CN112722950A - Laminating machine - Google Patents

Laminating machine Download PDF

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Publication number
CN112722950A
CN112722950A CN202011593479.6A CN202011593479A CN112722950A CN 112722950 A CN112722950 A CN 112722950A CN 202011593479 A CN202011593479 A CN 202011593479A CN 112722950 A CN112722950 A CN 112722950A
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CN
China
Prior art keywords
plate
assembly
roller
driving
workbench
Prior art date
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Granted
Application number
CN202011593479.6A
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Chinese (zh)
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CN112722950B (en
Inventor
杨志
李国林
马红雷
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Beijing Semiconductor Equipment Institute
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Beijing Semiconductor Equipment Institute
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Priority to CN202011593479.6A priority Critical patent/CN112722950B/en
Publication of CN112722950A publication Critical patent/CN112722950A/en
Application granted granted Critical
Publication of CN112722950B publication Critical patent/CN112722950B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/032—Controlling transverse register of web
    • B65H23/0328—Controlling transverse register of web by moving the winding device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B32—LAYERED PRODUCTS
    • B32B—LAYERED PRODUCTS, i.e. PRODUCTS BUILT-UP OF STRATA OF FLAT OR NON-FLAT, e.g. CELLULAR OR HONEYCOMB, FORM
    • B32B37/00—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding
    • B32B37/10—Methods or apparatus for laminating, e.g. by curing or by ultrasonic bonding characterised by the pressing technique, e.g. using action of vacuum or fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H20/00—Advancing webs
    • B65H20/02—Advancing webs by friction roller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/26—Registering, tensioning, smoothing or guiding webs longitudinally by transverse stationary or adjustable bars or rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H29/00—Delivering or advancing articles from machines; Advancing articles to or into piles
    • B65H29/24—Delivering or advancing articles from machines; Advancing articles to or into piles by air blast or suction apparatus
    • B65H29/241—Suction devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H35/00—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers
    • B65H35/04—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers from or with transverse cutters or perforators
    • B65H35/06—Delivering articles from cutting or line-perforating machines; Article or web delivery apparatus incorporating cutting or line-perforating devices, e.g. adhesive tape dispensers from or with transverse cutters or perforators from or with blade, e.g. shear-blade, cutters or perforators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H41/00—Machines for separating superposed webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H20/00—Advancing webs
    • B65H20/10—Advancing webs by a feed band against which web is held by fluid pressure, e.g. suction or air blast
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/50—Manufacturing or production processes characterised by the final manufactured product

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  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sheets, Magazines, And Separation Thereof (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)

Abstract

The invention provides a laminating machine and relates to the technical field of laminating equipment. The laminating machine comprises a deviation correcting device, a transmission mechanism, a stripping workbench, a carrying manipulator, a pressurizing mechanism and a material receiving manipulator; the deviation correcting device is arranged at the input end of the transmission mechanism and/or the output end of the transmission mechanism; the peeling worktable is arranged on a transmission path of the transmission mechanism; the carrying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the peeling workbench is used for being matched with the carrying manipulator to peel the membrane; the peeling workbench and the pressurizing mechanism are arranged along the peeling direction of the membrane, so that the conveying manipulator conveys the peeled membrane to the pressurizing mechanism for pressurizing; and the material receiving manipulator is used for taking out the laminated finished product. The invention solves the technical problems of low automation degree and poor precision in the prior art.

Description

Laminating machine
Technical Field
The invention relates to the technical field of laminating equipment, in particular to a laminating machine.
Background
The chip ceramic capacitor has the advantages of small volume, low internal inductance, high insulation resistance, small leakage current, low dielectric loss, low price and the like, and is widely applied to oscillation, coupling, filtering and bypass circuits in various electronic machines, in particular to high-frequency circuits. Compared with other capacitors, the MLCC is particularly suitable for chip surface assembly, can greatly improve the circuit assembly density and reduce the volume of the whole machine, and the outstanding characteristic enables the chip MLCC to become a chip element with the largest use amount and the fastest development in the world at present. The existing laminating device has low automation degree and poor precision in order to avoid accumulated errors generated in the film winding transmission process, the film cutting and stripping process and the laminating process due to the high precision requirement of a ceramic film roll.
Disclosure of Invention
The invention aims to provide a laminating machine which can improve the automation degree of equipment on the premise of ensuring the product precision.
The technical scheme of the invention is realized as follows:
a laminating machine comprises a deviation correcting device, a transmission mechanism, a stripping workbench, a carrying manipulator, a pressurizing mechanism and a material receiving manipulator;
the deviation correcting device is arranged at the input end of the transmission mechanism; the peeling worktable is arranged on a transmission path of the transmission mechanism; the carrying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the peeling workbench is used for being matched with the carrying manipulator to peel the membrane; the peeling workbench and the pressurizing mechanism are arranged along the peeling direction of the membrane, so that the conveying manipulator conveys the peeled membrane to the pressurizing mechanism for pressurizing; and the material receiving manipulator is used for taking out the laminated finished product.
In a preferred technical scheme of the invention, in the laminating machine, the deviation correcting device comprises a material rack, a first driving assembly, a second driving assembly, a guiding assembly and a control assembly;
the material rack comprises a bottom supporting plate, a material roll supporting frame and a film roll-out shaft; the material roll support frame is arranged on one side of the bottom support plate; the film rolling-out shaft and the first driving assembly are respectively fixed on the material roll supporting frame, the film rolling-out shaft is used for winding a material roll, and the first driving assembly is used for driving the film rolling-out shaft to rotate so as to realize the feeding of the material roll;
the output end of the second driving assembly is connected with the material rack and is used for driving the material rack to move along the direction parallel to the film rolling-out shaft; the guide assembly is arranged below the bottom supporting plate and provides guide for the movement of the material rack;
the first driving assembly and the second driving assembly are electrically connected with the control assembly, and the control assembly is used for controlling the first driving assembly and the second driving assembly to work.
In a preferred technical scheme of the invention, in the laminating machine, the transmission mechanism comprises a mounting vertical plate, a first transmission roller assembly and a second transmission roller assembly;
the first driving roller assembly is arranged between the deviation correcting device and the stripping workbench and used for conveying the membrane material conveyed by the deviation correcting device to the stripping workbench; the second transmission roller assembly is used for receiving the stripped diaphragm excess materials transmitted by the stripping workbench through a receiving shaft;
the first driving roller assembly comprises a first swing arm tension roller, a first idler roller, a second idler roller and a third idler roller; the axes of the first swing arm tension roller, the first idler roller, the second idler roller and the third idler roller are all vertical to the plate surface of the mounting vertical plate; the first idler roller and the second idler roller are arranged below two sides of the first swing arm tension roller and used for tensioning the diaphragm material bypassing the first swing arm tension roller; the third idler roller is used for tensioning the diaphragm material before entering the diaphragm stripping workbench;
the second drive roller assembly comprises a second swing arm tension roller and an idler roller set; the second swing arm tension roller and the first swing arm tension roller are both fixed on the mounting vertical plate; and the idler roller group is fixed on the mounting vertical plate and used for tensioning the diaphragm material which bypasses the front and the back of the second swing arm tension roller.
In a preferred technical scheme of the invention, in the laminating machine, the conveying mechanism further comprises a vacuum adsorption roller;
the axis of the vacuum adsorption roller is perpendicular to the plate surface of the mounting vertical plate, and the vacuum adsorption roller is arranged between the third idler roller and the stripping workbench, so that the membrane material transmitted by the third idler roller enters the stripping workbench through the vacuum adsorption roller.
In a preferred technical scheme of the invention, in the laminating machine, the peeling worktable comprises a peeling table, an X-direction movement mechanism, a horizontal-direction adjustment structure and a Z-direction adjustment structure;
the peeling table is arranged on the output end of the X-direction movement mechanism through the Z-direction adjusting structure; the X-direction movement mechanism is fixed on the external transmission mechanism and is used for providing X-direction movement for the peeling table; the Z-direction adjusting structure can realize Z-direction adjustment; the horizontal adjusting structure is arranged on one side of the Z-direction adjusting structure along the X direction, and horizontal adjustment can be achieved.
In a preferred technical scheme of the invention, in the laminating machine, an edge is arranged on the edge of the discharging side of the stripping table.
