Double-station CCD (Charge Coupled Device) aligning and laminating equipment and use method

Abstract

The invention discloses a double-station CCD (Charge Coupled Device) aligning and laminating device and a use method, the double-station CCD aligning and laminating device comprises a structural frame, a substrate, a glass jig, a visual module, a blanking module and a code scanning module, the quality detection of a mobile phone shell can be automatically and accurately performed by integrating the high-precision visual module, the code scanning module and the blanking module, and meanwhile, the quality of the mobile phone shell is accurately detected. The automatic discharging module in the equipment can sort and store unqualified shells in the NG stock bin in time when detecting the unqualified shells, so that the unqualified shells are prevented from entering the production link, the consistency of the product quality is ensured, and the requirement of manual operation is greatly reduced. Due to the design of the universal wheels and the telescopic supporting legs of the equipment, the equipment can flexibly move and stably work, scheduling among different working environments is facilitated, the overall production process is optimized, the production cycle is shortened, and the production capacity is improved.

Description

TECHNICAL FIELD

[0001] The application relates to the field of mobile phone component testing equipment, in particular to a double-station CCD alignment and bonding equipment and a use method. BACKGROUND

[0002] With the popularity of smart phones and other electronic products, the bonding process of mobile phone shells has become a key process in the electronic manufacturing industry. In the traditional production process of mobile phone shells, the precision of the bonding process directly affects the appearance and functionality of the product, such as whether the scanning code and logo position of the mobile phone shell are accurately aligned. Existing bonding equipment mostly uses independent production lines to handle different models or different batches of products, which not only increases the procurement cost of the equipment, but also leads to problems such as large space occupation of the production line and low production efficiency.

[0003] In addition, the positioning accuracy and bonding quality of existing equipment are not satisfactory. In the production process, due to positioning errors or unstable temperature control, the bonded product often deviates, resulting in low yield and even a large amount of waste. Traditional bonding equipment often uses manual or semi-automatic operation, lacks high integration and automation, and results in more manual intervention in the production process, limiting production efficiency.

[0004] In order to solve the above challenges, the industry urgently needs a mobile phone shell bonding equipment that is integrated, high-precision, cost-saving and can improve production efficiency. Through innovative design, multiple key processes are concentrated on one equipment platform, and advanced visual detection and high-precision automatic transfer system are used, which can effectively solve the problems of positioning error, low efficiency and high cost in traditional equipment. Therefore, developing a mobile phone shell scanning code and logo position detection equipment with high precision, high efficiency and cost saving has important market value and practical application significance.

[0005] After searching, a multifunctional back adhesive bonding equipment based on CCD visual identification is disclosed in Chinese patent literature

Application Number: 202420011173.2, Publication Number: CN222479170U

[0006] Aiming at the problems existing in the prior art, the purpose of the present application is to provide a double-station CCD alignment laminating equipment and a use method.

[0007] A double-station CCD alignment laminating equipment and a use method, characterized in that the laminating equipment comprises a rack assembly, a gantry four-axis transfer mechanism, an X-axis transfer mechanism, a pre-laminating pressing mechanism and a multi-dimensional vision mechanism, the gantry four-axis transfer mechanism, the X-axis transfer mechanism, the pre-laminating pressing mechanism and the multi-dimensional vision mechanism are all installed on the rack assembly. A top of the rack assembly is provided with a table panel, and the table panel is provided with a first station and a second station symmetrically distributed. The gantry four-axis transfer mechanism comprises a gantry X-axis module, a gantry Y-axis module, a gantry Z-axis module, a gantry U-axis rotating module and a vacuum suction type suction head, and the gantry U-axis rotating module is provided with the vacuum suction type suction head at a rotating end. The X-axis transfer mechanism comprises an X-axis linear module, an air suction tool and an infrared light transmission sensor. The pre-laminating pressing mechanism comprises a pre-laminating transfer cylinder fixing block, a pre-laminating transfer cylinder, a pre-laminating pressing cylinder fixing block, a pre-laminating pressing cylinder, a pre-laminating heating module fixing plate, a pre-laminating heat insulation block, a pre-laminating heating block, the pre-laminating transfer cylinder is installed at a top of the pre-laminating transfer cylinder fixing block, the pre-laminating pressing cylinder fixing block is installed on a sliding block of the pre-laminating transfer cylinder, the pre-laminating heating module fixing plate is installed on a sliding block of the pre-laminating pressing cylinder, one side of the pre-laminating heat insulation block is installed on the pre-laminating heating module fixing plate, and the other side of the pre-laminating heat insulation block is installed with the pre-laminating heating block. The multi-dimensional vision system comprises an upper vision assembly and a lower vision assembly.

