CN220075866U - Precision positioning platform and printing machine - Google Patents

Abstract

The patent provides a precision positioning platform and a printer, wherein the precision positioning platform comprises a displacement structure, a positioning mechanism and a positioning mechanism, wherein the displacement structure is provided with a moving end which moves along a set direction; and the theta axis alignment structure comprises a theta axis driving mechanism, a theta axis rotating mechanism and an alignment plate, wherein the theta axis driving mechanism and the theta axis rotating mechanism are arranged on the moving end, the theta axis driving mechanism is positioned on one side of the theta axis rotating mechanism, the alignment plate is arranged at the rotating end of the theta axis rotating mechanism and is connected with the driving end of the theta axis driving mechanism, the driving end can move and has a driving stroke and a compensation stroke, and the compensation stroke is matched with the rotating angle of the rotating end. The precise positioning platform has high positioning precision and compact volume, can realize higher rigidity and stable production capacity, and can greatly improve the printing quality of SMT products or chip products due to extremely high precision and stability.

Description

Precision positioning platform and printing machine

Technical Field

The application relates to the technical field of printing equipment, in particular to a precise positioning platform and a printing machine, which are suitable for positioning and processing with high precision.

Background

In the processing process, the alignment precision is an important link, and a high precision requirement needs to be achieved. The existing alignment platform is a core component for realizing precise alignment of automatic equipment and is widely applied to various industries of the automatic equipment, and the precise automatic adjustment of stations in X, Y and theta directions in a plane is realized by combining motor drive and mechanical structures.

Currently, the mainstream alignment platforms in the market have an xyθ alignment platform, a XXY (UVW) alignment platform, and a XXYY (UVWR) alignment platform, which have various advantages and disadvantages.

The XY theta alignment platform has mini type and common type, the mini type structure is small and exquisite, the cost is lower, the precision is general, the rigidity is poor, and the mini type structure can only be suitable for the alignment of small products, and the mini type structure is not described here. In the patent of CN115013663a, an XY θ alignment platform is disclosed, where a mounting base, an X-axis sliding mechanism, a first sliding seat, an X-axis driving adjustment mechanism, a Y-axis sliding mechanism, a second sliding seat, a Y-axis driving adjustment mechanism, a rotating seat, and a rotation driving adjustment mechanism are integrated together, the structure is compact and simple, and the rotation driving adjustment mechanism is sequentially inserted into the second sliding seat, the first sliding seat, and the mounting base.

The other type of the XY theta alignment platform is composed of an XY axis linear motor and a theta axis DD motor, X, Y direction alignment compensation is realized by the X, Y axis linear motor, and theta angle alignment compensation is realized by the theta axis DD motor, so that a precise alignment function is realized. Its advantages are high precision, high response speed, low anti-eccentric load capacity, high cost and space occupation, and low cost.

In printing equipment, the alignment platform is an important structure affecting the positioning accuracy, and the printing machine on the market at present mainly adopts the XY theta alignment platform to position.

Disclosure of Invention

In order to solve the technical problems that the anti-eccentric load capacity of an alignment platform is poor and the DD motor cannot be normally used due to vibration and shake in an eccentric occasion in the prior art, the utility model provides the precise positioning platform which is high in positioning precision and simple in volume, and the higher anti-eccentric load capacity can be realized.

In a first aspect, the present utility model provides a precision positioning stage comprising: a displacement structure having a moving end moving in a set direction; and the theta axis alignment structure comprises a theta axis driving mechanism, a theta axis rotating mechanism and an alignment plate, wherein the theta axis driving mechanism and the theta axis rotating mechanism are arranged on the moving end, the theta axis driving mechanism is positioned on one side of the theta axis rotating mechanism, the alignment plate is arranged at the rotating end of the theta axis rotating mechanism and is connected with the driving end of the theta axis driving mechanism, the driving end can move and has a driving stroke and a compensation stroke, and the compensation stroke is matched with the rotating angle of the rotating end.

Further, the θ -axis driving mechanism includes an X-direction slide rail and a Y-direction slide rail, the X-direction slide rail is adapted to the driving stroke, and the Y-direction slide rail is adapted to the compensation stroke.

Further, the theta axis driving mechanism further comprises a theta axis motor, and the output end of the theta axis motor is in transmission connection with the driving end.

