Intelligent micro-nano prism arrangement equipment

Abstract

The invention discloses intelligent micro-nano prism arrangement equipment, and belongs to the technical field of prism arrangement equipment. Comprising a sheet arranging platform, a tray storage bin is arranged on the sheet arranging platform, the feeding end and the discharging end of the tray storage bin are in butt joint with a tray feeding platform, and a prism taking and placing platform is connected above the tray feeding platform in a bridging mode; overturning platforms are mounted on the side of the tray feeding platform in parallel; an attaching platform assembly is fixed to the side, away from the tray feeding platform, of the overturning platform, and an inverted camera positioning assembly is installed between the overturning platform and the attaching platform assembly; a glass rotating and transferring set is arranged at the end of the laminating platform assembly in a butt joint mode, and a glass transferring platform set is arranged at the other end of the glass rotating and transferring set in a butt joint mode; according to the intelligent micro-nano prism arrangement equipment, the long-strip prisms on the tray can be automatically clamped, the angle of the long-strip prisms is adjusted, then the long-strip prisms are fed to the glass carrier plate, and automatic arrangement, pressure maintaining and discharging temporary storage of the long-strip prisms can be achieved.

Description

Technical Field

[0001] This invention specifically relates to a micro / nano prism intelligent arrangement device, belonging to the technical field of prism arrangement devices. Background Technology

[0002] Prism sorting machines are mainly used to remove prisms from a prism tray and place them on corresponding glass plates, achieving automatic sorting through an array of prisms. However, existing prisms are generally placed horizontally within the prism tray. After the robotic arm removes the prism from the tray, it needs to be rotated 90° before being arranged on the glass plate. This robotic arm mechanism has a complex structure and slow operation. Furthermore, because a single robotic arm performs many actions, it is difficult to guarantee high-precision movement, thus affecting the sorting accuracy. Therefore, Chinese Patent Publication No. CN114313944B discloses a prism sorting machine with a flipping function for sorting... Higher precision, and independent mechanisms are used to complete the picking, placing, and flipping. For example, Chinese Patent Publication No. CN116040311A discloses a prism product arrangement device, which includes a buffer platform, a packaging box platform module, a fixture transmission module, a 90° flipping module, and a product picking and placing group. The prism product arrangement device with the above structure is used for automatic arrangement in the post-screen printing packaging process. During operation, it can transfer the prism product from the screen printing fixture and arrange it into the material box within 12 seconds. The arrangement efficiency is high, and the whole process can be automated. However, the above structure cannot realize the automatic arrangement of long strip prisms. Summary of the Invention

[0003] To address the aforementioned issues, this invention proposes a smart micro-nano prism stacking device that can automatically pick up elongated prisms from a tray, adjust their angles, and feed them into a glass carrier plate. It can also automatically arrange, maintain pressure, and buffer the discharge of the elongated prisms.

[0004] The present invention discloses a micro-nano prism intelligent film arrangement device, comprising a film arrangement platform, a tray storage bin on the film arrangement platform, the inlet and outlet ends of the tray storage bin being connected to a tray loading platform, and a prism pick-and-place platform spanning above the tray loading platform; a flipping platform is installed side-by-side on the side of the tray loading platform; a fitting platform assembly is fixed to the side of the flipping platform away from the tray loading platform, and an inverted camera positioning assembly is installed between the flipping platform and the fitting platform assembly; a glass rotation transfer assembly is connected to one end of the fitting platform assembly, and a glass transfer platform assembly is connected to the other end of the glass rotation transfer assembly; the other end of the glass transfer platform assembly is connected to the glass storage bin; a gantry frame is fixed to the rear side of the film arrangement platform; a pick-and-place head assembly and a pressure holding head unit are also installed on the gantry frame, the travel path of the pick-and-place head assembly covering the flipping platform, the inverted camera positioning assembly, and the fitting platform assembly; the travel path of the pressure holding head unit covers the fitting platform assembly.

