CN112722950B

CN112722950B - Lamination machine

Info

Publication number: CN112722950B
Application number: CN202011593479.6A
Authority: CN
Inventors: 杨志; 李国林; 马红雷
Original assignee: Beijing Semiconductor Equipment Institute
Current assignee: Beijing Semiconductor Equipment Institute
Priority date: 2020-12-29
Filing date: 2020-12-29
Publication date: 2023-06-16
Anticipated expiration: 2040-12-29
Also published as: CN112722950A

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 stripping workbench is arranged on a transmission path of the transmission mechanism; the conveying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the stripping workbench is used for being matched with the carrying manipulator to realize stripping of the membrane; the stripping workbench and the pressurizing mechanism are arranged along the stripping direction of the membrane, so that the conveying manipulator sends the stripped membrane to the pressurizing mechanism for pressurizing; the material receiving manipulator is used for taking out the stacked finished product. The invention solves the technical problems of low automation degree and poor precision in the prior art.

Description

Lamination 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 cost and the like, and is widely applied to oscillation, coupling, filtering and bypass circuits in various electronic complete 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 whole volume, and the outstanding characteristic makes the chip MLCC currently become the chip element with the largest using amount and the fastest development in the world. The existing lamination device has low automation degree and poor precision because of the high-precision requirement of the ceramic film roll, in order to avoid accumulated errors in the film roll transmission process, the film cutting and stripping process and the lamination process.

Disclosure of Invention

The invention aims to provide an 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:

the utility model provides an overlap press, it includes deviation correcting device, transmission mechanism, peels off workstation, transport manipulator, pressurizing mechanism and receipts material manipulator;

the deviation correcting device is arranged at the input end of the transmission mechanism; the stripping workbench is arranged on a transmission path of the transmission mechanism; the conveying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the stripping workbench is used for being matched with the carrying manipulator to realize stripping of the membrane; the stripping workbench and the pressurizing mechanism are arranged along the stripping direction of the membrane, so that the conveying manipulator sends the stripped membrane to the pressurizing mechanism for pressurizing; the material receiving manipulator is used for taking out the stacked finished product.

In a preferred technical scheme of the invention, 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 unwinding shaft; the material roll supporting frame is arranged on one side of the bottom supporting plate; the film roll discharging shaft and the first driving component are respectively fixed on the material roll supporting frame, the film roll discharging shaft is used for winding a material roll, and the first driving component is used for driving the film roll discharging shaft to rotate so as to realize feeding of the material roll;

The output end of the second driving assembly is connected with the material rack and used for driving the material rack to move along the direction parallel to the film roll unwinding shaft; the guide assembly is arranged below the bottom supporting plate and used for guiding 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, the laminating machine comprises a mounting vertical plate, a first driving roller assembly and a second driving roller assembly;

the first driving roller assembly is arranged between the deviation correcting device and the stripping workbench and is used for conveying the membrane materials conveyed by the deviation correcting device to the stripping workbench; the second driving roller assembly is used for collecting the stripped membrane residual materials transmitted by the stripping workbench through a collecting shaft;

the first transmission 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 perpendicular to the plate surface of the installation vertical plate; the first idler roller and the second idler roller are arranged below two sides of the first swing arm tension roller and are used for tensioning a film material bypassing the first swing arm tension roller; the third idler roller is used for tensioning the film material before entering the film stripping workbench;

The second driving 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; the idler roller set is fixed on the installation vertical plate and used for tensioning the membrane materials around the front and rear of the second swing arm tension roller.

In a preferred technical scheme of the invention, the laminating machine further comprises a vacuum adsorption roller;

the axis of the vacuum adsorption roller is perpendicular to the plate surface of the installation vertical plate, and the vacuum adsorption roller is arranged between the third idler roller and the stripping workbench, so that the membrane material conveyed by the third idler roller enters the stripping workbench through the vacuum adsorption roller.

In a preferred technical scheme of the invention, the stripping workbench comprises a stripping table, an X-direction movement mechanism, a horizontal direction adjusting structure and a Z-direction adjusting structure;

the stripping table is arranged at 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 stripping 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 can realize horizontal adjustment.

In a preferred technical scheme of the invention, the edge of the discharge side of the stripping table is provided with an edge.

In a preferred technical scheme of the invention, the laminating machine further comprises a driving control mechanism; the conveying 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 alignment mechanism, a conveying hand adsorption table and an adsorption table lifting mechanism, and a diaphragm cutting mechanism arranged along the circumferential direction of the conveying hand adsorption table; the carrying hand adsorption table is arranged at the execution end of the adsorption table lifting mechanism; the adsorption table lifting mechanism is used for driving the carrying hand adsorption table to do lifting motion; the carrying hand alignment mechanism is arranged on the adsorption table lifting mechanism and is used for driving the sides of the carrying hand adsorption table corresponding to the stripping workbench to be parallel to each other; the carrying hand adsorption table is used for adsorbing the cut membrane materials; the diaphragm cutting mechanism is used for cutting diaphragm materials;

The adsorption table lifting mechanism comprises an upper pressing plate, a ball spline shaft and a guide column; one side of the upper pressing plate is right opposite to the lower part of the output end of the driving control mechanism, the other corresponding side of the upper pressing 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 uniformly distributed around the circumference of the upper pressing plate; the guide column is used for providing guide for lifting of the carrying hand adsorption table;

the carrying hand alignment 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 at 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 sliding rail in the X-direction sliding rail and sliding block assembly is used for being fixed on the external frame and is arranged parallel to the stripping direction of the membrane; the X-direction plate is connected with a slide block in the X-direction slide rail slide block assembly; the Y-direction fine adjustment mechanism comprises a Y-direction plate and a Y-direction sliding rail and sliding block assembly; the sliding rail in the Y-direction sliding rail and sliding block assembly is fixed on the X-direction plate and is perpendicular to the sliding rail in the X-direction sliding rail and 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 invention, the stacking machine further comprises a camera, and the camera is electrically connected with the handling hand alignment mechanism;

the camera is used for collecting alignment information of the carrying hand adsorption table and the stripping workbench; and the carrying hand alignment mechanism receives the alignment information and realizes fine adjustment of Y-direction and Z-direction rotation according to the alignment information.

