Positioning stacking device

Abstract

A positioning stacking device includes a Y-axis driving mechanism, a Y-axis driving mechanism, an X-axis driving mechanism, a Z-axis driving mechanism and a grasping mechanism, wherein the top of the grasping mechanism is connected to the output end of the Z-axis driving mechanism, the two sides of the Z-axis driving mechanism are respectively connected to the X-axis and X-axis sliders, the bottoms of the X-axis and X-axis sliders slide along the tops of the corresponding Y-axis and Y-axis sliders in the X direction, the bottoms of the Y-axis and Y-axis sliders slide along the corresponding Y-axis and Y-axis guide rails in the Y direction, the side of the Y-axis slider is connected to the output end of the Y-axis driving mechanism, the side of the Y-axis slider is connected to the output end of the Y-axis driving mechanism, and the side of at least one of the X-axis slider and the X-axis slider is connected to the output end of the X-axis driving mechanism. This design is not only relatively simple in structure and low in cost, but also conducive to achieving sliding in the X and Y directions and deflection of the angle θ, with high accuracy.

Description

Technical Field

[0001] The invention relates to a sheet stacking technology, belongs to the field of solar cell processing, and in particular to a positioning stacking device. Background Art

[0002] When processing solar cells, during the bonding process of the conductive material (copper foil) and the insulating material (EPE), it is necessary to first use a camera to take pictures of the conductive material (copper foil) and the insulating material (EPE) to obtain their relative position relationship, and then roughly position the EPE and copper foil, and then perform precise positioning to complete the entire positioning process, thereby facilitating subsequent bonding.

[0003] In this process, coarse positioning and precise positioning are relatively independent, and require the use of a relatively complex combination of lead screws, guide rails and cross roller bearings to complete. The structure is relatively complex and the cost is high.

[0004] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of this patent application, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to ordinary technicians in this field. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects and problems of relatively complex structure and high cost in the prior art, and to provide a positioning and stacking device with relatively simple structure and low cost.

[0006] To achieve the above objectives, the technical solution of the present invention is: a positioning stacking device, comprising:

[0007] frame;

[0008] A Z-direction material moving device, disposed above the stacking position, for grabbing the conductive material and driving the conductive material to move in an up-down direction;

[0009] At least two first sliding structures are provided on both sides of the Z-direction material moving device in the longitudinal direction, each of the first sliding structures comprises a first sliding portion and a first matching portion that are slidably matched in the longitudinal direction, each of the first sliding portions supports the Z-direction material moving device, and the first matching portion can be slidably mounted on the frame in the transverse direction;

[0010] A Y-axis driving mechanism and a Y-axis driving mechanism are arranged in parallel on the frame and are respectively arranged on both sides of the Z-axis material moving device in the longitudinal direction, and are respectively connected to the corresponding first matching parts to drive the first matching parts to slide in the transverse direction; and

[0011] An X-axis driving mechanism, disposed on the first matching portion and drivingly connected to the first sliding portion, and used for driving the first sliding portion to slide in the longitudinal direction;

[0012] The photographing system comprises two photographing mechanisms respectively installed below the Z-direction material moving device and is used for photographing and positioning the conductive sheet and the insulating sheet.

[0013] The Z-direction material moving device includes a Z-direction driving mechanism and a grasping mechanism. The Z-direction driving mechanism is installed on the first sliding portion. The grasping mechanism is installed with the output end of the Z-direction driving mechanism for driving the grasping mechanism to move up and down through the Z-direction driving mechanism.

[0014] The first sliding connection portion includes an X-direction slider and an X-direction slider, the two sides of the Z-direction driving mechanism are respectively connected to the X-direction slider and the X-direction slider, the first matching portion includes a Y-direction slider and a Y-direction slider, the bottom of the X-direction slider is slidably matched along the top of the Y-direction slider in the X direction, and the bottom of the X-direction slider is slidably matched along the top of the Y-direction slider in the X direction;

[0015] The frame is provided with a Y-guide rail and a Y-guide rail extending in the transverse direction, the bottom of the Y-sliding block slides in the Y direction along the Y-guide rail, the bottom of the Y-guide rail slides in the Y direction along the Y-guide rail, the side of the Y-sliding block is connected to the output end of the Y-drive mechanism, and the side of the Y-guide rail is connected to the output end of the Y-drive mechanism;

[0016] A side portion of at least one of the X-direction sliding block and the X-direction sliding block is connected to an output end of the X-direction driving mechanism.

