An automatic alignment lifting platform

Abstract

This invention discloses an automatic alignment and lifting platform, including a lower alignment platform, an upper working platform, an X-axis drive mechanism, a Y-axis drive mechanism, and a θ-axis rotation mechanism; it also includes a Z-axis lifting mechanism, which comprises a first servo motor, a ball screw, a wedge, a cam bearing follower, a linear guide rail, and a guide column assembly. The first servo motor is driven by the wedge via the ball screw, and the wedge moves horizontally on the linear guide rail. The cam bearing follower rolls with the inclined surface of the wedge, converting the horizontal movement of the wedge into the vertical lifting motion of the upper working platform. The X-axis drive mechanism, Y-axis drive mechanism, and θ-axis rotation mechanism drive the lower alignment platform to complete planar alignment, and the Z-axis lifting mechanism drives the upper working platform to complete height alignment, achieving four-axis alignment (X / Y / θ / Z). This enables coordinated automatic precision alignment of the X / Y / θ / Z axes, improving alignment dimension, positioning accuracy, and space utilization.

Description

Technical Field

[0001] This invention relates to the field of automated precision alignment equipment technology, specifically to an automatic alignment and lifting platform that combines planar alignment and height lifting functions, and is particularly suitable for automated assembly, inspection, bonding, pre-pressing and other processes that require coordinated precision positioning of four axes (X / Y / θ / Z). Background Technology

[0002] The automatic alignment platform is an automated system integrating motion control, vision recognition, and precision mechanical transmission, widely used in industries such as display panels, semiconductors, and precision machining. Its working principle is as follows: the vision system compares the product's mark point with the reference mark point, calculates the deviation values ​​in the X, Y, and θ (rotation) directions, and the control system drives the X-axis and Y-axis linear modules and the θ-axis rotation mechanism to perform compensation, achieving precise alignment in a two-dimensional plane.

[0003] Currently, the closest prior art to this application is CN223849192U (a high-precision pre-pressure alignment platform driven by a linear motor). This patent discloses a three-axis alignment platform consisting of a Y-axis linear drive mechanism, an X-axis linear drive mechanism, and a θ-axis angle drive mechanism. It uses a linear motor and grating sensing to achieve high-precision planar alignment and is equipped with a negative pressure adsorption plate to fix the workpiece.

[0004] However, the aforementioned existing technologies and conventional automatic alignment platforms generally have the following drawbacks: 1. It only has X, Y, and θ three-axis planar alignment function, but no Z-axis height adjustment capability, and cannot accurately raise or lower the workpiece to the specified height according to process requirements; 2. If both planar alignment and height adjustment are required simultaneously, an additional lifting mechanism is needed, resulting in a larger overall structural volume, greater installation space occupation, and reduced rigidity and positioning accuracy; 3. The separate control of multiple mechanisms results in poor coordination, making it difficult to meet the high-precision and high-efficiency requirements of integrated planar and vertical automatic alignment. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic alignment and lifting platform that overcomes the technical shortcomings of traditional automatic alignment platforms that can only achieve X / Y / θ three-axis planar alignment and lack automatic lifting alignment along the Z-axis. This invention enables coordinated automatic precision alignment along four axes (X / Y / θ / Z), improving alignment dimension, positioning accuracy, and space utilization.

[0006] The objective of this invention is achieved through the following technical solution: An automatic alignment lifting platform includes a lower alignment platform, an upper working platform, an X-axis drive mechanism, a Y-axis drive mechanism, and a θ-axis rotation mechanism; it also includes a Z-axis lifting mechanism, which comprises a first servo motor, a ball screw, a wedge block, a cam bearing follower, a linear guide rail, and a guide column assembly. The first servo motor is connected to the wedge block via a ball screw, and the wedge block moves horizontally on a linear guide rail; The cam bearing follower rolls with the inclined surface of the wedge block, converting the horizontal movement of the wedge block into the vertical lifting and lowering movement of the upper working platform. The X-axis drive mechanism, Y-axis drive mechanism, and θ-axis rotation mechanism drive the lower alignment platform to complete planar alignment, while the Z-axis lifting mechanism drives the upper working platform to complete height alignment, thus achieving four-axis alignment (X / Y / θ / Z).

