CN107398913B - Module detection line righting mechanism - Google Patents

Abstract

The invention relates to the technical field of mechanical precise positioning design, in particular to a module detection line resetting mechanism. The invention provides a correcting mechanism which comprises a correcting rack, a horizontal module and a correcting component, wherein the correcting component comprises a first layer of locating plate, a second layer of locating plate and a third layer of locating plate which are all provided with correcting stations, the horizontal module is provided with a horizontal guide rail and a servo motor, the first layer of locating plate is provided with a sliding block group, and the servo motor drives the first layer of locating plate to move along the trend of the horizontal guide rail through the sliding block group; the short side end and the long side end of the first layer of positioning plate are respectively provided with a first pushing unit and a second pushing unit, and the first pushing unit is used for positioning the module in the X-axis direction through the second layer of positioning plate; the second pushing unit is used for positioning the module in the Y-axis direction through the third layer of positioning plate, is simple and convenient to operate and reliable in performance, effectively improves the positioning precision of the module, ensures smooth performance of the module in appearance and stitch detection, and improves the production efficiency and quality of products.

Description

A module detection line correction mechanism

technical field

The invention relates to the technical field of mechanical precision positioning design, in particular to a module detection line normalization mechanism, in particular to a module detection line normalization mechanism with simple structure, reliable performance and high precision.

Background technique

In the process of circuit module detection technology, pin detection is often performed on the modules placed in the tray, and the conventional way is to place them by robots. At present, when the robot grabs the module from the turnover box and puts it into the module inspection line, due to its inconsistent tolerance, it will not be able to accurately place the material in the tray when loading, and it will not be able to accurately position the module, which will cause the module to be damaged in appearance and stitch detection. False detection and false detection occur from time to time, which is not conducive to improving product quality.

Contents of the invention

(1) Technical problems to be solved

The purpose of the present invention is to provide a module detection line correction mechanism with simple structure, reliable performance and high precision, so as to solve the problem that the existing method of directly placing the module by a robot cannot be accurately positioned and cause the module to fail when detecting the appearance and stitches. The problem of false detection and false detection.

(2) Technical solution

In order to solve the above-mentioned technical problems, the present invention provides a module detection line correction mechanism, including a correction frame, a horizontal module and a correction assembly arranged on the correction frame, and the correction assembly consists of The first floor positioning plate, the second floor positioning plate and the third floor positioning plate are arranged in sequence from bottom to top, and the horizontal module is provided with a horizontal guide rail and a servo motor. The positioning plate is provided with a slider group, and the servo motor drives the first layer of positioning plate to move along the direction of the horizontal guide rail through the slider group; the normalization station of the first layer of positioning plate is used for Place the module, and the normalization stations of the second-layer positioning board and the third-layer positioning board are used for positioning the module in the X-axis direction and the Y-axis direction respectively;

The short end of the positioning plate of the first layer is provided with a first push unit, and the first push unit includes a first telescopic cylinder and a first push plate connected with the first telescopic cylinder, and the first telescopic cylinder Driving the first push plate to push the second positioning plate, so that the normalization station of the second positioning plate positions the module in the X-axis direction;

The long side end of the positioning plate of the first layer is provided with a second push unit, and the second push unit includes a second telescopic cylinder and a second push plate connected with the second telescopic cylinder, and the second telescopic cylinder Driving the second push plate to push the third-layer positioning plate, so that the normalization station of the third-layer positioning plate can position the module in the Y-axis direction.

Wherein, the first push unit further includes a first sensing piece and a first control module respectively connected to the first sensing piece and the first telescopic cylinder, and the first sensing piece is used to detect the movement of the module on the X-axis. position in the direction.

Wherein, the second push unit further includes a second sensing piece and a second control module respectively connected to the second sensing piece and the second telescopic cylinder, and the second sensing piece is used to detect the movement of the module on the Y-axis. position in the direction.

Wherein, the slider group includes a first slider and a second slider, and the first slider and the second slider are respectively arranged on both sides of the bottom of the first layer positioning plate; the horizontal module includes Two transport lanes, the horizontal guide rails are provided on the two transport lanes, and the first layer of positioning plate is driven by the servo motor through the first slider and the second slider along the two The direction of the horizontal guide rail is reciprocating.