[0017] The Y-direction slider includes a Y-front slider and a Y-rear slider, the bottoms of the Y-front slider and the Y-rear slider are both slidably matched along the Y-direction guide rail in the Y direction, and the X-direction slider includes an X-front slider and an X-rear slider, the bottom of the X-front slider is slidably matched along the top of the Y-front slider, and the bottom of the X-rear slider is slidably matched along the top of the Y-rear slider in the X direction.

[0018] The tops of the X-front slider and the X-rear slider are connected to the side of the Z-direction driving mechanism, and the side of the X-front slider is connected to the output end of the X-direction driving mechanism.

[0019] The Y-direction slider includes a Y-direction front slider and a Y-direction rear slider, the bottoms of the Y-direction front slider and the Y-direction rear slider are both slidably matched along the Y-direction guide rails, the X-direction slider includes an X-direction front slider and an X-direction rear slider, the bottoms of the X-direction front slider are slidably matched along the tops of the Y-direction front sliders, and the bottoms of the X-direction rear sliders are slidably matched along the tops of the Y-direction rear sliders; the tops of the X-direction front slider and the X-direction rear slider are connected to the sides of the Z-direction driving mechanism.

[0020] The Y-axis driving mechanism, the Y-axis driving mechanism and the X-axis driving mechanism all include a driving motor, a driving screw and a driving nut. The output end of the driving motor is connected to one end of the driving screw, the other end of the driving screw is threadedly matched with the middle part of the driving nut, and the side of the driving nut is connected to the side of the Y-front slider, the Y-second front slider and the X-front slider.

[0021] The Z-direction driving mechanism comprises a first mounting plate and a second mounting plate which are arranged opposite to each other, and a first connecting beam and a second connecting beam sandwiched therebetween;

[0022] The outer side of the mounting plate is connected to the top of the X-axis slider, and a lifting mechanism with an output end located below the mounting plate is provided in the middle of the mounting plate, and the output end of the lifting mechanism is connected to the grabbing mechanism;

[0023] The outer side of the second mounting plate is connected to the top of the X-direction slider, and the middle of the second mounting plate is provided with a second lifting mechanism with an output end located below the second mounting plate, and the output end of the second lifting mechanism is connected to the grabbing mechanism.

[0024] The first lifting mechanism and the second lifting mechanism both include a lifting screw, a lifting nut, a lifting connecting plate and a lifting slider. The bottom end of the lifting screw is threadedly matched with the middle part of the lifting nut, the side of the lifting nut is connected to the middle part of the lifting connecting plate, one side of the lifting connecting plate is connected to the lifting slider, and the other side of the lifting connecting plate is connected to the grabbing mechanism, and the lifting slider slides along the lifting slide rail in the Z direction.

[0025] The grabbing mechanism comprises a grabbing frame, a suction cup arm and a suction cup, wherein the top of the grabbing frame is connected to the output end of the Z-direction driving mechanism, the bottom of the grabbing frame is connected to the top of the suction cup arm, and the bottom of the suction cup arm is connected to the suction cup;

[0026] The suction cup arm is a hollow structure, the inner cavity of the suction cup arm is communicated with the inner cavity of the suction cup, and a single suction cup arm is provided with a plurality of suction cups; the number of the suction cup arms is plural and they are arranged in sequence along the X direction.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] 1. A positioning stacking device of the present invention mainly includes a Y-axis driving mechanism, a Y-axis driving mechanism, an X-axis driving mechanism, a Z-axis driving mechanism and a grabbing mechanism, wherein the grabbing mechanism is responsible for grabbing the conductive material (copper foil), the Z-axis driving mechanism is responsible for driving the grabbing mechanism and the conductive material grabbed by it to move in the Z direction, the X-axis driving mechanism is responsible for driving the Z-axis driving mechanism to move in the X direction, the Y-axis driving mechanism and the Y-axis driving mechanism synchronously drive the Z-axis driving mechanism to move in the Y direction, the Y-axis driving mechanism is fixed, and the Y-axis driving mechanism moves along the Y direction with The Z-direction drive mechanism produces an angle change, thereby driving the grasping mechanism to produce an angle change of θ. The three mechanisms, the Y-direction drive mechanism, the Y-direction drive mechanism, and the X-direction drive mechanism, cooperate with each other and use a less-freedom method to complete the X-direction offset, the Y-direction offset and the θ angle deflection through the drive in the X and Y directions; due to the use of sliding fit, there is a fit gap between the parts. By utilizing the sliding fit gap between the parts and using a less-freedom method, when the θ angle offset is small (especially when -1°≤θ≤1°), the same function is achieved while simplifying the overall mechanical structure.

