CN210479237U

CN210479237U - Base plate vacuum packaging machine

Info

Publication number: CN210479237U
Application number: CN201921067508.8U
Authority: CN
Inventors: 吴涛
Original assignee: Sichuan Tuobule Technology Co ltd
Current assignee: Sichuan Tuopule Technology Co ltd
Priority date: 2019-07-02
Filing date: 2019-07-09
Publication date: 2020-05-08
Anticipated expiration: 2029-07-09

Abstract

The utility model relates to the technical field of packaging machinery, a base plate vacuum packaging machine is disclosed, including the air supporting arrangement platform that sets gradually, the conveyer of weighing, correction conveyer, edging machine, fillet machine, clamp and get transplanter, PE membrane packagine machine, PE membrane unreel machine, heating device, vertical single-knife guillootine, horizontal double knives guillootine, move and carry conveyer, labeller, rotary jacking conveyer, hacking machine and finished product and place the platform, the fillet machine is including being used for grinding the round angle mechanism assembly of fillet to the work piece and forwarding the base plate to the rotary conveying mechanism assembly of grinding the round angle mechanism assembly, rotary jacking conveyer includes the rotary jacking mechanism who realizes rotary jacking function with the work piece. The utility model discloses whole mechanized production, artificial participation degree is extremely low, has improved production efficiency greatly.

Description

Base plate vacuum packaging machine

Technical Field

The invention belongs to the technical field of packaging machinery, and particularly relates to a substrate vacuum packaging machine.

Background

A layer of PE protective film is required to be wrapped on a circuit substrate and a PCB when the circuit substrate and the PCB are produced and packaged, and the PE film is wrapped in a manual mode at present, so that the manual production mode is low in efficiency, and a large amount of labor and energy are consumed. Therefore, how to solve the above problems becomes a focus of research by those skilled in the art.

Disclosure of Invention

A first object of the present invention is to provide a substrate vacuum packaging machine that solves the above-mentioned problems.

The embodiment of the invention is realized by the following steps: a substrate vacuum packaging machine comprises an air floatation sorting table, a weighing conveyor, a correcting conveyor, an edge grinding machine, a fillet machine, a clamping and transplanting machine, a PE film packaging machine, a PE film unreeling machine, a heating device, a longitudinal single-knife cutting machine, a transverse double-knife cutting machine, a transfer conveyor, a labeling machine, a rotary jacking conveyor, a stacking machine and a finished product placing table;

the fillet machine comprises a rotary conveying mechanism assembly and a fillet grinding mechanism assembly, wherein the rotary conveying mechanism assembly comprises a first rack, a first conveying roller arranged on the first rack, a first motor arranged on the first rack and used for driving the first conveying roller to convey substrates in a forward and reverse direction, two first conveying belts which are parallel to each other and erected on the first rack, and a workpiece taking device arranged on the first rack; the workpiece taking device is positioned between the two first conveying belts and comprises a rotating motor arranged on the first frame, a lifting cylinder driven by the rotating motor to rotate and a tray connected with the lifting cylinder, the first conveying belts are perpendicular to the first conveying rollers and positioned above the first conveying rollers, when a substrate is conveyed to the workpiece taking device through the first conveying belts, the rotating motor can rotate the substrate by an angle, the lifting cylinder can lower the rotated substrate to the first conveying rollers, and the first conveying rollers can convey the substrate to the rounding mechanism assembly; the rounding mechanism assembly comprises a second rack, a second conveying roller, a second motor, a driving mechanism, a milling cutter assembly, a boosting assembly and a pressing assembly, wherein the second conveying roller is arranged on the second rack and is consistent with the conveying direction of the first conveying roller;

the rotary jacking conveyor comprises a roller conveyor body and a rotary jacking mechanism, wherein the rotary jacking mechanism is used for rotating and jacking a substrate placed on the roller conveyor body, the rotary jacking mechanism comprises a fixing seat, a sliding rod, a bottom plate, a cylinder sleeve, a rotating shaft, a rotary bracket and a first rotating motor, the fixing seat is fixed on the roller conveyor body, the sliding rod is fixed on the fixing seat, the bottom plate is connected to the sliding rod in a sliding mode, the cylinder is fixedly connected with the bottom plate to push the bottom plate to move along the sliding rod in a stretching mode through the cylinder in a reciprocating mode, the sleeve is fixed on the bottom plate, the rotating shaft is rotatably installed in the sleeve, the first motor is used for driving the rotating shaft to rotate, and the rotary bracket is fixed on the rotating.

Further, actuating mechanism includes slide rail fixing base, screw rod and third motor, first slide rail is installed to the slide rail fixing base, first sliding seat is installed in the cooperation on the first slide rail, the milling cutter subassembly set up in on the first sliding seat, be provided with the screw thread axle sleeve on the first sliding seat, the third motor set up in on the first slide rail fixing base, third motor connecting screw rod, the screw rod is worn to locate in the screw thread axle sleeve, drives the screw rod through the third motor and rotates so that the first sliding seat of threaded connection on the screw rod moves along the slide rail.

Further, the milling cutter assembly comprises a fourth motor, a milling cutter seat connected to the fourth motor, and a milling cutter installed on the milling cutter seat.

Further, the boosting subassembly including set up in first support in the second frame, level set up in be used for the horizontal direction on the first support to remove the boosting cylinder, with what the boosting cylinder is connected is used for adjusting the altitude mixture control cylinder of vertical direction height and with the push pedal that altitude mixture control cylinder is connected.

Furthermore, the pressing assembly comprises a second support arranged on the second rack, a pressing cylinder vertically arranged on the second support, and a pressing plate connected with the pressing cylinder and used for pressing the substrate.

Furthermore, the correcting conveyor comprises a rack, a rotating rod arranged on the rack and a correcting mechanism arranged on the rack, the correcting mechanism comprises a second slide rail arranged on the rack, a second slide seat arranged on the second slide rail, a regulating block fixed on the second slide seat, a driving assembly for driving the second slide seat to slide along the second slide rail, a resetting mechanism for restoring the second slide seat to an original state and an induction mechanism for detecting the position of a workpiece, and the driving assembly is used for driving the second slide seat to move along the slide rail so that the regulating block pushes the workpiece obliquely arranged on the conveying mechanism to finish the alignment.

Further, the driving assembly comprises a first motor and a driving screw rod, a threaded sleeve is arranged on the second sliding rail, the second sliding rail is sleeved on the driving screw rod through the threaded sleeve, and the first motor is used for driving the driving screw rod.

Further, the hacking machine includes a grabbing mechanism for grabbing the base plate, and the grabbing mechanism includes: the substrate clamping device comprises a base, a suction assembly and a clamping assembly, wherein the suction assembly is arranged on the base and comprises a sucker for sucking a substrate and a negative pressure device which is connected with the sucker and is used for enabling the sucker to generate negative pressure; the centre gripping subassembly includes that first driving motor, carousel, connecting rod, slider support piece and machinery press from both sides, first driving motor set up in be used for the drive on the base the carousel is rotatory use the axle center of carousel to articulate as the center of symmetry on the carousel has the connecting rod, the connecting rod keep away from the carousel one end with the slider is articulated, the machinery presss from both sides and establishes in on the slider, the carousel rotation drives the connecting rod pulling slider and removes along the slider support piece that sets up on the base for machinery presss from both sides and is close to carousel one side to the realization presss from both sides tight base plate.

