Automatic production line for glue removal of monocrystalline silicon slice crystal support

Abstract

The utility model belongs to the technical field of production related to crystal silicon slices, and discloses an automatic production line for removing glue from a crystal support of a monocrystalline silicon slice. Comprising an adhesive plate separating device, a crystal support heating mechanism, crystal support adhesive removing equipment, a crystal support cleaning and cooling device and a detecting mechanism which are arranged in sequence, a carrying mechanism used for carrying and rotating workpieces is arranged above the crystal support heating mechanism, the crystal support degumming equipment and the crystal support cleaning and cooling device, the viscose plate separating device is used for separating viscose plates on crystal supports, the crystal support heating mechanism is used for heating the crystal supports, and the crystal support degumming equipment is used for degumming the heated crystal supports. The crystal support cleaning and cooling device is used for cleaning and air-drying the degummed crystal support, and the detection mechanism is used for detecting whether the degummed crystal support is qualified or not. The adhesive plate is separated preferentially, the working time is saved due to the overall change of the process, the efficiency is shortened, and the degumming effect is good.

Description

Technical Field

[0001] This utility model belongs to the field of production technology related to silicon wafer slicing, and relates to an automated production line for removing adhesive from the wafer trays of monocrystalline silicon wafers. Background Technology

[0002] Photovoltaic power generation, as an emerging green and environmentally friendly energy industry, has attracted widespread attention in the global energy sector. Its unique advantages provide strong support for improving the sustainability and security of power generation. Photovoltaic wafer slicing workshops use slicing machines to process silicon rods into silicon wafers, significantly increasing the yield of monocrystalline silicon wafers. The main process involves adhesive curing of the silicon rods, adhesive plates, and wafer holders on an adhesive curing production line, followed by conveying them to the slicing machine for slicing. After slicing, the silicon wafers are conveyed to a de-adhesive cleaning device, and the wafer holders are de-adhesiveized and returned to the adhesive curing production line. Automated production lines improve work efficiency, reduce material waste, reduce enterprise operating costs, and precisely control adhesive levels to reduce harmful emissions. Currently, the mainstream process still involves boiling the wafer holders in water followed by manual adhesive removal, which has many drawbacks such as inefficiency and pollution. This seriously hinders the improvement of production efficiency and quality. From an efficiency perspective, boiling the wafer holders requires a long heating and waiting process, while manual adhesive removal relies on manual labor, which is slow and prone to a sharp drop in efficiency due to fatigue, making it difficult to meet the fast-paced demands of large-scale production. Regarding environmental pollution, the chemical vapors produced by boiling will pollute the atmosphere, and the wastewater from adhesive removal, if discharged directly without effective treatment, will seriously pollute water bodies, increasing the difficulty and cost of wastewater treatment. The instability of manual operation leads to inconsistent cleanliness of the crystal trays, affecting subsequent processes and the quality of the final product. More importantly, workers face safety risks such as burns and scalds when exposed to high-temperature equipment and harmful substances, easily leading to safety accidents. Furthermore, the existing process involves boiling the adhesive plate and crystal tray together before debonding, a time-consuming and labor-intensive process with poor debonding results and significant operational difficulties. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings in the above-mentioned background technology and provide an automated production line for removing adhesive from single-crystal silicon wafer trays. This line prioritizes the separation of adhesive-coated boards, and the overall process change saves working time, reduces efficiency, and achieves good degumming effect.

[0004] The technical solution adopted by this utility model to solve its technical problem is: an automated production line for removing adhesive from single-crystal silicon wafer trays, comprising an adhesive plate separation device, a wafer tray heating mechanism, a wafer tray adhesive removal device, a wafer tray cleaning and cooling device, and a detection mechanism arranged in sequence; a conveying mechanism for transporting and rotating workpieces is provided above the wafer tray heating mechanism, the wafer tray adhesive removal device, and the wafer tray cleaning and cooling device; the adhesive plate separation device is used to separate the adhesive plate on the wafer tray; the wafer tray heating mechanism is used to heat the wafer tray; the wafer tray adhesive removal device is used to remove the adhesive from the heated wafer tray; the wafer tray cleaning and cooling device is used to clean and dry the wafer tray after adhesive removal; and the detection mechanism is used to detect whether the wafer tray after adhesive removal is qualified.

[0005] The production process of the above production line is as follows: adhesive plate separation → crystal tray heating → crystal tray adhesive removal → crystal tray cleaning and cooling → crystal tray residual adhesive detection;

[0006] The crystal tray is conveyed to the adhesive plate separation device via roller conveyor to separate the adhesive plates adhered to the crystal tray.

[0007] The crystal tray continues to be conveyed to the crystal tray heating mechanism, and then transferred to the heating station heating water tank by the handling gripper of the handling mechanism. The heating station heating water tank heats the crystal tray and residual adhesive, heating the adhesive layer attached to the crystal tray to a deactivated state. Then, the handling gripper of the handling mechanism moves the crystal tray to the preliminary scraper mechanism of the large area residual adhesive removal station of the crystal tray adhesive removal equipment to remove most of the adhesive layer. Then, it is conveyed by the conveyor roller to the scraping mechanism and the grinding mechanism to continue cleaning the residual adhesive and glue watermarks.

[0008] After the adhesive is removed, the crystal tray is transported by the rotary gripper of the transport mechanism to the vibrating cleaning tank of the crystal tray cleaning and cooling device to clean the silicon powder adhering to the surface of the crystal tray. At the same time, the crystal tray is cooled by cold water. After cooling, the crystal tray is transported by the rotary gripper to the cleaning conveyor roller, where it is rinsed and then air-dried.

[0009] After rinsing and air drying, the crystal trays are conveyed to the vision inspection station by the cleaning conveyor rollers. The industrial camera vision system detects residual adhesive on the surface of the crystal trays to ensure their cleanliness.

[0010] The adhesive plate separation process utilizes a lifting blade and a plate separation mechanism to separate the adhesive plate from the crystal tray. A plate removal mechanism uses a robot to pick up the adhesive plate and place it onto a rack. This specific, defined structure achieves complete separation, resulting in a compact design that significantly reduces production costs and minimizes overall installation space. The separation is highly efficient and effective, requiring no heating for precise separation. Furthermore, it exhibits low wear and tear, minimizing impact on subsequent workpiece processing.

[0011] The crystal tray heating uses a gantry-type conveying mechanism to move the workpiece. The conveying mechanism is driven by a servo motor and uses an 80-degree constant temperature heating method to heat the crystal tray.

[0012] The crystal tray adhesive removal process includes three steps: First, large-area residual adhesive removal on the adhesive surface is performed using mechanical scraping to remove the heat-deactivated adhesive. Second, adhesive is scraped off the vertical and end faces using mechanical scraping to remove residual adhesive from all surfaces of the crystal tray. Third, adhesive residue is sanded off using a steel brush to remove any remaining adhesive and watermarks that cannot be scraped off. The crystal tray adhesive removal equipment has a compact structure, is easy to operate, and occupies little space. Its specially designed scrapers on each surface ensure cleaner adhesive removal with fewer scratches. Furthermore, it performs sanding on the crystal tray after adhesive removal, leaving no small adhesive dots on the surface. This improves the convenience of subsequent work, increases work efficiency, and saves overall production costs.

[0013] The second and third steps of the crystal tray degumming process use synchronous belt drive, with a speed-regulating motor driving the synchronous belt to transfer and position the material between workstations.

[0014] The crystal tray cleaning and cooling system utilizes a gantry-type transport mechanism to move the workpieces. This mechanism is driven by a servo motor, and the crystal trays are cooled by water. This system meets cleaning requirements, improves work efficiency, and ensures effective rinsing and drying. It is also easy to operate, has a simple structure, and operates stably. This reduces the rewashing rate of the crystal trays.

[0015] The residual adhesive detection of crystal trays uses an industrial camera vision system to detect residual adhesive on the workpieces and screens out those that have not been cleaned properly.

[0016] The advantages of this utility model compared with the prior art are:

[0017] The production process and equipment provided by this invention prioritize the separation of the adhesive plate. Separating the adhesive plate without heating ensures that there is no residual adhesive on the adhesive surface of the plate, eliminating the need for a heating and adhesive removal process, significantly improving efficiency and saving energy. Using a gantry to transport the crystal trays ensures both the accuracy of the movements and the economic efficiency of the equipment. Furthermore, because the entire process is fully automated and requires no manual intervention, it saves labor costs while greatly improving work efficiency. This achieves full automation of the entire monocrystalline silicon wafer production line, filling the automation gap in the crystal tray adhesive removal process. The entire process is safe and reliable, improves operational efficiency, reduces the physical strain on personnel, and eliminates the safety hazards associated with handling materials. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0019] Figure 1 This is a perspective view of an automated production line for removing adhesive from monocrystalline silicon wafer trays according to this utility model.

[0020] Figure 2 This is a top view of an automated production line for removing adhesive from monocrystalline silicon wafer trays according to this utility model.

[0021] Figure 3 Figure A is a perspective view of the adhesive board separation device of this utility model, Figure B is a top view of the adhesive board separation device, and Figure C is a perspective view of the adhesive board separation device.

[0022] Figure 4 This is a schematic diagram of the crystal holder positioning mechanism of this utility model. Figure A is a perspective view, Figure B is a front view, and Figure C is a top view.

[0023] Figure 5 This is a perspective view of the plate-removing mechanism of this utility model.

[0024] Figure 6 This is a perspective view I of the reciprocating transplanting mechanism of this utility model.

[0025] Figure 7 Figure 1 is a structural schematic diagram of the reciprocating transplanting mechanism of this utility model. Figure 2 is a perspective view of the reciprocating transplanting mechanism, and Figure 3 is a perspective view of the reciprocating transplanting mechanism.

[0026] Figure 8 Figure 2 shows a schematic diagram of the reciprocating transplanting mechanism of this utility model. Figure A is a front view of the reciprocating transplanting mechanism, and Figure B is a side view of the reciprocating transplanting mechanism.

[0027] Figure 9 This is a schematic diagram of the prying mechanism of this utility model. Figure A is a side view, Figure B is a top view, Figure C is a perspective view I, and Figure D is a perspective view II.

[0028] Figure 10 This is a perspective view of the plate separation mechanism of this utility model.

[0029] Figure 11 This is a top view of the plate separation mechanism of this utility model.