[0008] Preferably, the upper vision assembly comprises an upper identifier, a ring surface light source and an upper fixing assembly.

[0009] Through the above technical solution, the upper vision assembly can efficiently realize image acquisition and feature recognition on the surface of the product. The upper identifier can accurately capture the detailed information of the product under different lighting conditions by cooperating with the ring surface light source, ensuring the definition and accuracy of the image. At the same time, the upper fixing assembly provides stable support and positioning, ensuring the accuracy and consistency of the vision system during the photographing process. This design greatly improves the recognition accuracy and work efficiency of the equipment, which is helpful for subsequent image processing and product alignment, and further optimizes the stability and precision of the entire laminating process.

[0010] Preferably, the lower vision assembly comprises a lower identifier, a coaxial light source lamp, a lower camera fixing assembly, the lower identifier is installed on the lower camera fixing assembly, the coaxial light source lamp is installed on the lower camera fixing assembly, and the lower camera fixing assembly is installed at a bottom of the table panel.

[0011] By the above technical solution, the combination of the lower recognizer and the coaxial light source lamp not only provides uniform lighting effect, but also effectively saves space, making the structure of the lower vision system more compact. The lower camera fixing assembly ensures that the camera remains stable during operation, avoiding image deviation and error, and helps to achieve higher performance and stability in limited space.

[0012] Preferably, the pre-pasting heating block is controlled by a temperature control unit, and the temperature control range is 50-250℃.

[0013] By the above technical solution, the heating process is more stable and adjustable. The temperature control unit monitors and adjusts the temperature in real time to ensure that the pre-pasting heating block can quickly and accurately reach the required temperature, avoiding the adverse effects of temperature fluctuations on the bonding effect.

[0014] Preferably, the surface of the suction tool is provided with two profiled positioning grooves, and the profiled positioning groove near the pre-pasting and pressing mechanism is provided with a vacuum suction hole array, the suction hole diameter is 0.2-0.5mm, the hole distance is 1.0mm, and the vacuum degree is adjustable in the range of-80kPa to-95kPa.

[0015] By the above technical solution, the design of the profiled positioning groove and the vacuum suction hole array on the surface of the suction tool can realize precise suction and positioning of products of different shapes and sizes. The profiled positioning groove effectively ensures the correct positioning of the product, and the vacuum suction hole array ensures the stability during suction, avoiding deviation or misplacement. The precise design of the suction hole diameter of 0.2-0.5mm and the hole distance of 1.0mm ensures the uniform distribution of suction force, ensuring the reliability of the suction effect. At the same time, the adjustable range of vacuum degree is-80kPa to-95kPa, so that the suction tool can adapt to the suction needs of different products, further improving the adaptability and operation flexibility of the equipment. This technical solution not only improves the accuracy of product positioning, but also ensures the efficiency and stability of the entire bonding process.

[0016] Preferably, the contact layer of the vacuum suction type suction head is provided with flexible silica gel, and the flexible silica gel is provided with a vacuum suction hole array, the hole diameter is 0.2-0.5mm, the hole distance is 1.0mm, and the vacuum degree is adjustable in the range of-80kPa to-95kPa.