Further, the sliding part is a linear bearing, and the sliding part supporting part is a fixed shaft matched with the linear bearing.

The invention has the beneficial effects that:

1. the invention integrates weighing, edging, rounding, PE film vacuum coating, PE film cutting and stacking production, is mechanically produced in the whole process, has extremely low human participation and greatly improves the production efficiency;

2. according to the fillet grinding machine, after the substrate is conveyed to the pickup device by the first conveying belt, the substrate is transferred to the first conveying roller by the first conveying belt through the rotation and descending of the pickup device, the substrate is conveyed to the fillet grinding mechanism assembly on one side by the first conveying roller to grind fillets, and after the fillets on one side are ground, the fillets are ground and conveyed to the fillet grinding mechanism assembly on the other side to grind fillets, so that the whole process does not need to manually convey the substrate, the fillet grinding processing of four corners of the substrate can be finished under an unmanned working condition, the production efficiency is improved, and the work load of workers is reduced;

3. the rotary jacking conveyor disclosed by the invention has the advantages that the cylinder stretches and retracts to drive the bottom plate to move up and down along the sliding rod, and then the shaft sleeve moves up and down along with the bottom plate, so that the rotary tray is enabled to move up and down, the motor drives the rotating shaft to rotate, the rotary turntable is enabled to rotate, therefore, the utility model discloses the base plate can be jacked and rotated, the mechanical arm is convenient to grab the base plate and avoid manually rotating the base plate, and the working efficiency is greatly increased.

Drawings

FIG. 1 is a schematic structural view of the present invention; FIG. 2 is a schematic view of the alignment conveyor; FIG. 3 is a front view of a correction mechanism of the correction conveyor; FIG. 4 is a side view of a aligning mechanism of the aligning conveyor; FIG. 5 is a top view of a aligning mechanism of the aligning conveyor; FIG. 6 is a schematic structural view of a rounding machine; figure 7 is a front view of the rotary mechanism assembly; figure 8 is a side view of a rotary mechanism assembly; FIG. 9 is a top view of the rotary mechanism assembly; FIG. 10 is a front view of the rounding mechanism assembly; FIG. 11 is a side view of the rounding mechanism assembly; FIG. 12 is a top view of the rounding mechanism assembly; FIG. 13 is a schematic structural view of the gripping transplanter; fig. 14 is a front view of a crane of the gripping transplanter; fig. 15 is a side view of a crane of the gripping transplanter; fig. 16 is a top view of a crane of the gripping transplanter; fig. 17 is a front view of a gripping mechanism of the gripping and transplanting machine;

fig. 18 is a side view of a gripping mechanism of the gripping transplanter; fig. 19 is a plan view of a gripping mechanism of the gripping and transplanting machine; fig. 20 is a front view of a PE film unwinder; fig. 21 is a side view of a PE film unwinder; fig. 22 is a top view of a PE film unwinder;

fig. 23 is a front view of a longitudinal single-blade clipper; fig. 24 is a side view of a longitudinal single-blade clipper; FIG. 25 is a top view of a longitudinal single-blade clipper; fig. 26 is a front view of a transverse dual-blade clipper; fig. 27 is a side view of a lateral dual-blade clipper; fig. 28 is a top view of a transverse dual-blade clipper; fig. 29 is a front view of the labelling machine; FIG. 30 is a side view of the labeling machine; fig. 31 is a front view of a calibration mechanism of the labelling machine; FIG. 32 is a side view of a calibration mechanism of the labeling machine;

FIG. 33 is a top plan view of a calibration mechanism of the labeling machine; FIG. 34 is a front view of the rotary jacking conveyor; FIG. 35 is a side view of the rotary jacking conveyor; FIG. 36 is a top view of the rotary jacking conveyor; FIG. 37 is a front view of a rotary jacking mechanism of the rotary jacking conveyor; FIG. 38 is a side view of a rotary jacking mechanism of the rotary jacking conveyor; FIG. 39 is a top view of a rotary jacking mechanism of the rotary jacking conveyor; FIG. 40 is a front view of the palletizer; FIG. 41 is a top view of the palletizer; FIG. 42 is a schematic view of a grasping mechanism of the palletizer.

Detailed Description

Referring to fig. 1, the present embodiment provides a substrate vacuum packaging machine, which includes an air flotation arrangement table 1, a weighing conveyor 2, a correction conveyor 3, an edge grinding machine 4, a fillet machine 5, a clamping and transplanting machine 6, a PE film packaging machine 7, a PE film unreeling machine 8, a heating device 9, a longitudinal single-knife cutting machine 10, a transverse double-knife cutting machine 11, a transfer conveyor 12, a labeling machine 13, a rotary jacking conveyor 14, a stacker 15, and a finished product placement table 16, wherein substrates are conveyed by a conveying device to sequentially pass through the above apparatuses, and finally finished products are stacked by the stacker 15.

The air floatation finishing table 1, the weighing conveyor 2, the edge grinding machine 4 and the PE film packaging machine 7 are all existing equipment and are all produced by Tupu technology Limited;

as shown in fig. 2 to 5, the correcting conveyor 3 includes a frame 301, a rotating roller 306 and a correcting mechanism, the rotating roller 306 is mounted on the frame 301, the correcting mechanism includes a second slide rail 302, a second slide seat 303, an adjusting block 304 and a driving mechanism, the second slide rail 302 is two parallel linear slide rails, the second slide rail 302 is mounted perpendicular to the conveying direction of the conveyor, mounting portions 305 are welded at two ends of the second slide rail 302, the mounting portions 305 are fixed on the frame 301 by the second slide rail 302 through a screw connection manner, a sliding slot is processed on the upper surface of the second slide rail 302, the left end and the right end of the second slide rail 302 are respectively connected with the second slide seat 303 in a sliding manner, the second slide seat 303 is in a long plate shape, the second slide seat 303 spans between the second slide rails 302, and sliding blocks are integrally formed on the lower surfaces at two ends of the second slide seat 303, the sliding blocks at the two ends of the second sliding seat 303 are respectively and slidably mounted in the sliding grooves of the two linear guide rails, so that the second sliding seats 303 mounted at the left and right ends of the second sliding rail 302 can move towards the middle of the second sliding rail 302 under the action of the driving mechanism, the adjusting blocks 304 are welded at the two ends of the upper surface of the second sliding rail 302, the adjusting blocks 304 are positioned in the gap between the two adjacent rollers, and the adjusting blocks 304 push the obliquely placed substrate to finish the alignment in the process of moving towards the middle of the second sliding rail 302 along with the second sliding seat 303; the driving mechanism comprises a rotary cylinder 307, a rotary table 308 and a connecting rod 309, a shaft hole is machined in the center of the rotary table 308, a bearing is installed in the shaft hole, the output end of the rotary cylinder 307 is installed in the bearing in an interference mode, the rotary table 308 is driven to rotate through the rotary cylinder 307, two first hinged parts are symmetrically welded on the upper surface of the rotary table 308 and located at two ends of the same diameter of the rotary table, a second hinged part is machined in the middle of the upper surface of the second sliding seat 303, hinged holes are machined in two ends of the connecting rod 309, one end of the connecting rod 309 is hinged to the second sliding seat 303, the other end of the connecting rod 309 is hinged to the rotary table 308 to form a crank-link mechanism, the rotary table 308 is driven to rotate through the rotary cylinder 307, and the rotary table 308 drives the second sliding seats 303 on two sides to move towards the middle of.