[0030] Figure 12 This is the front view of the plate separation mechanism of this utility model.

[0031] Figure 13 This is a perspective view of the crystal tray transfer platform of this utility model.

[0032] Figure 14 This is a three-dimensional view of the handling mechanism of this utility model.

[0033] Figure 15 This is a schematic diagram of the structure of the handling gripper of this utility model. Figure A is a side view, and Figure B is a perspective view.

[0034] Figure 16 This is a schematic diagram of the structure of the rotating gripper for handling this utility model. Figure A is a perspective view I, Figure B is a side view, Figure C is a perspective view II, and Figure D is a perspective view III.

[0035] Figure 17 Figure A is a perspective view of the rotating conveying assembly and the conveying gripper of this utility model. Figure B is a perspective view of the rotating assembly and the conveying gripper.

[0036] Figure 18 This is a perspective view of the crystal holder heating mechanism of this utility model.

[0037] Figure 19 Figure A is a three-dimensional view of the heating water tank and the preliminary heating positioning assembly of this utility model. Figure B is a three-dimensional view of the heating water tank and the preliminary heating positioning assembly.

[0038] Figure 20 This is a perspective view of the crystal tray adhesive removal device of this utility model.

[0039] Figure 21 This is a front view of the preliminary scraper mechanism of this utility model.

[0040] Figure 22 This is a perspective view of the preliminary scraper mechanism of this utility model.

[0041] Figure 23 Figure A is a perspective view of the lifting and tilting mechanism and the lifting and positioning mechanism of this utility model. Figure B is a front view of the lifting and tilting mechanism, Figure C is a side view of the lifting and tilting mechanism, and Figure D is a perspective view of the lifting and positioning mechanism.

[0042] Figure 24 Figure A is a three-dimensional view of the glue-scraping mechanism and the glue-scraping frame of this utility model. Figure B is a three-dimensional view of the glue-scraping mechanism and the glue-scraping frame.

[0043] Figure 25 Figure A is a schematic diagram of the adhesive scraping assembly and scraping unit of this utility model. Figure B is a side view of the adhesive scraping assembly, Figure C is a front view of the scraping unit, and Figure D is a perspective view of the scraping unit.

[0044] Figure 26 This is a schematic diagram (I) of the front and rear end face adhesive scraping assembly of this utility model. Figure A is the front view, and Figure B is the side view.

[0045] Figure 27 This is a schematic diagram (II) of the front and rear end face adhesive scraping assembly of this utility model. Figure A is a perspective view, and Figure B is a top view.

[0046] Figure 28 This is a perspective view of the grinding mechanism of this utility model.

[0047] Figure 29 This is a schematic diagram of the adhesive surface polishing mechanism of this utility model. Figure A is the front view, and Figure B is a perspective view.

[0048] Figure 30 This is a schematic diagram of the structure of the crystal tray cleaning and cooling device of this utility model.

[0049] Figure 31 This is a schematic diagram of the rinsing and drying mechanism of this utility model.

[0050] Figure 32 This is a schematic diagram of the structure of the testing mechanism of this utility model.

[0051] In the diagram: 1. Adhesive plate separation device; 2. Handling mechanism; 3. Crystal tray heating mechanism; 4. Crystal tray adhesive removal equipment; 5. Crystal tray cleaning and cooling device; 6. Detection mechanism; 101. Main frame; 102. Crystal tray positioning mechanism; 103. Plate removal mechanism; 104. Reciprocating transfer mechanism; 105. Skid plate mechanism; 106. Plate separation mechanism; 107. Crystal tray transfer platform; 10201. Stop cylinder fixing beam; 10202. Stop cylinder bracket; 10203. Stop cylinder A; 10204. Positioning cylinder A; 10205. Positioning support plate; 10206. Positioning cylinder bracket; 10207. Positioning cylinder fixing beam; 10208. Stop block; 10209. Positioning guide; 10210. Positioning sensor bracket; 10211. 10301. Crystal tray positioning block. 10302. Robot base. 10303. Clamping cylinder. 10404. Adhesive board gripper. 10405. Rotary transfer frame. 10406. Transfer base. 10407. Linear guide rail A. 10408. Linear bearing A. 10409. Guide rod. 104000. Lifting support frame. 104000. Lifting cylinder A. 104000. Lifting positioning frame. 104000. Positioning seat. 10410. Speed-regulating motor A. 10411. Rotary positioning plate. 10412. Positioning clamping cylinder. 10413. Limiting groove. 10414. Locking base plate. 10501. Edge-lifting cylinder support. 10502. Edge-lifting cylinder. 10503. Linear guide rail B. 10504. 10505. Prying blade, linear guide rail C, 10506. Lifting support A, 10507. Lifting cylinder A, 10601. Fixed rod, 10602. Linear guide rail D, 10603. Scraper A, 10604. Rodless cylinder A, 10701. Transplanting frame, 10702. Linear guide rail E, 10703. Transplanting platform, 10704. Rodless cylinder B, 10705. Positioning column, 10706. Foot, 201. Truss beam, 202. Handling gripper, 203. Handling jaw, 204. Handling rotating assembly, 205. Handling rotating gripper, 206. Bellows cover, 20201. X-axis servo motor A, 20202. Z-axis servo motor A, 20203. Motor mounting bracket A, 20204. Z-axis rack A, 20205. Z-axis column A, 20206. Z-axis limit block A, 20207. Gripper connecting seat, 20301. Gripper base plate, 20302. Linear guide rail F, 20303. Gripper cylinder, 20304. Gripper hand plate, 2041. Rotary motor, 2042. Rotary gripper connecting seat, 20501. X-axis servo motor B, 20502. Z-axis servo motor B, 20503. Motor mounting bracket B, 20504. Z-axis rack B, 20505.Z-axis column B, 301. Heating base, 302. Preliminary positioning assembly, 303. Heating water tank, 304. Heating water tank fixing frame, 305. Waterproof baffle, 30201. Preliminary positioning frame, 30202. Preliminary positioning cylinder, 30203. Preliminary positioning cylinder bracket, 30204. Guide limit component, 30301. Heating water tank frame, 30302. Tray, 30303. Tray support frame, 30304. Heating rod, 401. Bottom integral frame, 402. Preliminary scraper mechanism, 403. Lifting and flipping mechanism, 404. Conveyor roller, 405. Lifting and positioning mechanism, 406. Glue scraping mechanism, 407. Grinding mechanism, 40201. Scraper support seat, 40202. Rodless cylinder C, 40203. Waterproof cover A, 40204. Bearing support, 40205. Guide shaft A, 40206. Spring A, 40207. Scraper bracket, 40208. Scraper B, 40209. Slide plate A, 40210. Oil-free bushing, 40211. Linear guide rail G, 40301. Lifting base, 40302. Lifting cylinder B, 40303. Tilting base, 40304. Guide shaft B, 40305. Linear bearing B, 40306. Rotary cylinder bracket, 40307. Rotary cylinder, 40308. Bearing, 40309. Drive shaft, 40310. Rotary gripper, 40311. Stop cylinder bracket, 40312. Stop cylinder B, 40313. 40314. Cylinder connecting support plate. 40315. Baffle plate. 40501. Bearing housing. 40502. Lifting base. 40503. Positioning base. 40504. Lifting cylinder B. 40505. Positioning block. 40506. Positioning cylinder B. 4061. Glue scraper frame. 4062. Glue scraper assembly for the coating surface. 4063. Front and rear end glue scraper assembly. 406101. Glue scraper frame. 406102. Motor support. 406103. Servo motor. 406104. Synchronous belt A. 406105. Idler pulley bracket. 406106. Idler pulley. 406107. Positioning pin. 406108. Drive wheel. 406109. Linear guide rail H. 406201. Fixed bracket. 406202. Sliding block A, 406203. Vertical plate, 406204. Lifting slide plate, 406205. Sliding block B, 406206. Lifting cylinder C, 406207. Side scraper slide plate, 406208. Scraper cylinder, 406209. Cylinder connecting plate, 406210. Sliding slider, 406211. Pin, 406212. Side blade holder, 406213. Side scraper, 406214. Adapter block, 406215. Scraper assembly plate, 406216. Step pin, 406217. Spring B, 406218.Scraper support block, 406219. Rotary shaft, 406220. Scraper holder A, 406221. Scraper C, 406222. Synchronous belt limit block A, 406223. Water spray nozzle, 406301. Slide plate B, 406302. Cylinder connector, 406303. Cylinder A, 406304. Cylinder bracket, 406305. Sliding block C, 406306. Motor, 406307. Reciprocating slide plate, 406308. Linear guide rail I, 406309. Rotary shaft A, 406310. Cam, 406311. Linear guide rail J, 406312. Cylinder moving end connector, 406313. Drive block, 406314. Sliding plate, 406315. Tool holder B, 406316. Spring washer, 406317. Connecting pin, 406318. Waterproof cover B, 406319. Water pipe bracket, 406320. Water pipe A, 406321. Water spray pipe, 406322. Scraper D, 4071. Grinding frame, 4072. Adhesive surface grinding mechanism, 407101. Synchronous belt B, 407201. Slide plate C, 407202. Sliding block D, 407203. Cylinder B, 407204. Speed ​​regulating motor B, 407205. Lifting support B, 407206. Linear guide rail K, 407207. Rotary shaft B, 407208. Brush fixing plate, 407209. Wire brush, 407210. Water pipe B, 407211. Nozzle, 407212. Synchronous belt limit block B, 501. Cleaning and cooling fixing frame, 502. Vibrating cleaning tank, 503. Rinsing and drying mechanism, 50301. Cleaning conveyor roller, 50302. Box body, 50303. Lifting cylinder D, 50304. Rinsing nozzle, 50305. Drying nozzle, 50306. Drive motor, 50307. Drive shaft, 50308. Lifting sliding door, 50309. Proximity switch, 50310. Cleaning and drying base, 601. Detection conveyor roller, 602. Detection fixing frame, 603. Industrial camera, 604. Light source, 605. Through-beam switch. Detailed Implementation

[0052] The present invention will be further described below with reference to the accompanying drawings, but the present invention is not limited to the following embodiments. Example

[0053] An automated production line for removing adhesive from single-crystal silicon wafer holders, such as Figure 1-32As shown, the device includes, in sequence, an adhesive plate separation device 1, a crystal tray heating mechanism 3, a crystal tray adhesive removal device 4, a crystal tray cleaning and cooling device 5, and a detection mechanism 6. Above the crystal tray heating mechanism 3, the crystal tray adhesive removal device 4, and the crystal tray cleaning and cooling device 5, there is a conveying mechanism 2 for transporting and rotating workpieces. The adhesive plate separation device 1 is used to separate the adhesive plate from the crystal tray. The crystal tray heating mechanism 3 is used to heat the crystal tray. The crystal tray adhesive removal device 4 is used to remove the adhesive from the heated crystal tray. The crystal tray cleaning and cooling device 5 is used to clean and dry the crystal tray after adhesive removal. The detection mechanism 6 is used to detect whether there is residual adhesive on the crystal tray after adhesive removal.