[0017] By the above technical solution, the contact layer of the vacuum suction type suction head uses flexible silica gel, which can better adapt to products of different shapes and surface characteristics, improving the stability and uniformity of suction. Flexible silica gel has excellent elasticity and plasticity, which can effectively fill small gaps when in contact with the product, enhancing the suction force, while avoiding damage to the product surface. The design of the vacuum suction hole array ensures uniform suction force distribution, making the suction process more accurate and reliable. The vacuum degree can be adjusted in the range of -80kPa to -95kPa, providing flexible adjustment space to adapt to the suction needs of different materials and products. This solution effectively improves the suction accuracy, stability and adaptability, ensuring efficient and damage-free operation.

[0018] Preferably, the method steps include: Step one: manually place the fitted product and the fitted product on the X-axis transfer mechanism in the suction tool, place the fitted product in the groove with the vacuum suction hole array on the suction tool, ensure correct placement of the product, and the suction tool will suction the fitted product, with a vacuum degree of -90kPa; Step two: start the equipment, at this time, the X-axis transfer mechanism drives the suction tool to move horizontally through the X-axis linear module, and sends the product to the shooting position on the upper visual assembly, the upper identifier and the ring face light source in the upper visual assembly are used for image acquisition of the product, and the characteristic information of the product is obtained; Step three: the gantry X-axis module, gantry Y-axis module, gantry Z-axis module and gantry U-axis rotation module in the gantry four-axis transfer mechanism coordinate and act, suck the fitted product and move it to the shooting position on the lower visual assembly, the lower visual assembly includes a lower identifier and a coaxial light source lamp, which is used to shoot and capture the characteristic information of the fitted product, while the upper visual assembly identifies the fitted product suctioned on the suction tool; Step four: process the image data shot in the foregoing by computer algorithm, and instruct the gantry four-axis transfer mechanism to position according to the product characteristic information; Step five: after positioning is completed, the pre-fitting pressing mechanism is started to perform pre-fitting operation. The pre-fitting pressing mechanism includes a pre-fitting transfer cylinder, a pre-fitting pressing cylinder, a pre-fitting heating module fixing plate and other components. In the pre-fitting process, the pre-fitting pressing cylinder provides the required pressing force; Step six: after the pre-fitting pressing is completed, the equipment automatically adjusts the pressure and controls the pre-fitting heating block through the temperature control unit for segmented heating, cooperating with the segmented pressing of the pre-fitting pressing cylinder, to complete the fitting.

[0019] By the above technical solution, the device realizes high-precision product positioning and bonding. The upper and lower vision components accurately collect images, ensuring accurate acquisition of product feature information. The coordinated action of the gantry four-axis transfer mechanism ensures accurate displacement and alignment of the product to be bonded. The segmented control of the pre-bonding and heating process improves the accuracy and stability of the bonding process. The application of the temperature control unit makes the heating process more controllable, avoiding the influence of temperature fluctuations on product quality. The overall scheme improves the efficiency and reliability of the device, ensures bonding accuracy and product consistency, and has strong adaptability, meeting the bonding needs of different products.

[0020] Preferably, the segmented heating method involved in step six specifically involves heating the pre-bonding block to 50℃ at a rate of 3℃ / s after pre-bonding and pressure bonding, maintaining the temperature for 5s, then heating to 100℃ at a rate of 5℃ / s, maintaining the temperature for 5s, then heating to 160℃ at a rate of 8℃ / s, maintaining the temperature for 10s, then heating to 200℃ at a rate of 5℃ / s, maintaining the temperature for 20s, and then stopping heating.

[0021] By the above technical solution, the segmented heating method can accurately control the heating process, ensuring stable and uniform temperature rise, avoiding material deformation or damage caused by rapid or uneven heating. The application of the temperature control unit makes the temperature control more accurate and can adjust the heating speed in real time, ensuring that each stage of the heating process is within the optimal temperature range, avoiding excessive temperature fluctuations, and ensuring the quality and consistency of pre-bonding. This scheme greatly improves the stability of the heating process, optimizes production efficiency, and ensures the reliability of the final bonding effect.