As shown in fig. 6 to 12, the fillet machine 5 includes a rotary conveying mechanism assembly 5A and fillet grinding mechanism assemblies 5B disposed on both sides of the rotary conveying mechanism assembly 5A; the rotary conveying mechanism assembly 5A comprises a first frame 5A01, a first conveying roller 5A02, a first motor 5A03, a first conveying belt 5A04 and a pickup device, the first frame 5A01 is placed perpendicular to the conveying direction of the substrate, the first conveying roller 5A02 is mounted on the first frame 5A01, the first motor 5A03 is mounted on the first frame 5A01 and used for driving the first conveying roller 5A02 to convey the substrate forward and backward, two first conveying belts 5A04 are parallel to each other, the outer frame of the first conveying belt 5A04 is arranged on the first frame 5A01 through a screw fixing frame, the first conveying belt 5A04 is driven by a fifth motor 5A08, the conveying direction of the first conveying belt 5A04 is consistent with the conveying direction of the substrate and perpendicular to the conveying direction of the first conveying roller 5A02, the first conveying belt 5A04 is used for receiving the substrate processed by the knife grinder transferred by the machine 4, the first conveyor belt 5a04 is located above the first conveyor belt 5a02, a gap exists between the first conveyor belt 5a04 and the second conveyor belt 5a02, so that the substrate can be conveniently conveyed to two sides by the first conveyor belt 5a02 through the gap after being taken down from the first conveyor belt 5a04, the middle part of the first conveyor belt 5a02 is partitioned into a square hole by a jig, the square hole is also located at the central position between the two first conveyor belts 5a04, the workpiece taking device comprises a motor 5a05 for rotation, a lifting cylinder 5a06 and a tray 5a07, the motor 5a05 for rotation is vertically fixed on the first rack 5a01 through screws, the output end of the motor 5a05 for rotation is connected with a driving pulley through a key and a key groove, the bottom of the lifting cylinder 5a06 is welded with a rotating shaft, the rotating shaft is connected with a driven pulley through a key and a key groove, the driving pulley is driven by the driving belt, the tail end of a cylinder shaft of the lifting cylinder 5A06 is welded with the tray 5A07, the tray 5A07 is located in the square hole, when the substrate is conveyed to the pickup device by the first conveyor belt 5A04, the lifting cylinder 5A06 extends, the tray 5A07 is ejected out of the square hole, the tray 5A07 jacks up the substrate 3, the substrate is rotated by 90 degrees by the rotating motor 5A05 and then is contracted by the lifting cylinder 5A06 to be lowered to the first conveyor roller 5A02, the substrate is conveyed to the rounding angle mechanism assembly 5B on the left side by the first conveyor roller 5A02, and after the rounding on the left side is finished, the substrate is conveyed to the rounding angle mechanism assembly 5B on the right side by the first conveyor roller;

the rounding angle mechanism assembly 5B comprises a second rack 5B01, a second conveying roller 5B02, a second motor 5B03, a driving mechanism, a milling cutter assembly, a boosting assembly and a pressing assembly, wherein the second conveying roller 5B02 is installed on the second rack 5B01, the second conveying roller 5B02 is close to the first conveying roller 5B02 and has the same conveying direction, and the second motor 5B03 is installed on the second rack 5B01 and is used for driving the second conveying roller 5B02 to convey the substrate in the positive direction; the driving mechanism is mounted at one end, far away from the rotary conveying mechanism assembly 5A, of the second rack 5B01, and comprises a slide rail fixing seat 5B04, a screw rod 5B05 and a third motor 5B06, the slide rail fixing seat 5B04 is fixed on the second rack 5B01 through a screw perpendicular to the conveying direction of the second conveying roller 5B02, a first slide rail 5B07 is mounted on the upper surface of the slide rail fixing seat 5B04 through a screw, a second sliding seat 5B08 is mounted on the first slide rail 5B07 in a matching manner, a threaded shaft sleeve 5B09 is welded at the bottom of the second sliding seat 5B08, a motor fixing seat is fixed on the front surface of the slide rail fixing seat 5B04 through a screw, the third motor 5B06 is mounted on the motor fixing seat, the output end of the third motor 5B06 is connected with the screw rod 5B05 through a coupling, and the second sliding seat 5B08 is connected on the screw rod 5B05 through the threaded shaft sleeve 5B09 in a matching manner, the third motor 5B06 drives the screw 5B05 to rotate, so that the threaded shaft sleeve 5B09 matched with the screw 5B05 drives the second sliding seat 5B08 to move along the first sliding rail 5B07, and further drives the milling cutter assembly arranged on the second sliding seat 5B08 to move; the milling cutter assembly comprises a fourth motor 5B10, a milling cutter seat 5B11 and a milling cutter 5B12, the fourth motor 5B10 is mounted on the second sliding seat 5B08 through a motor mounting plate, the output end of the fourth motor 5B10 is connected with the milling cutter seat 5B11, the milling cutter 5B12 is mounted on the milling cutter seat 5B11, and in order to avoid dust flying in the process of rounding the corner, a dust collection cover 5B13 is mounted on the milling cutter seat 5B 11; the boosting assembly comprises a first support 5B14, a boosting cylinder 5B15, a height adjusting cylinder 5B16 and a push plate 5B17, the first support 5B14 is welded to one end, close to the rotary conveying mechanism assembly 5A, of a second rack 5B01, the boosting cylinder 5B15 is horizontally installed on the first support 5B14, a cylinder seat is connected to the tail end of a cylinder shaft of the boosting cylinder 5B15, the height adjusting cylinder 5B16 is vertically installed on the cylinder seat, the push plate 5B17 is welded to the tail end of the cylinder shaft of the height adjusting cylinder 5B16, the height of the push plate 5B17 is adjusted through the height adjusting cylinder 5B16, and the base plate is pushed to a milling cutter for round angle grinding through the boosting cylinder 5B 15; the pressing assembly comprises a second bracket 5B18, a pressing cylinder 5B19 and a pressing plate 5B20, the second bracket 5B18 is welded to one end, close to the milling cutter assembly, of the second rack 5B01, the pressing cylinder 5B19 is vertically fixed to the second bracket 5B18 through screws, the second bracket 5B18 is welded to the tail end of a cylinder shaft of the pressing cylinder 5B19, and when the base plate reaches the milling cutter assembly, the pressing plate 5B20 is pressed downwards to the base plate through the pressing cylinder 5B19 to grind a fillet.

