Automated positioning lift device, thinning machine, and positioning lift control method

Abstract

The application provides an automatic positioning and lifting device, a thinning machine and a positioning and lifting control method, and relates to the technical field of semiconductor equipment. The device comprises a protractor, a lifting mechanism, a locking mechanism, a second driving element and a controller. The lifting mechanism comprises a first driving element and a lifting block connected with the first driving element; the lifting block is used for bearing the protractor. The locking mechanism comprises a locking platform and a locking element connected on the locking platform; the second driving element is connected with the protractor and is used for driving the protractor to rotate. The controller is connected with the first driving element, the second driving element and the locking element respectively. The controller controls the first driving element to drive the lifting block to rise to be flush with the locking platform, controls the second driving element to drive the protractor to rotate from the lifting block to the locking platform, and then controls the locking element to lock the protractor. The device has high automation degree, saves time and effort, the protractor is accurately positioned and controllable during the whole movement process, the lifting is stable, and the risk of damage of the protractor is reduced.

Description

Technical Field

[0001] This invention relates to the field of semiconductor equipment technology, and more specifically, to an automatic positioning and lifting device, a thinning machine, and a positioning and lifting control method. Background Technology

[0002] The indexing plate component of the thinning machine is the most important part of the entire thinning system. Its working principle involves introducing compressed gas into the air-supported pad, creating an air film between the indexing plate and the air-supported pad. This air film, transmitted via a synchronous belt, drives the spindle to rotate, causing the indexing plate to rotate. Because it is an air-supported structure, there is a gap in the installation of the indexing plate. When the entire machine is de-aired, the weight of the entire indexing plate rests entirely on the air-supported pad; when air is supplied, the indexing plate floats up.

[0003] Because there is a gap in the installation of the indexing plate, it is essential to ensure that the indexing plate is raised and securely positioned during the handling of the entire machine, with a distance of approximately 0.5mm between it and the air bearing pad. This will prevent the indexing plate from bouncing up and down and being damaged due to the vibration of the entire machine during handling, and will also prevent hard friction between the indexing plate and the air bearing pad, which could cause the air bearing surface to fail.

[0004] The existing method of moving the indexing plate usually relies on the coordinated operation of multiple people to lift the indexing plate. However, since it is difficult to unify the lifting force and speed of each person, the indexing plate is prone to tilting, causing the indexing plate to press against the air cushion first. This results in a high risk of damage to the indexing plate and the air cushion, as well as high labor intensity for workers and low positioning and lifting efficiency. Summary of the Invention

[0005] The objectives of this invention include, for example, providing an automatic positioning and lifting device, a thinning machine, and a positioning and lifting control method, which can realize the automatic positioning and lifting of the indexing plate, achieve automated operation by a controller, and have high lifting and positioning accuracy and efficiency, while reducing the risk of damage to the indexing plate and the air cushion.

[0006] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides an automatic positioning and lifting device, comprising: Indexing plate; A lifting mechanism, comprising a first driving member and a lifting block connected to the first driving member; the lifting block is used to support the indexing plate; A locking mechanism, the locking mechanism comprising a locking platform and a locking element connected to the locking platform; The second driving component is connected to the indexing plate and is used to drive the indexing plate to rotate. A controller, which is connected to the first drive unit, the second drive unit, and the locking unit respectively; The controller controls the first drive unit to drive the lifting block to rise; when the lifting block rises to the level of the locking platform, the controller controls the second drive unit to drive the indexing plate to rotate from the lifting block to the locking platform; The controller is also used to control the locking element to lock the indexing plate when the indexing plate is rotated to the locking platform.

[0007] In an optional embodiment, the indexing plate has an extension block protruding radially along its edge; the lifting block is used to support the extension block, and the locking member is used to lock the extension block.

[0008] In an optional embodiment, a telescopic cylinder is mounted on the indexing plate, the telescopic cylinder extending to form the extension block.