Wherein, the first sliding block is configured with a groove matching the horizontal guide rail, and the first sliding block is fixedly connected to one side of the bottom of the first layer positioning plate through the first connecting plate.

Wherein, the second sliding block is configured with a through hole matched with the horizontal guide rail, and the second sliding block is fixedly connected to the other side of the bottom of the first layer positioning plate through the second connecting plate.

Wherein, the normalization station of the first-layer positioning plate includes a first limiting part with a single-phase module limiting groove inside and a second limiting part with a three-phase module limiting groove inside. The module limiting groove is used to place the single-phase module, and the three-phase module limiting groove is used to place the three-phase module.

Wherein, the normalization stations of the second-layer positioning plate and the third-layer positioning plate include a third limiting part with a single-phase module limiting through hole inside and a third limiting part with a three-phase module limiting through hole inside. Four limiting parts, the third limiting part is arranged directly above the first limiting part, and the fourth limiting part is arranged directly above the second limiting part.

Wherein, the first layer positioning board, the second layer positioning board and the third layer positioning board are all made of polyacetal material.

Wherein, the number of the normalizing stations of the first layer positioning board, the second layer positioning board and the third layer positioning board is nine, and the nine normalizing stations are all set on the said The first layer of positioning board, the second layer of positioning board and the third layer of positioning board.

(3) Beneficial effects

The technical scheme of the present invention has the following advantages:

The invention provides a module detection line normalization mechanism, which includes a normalization frame and a horizontal module and a normalization component arranged on the normalization frame. The first layer of positioning board, the second layer of positioning board and the third layer of positioning board. The horizontal module is equipped with horizontal guide rails and servo motors. The first layer of positioning board is equipped with a slider group, and the servo motor drives the first layer. The positioning plate moves along the direction of the horizontal guide rail through the slider group; the normalizing station of the first layer positioning plate is used to place the module, and the normalizing stations of the second layer positioning plate and the third layer positioning plate are used to align the modules respectively. Perform positioning in the X-axis direction and the Y-axis direction; the short side end of the first layer of positioning plate is provided with a first push unit, the first push unit includes a first telescopic cylinder and a first push plate connected to the first telescopic cylinder, The first telescopic cylinder drives the first push plate to push the second positioning plate, so that the normalization station of the second positioning plate can position the module in the X-axis direction; the long side end of the first positioning plate is provided with a second Push unit, the second push unit includes a second telescopic cylinder and a second push plate connected to the second telescopic cylinder, the second telescopic cylinder drives the second push plate to push the third layer of positioning plate, so that the return of the third layer of positioning plate The station positions the module in the Y-axis direction. When it needs to be corrected, the position of the module placed in the normalized station of the first layer positioning plate is adjusted in the direction of X axis and Y axis through the first push unit and the second push unit respectively, which effectively improves the positioning of the module Accuracy, to ensure the smooth progress of the module in the appearance and stitch detection, which is conducive to improving product production efficiency and quality; and the correction mechanism provided by this application has simple structure, reliable performance, easy operation, high correction accuracy and efficiency, and strong practicability , which is conducive to standardized production and promotion.

Description of drawings

Fig. 1 is a schematic structural view of a correcting assembly of an embodiment of a module detection line correcting mechanism of the present invention;

Fig. 2 is a top view of a correcting assembly of an embodiment of a module detection line correcting mechanism of the present invention;

Fig. 3 is a side view of a correcting assembly of an embodiment of a module detection line correcting mechanism of the present invention;

Fig. 4 is a structural schematic diagram of an embodiment of a module detection line correcting mechanism in the present invention, in which a correcting component is arranged on a horizontal module.

In the figure: 1: Normalizing component; 2: The first layer of positioning board; 3: The second layer of positioning board; 4: The third layer of positioning board; 5: Normalizing station; 6: The first pushing unit; 6-1 : the first mounting seat; 6-2: the first telescopic cylinder; 6-3: the first push plate; 7: the second pushing unit; 7-1: the second mounting seat; 7-2: the second telescopic cylinder; 7 -3: second push plate; 8: second slider; 9: first connecting plate; 10: first slider; 11: external sensor; 12: single-phase module limit slot; 13: first limit Position part; 14: three-phase module limit slot; 15: second limit part; 16: horizontal module.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

It should be noted that, in this embodiment, the X axis points to the direction of the long side of the normalizing assembly, and the Y axis points to the direction of the short side of the normalizing assembly.

