lifting device to the substrate correction device, and to make the tray lifting device form an empty tray stack; The substrate correction device is used to correct the posture of the substrate so that the posture of the substrate matches the substrate dispensing position, and transfer the corrected substrate to the film tearing platform device; The film-tearing platform device is used to transport the substrate to the substrate film-tearing position; The film-tearing transfer device is used to take the easy-tear sticker from the easy-tear sticker feeding device, and transfer the easy-tear sticker to the substrate film-tearing position to tear off the release film of the substrate; The second substrate transfer device is used to transfer the substrate from the substrate film tearing position to the glue dispensing platform device, and to transfer the glued substrate from the glue dispensing platform device to the substrate unloading position; The glue dispensing platform device is used to transfer the substrate to the substrate glue dispensing position so that the substrate glue dispensing device can dispense glue on the substrate.

2. The display screen substrate loading device according to claim 1, characterized in that: The tray lifting device comprises: a first tray lifting device, a second tray lifting device and a tray transfer device; The tray loading and unloading device is used to transfer the tray stack to the first tray lifting device and to recover the empty tray stack from the second tray lifting device; The first tray lifting device is used to lift the tray stack layer by layer, so as to cooperate with the first substrate transferring device to transfer the substrates one by one from the topmost tray of the tray stack stacked by the first tray lifting device to the substrate correction device, and to form empty trays layer by layer on the topmost tray of the tray stack stacked by the first tray lifting device; the tray transferring device is used to transfer the empty trays one by one from the topmost tray of the tray stack stacked by the first tray lifting device to the second tray lifting device; the second tray lifting device is used to lower the received empty trays layer by layer and stack them to form the empty tray stack.

3. The display screen substrate attachment feeding device according to claim 2, characterized in that: The first tray lifting device and the second tray lifting device are arranged on one side of the tray loading and unloading device in the first horizontal direction; the first tray lifting device is arranged on one side of the second tray lifting device in the second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction; The tray transfer device is arranged on a side of the first tray lifting device and the second tray lifting device away from the tray loading and unloading device in the first horizontal direction; The substrate correction device is arranged on the other side of the second tray lifting device in the second horizontal direction; The easy-to-peel sticker feeding device is arranged on a side of the tray transfer device in the first horizontal direction away from the second tray lifting device, and the substrate glue dispensing device is arranged on a side of the easy-to-peel sticker feeding device in the first horizontal direction away from the second tray lifting device; The second substrate transfer device is arranged on a side of the substrate correction device away from the tray loading and unloading device in the first horizontal direction; The film tearing platform device extends along the first horizontal direction between the second tray lifting device, the tray transfer device, the substrate correction device, the easy-tear label feeding device, and the second substrate transfer device.

4. The display screen substrate attachment feeding device as claimed in claim 3, characterized in that: Also includes: The base is used to carry the first tray lifting device, the second tray lifting device, the tray transfer device, the first substrate transfer device, the substrate correction device, the film tearing platform device, the easy-tear sticker feeding device, the film tearing transfer device, the second substrate transfer device, the glue dispensing platform device and the substrate glue dispensing device; the first tray lifting device and the second tray lifting device are arranged at one end of the base in the first horizontal direction; the tray loading and unloading device is a VGA trolley, including: A vehicle body is movably arranged on one side of the base close to the first tray lifting device and the second tray lifting device in the first horizontal direction; The tray loading and unloading transmission mechanism and the tray unloading transmission mechanism are arranged on the vehicle body and correspond to the first tray lifting device and the second tray lifting device respectively; the tray loading and transmission mechanism is used to carry at least one tray stack formed by stacking a plurality of trays, and transport the tray stack to the tray loading position of the first tray lifting device; the loading and blocking mechanism is arranged on the tray loading and transmission mechanism, and is used to block or release the tray stack; The first tray lifting device is used to lift the tray stack from the tray loading position layer by layer, and cooperate with the first substrate transfer device to form the empty trays layer by layer on the top layer of the tray stack; the tray transfer device is used to transfer the empty trays one by one from the top layer of the tray stack to the tray unloading position of the second tray lifting device; The second tray lifting device is used to lower the received empty trays layer by layer at the tray unloading position and stack them into the empty tray pile, and transport the stacked empty tray pile to the tray unloading transmission mechanism; The tray unloading conveying mechanism is used to receive the pile of empty trays; The material unloading blocking mechanism is arranged on the material tray unloading transmission mechanism and is used to block or release the empty material tray pile.