[0029] 2. Since the Y-axis slider and the Y-axis guide rail are matched, the Y-axis slider and the Y-axis guide rail are matched, the X-axis slider and the Y-axis slider are matched, and the X-axis slider and the Y-axis slider are matched, there is a matching gap between the parts. When the Y-axis driving mechanism fine-tunes the θ angle in the Y direction, the gap of the sliding match between the parts (the match between the guide rail and the slider, etc.) is used. When the θ angle is small (especially when -1°≤θ≤1°), the less-freedom method is used to achieve the same function while simplifying the overall mechanical structure and reducing the equipment cost. In other words, when the Y-axis driving mechanism fine-tunes the θ angle in the Y direction, when the displacement in the Y direction is small enough, the matching gap of the parts can be used to absorb the relative displacement caused by the angle deflection. Therefore, the present invention is not only relatively simple in structure, but also low in cost.

[0030] 3. In a positioning stacking device of the present invention, a photographing mechanism is provided below the left and right ends of the Z-direction driving mechanism, and the photographing mechanism is preferably a CCD photographing system. When in use, when the grasping mechanism that has grasped the conductive material is moved to the insulating material (EPE) loading station on the assembly line, the photographing mechanism first photographs and positions the position of the conductive material, and then lifts the conductive material upward through the Z-direction driving mechanism, and then photographs and positions the insulating material that has reached the loading station, and then compares the front and rear positions, and then fine-tunes the conductive material in the X, Y and θ directions through the Y-direction driving mechanism, the Y-direction driving mechanism, and the X-direction driving mechanism to achieve alignment of the conductive material (copper foil) and the insulating material (EPE), and then the Z-direction driving mechanism descends to make the conductive material and the insulating material fit. Therefore, the present invention can use a set of photographing mechanisms to photograph and position the conductive material and the insulating material in sequence to improve the stacking effect.

[0031] 4. In a positioning stacking device of the present invention, the bottom of the Y-direction slider slides along the Y-direction guide rail in the Y-direction, and the bottom of the Y-direction slider slides along the Y-direction guide rail in the Y-direction. The Y-direction slider includes a Y-front slider and a Y-rear slider, and the Y-rear slider includes a Y-second front slider and a Y-second rear slider. It can be seen that the present invention uses two double slider guide rail combinations (one guide rail plus two sliders) for sliding in the Y-direction. This design can not only ensure accurate displacement in the Y-direction, but also provide support for the Z-direction drive mechanism to ensure the stability of displacement and grasping in the Z-direction. Therefore, the present invention not only has high displacement accuracy, but also has strong operational stability.

[0032] 5. In a positioning stacking device of the present invention, the bottom of the X-direction slider slides along the top of the Y-direction slider in the X direction, and the bottom of the X-direction slider slides along the top of the Y-direction slider in the X direction, wherein the X-direction slider and the X-direction slider are also responsible for providing support for the Z-direction drive mechanism, and the Y-direction slider and the Y-direction slider are also responsible for providing sliding in the Y direction. It can be seen that this combination of X and Y sliders can not only realize relative sliding in the X and Y directions, but also realize deflection at an angle of θ. Therefore, the slider combination in the present invention is very conducive to realizing sliding in the X and Y directions, as well as deflection at an angle of θ.

[0033] 6. In a positioning stacking device of the present invention, the outer side of the first installation plate is connected to the top of the X-axis slider, and the outer side of the second installation plate is connected to the top of the X-axis slider. The connection method is preferably that the top of the X-axis slider and the X-axis slider is provided with an axis, and the outer sides of the first installation plate and the second installation plate are provided with an axis hole, so that the connection form is limited to a precise axis hole match. This match mode can not only move in the X / Y direction with the X and Y direction drive, but also can perform relative rotation to provide the device with precise movement in the Z direction. Therefore, the displacement accuracy of the present invention is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0035] Figure 2 yes Figure 1 main view.

[0036] Figure 3 yes Figure 1 Top view of the .

[0037] Figure 4 It is a structural schematic diagram of the Y-axis driving mechanism and the X-axis driving mechanism in the present invention.

[0038] Figure 5 It is a structural schematic diagram of the Y two-way driving mechanism in the present invention.