As shown in fig. 13 to 19, the gripping and transplanting machine 6 includes a frame 6A, a crane 6B and a gripping mechanism 6C;

the frame 6A is of a square frame structure, supporting columns are welded at four corners of the frame 6A, a transverse moving mechanism 6A01 used for driving the lifting frame to move left and right along the frame 6A is arranged on the frame 6A, and the transverse moving mechanism 6A01 is a linear module moving sliding table produced by the Mortman company and is MD22C 180-1500-R-FE-01;

the lifting frame 6B comprises a sliding frame 6B01, a sliding seat 6B02 and a telescopic air cylinder 6B03, the top of the sliding frame 6B01 is welded with a mounting seat 6B04, the mounting seat 6B04 is fixed on the transverse moving mechanism 6A01 in a screw mounting mode, so that the transverse moving mechanism 6A01 drives the lifting rack 6B to move left and right along the machine frame 6A, the sliding rack 6B01 is of an octagonal prism structure, the sliding seat 6B02 comprises a connecting seat 6B05 and a sliding sleeve 6B06, a through hole communicated with the sliding sleeve 6B06 is processed on the connecting seat 6B05, the sliding sleeve 6B06 is matched with the sliding frame 6B01, the sliding seat 6B02 is sleeved on the outer surface of the sliding frame 6B01 in a sliding way, the telescopic cylinder 6B03 is fixed on the transverse moving mechanism 6A01 through screws, the output end of the telescopic cylinder 6B03 is fixed on the upper surface of the connecting seat 6B05 through screws, the sliding seat 6B02 is driven to move up and down along the sliding frame 6B01 by the extension and contraction of the telescopic air cylinder 6B 03;

the clamping mechanism 6C comprises a base 6C01, a first connecting rod 6C02, a second connecting rod 6C03, a gripper 6C11 and a rotating disc 6C04, the base 6C01 is a rectangular plate, the bottom of the connecting seat 6B05 is connected with the base 6C01 by means of screw connection, the upper surface of the base 6C01 is provided with a first motor 6C05, the middle part of the base 6C01 is processed with a shaft hole, the output shaft of the first motor 6C05 passes through the shaft hole, the rotating disc 6C04 is fixed at the tail end of the output shaft of the first motor 6C05 by means of key and key slot connection, the lower surface of the base 6C01 is provided with two guide rail assemblies in parallel, the two guide rail assemblies are positioned at two sides of the rotating disc 6C04 and are symmetrical with respect to the rotating disc 6C04, each guide rail assembly comprises two shaft centers 6C06 fixed on the lower surface of the base 6C01 by means of screw connection and a shaft center 6C07 installed between the fixing seat 06, a first sliding assembly and a second sliding assembly are arranged at two ends of the shaft center 6C07, the first sliding assembly and the second sliding assembly have the same structure, and both comprise a cross beam 6C08 and linear bearings 6C09 fixed at two ends of the upper surface of a cross beam 6C08 in a screw mounting manner, the cross beam 6C08 spans two shaft centers 6C07 and is slidably sleeved on the shaft center 6C07 through linear bearings 6C09, the bottom of the cross beam 6C08 is welded with the mechanical claw 6C11, the longitudinal section of the mechanical claw 6C11 is in an "L" shape, the outer surface of the mechanical claw 6C11 is coated with a UPE buffer wear-resistant layer to play a role in buffering and protecting a clamped workpiece, the cross beams 6C08 at two sides are respectively hinged with a first connecting rod 6C02 and a second connecting rod 6C03 through end rod bearings 6C09, and the first connecting rod 6C03 is hinged with the rotary table 04 through end rod 6C10, and the first connecting rod 6C02 and the second connecting rod 6C03 are located at two ends of any diameter of the circumference where the rotary table 6C04 is located, in order to clamp the workpiece, a pressure sensing film is mounted on the mechanical claw, and a pressure sensing signal is generated when the pressure sensing film is contacted with the workpiece so as to control the first motor to stop rotating, so that the mechanical claw finishes clamping the workpiece.

As shown in fig. 20 to 22, the PE film unwinder 8 includes a frame 801, an unwinding roller 802, a direction-changing roller 803, a flattening mechanism 804, a pressing roller 805, a first air cylinder 806, a cutter 807, and a second air cylinder 808; two parallel fixing plates 809 are vertically fixed on the upper surface of the right end of the machine frame 801, a bearing hole is processed on the fixing plate 809, a ball bearing 810 is arranged in the bearing hole, the unwinding roller 802 is an inflatable shaft, two ends of the unwinding roller 802 are respectively arranged in the ball bearings 810 of the two fixing plates 809, a gear box 811 is welded on the outer side of any one of the fixing plates 809, a driving gear 812 and a driven gear 813 which are engaged with each other are placed in the gear box 811, the driven gear 813 is fixed to an end of the unwinding roller 802 by a key and a key groove, a through hole is formed in the gear housing 811, a magnetic powder brake 814 is fixedly mounted on the outer case wall of the gear case 811 through a screw, the brake shaft of the magnetic particle brake 814 extends into the gear housing 811 through a through hole machined in the gear housing 811, the driving gear 812 is fixed on a brake shaft of the magnetic powder brake 814 in a key and keyway connection manner; the direction-changing roller 803 is mounted on the rack 801 in a screw fixing manner, and the height of the axis of the direction-changing roller 803 is lower than that of the unwinding roller 802; the flattening mechanism 804 comprises at least two flattening rollers fixed on the rack 801, the flattening rollers are driven by a motor 815 and a speed reducer 816 in a matching manner, and the heights of the upper surfaces of the flattening rollers are higher than the height of the axes of the direction-changing rollers 803 and lower than the height of the axes of the unwinding rollers 802; a sliding frame 817 is fixed on the machine frame 801, the sliding frame 817 is located on two sides of the right flattening roller, the sliding frame 817 is of a door frame structure, sliding grooves are formed in the inner sides of two vertical side frames of the sliding frame 817, a sliding seat 818 is slidably mounted on the sliding frame 817, the sliding seat 818 is a square seat, sliding blocks matched with the sliding grooves are integrally formed on two sides of the sliding seat 818, an axle hole is formed in the sliding seat 818, two ends of the pressing roller 805 are mounted in the axle holes of the sliding seats 818 on two sides, a first air cylinder 806 is fixedly mounted at the top of the sliding frame 817 on two sides through screws, the output end of the first air cylinder 806 is welded with the sliding seat 818, and the pressing roller 805 is driven to move up and down through the extension and retraction of; vertical plates 819 are fixed at positions, corresponding to two sides of the left flattening roller, on the machine frame 801, sliding shafts 820 are fixed between the vertical plates 819, sliding shaft sleeves 821 are slidably sleeved on the sliding shafts 820, cutter fixing plates 822 are mounted on the sliding shaft sleeves 821 through screws, the cutters 807 are mounted on the cutter fixing plates 822, second air cylinders 808 are fixed on the vertical plates 819, the output ends of the second air cylinders 808 are connected with the sliding shaft sleeves 821, and the second air cylinders 808 push the sliding shaft sleeves 821 to move along the sliding shafts 820; unreel and have PE membrane 823 on the roller 802 of lapping, PE membrane 823 by unreel the roller 802 back unreels, from top to bottom by unreeling the roller 802 the change direction roller 803 switching-over, again from bottom to top by around after changing direction roller 803 the lower surface from the nip between nip roll and the compression roller 805 passes, PE membrane 823 with nip roller, compression roller 805 are all tangent.

