A kind of end face positioning equipment and positioning method special for crystal bar splicing

Abstract

The application relates to a special end face positioning device and positioning method for crystal bar splicing, which comprises a supporting frame, a lifting electric cylinder fixed at the top of the supporting frame, a connecting seat connected to the output end of the lifting electric cylinder, a clamping mechanism matched and installed on the connecting seat, a driven end mechanical arm and a driving end mechanical arm respectively installed on the bottom of the connecting seat through the clamping mechanism, a motion mechanism matched and installed at the middle part of the supporting frame, a plurality of industrial cameras matched and installed on the motion mechanism, and a control system matched and installed outside the end face positioning device, wherein the control system obtains size data of the end face of a workpiece according to the results shot by the industrial cameras, so that the end face with the smallest size parameter of the workpiece is found. Through the end face positioning device, the detection of the size of the end face of the crystal bar can be automatically completed, the smallest end face can be positioned, the positioning precision is high, the positioning speed is fast, the production time can be effectively shortened, the production efficiency is improved, and the labor cost can be effectively saved in the full-automatic production mode.

Description

Technical Field

[0001] This invention relates to the field of crystal rod processing technology, and in particular to an end face positioning device and positioning method specifically for crystal rod splicing. Background Technology

[0002] In the photovoltaic field, monocrystalline silicon rods are one of the important raw materials for solar cells. During the production of crystal rods, it is necessary to ensure that the length of the crystal rods is uniform. When the length of the crystal rods is too short, they need to be glued together. During the gluing process, the smaller side end face of the crystal rod is used as the glue surface.

[0003] In existing technologies, substandard crystal rods are manually selected, and the length and width of the four end faces of the rod are measured to determine the smallest end face, which is then used as the adhesive surface. This method is time-consuming, inefficient, and requires significant manpower. Summary of the Invention

[0004] To address the shortcomings of existing production technologies, the applicant provides a dedicated end-face positioning device and method for crystal rod assembly. By setting up the end-face positioning device, the dimensions of the crystal rod end face can be automatically detected, and the smallest end face can be positioned. The positioning accuracy is high, the positioning speed is fast, which can effectively shorten the production time, improve the production efficiency, and the fully automated production method can effectively save labor costs.

[0005] The technical solution adopted in this invention is as follows:

[0006] A device for end-face positioning of crystal rod assembly includes a support frame. A lifting electric cylinder is fixed to the top of the support frame. The output end of the lifting electric cylinder is connected to a connecting seat. A clamping mechanism is installed on the connecting seat. A driven end robotic arm and an active end robotic arm are respectively installed on the bottom of the connecting seat through the clamping mechanism. The clamping mechanism drives the driven end robotic arm and the active end robotic arm to move in opposite or opposite directions in a straight line along the length of the connecting seat, thereby clamping or releasing the workpiece. When clamping the workpiece, the active end robotic arm drives the workpiece to rotate. The lifting electric cylinder drives the connecting seat to rise or fall in the vertical direction. The connecting seat drives the driven end robotic arm and the active end robotic arm to move in a straight line in the vertical direction, thereby driving the workpiece to move in a straight line in the vertical direction.

[0007] A motion mechanism is installed in the middle of the support frame, and several industrial cameras are installed on the motion mechanism. The motion mechanism drives the industrial cameras to move linearly along the length of the connecting seat, thereby taking pictures of the end face of the workpiece.

[0008] The end face positioning device is externally equipped with a control system. The control system obtains the dimensional data of the workpiece end face based on the results captured by the industrial camera, thereby finding the end face with the smallest workpiece dimensional parameters.

[0009] As a further improvement to the above technical solution:

[0010] The structure of the motion mechanism is as follows: it includes several parallel transverse slide rails and a transverse motor. Several transverse sliders are installed on the top of each transverse slide rail. The output end of the transverse motor is connected to a lead screw. Several camera mounting brackets for mounting industrial cameras are installed on the outer circumference of the lead screw.