[0005] During operation, a tray carrying a long prism is temporarily stored in a tray storage bin, and an empty glass carrier is also temporarily stored in a glass storage bin. Next, the tray loading platform removes the full tray from the storage bin and places it at the gripping station. Then, the prism pick-and-place platform picks up the long prism and places it on a flipping platform, which flips the prism to a set angle. Next, the pick-and-place head assembly picks up the prism from the flipping platform and advances it to an inverted camera positioning assembly for imaging. It then continues to advance to the bonding platform assembly. Finally, the glass transfer platform assembly removes the empty glass carrier from the storage bin, and the glass rotation and transfer assembly clamps the glass carrier from the transfer platform assembly. The glass is rotated and fed above the bonding platform assembly. At this point, the glass transfer platform assembly removes the empty glass carrier plate from the glass storage bin and clamps it at the other end of the glass rotation transfer assembly. Next, the glass rotation transfer assembly descends, feeding the empty glass carrier plate into the bonding platform assembly. Then, the pick-and-place head assembly arranges the elongated prisms onto the glass carrier plate. At this time, the pressure holding head unit activates to hold the elongated prisms under pressure. After completing one set of elongated prism arrangements, the assembly continues to wait for the next set of arrangements and pressure holding until the glass carrier plate is fully loaded. Then, the glass rotation transfer assembly descends to clamp it and rotates it into the glass transfer platform assembly. Simultaneously, the glass carrier plate empty above the glass rotation transfer assembly is loaded onto the bonding platform assembly. The glass transfer platform assembly then feeds the fully loaded glass carrier plate into the glass transfer platform assembly for buffering.

[0006] Furthermore, the pallet storage bin and the glass storage bin include a bin body, and multiple grids are provided on both sides of the bin body; the bin body is fixed to a lifting guide rail and a first Z-axis linear lifting unit on both sides respectively; the lifting guide rail and the first Z-axis linear lifting unit are fixed to the sheet stacking platform; the first Z-axis linear lifting unit can drive the bin body to perform linear lifting, and during linear lifting, it is guided linearly by the lifting guide rail, which can realize the alignment of the corresponding grid space and achieve precise loading or unloading.

[0007] Furthermore, the pallet loading platform includes a first X-axis horizontal slide, a slide plate is fixed on the slider of the first X-axis horizontal slide, a first cylinder is fixed on the slide plate, a push plate is fixed on the telescopic end of the first cylinder, and a pallet stop is fixed on the opposite side of the push plate; the slide plate moves into the inside of the hopper body; the first Z-axis linear lifting unit can drive the hopper body to rise, so that the first X-axis horizontal slide can drive the slide plate to enter the bottom of the corresponding compartment layer of the hopper body; then, the first Z-axis linear lifting unit can drive the hopper body to fall, so that the pallet inside the hopper body is sent into the slide plate, and the position of the pallet is fixed by the push plate and the pallet stop; finally, the first X-axis horizontal slide can drive the slide plate to reset.

[0008] Furthermore, the prism picking and placing platform includes a column, and a first Y-axis horizontal slide is fixed on the top of the column. A picking and placing support is fixed on the slider of the first Y-axis horizontal slide. A CCD vision unit and a suction head are fixed on the picking and placing support. The suction head is a suction head driven by the R-axis and Z-axis. When picking up materials, the long strip prism on the tray is positioned by the CCD vision unit. Then the suction head enters the suction position and moves down to transfer the long strip prism to the flipping platform.

[0009] Furthermore, the flipping platform includes a second X-direction horizontal slide arranged in parallel with the first X-direction horizontal slide, and an electric flipping platform is fixed to the sliding end of the second X-direction horizontal slide. When the flipping platform operates, it first receives the elongated prism through the electric flipping platform, and then the electric flipping platform operates to drive the elongated prism to flip to a set angle. The first X-direction horizontal slide can realize the position adjustment of the electric flipping platform.

