Carrier plate positioning device and elevator

Abstract

The utility model discloses a carrier plate positioning device and an elevator, the carrier plate positioning device comprises a positioning frame, a conveying mechanism, a positioning mechanism and a deceleration sensor, the positioning frame is provided with a feeding position and a material positioning position, and the feeding position and the material positioning position are arranged at an interval; the conveying mechanism is arranged on the positioning frame and used for conveying a carrier plate. The positioning mechanism is arranged on the positioning frame, and the positioning mechanism and the conveying mechanism are arranged at an interval; the positioning mechanism is used for limiting the position of a battery piece on the carrier plate; the speed reduction sensor is arranged on the positioning frame and located at the feeding position. The speed reduction sensor is used for detecting whether the carrier plate moves to the feeding position or not. According to the technical scheme of the utility model, the positioning precision and stability of the carrier plate are improved, so that the battery piece is moved in place, and the processing efficiency of the battery piece is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of silicon wafer production, and particularly relates to a carrier plate positioning device and a lift. Background Technique

[0002] When manufacturing solar cells, by using a solar PECVD (Plasma-enhanced Chemical Vapor Deposition) device, first, a plurality of cell wafers are placed on a large carrier plate in the loading and unloading area, and then the carrier plate together with the cell wafers is introduced into the process chamber through a carrier plate lifting table and a transmission line for processing. After the process is completed, the carrier plate is then transmitted back to the loading and unloading area through the carrier plate lifting table and a return line, the processed cell wafers are unloaded, and new cell wafers are loaded, repeating the above process. During large-scale production, an automatic loading and unloading device is required to load and unload the cell wafers on the carrier plate.

[0003] When the automatic loading and unloading device works, first, the carrier plate is positioned, and then the cell wafers are placed into the grids set on the carrier plate by a manipulator. Whether the automatic loading and unloading device can accurately place the cell wafers into the grids of the carrier plate depends to a large extent on whether the positioning of the carrier plate is accurate. If the carrier plate cannot be accurately positioned, even if the accuracy of the manipulator is high, the cell wafers cannot be placed in the specified positions, which directly affects the subsequent processing results of the cell wafers. Therefore, the positioning device of the carrier plate is crucial. However, the positioning accuracy and stability of the existing carrier plate positioning devices are poor, resulting in difficulty for the cell wafers to move into place, greatly reducing the processing efficiency of the cell wafers. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a carrier plate positioning device and a lift, aiming to improve the positioning accuracy and stability of the carrier plate, thereby enabling the cell wafers to move into place and improving the processing efficiency of the cell wafers.

[0005] To achieve the above object, a carrier plate positioning device proposed by the utility model includes:

[0006] A positioning frame having a feeding position and a material positioning position, the feeding position and the material positioning position being spaced apart;

[0007] A conveying mechanism disposed on the positioning frame for conveying the carrier plate;

[0008] A positioning mechanism disposed on the positioning frame and spaced apart from the conveying mechanism; the positioning mechanism is used to define the position of the cell wafers on the carrier plate; and

[0009] A deceleration sensor, which is arranged on the positioning frame and located at the feeding position; the deceleration sensor is used to detect whether the carrier plate moves to the feeding position.

[0010] In one embodiment, the carrier plate positioning device further includes a position sensor, which is arranged on the positioning frame and located at the material positioning position; the position sensor is used to detect whether the carrier plate moves to the material positioning position.

[0011] In one embodiment, the carrier plate positioning device further includes a blocking mechanism, and the blocking mechanism includes:

[0012] A blocking cylinder, which is arranged on the positioning frame and located below the carrier plate; and

[0013] A blocking block, which is rotatably connected to the telescopic rod of the blocking cylinder, so that the blocking cylinder drives the blocking block to move up and down relative to the carrier plate;

[0014] And / or, an elastic layer is provided on the surface of the blocking block.