In a preferred technical solution of the present invention, the laminating machine further includes a driving control mechanism; the carrying manipulator is arranged above the stripping workbench; the driving control mechanism is arranged above the carrying manipulator; the driving control mechanism is used for driving the carrying manipulator to move towards the stripping workbench;
the conveying manipulator comprises a conveying hand aligning mechanism, a conveying hand adsorption platform, an adsorption platform lifting mechanism and a membrane cutting mechanism arranged along the circumferential direction of the conveying hand adsorption platform; the carrying hand adsorption platform is arranged at an execution end of the adsorption platform lifting mechanism; the adsorption platform lifting mechanism is used for driving the carrying hand adsorption platform to do lifting motion; the carrying hand aligning mechanism is arranged on the adsorption platform lifting mechanism and is used for driving the corresponding edges of the carrying hand adsorption platform and the stripping workbench to be parallel to each other; the carrying hand adsorption platform is used for adsorbing the cut membrane materials; the membrane cutting mechanism is used for cutting membrane materials;
the adsorption platform lifting mechanism comprises an upper pressure plate, a ball spline shaft and a guide post; one side of the upper pressure plate is arranged right below the output end of the driving control mechanism, the other side, corresponding to the upper pressure plate, of the upper pressure plate is connected with one end of the ball spline shaft, and the carrying hand adsorption table is arranged at the other end of the ball spline shaft; the guide posts are parallel to the ball spline shaft and are uniformly distributed around the circumference of the upper pressure plate; the guide column is used for providing guidance for the lifting of the carrying hand adsorption platform;
the carrying hand aligning mechanism comprises a Y-direction fine adjustment mechanism, an X-direction moving mechanism and a Z-direction fine adjustment mechanism; the Y-direction fine adjustment mechanism is arranged on the output end of the X-direction moving mechanism; the X-direction moving mechanism comprises an X-direction plate and an X-direction sliding rail and sliding block assembly; the slide rails in the X-direction slide rail slide block assembly are used for being fixed on an external frame and are arranged in parallel to the stripping direction of the membrane; the X-direction plate is connected with a sliding block in the X-direction sliding rail sliding block assembly; the Y-direction fine adjustment mechanism comprises a Y-direction plate and a Y-direction sliding rail and sliding block assembly; the slide rails in the Y-direction slide rail sliding block assembly are fixed on the X-direction plate and are arranged perpendicular to the slide rails in the X-direction slide rail sliding block assembly; the Y-direction plate is connected with a slide block in the Y-direction slide rail slide block assembly; the Z-direction fine adjustment mechanism comprises a middle plate, a Z-direction driving mechanism and a Z-direction transmission mechanism; the middle plate is arranged between the Y-direction plate and the upper pressing plate; the Z-direction driving mechanism is arranged on the middle plate; the input end of the Z-direction transmission mechanism is connected with the Z-direction driving mechanism, and the output end of the Z-direction transmission mechanism is meshed with the ball spline shaft.
In a preferred technical scheme of the present invention, in the laminating machine, the carrying manipulator further includes a camera, and the camera is electrically connected to the carrying hand aligning mechanism;
the camera is used for acquiring the alignment information of the carrying hand adsorption platform and the stripping workbench; and the carrying hand alignment mechanism receives the alignment information and realizes fine adjustment of rotation in the Y direction and the Z direction according to the alignment information.
In a preferred technical scheme of the invention, in the laminating machine, the pressurizing mechanism comprises a pressure-bearing frame, a pressing workbench, a hydraulic oil cylinder, an underframe and a joint bearing;
the underframe is arranged at the bottom of the pressure-bearing frame; the pressing workbench is arranged inside the pressure-bearing frame; the cylinder body of the hydraulic oil cylinder is fixed on the underframe, and the cylinder rod of the hydraulic oil cylinder penetrates through the pressure-bearing frame and is connected with the pressing workbench through the joint bearing.
In a preferred technical scheme of the invention, the laminating machine further comprises a base frame;
the deviation correcting device, the conveying mechanism, the peeling workbench, the carrying manipulator, the pressurizing mechanism and the material receiving manipulator are all arranged in the middle of the base frame;
the number of the deviation correcting devices, the number of the transmission mechanisms and the number of the stripping workbenches are two; the two deviation rectifying devices, the conveying mechanism and the peeling workbench are respectively and symmetrically arranged on two sides of the pressurizing mechanism; the material receiving manipulator is arranged at a position close to the pressurizing mechanism.
The invention has the beneficial effects that: the laminating machine provided by the invention comprises a deviation correcting device, a transmission mechanism, a stripping workbench, a carrying manipulator, a pressurizing mechanism and a material receiving manipulator; the deviation correcting device is arranged at the input end of the transmission mechanism and/or the output end of the transmission mechanism; the peeling worktable is arranged on a transmission path of the transmission mechanism; the carrying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the peeling workbench is used for being matched with the carrying manipulator to peel the membrane; the peeling workbench and the pressurizing mechanism are arranged along the peeling direction of the membrane, so that the conveying manipulator conveys the peeled membrane to the pressurizing mechanism for pressurizing; and the material receiving manipulator is used for taking out the laminated finished product. The laminating machine provided by the invention can be used for winding ceramic membrane sheets in a deviation correcting device of equipment, the deviation correcting device can be used for correcting deviation during feeding and inputting a membrane sheet material roll to a transmission mechanism from an input end of the transmission mechanism, the transmission mechanism transmits the ceramic membranes to a stripping workbench, after a carrying manipulator aligns, the ceramic membranes are respectively cut into square sheets and stripped, the square sheets are sequentially laminated in a pressurizing mechanism according to a set program, and a laminated product is taken out by a material receiving manipulator. The laminating machine provided by the invention effectively overcomes the factors which possibly influence the precision in each link of ceramic membrane transmission, cutting, stripping, laminating and the like, and improves the automation degree of equipment on the premise of ensuring the product precision.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a first view angle of a laminating machine according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a second view angle of the laminating machine according to the embodiment of the present invention;
FIG. 3 is a schematic view of a first view angle of the deviation correcting mechanism according to the present invention;
FIG. 4 is a structural diagram of a second view angle of the deviation rectifying structure according to the present invention;
FIG. 5 is a schematic view of a first view of the film transfer mechanism of the present invention;
FIG. 6 is a second perspective view of the film transfer mechanism of the present invention;
FIG. 7 is a third perspective view of the film transfer mechanism of the present invention;
FIG. 8 is a partial enlarged view of the mounting positions of a first swing arm tension roller and a second swing arm tension roller in the film transfer mechanism of the present invention;
FIG. 9 is a schematic view of a first perspective of the peeling station of the present invention;
FIG. 10 is a schematic view of a second perspective of the peeling station of the present invention;
FIG. 11 is a schematic structural view of a Z-direction adjusting structure of the peeling table in the present invention;
FIG. 12 is a cross-sectional view of a stripping station in accordance with the present invention;
FIG. 13 is a schematic view of the structure of a peeling table in the peeling table of the present invention;
FIG. 14 is a schematic view showing a first state of the film peeling apparatus of the present invention;
FIG. 15 is a schematic view showing a second state of the film peeling apparatus of the present invention;
FIG. 16 is a schematic view showing a third state of the film peeling apparatus of the present invention;
FIG. 17 is a schematic structural view of a handling robot in the film peeling apparatus of the present invention;
FIG. 18 is a schematic structural view of a film cutting mechanism in the film peeling apparatus of the present invention;
fig. 19 is a first view structural diagram of the material receiving manipulator according to the present invention;
fig. 20 is a second view structural diagram of the material receiving manipulator according to the present invention;
FIG. 21 is a schematic structural view of a chuck assembly in the receiving robot of the present invention;
FIG. 22 is a schematic view of a material receiving device according to the present invention;
FIG. 23 is a schematic view showing the structure of a pressurizing mechanism according to the present invention;
fig. 24 is a schematic view of the internal structure of the pressing machine of the present invention.