In the preferred technical scheme of the invention, the pressurizing mechanism comprises a pressure-bearing frame, a pressing workbench, a hydraulic oil cylinder, an underframe 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 cylinder is fixed on the underframe, and a cylinder rod of the hydraulic 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 transmission mechanism, the stripping workbench, the carrying manipulator, the pressurizing mechanism and the receiving manipulator are all arranged in the middle of the base frame;

The number of the deviation correcting device, the number of the transmission mechanism and the number of the stripping workbench are two; the pressurizing mechanism is arranged in the middle of the base frame, and the two deviation correcting devices, the transmission mechanism and the stripping 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 beneficial effects of the invention are as follows: the invention provides a laminating machine which 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 stripping workbench is arranged on a transmission path of the transmission mechanism; the conveying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the stripping workbench is used for being matched with the carrying manipulator to realize stripping of the membrane; the stripping workbench and the pressurizing mechanism are arranged along the stripping direction of the membrane, so that the conveying manipulator sends the stripped membrane to the pressurizing mechanism for pressurizing; the material receiving manipulator is used for taking out the stacked finished product. The laminating machine provided by the invention can be used for placing the ceramic membrane material roll in the deviation correcting device of the equipment, the deviation correcting device can correct the deviation when feeding and inputs the membrane material roll into the transmission mechanism from the input end of the transmission mechanism, the transmission mechanism is used for transmitting the ceramic membrane to the stripping workbench, after the alignment position of the mechanical arm is carried, the ceramic membrane is respectively cut into square sheets and stripped, the square sheets are sequentially laminated in the pressurizing mechanism according to a set program, and the laminated product is taken out by the material collecting mechanical arm. The laminating machine provided by the invention effectively overcomes the factors which possibly exist in various links such as ceramic membrane transmission, cutting, stripping and laminating and the like and influence the precision, 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 that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a first view angle of a lamination machine according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second view angle of the lamination machine according to the embodiment of the present invention;

FIG. 3 is a schematic diagram of a first view angle of the deviation correcting mechanism according to the present invention;

FIG. 4 is a schematic diagram of a second view of the deviation correcting structure according to the present invention;

FIG. 5 is a schematic view of a first view of a film transfer mechanism according to the present invention;

FIG. 6 is a schematic diagram of a second view of the film transfer mechanism according to the present invention;

FIG. 7 is a schematic diagram of a third view of the film transfer mechanism according to the present invention;

FIG. 8 is an enlarged partial view of the mounting locations of the first swing arm tension roller and the second swing arm tension roller in the diaphragm transfer mechanism of the present invention;

FIG. 9 is a schematic view of a first view of a stripping table according to the present invention;

FIG. 10 is a schematic view of a second view of a stripping table according to the present invention;

FIG. 11 is a schematic view of the Z-direction adjusting structure of the stripping table according to 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 showing the structure of a stripping table in the stripping table according to 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 in the present invention;

FIG. 17 is a schematic view of a handling robot in a membrane peeling apparatus according to the present invention;

FIG. 18 is a schematic view of a film cutting mechanism of the film peeling apparatus of the present invention;

FIG. 19 is a schematic view of a first view of a receiving manipulator according to the present invention;

FIG. 20 is a schematic view of a second view of a receiving manipulator according to the present invention;

FIG. 21 is a schematic structural view of a chuck assembly in a receiving manipulator according to the present invention;

FIG. 22 is a schematic view of a receiving device according to the present invention;

FIG. 23 is a schematic view of a pressurizing mechanism according to the present invention;

FIG. 24 is a schematic view showing the internal structure of the press of the present invention.

In the figure: 1-a base frame; 2-a deviation correcting device; 201-a bottom support plate; 202, a material roll supporting frame; 203-film roll off-axis; 204-driving a motor; 205—a driving pulley; 206-driven pulleys; 207-synchronous belt; 208-a push rod motor; 209—a rail; 210-a slider; 211-edge finding sensor; 212-a deviation rectifying controller; 213-L shaped support plate; 214-a static-removing ion fan; 215-material rolls; 3-a transmission mechanism; 301-mounting 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-a second swing arm tension roller; 308-idler roller sets; 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-swinging arm support; 316-fine tuning knob; 317-L-shaped trimming bent plate; 318-position sensor; 4-stripping workbench; 401-stripping station; 402-a load floor; 403-a slideway slide assembly; 404-a screw drive assembly; 405-connecting a middle plate; 406-a height adjustment knob; 407-ball plunger; 408-a flange nut; 409-an anti-backlash spring; 410-adjusting the fixing plate; 411-push plate adjusting jackscrews; 412-a lag screw; 413—a pull plate spring; 414-spring collar; 415-cooling waterway; 416-vacuum adsorption holes; 417-a mounting base; 418—middle plate connecting screws; 419-linear bearings; 420-hollow guide posts; 421-guide post attachment screw; 422-pretension spring; 423-pre-tensioning spring baffle; 424-rail brackets; 425-stripping table drive motor; 426—a fixed cover; 427-fixing bolts; 5-a carrying manipulator; 5100-a handling hand alignment mechanism; 5101-X direction plate; 5102-X direction slide rail and slide block assembly; 5103-Y-direction plate; 5104-Y direction slide rail slide block assembly; 5105-an intermediate plate; 5106-Z direction driving mechanism; 5107-Z direction transmission mechanism; 5108-connecting plates; 5200-carrying a hand suction table; 5300-an adsorption table lifting mechanism; 5301-an upper platen; 5302-a ball spline shaft; 5303-a guide post; 5304-backing plate; 5305-a spring; 5306-jacking cylinders; 5307—a pull-down cylinder; 5400-film cutting mechanism; 5401-a drive belt; 5402—synchronous pulleys; 5403—guide rails; 5404-guide slide; 5405-cutter assembly; 5500-cameras; 6, a material receiving manipulator; 601-a sucker rack; 602-connecting plates; 603-upper suction plate; 604-a lower suction plate; 605-airway; 606-non-contact suction cup; 607-contact suction cup; 608—a fixing plate; 609-lifting plate; 610-lifting cylinder; 611-floating joint; 612-guiding bearings; 613-guiding support columns; 614-limit of the guide post; 615-limit post rod; 616-lower limit posts; 617-horizontal drive actuator; 618-horizontal linear guide rail; 619-reducer mount; 620-a rotating electric machine; 621-a rotation reducer; 622-stock tray; 623-a take off tray; 624-a frame; 7-receiving deviation correcting device; 701, a material receiving shaft; 8-a pressurizing mechanism; 801-a pressure-bearing frame; 802-pressing down a workbench; 803-a hydraulic cylinder; 804-chassis; 805-knuckle bearing; 9-drive control mechanism.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the 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 invention, as 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 made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its 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 explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

First embodiment

Referring to fig. 1 and 2, the present embodiment provides an laminating machine, which includes a deviation rectifying device 2, a transmission mechanism 3, a stripping workbench 4, a carrying manipulator 5, a pressurizing mechanism 8 and a 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 conveying path of the conveying 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 realize stripping of the membrane; the stripping workbench 4 and the pressurizing mechanism 8 are arranged along the stripping direction of the membrane, so that the conveying manipulator 5 sends the stripped membrane to the pressurizing mechanism 8 for pressurizing; the material receiving manipulator 6 is used for taking out the finished product after lamination.