[0039] Figure 6 It is a structural schematic diagram of the Z-direction driving mechanism in the present invention.

[0040] Figure 7 yes Figure 6 Connection diagram for installing a board in the figure.

[0041] Figure 8 yes Figure 6 The connection diagram of the second board installed in the figure.

[0042] Fig. 9 It is a structural schematic diagram of the grabbing mechanism in the present invention.

[0043] In the figure: photographing mechanism 1, X-axis slider 2, X-axis driving mechanism 20, X-front slider 21, X-rear slider 22, X-axis slider 3, X-rear slider 31, X-rear slider 32, Y-axis slider 4, Y-axis driving mechanism 40, Y-axis guide rail 41, Y-front slider 42, Y-rear slider 43, driving motor 44, driving screw 45, driving nut 46, Y-axis slider 5, Y-axis driving mechanism 50, Y-rear guide rail 51, Y-rear slider 52, Y-rear slider 53 , grabbing mechanism 6, grabbing frame 61, suction cup arm 62, suction cup 63, Z-direction driving mechanism 7, installing plate one 71, installing plate two 72, connecting beam one 73, connecting beam two 74, lifting mechanism one 75, lifting screw 751, lifting nut 752, lifting connecting plate 753, lifting slider 754, lifting wheel one 755, lifting wheel two 756, transmission belt 757, lifting slide rail 758, lifting mechanism two 76, conductive material loading station 8, insulating material loading station 9, frame 10. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0045] See also Figure 1 — Fig. 9 , a positioning stacking device, comprising:

[0046] Rack 10;

[0047] A Z-direction material moving device, disposed above the stacking position, for grabbing the conductive material and driving the conductive material to move in an up-down direction;

[0048] At least two first sliding structures are provided on both sides of the Z-direction material moving device in the longitudinal direction, each of the first sliding structures comprises a first sliding portion and a first matching portion that are slidably matched in the longitudinal direction, each of the first sliding portions supports the Z-direction material moving device, and the first matching portion can be slidably mounted on the frame 10 in the transverse direction;

[0049] A Y-axis driving mechanism 40 and a Y-axis driving mechanism 50 are arranged in parallel on the frame 10 and are respectively arranged on both sides of the Z-axis material moving device in the longitudinal direction, and are respectively connected to the corresponding first matching parts to drive the first matching parts to slide in the transverse direction; and

[0050] An X-axis driving mechanism 20, which is disposed on the first matching portion and is drivingly connected to the first sliding portion, and is used to drive the first sliding portion to slide in the longitudinal direction;

[0051] The photographing system comprises two photographing mechanisms 1 respectively installed below the Z-direction material moving device, and is used for photographing and positioning the conductive sheet and the insulating sheet.

[0052] The Z-direction material moving device includes a Z-direction driving mechanism 7 and a grasping mechanism 6. The Z-direction driving mechanism 7 is installed on the first sliding portion. The grasping mechanism 6 is installed with the output end of the Z-direction driving mechanism 7 for driving the grasping mechanism 6 to move up and down through the Z-direction driving mechanism 7.

[0053] The first sliding connection portion includes an X-direction slider 2 and an X-direction slider 3, and the two sides of the Z-direction driving mechanism 7 are respectively connected to the X-direction slider 2 and the X-direction slider 3, and are used to drive the grasping mechanism 6 to move in the up and down directions through the Z-direction driving mechanism 7. The first matching portion includes a Y-direction slider 4 and a Y-direction slider 5, and the bottom of the X-direction slider 2 is slidably matched along the top of the Y-direction slider 4 in the X direction, and the bottom of the X-direction slider 3 is slidably matched along the top of the Y-direction slider 5 in the X direction;

[0054] The frame 10 is provided with a Y-guide rail 41 and a Y-guide rail 51 extending in the transverse direction, the bottom of the Y-sliding block 4 is slidably matched in the Y direction along the Y-guide rail 41, the bottom of the Y-guide rail 5 is slidably matched in the Y direction along the Y-guide rail 51, the side of the Y-sliding block 4 is connected to the output end of the Y-drive mechanism 40, and the side of the Y-guide rail 5 is connected to the output end of the Y-drive mechanism 50;

[0055] A side portion of at least one of the X-direction slider 2 and the X-direction slider 3 is connected to an output end of the X-direction driving mechanism 20 .