[0011] The structure of a single camera mounting base includes a mounting plate mounted on the top of a transverse slider and a connecting block mounted on the outer circumferential surface of a lead screw. The connecting block is fixed to the bottom of the mounting plate, and an industrial camera is mounted on the top of the mounting plate. The transverse motor drives the lead screw to rotate, causing the connecting block to move linearly on the outer circumferential surface of the lead screw, thereby causing the mounting plate to move linearly along the transverse slide rail.

[0012] The connecting block has a threaded hole in the middle. The connecting block is installed by cooperating with the lead screw through the threaded hole. The threaded holes on two adjacent connecting blocks have opposite directions of rotation.

[0013] The transverse slide rail is arranged along the length of the connecting seat.

[0014] The clamping mechanism is structured as follows: it includes two parallel clamping slide rails mounted on the outer bottom surface of the connecting seat; a set of clamping slider groups are mounted on each clamping slide rail; a first movable seat is mounted on the bottom surface of one set of clamping slider groups; a second movable seat is mounted on the bottom surface of the other set of clamping slider groups; a central gear is mounted on the connecting seat between the two clamping slide rails; and the central gear meshes with two symmetrically arranged clamping racks.

[0015] And clamping cylinders symmetrically fixed inside the connecting seat. The output ends of the two clamping cylinders are respectively connected to the first moving seat and the second moving seat. The clamping cylinder connected to the first moving seat drives the first moving seat to move linearly along the clamping slide rail, and the clamping cylinder connected to the second moving seat drives the second moving seat to move linearly along the clamping slide rail.

[0016] The structure of the driven end robotic arm is as follows: it includes a driven end connecting arm that is fitted and installed at the bottom of the first movable seat, and a driven end pad is fitted on the side of the driven end connecting arm through a driven end mounting shaft.

[0017] The structure of the active end robotic arm is as follows: it includes an active end connecting arm that is fitted and installed at the bottom of the second movable seat. A rotary motor is fixed on one side of the active end connecting arm. The output end of the rotary motor is connected to the active end mounting shaft. The active end mounting shaft passes through the active end connecting arm and is fitted and installed with the active end pad located on the opposite side of the rotary motor.

[0018] The active end pad corresponds to the driven end pad. When the driven end robotic arm and the active end robotic arm clamp the workpiece, the active end pad and the driven end pad respectively fit against the two end faces of the workpiece. At this time, the active end mounting shaft is driven to rotate by a rotary motor, thereby driving the active end pad to rotate, and in turn driving the workpiece to rotate.

[0019] The industrial camera is externally fitted with a protective cover, which has a shooting hole corresponding to the lens of the industrial camera.

[0020] Several guide columns are installed between the support frame and the connecting seat, and the guide columns are evenly arranged around the lifting electric cylinder.

[0021] A positioning method utilizing the aforementioned end-face positioning device specifically designed for crystal rod assembly includes the following steps:

[0022] S1. After the workpiece is transported to the position by the conveyor line, the lifting electric cylinder extends and drives the driven end robotic arm and the active end robotic arm to descend vertically through the connecting seat, so that the workpiece is between the driven end robotic arm and the active end robotic arm.

[0023] S2. The driven end robotic arm and the active end robotic arm are driven to move in opposite directions along the length of the connecting seat by the clamping mechanism, thereby clamping the workpiece;

[0024] S3. Two industrial cameras move linearly along the length of the connecting seat via a motion mechanism, thereby moving to the two ends of the workpiece respectively;

[0025] S4. The lifting electric cylinder retracts, and through the connecting seat, it drives the driven end robotic arm and the active end robotic arm to rise vertically, thereby lifting the workpiece into the field of view of the industrial camera.

[0026] S5. An industrial camera takes pictures at both ends of the workpiece and sends the pictures to the control system. The control system generates a front view of the photographed surface of the workpiece based on the pictures taken by the industrial camera. Based on the top and bottom edges of the workpiece in the front view, the control system generates a perpendicular line to the top edge and a perpendicular line to the bottom edge. The dimensions of the two perpendicular lines are calculated and converted based on the formula: actual size = image size * pixel equivalent.