The laminating machine provided by the embodiment can roll ceramic membrane materials in the deviation correcting device 2 of the equipment, the deviation correcting device 2 can correct deviation when feeding and input membrane material rolls from the input end of the transmission mechanism 3 to the transmission mechanism 3, the transmission mechanism 3 transmits the ceramic membrane to the stripping workbench 4, after the alignment position of the carrying manipulator is carried, the ceramic membrane is respectively cut into square sheets and then stripped, the laminated products are sequentially laminated in the pressurizing mechanism according to the set program, the laminated products are taken out by the material collecting manipulator 6, the factors which possibly exist in various links such as ceramic membrane transmission, cutting, stripping and lamination are effectively overcome, and the degree of automation of the equipment is improved on the premise of ensuring the product precision.

In the above technical solutions referring to fig. 3 and fig. 4, further, the deviation rectifying device 2 includes a control component 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 supporting plate 201, a material roll supporting frame 202 and a film roll unwinding shaft 203; the roll supporting frame 202 is arranged on one side of the bottom supporting plate 201; the film roll-out shaft 203 and the first driving component are respectively fixed on the roll supporting frame 202, the film roll-out shaft 203 is used for winding a roll 215, and the first driving component is used for driving the film roll-out shaft 203 to rotate so as to realize feeding or receiving of the roll 215;

the output end of the second driving component is connected with the material rack and is used for driving the material rack to move along the direction parallel to the film roll-out shaft 203; the guide assembly is arranged below the bottom supporting plate 201 and provides 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 this embodiment, the roll support 202 is used for supporting a film roll unwinding shaft 203 and a first driving component, where the film roll unwinding shaft 203 is used for winding a film roll 215, and the first driving component can drive the film roll unwinding shaft 203 to rotate, so that feeding or receiving actions can be completed; the output end of the second driving component is connected with the whole material rack and can drive the material rack to move along the direction parallel to the film roll-out shaft 203, when the material roll 215 on the film roll-out shaft 203 deflects along the width direction, the material rack is controlled by the second driving component to move along the direction opposite to the deflection direction, so that the deviation of the film roll 215 can be effectively corrected, the stable transmission of film materials is ensured, and the production efficiency is improved.

In the above 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 roll supporting 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 roll supporting frame 202 through a supporting seat, the output end of the driven pulley 206 is connected with one end of the film roll unwinding shaft 203, and the driving pulley 205 and the driven pulley 206 are linked through the synchronous belt 207.

The first driving component is used for driving the film roll-out shaft 203 to rotate, in this embodiment, the driving motor 204 drives the driving wheel to rotate, and the driven belt pulley 206 is driven to rotate by the synchronous belt 207, so that the driven belt pulley 206 drives the film roll-out shaft 203 to rotate, and the synchronous belt 207 is used for transmission, so that the transmission is stable, and the cost is low.

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 with the material rack.

The output end of the push rod motor 208 can stretch and retract, so that the material rack can be driven to move, and the film roll-out shaft 203 arranged on the material rack is driven to move along the direction parallel to the film roll-out shaft 203.

In the above technical solution, further, the guide assembly includes two parallel guide rails 209, and a slider 210 connecting the guide rails 209 and the bottom support plate 201; both guide rails 209 are disposed along the moving direction of the material rack.

The guide assembly adopts the structure of the guide rail 209 and the sliding block 210, so that the motion precision is high, and the offset distance can be well controlled.

In the above technical solution, further, the control component includes an edge-finding sensor 211 and a deviation-correcting controller 212; the edge finding sensor 211 is electrically connected with the deviation correcting controller 212; the edge finding sensor 211 is arranged on the bottom supporting plate 201, and the controller is arranged on the material roll supporting frame 202.

The edge-seeking sensor 211 can collect position information of the film roll 215 and send the position information to the deviation rectifying controller 212, and the deviation rectifying controller 212 instructs the first driving assembly and the second driving assembly according to the received position information so as to drive the film roll-out shaft 203 to act through the first driving assembly, and simultaneously drives the material frame to move along the same distance along the direction opposite to the offset direction through the second driving assembly.

In the above technical solution, further, the deviation rectifying device further includes an L-shaped supporting plate 213; the L-shaped support plate 213 includes a controller support bottom 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 is used for fixing the deviation correcting controller 212; the side plates are disposed adjacent to the film roll-out shaft 203.

The L-shaped support plate 213 provided in this embodiment can be used to carry the deviation rectifying controller 212, and meanwhile, the side plate is disposed near the film roll unwinding shaft 203, so that the sensor and other sensing devices can be conveniently installed, and in addition, the deviation rectifying controller 212 and the sensing devices can be electrically connected.

In the above technical scheme, further, the number of the supporting rods is four, and the four supporting rods are uniformly distributed along the axial direction of the supporting bottom plate.

In order to realize stable support, four support rods are uniformly distributed in the circumferential direction of the bottom of the support bottom plate, and the influence caused by vibration of the lower driving mechanism can be reduced.

In the above technical solution, further, a static-removing ion fan 214 is disposed on the side plate. The ion removing fan 214 can remove static electricity generated during the transfer of the membrane.

In the above technical solution, further, the edge-finding sensor 211 is disposed at one end of the bottom supporting plate 201 away from the roll supporting frame 202, so that the position information collection is more accurate.

The working principle of the deviation correcting device 2 is as follows: the film roll-out shaft 203 is wound on the film roll 215, the driving motor 204 drives the driving wheel to rotate under the control of the control assembly, and the driven belt pulley 206 is driven to rotate by the synchronous belt 207, so that the driven belt 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 discharging shaft 203 deflects along the width direction, under the control of the control component, the push rod motor 208 drives the material rack to move, so as to drive the film roll discharging shaft 203 arranged on the material rack to move along the direction opposite to the deflection direction, thereby effectively correcting the deviation of the film roll 215, ensuring the stable transmission of the film material and improving the production efficiency.