[0009] In an optional implementation, a distance sensor is also included, which is connected to the controller and is used to detect the height position of the indexing plate relative to the locking platform.

[0010] In an optional implementation, an encoder is further included, which is connected to the second drive unit and is used to detect the angular position of the indexing plate relative to the lifting block.

[0011] In an optional implementation, a touch switch is also included, which is connected to the controller and is disposed on the locking platform; The indexing plate rotates to the locking platform and triggers the touch switch, and the controller controls the locking element to lock the indexing plate.

[0012] In an optional embodiment, the lifting block has ball bearings on its bearing surface.

[0013] In an optional embodiment, the surface of the locking platform is provided with ball bearings.

[0014] Secondly, the present invention provides a thinning machine, including an automatic positioning and lifting device as described in any of the foregoing embodiments.

[0015] Thirdly, the present invention provides a positioning and lifting control method, comprising: Obtain control commands for transporting the indexing plate; The extension block of the indexing plate is extended according to the control command; Receive the rotational position signal from the encoder; The lifting block is controlled to rise to be level with the locking platform according to the rotation position signal; Control the extension block to rotate to the locking platform; The locking mechanism of the locking platform is used to lock the extension block.

[0016] The beneficial effects of the embodiments of the present invention include, for example: The automatic positioning and lifting device provided in this embodiment of the invention includes an indexing plate, a lifting mechanism, a locking mechanism, a second driving component, and a controller. The controller controls the rotation and lifting of the indexing plate, resulting in high positioning accuracy, high lifting efficiency, reduced labor intensity for workers, and reduced risk of damage to the indexing plate.

[0017] The thinning machine provided in this embodiment of the invention includes the above-mentioned automatic positioning and lifting device, which has high positioning accuracy and high lifting efficiency in the handling operation of the indexing plate, reduces the labor intensity of workers, and reduces the risk of damage to the indexing plate.

[0018] The positioning and lifting control method provided in this embodiment of the invention uses a controller, which has a high degree of automation, high positioning accuracy, high lifting efficiency, and reduces the risk of damage to the indexing plate. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of the automatic positioning and lifting device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the lifting mechanism and locking mechanism in the automatic positioning and lifting device provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the lifting mechanism and locking mechanism in the automatic positioning and lifting device provided in an embodiment of the present invention from another perspective. Figure 4 A schematic block diagram showing the connection of the control structure of the automatic positioning and lifting device provided in an embodiment of the present invention; Figure 5 A flowchart illustrating the control method of the automatic positioning and lifting device provided in an embodiment of the present invention.

[0021] Icons: 100-Automatic positioning and lifting device; 101-Air float; 110-Indexing plate; 111-Second driving component; 112-Drive motor; 113-Transmission shaft; 115-Telescopic cylinder; 116-Encoder; 120-Lifting mechanism; 121-First driving component; 122-Oil tank; 123-Hydraulic cylinder; 124-Lifting block; 125-Inlet; 126-Outlet; 130-Locking mechanism; 131-Locking platform; 132-Locking component; 133-Touch switch; 135-Support frame; 140-Controller; 150-Base; 151-Distance sensor; 153-Locking block; 160-Ball bearing. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0024] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0025] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0026] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0027] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0028] Please refer to Figures 1 to 4This embodiment provides an automatic positioning and lifting device 100, including an indexing plate 110, a lifting mechanism 120, a locking mechanism 130, a second drive member 111, and a controller 140. The lifting mechanism 120 includes a first drive member 121 and a lifting block 124 connected to the first drive member 121; the lifting block 124 is used to support the indexing plate 110. The locking mechanism 130 includes a locking platform 131 and a locking member 132 connected to the locking platform 131. The second drive member 111 is connected to the indexing plate 110 and is used to drive the indexing plate 110 to rotate. The controller 140 is connected to the first drive member 121, the second drive member 111, and the locking member 132. The controller 140 controls the first drive member 121 to raise the lifting block 124; when the lifting block 124 is level with the locking platform 131, the controller 140 controls the second drive member 111 to rotate the indexing plate 110 from the lifting block 124 onto the locking platform 131. The controller 140 is also used to control the locking member 132 to lock the indexing plate 110 when it is rotated onto the locking platform 131.