[0007] As a further improvement of the present invention, the lower alignment platform includes a bottom fixed base, a middle Y-axis moving sub-stage, an upper X-axis moving sub-stage, and an θ-axis rotary stage. The Y-axis drive mechanism includes a Y-axis servo motor, a Y-axis ball screw A, and a Y-axis crossed roller linear guide. The Y-axis servo motor drives the middle Y-axis moving stage to move linearly along the Y-axis through the Y-axis ball screw A. The X-axis drive mechanism includes an X-axis servo motor, an X-axis ball screw A, and an X-axis crossed roller linear guide. The X-axis servo motor drives the upper X-axis moving stage to move linearly along the X-axis through the X-axis ball screw A. The θ-axis rotation mechanism includes an θ-axis servo motor and a disk bearing. The θ-axis servo motor drives the θ-axis rotary table to perform angular rotational motion through the disk bearing. The overlapping and coordination of the X-axis linear motion, Y-axis linear motion, and θ-axis rotational motion enables the lower alignment platform to achieve three-dimensional translational and rotational alignment in the X-axis, Y-axis, and angular directions.

[0008] As a further improvement of the present invention, the upper working platform includes, from bottom to top, a lifting support plate, a connecting plate and a vacuum adsorption platform; The cam bearing follower is located at the bottom of the lifting bearing plate, and several guide column assemblies are provided between the lifting bearing plate and the lower alignment platform to guide the vertical movement of the lifting bearing plate. A plurality of oil-free bushing guide column assemblies are provided between the connecting plate and the lifting bearing plate to guide the vertical movement of the connecting plate. The vacuum adsorption platform is fixedly mounted on the connecting plate.

[0009] As a further improvement of the present invention, a limiting spring is provided between the lower alignment platform and the upper working platform. The limiting spring is located outside the cam bearing follower, so that the cam bearing follower abuts against the inclined surface of the wedge block to form a pure rolling fit.

[0010] As a further improvement of the present invention, the guide post assembly and the oil-free bushing guide post assembly are arranged symmetrically to form a lifting dual-guide structure.

[0011] As a further improvement of the present invention, the number of guide column assemblies is four sets, distributed at the four corners of the lifting bearing plate. Each set of guide column assemblies includes a guide sleeve disposed on the lifting bearing plate. A first guide column is disposed inside the guide sleeve. The lower end of the first guide column is connected to the lower alignment platform, and the upper end of the first guide column is fixedly connected to the connecting plate. A first spring is sleeved on the first guide column. One end of the first spring abuts against the lower alignment platform, and the other end abuts against the guide sleeve.

[0012] As a further improvement of the present invention, the number of the oil-free bushing guide post assemblies is four sets, distributed at the four corners of the connecting plate. Each set of the oil-free bushing guide post assembly includes an oil-free bushing disposed on the lifting bearing plate. A second guide post is disposed inside the oil-free bushing. The upper end of the second guide post is fixedly connected to the connecting plate. A second spring is sleeved on the second guide post. One end of the second spring abuts against the connecting plate and the other end abuts against the lifting bearing plate.

[0013] As a further improvement of the present invention, a limiting component is provided between the lower alignment platform and the upper working platform. The limiting component includes a sensing plate disposed on the upper working platform and a sensing switch disposed on the lower alignment platform. The sensing plate can be inserted into the sensing port of the sensing switch.

[0014] As a further improvement of the present invention, the inclined surface angle of the wedge is 30° to 45°, the horizontal movement stroke of the wedge is 0 to 100 mm, and the corresponding lifting stroke of the upper working platform is 0 to 50 mm.

[0015] As a further improvement of the present invention, all servo motors are equipped with absolute encoders to form a closed-loop control with the vision system and the control system.

[0016] The above technical solution has the following beneficial effects: 1. Enhanced alignment dimensions: A Z-axis lifting mechanism is added to the traditional three-axis alignment, achieving full-dimensional alignment across four axes (X / Y / θ / Z); through coordinated four-axis movements, the workpiece is automatically and precisely aligned in three-dimensional space.

[0017] 2. More compact structure: The Z-axis lifting mechanism adopts a transmission structure of wedge block + cam bearing follower, which converts horizontal motion into vertical lifting, resulting in a compact structure and significantly reduced installation space; 3. Improved accuracy and stability: All servo motors are equipped with absolute encoders, forming a closed-loop control with the vision system and control system, resulting in high repeatability and positioning accuracy. Attached Figure Description

[0018] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0019] The structures, proportions, sizes, etc. shown in this specification are only used to complement the content disclosed in the specification for those skilled in the art to understand and read, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0020] Figure 1 This is a three-dimensional structural diagram provided for the present invention.

