WO2020019321A1

WO2020019321A1 - Vertical electroplating production line

Info

Publication number: WO2020019321A1
Application number: PCT/CN2018/097567
Authority: WO
Inventors: 江泽军; 刘涛; 程堂元
Original assignee: 昆山东威科技股份有限公司
Priority date: 2018-07-27
Filing date: 2018-07-27
Publication date: 2020-01-30

Abstract

A vertical electroplating production line, comprising a rack, an operation section, a feeding mechanism, a clamping and conveying mechanism, a discharging mechanism, and clamp opening apparatuses. Two ends of the operation section are respectively provided with a first location and a second location; the feeding mechanism is configured to feed a substrate to the first location; the clamping and conveying mechanism comprises multiple conductive clamps and multiple material clamps arranged above and below each other, and the conductive clamps and the material clamps are configured to drive the substrate to horizontally pass through the operation section from the first location to move to the second location; the discharging mechanism is configured to take off the substrate from the second location; the clamp opening apparatuses are provided at the first location and the second location so as to open the conductive clamps and the material clamps.

Description

Vertical plating production line

Technical field

The present disclosure relates to the field of circuit board plating equipment, for example, to a vertical plating production line.

Background technique

In the process of plating the circuit board, it is necessary to plate the circuit boards of different thicknesses, especially in the plating process of the flexible printed circuit (FPC), because the flexible circuit board has a thin thickness and a soft texture. The flexible circuit board easily floats with the solution in the plating solution. Therefore, in the process of electroplating, the verticality of the flexible circuit board needs to be ensured, otherwise the plating effect of the circuit board in the plating bath will be affected.

In the related art, in the electroplating equipment, the top of the circuit board is fixed with the electroplating clip on the conveyor belt, and the bottom is fixed with the lower clamp on the conveyor belt, so that the flexible circuit board runs in the electroplating tank while maintaining the required verticality. However, after the upper or lower clamp is holding the circuit board, the friction between the upper or lower clamp and the track prevents the synchronous movement between the upper and lower clamps, which causes wrinkles on the surface of the circuit board and the thickness of the circuit board coating. Uneven.

Summary of the Invention

The following is an overview of the topics detailed in this article. This summary is not intended to limit the scope of protection of the claims.

The present disclosure proposes a vertical electroplating production line with high operation efficiency and good uniformity of the coating.

A vertical electroplating production line includes: a frame; an operation section provided on the frame; two ends of the operation section are respectively provided with a first position and a second position; a feeding mechanism is provided on the frame, The feeding mechanism is configured to load the substrate to the first position; a clamping and conveying mechanism includes a plurality of conductive clamps and a plurality of material clamps arranged above and below, the conductive clamp and the The material clamp is configured to clamp the top and bottom of the substrate, respectively, and can drive the substrate horizontally from the first position through the operation section to move to the second position; a feeding mechanism; the feeding mechanism is set as Removing the substrate from the second position; and a clamp opening device provided at the first position and the second position to open the conductive clamp and the material clamp, and the clamp opening device It is arranged to slide relative to the rack in the conveying direction of the substrate.

After reading and understanding the drawings and detailed description, other aspects can be understood.

BRIEF DESCRIPTION OF THE DRAWINGS

1 is a schematic structural diagram of a vertical plating production line provided by the present invention;

2 is a schematic structural diagram of a steel belt driving device in a vertical electroplating production line of the present invention;

3 is a schematic structural diagram of a material-removing mechanism in a vertical electroplating production line of the present invention;

4 is a schematic structural diagram of a feeding mechanism in a vertical electroplating production line of the present invention;

5 is a schematic structural diagram of a clamping device in a vertical plating production line of the present invention;

FIG. 6 is an enlarged schematic view at I in FIG. 3; FIG.

7 is an enlarged schematic view at II in FIG. 3;

8 is a schematic structural diagram of a synchronization mechanism in a vertical plating production line of the present invention;

FIG. 9 is a schematic structural diagram of a water blocking device in a vertical plating production line of the present invention.