[0029] An extension block protrudes radially from the edge of the indexing plate 110. A lifting block 124 supports the extension block, and a locking member 132 locks it in place. When the indexing plate 110 is moved, a lifting force is applied to the extension block, causing the entire indexing plate 110 to rise. Optionally, a telescopic cylinder 115 is mounted on the indexing plate 110, extending to form the extension block. The telescopic cylinder 115 is located at the edge of the indexing plate 110 and includes a cylinder rod whose extension direction is radially aligned with the indexing plate 110. In its extended state, the cylinder rod acts as an extension block, facilitating the movement of the indexing plate 110. When the indexing plate 110 is not needed for movement, such as when it is in operation, the cylinder rod is in a retracted state. In its retracted state, the cylinder rod does not protrude beyond the edge of the indexing plate 110; in its extended state, it extends beyond the edge of the indexing plate 110.

[0030] The number of telescopic cylinders 115 is multiple, and the multiple telescopic cylinders 115 are evenly spaced along the circumference of the indexing plate 110. For example, there may be two, three, four, five, six, seven, eight or more telescopic cylinders 115. In this embodiment, four telescopic cylinders 115 are evenly spaced on the indexing plate 110. Of course, in some other embodiments, the telescopic extension block is not limited to telescopic cylinders 115. It can also be implemented by telescopic hydraulic rods, or other transmission components, such as cam transmission mechanisms, lead screw transmission structures or crank-slider mechanisms, to drive the extension block to extend or retract to the indexing plate 110.

[0031] Optionally, the first driving component 121 for driving the lifting block 124 can be a cylinder, a hydraulic cylinder 123, a motor, or a similar device. In this embodiment, hydraulic drive is used, meaning the first driving component 121 includes a hydraulic pump (not shown), an oil tank 122, and a hydraulic cylinder 123. The hydraulic cylinder 123 contains a retractable hydraulic rod (not shown), which is connected to the lifting block 124. The hydraulic cylinder 123 has an oil inlet 125 and an outlet 126, which are connected to the oil tank 122 via pipes. The hydraulic pump pumps oil from the oil tank 122 into the hydraulic cylinder 123 to move the hydraulic rod, thereby lifting the lifting block 124. The hydraulic pump is connected to a controller 140, which precisely controls the oil supply and rate of the hydraulic pump to control the movement rate and stroke accuracy of the hydraulic rods, ensuring the consistency of movement of each hydraulic rod and achieving smooth movement of the indexing plate 110.

[0032] It is understood that the number of lifting blocks 124 is equal to the number of extension blocks, and their positions correspond one-to-one during the lifting process. Each lifting block 124 is equipped with a hydraulic cylinder 123 and a hydraulic pump. Each hydraulic pump is connected to a controller 140. The controller 140 can coordinately control each hydraulic pump to ensure that each hydraulic rod connected to the lifting block 124 moves synchronously, thereby ensuring the smooth movement of the indexing plate 110.

[0033] In this embodiment, the hydraulic cylinder 123, oil tank 122, locking platform 131, etc., are all fixed on the base 150. A distance sensor 151 is provided on the base 150, located on the side of the base 150 closest to the indexing plate 110. The distance sensor 151 is connected to the controller 140 and is used to detect the height position of the indexing plate 110 relative to the locking platform 131. Optionally, there is a preset height value between the detection end of the distance sensor 151 and the surface of the locking platform 131. During the process of the indexing plate 110 and the lifting block 124 rising together, the distance sensor 151 detects the distance between the indexing plate 110 and the detection end of the distance sensor 151 in real time. When this distance reaches the preset height value, the surface of the lifting block 124, the bottom surface of the indexing plate 110, and the surface of the locking platform 131 are flush. At this time, the controller 140 controls the hydraulic pump to stop supplying oil, the hydraulic cylinder 123 maintains pressure, and the hydraulic rod stops moving.