[0021] Figure 2 This is a schematic diagram of the main structure provided by the present invention.

[0022] In the picture: 1. Lower-level alignment platform; 2. Upper working platform; 21. Lifting bearing plate; 22. Connecting plate; 23. Vacuum adsorption platform; 24. Oil-free bushing guide column assembly; 25. Limit spring; 26. Limit assembly; 3. X-axis drive mechanism; 4. Y-axis drive mechanism; 5. θ-axis rotation mechanism; 6. Z-axis lifting mechanism; 61. First servo motor; 62. Wedge block; 63. Cam bearing follower; 64. Guide column assembly. Detailed Implementation

[0023] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0024] First embodiment, such as Figures 1-2 As shown, an automatic alignment and lifting platform is characterized by its core feature: a four-axis precision alignment function integrating plane and height. The platform mainly comprises a lower alignment platform 1, an upper working platform 2, and a plane alignment system and a lifting system that drive both.

[0025] Specifically, the X-axis drive mechanism 3, the Y-axis drive mechanism 4, and the θ-axis rotation mechanism 5 together constitute a planar alignment system. The three work together to drive the lower alignment platform 1 to achieve linear movement along the X-axis and Y-axis and rotation around the vertical axis in the horizontal plane, so as to complete the alignment of the product on the plane.

[0026] The lifting system employs a Z-axis lifting mechanism 6, which independently drives the upper working platform 2 to vertically lift. More specifically, the Z-axis lifting mechanism 6 includes a first servo motor 61, a ball screw, a wedge block 62, a cam bearing follower 63, a linear guide rail, and a guide column assembly 64, wherein: The first servo motor 61 is connected to the wedge block 62 via a ball screw, driving the wedge block 62 to move horizontally on the linear guide rail; The wedge 62 has an inclined guide surface on which a cam bearing follower 63 is fitted. The cam bearing follower 63 is fixedly connected to the upper working platform 2. When the wedge 62 moves horizontally, the cam bearing follower 63 rolls with the inclined surface of the wedge 62, converting the horizontal movement of the wedge 62 into the vertical lifting movement of the upper working platform 2. By precisely controlling the rotation angle of the first servo motor 61, the lifting height of the upper working platform 2 can be precisely adjusted.

[0027] In this design, the Z-axis lifting mechanism 6 adopts a transmission structure of wedge block 62 + cam bearing follower 63, which converts horizontal motion into vertical lifting, resulting in a compact structure and significantly reduced installation space.

[0028] The present invention uses the X-axis drive mechanism 3, the Y-axis drive mechanism 4 and the θ-axis rotation mechanism 5 to drive the lower alignment platform 1 to complete the planar alignment of the X / Y / θ axes, and the Z-axis lifting mechanism 6 to drive the upper working platform 2 to complete the height alignment, so as to finally achieve the four-axis precise alignment of the workpiece in space.

[0029] In this design, the lower alignment platform 1 includes a bottom fixed base, a middle Y-axis moving stage, an upper X-axis moving stage, and a θ-axis rotary stage. The moving stages are guided by precision guide rail pairs to achieve smooth relative motion.

[0030] The Y-axis drive mechanism 4 includes a Y-axis servo motor, a Y-axis ball screw A, and a Y-axis crossed roller linear guide. The Y-axis servo motor drives the middle Y-axis moving stage to move linearly along the Y-axis through the Y-axis ball screw A, and the Y-axis crossed roller linear guide ensures the motion accuracy.

[0031] The X-axis drive mechanism 3 includes an X-axis servo motor, an X-axis ball screw A, and an X-axis crossed roller linear guide. The X-axis servo motor drives the upper X-axis moving stage to move linearly along the X-axis through the X-axis ball screw A, and the X-axis crossed roller linear guide ensures the motion accuracy.

[0032] The θ-axis rotation mechanism 5 includes an θ-axis servo motor and a disc bearing. The θ-axis servo motor drives the θ-axis rotary table to perform angular rotational motion through the disc bearing. The X-axis linear motion, Y-axis linear motion, and θ-axis rotational motion are superimposed and coordinated. By coordinating the motion of each axis through the control system, the lower alignment platform 1 can drive the workpiece to perform three-dimensional translational and rotational alignment in the X-axis, Y-axis, and angular directions, thereby achieving three-degree-of-freedom precision alignment in the plane.