[0010] Furthermore, the pick-and-place head assembly includes a gantry frame, on which a second Y-axis horizontal slide is fixed. A first Z-axis slide is fixed to the slider of the second Y-axis horizontal slide, and an X-axis compensation unit is fixed to the slider of the first Z-axis slide. An R-axis compensation unit is fixed to the sliding end of the X-axis compensation unit, and a first pick-and-place head is fixed to the rotating end of the R-axis compensation unit. When the pick-and-place head assembly operates, the second Y-axis horizontal slide moves the first pick-and-place head to the camera positioning position. After positioning, the first pick-and-place head is moved to the picking position of the flipping platform. Then, the first Z-axis slide drives the first pick-and-place head downward, and the suction nozzle of the first pick-and-place head adsorbs the elongated prism. The gripper cylinder clamps both ends of the elongated prism. Then, the first Z-axis slide rises to a safe height, and the X-axis compensation unit moves to the CCD positioning position for precise adjustment.

[0011] Furthermore, the inverted camera positioning assembly includes a positioning base on which an inverted CCD is fixed. A second Y-axis horizontal slide drives the first pick-and-place head to the position of the inverted CCD. Then, a first Z-axis slide drives the first pick-and-place head downward to the shooting position. After the shooting is completed, the first Z-axis slide drives the first pick-and-place head to rise to a safe height and finally moves it to the fitting position.

[0012] Furthermore, the bonding platform assembly includes a third X-axis sliding platform, the sliding end of which is fixed to the bonding platform, and the bonding platform is provided with fixed positioning blocks in the X and Y directions; the bonding platform is provided with a movable positioning block driven by a cylinder on the opposite side of the fixed positioning blocks; the pressure holding head unit includes a third Y-axis horizontal slide fixed to the gantry, and a second Z-axis slide is fixed on the slider of the third Y-axis horizontal slide; the sliding end of the second Z-axis slide is fixed to a pressure holding head; the bonding platform receives an empty glass carrier plate, and after positioning and locking the glass carrier plate in the X and Y directions by the fixed positioning blocks and the movable positioning blocks, it waits for the elongated prism to arrange the sheets and hold the pressure until the glass carrier plate is fully loaded, at which point the cylinder drives the movable positioning block to reset; at this time, it waits for the glass carrier plate to be discharged.

[0013] Furthermore, the glass rotation transfer assembly includes a third Z-axis slide fixed to the stacking platform by a support. A rotating platform driven by a servo motor is fixed on the slider of the third Z-axis slide. A crossbeam is fixed on the top surface of the rotating platform, and cylinder grippers are fixed at both ends of the crossbeam. The rotating platform drives the crossbeam to rotate and swing, thereby realizing the transfer of the glass carrier between the bonding platform assembly and the glass transfer platform assembly. When the glass carrier is in place, the rotating platform is driven to move downward by the third Z-axis slide, so that the glass carrier can enter the bonding platform assembly and the glass transfer platform assembly. The cylinder grippers on the crossbeam can clamp or place the glass carrier.

[0014] Furthermore, the glass transfer platform assembly includes a fourth X-axis sliding platform that docks with the glass storage bin; the fourth X-axis sliding platform enables the glass carrier to be sent into or taken out of the glass storage bin, and the glass storage bin is required to lift and lower the carrier during the sending or taking out process.

[0015] Compared with the prior art, the intelligent micro-nano prism stacking device of the present invention temporarily stores the long strip prisms in the pallet storage bin and the empty glass carrier in the glass storage bin. After automatic stacking, the glass storage bin can collect the full material and automatically collect the empty pallet into the pallet storage bin. It can automatically clamp the long strip prisms on the pallet, adjust the angle and feed them into the glass carrier. It can also realize the automatic arrangement, pressure holding and material discharge buffering of the long strip prisms. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall layout structure of the intelligent micro-nano prism stacking device of the present invention.

[0017] Figure 2 This is a schematic diagram of the installation structure of the glass storage silo and glass transfer platform assembly of the present invention.

[0018] Figure 3This is a schematic diagram of the pallet loading platform structure of the present invention.

[0019] Figure 4 This is a schematic diagram of the prism loading and unloading platform structure of the present invention.

[0020] Figure 5 This is a schematic diagram of the suction head structure of the present invention.