As shown in Figures 1 to 4, the embodiment of the present invention provides a module detection line normalization mechanism, including a normalization frame, a horizontal module 16 and a normalization assembly 1 arranged on the normalization frame, and the normalization The assembly 1 includes the first layer of positioning plate 2, the second layer of positioning plate 3 and the third layer of positioning plate 4, which are arranged sequentially from bottom to top and are equipped with a normalization station 5. The horizontal module 16 is provided with horizontal guide rails and servo motors. The motor, the servo motor is connected with the positioning board 2 of the first layer, the positioning board 2 of the first layer is provided with a slider group, and the servo motor drives the positioning board 2 of the first layer to move along the direction of the horizontal guide rail through the slider group; the positioning board of the first layer The normalizing station 5 of the board 2 is used to place the module, and the normalizing station 5 of the positioning board 3 on the second layer and the positioning board 4 on the third layer are used to position the modules in the X-axis direction and the Y-axis direction respectively; The first push unit 6 is provided at the short side end of one layer of positioning plate 2, and the first push unit 6 includes the first telescopic cylinder 6-2 and the first push plate 6-3 connected with the first telescopic cylinder 6-2, the first telescopic cylinder 6-2 A telescopic cylinder 6-2 drives the first push plate 6-3 to push the second positioning plate 3, so that the normalization station 5 of the second positioning plate 3 positions the module in the X-axis direction; the first positioning plate The long side end of 2 is provided with the second push unit 7, and the second push unit 7 comprises the second telescopic cylinder 7-2 and the second push plate 7-3 connected with the second telescopic cylinder 7-2, the second telescopic cylinder 7 -2 driving the second push plate 7-3 to push the third positioning plate 4, so that the normalizing station 5 of the third positioning plate 4 positions the module in the Y-axis direction.

Specifically, using the module detection line correction mechanism provided in this embodiment, the correction operation steps are as follows:

Now place the module in the normalization station 5 on the positioning board 2 of the first floor;

Open the first telescopic cylinder 6-2, the first telescopic cylinder 6-2 drives the first push plate 6-3, and then the first push plate 6-3 pushes the second layer of positioning plate 3 and makes the return of the second layer of positioning plate 3 The positive station 5 positions the module in the X-axis direction, thereby making the positioning of the module in the X-axis direction precise;

Open the second telescopic cylinder 7-2, the second telescopic cylinder 7-2 drives the second push plate 7-3, and then the second push plate 7-3 pushes the third floor positioning plate 4 and makes the return of the third floor positioning plate 4 The positive station 5 positions the module in the direction of the Y axis, thereby making the positioning of the module precise in the direction of the Y axis;

Turn on the servo motor, the servo motor drives the first layer of positioning plate 2 and drives the precisely positioned module to move along the direction of the horizontal guide rail through the slider group, so as to prepare for the subsequent appearance and stitch detection.

Using the module detection line correction mechanism provided by this application, only the first push unit 6 and the second push unit 7 are required to perform X-axis and Y-axis adjustments on the modules placed in the correction station 5 of the first-layer positioning plate 2, respectively. The position adjustment in the axial direction effectively improves the positioning accuracy of the module, ensures the smooth progress of the module's appearance and stitch detection, and effectively improves the production efficiency and quality of the product; and the correcting mechanism provided by this application has a simple structure and reliable performance , easy to operate, high normalization accuracy and efficiency, strong practicability, and conducive to standardized production and promotion.

Further, the first pushing unit 6 also includes a first sensing piece and a first control module respectively connected to the first sensing piece and the first telescopic cylinder 6-2, the first sensing piece is used to detect the movement of the module in the X-axis direction. Location. In this embodiment, the first pushing unit 6 also includes a first mounting base 6-1, and the first telescopic cylinder 6-2, the first control module and the first pushing plate 6-3 are all arranged on the first mounting base 6-1. 1. The position of the module in the X-axis direction is detected by the first induction sheet. When the second layer positioning plate 3 pushes the module to the preset position, the first induction sheet sends a signal to the first control module, and then the first control module The module controls the first telescopic cylinder 6-2 to drive the first push plate 6-3 to retract, which is easy to operate, accurate in positioning and high in automation.