[0027] S6. Rotate the workpiece 90° using the active end robotic arm, and proceed with the second side face of the workpiece according to S5.

[0028] S7. According to S5. and S6., calculate the dimensional parameters of the four side end faces of the workpiece, and control the system to compare the area values ​​of the four side end faces of the workpiece, so as to obtain the end face with the smallest size as the adhesive surface;

[0029] S8. The active end robotic arm drives the workpiece to rotate, so that the smallest end face of the workpiece faces downward. The lifting electric cylinder extends and drives the driven end robotic arm and the active end robotic arm to descend vertically through the connecting seat. The clamping mechanism drives the driven end robotic arm and the active end robotic arm to move in opposite straight lines along the length of the connecting seat, thereby releasing the workpiece and placing it on the conveyor line, and the smallest end face of the workpiece contacts the conveyor line.

[0030] S9. Transport the workpiece to the next station via a conveyor line.

[0031] The beneficial effects of this invention are as follows:

[0032] This invention has a compact and reasonable structure and is easy to operate. By setting up a motion mechanism, a clamping mechanism and a robotic arm, it can automatically complete steps such as picking up and placing workpieces, rotating and flipping them, and inspecting the end face. By adopting an automated production method, it can effectively reduce labor costs.

[0033] This invention, by setting up an industrial camera and control system, can accurately measure, compare, and position the end face of a workpiece. The positioning results are accurate, the measurement precision is high, and the positioning process is rapid, which can effectively improve the efficiency of production and processing and ensure the quality of production and processing.

[0034] In this invention, the robotic arm uses a polyurethane pad, which can ensure stable gripping of the workpiece while preventing scratches on the workpiece.

[0035] This invention provides an end-face positioning method, which compares and converts the actual length of the workpiece with the image length in the photograph taken by an industrial camera to obtain the length and width dimensions of the four side end faces of the workpiece. It is suitable for measuring workpieces of various lengths and dimensions, and the results are accurate, reliable and highly precise. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the present invention.

[0037] Figure 2 for Figure 1 The main view.

[0038] Figure 3 This is a schematic diagram of the mounting structure of the industrial camera in this invention. Figure 1 .

[0039] Figure 4 This is a schematic diagram of the mounting structure of the industrial camera in this invention. Figure 2 (Protective cover omitted).

[0040] Figure 5 for Figure 4 The main view.

[0041] Figure 6 This is a schematic diagram of the workpiece clamping station in this invention.

[0042] Figure 7 for Figure 6 The main view.

[0043] Figure 8 for Figure 6 The right view.

[0044] Figure 9 for Figure 6 A bottom view.

[0045] The components include: 1. Support frame; 2. Industrial camera; 3. Motion mechanism; 4. Protective cover; 5. Slave-end robotic arm; 6. Active-end robotic arm; 7. Lifting electric cylinder; 8. Connecting seat; 9. Clamping mechanism; 10. Guide column;

[0046] 301. Horizontal movement motor; 302. Lead screw; 303. Connecting block; 304. Mounting plate; 305. Horizontal movement slide rail; 306. Horizontal movement slider;

[0047] 501. Driven end connecting arm; 502. Driven end pad; 503. Driven end mounting shaft;

[0048] 601. Active end connecting arm; 602. Active end pad; 603. Active end mounting shaft; 604. Rotary motor;

[0049] 901. Clamping cylinder; 902. Center gear; 903. Clamping rack; 904. Clamping slide rail; 905. Clamping slider assembly; 906. First moving seat; 907. Second moving seat. Detailed Implementation

[0050] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0051] Example 1:

[0052] like Figures 1-9As shown, the end-face positioning device for crystal rod splicing in this embodiment includes a support frame 1, a lifting cylinder 7 fixed to the top of the support frame 1, and a connecting seat 8 connected to the output end of the lifting cylinder 7. A clamping mechanism 9 is installed on the connecting seat 8. A driven end robotic arm 5 and an active end robotic arm 6 are respectively installed on the bottom of the connecting seat 8 through the clamping mechanism 9. The clamping mechanism 9 drives the driven end robotic arm 5 and the active end robotic arm 6 to move in opposite or opposite directions in a straight line along the length direction of the connecting seat 8, thereby clamping or releasing the workpiece. When clamping the workpiece, the active end robotic arm 6 drives the workpiece to rotate, and the lifting cylinder 7 drives the connecting seat 8 to move in a vertical direction. The device moves upwards or downwards, driving the driven robotic arm 5 and the active robotic arm 6 to move linearly in the vertical direction via the connecting seat 8, thereby causing the workpiece to move linearly in the vertical direction. A motion mechanism 3 is installed in the middle of the support frame 1, and several industrial cameras 2 are installed on the motion mechanism 3. The motion mechanism 3 drives the industrial cameras 2 to move linearly along the length of the connecting seat 8, thereby taking pictures of the end face of the workpiece. A control system is installed on the outside of the end face positioning device. The control system obtains the size data of the end face of the workpiece based on the results taken by the industrial cameras 2, thereby finding the end face with the smallest size parameters of the workpiece.

[0053] The structure of the motion mechanism 3 is as follows: it includes several parallel transverse slide rails 305 and a transverse motor 301. Several transverse sliders 306 are installed on the top of each transverse slide rail 305. The output end of the transverse motor 301 is connected to a lead screw 302. Several camera mounting brackets for mounting industrial cameras 2 are installed on the outer circumferential surface of the lead screw 302. The structure of a single camera mounting bracket is as follows: it includes a mounting plate 304 installed on the top of the transverse slider 306 and a connecting block 303 installed on the outer circumferential surface of the lead screw 302. The connecting block 303 is fixed to the bottom of the mounting plate 304. The industrial camera 2 is installed on the top of the mounting plate 304. The transverse motor 301 drives the lead screw 302 to rotate, causing the connecting block 303 to move linearly on the outer circumferential surface of the lead screw 302, thereby causing the mounting plate 304 to move linearly along the transverse slide rail 305.

[0054] A threaded hole is provided in the middle of the connecting block 303. The connecting block 303 is installed in conjunction with the lead screw 302 through the threaded hole. The threaded holes on two adjacent connecting blocks 303 have opposite directions of rotation.

[0055] The transverse slide rail 305 is arranged along the length of the connecting seat 8.

[0056] The clamping mechanism 9 has the following structure: it includes two parallel clamping slide rails 904 mounted on the outer bottom surface of the connecting seat 8; a set of clamping slider groups 905 are mounted on each clamping slide rail 904; a first movable seat 906 is mounted on the bottom surface of one set of clamping slider groups 905; a second movable seat 907 is mounted on the bottom surface of the other set of clamping slider groups 905; a central gear 902 is mounted on the connecting seat 8 between the two clamping slide rails 904; the central gear 902 meshes with two symmetrically arranged clamping racks 903; and clamping cylinders 901 are symmetrically fixed inside the connecting seat 8. The output ends of the two clamping cylinders 901 are connected to the first movable seat 906 and the second movable seat 907, respectively. The clamping cylinder 901 connected to the first movable seat 906 drives the first movable seat 906 to move linearly along the clamping slide rail 904; and the clamping cylinder 901 connected to the second movable seat 907 drives the second movable seat 907 to move linearly along the clamping slide rail 904.

[0057] The structure of the driven end robotic arm 5 is as follows: it includes a driven end connecting arm 501 that is fitted and installed at the bottom of the first moving seat 906, and a driven end pad 502 is fitted on the side of the driven end connecting arm 501 through the driven end mounting shaft 503.