In the figure: 1-a base frame; 2-a deviation correcting device; 201-bottom support plate; 202-material roll support frame; 203-film take-up spool; 204-a drive motor; 205-a drive pulley; 206-a driven pulley; 207-synchronous belt; 208-a push rod motor; 209-guide rail; 210-a slider; 211-edge finding sensor; 212-a deviation controller; 213-an L-shaped support plate; 214-a static-ion-removing fan; 215-roll of material; 3-a transmission mechanism; 301-installing a vertical plate; 302-a first swing arm tension roller; 303-a first idler roller; 304-a second idler roller; 305-a third idler roller; 306-vacuum suction rolls; 307-second swing arm tension roller; 308-idler roller set; 309-a first swing arm plate; 310-a first swing arm shaft; 311-a first swing arm motor; 312-a second swing arm plate; 313-a second swing arm shaft; 314-a second swing arm motor; 315-swing arm frame; 316-fine tuning knob; a 317-L-shaped fine tuning bent plate; 318-position sensor; 4-peeling off the working table; 401-peeling table; 402-a load floor; 403-a sliding rail block assembly; 404-screw drive assembly; 405-connecting the middle plate; 406-height adjustment knob; 407-ball plunger; 408-flange nut; 409-backlash eliminating spring; 410-adjusting the fixing plate; 411-push plate adjusting jackscrew; 412-tension adjustment screw; 413-a leaf spring; 414-spring collar; 415-a cooling water circuit; 416-vacuum suction holes; 417-mounting seat; 418-middle plate connecting screw; 419-linear bearings; 420-hollow guide post; 421-guide post connection screw; 422-pre-tightening spring; 423-pre-tightening spring baffle; 424-rail holder; 425-peeling table driving motor; 426-a fixed cover; 427-a fixing bolt; 5-carrying mechanical arm; 5100-a carrier hand alignment mechanism; 5101-X direction plate; 5102-X direction sliding block assembly; 5103-Y direction plate; 5104-Y-direction sliding block component of the sliding rail; 5105-middle plate; 5106-Z direction driving mechanism; 5107-Z direction transmission mechanism; 5108-connecting plate; 5200-carrying hand adsorption platform; 5300-an adsorption table lifting mechanism; 5301-an upper platen; 5302-the ball spline shaft; 5303-a guide post; 5304-a backing plate; 5305-a spring; 5306-a jacking cylinder; 5307-a pull-down cylinder; 5400-a membrane cutting mechanism; 5401-Transmission Belt; 5402-synchronous pulley; 5403-guide slide rail; 5404-guiding slide block; 5405-cutter assembly; 5500-a camera; 6-a material receiving manipulator; 601-a suction cup frame; 602-connecting a plate member; 603-upper suction plate; 604-lower suction plate; 605-airway; 606-a non-contact suction cup; 607-contact suction cup; 608-a fixed plate; 609-a lifting plate; 610-a lifting cylinder; 611-a floating joint; 612-a guide bearing; 613-guide support columns; 614-guide post limit; 615-a limit post mandril; 616-lower restraining post; 617-horizontal drive actuator; 618-horizontal linear guide; 619-a reducer seat; 620-rotating electrical machines; 621-a rotary reducer; 622-material storage disc; 623-taking a material tray; 624-rack; 7-a material receiving and correcting device; 701-a material receiving shaft; 8-a pressurizing mechanism; 801-bearing frame; 802-press down table; 803-a hydraulic cylinder; 804-a chassis; 805-spherical plain bearings; 9-driving the control mechanism.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
First embodiment
Referring to fig. 1 and fig. 2, the embodiment provides a laminating machine, which includes a deviation rectifying device 2, a transmission mechanism 3, a peeling table 4, a carrying manipulator 5, a pressurizing mechanism 8 and a material receiving manipulator 6; the deviation correcting device 2 is arranged at the input end of the transmission mechanism 3 and/or the output end of the transmission mechanism 3; the peeling table 4 is provided on a conveyance path of the conveyance mechanism 3; the carrying manipulator 5 is arranged above the peeling table 4 and the pressurizing mechanism 8; the stripping workbench 4 is used for being matched with the carrying manipulator 5 to strip the membrane; the peeling table 4 and the pressurizing mechanism 8 are arranged along the peeling direction of the film, so that the conveying manipulator 5 conveys the peeled film to the pressurizing mechanism 8 for pressurizing; and the material receiving manipulator 6 is used for taking out the laminated finished product.
The laminating machine provided by the embodiment can be used for winding ceramic membrane sheets in the deviation correcting device 2 of the equipment, the deviation correcting device 2 can be used for correcting deviation during feeding and inputting membrane material rolls from the input end of the transmission mechanism 3 to the transmission mechanism 3, the transmission mechanism 3 transmits the ceramic membranes to the stripping workbench 4, the ceramic membranes are respectively cut into square sheets and then stripped after being aligned by the carrying manipulator, the square sheets are sequentially laminated in the pressurizing mechanism according to a set program, laminated products are taken out by the material receiving manipulator 6, factors which influence precision and possibly exist in each link of ceramic membrane conveying, cutting, stripping, laminating and the like are effectively overcome, and the automation degree of the equipment is improved on the premise of ensuring the precision of the products.
Referring to fig. 3 and 4, in the above technical solution, further, the deviation rectifying device 2 includes a control assembly and a deviation rectifying mechanism;
the deviation correcting mechanism comprises a material rack, a first driving assembly, a second driving assembly and a guiding assembly; the material rack comprises a bottom support plate 201, a material roll support frame 202 and a film roll-out shaft 203; the material roll support frame 202 is arranged on one side of the bottom support plate 201; the film take-up shaft 203 and the first driving assembly are respectively fixed on the material roll support frame 202, the film take-up shaft 203 is used for winding the material roll 215, and the first driving assembly is used for driving the film take-up shaft 203 to rotate so as to realize feeding or receiving of the material roll 215;
the output end of the second driving assembly is connected with the material rack and is used for driving the material rack to move along the direction parallel to the film rolling-out shaft 203; the guide assembly is arranged below the bottom support plate 201 and provides a guide for the movement of the material rack; the control assembly is electrically connected with the deviation rectifying mechanism and used for controlling the first driving assembly and the second driving assembly to work.
In the embodiment, the material roll supporting frame 202 is used for supporting the film roll-out shaft 203 and the first driving assembly, wherein the film roll-out shaft 203 is used for winding the film roll 215, and the first driving assembly can drive the film roll-out shaft 203 to rotate, so that the feeding or receiving action can be completed; the output of second drive assembly is connected with whole work or material rest to can drive the work or material rest and remove along the direction that is on a parallel with film roll-off shaft 203, when material book 215 on film roll-off shaft 203 takes place along width direction's skew, remove along the direction opposite with the skew direction through second drive assembly control work or material rest, can roll up material 215 to the diaphragm effectively and rectify, guarantee that the diaphragm material steadily transmits, improve production efficiency.
In the above technical solution, further, the first driving assembly includes a driving motor 204, a driving pulley 205, a driven pulley 206 and a timing belt 207; the driving motor 204 is fixed inside the material roll support frame 202, the output end of the driving motor 204 is connected with the driving pulley 205, the driven pulley 206 is fixed at the top of the material roll support frame 202 through a support seat, the output end of the driven pulley 206 is connected with one end of the film take-up shaft 203, and the driving pulley 205 is linked with the driven pulley 206 through the synchronous belt 207.
First drive assembly is used for driving film roll-off shaft 203 and rotates, and driving motor 204 drive action wheel is rotatory in this embodiment, and rethread hold-in range 207 drives driven pulley 206 and rotates to make driven pulley 206 drive film roll-off shaft 203 and rotate, adopt hold-in range 207 to transmit, the transmission is steady, and is with low costs.
In the above technical solution, further, the second driving assembly includes a push rod motor 208, and an output end of the push rod motor 208 is connected to the material rack.
The output end of the push rod motor 208 can stretch out and draw back, and therefore can drive the rack to move, so that the film rolling-out shaft 203 arranged on the rack is driven to move along the direction parallel to the film rolling-out shaft 203.
In the above technical solution, further, the guide assembly includes two guide rails 209 arranged in parallel, and a slider 210 connecting the guide rails 209 and the bottom support plate 201; the two guide rails 209 are arranged along the moving direction of the material rack.
The guide assembly adopts a structure of a guide rail 209 and a sliding block 210, has high movement precision and can well control the offset distance.
In the above technical solution, further, the control component includes an edge-finding sensor 211 and a deviation-correcting controller 212; the edge searching sensor 211 is electrically connected with the deviation rectifying controller 212; the edge-finding sensor 211 is arranged on the bottom support plate 201, and the controller is arranged on the material roll support frame 202.
The edge searching sensor 211 can collect the position information of the film material roll 215 and send the position information to the deviation correction controller 212, and the deviation correction controller 212 gives an instruction to the first driving assembly and the second driving assembly according to the received position information, so that the film winding-out shaft 203 is driven to move through the first driving assembly, and meanwhile, the material rest is driven to move for the same distance along the direction opposite to the deviation direction through the second driving assembly.
In the above technical solution, further, the deviation correcting device further includes an L-shaped support plate 213; the L-shaped support plate 213 includes a controller support base plate and side plates; the controller supporting bottom plate is fixed at the top of the material roll supporting frame 202 through a vertically arranged supporting rod and used for fixing the deviation correcting controller 212; the side plate is disposed near the film take-up shaft 203.
The L-shaped supporting plate 213 arranged in the embodiment can be used for bearing the deviation correction controller 212, meanwhile, the side plate is arranged close to the film winding-out shaft 203, the sensor device such as a sensor is convenient to install, and in addition, the deviation correction controller 212 is convenient to be electrically connected with the sensor device.
In the above technical solution, further, the number of the support rods is four, and the four support rods are uniformly arranged along the axial direction of the support base plate.
For realizing stable support, four bracing pieces of this embodiment in the circumference equipartition of the bottom of supporting baseplate, the influence that the drive mechanism vibration of below caused can reduce.
In the above technical solution, further, a static-ion-removing fan 214 is disposed on the side plate. The static electricity removing ion fan 214 can remove static electricity generated during the membrane transferring process.
In the above technical solution, further, the edge-finding sensor 211 is disposed at one end of the bottom supporting plate 201 far away from the material roll supporting frame 202, so that the position information is collected more accurately.