Further, similar to the first push unit 6, the second push unit 7 also includes a second induction sheet and a second control module connected to the second induction sheet and the second telescopic cylinder 7-2 respectively, the second induction sheet is used for The position of the detection module in the Y-axis direction. In this embodiment, the second pushing unit 7 also includes a second mounting base 7-1, and the second telescopic cylinder 7-2, the second control module and the second pushing plate 7-3 are all arranged on the second mounting base 7-1. 1 above; the position of the module in the Y-axis direction is detected by the second induction sheet, when the third layer positioning plate 4 pushes the module to the preset position, the second induction sheet sends a signal to the second control module, and then the second control module The module controls the second telescopic cylinder 7-2 to drive the second push plate 7-3 to retract, which is easy to operate, accurate in positioning and high in automation.

Specifically, the slider group includes a first slider 10 and a second slider 8, and the first slider 10 and the second slider 8 are respectively arranged on both sides of the bottom of the first layer positioning plate 2; the horizontal module 16 includes two Two transport lanes are provided with horizontal guide rails, and the first layer of positioning plate 2 reciprocates along the direction of the two horizontal guide rails through the first slide block 10 and the second slide block 8 under the drive of the servo motor. In this embodiment, the horizontal module 16 includes two transport lanes arranged in parallel, and horizontal guide rails are provided on the two transport lanes, and first slides are respectively provided on both sides of the first layer positioning plate 2 corresponding to the two horizontal guide rails. Block 10 and second slider 8, the first layer of positioning plate 2 is driven by the servo motor, and moves along the direction of the two horizontal guide rails through the first slider 10 and the second slider 8 for precise positioning The final module is transported to the other end for appearance and stitch detection process.

Specifically, the first sliding block 10 is configured with a groove matching with the horizontal guide rail, and the first sliding block 10 is fixedly connected to one side of the bottom of the first layer positioning plate 2 through the first connecting plate 9 . In this embodiment, the first slider 10 is provided with a groove matching the horizontal guide rail, and the first slider 10 is fixedly connected to the bottom of the first layer positioning plate 2 through the first connecting plate 9, wherein the connection method It can be screws, rivets, bolts, welding or bonding, and a reasonable connection method can be selected according to actual implementation conditions.

Specifically, the second sliding block 8 is configured with a through hole matched with the horizontal guide rail, and the second sliding block 8 is fixedly connected to the other side of the bottom of the first layer positioning plate 2 through the second connecting plate. In this embodiment, the second slider 8 is sleeved on the horizontal guide rail through a through hole, and the servo motor drives the first layer positioning plate 2 to move along the direction of the horizontal guide rail through the second slider 8; the second slider 8 passes through The second connection plate is fixedly connected to the bottom of the first layer positioning plate 2, wherein the connection method can be screw, rivet, bolt, welding or bonding, and a reasonable connection method can be selected according to actual implementation conditions.

Further, in this embodiment, the second slider 8 is provided with an external induction piece 11, which is used to detect the displacement of the first layer positioning plate 2 on the horizontal guide rail, so as to transport the precisely positioned module to the predetermined location. Set the location for subsequent appearance and pin detection operations.

Preferably, in order to ensure the movement stability of the first layer of positioning plate 2, the first slider 10 and the second slider 8 are symmetrically arranged on both sides of the first layer of positioning plate 2 with the center of the first layer of positioning plate 2 as the center , so that when the servo motor drives the first-layer positioning board 2, the first-layer positioning board 2 runs smoothly, thereby ensuring that the modules placed in the first-layer positioning board 2 are always in a state of precise positioning, which is beneficial to maintaining the appearance of the later stage and pin detection operations.