[0058] The structure of the active end robotic arm 6 is as follows: it includes an active end connecting arm 601 that is fitted and installed at the bottom of the second movable seat 907. A rotary motor 604 is fixed to one side of the active end connecting arm 601. The output end of the rotary motor 604 is connected to the active end mounting shaft 603. The active end mounting shaft 603 passes through the active end connecting arm 601 and is fitted with an active end pad 602 located on the opposite side of the rotary motor 604. The active end pad 602 corresponds to the driven end pad 502. When the driven end robotic arm 5 and the active end robotic arm 6 clamp the workpiece, the active end pad 602 and the driven end pad 502 are respectively in contact with the two end faces of the workpiece. At this time, the rotary motor 604 drives the active end mounting shaft 603 to rotate, thereby driving the active end pad 602 to rotate, and thus driving the workpiece to rotate. The driven end pad 502 and the active end pad 602 are made of polyurethane pads, which can ensure the stability of the robotic arm in grasping the workpiece and will not scratch the surface of the workpiece.

[0059] The industrial camera 2 is fitted with a protective cover 4, which has a shooting hole corresponding to the lens of the industrial camera 2.

[0060] Several guide columns 10 are installed between the support frame 1 and the connecting seat 8, and the guide columns 10 are evenly arranged around the lifting electric cylinder 7.

[0061] Example 2:

[0062] This embodiment utilizes the end-face positioning device for crystal ingot splicing provided in Embodiment 1 to provide a method for end-face positioning of crystal ingot splicing, including the following steps:

[0063] S1. After the workpiece is transported to the position by the conveyor line, the lifting electric cylinder 7 extends and drives the driven end robotic arm 5 and the active end robotic arm 6 to descend vertically through the connecting seat 8, so that the workpiece is between the driven end robotic arm 5 and the active end robotic arm 6.

[0064] S2. The driven end robotic arm 5 and the active end robotic arm 6 are driven to move in opposite directions along the length of the connecting seat 8 by the clamping mechanism 9, thereby clamping the workpiece.

[0065] S3. The two industrial cameras 2 move linearly along the length of the connecting seat 8 via the motion mechanism 3, thereby moving to the two ends of the workpiece respectively;

[0066] S4. The lifting electric cylinder 7 retracts, and through the connecting seat 8, it drives the driven end robotic arm 5 and the active end robotic arm 6 to rise in the vertical direction, thereby lifting the workpiece into the field of view of the industrial camera 2.

[0067] S5. Industrial camera 2 takes pictures at both ends of the workpiece and sends the pictures to the control system. The control system generates a front view of the photographed surface of the workpiece based on the pictures taken by industrial camera 2. Based on the top and bottom edges of the workpiece in the front view, the control system generates a perpendicular line to the top edge and a perpendicular line to the bottom edge. Based on the formula: actual size = image size * pixel equivalent, the dimensions of the two perpendicular lines are calculated and converted.

[0068] S5.1. The industrial camera 2 needs to be calibrated first using a calibration board to obtain the length parameters of each pixel, i.e., the pixel equivalent.

[0069] S5.2. The workpiece is cubic in shape, and it is necessary to measure and calculate the four side end faces of the workpiece;

[0070] S6. The workpiece is rotated 90° by the active end robotic arm 6, and the second side end face of the workpiece is processed according to S5.

[0071] S7. According to S5. and S6., calculate the dimensional parameters of the four side end faces of the workpiece, and control the system to compare the area values ​​of the four side end faces of the workpiece, so as to obtain the end face with the smallest size as the adhesive surface;

[0072] S8. The workpiece is rotated by the active end robotic arm 6 so that the smallest end face of the workpiece faces downward. The lifting cylinder 7 extends and drives the driven end robotic arm 5 and the active end robotic arm 6 to descend vertically through the connecting seat 8. The clamping mechanism 9 drives the driven end robotic arm 5 and the active end robotic arm 6 to move in a straight line away from each other along the length of the connecting seat 8, thereby releasing the workpiece and placing it on the conveyor line, and the smallest end face of the workpiece contacts the conveyor line.

[0073] S9. Transport the workpiece to the next station via a conveyor line.