[0022] Preferably, the segmented pressure method involved in step six specifically involves: First stage: apply a pressure of 5N at initial contact, maintain for 5s; Second stage: press at a rate of 2N / s to 10N, maintain for 5s; Third stage: press at a rate of 3N / s to 20N, maintain for 10s; Fourth stage: press at a rate of 1N / s to 30N, maintain for 20s, then release pressure; Wherein, the pressure parameters of each stage are matched with the segmented heating temperature curve, the first stage pressure is executed when heated to 50℃, the second stage pressure is executed when heated to 100℃, the third stage pressure is executed when heated to 160℃, and the fourth stage pressure is executed when heated to 200℃.

[0023] By the technical scheme, the segmented pressurization method can accurately control the pressure application process, ensures that the pressing force of each stage is synchronized with the heating temperature curve, thereby improving the stability and uniformity of the bonding process, avoiding the adverse effects of too fast or too slow pressurization on product quality, and as the heating temperature rises, applying higher pressure helps to ensure strong adhesion between the bonded product and the product to be bonded, and the final pressure maintaining stage can ensure that the adhesion effect is not affected by temperature or other external factors, thereby improving the bonding quality, precision and consistency.

[0024] Compared with the prior art, the present application has the following advantages: 1. The detection equipment is designed to share a gantry four-axis transfer mechanism with two production lines, effectively reducing the equipment procurement and maintenance costs. The gantry four-axis transfer mechanism is a high-precision and high-cost core component that needs to be independently configured for each production line in traditional design. By sharing this key component, the equipment utilization is maximized, the cost is saved, and the equipment footprint and management difficulty are reduced, thereby reducing the overall production line investment cost.

[0025] 2. The detection equipment adopts a high-precision gantry four-axis transfer mechanism and a multi-dimensional vision system, which can position during the bonding process. After the product features are collected by the vision recognition system, the gantry four-axis transfer mechanism can quickly and accurately align according to the processing algorithm. The equipment can start the pre-bonding pressing mechanism immediately after positioning the product to realize hot pressing bonding. This close combination of operation mode avoids the deviation phenomenon caused by time delay or error after positioning, thereby ensuring the high precision of the bonded product and improving the bonding quality and yield of the product.

[0026] 3. The detection equipment integrates multiple automatic operations, greatly improving the production line efficiency. Each step in the bonding process, such as vision detection, positioning, suction, transfer, hot pressing, etc., is completed by the automatic control system, reducing manual intervention. Through intelligent algorithm optimization, the equipment can complete multiple links such as positioning, photographing, moving and bonding of the product in a short time, greatly improving the production efficiency of single product. At the same time, sharing the gantry four-axis transfer mechanism also makes the equipment more flexible in production line conversion and scheduling, thereby further shortening the production cycle. BRIEF DESCRIPTION OF DRAWINGS

[0027] Fig. 1 is a perspective view of the present application; Fig. 2 is a perspective view of the gantry four-axis transfer mechanism of the present application; Fig. 3 is a perspective view of the X-axis transfer mechanism and multi-dimensional vision mechanism of the present application; Fig. 4This is a three-dimensional schematic diagram of the pre-applied pressing mechanism of the present invention.