Further, the θ -axis driving mechanism further includes a zero-point positioning structure, and the driving end acts on a positioning area of the zero-point positioning structure.

Further, the θ -axis driving mechanism further comprises a zero positioning structure, the zero positioning structure comprises a θ -axis synchronizing piece, a θ -axis right sensor, a θ -axis zero point sensor and a θ -axis left sensor, the θ -axis synchronizing piece is connected to the driving end, and the θ -axis right sensor, the θ -axis zero point sensor and the θ -axis left sensor are sequentially arranged on a sliding path of the θ -axis synchronizing piece.

Further, the θ axle slewing mechanism includes two sets of arc slide rails, the arc slide rail includes arc track and arc track slider, the arc track is fixed in the motion end, arc track slider slidable set up in the arc track, counterpoint board fixed connection is in a plurality of the slider.

Further, the θ -axis driving mechanism includes: the device comprises a cross bearing and at least three floating support ball assemblies, wherein at least three floating support ball assemblies are arranged on the periphery of the cross bearing in a dispersing mode.

Further, the displacement structure is provided with an X-axis displacement structure and a Y-axis displacement structure at the moving end, the Y-axis displacement structure is arranged at the moving end of the X-axis displacement structure, and the theta-axis driving mechanism and the theta-axis rotating mechanism are both arranged at the moving end of the Y-axis displacement structure.

Further, the displacement structure further comprises an equipment lifting platform, and the X-axis displacement structure is arranged on the equipment lifting platform.

In a second aspect, the present application provides a printing machine, including a printing unit, a vision system, a conveying unit, a frame, and a precision positioning platform according to any one of the embodiments of the first aspect, where the printing unit, the vision system, the conveying unit, and the precision positioning platform are sequentially disposed on the frame from top to bottom; the conveying unit is used for moving the PCB or the chip board to the precise positioning platform for feeding, and moving the printed PCB or the chip board from the precise positioning platform for discharging; the precise positioning platform can drive the PCB or the chip board to move to a printing working position of the printing unit, and adjust the position of the PCB or the chip board to align with the position of the screen plate of the printing unit.

Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:

the device provided by the embodiment of the application adopts a relatively low cost and a compact structure, realizes the unreachable rigidity and precision of the XXY (UVW) alignment platform, can replace the commercial XY theta alignment platform (linear motor+DD motor version), the XXY (UVW) alignment platform and the XXYY (UVWR) alignment platform, improves the rigidity and precision of the alignment platform by one level by using the lowest cost and has the advantages of simple structure and simple algorithm, and the use effect of the XXYY (UVWR) alignment platform and the XY theta alignment platform (linear motor+DD motor version) is realized by using the common processing and debugging process, so that the high-precision alignment application requirement is met.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic diagram of an overall structure of a precision positioning platform according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an exploded view of a precision positioning platform according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a structure of a precision positioning platform after a positioning plate is disassembled;

fig. 4 is a schematic diagram of a θ -axis driving mechanism of a precision positioning platform according to an embodiment of the present application

FIG. 5 is a schematic diagram of an X-axis alignment structure of a precision positioning platform according to an embodiment of the present application;

FIG. 6 is a schematic view of another overall structure of a precision positioning stage according to an embodiment of the present application;

FIG. 7 is a schematic diagram of an exploded view of another embodiment of a precision positioning stage according to the present application;

FIG. 8 is a schematic view of a floating support ball assembly in a precision positioning platform according to an embodiment of the present application;

FIG. 9 is a side view of the floating support ball assembly of FIG. 8;

FIG. 10 is a schematic diagram of a θ -axis drive provided by an embodiment of the present application;

FIG. 11 is a schematic view of a mechanical zero point provided by an embodiment of the present application

FIG. 12 is a schematic view of a printer according to an embodiment of the present application;

FIG. 13 is a schematic view showing an exploded construction of a printer according to an embodiment of the present application;

FIG. 14 is a schematic view of a printing unit according to an embodiment of the present application;

fig. 15 is a schematic structural diagram of a conveying unit according to an embodiment of the present application;