[0054] The adhesive board separation device 1 includes a main frame 101, a crystal tray positioning mechanism 102, a board removal mechanism 103, a reciprocating transfer mechanism 104, a prying mechanism 105, a board separation mechanism 106, and a crystal tray transfer platform 107. The crystal tray positioning mechanism 102 is mounted on a frame at one end of the main frame 101, the reciprocating transfer mechanism 104 is mounted on the base of the main frame 101, the board removal mechanism 103 is mounted adjacent to the reciprocating transfer mechanism 104, the board separation mechanism 106 and the prying mechanism 105 are mounted on the main frame 101, the crystal tray transfer platform 107 is mounted at the other end of the main frame 101, the crystal tray transfer platform 107 is mounted behind the reciprocating transfer mechanism 104, the board separation mechanism 106 is mounted above the reciprocating transfer mechanism 104, the prying mechanism 105 is mounted on a frame on the side of the main frame 101, and the prying mechanism 105 is mounted in front of the board separation mechanism 106.

[0055] The crystal holder positioning mechanism 102 includes a stop cylinder fixing beam 10201 and a positioning cylinder fixing beam 10207 arranged vertically. A stop cylinder 10203A for stopping the workpiece is mounted on the stop cylinder fixing beam 10201. A stop block 10208 is mounted at the front end of the cylinder rod of the stop cylinder 10203. A positioning cylinder A10204 for positioning the workpiece is mounted at each end of the positioning cylinder fixing beam 10207. The cylinder rod of one of the positioning cylinders A10204... A positioning guide 10209 is provided at the front end for positioning and guiding the workpiece. A crystal support positioning block 10211 is provided at the front end of the cylinder rod of another positioning cylinder A10204. The positioning guide 10209 has a U-shaped structure, and its U-shaped groove is interference-fitted with the workpiece. The crystal support positioning block 10211 is connected to the front end of the cylinder rod of the positioning cylinder A10204 through a positioning support plate 10205. A crystal support positioning block 10211 is provided at each of the four corners of the front end of the positioning support plate 10205 for positioning the workpiece.

[0056] The stop cylinder A10203 is set vertically, and the positioning cylinder A10204 is set horizontally and facing each other.

[0057] The positioning cylinder A10204 is mounted on the positioning cylinder fixing beam 10207 via the positioning cylinder bracket 10206.

[0058] The crystal holder positioning block 10211 is preferably a circular or square block. The crystal holder positioning block 10211 and the positioning support plate 10205 are elastically connected.

[0059] The stop cylinder A10203 is mounted on the stop cylinder fixing beam 10201 via the stop cylinder bracket 10202. Preferably, two stop cylinders A10203 are provided, and the two stop cylinders A10203 are symmetrically arranged on the stop cylinder fixing beam 10201.

[0060] A position sensor is installed adjacent to the stop cylinder A10203, and the position sensor is fixed to the stop cylinder fixing beam 10201 by the position sensor bracket 10210.

[0061] Two position sensors are preferably installed, with one position sensor installed on the adjacent side of each stop cylinder A10203.

[0062] Two positioning cylinders A10204 are symmetrically arranged.

[0063] The positioning guide 10209 is connected to the front end of the cylinder rod of the positioning cylinder A10204 via the positioning support plate 10205. The positioning support plate 10205 is provided at the front end of the cylinder rod of the positioning cylinder A10204, and the positioning guide 10209 is provided on the positioning support plate 10205.

[0064] The stop cylinder fixing beam 10201 and the positioning cylinder fixing beam 10207 are connected to form an upper and lower frame structure, or are respectively fixed on the main frame 101 to form an upper and lower structure.

[0065] The stop cylinder fixing beam 10201 and the positioning cylinder fixing beam 10207 are preferably arranged with an upper and lower staggered layout.

[0066] The plate-removing mechanism 103 includes a plate-removing robot mounted on a robot base 10301. An adhesive plate gripper 10303 is located at the front end of the plate-removing robot. The adhesive plate gripper 10303 includes a clamping cylinder 10302, which is connected to the front end of the plate-removing robot via a cylinder connecting plate. Each end of the clamping cylinder 10302 is connected to a gripper connecting plate, and the gripper is connected to its bottom. Limiting guide grooves are provided on the sides of the gripper. The plate-removing robot is mounted on the ground via the robot base 10301.

[0067] A six-axis robot is preferred for picking up the pallet. The pallet picking mechanism 103 is located on the side of the main frame 101.

[0068] The reciprocating transfer mechanism 104 includes a rotating transfer frame 10401, on which a transfer component is provided. A rotating component is provided at the front end and the rear end of the transfer component. The rotating component is positioned at a height higher than the transfer component. The transfer component reciprocates on the rotating transfer frame 10401 via a sliding component. The transfer component is also provided with a lifting component, and the lifting component is further provided with a locking component for locking the workpiece.

[0069] The reciprocating transplanting mechanism 104 is connected to the main frame 101 via the rotating transplanting frame 10401.

[0070] The transplanting assembly includes a transplanting base 10402, a lifting support frame 10406 ​​mounted on the transplanting base 10402, and a lifting positioning frame 10408 mounted on the top of the lifting support frame 10406. Preferably, two lifting positioning frames 10408 are provided, each preferably located on the top surface of the side of the lifting support frame 10406. Each lifting positioning frame 10408 has several limiting grooves 10413, symmetrically arranged on the two lifting positioning frames 10408. Preferably, four limiting grooves 10413 are provided.

[0071] The rotating assembly includes a speed-regulating motor A10410 and two rotating positioning plates 10411. The two rotating positioning plates 10411 are connected by a rotating shaft. One end of the rotating shaft is connected to the output end of the speed-regulating motor A10410, and the other end is connected to a bearing housing. The bearing housing is mounted on the rotating transplanting frame 10401.

[0072] The rotating positioning plate 10411 has a long workpiece groove in the middle for limiting the workpiece.

[0073] The speed-regulating motor A10410 is mounted on the rotating transplanting frame 10401 via a motor mounting bracket. The rotating shaft passes through the bearing housing and is connected to the output end of the speed-regulating motor A10410.

[0074] The lifting assembly includes a lifting support frame 10406 ​​and a lifting cylinder A10407. The lifting cylinder A10407 is mounted on the transplanting base 10402. The front end of the cylinder rod of the lifting cylinder A10407 is connected to the ground of the lifting support frame 10406 ​​through a cylinder connector. A guide rod 10405 is provided on the bottom surface of the lifting support frame 10406. A linear bearing A10404 is provided on the transplanting base 10402. The lifting support frame 10406 ​​is movably connected to the transplanting base 10402 through the guide rod 10405 and the linear bearing A10404.

[0075] Preferably, four of each of the guide rod 10405 and linear bearing A10404 are provided.

[0076] The sliding assembly includes a linear guide rail A10403 and a slider. The linear guide rail A10403 is mounted on the rotating transplanting frame 10401, and the slider is mounted on the ground of the transplanting base 10402. The transplanting base 10402 moves on the rotating transplanting frame 10401 via the sliding assembly. Preferably, two linear guide rails A10403 are provided.

[0077] A workpiece positioning sensor is provided on the rotating transplanting frame 10401, and the workpiece positioning sensor is located on the outside of the rotating positioning plate 10411.

[0078] The locking assembly includes a locking base plate 10414, with both ends of the locking base plate 10414 fixed to the rotating transfer frame 10401. The locking base plate 10414 is positioned below the lifting positioning frame 10408. A positioning clamping cylinder 10412 is mounted on the locking base plate 10414, and a locking block is mounted at the front end of the cylinder rod of the positioning clamping cylinder 10412. A positioning seat 10409 for placing the workpiece is also mounted on one end of the locking base plate 10414, and a base for assisting in placing the workpiece is mounted on the other end. The positioning seat 10409 and the base are positioned on the outside of the lifting positioning frame 10408.

[0079] A workpiece positioning sensor is provided on the locking base plate 10414, and the workpiece positioning sensor is located adjacent to the positioning seat 10409.

[0080] The prying mechanism 105 includes a prying cylinder support 10501. A sliding component is provided on the back of the prying cylinder support 10501. The prying cylinder support 10501 is slidably connected to the main frame 101 through the sliding component. A prying cylinder 10502 is also provided on the back of the prying cylinder support 10501. The front end of the cylinder rod of the prying cylinder 10502 passes through the prying cylinder support 10501 and is connected to the prying knife 10504. A lifting support A10506 is provided below the prying cylinder support 10501. A lifting cylinder A10507 is provided on the lifting support A10506. The front end of the cylinder rod of the lifting cylinder A10507 passes through the lifting support A10506 and is connected to the bottom surface of the prying cylinder support 10501 through a connector.

[0081] The front end of the cylinder rod of the edge-tilting cylinder 10502 is connected to the edge-tilting knife 10504 via a connecting block.

[0082] The warping cylinder support is also equipped with a position sensor for detecting the vertical distance from the workpiece.

[0083] The crowbar 10504 includes a crowbar support and a crowbar plate. The bottom of the crowbar support is connected to the crowbar cylinder support 10501 via a linear guide rail C10505 and a slider to achieve back-and-forth sliding. A crowbar connecting plate is provided on the crowbar support. The front end of the crowbar connecting plate is connected to the end of the crowbar plate. The front end of the crowbar connecting plate is a bevel. The crowbar plate is inclined. The front end of the crowbar plate is provided with several grooves, and the protrusion is an inclined blade tip.

[0084] The edge-curling cylinder 502 is mounted on the edge-curling cylinder support 10501 via a cylinder fixing component.