[0015] In one embodiment, the carrier plate positioning device further includes a lifting mechanism, and the lifting mechanism includes:

[0016] At least two lifting cylinders, which are arranged on both sides of the positioning frame and are adjacent to the conveying mechanism; and

[0017] At least two lifting blocks, each of which is connected to the telescopic rod of a lifting cylinder, and the lifting blocks are arranged parallel to the conveying mechanism.

[0018] In one embodiment, the lifting mechanism further includes at least two guide shafts and at least two shaft seats. The two shaft seats are installed on the positioning frame and are adjacent to the conveying mechanism. One end of each guide shaft is connected to a shaft seat in a lifting manner, and the other end of each guide shaft is connected to a lifting block and is spaced from the lifting cylinder.

[0019] In one embodiment, the positioning mechanism includes:

[0020] A positioning plate, which is connected to the positioning frame and is spaced from the conveying mechanism;

[0021] A positioning cylinder, which is arranged on the positioning plate; and

[0022] A positioning block, which is connected to the telescopic rod of the positioning cylinder, and the positioning cylinder drives the positioning block to approach or move away from the battery cell.

[0023] In one embodiment, the carrier positioning device includes a plurality of the positioning mechanisms, and the plurality of the positioning mechanisms are installed on the positioning frame and arranged around the periphery of the carrier.

[0024] In one embodiment, the carrier positioning device further includes a check mechanism, and the check mechanism includes:

[0025] A driving motor, which is arranged on the positioning frame and is spaced from the conveying mechanism, the positioning mechanism and the deceleration sensor; and

[0026] A check block, which is connected to the output shaft of the driving motor, and the check block is used to block the carrier from moving in the reverse conveying direction.

[0027] In one embodiment, a stop inclined surface is arranged on the side of the check block facing the carrier, and the stop inclined surface is inclined upward from the side close to the positioning mechanism to the side far from the positioning mechanism.

[0028] The present utility model further provides a lift, which includes a frame body, two linear motors, two linear guide rails, two ball chains and the carrier positioning device as described above. The two linear motors and the two linear guide rails are arranged on the frame body, the two linear guide rails are arranged at intervals, the carrier positioning device is slidably connected to the two linear guide rails and is in transmission connection with the two linear motors; one ends of the two ball chains are rotatably connected to the frame body, and the other ends of the two ball chains are rotatably connected to the carrier positioning device.

[0029] The carrier positioning device of the technical solution of the present utility model includes a positioning frame, a conveying mechanism, a positioning mechanism and a deceleration sensor. The positioning frame has a feeding position and a material positioning position, and the feeding position and the material positioning position are arranged at intervals; the conveying mechanism is arranged on the positioning frame and is used for conveying the carrier; the positioning mechanism is arranged on the positioning frame and is spaced from the conveying mechanism; the positioning mechanism is used for defining the position of the battery cell on the carrier; the deceleration sensor is arranged on the positioning frame and is located at the feeding position; the deceleration sensor is used for detecting whether the carrier moves to the feeding position; thus, the conveying mechanism conveys the carrier with the battery panel placed thereon to the feeding position, triggers the operation of the deceleration sensor, and the deceleration sensor detects the position of the carrier and transmits it to the main controller of the carrier positioning device; at this time, the main controller can determine that the carrier enters the feeding position according to the electrical signal sent by the deceleration sensor, and then control the conveying mechanism to slow down the moving speed, so that the carrier can flow into the material positioning position slowly at a reduced speed. Such a slowly moving carrier is easier to be clamped by the positioning mechanism, so that the positioning mechanism can more quickly and stably position the carrier to the material positioning position, improving the positioning accuracy and stability of the carrier, and further enabling the battery cell to move into place and improving the processing efficiency of the battery cell. Description of the Drawings

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0031] Figure 1 Structural schematic diagram of the carrier plate positioning device of the present invention;

[0032] Figure 2 Structural schematic diagram of the carrier plate positioning device of the present invention after removing part of the frame;

[0033] Figure 3 Structural schematic diagram of the positioning frame of the carrier plate positioning device of the present invention;

[0034] Figure 4 Structural schematic diagram of the carrier plate positioning device of the present invention after removing the carrier plate;

[0035] Figure 5 Structural schematic diagram of the lifting mechanism of the carrier plate positioning device of the present invention.