Wherein, the module may be a single-phase module or a three-phase module. Specifically, the normalization station 5 of the first-layer positioning plate 2 includes a first limiting part 13 with a single-phase module limiting groove 12 inside and a second limiting part 15 with a three-phase module limiting groove 14 inside. , the single-phase module limiting groove 12 is used to place the single-phase module, and the three-phase module limiting groove 14 is used to place the three-phase module. In this embodiment, the tolerances of the single-phase module limiting groove 12 and the three-phase module limiting groove 14 are relatively large, so that single-phase modules and three-phase modules of different sizes can be put in accordingly; wherein, the first limiting part 13 and the second limiting part 15 are also limiting groove structural parts, which are used to position the single-phase module or the three-phase module through the second-layer positioning plate 3 and the third-layer positioning plate 4. Or a three-phase module for further limit function.

Specifically, the normalization station 5 of the second-layer positioning plate 3 and the third-layer positioning plate 4 includes a third limiting portion with a single-phase module limiting through hole inside and a three-phase module limiting through hole inside. The fourth limiting part, the third limiting part is arranged directly above the first limiting part 13 , and the fourth limiting part is arranged directly above the second limiting part 15 . In this embodiment, the normalizing station 5 on the first-layer positioning board 2 is a limit groove, and the limiting groove is used to place the module. The normalizing stations of the second-layer positioning board 3 and the third-layer positioning board 4 5 has the same structure as the normalizing station 5 on the first-layer positioning board 2, but they are all through-hole structures; into the normalization station 5 of the first-layer positioning board 2. When normalizing, the module is precisely positioned on the X-axis and Y-axis by the second-layer positioning board 3 and the third-layer positioning board 4 respectively. The structure is simple and easy to operate. It is simple and has high positioning accuracy, which effectively improves the production quality and production efficiency of the product, and thus effectively avoids the phenomenon of false detection or false detection.

Preferably, the first positioning plate 2 , the second positioning plate 3 and the third positioning plate 4 are all made of polyacetal material. Polyacetal is an engineering plastic with excellent comprehensive properties. It has high mechanical properties, such as strength, modulus, wear resistance, toughness, fatigue resistance and creep resistance. It also has excellent electrical insulation and solvent resistance. Good performance and machinability, strong resistance to repeated impacts, and excellent dimensional stability are beneficial to prolonging the service life of the entire normalized component 1 and ensuring precise positioning of the module to improve product production efficiency and quality.

Preferably, in this embodiment, the number of the normalization stations 5 of the first layer of positioning plate 2, the second layer of positioning plate 3 and the third layer of positioning plate 4 is nine, and the nine normalization stations 5 each It is arranged on the first-layer positioning board 2, the second-layer positioning board 3 and the third-layer positioning board 4 in the form of a nine-square grid. In this way, the appearance is good and when performing a normalization operation, nine modules can be normalized at the same time Just operation, to improve the production efficiency of product, in addition, the quantity of the normalization station 5 of the first floor positioning board 2, the second floor positioning board 3 and the third floor positioning board 4 can also be other quantity, And it can also be arranged in other ways, such as square or polygonal or other forms. Specifically, the number of normalization stations 5 and their arrangement can be reasonably selected according to actual implementation conditions.

In summary, the present invention provides a module detection line normalization mechanism, which includes a normalization frame and a horizontal module and a normalization component arranged on the normalization frame. All are equipped with the first floor positioning plate, the second floor positioning plate and the third floor positioning plate of the normalization station. The horizontal module is equipped with a horizontal guide rail and a servo motor. The first floor positioning plate is equipped with a slider group. The motor drives the first positioning board to move along the direction of the horizontal guide rail through the slider group; the normalizing station of the first positioning board is used to place the module, and the normalizing station of the second positioning board and the third positioning board It is used to position the module in the X-axis direction and the Y-axis direction respectively; the short side end of the positioning plate on the first layer is provided with a first push unit, and the first push unit includes the first telescopic cylinder and the first telescopic cylinder. The first push plate, the first telescopic cylinder drives the first push plate to push the second positioning plate, so that the normalization station of the second positioning plate can position the module in the X-axis direction; the long side of the first positioning plate There is a second push unit at the end, the second push unit includes a second telescopic cylinder and a second push plate connected to the second telescopic cylinder, the second telescopic cylinder drives the second push plate to push the third layer positioning plate, so that the third layer The normalization station of the positioning plate positions the module in the Y-axis direction. When it needs to be corrected, adjust the position of the module placed in the normalized station of the first-layer positioning plate in the X-axis and Y-axis directions through the first push unit and the second push unit respectively, which effectively improves the positioning of the module Accuracy, to ensure the smooth progress of the module in the appearance and stitch detection, which is conducive to improving product production efficiency and quality; and the correction mechanism provided by this application has simple structure, reliable performance, easy operation, high correction accuracy and efficiency, and strong practicability , which is conducive to standardized production and promotion.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (6)