[0033] In this design, the upper working platform 2 is used to support and fix the workpiece to be aligned. Its structure adopts a multi-layer combination design to achieve smooth vertical movement and reliable adsorption of the workpiece. Specifically, the upper working platform 2 includes, from bottom to top, a lifting support plate 21, a connecting plate 22, and a vacuum adsorption platform 23.

[0034] The lifting support plate 21 serves as the base of the entire upper working platform 2. A cam bearing follower 63 is fixedly installed at its bottom. This cam bearing follower 63 engages with the inclined surface of the wedge block 62 in the Z-axis lifting mechanism 6 to receive vertical driving force. To ensure the verticality and stability of the lifting motion, several guide column assemblies 64 are provided between the lifting support plate 21 and the lower alignment platform 1. These guide column assemblies typically consist of guide sleeves and guide columns, used to guide the vertical movement of the lifting support plate 21.

[0035] The connecting plate 22 is located above the lifting support plate 21, and the two are connected by a number of oil-free bushing guide post assemblies 24. The aforementioned oil-free bushing guide post assemblies 24 also serve a vertical guiding function, allowing the connecting plate 22 to float within a small range or move up and down precisely relative to the lifting support plate 21, in order to absorb manufacturing errors.

[0036] The vacuum adsorption platform 23 is fixedly installed on the upper surface of the connecting plate 22 for adsorbing and fixing workpieces. It has an internal air channel and generates suction through an external vacuum generator.

[0037] Through the above-mentioned layered structure, the upper working platform 2 can be raised and lowered as a whole with the lifting bearing plate 21, and can also be finely adjusted through the connecting plate 22 to ensure that the workpiece remains horizontal in the adsorption state, thereby meeting the high-precision alignment requirements.

[0038] To improve the stability and resistance to eccentric loads during vertical lifting, both the guide column assembly 64 and the oil-free bushing guide column assembly 24 are symmetrically arranged, forming a dual-guide structure for lifting. This design ensures that the lifting load plate 21 and the connecting plate 22 are subjected to balanced forces during movement, preventing jamming.

[0039] Specifically, to enhance the load-bearing rigidity and guiding accuracy of the lifting motion, four sets of guide column assemblies 64 are arranged at the four corners of the lifting support plate 21 to ensure balanced force distribution. Each set of guide column assemblies 64 includes a guide sleeve fixedly mounted on the lifting support plate 21, with a first guide column that can slide relative to it passing through the guide sleeve. The lower end of the first guide column is fixedly connected to the lower alignment platform 1, and its upper end is fixedly connected to the connecting plate 22, thereby allowing the lifting support plate 21 to slide vertically along the first guide column. At the same time, a first spring is fitted on the first guide column, with its lower end abutting against the lower alignment platform 1 and its upper end abutting against the guide sleeve, providing an upward preload under normal conditions to eliminate gaps and assist in resetting.

[0040] To further improve the guiding accuracy and smoothness of the connecting plate 22 relative to the lifting support plate 21, four sets of oil-free bushing guide post assemblies 24 are also provided, correspondingly distributed at the four corners of the connecting plate 22 to ensure uniform force distribution. Each set of oil-free bushing guide post assemblies 24 includes an oil-free bushing (which is self-lubricating and maintenance-free) fixedly embedded in the lifting support plate 21, and a second guide post passing through the oil-free bushing.

[0041] The upper end of the second guide post is fixedly connected to the connecting plate 22, while its lower end is freely suspended or equipped with a limiting component. Through the cooperation of the oil-free bushing and the second guide post, low-friction guidance is provided for the vertical lifting and lowering of the connecting plate 22. Simultaneously, a second spring is fitted onto the second guide post. The upper end of this spring abuts against the connecting plate 22, and the lower end abuts against the lifting support plate 21. Under normal conditions, it provides an upward elastic force, enabling the connecting plate 22 to have floating support capability and to absorb vibration or eliminate vertical transmission backlash.

[0042] Furthermore, to ensure that the cam bearing follower 63 and the inclined surface of the wedge block 62 are always in close contact, eliminating gaps and impacts during movement, a limiting spring 25 is installed between the lower alignment platform 1 and the upper working platform 2. This limiting spring 25 is positioned on the outer side of the cam bearing follower 63, and its elastic force acts on the upper working platform 2, continuously subjecting it to downward preload, thereby forcing the cam bearing follower 63 to always abut against the inclined surface of the wedge block 62. This preload design ensures a pure rolling fit between the cam bearing follower 63 and the inclined surface of the wedge block 62, preventing disengagement or slippage due to vibration or gravitational fluctuations, thus improving the response accuracy and smoothness of the Z-axis lifting.