In the figure: loading mechanism 10; material box 11; suction cup 12; manipulator 13;

Clamping and conveying mechanism 20; conductive clip 21; first connecting piece 211; second connecting piece 212; spring 213; material clip 22; vertical plate 221; spring clip 222; slider 223; ring rail 23; steel belt 24; steel Belt drive 28; transmission wheel 25, first motor 26; first reducer 27;

Unloading mechanism 30;

Working section 40; pre-processing section 41; electroplating section 42; electroplating tank 420; post-processing section 43;

Guide mechanism 50; conductive connection plate 51; guide assembly 54; guide wheel 52; annular groove 521; guide track 53; guide groove 55;

Water retaining device 60; sponge roller 61; roller driving assembly 67; dial 62; second lever 621; dial shaft 63; gear assembly 68; first transmission gear 64; second transmission gear 65; third transmission gear 66;

Clip opening device 70; support 71; first clip opening mechanism 72; first drive component 721; second drive component 722; conductive clip driving plate 723; conductive clip driving cylinder 724; second clip opening mechanism 73; third drive Module 731; fourth drive module 732; clip driving plate 733; clip driving cylinder 734;

Synchronization mechanism 80; transmission dial 81; first lever 811; two squeeze wheels 82; transmission assembly 87; first transmission shaft 83; second transmission shaft 84; first gear 85; second gear 86;

Feed mechanism 90; drive mechanism 95; second driving wheel 91; toggle 92; second motor 93; second reducer 94;

Rack 100.

detailed description

As shown in FIG. 1 and FIG. 2, a vertical plating production line includes a rack, and a working section is arranged on the rack. The two ends of the working section are respectively provided with a first position and a second position; The feeding mechanism 10, the clamping and conveying mechanism 20, and the unloading mechanism 30. Among them, the feeding mechanism 10 is used to load the substrate to the first position; the clamping and conveying mechanism 20 includes a plurality of conductive clips 21 and a plurality of material clips 22 arranged up and down. The top and bottom of the base plate (not shown in the figure) can drive the base plate horizontally through the working section from the first position to move to the second position. The operation section includes a pre-processing section 41, a plating section 42, and a post-processing section 43. The substrate is subjected to pre-plating processing by the pre-processing section 41, the plating processing is performed by the plating section 42, and the post-plating processing is performed by the post-processing section 43. The unloading mechanism 30 is used to remove the substrate from the second position; the first and second positions are provided with a clamping device 70 to open the conductive clip 21 and the material clip 22, and the clamping device 70 can move along the substrate The conveying direction slides relative to the frame 100.

As shown in FIG. 2, the clamping and conveying mechanism 20 further includes an endless track 23, an endless steel belt 24, a steel belt driving device 28 for driving the steel belt 24 to rotate, and a feeding mechanism 90. Among them, the annular track 23 is used to guide the circular movement of each of the clamps 22, and has a linear portion penetrating the working section 40. The steel strips 24 are correspondingly and parallelly arranged above the annular track 23; each conductive clip 21 is evenly connected to the bottom of the steel strip 24. The steel belt driving device 28 includes two transmission wheels 25, a first motor 26, and a first reducer 27. The two transmission wheels 25 are drivingly connected to the steel belt 24. The first motor 26 is used to drive one of the transmission wheels 25 to rotate. A speed reducer 27 is connected between the first motor 26 and the corresponding transmission wheel 25.

The structure of the shifting mechanism 90 is shown in FIG. 3, and includes a plurality of shifting members 92 and a driving mechanism 95 connected to each shifting member 92. The shifting member 92 is driven by the driving mechanism 95 to push the shifting mechanism 92 on the annular track 23. The inner clip 22 is circulated from the output end of the linear portion to the input end of the linear portion. In an embodiment, the driving mechanism 95 includes a driving wheel 91, a driven wheel (not shown in the figure), a chain (not shown in the figure), a second motor 93, and a second speed reducer 94. The driven wheel is divided into two ends in the inner ring track 23, and the chain is connected with the driving wheel 91 and the driven wheel. The corresponding part of the chain corresponding to the straight part of the chain avoids the straight part. The second motor 93 is used to drive the driving wheel 91. ; The second reducer 94 is connected between the second motor 93 and the driving wheel 91. The plurality of toggle members 92 are evenly arranged on the chain in the circumferential direction. In one embodiment, the dial 92 is a brush. By adopting the material shifting mechanism 90, the material clamp 22 in the circular track 23 can be promptly cyclically moved from the output end of the linear portion to the input end of the linear portion, thereby promoting the cyclic movement of the material clamp 22 and improving production efficiency. In an embodiment, the chain may be replaced with a belt or a steel belt, and the belt or the steel belt is drivingly connected with the driving wheel 91 and the driven wheel.