1. A module detection line correcting mechanism, characterized in that: it comprises a normalizing frame and a horizontal module and a normalizing component arranged on the said normalizing frame, and said correcting component comprises a sequence arranged from bottom to top And all are provided with the first floor positioning plate, the second floor positioning plate and the third floor positioning plate of the normalization station, the horizontal guide rail and the servo motor are provided on the horizontal module, and the first floor positioning plate is provided with The slider group, the servo motor drives the first layer of positioning plate to move along the direction of the horizontal guide rail through the slider group; the normalization station of the first layer of positioning plate is used to place the module, the The normalization stations of the second-layer positioning board and the third-layer positioning board are used for positioning the modules in the X-axis direction and the Y-axis direction respectively; The short side end of the positioning plate of the first layer is provided with a first push unit, and the first push unit includes a first telescopic cylinder, a first push plate connected to the first telescopic cylinder, a first induction piece and A first control module connected to the first induction sheet and the first telescopic cylinder, the first induction sheet is used to detect the position of the module in the X-axis direction; the first telescopic cylinder drives the first push plate Pushing the second-layer positioning plate, so that the normalization station of the second-layer positioning plate positions the module in the X-axis direction; The long side end of the positioning plate of the first layer is provided with a second push unit, and the second push unit includes a second telescopic cylinder, a second push plate connected to the second telescopic cylinder, a second induction sheet and A second control module connected to the second induction sheet and the second telescopic cylinder, the second induction sheet is used to detect the position of the module in the Y-axis direction; the second telescopic cylinder drives the second The push plate pushes the third-layer positioning plate, so that the normalization station of the third-layer positioning plate positions the module in the Y-axis direction; The normalization station of the first-layer positioning plate includes a first limiting part with a limiting groove for a single-phase module inside and a second limiting part with a limiting groove for a three-phase module inside. The position slot is used to place the single-phase module, and the three-phase module limit slot is used to place the three-phase module; The normalization stations of the second-layer positioning board and the third-layer positioning board include a third limiting part with a single-phase module limiting through hole inside and a fourth limiting part with a three-phase module limiting through hole inside. The third limiting part is arranged directly above the first limiting part, and the fourth limiting part is arranged directly above the second limiting part. 2. The module detection line correction mechanism according to claim 1, characterized in that: the slider group includes a first slider and a second slider, and the first slider and the second slider are respectively arranged on Both sides of the bottom of the first layer of positioning plate; the horizontal module includes two transport lanes, the horizontal guide rails are provided on the two transport lanes, and the first layer of positioning plate is on the side of the servo motor Driven by the first slide block and the second slide block to reciprocate along the direction of the two horizontal guide rails. 3. The module detection line correction mechanism according to claim 2, characterized in that: the first slider is configured with a groove matching the horizontal guide rail, and the first slider is connected through a first The board is fixedly connected to one side of the bottom of the first layer positioning board. 4. The module detection line correction mechanism according to claim 3, characterized in that: the second slider is configured with a through hole matched with the horizontal guide rail, and the second slider is connected through a second The board is fixedly connected with the other side of the bottom of the first layer positioning board. 5. The module detection line correction mechanism according to any one of claims 1-4, characterized in that: the first layer positioning plate, the second layer positioning plate and the third layer positioning plate are all made of polyacetal material production. 6. The module detection line correcting mechanism according to any one of claims 1-4, characterized in that: the correcting stations of the first layer positioning plate, the second layer positioning plate and the third layer positioning plate The number is nine, and the nine normalization stations are all arranged on the first floor positioning board, the second floor positioning board and the third floor positioning board in the form of a nine-square grid.

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