[0043] Of course, the installation position of the limit spring 25 is not limited to the outside of the cam bearing follower 63, but can be set at the guide column assembly 64 or other parts that can apply downward pulling force to the upper working platform 2.

[0044] To ensure the safety and positional controllability of the equipment during operation, a limit assembly 26 is installed between the lower alignment platform 1 and the upper working platform 2 to detect the extreme positions of the lifting and lowering movements. This limit assembly 26 includes a sensor plate and a sensor switch. The sensor plate is fixedly installed on the side of the upper working platform 2, while the sensor switch is correspondingly mounted on the mounting base of the lower alignment platform 1. The sensor switch has a sensing port. When the upper working platform 2 rises or falls to a preset extreme position, the sensor plate precisely inserts into this sensing port, triggering a switch signal, thereby controlling the system to promptly cut off power or issue an alarm.

[0045] In this design, the inclined angle of the wedge block 62 is designed to be between 30° and 45°. This angle range has been optimized to achieve a balance between horizontal driving force and vertical lifting stroke, ensuring both the sensitivity of the lifting motion and avoiding excessive driving load due to an excessively large angle. In specific implementation, the horizontal movement stroke of the wedge block 62 is set to 0 to 100 mm, and correspondingly, the vertical lifting stroke of the upper working platform 2 is 0 to 50 mm. The two are precisely converted into displacement through the inclined angle. Actual measurements show that the repeatability of this Z-axis lifting mechanism can reach ±0.005 mm, which meets the requirements of high-precision alignment processes.

[0046] To achieve high-precision closed-loop control, all servo motors (including the X-axis, θ-axis, Y-axis, and first servo motors) are equipped with 23-bit absolute encoders. These encoders provide real-time feedback of the precise position information of each axis. After receiving the X, Y, and θ-axis offsets calculated by the vision system and the target height setpoint for the Z-axis, the control system, combined with the real-time feedback from the encoders, performs four-axis linkage closed-loop control of the servo motors. This control method allows for real-time compensation of motion deviations, ensuring coordinated movement between the lower alignment platform and the upper working platform, achieving precise alignment of planar position and height in a single operation.

[0047] The automatic alignment and lifting platform provided by this invention relies on vision guidance and multi-axis linkage control as its core working principle. The specific implementation process is as follows: First, the platform works in conjunction with an external vision system. During operation, the upper work platform 2 carries the workpiece to be aligned and moves it below the vision system. The vision system acquires real-time images of the workpiece's position and analyzes and calculates its planar offset in the X-axis, Y-axis, and θ-angle directions. At the same time, it determines the target height of the Z-axis according to process requirements, and then transmits all this data to the control system.

[0048] After receiving the command, the control system begins to coordinate the movements of each axis. Specifically, the X-axis servo motor, Y-axis servo motor, and θ-axis servo motor respond to the command and drive the middle Y-axis moving stage, the upper X-axis moving stage, and the θ-axis rotary stage of the lower alignment platform 1 to perform precise superimposed movements through transmission components such as ball screws, linear guides, and disc bearings. This quickly eliminates the workpiece's X and Y-axis displacement and angular deviations in the plane, completing the planar alignment.

[0049] At the same time, the Z-axis lifting mechanism begins to operate. The first servo motor 61 drives the wedge block 62 to move precisely horizontally on the linear guide rail via a ball screw. Because the wedge block 62 has a specific angled slope, its horizontal movement is converted into a vertical lifting force through the cam bearing follower 63, thereby driving the upper working platform 2 to smoothly rise or fall along the guide column assembly 64 to the Z-axis height set by the control system.

[0050] Throughout the process, the 23-bit absolute encoders built into each axis servo motor feed the position signals back to the control system in real time, forming a closed-loop control with the detection data from the vision system. Through the high degree of coordination and linkage of the four axes X, Y, θ, and Z, the platform can complete all position adjustments of the workpiece in three-dimensional space in one go, achieving efficient and precise integrated automatic alignment.