As shown in FIG. 4, the feeding mechanism 10 includes a magazine 11, a suction cup 12, and a robot 13 connected to the rack 100. A first end of the robot 13 is connected to the suction cup 12, and a second end of the robot 13 is connected to the rack 100. During operation, after the suction cup 12 sucks the substrate in the magazine 11, the robot drives the suction cup 12 to move and flip, thereby moving the substrate to the first position. In one embodiment, the structure of the unloading mechanism 30 is the same as that of the unloading mechanism 10, which is not described in detail.

As shown in FIG. 5, the clamping opening device 70 includes a support 71, a first clamping mechanism 72 provided on the support 71 and used to open the conductive clamp 21, and a second clamping mechanism 73 for opening the material clamp 22; The rack 100 is provided with a slide rail 711 provided along the moving direction of the substrate, and the support 71 is slidably connected with the slide rail 711.

As shown in FIG. 6, the conductive clip 21 includes a first connection member 211 and a second connection member 212 hinged to each other, and a spring 213 connected between a tail portion of the first connection member 211 and a tail portion of the second connection member 212. A front portion of a connecting member 211 and a front portion of the second connecting member 212 cooperate with each other to clamp the substrate; the first clamping mechanism 72 includes a second driving component 722 and two first driving components 721, and two first driving components 721 The second driving assembly 722 presses the tail of the second connecting member 212 to open the conductive clip 21 by being oppositely arranged and cooperating with each other to clamp the tail of the first connecting member 211. In one embodiment, the two first driving components 721 and the second driving component 722 each include a conductive clip driving plate 723 and at least one conductive clip driving cylinder 724.

As shown in FIG. 7, the material clip 22 includes a vertical plate 221 and a spring clip 222. A slider 224 is connected to the bottom of the vertical plate 221. The slider 224 is disposed in the circular track 23 and is slidably connected to the circular track 23. The spring clip 222 The first end of the spring clamp 222 is connected to the vertical plate 221, and the second end of the spring clip 222 cooperates with the vertical plate 221 to clamp the substrate. The second clamp opening mechanism 73 includes two third driving components 731 and fourth driving components 732. The three driving components 731 are oppositely arranged and cooperate with each other to clamp the vertical plate 221, and the fourth driving component 732 presses the spring clip 222 to open the material clip. In one embodiment, the two third driving components 731 and the fourth driving component 732 each include a clip driving plate 733 and at least one clip driving cylinder 734.

When the clamping device 70 is in operation, two first driving components 721 hold the conductive clip 21, two third driving components 731 hold the material clip 22, and the conductive clip driving cylinder 724 in the second driving component 722 drives the conductive clip driving. The plate 723 moves toward the conductive clip 21 to press the tail of the second connector 212 to open the conductive clip 21; the clip driving cylinder 734 in the fourth driving assembly 732 drives the clip driving plate 733 to move toward the clip 22 to press the spring clip 222, thereby opening the clamp 22; at the same time, the support 71 slides relative to the frame 100 under the driving of the steel belt 24. After the conductive clip 21 and the material clip 22 are released, the conductive clip 21 and the material clip 22 hold the substrate and move forward under the driving of the steel belt 24. In addition, the lengths of the conductive clip driving plate 723 and the material clip driving plate 733 may be selected according to requirements, so as to be able to realize the conductive clip 21 and the material clip 22 required to open one or more substrates at a time. With this clamping device 70, clamping can be realized during the movement of the conductive clip 21 and the material clip 22, and the clamping device 70 cooperates with the feeding mechanism 10 and the discharging mechanism 30, and the substrate can be loaded without stopping the production line. Feeding and unloading to improve production efficiency.

A return driving device (not shown in the figure) is provided at one end of the clamp opening device 70 for driving the clamp opening device 70 to return. The return drive device includes a return drive plate (not shown in the figure) and a return cylinder (not shown in the figure). The return cylinder drives the return drive plate to push the support 71 to move back in a direction opposite to the movement of the substrate. Bit.