The principle of operation of the deviation correcting device 2 is as follows: the film roll-out shaft 203 is wound around the film roll 215, under the control of the control component, the driving wheel is driven by the driving motor 204 to rotate, and the driven pulley 206 is driven by the synchronous belt 207 to rotate, so that the driven pulley 206 drives the film roll-out shaft 203 to rotate, and the feeding of the film roll 215 is realized. When the material roll 215 on the film roll-out shaft 203 deviates along the width direction, the push rod motor 208 drives the material rack to move under the control of the control component, so that the film roll-out shaft 203 arranged on the material rack is driven to move along the direction opposite to the deviation direction, the deviation of the film material roll 215 is effectively corrected, the film material is stably transmitted, and the production efficiency is improved.
In the above technical solution, further, the transmission mechanism includes a mounting upright plate 301, a first transmission roller assembly and a second transmission roller assembly;
the first driving roller assembly is arranged between the deviation correcting device 2 and the peeling workbench 4 and is used for conveying the membrane material conveyed by the deviation correcting device 2 to the peeling workbench 4; the second transmission roller assembly is used for receiving the stripped film excess materials transmitted by the stripping workbench 4 through a receiving shaft 701;
specifically, the deviation correcting device 2 comprises a film winding shaft 203, the film winding shaft 203 is used for winding a film material roll, the film material roll is transmitted to the film peeling workbench 4 through the first transmission roller assembly, the material roll on the film peeling workbench 4 is transmitted to the material receiving deviation correcting device 7 through the second transmission roller assembly after being cut and peeled, the material receiving deviation correcting device 7 comprises a material receiving shaft 701, and the material receiving shaft 701 is used for winding residual materials of the film. The membrane material can stably enter the first driving roller assembly after being subjected to deviation rectification in the feeding process, so that the membrane material is stably transmitted to the table top of the membrane peeling workbench 4, and the probability of wrinkling of the membrane material is reduced; the membrane material is received the material process and is set up the structure of rectifying, can further improve the stationarity of membrane transmission, has also reduced the probability that receipts material curly hair produced the fold simultaneously.
Referring to fig. 5 to 8, in the above technical solution, further, the first driving roller assembly includes a first swing arm tension roller 302, a first idler roller 303, a second idler roller 304, and a third idler roller 305;
the axes of the first swing arm tension roller 302, the first idler roller 303, the second idler roller 304 and the third idler roller 305 are all perpendicular to the plate surface of the mounting vertical plate 301;
the first idler roller 303 and the second idler roller 304 are arranged below two sides of the first swing arm tension roller 302 and are used for tensioning the diaphragm material bypassing the first swing arm tension roller 302;
the third idler roller 305 is used to tension the film web material before entering the peeling table 4.
In this embodiment, a first swing arm tension roller 302, a first idler roller 303, a second idler roller 304, and a third idler roller 305 are arranged between the deviation rectifying device 2 and the peeling table 4, wherein the first idler roller 303, the second idler roller 304, and the third idler roller 305 can provide tension for a film material, and the first swing arm tension roller 302 can be subjected to horizontal fine adjustment, so that the tension is adjustable within a range of 20-40N, thereby ensuring that a film belt always keeps proper tightening tension in a transmission process, and the film belt moves stably without deformation, thereby preventing a film from wrinkling.
In the above technical solution, further, the first driving roller assembly further includes a vacuum suction roller 306;
the axis of the vacuum adsorption roller 306 is perpendicular to the plate surface of the mounting vertical plate 301, and the vacuum adsorption roller 306 is arranged between the third idler roller 305 and the peeling workbench, so that the film material conveyed by the third idler roller 305 enters the peeling workbench through the vacuum adsorption roller 306.
The vacuum adsorption roller 306 can generate vacuum suction on the surface of the shaft roller with a set fixed angle, so that the tension separation effect of the film (diaphragm material) is realized, and the mutual interference of the tension change of each section of the film is eliminated; the feeding amount of the film is completed by the vacuum adsorption roller 306 and the corresponding servo motor, and the film does not move relative to the roller surface of the vacuum adsorption roller 306, so that the film feeding amount is accurate every time.
In the above technical solution, further, the second transmission roller assembly includes a second swing arm tension roller 307, and an idler roller group 308;
the second swing arm tension roller 307 and the first swing arm tension roller 302 are both fixed on the mounting vertical plate 301;
the idler roller group 308 is fixed on the mounting vertical plate 301, and is used for tensioning the film material which bypasses the front and the back of the second swing arm tension roller 307.
A second swing arm tension roller 307 and an idler roller group 308 are arranged between the stripping workbench 4 and the material receiving deviation correcting device 7, wherein the idler roller group 308 can provide tension for the membrane material, the second swing arm tension roller 307 can be subjected to horizontal fine adjustment, and the tension is adjustable within the range of 20-40N, so that the membrane belt is ensured to be kept at proper tightening tension all the time in the transmission process, the movement is stable, the deformation is avoided, and the membrane is prevented from being wrinkled.
In the above technical solution, further, the diaphragm conveying system further includes a first swing arm plate 309, a first swing arm shaft 310, and a first swing arm motor 311;
two ends of the first swing arm tension roller 302 are respectively connected with two ends of the first swing arm shaft 310 through the first swing arm plate 309; the first swing arm shaft 310 is driven by the first swing arm motor 311.
The first swing arm plate 309 is connected with the first swing arm shaft 310 through a key-free bearing and a bearing sleeve, and the first swing arm motor 311 drives the first swing arm shaft 310 to swing through a swing arm motor coupler; a swing arm shaft belt wheel arranged on the first swing arm shaft 310 drives the measuring shaft to rotate through a measuring shaft belt wheel and a synchronous belt, an angle measuring instrument is connected with the measuring shaft through a measuring coupling, the rotating angle is directly measured, and the swing angle of the first swing arm shaft 310 is measured in equal proportion; the limiting plate is arranged on the first swing arm shaft 310 in a clamping mode and collides with the limiting column when swinging to the angle limiting position to achieve rotation limiting.
In the above technical solution, further, the film transmission system further includes a second swing arm plate 312, a second swing arm shaft 313 and a second swing arm motor 314;
both ends of the second swing arm tension roller 307 are connected to both ends of the second swing arm shaft 313 through the second swing arm plate 312; the second swing arm shaft 313 is driven by the second swing arm motor 314.
The connection relationship and the operation principle between the second swing arm plate 312, the second swing arm shaft 313 and the second swing arm motor 314 are the same as those of the first swing arm plate 309, the first swing arm shaft 310 and the first swing arm motor 311, and the description thereof is omitted.
In the above technical solution, further, one end of the first swing arm shaft 310, which is far away from the mounting vertical plate 301, is connected to one end of the second swing arm shaft 313, which is far away from the mounting vertical plate 301, through a swing arm frame 315.
In the above technical solution, further, the first swing arm tension roller 302 and the second swing arm tension roller 307 are respectively connected to the first swing arm plate 309 and the second swing arm plate 312 through a fine adjustment assembly;
the fine adjustment component comprises a fine adjustment knob 316 and a fine adjustment bent plate 317 in an L shape; one plate surface of the fine tuning bent plate is connected with the end surfaces of the first swing arm tension roller 302 and the second swing arm tension roller 307; the fine adjustment knob 316 penetrates through the other plate surface of the fine adjustment bent plate to be in threaded connection with the first swing arm plate 309 and the second swing arm plate 312.
Taking the connection structure of the first swing arm tension roller 302 and the first swing arm plate 309 as an example, the first swing arm tension roller 302 is connected with the first swing arm plate 309 through an L-shaped fine tuning bent plate 317, and the L-shaped fine tuning bent plate 317 can be driven to horizontally move by rotating the fine tuning knob 316, so as to realize horizontal fine tuning of the shaft end of the film rolling shaft. The connection structure of the second swing arm tension roller 307 and the second swing arm plate 312 is the same as the above-described structure.
In the above technical solution, further, the roller surface radial run-out of the idler rollers in the first idler roller 303, the second idler roller 304, the third idler roller 305, and the idler roller group 308 is 0.03 mm.
The radial runout of the roller surfaces of the first idler roller 303, the second idler roller 304, the third idler roller 305 and the idler roller group 308 is 0.03mm, so that the smooth transmission of the film can be ensured.
In the above technical solution, further, the diaphragm conveying system further includes a position sensor 318;
the position sensor 318 is used for measuring the feeding speed of the membrane material on the membrane winding-out shaft 203 and the receiving speed of the membrane material on the receiving shaft 701, so as to control the output speed of the membrane material at the position of the vacuum adsorption roller 306, and the feeding speed, the receiving speed and the output speed are equal.
The position sensor 318 is used for measuring the diameters of the upper material roll and the lower material roll, and the linear speeds of the film at the positions of the feeding roll film, the receiving roll film and the vacuum adsorption roller 306 are equal through calculation, so that the stable transmission of the film is ensured.