[0051] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0052] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic positioning and lifting platform, characterized in that, It includes a lower alignment platform, an upper working platform, an X-axis drive mechanism, a Y-axis drive mechanism, and a θ-axis rotation mechanism, characterized in that: It also includes a Z-axis lifting mechanism, which comprises a first servo motor, a ball screw, a wedge, a cam bearing follower, a linear guide, and a guide column assembly; The first servo motor is connected to the wedge block via a ball screw, and the wedge block moves horizontally on a linear guide rail; The cam bearing follower rolls with the inclined surface of the wedge block, converting the horizontal movement of the wedge block into the vertical lifting and lowering movement of the upper working platform. The X-axis drive mechanism, Y-axis drive mechanism, and θ-axis rotation mechanism drive the lower alignment platform to complete planar alignment, while the Z-axis lifting mechanism drives the upper working platform to complete height alignment, thus achieving four-axis alignment (X / Y / θ / Z).

2. The automatic positioning and lifting platform according to claim 1, characterized in that, The lower alignment platform includes a bottom fixed base, a middle Y-axis moving stage, an upper X-axis moving stage, and a θ-axis rotary stage; The Y-axis drive mechanism includes a Y-axis servo motor, a Y-axis ball screw A, and a Y-axis crossed roller linear guide. The Y-axis servo motor drives the middle Y-axis moving stage to move linearly along the Y-axis through the Y-axis ball screw A. The X-axis drive mechanism includes an X-axis servo motor, an X-axis ball screw A, and an X-axis crossed roller linear guide. The X-axis servo motor drives the upper X-axis moving stage to move linearly along the X-axis through the X-axis ball screw A. The θ-axis rotation mechanism includes an θ-axis servo motor and a disk bearing. The θ-axis servo motor drives the θ-axis rotary table to perform angular rotational motion through the disk bearing. The overlapping and coordination of the X-axis linear motion, Y-axis linear motion, and θ-axis rotational motion enables the lower alignment platform to achieve three-dimensional translational and rotational alignment in the X-axis, Y-axis, and angular directions.

3. The automatic positioning and lifting platform according to claim 1, characterized in that, The upper working platform, from bottom to top, includes a lifting support plate, a connecting plate, and a vacuum adsorption platform; The cam bearing follower is located at the bottom of the lifting bearing plate, and several guide column assemblies are provided between the lifting bearing plate and the lower alignment platform to guide the vertical movement of the lifting bearing plate. A plurality of oil-free bushing guide column assemblies are provided between the connecting plate and the lifting bearing plate to guide the vertical movement of the connecting plate. The vacuum adsorption platform is fixedly mounted on the connecting plate.

4. The automatic positioning and lifting platform according to claim 1, characterized in that, A limit spring is provided between the lower alignment platform and the upper working platform. The limit spring is located outside the cam bearing follower, so that the cam bearing follower abuts against the inclined surface of the wedge block to form a pure rolling fit.

5. The automatic alignment lifting platform according to claim 3, characterized in that, The guide post assembly and the oil-free bushing guide post assembly are arranged symmetrically to form a lifting dual-guide structure.

6. The automatic positioning and lifting platform according to claim 5, characterized in that, The guide column assembly consists of four groups, distributed at the four corners of the lifting support plate. Each group of guide column assemblies includes a guide sleeve disposed on the lifting support plate. A first guide column is disposed inside the guide sleeve. The lower end of the first guide column is connected to the lower alignment platform, and the upper end of the first guide column is fixedly connected to the connecting plate. A first spring is sleeved on the first guide column. One end of the first spring abuts against the lower alignment platform, and the other end abuts against the guide sleeve.

7. The automatic positioning and lifting platform according to claim 5, characterized in that, The number of oil-free bushing guide post assemblies is four, distributed at the four corners of the connecting plate. Each set of oil-free bushing guide post assemblies includes an oil-free bushing set on the lifting bearing plate. A second guide post is set inside the oil-free bushing. The upper end of the second guide post is fixedly connected to the connecting plate. A second spring is sleeved on the second guide post. One end of the second spring abuts against the connecting plate and the other end abuts against the lifting bearing plate.

8. The automatic positioning and lifting platform according to claim 1, characterized in that, A limiting component is provided between the lower alignment platform and the upper working platform. The limiting component includes a sensing plate on the upper working platform and a sensing switch on the lower alignment platform. The sensing plate can be inserted into the sensing port of the sensing switch.

9. The automatic positioning and lifting platform according to claim 1, characterized in that, The wedge has an inclination angle of 30° to 45° and a horizontal movement stroke of 0 to 100 mm, corresponding to a lifting stroke of 0 to 50 mm for the upper working platform.

10. The automatic alignment lifting platform according to claim 1, characterized in that, All servo motors are equipped with absolute encoders, forming a closed-loop control system with the vision system and control system.

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