[0021] Figure 6 This is a schematic diagram of the flipping platform structure of the present invention.

[0022] Figure 7 This is a schematic diagram of the pick-and-place head assembly structure of the present invention.

[0023] Figure 8 This is a schematic diagram of the installation structure of the bonding platform assembly, the glass rotation and transfer assembly, and the glass transfer platform assembly of the present invention.

[0024] Figure 9 This is a schematic diagram of the pressure-holding head unit structure of the present invention.

[0025] Figure 10 This is a schematic diagram of the glass rotation transfer assembly structure of the present invention.

[0026] Reference numerals: 1. Sheeting platform; 2. Pallet storage bin; 3. Pallet loading platform; 4. Prism pick-and-place platform; 5. Tilting platform; 6. Fitting platform assembly; 7. Inverted camera positioning assembly; 8. Glass rotation and transfer assembly; 9. Glass transfer platform assembly; 10. Glass storage bin; 11. Gantry frame; 12. Pick-and-place head assembly; 13. Pressure holding head unit; 14. Bin body; 15. Bar; 16. First Z-axis linear lifting unit; 17. First X-axis horizontal slide; 18. Slide plate; 19. First cylinder; 20. Push plate; 21. Pallet stop; 22. Pallet; 23. Column; 24. First Y-axis horizontal slide; 25. 26. Pick-up and placement support, 27. CCD vision unit, 28. Pick-up head, 29. Second X-axis horizontal slide, 30. Electric tilting stage, 31. Second Y-axis horizontal slide, 32. First Z-axis slide, 33. X-axis compensation unit, 34. R-axis compensation unit, 35. First pick-up and placement head, 36. Third X-axis sliding platform, 37. Fitting platform, 38. Fixed positioning block, 39. Movable positioning block, 40. Third Y-axis horizontal slide, 41. Second Z-axis slide, 42. Pressure holding head, 43. Third Z-axis slide, 44. Rotating platform, 45. Crossbeam, 46. Cylinder gripper, 47. Fourth X-axis sliding platform, 48. Glass carrier plate. Detailed Implementation

[0027] Example 1:

[0028] like Figures 1 to 10The micro-nano prism intelligent stacking device shown includes a stacking platform 1, on which a tray storage bin 2 is mounted. The inlet and outlet ends of the tray storage bin 2 are connected to a tray loading platform 3. A prism picking and placing platform 4 is connected across the tray loading platform 3. A flipping platform 5 is mounted side-by-side on the side of the tray loading platform 3. A fitting platform assembly 6 is fixed to the side of the flipping platform 5 away from the tray loading platform 3. An inverted camera positioning assembly 7 is installed between the flipping platform 5 and the fitting platform assembly 6. A glass rotation and transfer assembly 8 is connected at one end, and a glass transfer platform assembly 9 is connected at the other end of the glass rotation and transfer assembly 8; the other end of the glass transfer platform assembly 9 is connected to the glass storage bin 10; a gantry frame 11 is fixed to the rear side of the stacking platform 1; a pick-and-place head assembly 12 and a pressure holding head unit 13 are also installed on the gantry frame 11, and the travel path of the pick-and-place head assembly 12 covers the flipping platform 5, the inverted camera positioning assembly 7 and the bonding platform assembly 6; the travel path of the pressure holding head unit 13 covers the bonding platform assembly 6.