Referring to fig. 9 to 13, in the above technical solution, the peeling table further includes a peeling table 401, an X-direction moving mechanism, a horizontal-direction adjusting structure, and a Z-direction adjusting structure;
the peeling table 401 is arranged on the output end of the X-direction movement mechanism through the Z-direction adjusting structure; the X-direction movement mechanism is fixed on the external transmission mechanism and is used for providing X-direction movement for the peeling table 401; the Z-direction adjusting structure can realize Z-direction adjustment; the horizontal adjusting structure is arranged on one side of the Z-direction adjusting structure along the X direction, and horizontal adjustment can be achieved.
The X direction and the Y direction are two directions perpendicular to each other on a horizontal plane, and the Z direction is a direction perpendicular to the horizontal plane. In the peeling workbench provided by the embodiment, the peeling table 401 is arranged at the output end of the X-direction moving mechanism through the Z-direction adjusting structure, the X-direction moving mechanism is fixed on the external transmission mechanism, and the horizontal-direction adjusting structure is arranged at one side of the Z-direction adjusting structure along the X direction, so that the horizontal-direction adjusting structure and the Z-direction adjusting structure can move along with the X-direction moving mechanism, and the X-direction fine adjustment and the Z-direction fine adjustment can be respectively performed on the peeling table 401, so that the film material is smoothly attached to the peeling table 401, and the probability of deformation of the pattern is reduced. It should be noted that, in this embodiment, the X-direction moving mechanism moves along the X-direction, which is the transmission direction of the external transmission mechanism.
In the technical solution of the present invention, further, the X-direction moving mechanism includes a bearing bottom plate 402, a sliding block assembly 403 of a sliding rail, and a screw rod driving assembly 404;
the bearing bottom plate 402 is arranged on the sliding rail sliding block component 403; the lead screw driving assembly 404 is connected to the sliding rail block assembly 403, and is configured to drive a sliding block in the sliding rail block assembly 403 to slide on a sliding rail thereof, so as to drive the bearing bottom plate 402 to move in the X direction.
The slide rails in the slide rail assembly 403 are fixed on a guide rail frame 424, a stripping table driving motor 425 is arranged on one side of the guide rail frame 424, the output end of the stripping table driving motor 425 is connected with a lead screw driving assembly 404, a nut in the lead screw driving assembly 404 is connected with the bearing bottom plate 402 through a nut connecting plate, and when the stripping table driving motor 425 works, the nut in the lead screw driving assembly 404 moves on the lead screw so as to drive the bearing bottom plate 402 to move on the slide rails along the X direction.
In the technical solution of the present invention, further, the Z-direction adjusting structure includes a connecting middle plate 405 and a height adjusting knob 406;
the connection middle plate 405 is located between the peeling table 401 and the bearing bottom plate 402;
the height adjusting knob 406 is in a circular plate shape, and the middle parts of the two side plate surfaces corresponding to the height adjusting knob 406 respectively extend a first connecting rod and a second connecting rod to the outer parts of the two side plate surfaces;
the first connecting rod penetrates through the peeling table 401, a fixing cover 426 is arranged at the end part of the extending end of the first connecting rod, and a ball plunger 407 is arranged along the circumferential direction of the fixing cover 426;
the second connecting rod penetrates through the middle connecting plate 405 and is in threaded connection with the middle connecting plate 405, a flange nut 408 is arranged at the end of the penetrating end of the second connecting rod, and an anti-backlash spring 409 is arranged between the flange nut 408 and the middle connecting plate 405.
The second connecting rod is in threaded connection with the middle connecting plate 405, when the height adjusting knob 406 is rotated, the first connecting rod and the second connecting rod move upwards or downwards along with the height adjusting knob 406, the first connecting rod penetrates through the stripping table 401, a fixing cover 426 is arranged at the end part of the extending end of the first connecting rod, the fixing cover 426 is fixed with the first connecting rod through a fixing bolt 427, and a ball plunger 407 is arranged along the circumferential direction of the fixing cover 426, so that the stripping table 401 can be driven to move up and down by the up and down movement of the first connecting rod, and the friction between the fixing cover 426 and the stripping table 401 is reduced by the arrangement of the ball plunger 407. The end of the penetrating end of the second connecting rod is provided with a flange nut 408, and a gap eliminating spring 409 is arranged between the flange nut 408 and the middle connecting plate 405, so that the middle connecting plate 405 is prevented from loosening, and the adjusting precision is improved.
In the technical scheme of the invention, further, the horizontal adjusting structure comprises an adjusting fixing plate 410, a push plate adjusting jackscrew 411 and a tension adjusting screw 412;
the adjusting fixing plate 410 abuts against one side of the connecting middle plate 405 in the upward direction of the X and is fixed on the bearing bottom plate 402;
the push plate adjusting jackscrew 411 passes through the adjusting fixing plate 410 and is abutted to the connecting middle plate 405; the tension adjusting screw 412 passes through the adjusting fixing plate 410 and abuts against the connecting middle plate 405; a pulling plate spring 413 and a spring retainer ring 414 are sleeved between the nail head of the tension adjusting screw 412 and the adjusting fixing plate 410.
Push pedal is adjusted jackscrew 411 and is adjusted fixed plate 410 threaded connection back and be connected middle plate 405 butt, consequently adjust push pedal and adjust jackscrew 411 and can promote to connect middle plate 405 at horizontal rebound, tension adjusting screw 412 passes and adjusts fixed plate 410 and be connected middle plate 405 butt, and tension adjusting screw 412 the pin fin to adjusting still the cover between fixed plate 410 and be equipped with arm-tie spring 413 and spring collar 414, this structure can prevent to connect middle plate 405 to take place to become flexible, improve horizontal to the regulation precision.
In the technical scheme of the invention, an edge is further arranged on the edge of the discharging side of the peeling table 401.
The front section of the stripping table 401 is provided with a fine edge, the edge surface is approximately vertical to the table top, the pattern film is adsorbed by a carrying hand to move horizontally relative to the table top during stripping, the stripped film material moves perpendicular to the table top along with the conveying system, and the stripped film material and the conveying system are easier to separate.
In the solution of the present invention, further, cooling water channels 415 that are criss-cross are provided inside the peeling table 401.
The cooling water path 415 increases the temperature difference between the peeling film (the film adsorbed by the robot) and the transfer roll film (the roll film adsorbed by the peeling table 401), so that the peeling film and the transfer roll film can be separated more easily.
In the technical scheme of the invention, furthermore, a plurality of vacuum adsorption holes 416 are uniformly distributed on the table top of the stripping table 401;
the vacuum suction hole 416 communicates with a vacuum tube of an external vacuum apparatus.
The peeling table 401 is made of high-quality steel, has high flatness, and is provided with a plurality of vacuum adsorption holes 416, so that the rolled film is firmly attached to the peeling table during peeling, and is not driven by a carrying hand to adsorb the film.
In the technical solution of the present invention, further, the peeling table further includes a mounting seat 417 and a middle plate connection screw 418;
the mounting seat 417 is disposed on the load floor 402, and the middle plate connection screw 418 is threaded through the mounting seat 417 and the connection middle plate 405.
The mounting seat 417 and the middle plate connection screw 418 are disposed between the load-bearing bottom plate 402 and the connection middle plate 405, and can play a role of supporting the connection middle plate 405.
In the technical solution of the present invention, further, the peeling table further includes a linear bearing 419, a hollow guide post 420 and a guide post connecting screw 421;
the linear bearing 419 is arranged on the middle connecting plate 405; the hollow guide post 420 passes through the linear bearing 419,
and is connected with the stripping table 401 through the guide column connecting screw 421;
one end of the hollow guide post 420, which is far away from the peeling table 401, is sleeved with a pre-tightening spring 422, and two ends of the pre-tightening spring 422 are limited by a pre-tightening spring baffle 423 arranged on the hollow guide post 420.
The structure of this embodiment can ensure that the space between the peeling table and the connecting middle plate 405 remains stable.
In the technical scheme of the invention, further, the number of the Z-direction adjusting structures is four;
the four Z-direction adjusting structures are arranged corresponding to four corners of the peeling table 401.
The Z-direction adjusting structures are arranged at the four corners of the peeling table 401, so that Z-direction adjustment is facilitated, and the peeling table 401 is kept horizontal.