The heating device 9 is arranged on one side of the PE film packaging machine 7 and is a box body, a plurality of heating pipes are placed in the box body, and the heating device 9 is used for heating when the PE film is packaged, so that the PE film is tightly attached to the base plate.

As shown in fig. 23 to 25, the longitudinal single-blade cutting machine 10 includes a frame 1001, a blade holder 1008 and a cutting blade assembly, the frame 1001 includes two cross beams which are parallel to each other and located on the same horizontal plane, and a connecting beam which is welded between the two cross beams and perpendicular to the cross beams, the cross beams are arranged along the material conveying direction, a second guide rail 1002 is installed on the top of the cross beams in a screw fixing manner, the second guide rail 1002 is a HSR30B3SS +1560L linear guide rail produced by THK corporation of japan, a sealing plate perpendicular to the connecting beam is arranged between the two cross beams, a first motor 1003 and a screw fixing seat 1004 are installed on the sealing plate in a screw fixing manner, a screw 1005 is installed on the screw fixing seat 1004, one end of the screw, which is far from the screw fixing seat 1005, is rotatably connected to the frame 1001, one end of the screw 1005, which is near the screw fixing seat 1004, is installed with a driven pulley 1006 in a key-, the output end of the first motor 1003 is connected with a driving pulley 1007, and the driving pulley 1007 is connected with the driven pulley 1006 through a belt; the tool rest 1008 comprises a bottom plate and vertical plates welded at the left end and the right end of the bottom plate, a mounting hole is machined at the bottom of each vertical plate, a seat connecting bearing 1009 is installed in each mounting hole, a threaded shaft sleeve 1023 is welded in the middle of the lower surface of the bottom plate of the tool rest 1008, the threaded shaft sleeve 1023 is in threaded sleeve connection with the screw 1005, sliding blocks are integrally formed at the left end and the right end of the lower surface of the bottom plate of the tool rest 1008, and the sliding blocks are slidably mounted on the second guide rail 1002; the cutter component comprises an upper cutter holder 1010, an upper cutter 1011, a lower cutter holder 1012, a lower cutter 1013, a linkage shaft 1014, a second motor 1015, an eccentric wheel 1016, a connecting rod 1017 and a first guide rail 1018, wherein two ends of the linkage shaft 1014 are installed in connecting seat bearings 1009 of two vertical plates of the cutter holder 1008, the linkage shaft 1014 is sleeved with the connecting seat bearings, the connecting seat bearings are tightly pressed against fixing rings 1019 of the vertical plates, the second motor 1015 is installed on a bottom plate of the cutter holder 1008, the second motor 1015 is connected with the linkage shaft 1014 after being adjusted in speed by a speed reducer so as to drive the linkage shaft 1014 to rotate, a shaft hole is processed on the eccentric wheel 1016, a key-free shaft sleeve 1020 is installed in the shaft hole, the linkage shaft is inserted into the key-free shaft sleeve 1020 after penetrating through the connecting seat bearings, a connecting shaft is welded on the eccentric wheel 1016, the connecting shaft is mounted on an end rod bearing 1021, the end rod bearing 1021 is connected with a connecting rod 1017, a lower tool rest 1012 is fixed between the tops of two vertical plates of the tool rest 1008 through screws, a lower cutter 1013 is mounted on the lower tool rest 1012, a first guide rail 1018 is fixedly mounted on the outer sides of the tops of the two vertical plates 8 of the tool rest 1008 through screws, the first guide rail 1018 is an HSR25B2SS +340L linear guide rail produced by the company THK in Japan, sliders 1022 matched with the first guide rail 1018 are welded at the left end and the right end of the lower bottom surface of the upper tool rest, one end, far away from the eccentric wheel 1016, of the connecting rod 1017 is connected with the bottom of the slider 1022 through the end rod bearing 1021, and the upper cutter 1011 is mounted on the upper tool rest 1010.

As shown in fig. 26 to 28, the transverse double-blade cutting machine 11 includes a frame 1101, two blade holders 1108 symmetrically disposed on the frame 1101, and a blade assembly disposed on each of the blade holders 1108;

the rack 1101 comprises two cross beams which are positioned on the same horizontal plane and are parallel to each other and a connecting beam which is welded between the two cross beams and is perpendicular to the cross beams, the cross beams are arranged perpendicular to the conveying direction of materials, a second guide rail 1102 is arranged at the top of each cross beam in a screw fixing mode, the second guide rail 1102 is an HSR30B3SS +1560L linear guide rail produced by the company THK, a sealing plate which is perpendicular to the connecting beam is arranged between the two cross beams, a first motor 1103 and two screw fixing seats 1104 are arranged on the sealing plate in a screw fixing mode, the two screw fixing seats 1104 are symmetrically distributed at two sides of the center of the sealing plate, a screw 1105 is arranged on each screw fixing seat 1104, one end of each screw 1105, which is far away from the screw fixing seat 1104, is rotatably connected with the rack 1101, and a driven positive bevel gear 1106 is arranged at one end of each screw 1105, which is close to the screw fixing seats, in, the output end of the first motor 1103 is connected with a driving positive bevel gear 1107, and the driving positive bevel gear 1107 is in meshed connection with two driven positive bevel gears 1106; each tool post 1108 comprises a bottom plate and vertical plates welded at the left end and the right end of the bottom plate, a mounting hole is processed at the bottom of each vertical plate, a bearing 1109 with a connecting seat is installed in each mounting hole, a threaded shaft sleeve 1123 is welded in the middle of the lower surface of the bottom plate of the tool post 1108, the threaded shaft sleeve 1123 is in threaded sleeve joint with the screw 1105, sliding blocks are integrally formed at the left end and the right end of the lower surface of the bottom plate of the tool post 1108, and the sliding blocks are slidably mounted on the second guide rail 8; the cutter component comprises an upper cutter seat 1110, an upper cutter 1111, a lower cutter seat 1112, a lower cutter 1113, a linkage shaft center 1114, a second motor 1115, an eccentric wheel 1116, a connecting rod 1117 and a first guide rail 1118, wherein two ends of the linkage shaft center 1114 are installed in seat connecting bearings 1109 of two vertical plates of the cutter frame 1108, the seat connecting bearings are sleeved on the linkage shaft center 1114 and used for fixing the seat connecting bearings, the seat connecting bearings 1109 are tightly abutted against fixing rings 1119 of the vertical plates, the second motor 1115 is installed on a bottom plate of the cutter frame 1108, the second motor 1115 is connected with the linkage shaft center 1114 after being regulated by a speed reducer so as to drive the linkage shaft center 1114 to rotate, a shaft hole is processed on the eccentric wheel 1116, a key shaft sleeve 1120 is installed in the eccentric wheel 1116, the linkage shaft center 1114 penetrates through the seat connecting bearings and then is inserted into the key shaft sleeve 1120, a connecting shaft 1116 is welded on the eccentric wheel, the connecting shaft is mounted on an end rod bearing 1121, the end rod bearing 1121 is connected with the connecting rod 1117, a lower tool holder 1112 is fixed between the tops of the two vertical plates of the tool holder 1108 through screws, a lower cutting tool 1113 is mounted on the lower tool holder 1112, a first guide rail 1118 is fixedly arranged on the outer sides of the tops of the two risers 8 of the tool rest 1108 by screws, the first guide 1118 is a HSR25B2SS +340L linear guide manufactured by THK corporation of japan, the left end and the right end of the lower bottom surface of the upper tool apron are welded with sliding blocks 1122 matched with the first guide rails 1118, one end of the connecting rod 1117, which is far away from the eccentric 1116, is connected with the bottom of the slide block 1122 through an end rod bearing 1121, the upper cutter 1111 is installed on the upper cutter seat 1110, the welding has bait slide 1124 on the downside knife rest of lower blade holder 1112, and the bottom of bait slide 1124 is provided with waste barrel 1125, and the waste material after cutting falls into waste barrel 1125 by bait slide 1124.