FIG. 16 is a schematic view of a print station assembly according to an embodiment of the present application;

fig. 17 is a schematic structural diagram of a conveying limiting module according to an embodiment of the present application;

fig. 18 is a schematic structural diagram of a conveying limiting module according to an embodiment of the present application;

fig. 19 is a schematic structural diagram of a conveying limiting module according to an embodiment of the present application;

fig. 20 is a schematic structural diagram of a conveying limiting module according to an embodiment of the present application;

fig. 21 is a schematic structural diagram of a conveying limiting module according to an embodiment of the present application;

fig. 22 is a schematic structural diagram of a conveying limiting module according to an embodiment of the present application;

FIG. 23 is a schematic structural view of a printing station assembly and an alignment unit according to an embodiment of the present application;

fig. 24 is a schematic structural diagram of an alignment unit according to an embodiment of the present application.

Reference numerals: 100. a precision positioning platform; 101. a displacement structure; 1. an X-axis displacement structure; 2. a Y-axis displacement structure; 3. a theta axis alignment structure; 11. an X-axis driving mechanism; 12. an X-axis guide; 13. an X-axis carrier plate; 4. an equipment lifting platform; 21. a Y-axis driving mechanism; 22. a Y-axis guide; 23. a Y-axis carrier plate; 31. a θ -axis drive mechanism; 33. an alignment plate; 36. a driving end; 32. a theta axis rotation mechanism; 321. an arc-shaped track; 322. arc track slide block; 38. a cross bearing; 39. a floating support ball assembly; 381. a fixed shaft; 382. a shaft sleeve; 391. floating support ball seat; 392. a support ball; 393. a support column; 394. a support spring; 3911. a receiving surface; 311. a θ -axis motor; 312. a theta axis coupling; 313. a theta axis screw rod; 314. a first screw rod sliding block; 315. a second screw rod sliding block; 361. a rotation shaft; 362. a cross bearing; 371. theta axis synchronous induction piece; 37. a zero point positioning structure; 372. a θ -axis right sensor; 373. a θ axis zero point sensor; 374. a θ -axis left sensor; 34. an X-direction slide rail; 35. a Y-direction slide rail; 111. an X-axis motor; 112. an X-axis coupler; 113. an X-axis screw rod; 211. a Y-axis motor; 212. y-axis coupling; 213. a Y-axis screw rod; 15. an X-axis sensor; 25. a Y-axis sensor; 200. a printing unit; 300. a conveying unit; 400. a frame; 201. a printing screen module; 202. a screen plate cleaning module; 301. a PCB board or a chip board; 302. a feed assembly; 304. a printing station assembly; 305. a discharge assembly; 306. a conveying limit module; 3011. a width adjustment module; 309. a width adjusting screw rod; 3010. a width adjustment guide rail; 3012. a width adjustment motor; 3061. a lower conveyor belt; 3063. a conveying motor; 3064. a lower top plate; 3066. an upper limit plate; 3067. a guide block; 3069. a belt guide groove; 3068. guiding and correcting convex strips; 3065. a limit flange; 3072. a limit cylinder; 3073. an upper limiting plate guide rail; 3075. a support plate; 3076. supporting the stud; 3071. a top plate rail; 3074. a lower limit plate; 3070. a belt support; 502. a lifting assembly; 501. a fixed frame; 502. a lifting assembly; 5021. a lifting cylinder; 5022. lifting the guide rail; 3931. a mounting end; 3932. a fixed end; 3912. a spring mounting hole; 331. a mounting hole; 1000. a printing machine.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.

Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein interpreted accordingly.

In order to solve the technical problems of high cost, large volume and poor eccentric load resistance of an alignment platform in the prior art, the application provides the precise positioning platform 100 which has high positioning precision and compact volume and can realize higher eccentric load resistance.

In order to improve the precision and stability of an SMT printer or a chip printer, the application provides a high-precision printing machine table which can realize higher-precision printing operation.

FIG. 1 is a schematic diagram of an overall structure of a precision positioning platform according to an embodiment of the present application; FIG. 2 is a schematic diagram of an exploded view of a precision positioning platform according to an embodiment of the present application; fig. 3 is a schematic structural diagram of the precision positioning platform according to the embodiment of the present application after the alignment plate is disassembled.