[0029] During operation, the tray 22 carrying the elongated prism is temporarily stored in the tray storage bin 2, and the empty glass carrier is temporarily stored in the glass storage bin 10. Next, the tray loading platform 3 operates, removing the full tray 22 from the tray storage bin 2 and sending it to the gripping station. Then, the prism pick-and-place platform 4 operates, picking up the elongated prism and sending it to the flipping platform 5. The flipping platform 5 flips the elongated prism to a set angle. Next, the pick-and-place head assembly 12 operates, picking up the elongated prism from the flipping platform 5 and sending it to the inverted camera positioning assembly 7 for photographing. Then, it continues to be sent to the bonding platform assembly 6. Finally, the glass transfer platform assembly 9 removes the empty glass carrier from the glass storage bin 10, and the glass rotation transfer assembly 8 clamps the glass from the glass transfer platform assembly 9. The glass carrier plate is rotated and fed onto the bonding platform assembly 6. At this time, the glass transfer platform assembly 9 takes out the empty glass carrier plate from the glass storage bin 10 again and clamps the empty glass carrier plate through the other end of the glass rotation transfer assembly 8. Then, the glass rotation transfer assembly 8 moves down and feeds the empty glass carrier plate into the bonding platform assembly 6. Next, the pick-and-place head assembly 12 arranges the long strip prisms onto the glass carrier plate. At this time, the pressure holding head unit 13 is activated to hold the long strip prisms under pressure. After completing one set of long strip prisms arrangement, it continues to wait for the next set of arrangement and pressure holding until the glass carrier plate is fully loaded. Then, the glass rotation transfer assembly 8 moves down to clamp it and rotates and feeds it into the glass transfer platform assembly 9. At the same time, the empty glass carrier plate on the glass rotation transfer assembly 8 is simultaneously loaded onto the bonding platform assembly 6. The glass transfer platform assembly 9 feeds the fully loaded glass carrier plate into the glass transfer platform assembly 9 for buffering.

[0030] The pallet storage bin 2 and the glass storage bin 10 include a bin body 14, and multiple layers of grids 15 are provided on both sides of the bin body 14. The bin body 14 is fixed to a lifting guide rail and a first Z-axis linear lifting unit 16 on both sides respectively. The lifting guide rail and the first Z-axis linear lifting unit 16 are fixed to the sheet stacking platform 1. The first Z-axis linear lifting unit 16 can drive the bin body 14 to perform linear lifting. During linear lifting, the lifting guide rail provides linear guidance, which can realize the alignment of the corresponding grid 15 space and achieve precise loading or unloading.

[0031] The pallet loading platform 3 includes a first X-axis horizontal slide 17, a slide plate 18 fixed on the slider of the first X-axis horizontal slide 17, a first cylinder 19 fixed on the slide plate 18, a push plate 20 fixed on the telescopic end of the first cylinder 19, and a pallet stop 21 fixed on the opposite side of the push plate 20. The slide plate 18 moves into the inside of the hopper body 14. The first Z-axis linear lifting unit 16 can drive the hopper body 14 to rise, so that the first X-axis horizontal slide 17 drives the slide plate 18 to enter the bottom of the corresponding grid 15 layer of the hopper body 14. Then, the first Z-axis linear lifting unit 16 can drive the hopper body 14 to fall, so that the pallet 22 inside the hopper body 14 is sent into the slide plate 18, and the position of the pallet 22 is fixed by the push plate 20 and the pallet stop 21. Finally, the first X-axis horizontal slide 17 drives the slide plate 18 to reset.

[0032] The prism picking and placing platform 4 includes a column 23, and a first Y-axis horizontal slide 24 is fixed on the top of the column 23. A picking and placing support 25 is attached to the slider of the first Y-axis horizontal slide 24. A CCD vision unit 26 and a suction head 27 are fixed on the picking and placing support 25. The suction head 27 is a suction head driven by the R-axis and Z-axis. When picking up materials, the CCD vision unit 26 positions the long strip prism on the tray 22. Then the suction head 27 enters the suction position and moves down to transfer the long strip prism to the flipping platform 5.

[0033] The flipping platform 5 includes a second X-direction horizontal slide 28 arranged parallel to the first X-direction horizontal slide 17. The sliding end of the second X-direction horizontal slide 28 is fixed with an electric flipping platform 29. When the flipping platform 5 is in operation, it first receives the elongated prism through the electric flipping platform 29. Then, the electric flipping platform 29 is activated to drive the elongated prism to flip to a set angle. The first X-direction horizontal slide 17 can realize the position adjustment of the electric flipping platform 29.