[0028] In the diagram: 1. Rack assembly; 2. Gantry four-axis transfer mechanism; 3. X-axis transfer mechanism; 4. Pre-attach pressing mechanism; 5. Multi-dimensional vision mechanism; 101. Tabletop; 201. Gantry X-axis module; 202. Gantry Y-axis module; 203. Gantry Z-axis module; 204. Gantry U-axis rotary module; 205. Vacuum suction head; 301. X-axis linear module; 302. Suction fixture; 303. Infrared... Light beam sensor; 401, pre-attached transfer cylinder fixing block; 402, pre-attached transfer cylinder; 403, pre-attached pressing cylinder fixing block; 404, pre-attached pressing cylinder; 405, pre-attached heating module fixing plate; 406, pre-attached heat insulation block; 407, pre-attached heating block; 501, upper identifier; 502, annular surface light source; 601, lower identifier; 602, coaxial light source lamp; 603, lower camera fixing assembly. Detailed Implementation

[0029] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Please see Figs. 1 to 4 The present invention provides a technical solution: Example: Simultaneous operation of two workstations Step 1: Simultaneous feeding and positioning at dual workstations The bonding product and the product to be bonded are manually placed in the suction fixture 302 on the X-axis transfer mechanism 3. The bonding product is placed in the slot with a vacuum adsorption hole array on the suction fixture 302 to ensure the correct placement of the product. The contour positioning slot can achieve a certain degree of physical limitation. The suction fixture 302 adsorbs the bonding product. The vacuum degree is set to -90kPa. The two stations enter the working process simultaneously. Step 2: Material Feature Identification and Coordinate Calculation The X-axis linear module 301 of the X-axis transfer mechanism 3 drives the suction fixture 302 to move horizontally, transferring the material to the imaging station of the upper vision component 5. Under the uniform illumination of the ring surface light source 502, the upper recognizer 501 collects the product's MARK points, edge contours and key feature information, and transmits the data to the control system in real time. Step 3: Gantry Four-Axis Dynamic Sorting and Cross-Station Collaboration Gantry four-axis transfer mechanism 2: the gantry Z-axis module 203 is lowered to the height of the product to be attached, and the vacuum suction head 205 is used to grab the product to be attached with a suction force of-90 kPa; the gantry U-axis rotation module 204 corrects the posture of the product and then moves the product to be attached to the shooting station of the lower vision assembly 6. The lower identifier 601 of the lower vision assembly 6 collects the characteristic information of the product to be attached through the coaxial light source lamp 602; Step four: image processing and dynamic alignment compensation The computer processes the image data collected by the upper and lower vision through a feature matching algorithm, calculates the offset and θ angle rotation deviation of the product to be attached and the product to be attached, and the gantry four-axis transfer mechanism 2 adjusts the pose dynamically according to the deviation data to realize accurate alignment of the two. After the work station 1 completes sorting, the gantry system immediately switches to the work station 2 to perform the same operation, realizing dynamic cooperation of double work stations; Step five: execution of precise lamination process of thermal pressing coupling The pre-lamination mechanism 4 starts the pre-lamination process: the pre-lamination transfer cylinder 402 drives the pre-lamination pressing cylinder fixed block 403 to move to the lamination station, the pre-lamination pressing cylinder 404 applies an initial pressure of 5N to eliminate the lamination gap. The pre-lamination heating block 407 is heated from room temperature to 50°C at a rate of 3°C / s by the temperature control unit, and maintained for 5s to preliminarily soften the glue material; Step six: segmented thermal pressing Temperature-pressure cooperative control: First stage 50°C→100°C: The heating rate is 5°C / s, and after the temperature rises to 100°C, it is kept constant for 5s; the pressure is increased to 10N at a rate of 2N / s; Second stage 100°C→160°C: The heating rate is 8°C / s, and after the temperature rises to 160°C, it is kept constant for 10s; the pressure is increased to 20N at a rate of 3N / s; Third stage 160°C→200°C: The heating rate is 5°C / s, and after the temperature rises to 200°C, it is kept constant for 20s; the pressure is increased to 30N at a rate of 1N / s; Cooling reset: the heating block 407 is cooled to 50°C, the finished product is moved to the discharge area by the X-axis transfer mechanism 3, and after taking the material, it is reset and ready for the next work.