The transfer conveyor 12 is a conventional roller conveyor.

As shown in fig. 29 to 33, the labeling machine 13 includes a frame 1301, a conveying mechanism 1302, and a correcting mechanism and a labeling machine 1303 provided in a conveying direction, the conveying mechanism 1302 is mounted on the frame 1301, the conveying mechanism 1302 is a conveying roller, the conveying roller is driven by a motor 1304, and the labeling machine 1303 is mounted on one side of the conveying mechanism 1302; the correcting mechanism comprises slide rails 1305, slide seats 1306, adjusting blocks 1307, a driving mechanism, a resetting mechanism and a sensing mechanism, wherein the slide rails 1305 are two parallel linear slide rails, the slide rails 1305 are installed perpendicular to the conveying direction of the conveying mechanism 1302, installation parts are welded at two ends of the slide rails 1305, the slide rails 1305 are fixed on a rack 1301 in a screw connection mode, slide grooves are machined in the upper surfaces of the slide rails 1305, the left end and the right end of the slide rails 1305 are respectively connected with the slide seats 1306 in a sliding mode, the slide seats 1306 are long plate-shaped, the slide seats 1306 stretch between the slide rails 1305, slide blocks are integrally formed on the lower surfaces of two ends of the slide seats 1306, the slide blocks at two ends of the slide seats 1306 are respectively installed in the slide grooves of the two linear guide rails 1305 in a sliding mode, and therefore the slide seats 1306 installed at the left end and the right end of the slide rails 1305 can move towards, the two ends of the upper surface of the sliding rail 1305 are welded with the adjusting blocks 1307, the adjusting blocks 1307 are positioned in a gap between two adjacent rollers, a shock absorption cushion layer is attached to one surface, in contact with the base plate, of the adjusting blocks 1307, so that the workpiece can be prevented from being extruded and damaged, and the adjusting blocks 1307 push the obliquely placed base plate to finish straightening in the process of moving towards the middle of the sliding rail 1305 along with the sliding seat 1306; the driving mechanism comprises a rotating cylinder 1308, a rotating disc 1309 and a connecting rod 1310, wherein a shaft hole is machined in the center of the rotating disc 1309, a bearing is installed in the shaft hole, the output end of the rotating cylinder 1308 is installed in the bearing in an interference manner, the rotating disc 1309 is driven to rotate by the rotating cylinder 1308, two first hinge parts are symmetrically welded on the upper surface of the rotating disc 1309 and are positioned at two ends of the rotating disc with the same diameter, a second hinge part is machined in the middle of the upper surface of the sliding seat 1306, hinge holes are machined in two ends of the connecting rod 1310, one end of the connecting rod 1310 is hinged to the sliding seat 1306, the other end of the connecting rod 1310 is hinged to the rotating disc 1309 to form a crank-link mechanism, the rotating cylinder 1308 drives the rotating disc 1309 to rotate, and then the rotating disc 1309 drives the sliding seats 1306 at two sides; the reset mechanism comprises a telescopic cylinder 1311 and a connecting piece 1312, the telescopic cylinder 1311 is fixed on the rack 1301 above the sliding seat 1306 through screws, the output end of the telescopic cylinder 1311 penetrates through a connecting hole machined in the connecting piece 1312 and is locked with a nut, the lower end of the connecting piece 1312 is fixed with the sliding seat 1306 through screws, when the sliding seat 1306 moves towards the middle of the sliding rail 1305, the telescopic cylinder 1311 contracts, and after correction is completed, the telescopic cylinder 1311 extends to enable the sliding seat 1306 to be pushed to two ends of the sliding rail 1305;

the sensing mechanism is a stroke sensor, the stroke sensor is used for sensing the distance from the input end of the conveying belt to the output end of the base plate, so that the workpiece can reach the correcting mechanism, and meanwhile, a PLC (programmable logic controller) is further installed on the labeling roller conveyor and used for controlling the sensing mechanism, the rotary cylinder and the telescopic cylinder to work in a cooperative mode.

As shown in fig. 34 to 39, the rotary jacking conveyor 14 includes a drum conveyor body and a rotary jacking mechanism;

the roller conveyor body comprises a rack 1401, a roller 1402 is mounted on the rack 1401, the roller 1402 is driven by a second motor 1403 mounted on the rack 1401, and a notch for the rotating jacking mechanism to pass through conveniently in the process of up-and-down movement is formed in the roller conveyor body; the rotary jacking mechanism is used for rotating and jacking workpieces placed on a roller conveyor body, the rotary jacking mechanism comprises a fixed seat 1404, a sliding rod 1405, a bottom plate 1406, a cylinder 1407, a sleeve 1408, a rotating shaft 1409, a rotating bracket 1410 and a first rotary motor 1411, the fixed seat 1404 comprises an upper top plate 141, a lower bottom plate 142 and a connecting plate 143 integrally formed between the upper top plate 141 and the lower bottom plate 142, the upper top plate 141 is two long strip plates which are parallel to each other, mounting heads 144 are integrally formed at two ends of the upper top plate 141, the mounting heads 144 are fixed on a rack 1401 by the upper top plate 141 in a screw mounting mode, the upper top plate 141 is perpendicular to the conveying direction of the roller conveyor body, the lower bottom plate 142 is a square plate, the first rotary motor 1411 is mounted on the upper surface of the lower bottom plate 142, the sliding rod 1405 is vertically welded at the positions of the upper surfaces of four corners of the lower bottom plate 142, the top end of the sliding rod 1405 is correspondingly welded with the upper top plate 141, the bottom plate 1406 is a square plate, shaft holes are processed at four corners of the bottom plate, screw holes are processed around the shaft holes, a shaft sleeve 1412 is installed in the shaft holes, a flange plate is integrally formed at the top end of the shaft sleeve 1412, the flange plate is fixed on the bottom plate 1406 by the shaft sleeve 1412 in a screw connection mode, the bottom plate 1406 is in sliding sleeve connection with the shaft sleeve 1412 on the sliding rod 1405, so that the bottom plate 1406 moves up and down along the sliding rod 1405, a through hole is processed in the center of the bottom plate 1406, a gear box 1413 is welded at the bottom of the bottom plate 1406, a sleeve 1408 is fixed on the upper surface of the bottom plate 1406 in a screw connection mode, the bottom end of the sleeve 1408 extends into the through hole in the center of the bottom plate 1406, bearings 1414 are installed at the upper end and the lower end of the sleeve 1408, the output end of the first motor is provided with a driving belt wheel 1416 in a key and key groove connection mode, the driving belt wheel 1416 is connected with a driven belt wheel 1415 through a belt, the driving belt wheel 1416 and the driven belt wheel 1415 are both packaged in a gear box 1413, the top end of the rotating shaft 15 is connected with a rotating bracket 1410 in a key and key groove connection mode, the rotating bracket 1410 is in a structure like a Chinese character 'jing', a mechanical arm can conveniently grab a workpiece, in order to prevent the rotating bracket 1410 from falling off in the rotating process, an anti-slip cushion layer for increasing the friction coefficient is adhered to the upper surface of the rotating bracket 1410, the air cylinder 1407 is fixed on the rack 1401, and the output end of the air cylinder 1407 is fixed at the bottom of the gear box 1413 in a screw connection mode.