5. The display screen substrate attachment feeding device according to claim 4, characterized in that: The first tray lifting device comprises: A first silo, the top of which is open, and the tray loading position is located inside the first silo; A first rolling support mechanism is disposed inside the first silo and is used to receive and carry the tray stack from the tray loading transmission mechanism and roll the tray stack to the tray loading position; A first lifting mechanism is used to drive the first rolling support mechanism to rise and fall in the first bin, so that the tray stack is lifted layer by layer at the tray loading position, and cooperates with the first substrate transfer device to form the empty trays layer by layer at the top layer of the tray stack; The second tray lifting device comprises: A second silo, the top of which is open, and the material tray unloading position is located inside the second silo; A second rolling support mechanism is provided inside the second silo, and is used to receive and carry empty trays from the tray transfer device, and to roll the empty tray stack to the tray unloading transmission mechanism after the empty tray stack is completed; The second lifting mechanism is used to drive the second rolling support mechanism to rise and fall in the second silo, so that the empty trays are lowered layer by layer at the tray unloading position and are stacked on the second rolling support mechanism to form the empty tray pile.

6. The display screen substrate attachment feeding device according to any one of claims 3 to 5, characterized in that: The first substrate transfer device comprises: a first Y-axis driving mechanism, used for driving the first X-axis driving mechanism to reciprocate along a second horizontal direction; The first X-axis driving mechanism is used to drive at least one first Z-axis driving mechanism to reciprocate along the first horizontal direction; The first Z-axis driving mechanism is used to drive the first Q-axis driving mechanism to move up and down in the vertical direction; The first Q-axis driving mechanism is used to drive the first substrate moving mechanism to rotate around a vertical axis; The first substrate moving mechanism is used to move the substrate from the tray lifting device to the substrate correction device.

7. The display screen substrate attachment feeding device according to claim 6, characterized in that: The substrate correction device comprises: A correction platform, wherein a correction structure for positioning the substrate is provided at a substrate correction position, wherein the correction structure comprises an X-axis correction cylinder and a Y-axis correction cylinder, which are respectively used to perform posture correction on the substrate from a second horizontal direction and the first horizontal direction at the substrate correction position, so as to cooperate with the action of the first substrate transfer device to position the substrate at the correction structure and match the substrate dispensing position; A second X-axis driving mechanism, used for driving the second Z-axis driving mechanism to reciprocate along the first horizontal direction; The second Z-axis driving mechanism is used to drive the second substrate moving mechanism to move up and down in the vertical direction; The second substrate moving mechanism is used to move the substrate from the substrate correction position to the film tearing platform device.

8. The display screen substrate attachment feeding device according to claim 7, characterized in that: The film tearing platform device comprises: A third X-axis driving mechanism, used for driving the film tearing platform to reciprocate along the first horizontal direction; The film-tearing platform is used to receive the substrate from the second substrate-moving mechanism and transfer it to the substrate-tearing position, and rotate the substrate by a certain angle after the substrate is transferred to the position; The film tearing and transferring device comprises: The second Y-axis driving mechanism is used to drive the third Z-axis driving mechanism to reciprocate along the second horizontal direction; The third Z-axis driving mechanism is used to drive at least one flip driving mechanism to move vertically up and down; The flipping driving mechanism is used to drive the easy-tear sticker suction head to flip so that the easy-tear sticker suction head can take the easy-tear sticker from the easy-tear sticker feeding device and tear off the release film from the substrate at the substrate film tearing position.

9. The display screen substrate attachment feeding device according to any one of claims 3 to 5, characterized in that: The second substrate transfer device comprises: a fourth X-axis driving mechanism, used for driving the fourth Z-axis driving mechanism to reciprocate along the first horizontal direction; The fourth Z-axis driving mechanism is used to drive the third substrate moving mechanism to move up and down in the vertical direction; The third substrate moving mechanism is used to move the substrate from the substrate film tearing position to the glue dispensing platform device; The dispensing platform device comprises: At least one third Y-axis driving mechanism, used to drive the glue dispensing platform to reciprocate along the second horizontal direction between the glue dispensing loading and unloading position E and the substrate glue dispensing position; The glue dispensing platform is used to receive the substrate at the glue dispensing loading and unloading position, and move the substrate to the substrate glue dispensing position for the substrate glue dispensing device to dispense glue on the substrate, and move the substrate back to the glue dispensing loading and unloading position after the glue dispensing is completed.

10. The display screen substrate loading device according to claim 9, characterized in that: The substrate dispensing device comprises: a fifth X-axis driving mechanism, used for driving a fifth Z-axis driving mechanism to reciprocate above the substrate dispensing position along the first horizontal direction; The fifth Z-axis driving mechanism is used to drive the dispensing mechanism to move up and down in the vertical direction, so as to dispense glue to the substrate carried on the dispensing platform at the dispensing position of the substrate; The second substrate transfer device also includes: a sixth X-axis drive mechanism, used to drive the sixth Z-axis drive mechanism to reciprocate along the first horizontal direction; the sixth Z-axis drive mechanism is used to drive the fourth substrate transfer mechanism to move up and down along the vertical direction; the fourth substrate transfer mechanism is used to transfer the substrate from the glue dispensing platform located at the glue dispensing loading and unloading position to the substrate unloading position.

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