[0074] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A method of positioning a face of a crystal bar specifically for a face positioning apparatus of a crystal bar splicing apparatus, characterized by: The system includes a support frame (1), with a lifting electric cylinder (7) fixed at the top of the support frame (1). The output end of the lifting electric cylinder (7) is connected to a connecting seat (8). A clamping mechanism (9) is installed on the connecting seat (8). The bottom of the connecting seat (8) is connected to a driven end robotic arm (5) and an active end robotic arm (6) respectively via the clamping mechanism (9). The clamping mechanism (9) drives the driven end robotic arm (5) and the active end robotic arm (6) to move in opposite or opposite directions along the length of the connecting seat (8), thereby clamping or releasing the workpiece. When clamping the workpiece, the active end robotic arm (6) drives the workpiece to rotate. The lifting electric cylinder (7) drives the connecting seat (8) to rise or fall in the vertical direction. The connecting seat (8) drives the driven end robotic arm (5) and the active end robotic arm (6) to move in a straight line in the vertical direction, thereby driving the workpiece to move in a straight line in the vertical direction. A motion mechanism (3) is installed in the middle of the support frame (1), and several industrial cameras (2) are installed on the motion mechanism (3). The motion mechanism (3) drives the industrial cameras (2) to move in a straight line along the length of the connecting seat (8) so as to take pictures of the end face of the workpiece. The end face positioning device is externally equipped with a control system. The control system obtains the size data of the workpiece end face based on the results captured by the industrial camera (2), thereby finding the end face with the smallest workpiece size parameters. The positioning method includes the following steps: S1. After the workpiece is transported to the position by the conveyor line, the lifting cylinder (7) extends and drives the driven end mechanical arm (5) and the active end mechanical arm (6) to descend vertically through the connecting seat (8), so that the workpiece is between the driven end mechanical arm (5) and the active end mechanical arm (6). S2. The driven end robotic arm (5) and the active end robotic arm (6) are driven to move in opposite directions along the length of the connecting seat (8) by the clamping mechanism (9), thereby clamping the workpiece; S3. Two industrial cameras (2) move linearly along the length of the connecting seat (8) via the motion mechanism (3), thereby moving to the two ends of the workpiece respectively; S4. The lifting cylinder (7) retracts and drives the driven end robotic arm (5) and the active end robotic arm (6) to rise vertically through the connecting seat (8), thereby lifting the workpiece into the field of view of the industrial camera (2); S5. The industrial camera (2) takes photos at both ends of the workpiece and sends the photos to the control system. The control system generates an orthographic view of the photographed surface of the workpiece according to the photos taken by the industrial camera (2). According to the upper edge line and the lower edge line of the workpiece in the orthographic view, the control system generates a perpendicular line of the upper edge line and a perpendicular line of the lower edge line. According to the actual size = image size pixel equivalent, the size of the two perpendicular lines is calculated. S6. Drive the workpiece to rotate 90° by the active end robotic arm (6), and take a picture of the second side end face of the workpiece according to S5. S7. According to S5 and S6, calculate the dimensional parameters of the four side end faces of the workpiece, and control the system to compare the area values ​​of the four side end faces of the workpiece to obtain the end face with the smallest size as the adhesive surface. S8. The workpiece is rotated by the active end robotic arm (6) so that the smallest end face of the workpiece faces down. The lifting cylinder (7) extends and drives the driven end robotic arm (5) and the active end robotic arm (6) to descend vertically through the connecting seat (8). The clamping mechanism (9) drives the driven end robotic arm (5) and the active end robotic arm (6) to move in opposite straight lines along the length of the connecting seat (8), thereby releasing the workpiece and placing it on the conveyor line, and the smallest end face of the workpiece contacts the conveyor line. S9. Transport the workpiece to the next station via a conveyor line.

2. The method of claim 1, wherein: the end face of the crystal bar is positioned by the end face positioning device. The structure of the motion mechanism (3) is as follows: it includes several parallel transverse slide rails (305) and a transverse motor (301). Several transverse sliders (306) are installed on the top of each transverse slide rail (305). The output end of the transverse motor (301) is connected to a lead screw (302). Several camera mounting brackets for mounting industrial cameras (2) are installed on the outer circumference of the lead screw (302). The structure of a single camera mounting base is as follows: it includes a mounting plate (304) mounted on the top of the transverse slider (306) and a connecting block (303) mounted on the outer circumferential surface of the lead screw (302). The connecting block (303) is fixed to the bottom of the mounting plate (304). An industrial camera (2) is mounted on the top of the mounting plate (304). The transverse motor (301) drives the lead screw (302) to rotate, which causes the connecting block (303) to move linearly on the outer circumferential surface of the lead screw (302), thereby causing the mounting plate (304) to move linearly along the transverse slide rail (305).