[0036] Explanation of the reference numerals in the drawings:

[0037] Label Name Label Name 10 Positioning frame 62 Blocking block 20 Conveyor mechanism 70 Lifting mechanism 30 Positioning mechanism 71 Lifting cylinder 31 Positioning plate 72 Lifting block 32 Positioning cylinder 73 Guide shaft 33 Positioning block 74 Shaft seat 40 Deceleration sensor 1 Carrier plate 50 In-place sensor 2 Frame 60 Blocking mechanism 3 Linear guide rail 61 Blocking cylinder

[0038] The realization, functional features and advantages of the object of the present invention will be further described in conjunction with the embodiments with reference to the drawings. Specific embodiments

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0040] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0041] In addition, the descriptions involving "first", "second", etc. in the present utility model are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. Additionally, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0042] For this reason, the present utility model provides a carrier plate positioning device.

[0043] In an embodiment of the present utility model, please refer to Figure 1 , Figure 3 and Figure 4 . The carrier plate positioning device includes a positioning frame 10, a conveying mechanism 20, a positioning mechanism 30, and a deceleration sensor 40. The positioning frame 10 has a feeding position and a positioning position, and the feeding position and the positioning position are arranged at intervals; the conveying mechanism 20 is arranged on the positioning frame 10 and is used for conveying the carrier plate 1; the positioning mechanism 30 is arranged on the positioning frame 10 and is arranged at an interval from the conveying mechanism 20; the positioning mechanism 30 is used for defining the position of the battery cell on the carrier plate 1; the deceleration sensor 40 is arranged on the positioning frame 10 and is located at the feeding position; the deceleration sensor 40 is used for detecting whether the carrier plate 1 moves to the feeding position.

[0044] Specifically, the conveying mechanism 20 conveys the carrier plate 1 with the battery panel placed thereon to the feeding position. When the carrier plate 1 completely enters the feeding position, it triggers the operation of the deceleration sensor 40. The deceleration sensor 40 detects the position of the carrier plate 1 and transmits it to the main controller of the carrier plate positioning device; at this time, the main controller can determine that the carrier plate 1 enters the feeding position according to the electrical signal sent by the deceleration sensor 40, and then controls the conveying mechanism 20 to slow down the moving speed, so that the carrier plate 1 can flow into the positioning position slowly at a reduced speed. In this way, the slowly moving carrier plate 1 is easier to be clamped by the positioning mechanism 30, enabling the positioning mechanism 30 to more quickly and stably position the carrier plate 1 to the positioning position, improving the positioning accuracy and stability of the carrier plate 1, and then enabling the battery cell to move into place and improving the processing efficiency of the battery cell.

[0045] In one embodiment, please refer to Figure 1 , Figure 3 and Figure 4 . The carrier plate positioning device further includes a position sensor 50. The position sensor 50 is arranged on the positioning frame 10 and is located at the positioning position; the position sensor 50 is used for detecting whether the carrier plate 1 moves to the positioning position.

[0046] In this embodiment, when the carrier board 1 moves to the fast proximity of the material positioning position, the in-place sensor 50 can detect the position of the carrier board 1. At this time, the main controller of the carrier board positioning device controls the conveying mechanism 20 to slow down the moving speed. Until the carrier board 1 completely flows into the material positioning position, the conveying mechanism 20 stops moving, so that the carrier board 1 can stay at the material positioning position.

[0047] In one embodiment, please refer to Figure 1 , Figure 3 and Figure 4 , the carrier board positioning device further includes a blocking mechanism 60. The blocking mechanism 60 includes a blocking cylinder 61 and a blocking block 62. The blocking cylinder 61 is arranged on the positioning frame 10 and is located below the carrier board 1; the blocking block 62 is rotatably connected to the telescopic rod of the blocking cylinder 61, so that the blocking cylinder 61 drives the blocking block 62 to move up and down relative to the carrier board 1; and / or, an elastic layer is provided on the surface of the blocking block 62.