As shown in fig. 40 to 42, the stacker crane 15 includes a frame 1501, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, and a gripping mechanism 15A;

the rack 1501 is of a square frame structure, supporting columns are welded at four corners of the rack 1501, and the X-axis moving mechanism, the Y-axis moving mechanism and the Z-axis moving mechanism are arranged on the rack 1501; the X-axis moving mechanism comprises a linear sliding module 1502 and a sliding rail 1503, the linear sliding module 1502 and the sliding rail 1503 are mounted at the top of the rack 1501 through screws, the linear sliding module 1502 and the sliding rail 1503 are located on the same horizontal plane and are parallel to each other, and the linear sliding module 1502 is a linear module moving sliding table produced by Motorman and has the model number of MD22C 180-1500-R-FE-01; the Z-axis moving mechanism includes a beam 1504, a fixing seat 1505 is integrally formed at one end of the beam 1504, the fixing seat 1505 is fixedly mounted on the linear sliding module 1502, a slider 1506 matched with the slide rail 1503 is integrally formed at the other end of the beam 1504, the linear sliding module 1502 drives the beam 1504 to move along the X-axis, and a lead screw module 1507 is mounted on the beam 1504; the Y-axis moving mechanism comprises a lifting cylinder 1508, a lifting frame 1509, a sliding block 1510 and a rotating motor 1511, wherein the top of the lifting frame 1509 is provided with a mounting seat, the side surface of the lifting frame 1509 is provided with a sliding rail from top to bottom, the mounting seat is fixedly arranged on the screw rod module 1507 through screws, the lifting frame 1509 is driven by the screw rod module 1507 to move along the Z axis, the sliding block 1510 is an inverted T-shaped block, the bottom of the T-shaped block is integrally formed with a connecting plate 1512, the connecting plate 1512 is connected with the grabbing mechanism, the sliding block 1510 is slidably arranged on the sliding rail of the lifting frame 1509, through holes are processed on two sides of the bottom of the sliding block 1510, the lifting cylinders 1508 are symmetrically and vertically arranged on the mounting seat, the output end of the lifting cylinder 1508 is connected with the through hole of the sliding block 1510 and is fixed through two locking nuts, the flange plate is fixed with the top of the lifting frame 1509 through screws; the grabbing mechanism 15A comprises a base 1513, a suction assembly and a clamping assembly, wherein a vertical plate 1514 is integrally formed on the base 1513, a transverse plate is welded at the bottom of the vertical plate 1514, the suction assembly comprises a suction cup and a negative pressure device 1515, the suction cup is mounted at the bottom of the vertical plate 1514, and the negative pressure device is mounted at the top of the transverse plate and connected with the suction cup; the clamping assembly comprises a first driving motor 1516, a rotary table 1517, a connecting rod 1518, a sliding part 1519, a sliding part support 1520 and a mechanical clamp 1521, the first driving motor 1516 is mounted at the top of the base 1513, the first driving motor 1516 is connected with a speed reducer 1524, a through hole is processed at the center of the base 1513, an output shaft of the speed reducer 1524 penetrates through the through hole to be fixedly connected with the rotary table 1517 through a key and a key groove, hinge seats are symmetrically arranged on the rotary table 1517 by taking the axis of the rotary table 1517 as a symmetry, shaft holes are processed on the hinge seats, counterbores are processed at two ends of the connecting rod 1518, end rod bearings 1522 are connected in the counterbores at two ends of the connecting rod 1518, an end rod bearing 1522 at one end of the connecting rod is connected with the shaft hole of the rotary table 1517, the sliding part 1519 is preferably a linear bearing, a seat is hinged on the linear bearing is integrally formed, and is connected with the end rod bearing, a connecting seat 1523 is integrally formed at the left end and the right end of the base 1513, a shaft hole is processed on the connecting seat 1523, the sliding piece supporting piece 1520 is a fixed shaft, two ends of the fixed shaft are inserted into the shaft hole of the connecting seat 1523, and the linear bearing is slidably sleeved on the sliding piece supporting piece 1520; for the centre gripping of realization to the base plate, install pressure sensing membrane on mechanical clamp, produce pressure sensing signal when contacting the base plate through pressure sensing membrane to control first driving motor 1516 stall, make mechanical clamp accomplish the centre gripping to the base plate, simultaneously for avoiding the base plate at the removal in-process, its displacement surpasss the extreme position of X axle and Z axle, so be in linear sliding module 1502 and lead screw module 1507's both ends all install travel switch.

The product placement table 16 is used for placing a product.

The working process of the invention is as follows: weighing: taking out the substrate with unqualified weight → righting the product: and (3) utilizing a correcting conveyor to align the substrate obliquely placed on the conveying roller → edging: polishing each side of the substrate by an edge grinding machine to be smooth → grinding a fillet: rounding four corners of the substrate by a rounding machine → packaging the PE film: coating the surface of the substrate with a PE film packaging machine, heating while coating, so that the PE film is tightly attached to the substrate → cutting the PE film: cutting off the extra PE films on the four edges of the substrate by using a longitudinal single-knife cutting machine and a transverse double-knife cutting machine → labeling: the base plate is aligned by utilizing the correcting mechanism of the labeling machine, so that the accurate alignment labeling → stacking is facilitated: the rotary jacking conveyor is used for rotatably jacking the products, so that the finished products can be conveniently placed on the finished product placing table by the stacker crane.