In the above technical solution, further, the transmission mechanism includes a mounting riser 301, a first driving roller assembly and a second driving roller assembly;

the first driving roller assembly is arranged between the deviation correcting device 2 and the stripping workbench 4 and is used for conveying the membrane materials conveyed by the deviation correcting device 2 to the stripping workbench 4; the second driving roller assembly is configured to receive the peeled film residue transferred from the peeling table 4 through a receiving shaft 701;

specifically, the deviation correcting device 2 includes a film roll-out shaft 203, the film roll-out shaft 203 is used for winding a film roll, the film roll is transmitted to the film stripping workbench 4 through a first driving roller assembly, the film roll on the film stripping workbench 4 is transmitted to the receiving deviation correcting device 7 through a second driving roller assembly after being cut and stripped, the receiving deviation correcting device 7 includes a receiving shaft 701, and the receiving shaft 701 is used for winding film residual materials. The feeding process of the diaphragm material is rectified, and the diaphragm material can stably enter the first driving roller assembly, so that the diaphragm material is stably transmitted to the table top of the diaphragm stripping workbench 4, and the probability of wrinkling of the diaphragm material is reduced; setting up the structure of rectifying in diaphragm material receipts material in-process, can further improve the stationarity of diaphragm transmission, also reduced the probability of receipts material curly hair emergence 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 perpendicular to the plate surface of the installation vertical plate 301;

the first idler roller 303 and the second idler roller 304 are disposed below two sides of the first swing arm tension roller 302, and are used for tensioning the film material bypassing the first swing arm tension roller 302;

the third idler roller 305 is used to tension the web material before it enters the peeling station 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 disposed between the deviation correcting device 2 and the stripping workbench 4, where the first idler roller 303, the second idler roller 304 and the third idler roller 305 can provide tension for the film material, and the first swing arm tension roller 302 can perform horizontal fine adjustment, so that the tension can be adjusted within the range of 20-40N, thereby ensuring that the film strip always maintains proper tension in the process of transmission, and the film strip moves stably without deformation, and preventing film wrinkles.

In the above technical solution, further, the first driving roller assembly further includes a vacuum suction roller 306;

the axis of the vacuum suction roller 306 is perpendicular to the plate surface of the installation vertical plate 301, and the vacuum suction roller 306 is disposed between the third idler roller 305 and the stripping workbench, so that the film material conveyed by the third idler roller 305 passes through the vacuum suction roller 306 and enters the stripping workbench.

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 (film material) is realized, and the mutual interference of tension changes of the films at each section is eliminated; the feeding amount of the film is completed by the vacuum adsorption roller 306 and a corresponding servo motor, and the film does not move relative to the roller surface of the vacuum adsorption roller 306, so that the feeding amount of the film is ensured to be accurate each time.

In the above technical solution, further, the second driving roller assembly includes a second swing arm tension roller 307, and an idler roller set 308;

the second swing arm tension roller 307 and the first swing arm tension roller 302 are both fixed on the mounting riser 301;

the idler roller set 308 is fixed on the mounting vertical plate 301, and is used for tensioning the film material around the front and rear of the second swing arm tension roller 307.

The second swing arm tension roller 307 and the idler roller set 308 are arranged between the stripping workbench 4 and the material receiving and rectifying device 7, wherein the idler roller set 308 can provide tension force for the film material, and the second swing arm tension roller 307 can be horizontally fine-tuned to enable the tension force to be adjustable within the range of 20-40N, so that the film strip is ensured to keep proper tightening tension all the time in the process of transmission, stable in movement, free from deformation and prevented from film wrinkling.

In the above technical solution, further, the membrane transmission system further includes a first swing arm plate 309, a first swing arm shaft 310, and a first swing arm motor 311;

the two ends of the first swing arm tension roller 302 are respectively connected with the 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 keyless 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; the swing arm shaft belt wheel arranged on the first swing arm shaft 310 drives the measurement shaft to rotate through the measurement shaft belt wheel and the synchronous belt, the angle measuring instrument is connected with the measurement shaft through the measurement shaft coupling, the rotation angle is directly measured, and the swing angle of the first swing arm shaft 310 is measured in equal proportion; the limiting plate is clamped and installed on the first swing arm shaft 310, and collides with the limiting post when swinging to an angle limit position to realize rotation limiting.

In the above technical solution, further, the membrane 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 respectively connected with 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 among 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 will not be described again.

In the above-mentioned solution, further, an end of the first swing arm shaft 310 away from the mounting riser 301 is connected to an end of the second swing arm shaft 313 away from the mounting riser 301 through a swing arm support 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 with the first swing arm plate 309 and the second swing arm plate 312 through fine tuning components;

the trimming assembly comprises a trimming knob 316 and a trimming bent plate 317 having an L shape; one plate surface of the fine tuning bending 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 tuning knob 316 passes through the other plate surface of the fine tuning bending plate and is 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 trimming bending plate 317, and rotating the trimming knob 316 can drive the L-shaped trimming bending plate 317 to move horizontally, so as to realize the horizontal trimming of the film winding shaft end. The connection structure of the second swing arm tension roller 307 and the second swing arm plate 312 is the same as the above structure.

In the above technical solution, further, radial runout of roller surfaces of the idler rollers in the first idler roller 303, the second idler roller 304, the third idler roller 305 and the idler roller set 308 is 0.03mm.

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 set 308 are all 0.03mm, so that stable film transmission can be ensured.

In the above solution, further, the membrane transmission system further includes a position sensor 318;

the position sensor 318 is configured to measure a feeding speed of the film material on the film roll-out shaft 203 and a receiving speed of the film material on the receiving shaft 701, so as to control an output speed of the film material at the vacuum suction roller 306, so that the feeding speed, the receiving speed and the output speed are equal.

The position sensor 318 is used for measuring the diameter of the feeding and discharging rolls, and the linear speeds of the feeding roll film, the receiving roll film and the vacuum adsorption roller 306 are equal through calculation, so that stable film transmission is ensured.

Referring to fig. 9 to 13, in the above technical solution, further, the stripping table includes a stripping table 401, an X-direction movement mechanism, a horizontal direction adjustment structure and a Z-direction adjustment structure;

the stripping 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 stripping 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 can realize horizontal adjustment.