Referring to fig. 14 to 18, in the above technical solution, further, the laminating machine further includes a driving control mechanism;
the carrying manipulator 5 is arranged above the stripping workbench 4; the drive control mechanism 9 is provided above the carrying robot 5; the driving control mechanism 9 is used for driving the carrying manipulator 5 to move towards the peeling workbench 4;
the conveying manipulator 5 comprises a conveying hand aligning mechanism 5100, a conveying hand adsorption table 5200, an adsorption table lifting mechanism 5300 and a membrane cutting mechanism 5400 arranged along the circumferential direction of the conveying hand adsorption table 5200; the carrying hand adsorption table 5200 is arranged at an execution end of the adsorption table lifting mechanism 5300; the adsorption platform lifting mechanism 5300 is used for driving the carrying hand adsorption platform 5200 to perform lifting movement; the carrying hand aligning mechanism 5100 is arranged on the suction table lifting mechanism 5300 and is used for driving the carrying hand suction table 5200 to be vertically aligned with the peeling table 4; the carrying hand adsorption table 5200 is used for adsorbing the cut membrane materials; the membrane cutting mechanism 5400 is used for cutting membrane materials;
the peeling table 401 and the hand suction table 5200 are finely adjusted by the hand aligning mechanism 5100, so that the peeling table 401 in the peeling table 4 and the hand suction table 5200 in the carrying robot 5 are aligned at the peeling position; the driving control mechanism 9 presses the conveying mechanical arm 5 to move along the Z direction, so that the stripping table 401 and the conveying hand adsorption table 5200 are tightly attached, the conveying hand adsorption table 5200 adsorbs the membrane, the membrane cutting mechanism 5400 moves downwards to complete cutting, the driving control mechanism 9 does not apply pressure to the conveying mechanical arm 5 after slicing, the conveying hand adsorption table 5200 adsorbs the cut membrane and resets, meanwhile, the stripping table 4 moves backwards (in the direction opposite to the conveying direction), the stripping table 401 adsorbs the membrane material roll, so that the cut membrane and the membrane material roll form relative tearing motion, thereby the stripping of the membrane is completed, and the membrane stripping success rate of the membrane stripping device provided by the embodiment is high.
In the above technical solution, the adsorption table lifting mechanism 5300 further includes an upper pressing plate 5301, a ball spline shaft 5302, and a guide column 5303;
one side of the upper pressing plate 5301 is arranged right below the output end of the drive control mechanism 9, the other side corresponding to the upper pressing plate 5301 is connected with one end of the ball spline shaft 5302, and the carrying hand adsorption table 5200 is arranged at the other end of the ball spline shaft 5302;
the guide columns 5303 are parallel to the ball spline shaft 5302 and are uniformly arranged around the circumference of the upper pressing plate 5301; the guide column 5303 is used for guiding the lifting of the carrying hand adsorption table 5200.
The upper platen 5301 is provided with a backing plate 5304, and the drive control mechanism 9 controls the suction table elevation mechanism 5300 to ascend and descend by applying a force to the backing plate 5304. In this embodiment, the number of guide post 5303 is four, and four guide posts 5303 set up the position at four angles of last clamp plate 5301 respectively to guarantee to drive the transport hand and adsorb platform 5200 and steadily go up and down.
In the above technical solution, the carrier hand aligning mechanism 5100 further includes a Y-direction fine adjustment mechanism and an X-direction movement mechanism;
the Y-fine adjustment mechanism is arranged on the output end of the X-movement mechanism through a connection plate 5108;
the X-direction moving mechanism includes an X-direction plate 5101 and an X-direction sliding rail slider assembly 5102; the slide rails in the X-direction slide rail assembly 5102 are used for being fixed on an external frame and arranged parallel to the peeling direction of the membrane; the X-direction plate 5101 is connected with a slider in the X-direction sliding rail slider assembly 5102;
the Y-direction fine adjustment mechanism comprises a Y-direction plate 5103 and a Y-direction sliding rail slider assembly 5104; the slide rails in the Y-direction slide rail assembly 5104 are fixed on the X-direction plate 5101 and are arranged perpendicular to the slide rails in the X-direction slide rail assembly 5102; the Y-direction plate 5103 is connected with a slider in the Y-direction slide rail slider assembly 5104.
The X direction is the conveying direction of the membrane material, the Y direction is perpendicular to the X direction, the X direction plate 5101 can move on a slide rail in the X direction slide rail slider assembly 5102 under the drive of an external motor, and the X direction adjustment can be realized in the alignment process of the peeling table 401 and the carrying hand adsorption table 5200; similarly, the Y-direction plate 5103 can move on a slide rail in the Y-direction slide rail slider assembly 5104, and fine adjustment in the Y direction can be realized in the alignment process of the peeling table 401 and the carrying hand adsorption table 5200; the Y-direction fine adjustment mechanism and the X-direction movement mechanism can be adjusted to improve the positioning accuracy between the peeling table 401 and the hand suction table 5200.
In the above technical solution, the carrier hand aligning mechanism 5100 further includes a Z-direction fine adjustment mechanism;
the Z-direction fine adjustment mechanism comprises a middle plate 5105, a Z-direction driving mechanism 5106 and a Z-direction transmission mechanism 5107;
the middle plate 5105 is disposed between the Y-directional plate 5103 and the upper pressing plate 5301; the Z-drive mechanism 5106 is provided on the middle plate 5105; the input end of the Z-direction transmission 5107 is connected with the Z-direction driving mechanism 5106, and the output end of the Z-direction transmission 5107 is engaged with the ball spline shaft 5302.
The table top of the stripping table 401 and the working surface of the carrying hand adsorption table 5200 are both square, and the two tables need to be accurately aligned and need to be subjected to rotation fine adjustment in the Z direction. In this embodiment, the Z-direction drive mechanism 5106 rotates the ball spline shaft 5302 by the Z-direction transmission mechanism 5107, thereby rotating the carrying hand suction table 5200. Since the Z-direction fine adjustment mechanism is provided in the Y-direction fine adjustment mechanism, the X-direction, Y-direction, and Z-direction rotations of the hand-holding table 5200 can be performed simultaneously, and the alignment accuracy and the alignment efficiency are improved.
In this embodiment, two pull-down cylinders 5307 and two jacking cylinders 5306 are further disposed between the middle plate 5105 and the upper pressing plate 5301; the two lower pulling cylinders 5307 and the two jacking cylinders 5306 are symmetrically arranged by taking the ball spline shaft 5302 as a symmetry axis, and two ends of the lower pulling cylinders 5307 and the two ends of the jacking cylinders 5306 are respectively connected with the upper pressing plate 5301 and the middle plate 5105. Further, a spring 5305 is provided in the middle between the middle plate 5105 and the upper pressure plate 5301, and the spring 5305 can offset the weight of the carrier hand aligning mechanism 5100.
In the above technical solution, the carrying manipulator 5 further includes a camera 5500, and the camera 5500 is electrically connected to the carrying hand aligning mechanism 5100;
the camera 5500 is used for acquiring the alignment information of the carrying hand adsorption table 5200 and the peeling table 4; the carrier hand aligning mechanism 5100 receives the alignment information and realizes fine adjustment of rotation in the Y direction and the Z direction according to the alignment information.
The camera 5500 can acquire alignment information between the peeling table 401 and the carrying robot and transmit the alignment information to the drive control mechanism 9, and the drive control mechanism 9 controls the carrying robot alignment mechanism 5100 to perform accurate alignment.
In the above technical solution, further, the film cutting mechanism 5400 includes a synchronization belt assembly, a cutter moving guide assembly, four cutter assemblies 5405, and a mounting plate disposed around the outer side of the carrying hand adsorption table 5200;
the synchronous belt assembly comprises a transmission belt 5401 and four synchronous belt wheels 5402 for driving the transmission belt 5401, the four synchronous belt wheels 5402 are respectively arranged at four corners of the mounting plate, and the axes of the synchronous belt wheels 5402 are vertical to the mounting plate; a clamping plate is fixed on the synchronous belt between two adjacent synchronous belt wheels 5402;
the cutter movement guide assembly comprises four slide rails and four guide slide blocks 5404 matched with the four guide slide rails 5403, and the four slide rails are respectively arranged on four sides of the mounting plate and are positioned below the synchronous belt; the four clamping plates on the synchronous belt are respectively connected with the four sliding blocks;
the four cutter assemblies 5405 are respectively connected with the four sliders.
The diaphragm cutting mechanism 5400 of this embodiment sets up around square transport hand adsorbs platform 5200, and under the drive of outside motor, four synchronous pulley 5402 are rotatory towards same direction, drive four clamp plates through the hold-in range and move the other end by the one end on each limit to make four cutter unit 5405 move the other end by the one end on each limit, form square cutting orbit, improved the cutting efficiency of diaphragm.
Referring to fig. 19 to 22, in the above technical solution, the material receiving manipulator 6 further includes a suction cup assembly, a linear motion mechanism, a rotation mechanism, and a lifting mechanism;
the lifting mechanism is fixed on the external frame; the linear motion mechanism is arranged at the output end of the lifting mechanism; the rotating mechanism is arranged at the output end of the linear motion mechanism; the sucker component is connected with the rotating mechanism through a sucker frame 601;
one end of the suction cup frame 601 is connected with the output end of the rotating mechanism through a connecting plate 602; the other end of the suction cup frame 601 extends to the direction perpendicular to the rotating shaft of the rotating mechanism and is connected with the suction cup assembly.