[0048] In this embodiment, the blocking cylinder 61 is arranged at the middle position of the positioning frame 10 and is located below the carrier board 1; when the deceleration sensor 40 detects the position of the carrier board 1, the main controller of the carrier board positioning device controls the blocking cylinder 61 to move up. The telescopic rod of the blocking cylinder 61 extends out and drives the blocking block 62 to rotate relative to the positioning frame 10. The blocking block 62 protrudes from the positioning frame 10, so that the blocking block 62 can block the carrier board 1 flowing into the material positioning position, preventing the carrier board 1 from continuing to be driven by the conveying mechanism 20 to move, ensuring that the carrier board 1 moves in place, and improving the positioning accuracy and stability of the carrier board 1.

[0049] An elastic layer is provided on the blocking block 62. With such a setting, when the blocking block 62 contacts the carrier board 1, the elastic layer on the blocking block 62 can offset a part of the impact force given by the carrier board 1, reduce the vibration of the carrier board 1, and make the battery panel on the carrier board 1 not easily displaced. The elastic layer can be silicone or rubber.

[0050] In one embodiment, please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 , the carrier board positioning device further includes a lifting mechanism 70. The lifting mechanism 70 includes at least two lifting cylinders 71 and at least two lifting blocks 72. The two lifting cylinders 71 are arranged on both sides of the positioning frame 10 and are arranged adjacent to the conveying mechanism 20; each lifting block 72 is connected to the telescopic rod of a lifting cylinder 71, and the lifting block 72 is arranged parallel to the conveying mechanism 20.

[0051] Specifically, the two lifting cylinders 71 of the lifting mechanism 70 are respectively arranged on two sides of the positioning frame 10 and are adjacent to the conveying mechanism 20. When the carrier plate 1 moves to the fixed feeding position and is blocked by the blocking block 62, at this time, the lifting cylinders 71 are controlled to operate, and the telescopic rods of the two lifting cylinders 71 extend, so that the two lifting cylinders 71 drive the two lifting blocks 72 to rise together. The two lifting blocks 72 drive the carrier plate 1 to rise at the same time. In this way, the carrier plate 1 is separated from the transmission of the conveying mechanism 20, and the carrier plate 1 is stably stopped at the fixed feeding position, which is convenient for the subsequent processing operation of the battery panel.

[0052] Optionally, an elastic layer is provided on the side of the lifting block 72 facing away from the lifting cylinder 71, so that the lifting block 72 is not easily worn when contacting the carrier plate 1, playing a certain protective role.

[0053] In an embodiment, please refer to Figure 1 、 Figure 3 、 Figure 4 and Figure 5 The lifting mechanism 70 further includes at least two guide shafts 73 and at least two shaft seats 74. The two shaft seats 74 are installed on the positioning frame 10 and are adjacent to the conveying mechanism 20. One end of each guide shaft 73 is connected to a shaft seat 74 in a lifting manner, and the other end of each guide shaft 73 is connected to a lifting block 72 and is spaced from the lifting cylinder 71.

[0054] Specifically, the two shaft seats 74 are respectively installed on both sides of the positioning frame 10, and one end of each shaft seat 74 is movably connected to a guide shaft 73; and the other end of the guide shaft 73 is connected to the lifting block 72. With such a setting, when the lifting cylinder 71 drives the lifting block 72 to lift and lower, during the lifting and lowering process of the lifting block 72, the lifting block 72 can stably lift and lower through the two guide shafts 73 relative to the two shaft seats 74, thereby improving the lifting and lowering stability of the lifting block 72.

[0055] In an embodiment, please refer to Figure 1 、 Figure 3 、 Figure 4 and Figure 5 The positioning mechanism 30 includes a positioning plate 31, a positioning cylinder 32 and a positioning block 33. The positioning plate 31 is connected to the positioning frame 10 and is spaced from the conveying mechanism 20; the positioning cylinder 32 is arranged on the positioning plate 31; the positioning block 33 is connected to the telescopic rod of the positioning cylinder 32, and the positioning cylinder 32 drives the positioning block 33 to approach or move away from the battery cell.