[0031] In the description of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0032] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0033] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application according to the technical solution and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A dual-station CCD alignment and bonding device and its usage method, characterized in that: The fitting device comprises a rack assembly (1), a gantry four-axis transfer mechanism (2), an X-axis transfer mechanism (3), a pre-fitting compression mechanism (4), an upper visual assembly (5) and a lower visual assembly (6), wherein the gantry four-axis transfer mechanism (2), the X-axis transfer mechanism (3), the pre-fitting compression mechanism (4), the upper visual assembly (5) and the lower visual assembly (6) are all mounted on the rack assembly (1). A table panel (101) is mounted on the top of the rack assembly (1), and the table panel is provided with symmetrically distributed first and second workstations, wherein the X-axis transfer mechanism (3), the pre-fitting compression mechanism (4) and the upper visual assembly (5) are symmetrically mounted on the first and second workstations. The gantry four-axis transfer mechanism (2) comprises a gantry X-axis module (201), a gantry Y-axis module (202), a gantry Z-axis module (203), a gantry U-axis rotating module (204) and a vacuum suction head (205), wherein the gantry X-axis module (201), the gantry Y-axis module (202), the gantry Z-axis module (203) and the gantry U-axis rotating module (204) form a gantry structure, and the gantry U-axis rotating module (204) is provided with the vacuum suction head (205) at the rotating end. The X-axis transfer mechanism (3) comprises an X-axis linear module (301), an air suction tool (302) and an infrared light receiving sensor (303), wherein the air suction tool (302) is mounted on the sliding block of the X-axis linear module (301). The pre-fitting compression mechanism (4) comprises a pre-fitting transfer cylinder fixing block (401), a pre-fitting transfer cylinder (402), a pre-fitting compression cylinder fixing block (403), a pre-fitting compression cylinder (404), a pre-fitting heating module fixing plate (405), a pre-fitting heat insulation block (406) and a pre-fitting heating block (407), wherein the pre-fitting transfer cylinder (402) is mounted on the top of the pre-fitting transfer cylinder fixing block (401), the pre-fitting compression cylinder fixing block (403) is mounted on the sliding block of the pre-fitting transfer cylinder (402), the pre-fitting heating module fixing plate (405) is mounted on the sliding block of the pre-fitting compression cylinder (404), one side of the pre-fitting heat insulation block (406) is mounted on the pre-fitting heating module fixing plate (405), and the other side of the pre-fitting heat insulation block (406) is mounted with the pre-fitting heating block (407). The lower visual assembly (6) is mounted in the center of the first and second workstations.

2. The double-station CCD aligning and laminating apparatus and method according to claim 1, wherein: The upper visual assembly (5) comprises an upper identifier (501), a ring surface light source (502) and an upper fixing assembly.

3. The double-station CCD aligning and laminating apparatus and method according to claim 1, wherein: The lower visual assembly (6) comprises a lower identifier (601), a coaxial light source lamp (602) and a lower camera fixing assembly (603), wherein the lower identifier (601) is mounted on the lower camera fixing assembly (603), the coaxial light source lamp (602) is mounted on the lower camera fixing assembly (603), and the lower camera fixing assembly (603) is mounted on the bottom of the table panel (101).

4. The dual station CCD aligning and laminating apparatus and method of use of claim 1, wherein: The pre-fitting heating block (407) is controlled by a temperature control unit, and the temperature control range is 50-250℃.

5. The dual station CCD aligning and laminating apparatus and method of use as defined in Claim 1 wherein: The suction tool (302) is provided with two profiled positioning grooves, and the profiled positioning groove near the pre-pasting and pressing mechanism (4) is provided with a vacuum suction hole array, the suction hole diameter is 0.2mm-0.5mm, the hole distance is 1.0mm, and the vacuum degree can be adjusted in the range of-80kPa to-95kPa.

6. The dual station CCD aligning and laminating apparatus and method of use of claim 1, wherein: The contact layer of the vacuum suction type suction head (205) is provided with flexible silica gel, the flexible silica gel is provided with a vacuum suction hole array, the hole diameter is 0.2mm-0.5mm, the hole distance is 1.0mm, and the vacuum degree can be adjusted in the range of-80kPa to-95kPa.