According to the material receiving manipulator provided by the embodiment, the linear motion mechanism can drive the sucker assembly to reach the material taking position, material taking is realized under the coordination of the lifting mechanism, and the sucker assembly returns after material taking; the suction cup frame 601 can be driven to rotate by the rotating mechanism, so that materials are rotated to a material receiving position, and discharging is achieved under the cooperation of the lifting mechanism. The whole material taking and discharging process is completed by the material receiving manipulator, the automation degree is high, the material receiving efficiency is improved, and the labor cost is reduced.
In the above technical solution, further, the suction cup assembly includes a suction cup plate and a suction cup;
an air channel 605 is arranged inside the sucker plate; the sucker is arranged on the surface of one side of the sucker plate close to the linear motion mechanism and is communicated with the air passage 605; the other side of the sucker plate is connected with the sucker frame 601.
In the above technical solution, further, the suction cup plate includes an upper suction plate 603 and a lower suction plate 604; a vacuum groove is formed in the lower suction plate 604; the upper suction plate 603 is connected to the lower suction plate 604 so that the air passage 605 is formed between the vacuum groove and the upper suction plate 603.
The sucking disc subassembly includes sucking disc board and sucking disc in this embodiment, and the sucking disc board is used for fixed sucking disc, and is concrete, and the sucking disc board includes suction plate 603 and lower suction plate 604, is provided with the cavity groove on the lower suction plate 604, goes up suction plate 603 and is connected the back with lower suction plate 604, has formed air flue 605 between vacuum groove and the last suction plate 603, and this air flue 605 passes through vacuum joint and is connected with outside vacuum apparatus. Because the suction cup frame 601 for fixing the suction cup assembly is connected with the rotating mechanism through the connecting plate 602, the rotating mechanism can drive the suction cup assembly to rotate around the rotating axis of the rotating mechanism.
In the above technical solution, further, the suction cup includes a non-contact type suction cup 606 and a plurality of contact type suction cups 607;
the non-contact type sucker 606 is arranged in the middle of the sucker plate; a plurality of contact type sucking discs 607 are uniformly distributed along the circumferential direction of the sucking disc plate.
In this embodiment, the sucking disc has included non-contact sucking disc 606 and contact sucking disc 607 two kinds, and wherein the setting of non-contact sucking disc is at the middle part of sucking disc board, and the circumference equipartition setting of sucking disc board is followed to the contact sucking disc, and the mode of arranging of sucking disc can absorb heavy, great finished product in this embodiment.
In the above technical solution, further, the lifting mechanism includes a fixing plate 608, a lifting plate 609, and a lifting cylinder 610;
the fixing plate 608 is fixed on the external frame; the lifting cylinder 610 is arranged in the middle of the fixing plate 608; the lifting plate 609 is connected to the protruding end of the lifting cylinder 610 through a floating joint 611.
The lifting mechanism is mainly matched with the linear motion mechanism and the rotating mechanism to act, when the linear motion mechanism moves to the material taking position, the lifting mechanism descends to enable the sucker component to grab a product, and then the sucker component ascends to restore to the original height so that the rotating mechanism can rotate, and the product is conveyed to the material receiving position; when the product reaches the material receiving position, the lifting action is carried out again according to the height of the material receiving disc.
In the above technical solution, further, the lifting mechanism further comprises a plurality of guiding support assemblies; the plurality of guide support assemblies are uniformly distributed along the circumferential direction of the fixing plate 608; the guide support assembly comprises a guide bearing 612, a guide support column 613 and a guide column limit 614; the guide bearing 612 is fixed on the fixing plate 608; the guide support column 613 is engaged with the guide bearing 612; the guide post stop 614 is disposed on an end of the guide bearing 612 distal from the fixed plate 608; the end of the guiding support 613 away from the fixing plate 608 is connected to the lifting plate 609.
In order to realize smooth lifting of the lifting mechanism, a plurality of guide support assemblies are disposed between the fixing plate 608 and the lifting plate 609, and the guide support assemblies are disposed along the circumferential direction of the fixing plate 608. Specifically, the guide support assembly includes a guide bearing 612, a guide support column 613, and a guide column limit 614, and the guide column limit 614 can limit the height of the lifting plate 609.
In the above technical solution, further, the lifting mechanism further includes a limit post ejector 615 and a lower limit post 616; the limit post mandril 615 is arranged on one side of the lifting plate 609 close to the fixed plate 608; the lower limiting column 616 is disposed on one side of the fixing plate 608 close to the lifting plate 609, and corresponds to the limiting column top bar 615.
The top rod 615 and the lower limiting column 616 of the limiting column can prevent the lifting plate 609 and the fixing plate 608 from generating rigid impact, and have the pneumatic buffering and limiting functions.
In the above technical solution, further, the linear motion mechanism includes a horizontal driving actuator 617, a horizontal linear guide rail 618 and a reducer seat 619; the horizontal driving actuator 617 is arranged in parallel with the horizontal linear guide 618; the speed reducer base 619 is arranged at the executing end of the horizontal driving actuator 617; the horizontal linear guide rail 618 is used for providing guidance for the linear motion of the reducer seat 619.
In this embodiment, the horizontal driving actuator 617 drives the reducer seat 619 to make a linear motion along the horizontal linear guide rail 618, so that the structure is simple and the motion precision is high.
In the above technical solution, further, the rotation mechanism includes a rotation motor 620 and a rotation reducer 621; the rotating electrical machine 620 is fixed to the reducer base 619, and the rotating electrical machine 620 is connected to the connection plate 602 through the rotating reducer 621.
The rotating motor 620 is fixed on the speed reducer base 619 and can move linearly along with the speed reducer base 619; the rotary motor 620 provides a rotary motion to the suction cup holder 601 through the rotation reducer 621.
In the above technical solution, further, the device further includes a material storage tray 622 and a material taking tray 623; the material storage disc 622 and the material taking disc 623 are respectively arranged on two sides of the material receiving manipulator, so that the sucker component is driven by the rotating mechanism to correspond to the material storage disc or the material taking disc.
In the material collecting device provided by this embodiment, the fixing plate 608 of the material collecting manipulator is connected to the frame 624; the material storage tray 622 and the material taking tray 623 are respectively fixed on the rack 624 and are positioned at two sides of the material receiving manipulator. The material collecting manipulator picks the product and then sends the product to the material storage tray 622 for storage, and when the material needs to be taken, the manipulator is used for sending the product to the material taking tray 623 so as to take the material.
Referring to fig. 23 and 24, in the above technical solution, further, the pressurizing mechanism 8 includes a pressure-bearing frame 801, a pressing table 802, a hydraulic cylinder 803, an underframe 804 and a knuckle bearing 805; the underframe 804 is arranged at the bottom of the bearing frame 801; the pressing table 802 is arranged inside the pressure-bearing frame 801; the cylinder body of the hydraulic cylinder 803 is fixed on the base frame 804, and the cylinder rod of the hydraulic cylinder 803 passes through the pressure-bearing frame 801 and is connected with the pressing workbench 802 through the knuckle bearing 805.
The press-down table 802 is driven by a hydraulic cylinder 803, and is guided by four spline shafts provided on the lower base of the pressure-bearing frame 801. The pressure-bearing frame 801 comprises an upper seat plate, four upright posts and a lower seat, wherein the upper seat plate is connected with the four upright posts through turned studs, the four upright posts are arranged in parallel and form a cuboid shape, a spline flange is arranged on the lower seat, a spline shaft is matched with the spline flange to realize guiding, and a hydraulic oil cylinder 803 is arranged on the lower seat through an oil cylinder flange; the joint bearing 805 is composed of a bearing shaft ring and a bearing race ring, the bearing shaft ring is fixed, the bearing race ring is connected with a cylinder rod of the hydraulic oil cylinder 803, and the spherical surfaces of the bearing shaft ring and the bearing race ring are tightly matched, so that the hydraulic oil cylinder 803 is guaranteed to uniformly press the pressing workbench.
In the above technical solution, further, the laminating machine further includes a base frame 1; the deviation correcting device 2, the conveying mechanism 3, the peeling workbench 4, the carrying manipulator 5, the pressurizing mechanism 8 and the material receiving manipulator 6 are all arranged in the middle of the base frame 1; the number of the deviation correcting devices 2, the number of the conveying mechanisms 3 and the number of the peeling workbenches 4 are two; the pressurizing mechanism 8 is arranged in the middle of the base frame 1, and the two deviation rectifying devices 2, the conveying mechanism 3 and the peeling worktable 4 are respectively and symmetrically arranged on two sides of the pressurizing mechanism 8; the material receiving robot 6 is disposed at a position close to the pressurizing mechanism 8.