The X direction and the Y direction are two directions perpendicular to each other on the horizontal plane, and the Z direction is a direction perpendicular to the horizontal plane. In the stripping workbench provided by the embodiment, the stripping workbench 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 the X-direction moving mechanism, and can respectively conduct fine adjustment on the stripping workbench 401 in the X-direction and the Z-direction, so that the membrane material is flatly attached to the stripping workbench 401, and the probability of deformation of the graph is reduced. In this embodiment, the X-direction movement mechanism moves along the X-direction, which is the transmission direction of the external transmission mechanism.

In the technical scheme of the invention, the X-direction movement mechanism further comprises a bearing bottom plate 402, a sliding rail and sliding block assembly 403 and a screw driving assembly 404;

the bearing bottom plate 402 is arranged on the sliding rail and sliding block assembly 403; the screw driving assembly 404 is connected to the sliding rail and sliding block assembly 403, and is used for driving a sliding block in the sliding rail and sliding 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 rail in the slide rail slider assembly 403 is fixed on the guide rail frame 424, one side of the guide rail frame 424 is provided with a stripping table driving motor 425, the output end of the stripping table driving motor 425 is connected with the screw driving assembly 404, a nut in the 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 screw driving assembly 404 moves on the screw rod so as to drive the bearing bottom plate 402 to move on the slide rail 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 connecting plate 405 is located between the peeling stage 401 and the load floor 402;

the height adjusting knob 406 is disc-shaped, and a first connecting rod and a second connecting rod extend from the middle parts of the two side plate surfaces corresponding to the height adjusting knob 406 to the outside of the two side plate surfaces respectively;

The first connecting rod passes through the stripping table 401, a fixed 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 fixed cover 426;

the second connecting rod passes through the connecting middle plate 405 and is in threaded connection with the connecting middle plate 405, a flange nut 408 is arranged at the end part of the penetrating end of the second connecting rod, and an anti-backlash spring 409 is arranged between the flange nut 408 and the connecting middle plate 405.

The second connecting rod is in threaded connection with the connecting middle 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, as the first connecting rod passes through the stripping table 401, the end part of the extending end of the first connecting rod is provided with the fixed cover 426, the fixed cover 426 is fixed with the first connecting rod through the fixed bolt 427, the ball plunger 407 is arranged along the circumference of the fixed cover 426, and therefore the up-and-down movement of the first connecting rod can drive the stripping table 401 to move up and down, and the friction between the fixed cover 426 and the stripping table 401 is reduced due to the arrangement of the ball plunger 407. The end of the second connecting rod through-out end is provided with a flange nut 408, an anti-backlash spring 409 is arranged between the flange nut 408 and the connecting middle plate 405, the connecting middle 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 is abutted against one side of the connecting plate 405 in the X direction and fixed on the load floor 402;

the push plate adjusting jackscrew 411 passes through the adjusting fixing plate 410 to be abutted with the connecting middle plate 405; the tension adjusting screw 412 passes through the adjusting fixing plate 410 to be abutted against the connecting middle plate 405; a pull plate spring 413 and a spring retainer 414 are sleeved between the nail head of the pull force adjusting screw 412 and the adjusting fixing plate 410.

Push pedal adjustment jackscrew 411 and adjust fixed plate 410 threaded connection back with connect medium plate 405 butt, consequently adjust push pedal adjustment jackscrew 411 and can promote to connect medium plate 405 and upwards remove in the level, tension adjustment screw 412 passes and adjusts fixed plate 410 and connect medium plate 405 butt, and the pin fin of tension adjustment screw 412 still overlaps between adjusting fixed plate 410 and is equipped with arm-tie spring 413 and spring retainer ring 414, and this structure can prevent to connect medium plate 405 to take place not hard up, improves the regulation precision in the horizontal direction.

In the solution of the present invention, further, an edge is disposed on the edge of the discharging side of the stripping table 401.

The front section of the stripping table 401 is provided with a tiny edge, the edge surface is approximately vertical to the table top, the graph membrane is adsorbed by a carrying hand to move horizontally relative to the table top during stripping, and stripped membrane materials move along with a conveying system to be vertical to the table top, so that the two materials are easier to separate.

In the embodiment of the present invention, further, the cooling water channels 415 are disposed inside the stripping table 401 in a crisscross manner.

The cooling water path 415 is arranged to increase the temperature difference between the peeling membrane (membrane adsorbed by the mechanical arm) and the transmission coiled membrane (coiled membrane adsorbed by the peeling table 401), so that the peeling membrane and the transmission coiled membrane are easier to separate.

In the technical scheme of the invention, further, 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 stripping table 401 is made of high-quality steel, has higher flatness, and is provided with a plurality of vacuum adsorption holes 416, so that the rolled film and the stripping table are tightly adhered during stripping action and are not driven by the adsorption of the film by a carrying hand.

In the solution of the present invention, further, the stripping workbench further includes a mounting seat 417 and a middle plate connecting screw 418;

the mounting seat 417 is disposed on the load-bearing bottom plate 402, and the middle plate connecting screw 418 passes through the mounting seat 417 to be in threaded connection with the connecting middle plate 405.

The mounting seat 417 and the middle plate connecting screw 418 are provided between the carrier base plate 402 and the connecting middle plate 405, and can function to support the connecting middle plate 405.

In the technical scheme of the invention, the stripping workbench further comprises a linear bearing 419, a hollow guide pillar 420 and a guide pillar connecting screw 421;

the linear bearing 419 is provided on the connecting plate 405; the hollow guide post 420 passes through the linear bearing 419,

and is connected with the peeling table 401 by the guide post connecting screw 421;

the hollow guide post 420 is far away from the one end cover of peeling table 401 is equipped with pretension spring 422, pretension spring 422's both ends are spacing through the pretension spring baffle 423 that sets up on the hollow guide post 420.

The structure of this embodiment can ensure that the space between the peeling table and the connecting plate 405 remains stable.

In the technical scheme of the invention, the number of the Z-direction adjusting structures is four;

four of the Z-direction adjustment structures are provided corresponding to four corners of the peeling stage 401.

The Z-direction adjustment structure is provided at four corners of the stripping stage 401 to facilitate Z-direction adjustment while also facilitating the stripping stage 401 to remain level.