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

1. A substrate vacuum packaging machine is characterized in that: the automatic edge grinding machine comprises an air floatation sorting table (1), a weighing conveyor (2), a correcting conveyor (3), an edge grinding machine (4), a fillet machine (5), a clamping and transplanting machine (6), a PE film packaging machine (7), a PE film unreeling machine (8), a heating device (9), a longitudinal single-knife cutting machine (10), a transverse double-knife cutting machine (11), a transferring conveyor (12), a labeling machine (13), a rotary jacking conveyor (14), a stacking machine (15) and a finished product placing table (16);

the fillet machine (5) comprises a rotary conveying mechanism assembly (5A) and a fillet grinding mechanism assembly (5B), wherein the rotary conveying mechanism assembly (5A) comprises a first rack (5A01), a first conveying roller (5A02) arranged on the first rack (5A01), a first motor (5A03) arranged on the first rack (5A01) and used for driving the first conveying roller (5A02) to convey substrates in the forward and reverse directions, two first conveying belts (5A04) which are parallel to each other and erected on the first rack (5A01), and a workpiece taking device arranged on the first rack (5A 01); the pickup device is positioned between the two first conveyor belts (5A04), and comprises a rotating motor (5A05) arranged on the first frame (5A01), a lifting cylinder (5A06) driven by the rotating motor (5A05) to rotate, and a tray (5A07) connected with the lifting cylinder (5A06), the first conveyor belt (5A04) is perpendicular to the first conveyor roller (5A02) and the first conveyor belt (5A04) is located above the first conveyor roller (5A02), the rotating motor (5A05) can rotate the substrate by an angle when the substrate is conveyed to the pick-up device by the first conveyor belt (5A04), the lifting cylinder (5A06) can lower the rotated substrate to a first conveying roller (5A02), and the first conveying roller (5A02) can convey the substrate to a rounding mechanism assembly (5B); the fillet grinding mechanism assembly (5B) comprises a second machine frame (5B01), a second conveying roller (5B02) which is arranged on the second machine frame (5B01) and is consistent with the conveying direction of the first conveying roller (5A02), a second motor (5B03) which is arranged on the second machine frame (5B01) and is used for driving the second conveying roller (5B02) to convey the substrate in the forward and reverse directions, a driving mechanism which is arranged on the second machine frame (5B01), a milling cutter assembly which is driven by the driving mechanism to grind the fillet of the substrate, a boosting assembly which is arranged on the second machine frame (5B01) and is used for pushing the substrate to move along the second conveying roller (5B02) so as to enable the substrate to be in contact with the milling cutter assembly, and a pressing assembly which is arranged on the second machine frame (5B01) and is used for pressing the substrate during grinding;

the rotary jacking conveyor comprises a roller conveyor body and a rotary jacking mechanism, the rotary jacking mechanism is used for rotating and jacking a base plate placed on the roller conveyor body, the rotary jacking mechanism comprises a fixing seat (1404), a sliding rod (1405), a bottom plate (1406), a cylinder (1407), a sleeve (1408), a rotating shaft (1409), a rotating bracket (1410) and a first rotating motor (1411), the fixing seat (1404) is fixed on the roller conveyor body, the sliding rod (1405) is fixed on the fixing seat (1404), the bottom plate (1406) is connected with the sliding rod (1405) in a sliding manner, the cylinder (1407) is fixedly connected with the bottom plate (1406) to push the bottom plate (1406) to move up and down along the sliding rod (1405) through the expansion and contraction of the cylinder (1407), the sleeve (1408) is fixed on the bottom plate (1406), and the rotating shaft (1409) is rotatably installed in the sleeve (1408), the first rotating motor (1411) is used for driving the rotating shaft (1409) to rotate, and the rotating bracket (1410) is fixed on the rotating shaft (1409).

2. The substrate vacuum packaging machine according to claim 1, wherein: the driving mechanism comprises a sliding rail fixing seat (5B04), a screw rod (5B05) and a third motor (5B06), a first sliding rail (5B07) is installed on the sliding rail fixing seat (5B04), a first sliding seat (5B08) is installed on the first sliding rail (5B07) in a matching mode, the milling cutter assembly is arranged on the first sliding seat (5B08), a threaded shaft sleeve (5B09) is arranged on the first sliding seat (5B08), the third motor (5B06) is arranged on the sliding rail fixing seat (5B04), the third motor (5B06) is connected with the screw rod (5B05), the screw rod (5B05) is arranged in the threaded shaft sleeve (5B09) in a penetrating mode, and the screw rod (5B05) is driven to rotate through the third motor (5B06) so that the first sliding seat (5B08) in threaded connection with the screw rod (5B05) moves along the first sliding rail (5B 07).

3. The substrate vacuum packaging machine according to claim 1, wherein: the milling cutter assembly comprises a fourth motor (5B10), a milling cutter seat (5B11) connected to the fourth motor (5B10), and a milling cutter (5B12) mounted on the milling cutter seat (5B 11).

4. The substrate vacuum packaging machine according to claim 1, wherein: the boosting assembly comprises a first support (5B14) arranged on the second rack (5B01), a boosting cylinder (5B15) horizontally arranged on the first support (5B14) and used for moving in the horizontal direction, a height adjusting cylinder (5B16) connected with the boosting cylinder (5B15) and used for adjusting the height in the vertical direction, and a push plate (5B17) connected with the height adjusting cylinder (5B 16).

5. The substrate vacuum packaging machine according to claim 1, wherein: the pressing assembly comprises a second support (5B18) arranged on a second rack (5B01), a pressing cylinder (5B19) vertically arranged on the second support (5B18), and a pressing plate (5B20) connected with the pressing cylinder (5B19) and used for pressing the substrate.

6. The substrate vacuum packaging machine according to claim 1, wherein: the correcting conveyor comprises a frame (301), a rotating roller (306) arranged on the frame (301) and a correcting mechanism arranged on the frame (301), the correcting mechanism comprises a second slide rail (302) arranged on the rack (301), a second slide seat (303) arranged on the second slide rail (302), an adjusting block (304) fixed on the second slide seat (303), a driving assembly for driving the second slide seat (303) to slide along the second slide rail (302), a resetting mechanism for restoring the second slide seat (303) to an original state and an induction mechanism for detecting the position of the substrate, the driving assembly is used for driving the second sliding seat (303) to move along the second sliding rail (302) so that the adjusting block (304) pushes the substrate obliquely placed on the conveying mechanism to finish righting.

7. The substrate vacuum packaging machine according to claim 1, wherein: the hacking machine includes a grabbing mechanism (15A) for grabbing the base plate, the grabbing mechanism (15A) comprises: the substrate sucking device comprises a base (1513), a sucking assembly and a clamping assembly, wherein the sucking assembly is arranged on the base (1513), and comprises a sucking disc for sucking a substrate and a negative pressure device (1515) which is connected with the sucking disc and is used for enabling the sucking disc to generate negative pressure; the clamping assembly comprises a first driving motor (1516), a rotary table (1517), a connecting rod (1518), a sliding piece (1519), a sliding piece support (1520) and a mechanical clamp (1521), wherein the first driving motor (1516) is arranged on the base (1513) and used for driving the rotary table (1517) to rotate, the connecting rod (1518) is hinged on the rotary table (1517) by taking the axis of the rotary table (1517) as a symmetric center, one end, away from the rotary table (1517), of the connecting rod (1518) is hinged with the sliding piece (1519), the mechanical clamp (1521) is arranged on the sliding piece (1519), and the rotary table (1517) rotates to drive the connecting rod (1518) to pull the sliding piece (1519) to move along the sliding piece support (1520) arranged on the base (1513), so that the mechanical clamp (1521) approaches one side of the rotary table (1517) to clamp the substrate.

8. The substrate vacuum packaging machine according to claim 7, wherein: the slider (1519) is a linear bearing and the slider support (1520) is a fixed shaft that mates with the linear bearing.