[0085] The sliding assembly includes a linear guide rail B10503 and a slider. The slider is mounted on the lifting cylinder support 10501, and the linear guide rail B10503 is mounted on the main frame 101. The side of the lifting support A10506 is mounted on the main frame 101.

[0086] The plate separation mechanism 106 includes a fixed rod 10601, with both ends of the fixed rod 10601 connected and fixed to the main frame 101. A rodless cylinder A10604 is installed on the fixed rod 10601, and the movable end of the rodless cylinder A10604 is connected to the scraper A10603 through a connecting block. A linear guide rail D10602 is installed on the top surface of the fixed rod 10601, and the connecting block is slidably connected to the linear guide rail D10602 through a slider.

[0087] The plate separation mechanism 106 is fixed to the main frame 101 by a fixing rod 10601.

[0088] The scraper A10603 has an L-shaped structure, with its inner corners being arc-shaped and its long side being a wedge-shaped three-dimensional structure.

[0089] The crystal tray transfer platform 107 includes a transfer frame 10701 and a transfer platform 10703. The transfer platform 10703 is disposed on the top surface of the transfer frame 10701. The transfer platform 10703 is slidably connected to the top surface of the transfer frame 10701 via a linear guide rail E10702 and a slider. A rodless cylinder B10704 is also disposed on the transfer frame 10701. The movable end of the rodless cylinder B10704 is connected to the bottom surface of the transfer platform 10703 via a connector. A positioning post 10705 for limiting the workpiece is disposed on the transfer platform 10703. The positioning post 10705 is disposed at the corner of the top surface of the transfer platform 10703.

[0090] The transplanting platform 10703 is equipped with foot 10706 at its bottom, and is set on the ground by foot 10706.

[0091] The handling mechanism 2 includes a truss beam 201, on which a handling gripper 202 and a handling rotary gripper 205 are mounted. The handling gripper 202 and the handling rotary gripper 205 are connected to the truss beam 201 through a handling travel guide assembly. The handling gripper 202 includes an X-axis travel assembly and a Z-axis travel assembly. The Z-axis travel assembly is mounted on the X-axis travel assembly, and a handling gripper 203 is mounted at the bottom of the Z-axis travel assembly. The handling rotary gripper 205 includes an X-axis travel assembly and a Z-axis travel assembly. The Z-axis travel assembly is mounted on the X-axis travel assembly, and a handling rotary assembly 204 is mounted at the bottom of the Z-axis travel assembly. The handling gripper 203 is connected to the bottom of the handling rotary assembly 204.

[0092] The transport and guiding assembly is a rack and pinion system, with two racks mounted on the truss beam 201. The transport mechanism 2 is mounted on top of the frame of the crystal tray heating mechanism 3, the crystal tray adhesive removal device 4, and the crystal tray cleaning and cooling device 5 via a fixed frame.

[0093] The X-axis traveling assembly of the handling gripper 202 includes an X-axis servo motor, which is mounted on a motor mounting bracket. The output end of the X-axis servo motor is connected to a gearbox, and both ends of the gearbox are connected to two X-axis drive shafts. The X-axis drive shafts are connected to gears, and the gears mesh with a rack on the truss beam 201.

[0094] The Z-axis traveling assembly of the handling gripper 202 includes a Z-axis servo motor, which is mounted on a motor mounting bracket. A Z-axis column is inserted into the motor mounting bracket, and a Z-axis rack is mounted on the Z-axis column. The output end of the Z-axis servo motor is connected to a Z-axis drive shaft, which is connected to a gear. The gear meshes with the Z-axis rack. The bottom of the Z-axis column is connected to the handling gripper 203 via a gripper connecting seat 20207.

[0095] A slider is mounted on the motor mounting bracket, and a Z-axis linear guide is mounted on the Z-axis column. The Z-axis linear guide is used to limit the Z-axis displacement by a Z-axis limit block. The Z-axis linear guide and the slider are slidably connected.

[0096] The handling gripper 202 includes a gripper base plate 20301. The handling gripper 203 is connected to a gripper connecting seat 20207 via the gripper base plate 20301. A gripper cylinder 20303 is mounted on the bottom surface of the gripper base plate 20301. The two movable ends of the gripper cylinder 20303 are each connected to a gripper plate 20304 via connectors. A linear guide rail F20302 is mounted on the bottom surface of the gripper base plate 20301. A slider is mounted on the top of the gripper plate 20304, and the linear guide rail F20302 and the slider are slidably connected. A bottom baffle for gripping the workpiece is mounted on the bottom of the gripper plate 20304.

[0097] The X-axis traveling assembly of the rotary gripper 205 includes an X-axis servo motor, which is mounted on a motor mounting bracket. The output end of the X-axis servo motor is connected to a gearbox, and both ends of the gearbox are connected to two X-axis drive shafts. The X-axis drive shafts are connected to gears, and the gears mesh with racks on the truss beam 201.

[0098] The Z-axis traveling assembly of the rotary gripper 205 includes a Z-axis servo motor, which is mounted on a motor mounting bracket. A Z-axis column is inserted into the motor mounting bracket, and a Z-axis rack is mounted on the Z-axis column. The output end of the Z-axis servo motor is connected to a Z-axis drive shaft, which is connected to a gear. The gear meshes with the Z-axis rack. The bottom of the Z-axis column is connected to the transport gripper 203 via the rotary transport assembly 204.

[0099] A slider is mounted on the motor mounting bracket, and a Z-axis linear guide is mounted on the Z-axis column. The Z-axis linear guide is used to limit the Z-axis displacement by a Z-axis limit block. The Z-axis linear guide and the slider are slidably connected.

[0100] The rotating transport assembly 204 includes a rotating gripper connecting seat 2042 and a rotating motor 2041. The rotating motor 2041 is mounted on the rotating gripper connecting seat 2042. The output end of the rotating motor 2041 is connected to the gripper base plate 20301. The rotating gripper connecting seat 2042 is connected to the bottom of the Z-axis column.

[0101] The rotary gripper 205 includes a gripper base plate 20301 for its transporting jaws 203. The gripper 203 is connected to a rotary motor 2041 via the gripper base plate 20301. A gripper cylinder 20303 is mounted on the bottom surface of the gripper base plate 20301. The two movable ends of the gripper cylinder 20303 are each connected to a gripper plate 20304 via connectors. A linear guide rail F20302 is mounted on the bottom surface of the gripper base plate 20301, and a slider is mounted on the top of the gripper plate 20304. The linear guide rail F20302 and the slider are slidably connected. A bottom baffle for gripping the workpiece is mounted on the bottom of the gripper plate 20304.

[0102] The outer periphery of the transport gripper 203 and the Z-axis column is also provided with a waterproof accordion cover 206.

[0103] The transport gripper 202 is used to transfer the crystal tray after it has been positioned by the initial positioning component 302 to the heating water tank 303 of the crystal tray heating mechanism 3. The transport gripper 202 is also used to transfer the crystal tray cleaned by the heating water tank to the crystal tray de-adhesive device 4. The transport rotation gripper 205 transfers the crystal tray after de-adhesion by the crystal tray de-adhesive device 4 to the crystal tray cleaning and cooling device 5 for cleaning, and completes the rotation work during the transfer process.

[0104] The crystal tray heating mechanism 3 includes a heating base 301 and a preliminary positioning component 302. The preliminary positioning component 302 is located at the front end of the heating base 301, and a heating water tank 303 is located at the rear end of the preliminary positioning component 302. The heating water tank 303 is fixed to the heating base 301 by a heating water tank fixing frame 304. A waterproof baffle 305 for waterproofing is also provided on the upper part of the heating base 301. The waterproof baffle 305 is preferably in the form of a grid.

[0105] The preliminary positioning component 302 includes a preliminary positioning frame 30201. A preliminary positioning cylinder 30202 is set at each end of the preliminary positioning frame 30201. The two preliminary positioning cylinders 30202 are arranged opposite to each other. The front end of the cylinder rod of the preliminary positioning cylinder 30202 is connected to the guide limiting component 30204 through a connector. The front end face of the guide limiting component 30204 has a U-shaped structure.

[0106] The heating water tank 303 includes a heating water tank frame 30301, which is filled with hot water. A tray support frame 30303 is installed inside the heating water tank frame 30301, and a tray 30302 is mounted on the tray support frame 30303. A filter screen is mounted on the tray 30302. Several heating rods 30304 are installed inside the heating water tank frame 30301. The heating rods 30304 are commercially available products.

[0107] The preliminary positioning cylinder 30202 is fixed to the preliminary positioning frame 30201 by the preliminary positioning cylinder bracket 30203.

[0108] The heating water tank 303 is equipped with a temperature sensor for detecting water temperature, preferably 80 degrees Celsius.

[0109] The heating water tank 303 is also equipped with a level gauge for detecting the water level.

[0110] The heating water tank 303 is also provided with a water inlet, which is connected to a water inlet pipe, and a solenoid valve is installed on the water inlet pipe.

[0111] The bottom of the heating water tank 303 is also provided with a drain outlet and a glue outlet.

[0112] A preliminary positioning component 302 is set at the middle of the end of the crystal tray transfer platform 107.

[0113] The crystal tray adhesive removal device 4 includes a bottom integral frame 401; a preliminary scraper mechanism 402 is provided at one end of the bottom integral frame 401, and a lifting and turning mechanism 403, an adhesive scraping mechanism 406, and a grinding mechanism 407 are sequentially arranged on the bottom integral frame 401; a conveyor roller 404 for conveying workpieces is also provided on the bottom integral frame 401, the conveyor roller 404 is inserted and arranged in the lifting and turning mechanism 403, and the conveyor roller 404 is located below the adhesive scraping mechanism 406 and the grinding mechanism 407. A lifting and positioning mechanism 405 is provided below the adhesive scraping mechanism 406 and the grinding mechanism 407, and the lifting and positioning mechanism 405 is located on the bottom integral frame 401 and in the middle of the conveyor roller 404. The preliminary scraper mechanism 402 is located at the front end of the conveyor roller 404.