[0056] In this embodiment, the positioning plate 31 includes a bottom plate and a top plate. The top plate and the bottom plate are fixed together by fixing members, and the top plate is provided with an opening. The bottom plate is provided with a fixed seat. The positioning cylinder 32 is fixed on the fixed seat by a fixing member, and the positioning cylinder 32 extends through the opening to the top plate. The positioning block 33 approaches or moves away from the battery cell through the telescopic movement of the positioning cylinder 32. Thus, through the cooperation of the positioning cylinder 32 and the positioning block 33, the limiting of the battery cell on the carrier plate 1 is achieved.

[0057] Optionally, an elastic layer is provided on the surface of the positioning block 33. Thus, when the positioning block 33 contacts the battery cell, the elastic layer can offset a part of the external impact force, thereby playing a role in protecting the positioning block 33.

[0058] In one embodiment, please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 , the carrier plate positioning device includes a plurality of positioning mechanisms 30. The plurality of positioning mechanisms 30 are installed on the positioning frame 10 and are arranged around the periphery of the carrier plate 1. Thus, by providing a plurality of positioning mechanisms 30 around the periphery of the carrier plate 1 and using the plurality of positioning mechanisms 30 to simultaneously define the position of the carrier plate 1, the positioning effect of the carrier plate positioning device is improved.

[0059] In one embodiment, please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 , the carrier plate positioning device further includes a check mechanism. The check mechanism includes a drive motor and a check block. The drive motor is arranged on the positioning frame 10 and is spaced apart from the conveying mechanism 20, the positioning mechanism 30, and the deceleration sensor 40; the check block is connected to the output shaft of the drive motor, and the check block is used to block the carrier plate 1 from moving in the reverse conveying direction.

[0060] Specifically, when the carrier plate 1 moves to the feeding position and is positioned by the blocking mechanism 60 and the positioning mechanism 30, at this time, the drive motor is controlled to operate. The drive motor drives the check block to rotate relative to the positioning frame 10, so that the check block defines the end of the carrier plate 1, avoiding the carrier plate 1 from moving in the reverse conveying direction and improving the positioning effect of the carrier plate positioning device.

[0061] In one embodiment, please refer to Figure 1 , Figure 3 , Figure 4 and Figure 5 , a stop inclined surface is provided on the side of the check block facing the carrier plate 1. The stop inclined surface is inclined upward from the side close to the positioning mechanism 30 to the side away from the positioning mechanism 30.

[0062] Specifically, the stop inclined surface is arranged to incline upward along the conveying direction of the conveying mechanism 20. In this way, the stop inclined surface can block and limit the end of the carrier plate 1, preventing the carrier plate 1 from moving in the reverse conveying direction. Moreover, when limiting the carrier plate 1, the stop inclined surface is not likely to scrape the carrier plate 1, reducing the limit of the check block on the carrier plate 1.

[0063] The present utility model further provides a lift. Please refer to Figure 1 、 Figure 2 and Figure 3 . The lift includes a frame body 2, two linear motors 3, two linear guide rails 4, two ball chains 5 and the carrier plate positioning device as described above. The two linear motors 3 and the two linear guide rails 4 are arranged on the frame body 2. The two linear guide rails 4 are arranged at intervals. The carrier plate positioning device is slidably connected to the two linear guide rails 4 and is in transmission connection with the two linear motors 3. One end of each of the two ball chains 5 is rotatably connected to the frame body 2, and the other end of each of the two ball chains 5 is rotatably connected to the carrier plate positioning device.

[0064] In this embodiment, the two linear motors 3 are fixed to the frame body 2 through fixing members, and each linear motor 3 is arranged adjacent to a linear guide rail 4. The entire carrier plate positioning device is slidably connected to the two linear guide rails 4. The two linear motors 3 drive the carrier plate positioning device to lift through the cooperation of a conveyor belt and gears, so that the carrier plate positioning device can lift relative to the frame body 2, enabling the carrier plate positioning device to position and process battery plates with different thicknesses or different sizes.