[0034] The controller 140 then controls the indexing plate 110 to rotate, causing the extension block of the indexing plate 110 to rotate from the lifting block 124 onto the locking platform 131. Optionally, the automatic positioning lifting device 100 also includes an encoder 116 and a touch switch 133. The encoder 116 is connected to the second drive unit 111 and is used to detect the angular position of the indexing plate 110 relative to the lifting block 124. The second drive unit 111 includes a drive motor 112 and a transmission shaft 113 connected to the drive motor 112, and the transmission shaft 113 is fixedly connected to the indexing plate 110. The rotation of the drive motor 112 drives the transmission shaft 113 and the indexing plate 110 to rotate.

[0035] In this embodiment, the drive shaft 113 is connected to the center of the indexing plate 110. An encoder 116 is mounted on the drive motor 112 and can detect the number of rotations or the angle of the drive motor 112, thereby calculating the rotation angle of the indexing plate 110 and ensuring that the extension block is above the lifting block 124 after the indexing plate 110 rotates. Optionally, before controlling the rotation of the indexing plate 110, it can be returned to its initial position first, and then rotated by a preset angle from the initial position, ensuring that the extension block rotates above the lifting block 124. This ensures that the preset angle of each adjustment is consistent, improving control precision and accuracy.

[0036] The encoder 116 sends the rotational position signal of the indexing plate 110 to the controller 140 in real time. The controller 140 determines whether the extension block is above the lifting block 124 based on the signal from the encoder 116. If the extension block has rotated above the lifting block 124, the controller controls the drive motor 112 to stop rotating. At this time, the controller controls the first drive unit 121 to drive the lifting block 124 to rise. During the rising process, the lifting block 124 first contacts the extension block and then continues to rise, lifting the indexing plate 110 until the surface of the lifting block 124 is flush with the surface of the locking platform 131. The lifting block 124 then stops rising and remains in a position flush with the locking platform 131.

[0037] The controller 140 then controls the drive motor 112 to operate again, causing the indexing plate 110 to rotate again, so that the extension block rotates from the lifting block 124 onto the locking platform 131. A touch switch 133 is located on the locking platform 131 and is connected to the controller 140. During the rotation of the indexing plate 110, the extension block will encounter the touch switch 133. When the extension block of the indexing plate 110 rotates to the touch switch 133, it indicates that the extension block has reached its designated position on the locking platform 131. At this time, the touch switch 133 sends a signal to the controller 140, which then controls the locking element 132 to perform a locking action, i.e., the locking element 132 locks the extension block of the indexing plate 110. The entire lifting and positioning process is then complete.

[0038] Optionally, the lifting block 124 has balls 160 on its bearing surface. That is, the side surface of the lifting block 124 that supports the extension block has balls 160, which can be universal heavy-duty ball bearings. In this way, when the extension block moves on the surface of the lifting block 124, the friction is reduced, the rotation is smoother, and wear damage to both is reduced.

[0039] Optionally, the surface of the locking platform 131 is provided with ball bearings 160, whose structure and principle are similar to the rollers on the lifting block 124, which reduces friction damage, makes rotation more stable and smooth, and also helps to improve positioning accuracy.

[0040] Optionally, the locking element 132 is a two-finger type stopper. The locking element 132 is mounted on the locking platform 131 via the support frame 135, and is used to lock and limit the cylinder rod after it has rotated into position on the locking platform 131.