3. The positioning method for an end-face positioning device specifically used for crystal rod splicing as described in claim 1, characterized in that: A threaded hole is provided in the middle of the connecting block (303). The connecting block (303) is installed in conjunction with the lead screw (302) through the threaded hole. The threaded holes on two adjacent connecting blocks (303) have opposite rotation directions.

4. The positioning method for an end-face positioning device specifically used for crystal rod splicing as described in claim 1, characterized in that: The transverse slide rail (305) is arranged along the length of the connecting seat (8).

5. The positioning method for an end-face positioning device specifically used for crystal rod splicing as described in claim 1, characterized in that: The clamping mechanism (9) has the following structure: it includes two clamping slide rails (904) that are parallel to each other and installed on the bottom surface of the connecting seat (8). A set of clamping slider groups (905) are installed on each clamping slide rail (904). A first moving seat (906) is installed on the bottom surface of one set of clamping slider groups (905). A second moving seat (907) is installed on the bottom surface of the other set of clamping slider groups (905). A central gear (902) is installed on the connecting seat (8) between the two clamping slide rails (904). The central gear (902) meshes with two symmetrically arranged clamping racks (903). And clamping cylinders (901) symmetrically fixed inside the connecting seat (8). The output ends of the two clamping cylinders (901) are respectively connected to the first moving seat (906) and the second moving seat (907). The clamping cylinder (901) connected to the first moving seat (906) drives the first moving seat (906) to move linearly along the clamping slide rail (904). The clamping cylinder (901) connected to the second moving seat (907) drives the second moving seat (907) to move linearly along the clamping slide rail (904).

6. The positioning method for an end-face positioning device specifically used for crystal rod splicing as described in claim 5, characterized in that: The structure of the driven end robotic arm (5) is as follows: it includes a driven end connecting arm (501) that is fitted and installed at the bottom of the first moving seat (906), and a driven end pad (502) is fitted on the side of the driven end connecting arm (501) through a driven end mounting shaft (503).

7. The method of claim 6, wherein: the end face of the crystal bar is positioned by the end face positioning device such that the end face of the crystal bar is positioned in the predetermined position on the end face of the crystal bar. 7 The structure of the active end robotic arm (6) is as follows: it includes an active end connecting arm (601) that is fitted and installed at the bottom of the second moving seat (907). A rotary motor (604) is fixed on one side of the active end connecting arm (601). The output end of the rotary motor (604) is connected to the active end mounting shaft (603). The active end mounting shaft (603) passes through the active end connecting arm (601) and is fitted and installed with the active end pad (602) located on the opposite side of the rotary motor (604). The active end pad (602) corresponds to the driven end pad (502). When the driven end robotic arm (5) and the active end robotic arm (6) clamp the workpiece, the active end pad (602) and the driven end pad (502) respectively fit against the two end faces of the workpiece. At this time, the active end mounting shaft (603) is driven to rotate by the rotary motor (604), thereby driving the active end pad (602) to rotate, and then driving the workpiece to rotate.

8. The positioning method for an end-face positioning device specifically used for crystal rod splicing as described in claim 1, characterized in that: The industrial camera (2) is fitted with a protective cover (4) on its exterior, and the protective cover (4) has a shooting hole corresponding to the lens of the industrial camera (2).

9. The positioning method for an end-face positioning device specifically used for crystal rod splicing as described in claim 1, characterized in that: Several guide columns (10) are installed between the support frame (1) and the connecting seat (8), and the guide columns (10) are evenly arranged around the lifting electric cylinder (7).

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