In one embodiment, a synchronization mechanism 80 is provided between the loading mechanism 10 and the operation section. As shown in FIG. 8, the synchronization mechanism 80 includes a transmission dial 81, two squeeze wheels 82, and a connection between the transmission dial 81 and A transmission assembly 87 between the two pressing wheels 82. Among them, the transmission dial 81 is located in the steel belt 24 and is drivingly connected to the steel belt 24; the two pressing wheels 82 rotate toward each other under the driving of the driving dial 81; Before moving. In one embodiment, the transmission assembly 87 includes a first transmission shaft 83 and two second transmission shafts 84 which are arranged vertically. The two second transmission shafts 84 are parallel to and opposite to the first transmission shaft 83; the transmission dial 81 It is coaxially connected with the first transmission shaft 83; the bottom end of the first transmission shaft 83 and the top end of one of the second transmission shafts 84 are meshed with each other through a set of first gears 85; A set of second gears 86 meshes and drives; two squeeze wheels 82 are respectively connected to the bottom ends of the two second transmission shafts 84.

During operation, the transmission dial 81 drives the first transmission shaft 83 to rotate under the driving of the steel belt 24, and transmits the driving force to the two second transmission shafts 84 through a set of first gears 85 and a set of second gears 86. The two pressing wheels 82 rotate toward each other, thereby pushing the material clamp 22 forward, so that the material clamp 22 and the conductive clamp 21 move the substrate forward synchronously, so that the substrate enters the pre-processing tank of the pre-processing section in time, further Increase productivity.

In one embodiment, in order to prevent slippage between the transmission dial 81 and the steel belt 24, and at the same time reduce the wear of the transmission dial 81 and reduce the maintenance cost of the transmission dial 81, the transmission dial 81 may be located on the outer peripheral side of the transmission dial 81 A plurality of first shift levers 811 are evenly arranged, and a plurality of through holes are provided at corresponding positions of the steel strip 24. Each first shift lever 811 can extend into a corresponding through hole (not shown in the figure); the steel strip 24 When moving, the driving dial 81 is rotated synchronously.

In order to ensure that the substrate moves horizontally in the plating tank 420 of the plating section 42 to make the substrate coating uniformity better, a guide mechanism 50 is provided on the frame 100, and the guide mechanism 50 includes a top connected uniformly to the top of the steel strip 24 A plurality of conductive connection plates 51, a guide assembly 54 and a guide rail 53 provided on each of the conductive connection plates 51, wherein the guide assembly has a guide groove parallel to a straight portion; the guide track 53 matches the guide groove and is The rack 100 is connected. In an embodiment, the guide assembly 54 includes two rows of guide wheels 52 arranged up and down, and each of the guide wheels 52 is rotatably disposed on the corresponding conductive connecting plate 51; an outer circumferential side of each guide wheel 52 is provided with an annular groove 521, A guide groove 55 is formed between the annular grooves 521 of the upper and lower rows of guide wheels 52.

In order to maintain a certain level of the plating solution in the plating tank 420, a water blocking device 60 is provided at a slot opened in the plating tank 420 for the substrate to pass through. As shown in FIG. 9, the structure of the water blocking device 60 includes two sponge rollers 61 and a roller driving assembly 67 that drives one of the sponge rollers 61 to rotate. The two sponge rollers 61 can rotate relative to the groove of the plating tank 420, and the gap between the two sponge rollers 61 faces the gap. The roller driving assembly 67 includes a dial 62 and a dial shaft 63, wherein the dial 62 is disposed in the steel belt 24 and is drivingly connected to the steel belt 24; the dial shaft 63 is coaxially connected with the dial 62; and the bottom end of the dial shaft 63 It is connected to a roller shaft (not labeled) of one of the sponge rollers 61 through a gear assembly. The gear assembly 68 includes a first transmission gear 64, a second transmission gear 65, and a third transmission gear 66. Among them, the first transmission The gear 64 is coaxially connected to the bottom end of the dial shaft 63; the second transmission gear 65 is coaxially connected to the top end of the roller shaft of one of the sponge rollers 61; the third transmission gear 66 is connected to the first transmission gear 64 and the second transmission gear 65 Mesh.

During operation, the dial 62 drives the dial shaft 63 to rotate under the drive of the steel belt 24, and transmits the driving force to the corresponding roller shaft of the sponge roller 61 through the first transmission gear 64, the second transmission gear 65, and the third transmission gear 66. In order to drive the two sponge rollers 61 to rotate downward, using the water blocking device 60 not only has a good water blocking effect, but also makes it easier for the substrate to pass between the two sponge rollers 61.