[0041] In this embodiment, both the locking platform 131 and the hydraulic cylinder 123 are fixed on the base 150. Optionally, the locking platform 131 and the hydraulic cylinder 123 are fixedly locked together by a locking block 153. Ensuring that the locking platform 131 and the hydraulic cylinder 123 are relatively fixed helps to improve the movement accuracy of the lifting block 124 when it rises to be flush with the locking platform 131, thereby improving the smoothness of the cylinder rod rotation and reducing mold wear.

[0042] It should be noted that in this embodiment, the distance sensor 151 can be a proximity switch, an infrared switch, or a laser rangefinder, etc. The encoder 116 can also be replaced by a proximity switch, distance sensor, or other inductive switch mounted on the indexing plate 110 or the lifting block 124. Similarly, the touch switch 133 can also be replaced by a proximity switch, an angle sensor, or a distance sensor, etc. There is no specific limitation here, as long as the real-time position can be determined.

[0043] The controller 140 can be a general-purpose processor, including but not limited to a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Of course, the controller 140 can also be integrated as a PLC controller, a microcontroller, etc., without specific limitations.

[0044] This invention also provides a thinning machine, including the automatic positioning and lifting device 100 as described in any of the foregoing embodiments. This thinning machine, also known as a wafer thinning machine or chip thinning machine, is a precision processing device specifically designed to reduce the thickness of semiconductor wafers. In the semiconductor manufacturing process, especially in the integrated circuit (IC) and device packaging stages, the thinning machine plays a crucial role. In the chip production process, after completing front-end processes such as photolithography and etching, the original thickness of the wafer may be much larger than the final required product specifications. To meet subsequent packaging requirements and optimize electrical performance, such as reducing parasitic capacitance and improving heat dissipation efficiency, a thinning process is needed to finely grind or cut the back side of the wafer to achieve the target thickness.

[0045] Combination Figure 5 The positioning and lifting control method provided in this embodiment of the invention has the following general control process: Step S1: The controller 140 obtains the control command of the transport indexing plate 110.

[0046] Step S2: Upon receiving the control command, the extension block of the indexing plate 110 is extended according to the control command, that is, the cylinder rod of the telescopic cylinder 115 is extended.

[0047] Step S3: Control the extension block of the indexing plate 110 to rotate above the lifting block 124. Optionally, the controller 140 controls the drive motor 112 to drive the indexing plate 110 back to its origin position. Rotating a preset angle from the origin position, the encoder 116 detects the rotational position signal of the indexing plate 110 in real time and transmits the rotational position signal to the controller 140 in real time. The controller 140 receives the rotational position signal from the encoder 116; based on the rotational position signal, it determines whether the extension block is directly above the lifting block 124. If it is directly above, the controller 140 controls the air cushion 101 to de-air, and the weight of the indexing plate 110 presses down on the air cushion 101.

[0048] Step S4: Control the lifting block 124 to rise until it is flush with the locking platform 131. After the gas supply is cut off, the controller 140 controls the lifting block 124 to rise. During the rise, the lifting block 124 first contacts the extension block, and then continues to rise, lifting the indexing plate 110 through the extension block until the surface of the lifting block 124 is flush with the surface of the locking platform 131. The lifting block 124 then stops rising and maintains its position flush with the locking platform 131. The distance sensor 151 detects the position information of the indexing plate 110 in real time and sends it to the controller 140. The controller 140 determines whether the lifting block 124 is flush with the surface of the locking platform 131 based on the signal from the distance sensor 151. When the two are flush, the lifting block 124 stops rising.

[0049] Step S5: Control the extension block to rotate to the locking platform 131 and lock it. The controller 140 controls the extension block to rotate to the locking platform 131; until the extension block rotates to contact the touch switch 133, the touch switch 133 sends a trigger signal to the controller 140, and the controller 140 controls the locking member 132 on the locking platform 131 to lock the extension block according to the trigger signal. The entire lifting and positioning process is completed.