As shown in the drawings, the embodiment of the application provides a precision positioning platform 100, which comprises a displacement structure 101 with a moving end moving along a set direction; and the theta axis alignment structure 3, wherein the theta axis alignment structure 3 comprises a theta axis driving mechanism 31, a theta axis rotating mechanism 32 and an alignment plate 33, the theta axis driving mechanism 31 and the theta axis rotating mechanism 32 are both arranged on the moving end, the theta axis driving mechanism 31 is positioned on one side of the theta axis rotating mechanism 32, the alignment plate 33 is arranged on the rotating end of the theta axis rotating mechanism 32 and is connected with a driving end 36 of the theta axis driving mechanism 31, the driving end 36 can move and has a driving stroke and a compensation stroke, and the compensation stroke is matched with the rotating angle of the rotating end.

In the embodiment of the present application, the θ axis alignment structure 3 may drive the alignment plate 33 to move in the θ axis direction, where the θ axis direction is perpendicular to the plane of the alignment plate 33. The moving end on the displacement structure 101 may move, and in a specific application, the moving end may move along a set direction, for example: may move in an X direction relative to the θ axis in space, or may move in a Y direction relative to the θ axis in space, or may move in both the X direction and the Y direction, or may also move in the θ axis, or may move in both the X direction, the Y direction, and the θ axis, respectively. In an alternative embodiment, the X-direction and the Y-direction are perpendicular to each other.

In the embodiment of the present application, the driving end 36 of the θ -axis driving mechanism 31 is configured to move along a set direction, and the driving end 36 of the θ -axis driving mechanism 31 is connected to the alignment plate 33, and when the driving end 36 of the θ -axis driving mechanism 31 moves along the set direction, the alignment plate 33 is driven to rotate. In order to control the movement of the alignment plate 33, the driving end 36 of the θ -axis driving mechanism 31 further has a driving stroke and a compensation stroke, wherein the driving stroke is a movement stroke in a moving direction of the driving end 36 when the θ -axis driving mechanism 31 is driven to move, and the compensation stroke is a movement stroke offset corresponding to the compensation rotation angle when the driving end 36 rotates.

In order to facilitate precise control of the θ -axis direction, in an embodiment of the present application, a displacement compensation mechanism may be further provided at the driving end of the θ -axis driving mechanism 31, where the displacement compensation mechanism includes a lateral sliding rail, as shown in fig. 4, and the lateral sliding rail may include: the driving stroke of the theta axis driving mechanism of the X-direction sliding rail 34 is matched with that of the Y-direction sliding rail 35, and the compensation of the Y-direction sliding rail 35 and the driving end 36 is matched. Specifically, the X-direction sliding rail 34 can perform stroke fine adjustment in the driving stroke direction, and the Y-direction sliding rail 35 can drive the driving end 36 to shift in the rotation angle direction.

In one embodiment of the present application, the X-direction slide rail 34 may be a ball guide rail and the X-direction slide rail 34 may include at least one rail to provide fine adjustment of the drive end 36 in the direction of the drive stroke, while the Y-direction slide rail 35 may be a floating ball guide rail to provide fine adjustment of the drive end 36 in the direction of the rotational angle. By providing the side direction slide rail, the driving end of the θ axis driving mechanism 31 can be compensated for the offset in the side direction required to be compensated for when the alignment plate 33 is driven to rotate in the θ axis direction, thereby performing fine adjustment.

As shown in fig. 4, in the embodiment of the present application, the θ -axis driving mechanism 31 may include: the θ -axis motor 311, and an output end of the θ -axis motor 311 (which may be generally a rotation shaft of the θ -axis motor 311) is drivingly connected to the drive end 36. In addition, the θ -axis driving mechanism 31 may further include: a θ -axis coupling 312 and a θ -axis lead screw 313; the output end of the θ -axis motor 311 is in driving connection with the θ -axis screw 313, that is, the rotating shaft of the θ -axis motor 311 is fixedly connected with the θ -axis screw 313 through the θ -axis coupling 312, so that the rotating shaft of the θ -axis motor 311 can drive the θ -axis screw 313 to rotate, and the driving end 36 is disposed on the θ -axis screw 313.

When the alignment plate 33 rotates on the θ axis, the rotation range needs to be limited, so that the problem of seizing caused by the overlarge rotation range is avoided, and for this reason, in the embodiment of the present application, as shown in fig. 4, the θ axis driving mechanism 31 further includes a zero point positioning structure 37. In the embodiment of the application, the zero point positioning structure is not limited to 3 sensors, and can be replaced by a magnetic grating ruler or a grating ruler.