Similarly, in order to avoid slipping between the dial 62 and the steel belt 24, and at the same time reduce the wear of the dial 62 and reduce the maintenance cost of the dial 62, a plurality of second can be evenly provided on the outer peripheral side of the dial 62 A lever 621, each second lever 621 corresponds to the position of a through hole (not shown in the figure) opened on the steel strip 24, and each second lever 621 can extend into the corresponding through hole; When 24 moves, the dial 62 is driven to rotate synchronously.

Of course, such a water blocking device 60 can also be used in the pre-processing section 41 and the post-processing section 43 to avoid a large amount of clean water or cleaning liquid in the tank from flowing out of the inlet and the outlet.

The clamping device is used to open the clamp during the movement of the conductive clamp and the material clamp, and cooperates with the feeding mechanism and the unloading mechanism to realize the loading and unloading of the substrate without stopping the production line, which improves the production efficiency.

During the entire operation section, the top and bottom of the substrate are respectively fixed by conductive clips and material clips, and driven forward by the steel belt, guided by the linear part of the circular track, and guided by the guide mechanism, the movement is stable, The uniformity of the coating is better.

The material transfer mechanism is used to push the material clamp to circulate from the output end to the input end of the linear part in time to promote the cyclic movement of the material clamp. By setting a synchronization mechanism between the feeding mechanism and the operation section, the synchronization mechanism can be driven by the steel belt. The substrates held by the conductive clip and the material clip are transported to the operation section in time, which further improves the production efficiency.

Claims

A vertical plating production line includes:

Frame (100);

A working section (40) is provided on the frame (100), and two ends of the working section (40) are respectively provided with a first position and a second position;

A loading mechanism (10) is arranged on the frame (100), and the loading mechanism (10) is arranged to load the substrate to the first position;

The clamping and conveying mechanism (20) is arranged on the frame (100). The clamping and conveying mechanism (20) includes a plurality of conductive clips (21) and a plurality of material clips (22), which are arranged up and down. (21) and the material holder (22) are arranged to hold the top and bottom of the substrate, respectively, and can drive the substrate horizontally from the first position through the working section (40) to move to the second position ;

A blanking mechanism (30) configured to remove the substrate from the second position; and

The clamp opening device (70) is disposed at the first position and the second position to open the conductive clamp (21) and the material clamp (22), and the clamp opening device (70) It is arranged to slide relative to the rack (100) in the conveying direction of the substrate.
The vertical plating production line according to claim 1, wherein the clamp opening device (70) comprises:

A first clip opening mechanism (72) configured to open the conductive clip (21);

A second clamp opening mechanism (73) configured to open the material clamp (22); and

The support (71) is configured to carry the first clamping mechanism (72) and the second clamping mechanism (73), and is slidably connected to the frame (100).
The vertical plating production line according to claim 2, wherein the conductive clip (21) comprises a first connection member (211) and a second connection member (212) hinged to each other, and is connected to the first connection member ( A spring (213) between a rear portion of the first connection member (211) and a rear portion of the second connection member (212); Cooperate with clamping substrate;

The first clamping mechanism (72) includes a second driving component (722) and two first driving components (721). The two first driving components (721) are oppositely disposed and cooperate with each other to clamp the The tail of the first connecting member (211), and the second driving assembly (722) presses the tail of the second connecting member (212) to open the conductive clip (21).
The vertical electroplating production line according to claim 3, wherein each of the first driving component (721) and the second driving component (722) includes a conductive clip driving plate (723) and at least one conductive clip driving cylinder (724).
The vertical electroplating production line according to claim 2, wherein the material clip (22) comprises a vertical plate (221) and a spring clip (222), a first end of the spring clip (222) and the vertical plate ( 221) connection, the second end of the spring clip (222) cooperates with the vertical plate (221) to hold the substrate;

The second clamping mechanism (73) includes a fourth driving component (732) and two third driving components (731). The two third driving components (731) are oppositely arranged and cooperate with each other to clamp the The vertical plate (221), the fourth driving component (732) presses the spring clip (222) to open the fourth driving component (732) of the material clip.
The vertical electroplating production line according to claim 5, wherein each of the third driving assembly (731) and the fourth driving assembly (732) includes a clamp driving plate (733) and at least one clamp driving cylinder (734).
The vertical plating production line according to claim 1, wherein the clamping and conveying mechanism (20) further comprises:

An annular track (23) configured to guide a plurality of the material clamps (22) to move cyclically, and having a linear portion running through the working section (40);

An annular steel strip (24) is correspondingly and parallelly disposed above the annular rail (23); a plurality of the conductive clips (21) are evenly connected to the bottom of the steel strip (24); and

A steel belt driving device for driving the steel belt (24) to rotate.
The vertical electroplating production line according to claim 7, further comprising a synchronization mechanism (80) provided between the feeding mechanism (10) and the operation section, the synchronization mechanism (80) including a transmission dial (81) ), Two extrusion wheels (82), and a transmission assembly (87) connected between the transmission dial (81) and the two extrusion wheels (82);

The transmission dial (81) is located in the steel belt (24) and is drivingly connected with the steel belt (24);

The two pressing wheels (82) rotate toward each other under the driving of the transmission dial (81); the material clamp (22) moves forward under the driving of the two pressing wheels (82).
The vertical electroplating production line according to claim 8, wherein the transmission assembly (87) comprises a first transmission shaft (83) and two second transmission shafts (84) which are vertically arranged, and the two transmissions A shaft (84) is arranged parallel to and opposite the first transmission shaft (83); the transmission dial (81) is coaxially connected with the first transmission shaft (83); the first transmission shaft (83) A bottom gear and a top end of one of the second transmission shafts (84) are meshed and driven by a set of first gears (85); two of the second transmission shafts (84) are connected by a set of second gears (86) meshing transmission; the two squeeze wheels (82) are respectively connected to the bottom ends of the two second transmission shafts (84).
The vertical electroplating production line according to claim 7, wherein the clamping and conveying mechanism (20) further comprises a dialing mechanism (90), and the dialing mechanism (90) includes a plurality of dials (92), and A driving mechanism (95) connected to each of the dials (92), and the dials (92) are driven by the driving mechanism (95) to push all the locations in the annular track (23) The material clip (22) circulates from the output end of the linear portion to the input end of the linear portion.
The vertical plating production line according to claim 7, wherein a guide mechanism (50) is provided on the frame (100), and the guide mechanism (50) comprises:

A plurality of conductive connection plates (51) evenly connected to the top of the steel strip (24);

A guide assembly (54) provided on each of the conductive connection plates (51), the guide assembly (54) having a guide groove (55) parallel to the linear portion; and

A guide track (53), the guide track (53) matches the guide groove (55), and is connected to the frame (100).
The vertical electroplating production line according to claim 11, wherein the guide assembly (54) includes two rows of guide wheels (52) disposed up and down, and each of the guide wheels (52) is rotatably disposed on the corresponding one of the guide wheels (52). A conductive connecting plate (51); an annular groove (521) is provided on the outer peripheral side of each of the guide wheels (52), and two of the annular grooves (521) of the upper and lower rows of the guide wheels (52) The guide groove (55) is formed therebetween.
The vertical electroplating production line according to claim 7, wherein the operation section (40) is provided with at least one electroplating tank (420), and a gap opened in the electroplating tank (420) for passing the substrate is provided with a stopper. Water device (60); the water retaining device (60) includes:

Two sponge rollers (61) are arranged opposite each other, and the two sponge rollers (61) are arranged to rotate relative to the groove body of the electroplating tank (420), and the gap between the two sponge rollers (61) is positive To the gap; and

A roller driving assembly (67) for driving one of the sponge rollers (61) to rotate.
The vertical electroplating production line according to claim 13, wherein the roller drive assembly (67) comprises:

A dial wheel (62) disposed in the steel belt (24) and drivingly connected to the steel belt (24); and

A dial shaft (63) is connected to the dial wheel (62) and is arranged coaxially with the dial wheel (62); the bottom end of the dial shaft (63) and one of the sponge rollers (61) The roller shafts are drivingly connected by a gear assembly (68).
The vertical electroplating production line according to claim 1, wherein the feeding mechanism (10) and the discharging mechanism (30) each include a material box (11), a suction cup (12), and a robot (13). The material box (11), the suction cup (12), and the robot arm (13) are all connected to the frame (100), and the first end of the robot arm (13) is connected to the suction cup (12), and the robot arm The second end of (13) is connected to the frame (100).