[0056] The Y-direction slider 4 includes a Y-front slider 42 and a Y-rear slider 43, the bottoms of the Y-front slider 42 and the Y-rear slider 43 are slidably matched along the Y-direction guide rail 41 in the Y direction, and the X-direction slider 2 includes an X-front slider 21 and an X-rear slider 22, the bottom of the X-front slider 21 is slidably matched along the top of the Y-front slider 42 in the X direction, and the bottom of the X-rear slider 22 is slidably matched along the top of the Y-rear slider 43 in the X direction. The matching of the guide rail and the slider can not only ensure the accuracy of the movement, but also have a matching clearance between the guide rail and the slider, which can absorb the relative displacement generated when adjusting θ to a certain extent.

[0057] The tops of the X-front slider 21 and the X-rear slider 22 are connected to the side of the Z-direction driving mechanism 7 , and the side of the X-front slider 21 is connected to the output end of the X-direction driving mechanism 20 .

[0058] The Y-direction slider 5 includes a Y-front slider 52 and a Y-rear slider 53, the bottoms of the Y-front slider 52 and the Y-rear slider 53 are slidably matched along the Y-direction guide rail 51 in the Y direction, and the X-direction slider 3 includes an X-front slider 31 and an X-rear slider 32, the bottom of the X-front slider 31 is slidably matched along the top of the Y-front slider 52 in the X direction, and the bottom of the X-rear slider 32 is slidably matched along the top of the Y-rear slider 53 in the X direction; the tops of the X-front slider 31 and the X-rear slider 32 are connected to the side of the Z-direction driving mechanism 7.

[0059] The Y-axis driving mechanism 40, the Y-axis driving mechanism 50, and the X-axis driving mechanism 20 all include a driving motor 44, a driving screw 45, and a driving nut 46. The output end of the driving motor 44 is connected to one end of the driving screw 45, and the other end of the driving screw 45 is threadedly engaged with the middle part of the driving nut 46. The side of the driving nut 46 is connected to the side of the Y-front slider 42, the Y-front slider 52, and the X-front slider 21.

[0060] The Z-direction driving mechanism 7 comprises a first mounting plate 71 and a second mounting plate 72 which are arranged opposite to each other, and a first connecting beam 73 and a second connecting beam 74 which are sandwiched therebetween;

[0061] The outer side of the mounting plate 71 is connected to the top of the X-axis slider 2, and a lifting mechanism 75 with an output end located below the mounting plate 71 is provided in the middle of the mounting plate 71, and the output end of the lifting mechanism 75 is connected to the grabbing mechanism 6;

[0062] The outer side of the second mounting plate 72 is connected to the top of the X-axis slider 3 , and a second lifting mechanism 76 with an output end located below the second mounting plate 72 is provided in the middle of the second mounting plate 72 , and the output end of the second lifting mechanism 76 is connected to the grabbing mechanism 6 .

[0063] The first lifting mechanism 75 and the second lifting mechanism 76 both include a lifting screw 751, a lifting nut 752, a lifting connecting plate 753 and a lifting slider 754. The bottom end of the lifting screw 751 is threadedly matched with the middle part of the lifting nut 752, the side of the lifting nut 752 is connected to the middle part of the lifting connecting plate 753, one side of the lifting connecting plate 753 is connected to the lifting slider 754, and the other side of the lifting connecting plate 753 is connected to the grasping mechanism 6, and the lifting slider 754 slides along the lifting slide rail 758 in the Z direction.

[0064] The grabbing mechanism 6 includes a grabbing frame 61, a suction cup arm 62 and a suction cup 63. The top of the grabbing frame 61 is connected to the output end of the Z-direction driving mechanism 7, the bottom of the grabbing frame 61 is connected to the top of the suction cup arm 62, and the bottom of the suction cup arm 62 is connected to the suction cup 63.

[0065] The suction cup arm 62 is a hollow structure, the inner cavity of the suction cup arm 62 is communicated with the inner cavity of the suction cup 63, and a single suction cup arm 62 is provided with multiple suction cups 63; the number of the suction cup arms 62 is multiple, and they are arranged in sequence along the X direction. Preferably, the inner cavity of the suction cup 63 is connected to a blower or other vacuum extraction device to provide adsorption force.

[0066] The principle of the present invention is described as follows:

[0067] This design uses a CCD camera system (photographing mechanism 1) to photograph and locate the conductive material (copper foil) and the insulating material (EPE) at the same position in sequence; the same drive is used to complete the long displacement movement in the Y direction and the fine-tuning action in the Y direction; the gaps between parts are reasonably utilized, and the method of less degree of freedom is used to complete the fine-tuning in the θ direction, so as to achieve the purpose of streamlining the structure and reducing costs.