[0034] The pick-and-place head assembly 12 includes a gantry frame 11, on which a second Y-axis horizontal slide 30 is fixed. A first Z-axis slide 31 is fixed to the slider of the second Y-axis horizontal slide 30. An X-axis compensation unit 32 is fixed to the slider of the first Z-axis slide 31. An R-axis compensation unit 33 is fixed to the sliding end of the X-axis compensation unit 32. A first pick-and-place head 34 is fixed to the rotating end of the R-axis compensation unit 33. When the pick-and-place head assembly 12 operates, the second Y-axis horizontal slide 30 moves the first pick-and-place head 34 to the camera positioning position. After positioning, the first pick-and-place head 34 is moved to the picking position of the flipping platform 5. Then, the first Z-axis slide 31 drives the first pick-and-place head 34 downward. The suction nozzle of the first pick-and-place head 34 adsorbs the elongated prism, and the gripper cylinder clamps both ends of the elongated prism. Then, the first Z-axis slide 31 rises to a safe height, and the X-axis compensation unit 32 moves to the CCD positioning position for precise adjustment.

[0035] The inverted camera positioning assembly 7 includes a positioning base on which an inverted CCD is fixed. A second Y-axis horizontal slide 30 drives a first pick-and-place head 34 to move to the position of the inverted CCD. Then, a first Z-axis slide 31 drives the first pick-and-place head 34 to move downward to the shooting position. After the shooting is completed, the first Z-axis slide 31 drives the first pick-and-place head 34 to rise to a safe height and finally moves to the fitting position.

[0036] The bonding platform assembly 6 includes a third X-axis sliding platform 35, the sliding end of which is fixed to a bonding platform 36. The bonding platform 36 is provided with fixed positioning blocks 37 in the X and Y directions. Opposite to the fixed positioning blocks 37, the bonding platform 36 has a movable positioning block 38 driven by a cylinder. The pressure-holding head unit 13 includes a third Y-axis horizontal slide 39 fixed to the gantry 11. A second Z-axis slide 40 is fixed to the slider of the third Y-axis horizontal slide 39. A pressure-holding head 41 is fixed to the sliding end of the second Z-axis slide 40. The bonding platform 36 receives an empty glass carrier plate 47 and positions and locks the glass carrier plate 47 in the X and Y directions using the fixed positioning blocks 37 and the movable positioning blocks 38. It then waits for the elongated prism to arrange the glass and hold the pressure until the glass carrier plate 47 is fully loaded. At this point, the cylinder drives the movable positioning block 38 to reset. The glass carrier plate 47 is then ready for discharge.

[0037] The glass rotation and transfer assembly 8 includes a third Z-axis slide 42 fixed to the stacking platform 1 by a support. A rotating platform 43 driven by a servo motor is fixed on the slider of the third Z-axis slide 42. A crossbeam 44 is fixed on the top surface of the rotating platform 43, and cylinder grippers 45 are fixed at both ends of the crossbeam 44. The rotating platform 43 drives the crossbeam 44 to rotate and swing, thereby realizing the transfer of the glass carrier between the bonding platform 36 assembly 6 and the glass transfer platform assembly 9. When the glass carrier is in place, the rotating platform 43 is driven to move downward by the third Z-axis slide 42, so that the glass carrier can enter the bonding platform 36 assembly 6 and the glass transfer platform assembly 9. The cylinder grippers 45 on the crossbeam 44 can clamp or place the glass carrier.

[0038] The glass transfer platform group 9 includes a fourth X-axis sliding platform 46 that docks with the glass storage bin 10. The fourth X-axis sliding platform 46 enables the glass carrier to be sent into or taken out of the glass storage bin 10. When sending or taking out the glass carrier, it is necessary to use the glass storage bin 10 to lift and lower it.

[0039] The above embodiments are merely preferred embodiments of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention are included within the scope of the present invention.