In conclusion, the laminating machine provided by the invention effectively overcomes the factors which possibly influence the precision in each link of ceramic membrane transmission, cutting, stripping, laminating and the like, and improves the automation degree of equipment on the premise of ensuring the product precision.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A laminating machine is characterized by comprising a deviation correcting device, a transmission mechanism, a stripping workbench, a carrying manipulator, a pressurizing mechanism and a material receiving manipulator;
the deviation correcting device is arranged at the input end of the transmission mechanism; the peeling worktable is arranged on a transmission path of the transmission mechanism; the carrying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the peeling workbench is used for being matched with the carrying manipulator to peel the membrane; the peeling workbench and the pressurizing mechanism are arranged along the peeling direction of the membrane, so that the conveying manipulator conveys the peeled membrane to the pressurizing mechanism for pressurizing; and the material receiving manipulator is used for taking out the laminated finished product.
2. The laminating machine of claim 1, wherein said deviation correction device includes a stack, a first drive assembly, a second drive assembly, a guide assembly and a control assembly;
the material rack comprises a bottom supporting plate, a material roll supporting frame and a film roll-out shaft; the material roll support frame is arranged on one side of the bottom support plate; the film rolling-out shaft and the first driving assembly are respectively fixed on the material roll supporting frame, the film rolling-out shaft is used for winding a material roll, and the first driving assembly is used for driving the film rolling-out shaft to rotate so as to realize the feeding of the material roll;
the output end of the second driving assembly is connected with the material rack and is used for driving the material rack to move along the direction parallel to the film rolling-out shaft; the guide assembly is arranged below the bottom supporting plate and provides guide for the movement of the material rack;
the first driving assembly and the second driving assembly are electrically connected with the control assembly, and the control assembly is used for controlling the first driving assembly and the second driving assembly to work.
3. The laminating machine of claim 2, wherein said transport mechanism includes a mounting plate, a first drive roller assembly and a second drive roller assembly;
the first driving roller assembly is arranged between the deviation correcting device and the stripping workbench and used for conveying the membrane material conveyed by the deviation correcting device to the stripping workbench; the second transmission roller assembly is used for receiving the stripped diaphragm excess materials transmitted by the stripping workbench through a receiving shaft;
the first driving roller assembly comprises a first swing arm tension roller, a first idler roller, a second idler roller and a third idler roller; the axes of the first swing arm tension roller, the first idler roller, the second idler roller and the third idler roller are all vertical to the plate surface of the mounting vertical plate; the first idler roller and the second idler roller are arranged below two sides of the first swing arm tension roller and used for tensioning the diaphragm material bypassing the first swing arm tension roller; the third idler roller is used for tensioning the diaphragm material before entering the diaphragm stripping workbench;
the second drive roller assembly comprises a second swing arm tension roller and an idler roller set; the second swing arm tension roller and the first swing arm tension roller are both fixed on the mounting vertical plate; and the idler roller group is fixed on the mounting vertical plate and used for tensioning the diaphragm material which bypasses the front and the back of the second swing arm tension roller.
4. The laminating machine of claim 3, wherein said transfer mechanism further includes a vacuum suction roller;
the axis of the vacuum adsorption roller is perpendicular to the plate surface of the mounting vertical plate, and the vacuum adsorption roller is arranged between the third idler roller and the stripping workbench, so that the membrane material transmitted by the third idler roller enters the stripping workbench through the vacuum adsorption roller.
5. The laminating machine of claim 2 wherein said stripping station includes a stripping station, an X-direction movement mechanism, a horizontal adjustment mechanism and a Z-direction adjustment mechanism;
the peeling table is arranged on the output end of the X-direction movement mechanism through the Z-direction adjusting structure; the X-direction movement mechanism is fixed on the external transmission mechanism and is used for providing X-direction movement for the peeling table; the Z-direction adjusting structure can realize Z-direction adjustment; the horizontal adjusting structure is arranged on one side of the Z-direction adjusting structure along the X direction, and horizontal adjustment can be achieved.
6. The laminating machine of claim 5, wherein an edge is provided on the edge of the discharge side of the stripping station.
7. The laminating machine of claim 5, further comprising a drive control mechanism; the carrying manipulator is arranged above the stripping workbench; the driving control mechanism is arranged above the carrying manipulator; the driving control mechanism is used for driving the carrying manipulator to move towards the stripping workbench;
the conveying manipulator comprises a conveying hand aligning mechanism, a conveying hand adsorption platform, an adsorption platform lifting mechanism and a membrane cutting mechanism arranged along the circumferential direction of the conveying hand adsorption platform; the carrying hand adsorption platform is arranged at an execution end of the adsorption platform lifting mechanism; the adsorption platform lifting mechanism is used for driving the carrying hand adsorption platform to do lifting motion; the carrying hand aligning mechanism is arranged on the adsorption platform lifting mechanism and is used for driving the corresponding edges of the carrying hand adsorption platform and the stripping workbench to be parallel to each other; the carrying hand adsorption platform is used for adsorbing the cut membrane materials; the membrane cutting mechanism is used for cutting membrane materials;
the adsorption platform lifting mechanism comprises an upper pressure plate, a ball spline shaft and a guide post; one side of the upper pressure plate is arranged right below the output end of the driving control mechanism, the other side, corresponding to the upper pressure plate, of the upper pressure plate is connected with one end of the ball spline shaft, and the carrying hand adsorption table is arranged at the other end of the ball spline shaft; the guide posts are parallel to the ball spline shaft and are uniformly distributed around the circumference of the upper pressure plate; the guide column is used for providing guidance for the lifting of the carrying hand adsorption platform;
the carrying hand aligning mechanism comprises a Y-direction fine adjustment mechanism, an X-direction moving mechanism and a Z-direction fine adjustment mechanism; the Y-direction fine adjustment mechanism is arranged on the output end of the X-direction moving mechanism; the X-direction moving mechanism comprises an X-direction plate and an X-direction sliding rail and sliding block assembly; the slide rails in the X-direction slide rail slide block assembly are used for being fixed on an external frame and are arranged in parallel to the stripping direction of the membrane; the X-direction plate is connected with a sliding block in the X-direction sliding rail sliding block assembly; the Y-direction fine adjustment mechanism comprises a Y-direction plate and a Y-direction sliding rail and sliding block assembly; the slide rails in the Y-direction slide rail sliding block assembly are fixed on the X-direction plate and are arranged perpendicular to the slide rails in the X-direction slide rail sliding block assembly; the Y-direction plate is connected with a slide block in the Y-direction slide rail slide block assembly; the Z-direction fine adjustment mechanism comprises a middle plate, a Z-direction driving mechanism and a Z-direction transmission mechanism; the middle plate is arranged between the Y-direction plate and the upper pressing plate; the Z-direction driving mechanism is arranged on the middle plate; the input end of the Z-direction transmission mechanism is connected with the Z-direction driving mechanism, and the output end of the Z-direction transmission mechanism is meshed with the ball spline shaft.
8. The laminating machine of claim 7, wherein said handling robot further includes a camera, said camera being electrically connected to said handling hand registration mechanism;
the camera is used for acquiring the alignment information of the carrying hand adsorption platform and the stripping workbench; and the carrying hand alignment mechanism receives the alignment information and realizes fine adjustment of rotation in the Y direction and the Z direction according to the alignment information.
9. The laminating machine of claim 8, wherein said pressurization mechanism includes a pressure frame, a hold-down table, a hydraulic ram, a base frame and a knuckle bearing;
the underframe is arranged at the bottom of the pressure-bearing frame; the pressing workbench is arranged inside the pressure-bearing frame; the cylinder body of the hydraulic oil cylinder is fixed on the underframe, and the cylinder rod of the hydraulic oil cylinder penetrates through the pressure-bearing frame and is connected with the pressing workbench through the joint bearing.
10. The laminating machine of claim 1, further comprising a base frame;
the deviation correcting device, the conveying mechanism, the peeling workbench, the carrying manipulator, the pressurizing mechanism and the material receiving manipulator are all arranged in the middle of the base frame;
the number of the deviation correcting devices, the number of the transmission mechanisms and the number of the stripping workbenches are two; the two deviation rectifying devices, the conveying mechanism and the peeling workbench are respectively and symmetrically arranged on two sides of the pressurizing mechanism; the material receiving manipulator is arranged at a position close to the pressurizing mechanism.
CN202011593479.6A 2020-12-29 2020-12-29 Lamination machine Active CN112722950B (en)

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CN113985773A (en) * 2021-10-27 2022-01-28 北京半导体专用设备研究所（中国电子科技集团公司第四十五研究所） Control system and method for substrate lamination, electronic equipment and storage medium
CN114434943A (en) * 2022-04-08 2022-05-06 肇庆市宏华电子科技有限公司 Ceramic film laminating machine
CN116313569A (en) * 2023-02-03 2023-06-23 珠海市奥德维科技有限公司 MLCC lamination high-speed high accuracy pay-off cutting lamination mechanism

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CN116313569A (en) * 2023-02-03 2023-06-23 珠海市奥德维科技有限公司 MLCC lamination high-speed high accuracy pay-off cutting lamination mechanism

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