[0050] In summary, the automatic positioning and lifting device 100, the thinning machine, and the positioning and lifting control method of the present invention have the following beneficial effects, including: The automatic positioning and lifting device 100 provided in this embodiment of the invention includes an indexing plate 110, a lifting mechanism 120, a locking mechanism 130, a second driving component 111, and a controller 140. The controller 140 controls the rotation and lifting of the indexing plate 110, and uses a distance sensor 151, an encoder 116, and a touch switch 133 to realize the real-time detection of the position of the indexing plate 110. This solves the problems of large errors and high difficulty in manual operation. The automatic positioning and lifting device 100 has high positioning accuracy and high lifting efficiency, reduces the labor intensity of workers, reduces the risk of damage to the indexing plate 110 and the air float 101, and can realize automated operation.

[0051] The thinning machine provided in this embodiment of the invention includes the above-mentioned automatic positioning and lifting device 100. The indexing plate 110 has high positioning accuracy and high lifting efficiency in handling operations, reducing the labor intensity of workers and reducing the risk of damage to the indexing plate 110.

[0052] The positioning and lifting control method provided in this embodiment of the invention uses a controller 140 for control, which has a high degree of automation, high positioning accuracy, high lifting efficiency, and reduces the risk of damage to the indexing plate 110.

[0053] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automatic positioning and lifting device, characterized in that, include: The base is equipped with an air-floating cushion; Indexing plate; the edge of the indexing plate is provided with a retractable extension block along the radial direction; A lifting mechanism, comprising a first driving member and a lifting block connected to the first driving member; the lifting block is used to support the extension block; A locking mechanism, the locking mechanism comprising a locking platform and a locking element connected to the locking platform; The second driving component is connected to the indexing plate and is used to drive the indexing plate to rotate. A controller, which is connected to the first drive unit, the second drive unit, and the locking unit respectively; When the indexing plate is being moved: the extension block extends to the edge of the indexing plate, the air cushion stops supplying air, and the indexing plate is pressed against the air cushion under the action of gravity; The controller controls the first drive unit to drive the lifting block to rise, lifting the indexing plate so that the indexing plate is detached from the air cushion; when the lifting block rises to the level of the locking platform, the controller controls the second drive unit to drive the indexing plate to rotate from the lifting block to the locking platform; The controller is also used to control the locking element to lock the extension block when the indexing plate is rotated to the locking platform; When the indexing plate is in operation: the extension block retracts into the indexing plate, and gas is introduced into the air cushion to create a gap between the indexing plate and the air cushion.

2. The automatic positioning and lifting device according to claim 1, characterized in that, A telescopic cylinder is installed on the indexing plate, and the telescopic cylinder extends to form the extension block.

3. The automatic positioning and lifting device according to claim 1, characterized in that, It also includes a distance sensor connected to the controller, which is used to detect the height position of the indexing plate relative to the locking platform.

4. The automatic positioning and lifting device according to claim 1, characterized in that, It also includes an encoder connected to the second drive unit, the encoder being used to detect the angular position of the indexing plate relative to the lifting block.

5. The automatic positioning and lifting device according to claim 1, characterized in that, It also includes a touch switch, which is connected to the controller and is located on the locking platform; The indexing plate rotates to the locking platform and triggers the touch switch, and the controller controls the locking element to lock the indexing plate.

6. The automatic positioning and lifting device according to claim 1, characterized in that, The lifting block is provided with ball bearings on its bearing surface.

7. The automatic positioning and lifting device according to claim 1, characterized in that, The surface of the locking platform is equipped with ball bearings.

8. A thinning machine, characterized in that, Includes the automatic positioning and lifting device as described in any one of claims 1 to 7.

9. A positioning and lifting control method, characterized in that, The automatic positioning and lifting device according to claim 4 includes: Obtain control commands for transporting the indexing plate; The extension block of the indexing plate is extended according to the control command; Receive the rotational position signal from the encoder; The lifting block is controlled to rise to be level with the locking platform according to the rotation position signal; Control the extension block to rotate to the locking platform; The locking mechanism of the locking platform is used to lock the extension block.

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