[0068] Embodiment 1:

[0069] See also Figure 1 — Fig. 9A positioning stacking device comprises a Y-axis driving mechanism 40, a Y-axis driving mechanism 50, an X-axis driving mechanism 20, a Z-axis driving mechanism 7 and a grabbing mechanism 6; the top of the grabbing mechanism 6 is connected to the output end of the Z-axis driving mechanism 7, and the two sides of the Z-axis driving mechanism 7 are respectively connected to the X-axis slider 2 and the X-axis slider 3, the bottom of the X-axis slider 2 is slidably matched along the top of the Y-axis slider 4, and the bottom of the X-axis slider 3 is slidably matched along the top of the Y-axis slider 5; the bottom of the Y-axis slider 4 is slidably matched along the Y-axis guide rail 41, and the bottom of the Y-axis slider 5 is slidably matched along the Y-axis guide rail 51, the side of the Y-axis slider 4 is connected to the output end of the Y-axis driving mechanism 40, and the side of the Y-axis slider 5 is connected to the output end of the Y-axis driving mechanism 50; the side of at least one of the X-axis slider 2 and the X-axis slider 3 is connected to the output end of the X-axis driving mechanism 20. A photographing mechanism 1 is disposed below the left and right ends of the Z-direction driving mechanism 7 , respectively. The photographing mechanism 1 is preferably a CCD photographing system.

[0070] When used, the following steps are included in sequence: first, a trolley with a conductive material (which can be copper foil in this embodiment) is placed on the conductive material loading station 8, and then the Z-direction driving mechanism 7 drives the grasping mechanism 6 to descend to the upper surface of the conductive material to grasp the conductive material, and then the Z-direction driving mechanism 7 drives the grasping mechanism 6 to rise, and then under the drive of the Y-direction driving mechanism 40, the grasping mechanism 6 is moved in the Y direction with a long stroke to the top of the insulating material loading station 9, and then the Z-direction driving mechanism 7 drives the grasping mechanism 6 to descend so that the conductive material enters the photographing range of the photographing mechanism 1, and then the photographing mechanism 1 photographs and positions the conductive material, and after the photographing is completed, the Z-direction driving mechanism 7 drives the grasping mechanism 6 to carry The conductive material rises to leave space for the feeding of the insulating material. After that, when the insulating material is fed to the insulating material loading station 9 through the belt assembly line, the photographing mechanism 1 photographs and positions the insulating material, and then calculates the relative positions of the conductive material and the insulating material. According to the calculation results, the Y-axis driving mechanism 40, the Y-axis driving mechanism 50, and the X-axis driving mechanism 20 drive the conductive material to perform fine-tuning actions in the X, Y and θ directions to align the conductive material and the insulating material. Finally, the grasping mechanism 6 is lowered to make the conductive material and the insulating material fit together. After fitting, the Z-axis driving mechanism 7 and the grasping mechanism 6 are reset, and the conductive material is grasped at the conductive material loading station 8 again, and the cycle is repeated.

[0071] Embodiment 2:

[0072] The basic content is the same as that of Example 1, except that:

[0073] The Y-direction slider 4 includes a Y-front slider 42 and a Y-rear slider 43, the bottoms of which are both slidably matched in the Y direction along the Y-direction guide rail 41. The X-direction slider 2 includes an X-front slider 21 and an X-rear slider 22, the bottom of which is slidably matched in the X direction along the top of the Y-front slider 42, and the bottom of which is slidably matched in the X direction along the top of the Y-rear slider 43. The tops of the X-front slider 21 and the X-rear slider 22 are connected to the side of the Z-direction driving mechanism 7, and the side of the X-front slider 21 is connected to the output end of the X-direction driving mechanism 20. The Y-direction slider 5 includes a Y-front slider 52 and a Y-rear slider 53, the bottoms of the Y-front slider 52 and the Y-rear slider 53 are slidably matched along the Y-direction guide rail 51 in the Y direction, and the X-direction slider 3 includes an X-front slider 31 and an X-rear slider 32, the bottom of the X-front slider 31 is slidably matched along the top of the Y-front slider 52 in the X direction, and the bottom of the X-rear slider 32 is slidably matched along the top of the Y-rear slider 53 in the X direction; the tops of the X-front slider 31 and the X-rear slider 32 are connected to the side of the Z-direction driving mechanism 7.