[0065] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present utility model.

Claims

1. A carrier positioning device, characterized in that: The carrier plate positioning device comprises: A positioning frame, wherein the positioning frame has a feeding position and a fixing position, and the feeding position and the fixing position are arranged at intervals; A conveying mechanism, the conveying mechanism is arranged on the positioning frame and is used for conveying the carrier; A positioning mechanism, the positioning mechanism is arranged on the positioning frame and is spaced apart from the conveying mechanism; the positioning mechanism is used to limit the position of the battery cell on the carrier; and A deceleration sensor is arranged on the positioning frame and located at the feeding position; the deceleration sensor is used to detect whether the carrier plate moves to the feeding position.

2. The carrier positioning device according to claim 1, characterized in that: The carrier plate positioning device further comprises an in-place sensor, which is arranged on the positioning frame and located at the fixed material position; the in-place sensor is used to detect whether the carrier plate moves to the fixed material position.

3. The carrier positioning device according to claim 1, characterized in that: The carrier positioning device further comprises a blocking mechanism, wherein the blocking mechanism comprises: a blocking cylinder, the blocking cylinder being arranged on the positioning frame and being located below the carrier plate; and A blocking block, the blocking block being rotatably connected to the telescopic rod of the blocking cylinder so that the blocking cylinder drives the blocking block to rise and fall relative to the carrier plate; And / or, an elastic layer is provided on the surface of the blocking block.

4. The carrier positioning device according to claim 1, characterized in that: The carrier positioning device further includes a lifting mechanism, and the lifting mechanism includes: At least two lifting cylinders, the two lifting cylinders are arranged on both sides of the positioning frame and are arranged adjacent to the conveying mechanism; and At least two lifting blocks, each of which is connected to a telescopic rod of the lifting cylinder, and the lifting blocks are arranged in parallel with the conveying mechanism.

5. The carrier positioning device according to claim 4, characterized in that: The lifting mechanism also includes at least two guide shafts and at least two shaft seats. The two shaft seats are installed on the positioning frame and are arranged adjacent to the conveying mechanism. One end of each guide shaft is connected to one of the shaft seats for lifting and lowering, and the other end of each guide shaft is connected to one of the lifting blocks and is arranged at intervals from the lifting cylinder.

6. The carrier positioning device according to claim 1, characterized in that: The positioning mechanism comprises: A positioning plate, the positioning plate is connected to the positioning frame and is spaced apart from the conveying mechanism; A positioning cylinder, the positioning cylinder being arranged on the positioning plate; and A positioning block is connected to the telescopic rod of the positioning cylinder, and the positioning cylinder drives the positioning block to approach or move away from the battery sheet.

7. The carrier positioning device according to claim 1, characterized in that: The carrier plate positioning device comprises a plurality of positioning mechanisms, which are mounted on the positioning frame and arranged around the periphery of the carrier plate.

8. The carrier positioning device according to claim 1, characterized in that: The carrier plate positioning device further includes a non-return mechanism, and the non-return mechanism includes: a driving motor, the driving motor being arranged on the positioning frame and spaced apart from the conveying mechanism, the positioning mechanism and the deceleration sensor; and A check block is connected to the output shaft of the driving motor, and is used to prevent the carrier from moving in the opposite direction of the transmission.

9. The carrier positioning device according to claim 8, characterized in that: A stop slope is provided on a side of the check block facing the carrier plate, and the stop slope is arranged to be inclined upward from a side close to the positioning mechanism to a side away from the positioning mechanism.

10. A lift, characterized in that: The elevator includes a frame, two linear motors, two linear guides, two ball chains and a carrier positioning device as described in any one of claims 1 to 9, the two linear motors and the two linear guides are arranged on the frame, the two linear guides are arranged at intervals, the carrier positioning device is slidably connected to the two linear guides, and is transmission-connected to the two linear motors; one end of the two ball chains is rotatably connected to the frame, and the other end of the two ball chains is rotatably connected to the carrier positioning device.

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