[0114] The preliminary scraper mechanism 402 includes a scraper support 40201, on which a rodless cylinder C40202 is mounted. The movable end of the rodless cylinder C40202 is connected to a sliding plate A40209. The sliding plate A40209 is slidably connected to the scraper support 40201 via a sliding component. A bearing support 40204 is mounted in front of the sliding plate A40209. A scraper bracket 40207 is mounted on the bearing support 40204. A scraper B40208 is mounted at the front end of the scraper bracket 40207. The scraper bracket 40207 and the bearing support 40204 are flexibly connected. A guide shaft A40205 is connected to the lower part of the scraper bracket 40207. The guide shaft A40205 passes through a spring A40206 and is fitted with an oil-free bushing 40210.

[0115] Two guide shafts A40205 are preferably provided.

[0116] An oil-free bushing 40210 is nested and fixed on the bearing support 40204. The number of oil-free bushings 40210 is the same as the number of guide shafts A40205.

[0117] The sliding assembly includes a linear guide rail G40211 and a slider. The linear guide rail G40211 is mounted on the scraper support 40201, and the slider is mounted on the back of the slide plate A40209.

[0118] The lower sides of the slide plate A40209 are movably connected to the scraper support 40201 via sliders and linear guide rails G40211, and the upper back of the slide plate A40209 is connected to the movable end of the rodless cylinder C40202.

[0119] The initial scraper mechanism 402 is fixed to the bottom integral frame 401 by the scraper support 40201.

[0120] A waterproof cover A40203 is fixedly installed above the scraper support base 40201.

[0121] The scraper bracket 40207 is configured such that the surface of the scraper B40208 is beveled.

[0122] The scraper support 40201 is also equipped with a proximity switch for detecting the workpiece's position.

[0123] The 404 conveyor roller is an existing, commercially available device. It is not subject to any special limitations and is only required to convey the workpiece.

[0124] The lifting and tilting mechanism 403 includes a lifting base 40301. A lifting cylinder B40302 is installed at the bottom of the lifting base 40301. The front end of the cylinder rod of the lifting cylinder B40302 is connected to the tilting base 40303. A rotary cylinder 40307 is installed on each side of the upper part of the tilting base 40303. The rotary cylinder 40307 is connected to the rotary gripper 40310 through a drive shaft 40309. A stop cylinder B40312 is also installed on the lifting base 40301. The stop cylinder B40312 is located on one side of the long side of the lifting base 40301. The front end of the cylinder rod of the stop cylinder B40312 is connected to the baffle plate 40314.

[0125] A guide shaft B40304 is provided at the lower part of the flip base 40303, and a linear bearing B40305 is provided on the lifting base 40301. The guide shaft B40304 and the linear bearing B40305 are fitted together. Preferably, four guide shafts B40304 and four linear bearings B40305 are provided.

[0126] The front end of the cylinder rod of the lifting cylinder B40302 is connected to the bottom surface of the flipping base 40303 via a connecting block.

[0127] The lifting and flipping mechanism 403 is fixed to the bottom overall frame 401 via the lifting base 40301.

[0128] The rotary cylinder 40307 is mounted on the tilting base 40303 via the rotary cylinder bracket 40306.

[0129] The stop cylinder B40312 is mounted on the lifting base 40301 via the stop cylinder B support 40311.

[0130] The baffle plate 40314 is connected to the front end of the cylinder rod of the stop cylinder B40312 via the cylinder connecting support plate 40313.

[0131] The rotary gripper 40310 includes a gripper base plate and gripper plates symmetrically arranged above and below the gripper base plate. The gripper base plate is connected to the drive shaft 40309, and a proximity switch is provided on the gripper plate.

[0132] A bearing housing 40315 is provided on the rotary cylinder bracket 40306. The bearing housing 40315 is concentric with the rotary shaft of the rotary cylinder 40307. The bearing housing 40315 is fitted with a bearing 40308. The drive shaft 40309 passes through the bearing 40308 and engages with the rotary shaft of the rotary cylinder 40307. The rotary gripper 40310 is installed at the front end of the drive shaft 40309.

[0133] The lifting and positioning mechanism 405 includes a lifting base 40501, a lifting cylinder B40503 mounted on the lifting base 40501, the top end of the cylinder rod of the lifting cylinder B40503 connected to a positioning base 40502, and the positioning base 40502 and the lifting base 40501 connected by a guide post and a bearing; a limiting block is mounted at each end of the positioning base 40502, a positioning cylinder B40505 is mounted inside each limiting block, a positioning plate is mounted at the upper end of the positioning cylinder B40505, and the top end of the cylinder rod of the positioning cylinder B40505 passes through the positioning plate and connects to the positioning block 40504.

[0134] The positioning plate is set at a height lower than the limit block.

[0135] Each limiting block is equipped with a crystal holder limiting protrusion.

[0136] The top of the cylinder rod of the positioning cylinder B40505 is connected to the positioning block 40504 via a connector.

[0137] The positioning block 40504 is elongated, and the width of the positioning block 40504 is smaller than the width of the narrow side of the crystal holder groove, while the length of the positioning block 40504 is greater than the width of the narrow side of the crystal holder groove.

[0138] The top of the cylinder rod of the lifting cylinder B40503 is connected to the positioning base 40502 via a connecting block.

[0139] The lifting and positioning mechanism 405 is mounted on the bottom overall frame 401 via the lifting base 40501.

[0140] The adhesive scraping mechanism 406 includes an adhesive scraping frame 4061, with an adhesive scraping assembly 4063 at each end of the adhesive scraping frame 4061 for removing adhesive from the front and rear surfaces of the crystal tray, and an adhesive scraping assembly 4062 in the middle for removing adhesive from the surface of the crystal tray. A drive assembly is provided on the adhesive scraping frame 4061 for driving the adhesive scraping assembly 4062 to reciprocate.

[0141] The glue scraping mechanism 6 is fixed to the bottom overall frame 401 via the glue scraping frame 4061.

[0142] The glue scraper body 4061 includes a glue scraper frame 406101, on which a drive assembly is mounted. The drive assembly includes a servo motor 406103, which is located at one end of the glue scraper frame 406101. An idler wheel 406106 is located at the other end of the glue scraper frame 406101. The output end of the servo motor 406103 is connected to a drive wheel 406108, which is mounted on the glue scraper frame 406101. The drive wheel 406108 and the idler wheel 406106 are connected by a synchronous belt A406104.

[0143] The upper surface of the adhesive scraper frame 406101 is also provided with linear guide rails H406109 on both sides for guidance. Preferably, two linear guide rails H406109 are provided.

[0144] The drive wheel 406108 is mounted on the adhesive scraper frame 406101.

[0145] The idler wheel 406106 is mounted on the scraper frame 406101 via a locating pin 406107 and an idler wheel bracket 406105. The bottom of the idler wheel bracket 406105 is mounted on the scraper frame 406101, and the locating pin 406107 passes through the idler wheel 406106 and is connected to the idler wheel bracket 406105.

[0146] The servo motor 406103 is mounted on the glue scraping frame 406101 via the motor support 406102, and the drive shaft of the servo motor 406103 is connected to the drive wheel 406108.

[0147] The adhesive scraping assembly 4062 includes a fixed bracket 406201, on which a lifting cylinder C406206 is mounted. The cylinder rod of the lifting cylinder C406206 passes downward through the fixed bracket 406201 and is connected to the scraping unit via a connecting rod. The scraping unit is used to scrape off the adhesive from the coated surface. The bottom surface of the fixed bracket 406201 is connected to a vertical plate 406203. The vertical plate 406203 is connected to the scraping unit via a sliding assembly, thereby enabling the scraping unit to move up and down under the action of the lifting cylinder C406206.

[0148] A timing belt limit block A406222 is provided on the upper surface of the fixed bracket 406201. The adhesive scraping assembly 4062 is connected to the timing belt A406104 through the timing belt limit block A406222. The timing belt limit block A406222 and the timing belt A406104 are engaged. The timing belt A406104 is inserted through the timing belt limit block A406222.

[0149] The adhesive scraping assembly 40624062 is connected to the linear guide rail H406109 on the adhesive scraping frame body 406101 via a sliding block A406202 provided on the bottom surface of the fixed bracket 406201.

[0150] The upright plate 406203 is connected to the lifting slide plate 406204 on the sliding assembly and the scraping unit. The sliding assembly includes a linear guide rail and a sliding block B406205. The linear guide rail is set on the upright plate 406203 and the sliding block B406205 is set on the lifting slide plate 406204.

[0151] The adhesive scraping unit includes a lifting slide plate 406204, the front end of which is connected to an adhesive scraping fixing plate. A scraper cylinder 406208 is installed on each side of the adhesive scraping fixing plate. The front end of the cylinder rod of the scraper cylinder 406208 is connected to a side scraper slide plate 406207 via a connector. The side scraper slide plate 406207 is connected to the bottom surface of the adhesive scraping fixing plate via a sliding assembly. The bottom surface of the side scraper slide plate 406207 is connected to a side blade holder 40. 6212, pin 406211 passes through the side blade holder 406212 and is fixed to the bottom of the side scraper slide plate 406207; the side blade holder 406212 is connected to the side scrapers 406213 on both sides; a transition block 406214 is set at the center of the bottom surface of the glue scraping fixing plate; a scraper assembly plate 406215 is set at the bottom of the transition block 406214, and several sets of main scrapers are set on the bottom surface of the scraper assembly plate 406215, and the several sets of main scrapers are arranged in an alternating and progressive manner.

[0152] The main scraper includes a scraper support block 406218 and a scraper C406221. The top surface of the scraper support block 406218 is connected to the scraper plate 406215. The bottom of the scraper support block 406218 is connected to the blade holder A406220 via a rotating shaft 406219. The rotating shaft 406219 passes through the blade holder A406220 and the scraper support block 406218, and the three rotate in coordination. The scraper plate 406215 and the blade holder A406220 are connected by a stepped pin 406216, and a spring B406217 is sleeved on the outside of the stepped pin 406216.

[0153] The tool holder A406220 is equipped with a scraper C406221, which has a wedge-shaped three-dimensional structure.

[0154] Three sets of main scrapers are preferred.

[0155] Three sets of water spray nozzles 406223 are installed on each side of the adapter block 406214.

[0156] The sliding assembly includes a linear guide rail and a sliding slider 406210. The linear guide rail is disposed on the bottom surface of the scraper fixing plate, and the sliding slider 406210 is disposed on the side scraper slide plate 406207.