Referring to fig. 14 to 18, in the above technical solution, further, the lamination machine further includes a driving control mechanism;

The carrying manipulator 5 is arranged above the stripping workbench 4; the drive control mechanism 9 is arranged above the carrying manipulator 5; the driving control mechanism 9 is used for driving the carrying manipulator 5 to move towards the stripping workbench 4;

the handling robot 5 includes a handling hand alignment mechanism 5100, a handling hand suction stage 5200, a suction stage lifting mechanism 5300, and a diaphragm cutting mechanism 5400 provided along a circumferential direction of the handling hand suction stage 5200; the carrying hand adsorption platform 5200 is arranged at the execution end of the adsorption platform lifting mechanism 5300; the adsorption stage lifting mechanism 5300 is configured to drive the carrying hand adsorption stage 5200 to perform lifting motion; the carrying hand alignment mechanism 5100 is arranged on the adsorption stage lifting mechanism 5300 and is used for driving the carrying hand adsorption stage 5200 to be aligned up and down with the stripping workbench 4; the carrying hand adsorption platform 5200 is used for adsorbing the cut membrane materials; the film cutting mechanism 5400 is used for cutting film materials;

the stripping table 401 and the carrying hand adsorption table 5200 are finely adjusted by the carrying hand alignment mechanism 5100, so that the stripping table 401 in the stripping table 4 is aligned with the carrying hand adsorption table 5200 in the carrying manipulator 5 at the stripping position; the driving control mechanism 9 presses the carrying manipulator 5 to move along the Z direction, so that the stripping table 401 and the carrying hand adsorption table 5200 are tightly adhered, the carrying 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 carrying manipulator 5 after slicing, the carrying hand adsorption table 5200 adsorbs the cut membrane and resets, meanwhile, the stripping table 4 moves backwards (in the direction opposite to the transmission direction), the stripping table 401 adsorbs the membrane material roll, the cut membrane and the membrane material roll form relative tearing actions, and accordingly stripping of the membrane is completed.

In the above-mentioned aspect, further, the adsorption stage lifting mechanism 5300 includes an upper pressing plate 5301, a ball spline shaft 5302 and a guide post 5303;

one side of the upper platen 5301 is disposed directly below the output end of the drive control mechanism 9, the other side corresponding to the upper platen 5301 is connected to one end of the ball spline shaft 5302, and the hand suction table 5200 is disposed at the other end of the ball spline shaft 5302;

the guide posts 5303 are parallel to the ball spline shaft 5302 and uniformly distributed around the circumference of the upper pressure plate 5301; the guide column 5303 is used for guiding the lifting of the carrying hand adsorption stage 5200.

The upper platen 5301 is provided with a cushion plate 5304, and the drive control mechanism 9 controls the suction table lifting mechanism 5300 to lift by applying force to the cushion plate 5304. In this embodiment, the number of the guide posts 5303 is four, and the four guide posts 5303 are respectively disposed at four corners of the upper platen 5301, so as to ensure that the carrying hand adsorption platform 5200 is driven to stably lift.

In the above technical solution, further, the carrying hand alignment mechanism 5100 includes a Y-direction fine adjustment mechanism and an X-direction moving mechanism;

the Y-direction fine adjustment mechanism is arranged at the output end of the X-direction moving mechanism through a connecting plate 5108;

The X-direction moving mechanism comprises an X-direction plate 5101 and an X-direction sliding rail and sliding block assembly 5102; the sliding rail in the X-direction sliding rail and sliding block assembly 5102 is used for being fixed on an external frame and is arranged parallel to the stripping direction of the membrane; the X-direction plate 5101 is connected with a slide in the X-direction slide rail slide block assembly 5102;

the Y-direction fine adjustment mechanism comprises a Y-direction plate 5103 and a Y-direction sliding rail and sliding block assembly 5104; the sliding rail in the Y-direction sliding rail and sliding block assembly 5104 is fixed on the X-direction plate 5101 and is perpendicular to the sliding rail in the X-direction sliding rail and sliding block assembly 5102; the Y-plate 5103 is connected with a slider in the Y-rail slider assembly 5104.

The X direction is the transmission direction of the membrane material, the Y direction is perpendicular to the X direction, under the drive of an external motor, the X-direction plate 5101 can move on a sliding rail in the X-direction sliding rail sliding block assembly 5102, and in the aligning process of the stripping table 401 and the carrying hand adsorption table 5200, the X direction can be adjusted; 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 achieved in the process of aligning the stripping table 401 with the carrying hand adsorption table 5200; the alignment accuracy of the stripping table 401 and the carrying hand suction table 5200 can be improved by adjusting the Y-direction fine adjustment mechanism and the X-direction moving mechanism.

In the above technical solution, further, the carrying hand alignment mechanism 5100 includes a Z-direction fine adjustment mechanism;

the Z-direction fine adjustment mechanism comprises an intermediate plate 5105, a Z-direction driving mechanism 5106 and a Z-direction transmission mechanism 5107;

the intermediate plate 5105 is provided between the Y-direction plate 5103 and the upper platen 5301; the Z-direction driving mechanism 5106 is provided on the intermediate plate 5105; an input end of the Z-direction transmission mechanism 5107 is connected with the Z-direction driving mechanism 5106, and an output end of the Z-direction transmission mechanism 5107 is meshed with the ball spline shaft 5302.

The working surfaces of the stripping table 401 and the carrying hand adsorption table 5200 are square, and the two are required to be precisely aligned and also required to be subjected to Z-direction rotation fine adjustment. In this embodiment, the Z-direction driving mechanism 5106 drives the ball spline shaft 5302 to rotate through the Z-direction transmission mechanism 5107, so that the hand suction table 5200 is rotated. Because the Z-direction fine adjustment mechanism is arranged on the Y-direction fine adjustment mechanism, the X-direction, Y-direction and Z-direction rotation of the carrying hand adsorption table 5200 can be simultaneously carried out, and the alignment precision and the alignment efficiency are improved.

In this embodiment, two pull-down cylinders 5307 and two lift-up cylinders 5306 are also provided between the intermediate plate 5105 and the upper platen 5301; the two pull-down cylinders 5307 and the two lift-up cylinders 5306 are each arranged symmetrically about the ball spline shaft 5302 as a symmetry axis, and both ends of the pull-down cylinders 5307 and the lift-up cylinders 5306 are connected to the upper platen 5301 and the intermediate plate 5105, respectively. In addition, a spring 5305 is provided in the middle between the intermediate plate 5105 and the upper platen 5301, and the spring 5305 can offset the weight of the hand alignment mechanism 5100.