Claims

1. A micro / nano prism intelligent arrangement device, characterized in that: The system includes a film sorting platform with a pallet storage bin. The inlet and outlet ends of the pallet storage bin are connected to a pallet loading platform. A prism pick-and-place platform is connected above the pallet loading platform. A tilting platform is installed side-by-side on the side of the pallet loading platform. A fitting platform assembly is fixed to the side of the tilting platform away from the pallet loading platform. An inverted camera positioning assembly is installed between the tilting platform and the fitting platform assembly. A glass rotation and transfer assembly is connected to one end of the fitting platform assembly, and a glass transfer platform assembly is connected to the other end of the glass rotation and transfer assembly. The other end of the glass transfer platform assembly is connected to the glass storage bin. A gantry frame is fixed to the rear of the film sorting platform. A pick-and-place head assembly and a pressure holding head unit are also installed on the gantry frame. The travel path of the pick-and-place head assembly covers the tilting platform, the inverted camera positioning assembly, and the fitting platform assembly. The travel path of the pressure holding head unit covers the fitting platform assembly.

2. The intelligent micro-nano prism stacking device according to claim 1, characterized in that: The pallet storage bin and the glass storage bin include a bin body, and multiple layers of partitions are provided on both sides of the bin body; the bin body is fixed to a lifting guide rail and a first Z-axis linear lifting unit on both sides respectively; the lifting guide rail and the first Z-axis linear lifting unit are fixed to the sheet stacking platform.

3. The intelligent micro / nano prism stacking device according to claim 1, characterized in that: The pallet loading platform includes a first X-axis horizontal slide, a slide plate is fixed on the slider of the first X-axis horizontal slide, a first cylinder is fixed on the slide plate, a push plate is fixed on the telescopic end of the first cylinder, and a pallet stop is fixed on the opposite side of the push plate; the slide plate moves into the inside of the hopper body.

4. The intelligent micro / nano prism stacking device according to claim 1, characterized in that: The prism pick-and-place platform includes a column, a first Y-axis horizontal slide is fixed to the top of the column, a pick-and-place support is fixed to the slider of the first Y-axis horizontal slide, and a CCD vision unit and a suction head are fixed to the pick-and-place support. The suction head is a suction head driven by the R-axis and Z-axis.

5. The intelligent micro-nano prism stacking device according to claim 1, characterized in that: The flipping platform includes a second X-axis horizontal slide arranged parallel to the first X-axis horizontal slide, and an electric flipping table is fixed to the sliding end of the second X-axis horizontal slide.

6. The intelligent micro-nano prism stacking device according to claim 1, characterized in that: The pick-and-place head assembly includes a gantry frame, on which a second Y-axis horizontal slide is fixed. A first Z-axis slide is fixed on the slider of the second Y-axis horizontal slide. An X-axis compensation unit is fixed on the slider of the first Z-axis slide. An R-axis compensation unit is fixed to the sliding end of the X-axis compensation unit. A first pick-and-place head is fixed to the rotating end of the R-axis compensation unit.

7. The intelligent micro-nano prism stacking device according to claim 1, characterized in that: The inverted camera positioning assembly includes a positioning base on which an inverted CCD is fixed.

8. The intelligent micro-nano prism stacking device according to claim 1, characterized in that: The bonding platform assembly includes a third X-axis sliding platform, the sliding end of which is fixed to a bonding platform, and the bonding platform is provided with fixed positioning blocks in the X and Y directions; the bonding platform is provided with a movable positioning block driven by a cylinder on the opposite side of the fixed positioning blocks; the pressure holding head unit includes a third Y-axis horizontal slide fixed to a gantry, and a second Z-axis slide is fixed on the slider of the third Y-axis horizontal slide; the sliding end of the second Z-axis slide is fixed to a pressure holding head.

9. The intelligent micro-nano prism stacking device according to claim 1, characterized in that: The glass rotation and transfer assembly includes a third Z-axis slide fixed to the stacking platform by a support. A rotating platform driven by a servo motor is fixed on the slider of the third Z-axis slide. A crossbeam is fixed on the top surface of the rotating platform, and cylinder grippers are fixed at both ends of the crossbeam.

10. The intelligent micro-nano prism stacking device according to claim 1, characterized in that: The glass transfer platform assembly includes a fourth X-axis sliding platform that docks with the glass storage silo.

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