[0157] The cylinder rod of the lifting cylinder C406206 passes downward through the fixed bracket 406201 and is connected to the scraper fixing plate through the connecting rod and connecting block.

[0158] The scraper cylinder 406208 is mounted on the scraper fixing plate via the cylinder connecting plate 406209.

[0159] The front and rear end face scraping assembly 4063 includes a slide plate B406301. A cylinder A406303 is mounted on the upper surface of the slide plate B406301. The front end of the cylinder rod of the cylinder A406303 is connected to a cylinder connector 406302. The cylinder connector 406302 is fixed on the scraping frame 406101. A vertical fixing plate is mounted below the slide plate B406301. A motor 406306 is mounted on one side of the vertical fixing plate. The vertical fixing plate is also connected to a reciprocating slide plate 406307 via a sliding assembly. The output shaft of the motor 406306 is connected to a cam follower and a cam 406310 via a rotary shaft A406309. The reciprocating slide plate 406307 drives the reciprocating slide plate 406307 to move up and down; the reciprocating slide plate 406307 is connected to the sliding fixed plate, which is horizontally set. The two ends of the bottom surface of the sliding fixed plate are connected to the sliding plate 406314 through the moving components. The bottom surface of the sliding fixed plate is also provided with a centering cylinder. The movable ends of the centering cylinder are connected to the drive block 406313 through the cylinder movable end connector 406312. The drive block 406313 is connected to the sliding plate 406314. The bottom of the sliding plate 406314 is flexibly connected to the tool holder B406315, and the tool holder B406315 is provided with a scraper D406322.

[0160] The sliding assembly includes a linear guide rail I406308 and a slider. The linear guide rail I406308 is mounted on a vertical fixed plate, and the slider is mounted on a reciprocating slide plate 406307.

[0161] The moving component includes a linear guide rail J406311 and a slider. The linear guide rail J406311 is disposed on the bottom surface of the sliding fixed plate, and the slider is disposed on the sliding plate 406314.

[0162] The front and rear end face scraping components are connected to the scraping frame via the slide plate B and the sliding component.

[0163] The adhesive scraping assembly 40624063 is connected to the linear guide rail H406109 on the adhesive scraping frame 406101 via the sliding block C406305 set on the bottom surface of the slide plate B406301.

[0164] Cylinder A406303 is mounted on slide plate B406301 via cylinder bracket 406304.

[0165] A waterproof cover B406318 is also installed on the sliding fixing plate.

[0166] The tool holder B406315 is connected to the sliding plate 406314 via a spring washer 406316 and a connecting pin 406317. The connecting pin 406317 passes through the spring washer 406316 and is mounted on the sliding plate 406314. The tool holder B406315 is fitted with the spring washer 406316 and is pressed against the lower surface of the sliding plate 406314 by the connecting pin 406317.

[0167] The slide plate B406301 is also equipped with a water pipe bracket 406319, and a water pipe A406320 is installed on the water pipe bracket 406319. The water pipe A406320 is connected to an external water inlet pipe. The water pipe A406320 is branched into two water spray pipes 406321. The bottom of the water spray pipe 406321 is equipped with a nozzle, which is located above the front end of the sliding fixed plate.

[0168] The polishing mechanism 7 includes a polishing frame 4071, an adhesive surface polishing mechanism 4072 is disposed in the middle of the polishing frame 4071, and a drive component is disposed on the polishing frame 4071 for driving the adhesive surface polishing mechanism 4072 to reciprocate.

[0169] The grinding frame 4071 includes a grinding frame, on which a drive component is mounted. The drive component includes a grinding servo motor, which is mounted at one end of the grinding frame. A grinding idler wheel is mounted on the other end of the grinding frame. The output end of the grinding servo motor is connected to a grinding drive wheel, which is mounted on the grinding frame. The grinding drive wheel and the grinding idler wheel are connected by a synchronous belt B.

[0170] The grinding mechanism 7 is fixed to the bottom overall frame 401 via the grinding frame 4071.

[0171] Linear guide rails are also provided on both sides of the upper surface of the grinding frame for guidance. It is preferable to provide two linear guide rails.

[0172] The grinding drive wheel is mounted on the grinding frame.

[0173] The grinding idler wheel is mounted on the grinding frame via a locating pin and a grinding idler wheel bracket. The bottom of the grinding idler wheel bracket is mounted on the grinding frame, and the grinding locating pin passes through the grinding idler wheel and connects to the grinding idler wheel bracket.

[0174] The grinding servo motor is mounted on the grinding frame via a grinding motor support, and the drive shaft of the grinding servo motor is connected to the grinding drive wheel.

[0175] The adhesive surface polishing mechanism 4072 includes a slide plate C407201, on which a cylinder B407203 is mounted. The cylinder rod of cylinder B407203 is connected to a connecting rod that passes downward through the slide plate C407201 and is connected to a lifting support B407205 via a connecting extension rod. A speed-regulating motor B407204 is mounted on the lifting support B407205. The drive shaft of the speed-regulating motor B407204 passes through a bearing and is connected to a rotary shaft B407207. The bottom surface of the rotary shaft B407207 is connected to a brush fixing plate 407208. Several wire brushes are mounted on the bottom surface of the brush fixing plate 407208 for polishing workpieces. The lifting support B407205 is connected to a vertical support plate mounted on the bottom surface of the slide plate C407201 via a guide assembly.

[0176] The guide assembly includes a linear guide rail K407206 and a slider. The linear guide rail K407206 is mounted on the vertical support plate, and the slider is mounted on the lifting support B407205.

[0177] The adhesive surface polishing mechanism 4072 is connected to the linear guide rail on the polishing frame 4071 via the sliding block D407202 set on the bottom surface of the slide plate C407201.

[0178] A timing belt limit block B407212 is provided on the upper surface of the skateboard C407201. The adhesive surface grinding mechanism 4072 is connected to the timing belt B407101 through the timing belt limit block B407212. The timing belt limit block B407212 and the timing belt B407101 are engaged. The timing belt B407101 is inserted through the timing belt limit block B407212.

[0179] The lifting support B407205 is also equipped with a water pipe B407210, which is connected to an external water inlet pipe. The water pipe B407210 is also connected to two water spray pipes, and a nozzle 407211 is installed at the bottom of the water spray pipe. The nozzle 407211 is located above the front end of the brush fixing plate 407208.

[0180] The crystal tray cleaning and cooling device 5 includes a cleaning and cooling mounting frame 501, on which a vibrating cleaning tank 502 and a rinsing and drying mechanism 503 are sequentially arranged. The vibrating cleaning tank 502 is a commercially available product. Preferably, the vibrating cleaning tank 502 is an ultrasonic cleaning tank, which is cooled by cold water. Cleaning is achieved through ultrasound.

[0181] The rinsing and drying mechanism includes a cleaning conveyor roller 50301 for conveying crystal trays; a housing 50302 is provided on the cleaning conveyor roller 50301, and a rinsing component and a drying component are arranged sequentially inside the housing 50302 for rinsing and drying crystal trays, respectively. A drive motor 50306 for driving the cleaning conveyor roller 50301 is provided on one side of the cleaning conveyor roller 50301, and the output end of the drive motor 50306 is connected to the cleaning conveyor roller 50301. A lifting component for opening the housing door is provided at the front end of the housing 50302. A baffle is provided between the rinsing component and the drying component. The baffle is located inside the housing and has a channel for the crystal trays to pass through. The shape of the channel is similar to that of the crystal trays.

[0182] The rinsing assembly includes a rinsing bracket, which is fixed inside the housing 50302 and positioned above the cleaning conveyor roller 50301. Several rinsing nozzles 50304 are mounted on the rinsing bracket. The rinsing nozzles 50304 are equidistantly spaced, and their vertical surfaces are inclined. Preferably, four rinsing nozzles are provided. Each rinsing nozzle is connected to a water spray pipe, which passes through an external water pipe connected to the housing 50302. A solenoid valve is mounted on the water pipe. The connection between the water spray pipe and the housing 50302 is sealed.

[0183] The air-drying assembly includes an air-drying bracket, which is fixed inside the housing 50302 and positioned above the cleaning conveyor roller 50301. Several air-drying nozzles 50305 are equidistantly arranged on the air-drying bracket, and their vertical surfaces are inclined. Preferably, four air-drying nozzles are provided. Each air-drying nozzle 50305 is connected to a vacuum pipe, which passes through the housing 50302 and is connected to a vacuum generator. A solenoid valve is installed on the vacuum pipe. The connection between the vacuum pipe and the housing 50302 is sealed.

[0184] A proximity switch 9 is provided at the end of housing 50302 to detect when the crystal holder is in place.

[0185] The housing 50302 is mounted on the cleaning conveyor roller 50301.

[0186] The lifting assembly includes a lifting cylinder D50303 and a lifting door 50308. The lifting cylinder D50303 is located on the front outer wall of the housing 50302, and the front end of the cylinder rod of the lifting cylinder D50303 is connected to the upper part of the lifting door 50308 through a connector.

[0187] The front wall panel of the enclosure 50302 is provided with a channel for the crystal tray to pass through, and is opened and closed by a lifting door 50308.

[0188] The rinsing and drying mechanism is mounted on the rinsing and drying base 50310 and is fixed to the rinsing and cooling mounting bracket 501 via the rinsing and drying base 50310.

[0189] The cleaning conveyor roller 50301 includes a conveyor frame, on which two side frames are provided. Several drive shafts 50307 are provided between the supports of the two side frames. The several drive shafts 50307 are equidistantly arranged and their two ends are respectively located in the two side frames. The ends of the drive shafts 50307 on the same side are connected by gears and racks. One of the gears is connected to the drive shaft of the drive motor 50306 to achieve drive.

[0190] The lifting cylinder D50303 is mounted on the housing 50302 via a cylinder mounting bracket, and a workpiece positioning sensor is mounted on the cylinder mounting bracket to detect when the crystal tray is in position.

[0191] Both the rinsing and drying components are equipped with sensors to detect the position of the workpiece and the crystal holder. Preferably, two sensors are installed in each component, and both are located within the housing 50302.

[0192] The detection mechanism 6 is used to detect whether there is residual glue. The detection mechanism 6 includes a detection conveyor roller 601, a detection fixing frame 602 is provided on the upper part of the detection conveyor roller 601, an industrial camera 603 is provided on the detection fixing frame 602, and a light source 604 is provided adjacent to the industrial camera 603.