[0074] Embodiment 3:

[0075] The basic content is the same as that of Example 1, except that:

[0076] The Z-direction driving mechanism 7 includes a first mounting plate 71 and a second mounting plate 72 which are arranged opposite to each other, and a first connecting beam 73 and a second connecting beam 74 which are sandwiched therebetween; the outer side of the first mounting plate 71 is connected to the top of the X-direction slider 2, and a first lifting mechanism 75 whose output end is located below the first mounting plate 71 is arranged in the middle of the first mounting plate 71, and the output end of the first lifting mechanism 75 is connected to the grasping mechanism 6; the outer side of the second mounting plate 72 is connected to the top of the X-direction slider 3, and a second lifting mechanism 76 whose output end is located below the second mounting plate 72 is arranged in the middle of the second mounting plate 72, and the output end of the second lifting mechanism 76 is connected to the grasping mechanism 6. The first lifting mechanism 75 and the second lifting mechanism 76 both include a lifting screw 751, a lifting nut 752, a lifting connecting plate 753 and a lifting slider 754. The bottom end of the lifting screw 751 is threadedly matched with the middle part of the lifting nut 752, the side of the lifting nut 752 is connected to the middle part of the lifting connecting plate 753, one side of the lifting connecting plate 753 is connected to the lifting slider 754, the other side of the lifting connecting plate 753 is connected to the grabbing mechanism 6, and the lifting slider 754 is slidably matched in the Z direction along the lifting rail 758. The top of the lifting screw 751 in the first lifting mechanism 75 and the second lifting mechanism 76 is respectively sleeved with a first lifting wheel 755 and a second lifting wheel 756, and the side periphery of the first lifting wheel 755 is transmission-matched with the side periphery of the second lifting wheel 756 through a transmission belt 757.

[0077] The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiment. Any equivalent modifications or changes made by ordinary technicians in this field based on the contents disclosed by the present invention should be included in the protection scope recorded in the claims.

Claims

1. A positioning and stacking device, characterized in that: The positioning stacking device comprises: Rack (10); A Z-direction material moving device is provided above the stacking position and is used to grab the conductive material and drive the conductive material to move in the up and down directions; At least two first sliding structures are arranged on both sides of the Z-direction material moving device in the longitudinal direction, each of the first sliding structures comprises a first sliding portion and a first matching portion that are slidably matched in the longitudinal direction, each of the first sliding portions supports the Z-direction material moving device, and the first matching portion can be slidably mounted on the frame (10) in the transverse direction; A Y-axis driving mechanism (40) and a Y-axis driving mechanism (50) are arranged in parallel on the frame (10) and are respectively arranged on both sides of the Z-axis material moving device in the longitudinal direction, and are respectively drivingly connected to the corresponding first matching parts to drive the first matching parts to slide in the transverse direction; and An X-direction driving mechanism (20), provided on the first matching portion and drivingly connected to the first sliding portion, and used for driving the first sliding portion to slide in the longitudinal direction; The photographing system comprises two photographing mechanisms (1) respectively installed below the Z-direction material moving device and used for photographing and positioning the conductive sheet and the insulating sheet; The Z-direction material moving device comprises a Z-direction driving mechanism (7) and a grasping mechanism (6), wherein the Z-direction driving mechanism (7) is mounted on the first sliding portion, and the grasping mechanism (6) is mounted on the output end of the Z-direction driving mechanism (7) and is used to drive the grasping mechanism (6) to move up and down through the Z-direction driving mechanism (7); The first sliding connection portion comprises an X-direction slider (2) and an X-direction slider (3), the two sides of the Z-direction driving mechanism (7) are respectively connected to the X-direction slider (2) and the X-direction slider (3), the first matching portion comprises a Y-direction slider (4) and a Y-direction slider (5), the bottom of the X-direction slider (2) is slidably matched along the top of the Y-direction slider (4) in the X direction, and the bottom of the X-direction slider (3) is slidably matched along the top of the Y-direction slider (5) in the X direction; The frame (10) is provided with a Y-direction guide rail (41) and a Y-direction guide rail (51) extending in the transverse direction, the bottom of the Y-direction slider (4) slides along the Y-direction guide rail (41), the bottom of the Y-direction slider (5) slides along the Y-direction guide rail (51), the side of the Y-direction slider (4) is connected to the output end of the Y-direction driving mechanism (40), and the side of the Y-direction slider (5) is connected to the output end of the Y-direction driving mechanism (50); The side portion of at least one of the X-direction sliding block (2) and the X-direction sliding block (3) is connected to the output end of the X-direction driving mechanism (20).