7. The dual station CCD alignment and bonding apparatus and method of use of claims 1-4, wherein: The use method comprises the following steps: Step one: manually place the pasting product and the pasted product in the suction tool (302) on the X-axis transfer mechanism (3), place the pasting product in the groove with the vacuum suction hole array on the suction tool (302), ensure correct placement of the product, and the suction tool (302) adsorbs the pasting product, and the vacuum degree is set to-90kPa; Step two: start the equipment, at this time, the X-axis transfer mechanism (3) drives the suction tool (302) to move horizontally through the X-axis linear module (301) to send the product to the shooting position on the upper visual assembly (5), and the upper identifier (501) and the annular surface light source (502) in the upper visual assembly (5) are used for image acquisition of the product to obtain characteristic information of the product; Step three: the gantry X-axis module (201), the gantry Y-axis module (202), the gantry Z-axis module (203) and the gantry U-axis rotating module (204) in the gantry four-axis transfer mechanism (2) move coordinately, suck the pasted product, and move it to the shooting position on the lower visual assembly (6). The lower visual assembly (6) comprises a lower identifier (601) and a coaxial light source lamp (602), which are used for shooting and grasping the characteristic information of the pasted product; Step four: the image data shot in the foregoing is processed by a computer algorithm, the product characteristic information is used as a basis to instruct the gantry four-axis transfer mechanism (2) to position, and the gantry four-axis transfer mechanism (2) realizes alignment of the pasting product and the pasted product; Step five: after positioning is completed, the pre-pasting and pressing mechanism (4) is started to perform pre-pasting operation. The pre-pasting and pressing mechanism (4) comprises a pre-pasting transfer cylinder (402), a pre-pasting and pressing cylinder (404), a pre-pasting heating module fixing plate (405) and the like. In the pre-pasting process, the pre-pasting and pressing cylinder (404) provides the required pressing force; Step six: after pre-pasting and pressing are completed, the equipment automatically adjusts the pressure and controls the pre-pasting heating block (407) to perform segmented heating through a temperature control unit, and completes pasting in cooperation with segmented pressing of the pre-pasting and pressing cylinder.

8. The method of claim 5, wherein the method further comprises: loading the first and second substrates into the first and second substrate holders, respectively; and moving the first and second substrates to the first and second substrate holders, respectively. The step six involves a segmented heating method, specifically, after the pre-bonding is completed, the pre-bonding heating block (407) is heated by a temperature control unit, the temperature is heated from room temperature to 50℃ at a speed of 3℃ / s, the temperature is maintained for 5s, then heated to 100℃ at a speed of 5℃ / s, the temperature is maintained for 5s, then heated to 160℃ at a speed of 8℃ / s, the temperature is maintained for 10s, then the temperature is increased to 200℃ at a speed of 5℃ / s, the temperature is maintained for 20s, and then the heating is stopped.

9. The method of claim 5, wherein the method further comprises: loading the first and second substrates into the first and second substrate holders, respectively; and moving the first and second substrates to the first and second substrate holders, respectively. The step six involves a segmented pressure method, specifically: First stage: 5N pressure is applied at initial contact, and maintained for 5s; Second stage: pressure is increased to 10N at a rate of 2N / s, and maintained for 5s; Third stage: pressure is increased to 20N at a rate of 3N / s, and maintained for 10s; Fourth stage: pressure is increased to 30N at a rate of 1N / s, and maintained for 20s, then the pressure is released; The pressure parameters of each stage are matched with the segmented heating temperature curve, the first stage pressure is executed when the temperature is heated to 50℃, the second stage pressure is executed when the temperature is heated to 100℃, the third stage pressure is executed when the temperature is heated to 160℃, and the fourth stage pressure is executed when the temperature is heated to 200℃.

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