[0193] The inspection conveyor roller 601 is located at the end of the washing conveyor roller 50301. The inspection conveyor roller 601 is existing equipment and does not require specific configuration; its function is simply to transport workpieces. A photoelectric switch 605 for inspecting workpieces is installed on the inspection conveyor roller 601. The industrial camera 603 is a commercially available product.

[0194] The production line is also equipped with a PLC control system, including the following components: stop cylinder A10203, positioning cylinder A10204, position sensor, plate-removing robot, clamping cylinder 10302, lifting cylinder A10407, speed-regulating motor A10410, positioning and clamping cylinder 10412, edge-lifting cylinder 10502, rodless cylinder A10604, rodless cylinder B10704, workpiece position sensor, position sensor, X-axis servo motor, Z-axis servo motor, gripper cylinder 20303, rotary motor 2041, preliminary positioning cylinder 30202, heating rod 30304, temperature sensor, level gauge, solenoid valve, preliminary scraper mechanism 2, lifting and tilting mechanism 3, conveyor roller 4, lifting and positioning mechanism 5, glue scraping mechanism 6, grinding mechanism 7, rodless cylinder C40202, lifting cylinder B40302, and rotary... Cylinder 40307, ​​stop cylinder B40312, lifting cylinder B40503, positioning cylinder B40505, servo motor 406103, lifting cylinder C406206, scraper cylinder 406208, water spray nozzle 406223, cylinder A406303, motor 406306, cylinder B407203, speed regulating motor B407204, nozzle 407211, proximity switch, lifting cylinder D50303, rinsing nozzle 50304, air drying nozzle 50305, drive motor 50306, proximity switch 50309, vacuum generator, workpiece positioning sensor, vibrating cleaning tank 502, detection conveyor roller 601, industrial camera 603, and through-beam switch 605 are all connected to the PLC control system, and none of them are limited to a specific model, as long as their working functions are realized.

[0195] In specific operation, the material conveying roller conveyor of the previous process (existing technical equipment used for material conveying, not the device of this utility model, so it is not described in detail, but its working function is achieved) conveys the material (crystal tray, crystal rod, adhesive board bonding material) to below the crystal tray positioning mechanism 102 in the main frame 101. After the position sensor in the crystal tray positioning mechanism 102 detects that the material has arrived, the stop cylinder A10203 starts to work. The cylinder rod of the stop cylinder A10203 extends downward, and the stop block 10208 moves downward to stop the material. At this time, the positioning cylinder A10204 starts to work. The positioning cylinder A10204 with the positioning guide 10209 positions the material through the U-shaped structure, and further positions and aligns the material precisely through the crystal tray positioning block 10211 of another positioning cylinder A10204. At this time, the front rotating component on the reciprocating transfer mechanism 104 starts to work, raising the height of the rotating positioning plate of the rotating component. The height is matched with the height of the material placement in the material conveying roller conveyor. After the crystal tray positioning mechanism 102 completes its work, the material conveying roller conveyor continues to work, conveying the positioned material to the long workpiece groove of the rotary positioning plate 10411. After the workpiece positioning sensor, which is set on the rotary transfer frame 10401 and located on the outside of the rotary positioning plate 10411, detects that the workpiece has arrived, the speed-regulating motor A10410 starts to work. Through the rotating shaft, it drives the rotary positioning plate 10411, which in turn drives the material to rotate 180 degrees. After the rotation, the cylinder under the transfer base 10402 in the transfer assembly starts to work, driving the transfer base 10402, which in turn drives the lifting positioning frame 10408 to move forward. After the cylinder reaches its position, the lifting assembly starts to work. The air rod of the lifting cylinder A10407 extends, which drives the lifting positioning frame 10408 to move upward. At this time, both ends of the material are just stuck in the limiting groove 10413.

[0196] At this time, the cylinder below the transplanting base 10402 drives the transplanting base 10402 and then drives the lifting positioning frame 10408 to move backward. After the cylinder runs to the set working stroke, that is, above the locking component, the lifting cylinder A10407 in the lifting component drives the lifting positioning frame 10408 and the material as a whole to move downward until the material falls on the locking base plate 10414. At this time, the positioning clamping cylinder 10412 on the locking base plate 10414 starts to work, which drives the locking block to start rotating 90 degrees to lock the material. This is because after the material is flipped 180 degrees, the crystal support is located at the bottom and the adhesive plate is located at the top. The shape of the crystal support, as in the prior art, is a long groove inside. At first, the long locking block is inserted into the long groove and is parallel to the long groove of the crystal support. After rotation, they are perpendicular to each other to lock and fix the material. At this time, both ends of the material are fixed on the positioning seat 10409 and the base. The adhesive plate is positioned in front of the plate separation mechanism 106 and at the starting end of the lifting knife mechanism 105. The position sensor on the lifting knife mechanism 105 detects the distance to the workpiece. Upon starting operation, the lifting cylinder A10507 in the lifting knife mechanism 105 begins to operate, driving the lifting cylinder support 10501 to move up and down, adjusting its position so that the lifting knife corresponds to the interface where the adhesive plate in the material needs to be separated. After adjustment, the lifting cylinder 10502 begins to operate. The cylinder rod of the lifting cylinder 10502... The extension of the blade causes the lifting blade 10504 to move forward. The tip of the lifting blade 10504, which is inclined at its front end, lifts the adhesive board. When the lifting cylinder 10502 reaches the set travel stroke, the adhesive board is lifted, and the board separation mechanism 106 starts to work. The movable end of the rodless cylinder A10604 drives the scraper A10603 to move through the connecting block. The long side wedge-shaped three-dimensional structure of the scraper A10603 scrapes the adhesive board. The scraped adhesive board is transferred to the adhesive board placement station area by the adhesive board gripper 10303 on the board removal robot of the board removal mechanism 103 for subsequent circulation and use.The lifting mechanism 105 and the plate separation mechanism 106 are reset. The reciprocating transfer mechanism 104 transports the material from the adhesive plate removal to the crystal tray transfer platform 107. Specifically, the reciprocating transfer mechanism 104 releases the material from the adhesive plate removal by rotating the locking block. The lifting component moves the material from the adhesive plate removal upwards, and the transfer component moves backwards. When the material reaches the rear end, the rotating component starts working, matching the height of the rotating positioning plate 10411 of the rotating component with the height of the material from the adhesive plate removal on the lifting component. The material is then transported into the long workpiece slot of the rotating positioning plate. After the workpiece positioning sensor located on the outside of the rotating positioning plate 10411 detects that the workpiece has arrived, the speed regulating motor A10410 starts working, driving the rotating positioning plate through the rotating shaft. 10411 then drives the material to rotate 180 degrees. After rotation, the transfer platform 10703 receives the material. After the positioning column 10705 positions the workpiece, the rodless cylinder B10704 on the transfer platform 10703 works, driving the transfer platform 10703 to the preliminary positioning component 302 set at its end. The preliminary positioning component 302 starts to work. The cylinder rods of the two preliminary positioning cylinders 30202 extend and drive the guide limit component 30204 to preliminarily position the crystal tray. The crystal tray is then transferred to the tray of the heating water tank 303 by the handling gripper 202. The heating water tank 303 heats the tray to remove the glue. After the predetermined time, the PLC control system sends a signal to the handling gripper 202. The handling gripper 202 takes the heated crystal tray to the crystal tray glue removal equipment 4 for glue removal. After the adhesive plate has been removed in the previous process, the crystal tray (workpiece) is transported to the front end of the preliminary scraper mechanism 401. After the proximity switch on the scraper support 40201 in the preliminary scraper mechanism 401 detects the workpiece, the rodless cylinder C40202 starts to work. The moving end of the rodless cylinder C40202 drives the slide plate A40209 to move the scraper bracket 40207. The scraper bracket 40207 drives the scraper B40209 to perform preliminary scraping of the large residual adhesive on the crystal tray surface. Because the scraper bracket 40207 and the bearing support 40204 are flexibly connected, the whole is a floating scraping mechanism with little overall wear. The waterproof cover A40203 on the preliminary scraper mechanism 402 prevents residual water from the preliminary scraper sticking to the workpiece in the previous process from splashing onto the preliminary scraper mechanism 402 after the working stroke is completed. After the preliminary scraper mechanism 402 finishes working, the workpiece is inserted into the rotary gripper 40310 of the rotary cylinder 40307 by the handling gripper 202. The rotary cylinder 40307 starts working, and the drive shaft 40309 of the rotary cylinder 40307 drives the rotary gripper 40310 to rotate 180 degrees, with the crystal tray flat end at the upper end. At this time, the lifting cylinder B40302 on the lifting base 40301 starts working, driving the tilting base 40303 to move downward as a whole until the workpiece is placed on the conveyor roller 404. The conveyor roller 404 then transports the workpiece forward.The workpiece is stopped by the baffle plate 40314 connected to the front end of the cylinder rod of the stop cylinder B40312 for initial adjustment. After stopping, the baffle plate 40314 of the stop cylinder B40312 releases the workpiece, and the conveyor roller 404 conveys the workpiece forward to the area above the lifting and positioning mechanism 405 and below the scraping mechanism 406. The lifting cylinder B40503 starts to work, and the cylinder rod of the lifting cylinder B40503 extends upward, thereby driving the positioning base 40502 to move upward. The two ends of the long groove of the workpiece crystal holder correspond to the crystal holder limiting protrusions set on the limiting block for rough positioning. At this time, the cylinder rod of the positioning cylinder B40505 drives the positioning block 40504 to rotate 90 degrees in the crystal holder groove, locking the crystal holder positioning. After positioning, the scraping mechanism 406 starts working, and the scraping component 4062 on the coating surface of the scraping mechanism 406 starts working. The servo motor 406103 drives the drive wheel 406108, which in turn drives the synchronous belt A406104 to move, which in turn drives the synchronous belt limit block A406222 to move, which in turn drives the scraping component 4062 to move. At the same time, the lifting cylinder C406206 on the scraping component 4062 drives the scraping unit to move downward until the scraping unit contacts the workpiece. The scrapers C406221 on the scraper plate 406215 on the scraper unit elastically scrape the glue without abrading the workpiece. The side scraper slide plate 406207 on the scraper unit scrapes the side of the workpiece crystal holder under the drive of the scraper cylinder 406208, and the side scraping is performed by the side scraper 406213 at the bottom of the side slide plate. During the glue scraping process, the water spray nozzle 406223 sprays water for lubrication. The front and rear end face glue scraping assembly 4063 moves as a whole to contact the end face of the workpiece crystal support via the extension of the cylinder rod on cylinder A406303. The output shaft of motor 406306 is connected to cam follower and cam 406310 via rotary shaft A406309, which drives reciprocating slide plate 406307 to move up and down. This in turn drives sliding fixed plate to move up and down. The centering cylinder on sliding fixed plate drives tool holder B406315, which in turn drives scraper D406322 to move back and forth for glue scraping. The water spray from the nozzle during glue scraping serves a lubrication purpose.After the adhesive scraping is completed, the lifting and positioning mechanism 5 moves the entire workpiece down onto the conveyor roller 4, and the positioning cylinder B505 drives the positioning block 504 to rotate 90 degrees in the crystal tray groove, releasing the workpiece. The conveyor roller 4 then transports the workpiece to a position above the lifting and positioning mechanism 5 and below the grinding mechanism 7. After the lifting and positioning mechanism 5 lifts and positions the workpiece, the grinding mechanism 7 begins to work. The adhesive surface grinding mechanism 4072 on the grinding mechanism 7 begins to work, and the grinding servo motor drives the grinding drive wheel, thereby driving the synchronous... The movement of belt B407101 drives the synchronous belt limit block B407212 to move, which in turn drives the adhesive surface grinding mechanism 4072 to move. Simultaneously, the cylinder rod of cylinder B407203 drives the lifting support B407205 downwards until the wire brush 407209 contacts the workpiece. The drive shaft of the speed-regulating motor B407204 passes through the bearing and drives the rotating shaft B407207, which in turn drives the brush fixing plate 407208 to rotate, thus driving the wire brush 407209 to grind the workpiece. This completes the entire process. During grinding, the nozzle 407211 sprays water for lubrication. After grinding, the lifting and positioning mechanism 5 moves the entire workpiece down onto the conveyor roller 4, and the positioning cylinder B505 drives the positioning block 504 to rotate 90 degrees in the crystal tray groove, releasing the workpiece. At this time, the transport rotating gripper 205 transfers the crystal tray after adhesive removal by the crystal tray de-adhesion device 4 to the crystal tray cleaning and cooling device 5 for cleaning.After the crystal tray is cleaned in the vibrating cleaning tank 502, it is moved to the cleaning conveyor roller 50301 by the rotating handle 205. The drive motor 50306 on the cleaning conveyor roller 50301 starts working. The drive motor 50306 is connected to the drive shaft and gears, which in turn drive the transmission shaft 50307 to move as a whole, thus driving the crystal tray forward. When the workpiece positioning sensor at the lifting cylinder D50303 detects the crystal tray, the lifting cylinder D50303 starts working. The cylinder rod of the lifting cylinder D50303 retracts, which in turn drives the lifting door 50308 to open. The front wall panel of the housing 50302 is provided with a channel for the crystal tray to pass through and enter the rinsing assembly inside the housing 50302. When the workpiece positioning sensor detects that the crystal tray has reached the cleaning position, a feedback signal is sent to the PLC control system. The LC control system feeds a feedback signal to the rinsing nozzle 50304 to rinse the crystal tray. While being rinsed, the crystal tray passes through the channel on the baffle and enters the drying assembly. When the workpiece positioning sensor detects that the crystal tray has reached the drying position, it feeds a signal to the PLC control system. The PLC control system then feeds a feedback signal to the drying nozzle 50305 to dry the crystal tray. After drying, the crystal tray is conveyed by the cleaning conveyor roller 50301. When the proximity switch 50309 detects the crystal tray, if the through-beam switch 605 in the detection mechanism 6 detects a workpiece, the cleaning conveyor roller 50301 stops working. If the through-beam switch 605 in the detection mechanism 6 detects no workpiece on the conveyor roller 601, the workpiece crystal tray is conveyed to the detection conveyor roller 601. The industrial camera 603 takes a picture to show whether there is residual glue and whether it is qualified. Qualified products can be used normally.