2. A positioning and stacking device according to claim 1, characterized in that: The Y-direction slider (4) comprises a Y-front slider (42) and a Y-rear slider (43), the bottoms of the Y-front slider (42) and the Y-rear slider (43) are both slidably engaged with the Y-direction guide rail (41) in the Y direction, and the X-direction slider (2) comprises an X-front slider (21) and an X-rear slider (22), the bottom of the X-front slider (21) is slidably engaged with the top of the Y-front slider (42) in the X direction, and the bottom of the X-rear slider (22) is slidably engaged with the top of the Y-rear slider (43) in the X direction.

3. A positioning and stacking device according to claim 2, characterized in that: The tops of the X-front slider (21) and the X-rear slider (22) are connected to the side of the Z-direction driving mechanism (7), and the side of the X-front slider (21) is connected to the output end of the X-direction driving mechanism (20).

4. A positioning and stacking device according to claim 1, characterized in that: The Y-direction slider (5) comprises a Y-direction front slider (52) and a Y-direction rear slider (53), the bottoms of the Y-direction front slider (52) and the Y-direction rear slider (53) are both slidably matched along the Y-direction guide rail (51); the X-direction slider (3) comprises an X-direction front slider (31) and an X-direction rear slider (32), the bottom of the X-direction front slider (31) is slidably matched along the top of the Y-direction front slider (52), and the bottom of the X-direction rear slider (32) is slidably matched along the top of the Y-direction rear slider (53); the tops of the X-direction front slider (31) and the X-direction rear slider (32) are connected to the side of the Z-direction driving mechanism (7).

5. The positioning and stacking device according to claim 1, characterized in that: The Y-axis driving mechanism (40), the Y-axis driving mechanism (50), and the X-axis driving mechanism (20) all comprise a driving motor (44), a driving lead screw (45), and a driving nut (46); the output end of the driving motor (44) is connected to one end of the driving lead screw (45); the other end of the driving lead screw (45) is threadedly engaged with the middle portion of the driving nut (46); and the side portion of the driving nut (46) is connected to the side portions of the Y-front slider (42), the Y-second front slider (52), and the X-front slider (21).

6. A positioning and stacking device according to claim 1, characterized in that: The Z-direction driving mechanism (7) comprises a first mounting plate (71), a second mounting plate (72) arranged opposite to each other, and a first connecting beam (73) and a second connecting beam (74) sandwiched therebetween; The outer side of the mounting plate (71) is connected to the top of the X-axis slider (2); a lifting mechanism (75) is provided in the middle of the mounting plate (71) with an output end located below the mounting plate (71); the output end of the lifting mechanism (75) is connected to the grabbing mechanism (6); The outer side of the second mounting plate (72) is connected to the top of the X-direction slider (3), and a second lifting mechanism (76) is provided in the middle of the second mounting plate (72) with an output end located below the second mounting plate (72), and the output end of the second lifting mechanism (76) is connected to the grabbing mechanism (6).

7. A positioning and stacking device according to claim 6, characterized in that: The first lifting mechanism (75) and the second lifting mechanism (76) both comprise a lifting screw (751), a lifting nut (752), a lifting connecting plate (753) and a lifting slider (754); the bottom end of the lifting screw (751) is threadedly engaged with the middle of the lifting nut (752); the side of the lifting nut (752) is connected to the middle of the lifting connecting plate (753); one side of the lifting connecting plate (753) is connected to the lifting slider (754); the other side of the lifting connecting plate (753) is connected to the grasping mechanism (6); and the lifting slider (754) is slidably engaged in the Z direction along the lifting slide rail (758).

8. The positioning and stacking device according to claim 1, characterized in that: The gripping mechanism (6) comprises a gripping frame (61), a suction cup arm (62) and a suction cup (63); the top of the gripping frame (61) is connected to the output end of the Z-direction drive mechanism (7); the bottom of the gripping frame (61) is connected to the top of the suction cup arm (62); and the bottom of the suction cup arm (62) is connected to the suction cup (63); The suction cup arm (62) is a hollow structure; the inner cavity of the suction cup arm (62) is communicated with the inner cavity of the suction cup (63); a plurality of suction cups (63) are provided on a single suction cup arm (62); the number of the suction cup arms (62) is plural and they are arranged in sequence along the X direction.

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