The zero point positioning structure 37 may include a θ -axis synchronization sensor strip 371, a θ -axis right sensor 372, a θ -axis zero point sensor 373, and a θ -axis left sensor 374, wherein a first screw slider 314 is provided on the θ -axis screw 313, the first screw slider 314 is matched with an external thread on the θ -axis screw 313 by an internal thread, and performs a linear motion in a screw axis direction as the θ -axis screw 313 rotates. A second screw slider 315 is fixed to the first screw slider 314, and the driving end 36 may include: a rotation shaft 361 and a cross bearing 362, wherein the rotation shaft 361 is fixed on the second screw slider 315, the cross bearing 362 may be directly sleeved on the outer circumference of the rotation shaft 361 in a sliding fit manner, or the cross bearing 362 may be fixed on the outer circumference of the rotation shaft 361 by a roller, in either manner, the rotation shaft 361 may rotate around the cross bearing 362, and in consideration of resistance at the time of rotation, the rotation shaft 361 is preferably fixed on the outer circumference of the cross bearing 362 in a roller manner. The axis of the rotation shaft 361 is perpendicular to the plane of the alignment plate 33, and the rotation shaft 361 may be fixed to the alignment plate 33 for driving the alignment plate 33 to rotate.

In fig. 4, the θ -axis synchronous sensor 371 is connected to the driving end 36, where the θ -axis synchronous sensor 371 may be connected to the first screw slider 314 of the θ -axis screw 313 and may move along with the movement of the first screw slider 314, and the θ -axis right sensor 372, the θ -axis zero point sensor 373 and the θ -axis left sensor 374 are sequentially disposed on the sliding path of the θ -axis synchronous sensor 371, and in practical application, when the θ -axis screw 313 rotates, the θ -axis synchronous sensor 371 may move at a position between the θ -axis right sensor 372 and the θ -axis left sensor 374, and further the rotational position of the θ -axis screw 313 may be monitored by the θ -axis right sensor 372, the θ -axis zero point sensor 373 and the θ -axis left sensor 374, thereby realizing the functions of limiting and origin positioning.

Referring to fig. 4, the floating ball tracks of the X-direction track 34 and the ball tracks of the Y-direction track 35 are vertically arranged, so as to compensate the relative position change between the cross bearing and the theta axis screw 313 when the theta axis rotates, and the relative position change is calculated through a trigonometric function algorithm, thereby realizing the theta angle alignment precise compensation and zero point homing of the precise positioning platform 100.

As shown in fig. 10: the driving end 36 moves from the point a to the point B, that is, the position of the cross bearing 362 shown in fig. 4 moves from the point a to the point C along the arc, the stroke L of the θ -axis screw 313 is converted into the angle θ of the alignment plate 33, and the angle between L and θ can be converted by trigonometric function, so as to realize the angle adjustment of the precision positioning platform 100. The motion track from point a to point C along the arc is the motion track of the cross bearing 362, the linear motion track from point a to point B is the motion track of the θ -axis screw 313 driving the first screw slider 314, and a variable distance is generated between point B and point C, and compensation is performed by moving the floating ball rail of the Y-direction slide rail 35.

In the embodiment of the present application, the connection relationship of the angle drive is described as follows:

as shown in fig. 4, the θ -axis screw 313 drives the first screw slider to move along the axial direction of the θ -axis screw 313, the first screw slider 314 is fixed on the ball rail of the X-direction slide rail 34, the ball rail of the X-direction slide rail 34 plays a role in supporting and guiding the first screw slider 314, the first screw slider 314 is provided with the floating ball rail of the Y-direction slide rail 35, the floating ball rail of the Y-direction slide rail 35 is provided with the second screw slider 315, the second screw slider 315 is provided with the rotating shaft 361, the rotating shaft 361 is fixed on the inner side of the cross bearing 362 and can freely rotate around the cross bearing 362, the outer side of the cross bearing 362 is fixed on the alignment plate 33, and the alignment plate 33 is driven to rotate along the rotation center. When the first screw slider 314 moves, the driving rotation shaft 361 and the cross bearing 362 rotate along the center of the alignment plate 33, and simultaneously the second screw slider 315 moves along the direction of the floating ball guide of the Y-direction slide rail 35, so as to compensate the displacement of the second screw slider 315 and the first screw slider 314 in the direction of the floating ball guide of the Y-direction slide rail 35.