[0197] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. An automated production line for removing adhesive from single-crystal silicon wafer holders, characterized in that, The device includes, in sequence, an adhesive plate separation device (1), a crystal tray heating mechanism (3), a crystal tray adhesive removal device (4), a crystal tray cleaning and cooling device (5), and a detection mechanism (6). Above the crystal tray heating mechanism (3), the crystal tray adhesive removal device (4), and the crystal tray cleaning and cooling device (5) is a conveying mechanism (2) for transporting and rotating workpieces. The adhesive plate separation device (1) is used to separate the adhesive plate on the crystal tray. The crystal tray heating mechanism (3) is used to heat the crystal tray. The crystal tray adhesive removal device (4) is used to remove the adhesive from the heated crystal tray. The crystal tray cleaning and cooling device (5) is used to clean and air dry the crystal tray after adhesive removal. The detection mechanism (6) is used to detect whether there is residual adhesive on the crystal tray after adhesive removal.

2. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 1, characterized in that, The adhesive board separation device (1) includes a main frame (101), a crystal tray positioning mechanism (102), a board removal mechanism (103), a reciprocating transfer mechanism (104), a prying mechanism (105), a board separation mechanism (106), and a crystal tray transfer platform (107). The crystal tray positioning mechanism (102) is mounted on a frame at one end of the main frame (101), the reciprocating transfer mechanism (104) is mounted on the base of the main frame (101), and the board removal mechanism (103) is mounted adjacent to the reciprocating transfer mechanism (104). The plate separation mechanism (106) and the prying plate mechanism (105) are set on the main frame (101). The crystal tray transfer platform (107) is set at the other end of the main frame (101). The crystal tray transfer platform (107) is set behind the reciprocating transfer mechanism (104). The plate separation mechanism (106) is set above the reciprocating transfer mechanism (104). The prying plate mechanism (105) is set on the frame on the side of the main frame (101). The prying plate mechanism (105) is set in front of the plate separation mechanism (106).

3. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 1, characterized in that, The handling mechanism (2) includes a truss beam (201), on which a handling gripper (202) and a handling rotary gripper (205) are provided. The handling gripper (202) and the handling rotary gripper (205) are connected to the truss beam (201) through a handling walking guide assembly. The handling gripper (202) includes an X-axis walking assembly and a Z-axis walking assembly. The Z-axis walking assembly is set on the X-axis walking assembly, and a handling gripper (203) is set at the bottom of the Z-axis walking assembly. The handling rotary gripper (205) includes an X-axis walking assembly and a Z-axis walking assembly. The Z-axis walking assembly is set on the X-axis walking assembly, and a handling rotary assembly (204) is set at the bottom of the Z-axis walking assembly. The handling gripper (203) is connected to the bottom of the handling rotary assembly (204).

4. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 1, characterized in that, The crystal tray heating mechanism (3) includes a heating base (301) and a preliminary positioning component (302). The preliminary positioning component (302) is located at the front end of the heating base (301), and a heating water tank (303) is located at the rear end of the preliminary positioning component (302). The heating water tank (303) is fixed on the heating base (301) by a heating water tank fixing frame (304). A waterproof baffle (305) for waterproofing is also provided on the upper part of the heating base (301). The preliminary positioning component (302) includes a preliminary positioning frame (30201). A preliminary positioning cylinder (30202) is provided at each end of the preliminary positioning frame (30201). The two preliminary positioning cylinders (30202) are arranged opposite to each other. The front end of the cylinder rod of the preliminary positioning cylinder (30202) is connected to the guide limiting component (30204) through a connector. The front end face of the guide limiting component (30204) is a U-shaped structure.

5. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 1, characterized in that, The crystal tray adhesive removal equipment (4) includes a bottom integral frame (401); a preliminary scraper mechanism (402) is provided at one end of the bottom integral frame (401), and a lifting and turning mechanism (403), a scraping mechanism (406), and a grinding mechanism (407) are sequentially arranged on the bottom integral frame (401); a conveying roller (404) for conveying workpieces is also provided on the bottom integral frame (401), the conveying roller (404) is inserted and arranged in the lifting and turning mechanism (403), the conveying roller (404) is located below the scraping mechanism (406) and the grinding mechanism (407), and a lifting and positioning mechanism (405) is provided below the scraping mechanism (406) and the grinding mechanism (407). The lifting and positioning mechanism (405) is located on the bottom integral frame (401) and in the middle of the conveying roller (404), and the preliminary scraper mechanism (402) is located at the front end of the conveying roller (404).

6. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 1, characterized in that, The crystal tray cleaning and cooling device (5) includes a cleaning and cooling fixture (501), on which a vibration cleaning tank (502) and a rinsing and drying mechanism (503) are arranged in sequence.

7. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 1, characterized in that, The detection mechanism (6) is used to detect whether there is residual glue. The detection mechanism (6) includes a detection conveyor roller (601), a detection fixing frame (602) is set on the upper part of the detection conveyor roller (601), an industrial camera (603) is set on the detection fixing frame (602), and a light source (604) is set next to the industrial camera (603).

8. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 2, characterized in that, The transport and walking guide component is a rack and pinion, with two racks set on the truss beam (201); the transport mechanism (2) is set on the top of the frame of the crystal tray heating mechanism (3), the crystal tray adhesive removal equipment (4), and the crystal tray cleaning and cooling device (5) through a fixed frame.

9. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 6, characterized in that, The rinsing and drying mechanism includes a cleaning conveyor roller (50301) for conveying crystal trays; a box (50302) is provided on the cleaning conveyor roller (50301), and a rinsing component and a drying component are arranged sequentially inside the box (50302) for rinsing and drying crystal trays, respectively. A drive motor (50306) for driving the cleaning conveyor roller (50301) is provided on one side of the cleaning conveyor roller (50301), and the output end of the drive motor (50306) is connected to the cleaning conveyor roller (50301). A lifting component for opening the box door is provided at the front end of the box (50302). A baffle is provided between the rinsing component and the drying component. The baffle is located inside the box, and a channel for the crystal tray to pass through is provided on the baffle. The shape of the channel is similar to that of the crystal tray.

10. The automated production line for removing adhesive from single-crystal silicon wafer holders as described in claim 7, characterized in that, The inspection conveyor roller (601) is located at the end of the washing conveyor roller (50301).

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