In the above technical solution, further, the handling robot 5 further includes a camera 5500, and the camera 5500 is electrically connected to the handling hand alignment mechanism 5100;

the camera 5500 is used for collecting alignment information of the carrying hand adsorption table 5200 and the stripping workbench 4; the hand alignment mechanism 5100 receives the alignment information and performs fine adjustment of Y-direction and Z-direction rotation according to the alignment information.

The camera 5500 can collect alignment information between the peeling table 401 and the transfer robot, and send the alignment information to the drive control mechanism 9, and the drive control mechanism 9 controls the transfer robot alignment mechanism 5100 to perform accurate alignment.

In the above technical solution, further, the membrane cutting mechanism 5400 includes a synchronous 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 stage 5200;

the synchronous belt assembly comprises a transmission belt 5401 and four synchronous pulleys 5402 for driving the transmission belt 5401, the four synchronous pulleys 5402 are respectively arranged at four corners of the mounting plate, and the axis of the synchronous pulleys 5402 is perpendicular to the mounting plate; a clamping plate is fixed on the synchronous belt between two adjacent synchronous pulleys 5402;

The cutter moving guide assembly comprises four sliding rails and four guide sliding blocks 5404 matched with the four guide sliding rails 5403, and the four sliding 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;

four of the cutter assemblies 5405 are respectively connected with four of the sliders.

The diaphragm cutting mechanism 5400 of this embodiment is disposed around the square handling hand adsorption stage 5200, and driven by an external motor, the four synchronous pulleys 5402 rotate in the same direction, and the synchronous belts drive the four clamping plates to move from one end of each side to the other end, so that the four cutter assemblies 5405 move from one end of each side to the other end, forming a square cutting track, and improving the cutting efficiency of the diaphragm.

Referring to fig. 19 to 22, in the above technical solution, further, the material receiving manipulator 6 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 assembly is connected with the rotating mechanism through a sucker frame 601;

One end of the sucker frame 601 is connected with the output end of the rotating mechanism through a connecting plate 602; the other end of the suction cup holder 601 extends in a direction perpendicular to the rotation axis of the rotation mechanism and is connected to the suction cup assembly.

According to the 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 cooperation of the lifting mechanism, and the sucker assembly returns after material taking; the sucker frame 601 can be driven to rotate by the rotating mechanism, so that materials can be rotated to a material receiving position, and discharging is realized under the cooperation of the lifting mechanism. The whole material taking and discharging process is completed by the material collecting manipulator, so that the automation degree is high, the material collecting 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 passage 605 is arranged inside the sucker plate; the sucking disc is arranged on a side plate surface of the sucking disc plate, which is close to the linear motion mechanism, and is communicated with the air channel 605; the other side plate surface of the sucker plate is connected with the sucker frame 601.

In the above technical solution, further, the suction plate includes an upper suction plate 603 and a lower suction plate 604; the lower suction plate 604 is provided with a vacuum groove; the upper suction plate 603 is connected to the lower suction plate 604 such that the air passage 605 is formed between the vacuum tank and the upper suction plate 603.

In this embodiment, the sucking disc assembly includes a sucking disc plate and a sucking disc, the sucking disc plate is used for fixing the sucking disc, specifically, the sucking disc plate includes an upper sucking plate 603 and a lower sucking plate 604, a hollow groove is formed on the lower sucking plate 604, after the upper sucking plate 603 is connected with the lower sucking plate 604, an air channel 605 is formed between the vacuum groove and the upper sucking plate 603, and the air channel 605 is connected with an external vacuum device through a vacuum connector. 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 suction cup 606 and a plurality of contact suction cups 607;

the non-contact sucker 606 is arranged in the middle of the sucker plate; the contact sucking discs 607 are uniformly distributed along the circumferential direction of the sucking disc plate.

In this embodiment, the suction cup includes two kinds of

non-contact suction cups

606 and 607, wherein the non-contact suction cups are arranged in the middle of the suction cup plate, and the contact suction cups are uniformly distributed along the circumferential direction of the suction cup plate, so that the suction cup in this embodiment can absorb heavy and large finished products.

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 disposed in the middle of the fixing plate 608; the lift plate 609 is connected to the extended end of the lift 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 assembly to grab a product, and then ascends to restore to the original height so that the rotating mechanism performs rotating motion, and therefore the product is sent to the material receiving position; when the product reaches the material receiving position, lifting action is performed again according to the height of the material receiving disc.

In the above technical solution, further, the lifting mechanism further includes a plurality of guide support assemblies; a plurality of the 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 post 613 and a guide post limit 614; the guide bearing 612 is fixed on the fixed plate 608; the guide support post 613 mates with the guide bearing 612; the guide post limit 614 is disposed on an end of the guide bearing 612 remote from the stationary plate 608; the end of the guide support column 613 remote from the fixing plate 608 is connected to the lifting plate 609.

In order to enable the lifting mechanism to be lifted smoothly, a plurality of guide support assemblies are provided between the fixing plate 608 and the lifting plate 609 in this embodiment, and the guide support assemblies are provided along the circumferential direction of the fixing plate 608. Specifically, the guide support assembly includes a guide bearing 612, a guide support post 613, and a guide post limit 614, and the guide post 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 rod 615 and a lower limit post 616; the limit post rod 615 is arranged on one side of the lifting plate 609 close to the fixed plate 608; the lower limit post 616 is disposed on a side of the fixing plate 608 near the lifting plate 609, and corresponds to the limit post rod 615.

The limit post ejector rod 615 and the lower limit post 616 can prevent the lifting plate 609 and the fixed plate 608 from rigid collision, and the limit is buffered pneumatically.

In the above technical solution, further, the linear motion mechanism includes a horizontal driving actuator 617, a horizontal linear guide 618 and a reducer seat 619; the horizontal driving actuator 617 is arranged in parallel with the horizontal linear guide rail 618; the reducer seat 619 is disposed at an execution end of the horizontal driving actuator 617; the horizontal linear guide 618 is used to provide guidance for the linear motion of the reducer housing 619.

In this embodiment, the horizontal driving actuator 617 drives the reducer seat 619 to perform linear motion along the horizontal linear guide rail 618, and has a simple structure and high motion accuracy.

In the above technical solution, further, the rotating mechanism includes a rotating motor 620 and a rotating reducer 621; the rotating electric machine 620 is fixed to the decelerator base 619, and the rotating electric machine 620 is connected to the connection plate 602 through the rotation decelerator 621.