As shown in fig. 11, 3013 in the drawing are two mechanical zero points of the angle of the alignment plate 33, the mechanical zero point of the alignment plate 33 coincides with the algorithm zero point, and the precise positioning platform 100 can implement a high-precision replenishment motion. The mechanical zero point acquisition method of the alignment plate 33 includes the following steps:

The first method is as follows: the zero points of the alignment plate 33 and the Y-axis carrier plate 23 are precisely machined, and the mechanical zero point of the alignment plate 33 is obtained through fixing the positioning pins, namely the positioning pins are arranged at the positions of the mechanical zero points.

The second method is as follows: and marking a MARK point on the alignment plate 33, and calculating the position of the mechanical zero point 3013 by a visual algorithm and the motion trail of the MARK point.

The third method is as follows: the mechanical zero 3013 position of the alignment plate 33 is measured by a laser interferometer.

The method for overlapping the mechanical zero point of the alignment plate 33 with the algorithm zero point is as follows:

the first method is to obtain the mechanical zero point of the alignment plate 33 by the method, and adjust the position of the theta axis zero point sensor 373 to realize the coincidence of the mechanical zero point and the algorithm zero point position;

in the second method, the mechanical zero position is calculated by the position record data of the theta axis zero point sensor 373 and the mechanical zero motor encoder record data, and the superposition of the mechanical zero and the algorithm zero is realized by compensation in the algorithm.

In the third method, after the mechanical zero point of the alignment plate 33 is measured by the second or third method, the motor encoder directly records the mechanical zero point position, and then the mechanical zero point position of the alignment plate 33, namely the algorithm zero point position, can be calculated after compensation through the motor encoder data and the zero point sensor position data.

In an embodiment of the present application, as shown in fig. 2, the displacement structure 101 may include: the X-axis displacement structure 1 and the Y-axis displacement structure 2, wherein the Y-axis displacement structure 2 is arranged on the moving end of the X-axis displacement structure 1, and the theta-axis driving mechanism 31 and the theta-axis rotating mechanism 32 are arranged on the moving end of the Y-axis displacement structure 2.

In fig. 2, the X-axis displacement structures 1 are layered in the top-bottom direction of fig. 2, the Y-axis displacement structures 2 are positioned at the lowermost layer, and the θ -axis alignment structures 3 are positioned at the uppermost layer. The layered design ensures that the movements of the precision positioning platform in the X direction, the Y direction and the theta axis direction are not interfered with each other, the structure is compact, the moving space is larger, and each layer can move freely in the direction of the corresponding axis.

The θ -axis driving mechanism 31 is fixed on the Y-axis carrier 23, alternatively, the θ -axis driving mechanism 31 is fixed on one side of the Y-axis carrier 23, and the driving end 36 of the θ -axis driving mechanism 31 is connected to the alignment plate 33 and can drive the alignment plate 33 to slide on the Y-axis carrier 23.

In addition, referring to fig. 5, considering the independence of the precision positioning platform, the present embodiment may optionally further provide an equipment lifting platform 4, i.e. a base, below the X-axis displacement structure 1, so as to control the whole precision positioning platform more specifically and independently.

In the embodiment of the present application, the X-axis displacement structure 1 is disposed on the device lifting platform 4, and the X-axis displacement structure 1 includes an X-axis carrier 13 that is movable on the device lifting platform 4. In one embodiment of the present application, as shown in fig. 1, 2 and 5, the X-axis displacement structure 1 may include an X-axis driving mechanism 11, an X-axis guiding member 12 and an X-axis carrier 13, as shown in the drawings, in the embodiment of the present application, the X-axis guiding member 12 may be a guide rail, in other embodiments of the present application, the X-axis guiding member 12 may also be a linear guiding device such as a sliding rod, a sliding chute, a screw rod, etc., where the X-axis guiding member is fixed on the lifting platform 4 of the apparatus, and the number of the guide rails may be one or more, in order to consider stability of movement in the X-axis direction, to avoid shaking, alternatively, in the embodiment of the present application, the X-axis guiding member 12 may be two, and the two X-axis guiding members are disposed parallel to each other, as shown in fig. 2 and 5. In the embodiment of the present application, the extending direction of the X-axis guide 12 may be the X-axis direction.