The rotating motor 620 is fixed on the reducer seat 619 and can move linearly along with the reducer seat 619; the rotary motor 620 provides a rotary motion to the suction cup holder 601 through a rotary decelerator 621.

In the above technical solution, further, the device further includes a stock tray 622 and a take-out tray 623; the storage tray 622 and the take-up tray 623 are respectively disposed on two sides of the receiving manipulator, so that the sucker component corresponds to the storage tray or the take-up tray under the drive of the rotating mechanism.

In the receiving device provided by the embodiment, the fixed plate 608 in the receiving manipulator is connected with the frame 624; the stock tray 622 and the take-up tray 623 are respectively fixed on the frame 624 and are positioned at two sides of the take-up manipulator. The product is picked up by the receiving manipulator and then sent to the storage tray 622 for storage, and when the product needs to be taken out, the product is sent to the taking tray 623 by the manipulator for taking out.

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, a bottom frame 804, and a knuckle bearing 805; the bottom frame 804 is arranged at the bottom of the pressure-bearing frame 801; the pressing workbench 802 is arranged inside the pressure-bearing frame 801; the cylinder body of the hydraulic cylinder 803 is fixed on the chassis 804, and the cylinder rod of the hydraulic cylinder 803 passes through the pressure-bearing frame 801 and is connected with the pressing-down workbench 802 through the knuckle bearing 805.

The pressing table 802 is driven by a hydraulic cylinder 803, and guiding is performed by four spline shafts provided on the lower seat of the pressing frame 801. The pressure-bearing frame 801 is composed of an upper seat plate, four upright posts and a lower seat, wherein the upper seat plate is connected with the four upright posts through a turned stud, 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 knuckle bearing 805 is composed of a bearing shaft ring and a bearing race, the bearing shaft ring is fixed, the bearing race is connected with a cylinder rod of the hydraulic oil cylinder 803, and the bearing shaft ring is tightly matched with the spherical surface of the bearing race, so that the hydraulic oil cylinder 803 is ensured 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 transmission mechanism 3, the stripping workbench 4, the carrying manipulator 5, the pressurizing mechanism 8 and the receiving manipulator 6 are all arranged in the middle of the base frame 1; the number of the deviation correcting device 2, the transmission mechanism 3 and the stripping workbench 4 is two; the pressurizing mechanism 8 is arranged in the middle of the base frame 1, and the two deviation correcting devices 2, the transmission mechanism 3 and the stripping workbench 4 are respectively and symmetrically arranged on two sides of the pressurizing mechanism 8; the material receiving manipulator 6 is arranged at a position close to the pressurizing mechanism 8.

In summary, the laminating machine provided by the invention effectively overcomes factors which possibly exist in various links such as ceramic membrane transmission, cutting, stripping and lamination and the like and influence precision, and improves the automation degree of equipment on the premise of ensuring the product precision.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The laminating machine is characterized by comprising a deviation correcting device, a transmission mechanism, a stripping workbench, a carrying manipulator, a pressurizing mechanism and a receiving manipulator;

the deviation correcting device is arranged at the input end of the transmission mechanism; the stripping workbench is arranged on a transmission path of the transmission mechanism; the conveying manipulator is arranged above the stripping workbench and the pressurizing mechanism; the stripping workbench is used for being matched with the carrying manipulator to realize stripping of the membrane; the stripping workbench and the pressurizing mechanism are arranged along the stripping direction of the membrane, so that the conveying manipulator sends the stripped membrane to the pressurizing mechanism for pressurizing; the material receiving manipulator is used for taking out the laminated finished product;

the stripping workbench comprises a stripping table, an X-direction movement mechanism, a horizontal direction adjusting structure and a Z-direction adjusting structure;

the stripping table is arranged at 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 stripping 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, so that the adjustment in the horizontal direction can be realized;

The X-direction movement mechanism comprises a bearing bottom plate, a sliding rail and sliding block assembly and a screw rod driving assembly; the bearing bottom plate is arranged on the sliding rail and sliding block assembly; the screw driving assembly is connected with the sliding rail and sliding block assembly and is used for driving a sliding block in the sliding rail and sliding block assembly to slide on a sliding rail of the sliding rail and sliding block assembly, so that the bearing bottom plate is driven to move in the X direction;

the Z-direction adjusting structure comprises a connecting middle plate and a height adjusting knob; the connecting middle plate is positioned between the stripping table and the bearing bottom plate; the height adjusting knob is disc-shaped, and the middle parts of the two side plate surfaces corresponding to the height adjusting knob extend out of the two side plate surfaces respectively to form a first connecting rod and a second connecting rod; the first connecting rod penetrates through the stripping table, a fixed cover is arranged at the end part of the extending end of the first connecting rod, and a ball plunger is arranged along the circumferential direction of the fixed cover; the second connecting rod passes through the connecting middle plate and is in threaded connection with the connecting middle plate, a flange nut is arranged at the end part of the penetrating end of the second connecting rod, and an anti-backlash spring is arranged between the flange nut and the connecting middle plate;

the stripping workbench further comprises a linear bearing, a hollow guide post and a guide post connecting screw; the linear bearing is arranged on the connecting middle plate; the hollow guide post penetrates through the linear bearing and is connected with the stripping table through the guide post connecting screw; the hollow guide post is far away from the one end cover of peeling off the platform is equipped with the pretension spring, the both ends of pretension spring are through setting up the pretension spring baffle on the hollow guide post is spacing.

2. The laminating machine of claim 1, wherein the deviation correcting device comprises a material frame, a first driving assembly, a second driving assembly, a guiding assembly and a control assembly;

3. The laminating machine of claim 2, wherein the transport mechanism includes a mounting riser, a first drive roller assembly, and a second drive roller assembly;

4. A laminating machine according to claim 3, wherein said transport mechanism further comprises vacuum suction rolls;

5. The laminating machine of claim 4, wherein an edge is provided on an edge of the discharge side of the stripping table.

6. The lamination machine of claim 4, further comprising a drive control mechanism; the conveying 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;

7. The laminating machine of claim 6, wherein the handling robot further comprises a camera electrically connected to the handling robot alignment mechanism;

8. The laminating machine of claim 7, wherein the pressing mechanism comprises a pressure frame, a pressing table, a hydraulic cylinder, a chassis, and a knuckle bearing;

9. The laminating machine of claim 1, further comprising a base frame;