The X-axis driving mechanism 11 is fixed on the equipment lifting platform 4, and the driving end of the X-axis driving mechanism 11 is connected to the X-axis carrier 13, the X-axis carrier 13 and the X-axis guide 12 are slidably fixed, and the X-axis carrier 13 is located above the X-axis guide 12, for example: the two can be connected by a matched sliding groove structure or other sliding structures, so that the X-axis carrier plate 13 can slide on the X-axis guide member 12.

The X-axis carrier 13 can be used as a docking or mounting platform for mounting the Y-axis driving mechanism 21, so that the X-axis carrier 13 can be driven to move by the X-axis driving mechanism 11, and the Y-axis driving mechanism 21 can be driven to move.

In other embodiments of the present application, at least two sliding grooves may be disposed on the lifting platform of the apparatus in the X-axis displacement structure 1, and then the X-axis carrier is disposed in the sliding grooves through the guide rails.

In the embodiment of the present application, the Y-axis displacement structure 2 is disposed on the X-axis carrier 13, the Y-axis displacement structure 2 includes a Y-axis carrier 23 that can move on the X-axis carrier 13, in one embodiment of the present application, as shown in fig. 1, 2 and 3, the Y-axis displacement structure 2 may include a Y-axis driving mechanism 21, a Y-axis guide 22 and a Y-axis carrier 23, as shown in the accompanying drawings, in the embodiment of the present application, the Y-axis guide 22 may be a guide rail, in other embodiments of the present application, the Y-axis guide 22 may be a linear guide device such as a slide bar, a slide groove, a screw rod, etc., where the Y-axis guide is fixed on the X-axis carrier 13, and the number of the guide rail may be one or more, in order to avoid shaking in consideration of stability of movement in the Y-axis direction, alternatively, in the embodiment of the present application, the Y-axis guide 22 may be two Y-axis guide members are disposed in parallel to each other, as shown in fig. 2. In the embodiment of the present application, the extending direction of the X-axis guide 12 may be the X-axis direction.

In addition, in the embodiment of the present application, the angle between the X-axis guide 12 and the Y-axis guide 22 may be 90 degrees, where the angle refers to the angle between the projections of the X-axis guide 12 and the Y-axis guide 22 on the plane of the X-axis carrier 13 is 90 degrees, that is, the angle is perpendicular between the X-axis guide 12 and the Y-axis guide 22 when viewed from the top of fig. 2.

The Y-axis driving mechanism 21 is fixed on the X-axis carrier 13 and can move along with the movement of the X-axis carrier 13, the driving end of the Y-axis driving mechanism 21 is connected to the Y-axis carrier 23, and the Y-axis carrier 23 is slidably fixed on the X-axis carrier 13 through the Y-axis guide 22. The method specifically comprises the following steps: the Y-axis carrier plate 23 is in sliding fit with the Y-axis guide 22 through a sliding groove, so that the Y-axis carrier plate 23 can slide on the X-axis carrier plate 13.

The Y-axis carrier plate 23 can be used as a docking or mounting platform for mounting the θ -axis alignment structure 3, so that the Y-axis carrier plate 23 can be driven to move by the Y-axis driving mechanism 21, and the θ -axis alignment structure 3 can be driven to move.

In other embodiments of the present application, at least two sliding grooves may be further disposed on the X-axis carrier 13 in the Y-axis displacement structure 2, and then the Y-axis carrier is disposed in the sliding grooves through a guide rail, and besides, the sliding rail and the sliding groove structure may further include a plurality of manners such as a sliding rod, a transmission gear or a screw rod, so long as the Y-axis carrier 23 can be driven to slide.

In an alternative embodiment of the present application, the θ -axis rotating mechanism 32 may be implemented by an arc-shaped slide rail, and referring to fig. 2 to 4, the θ -axis rotating mechanism 32 includes at least two sets of arc-shaped slide rails, where the arc-shaped slide rail includes an arc-shaped track 321 and an arc-shaped track slider 322, the arc-shaped track 321 is fixed at a moving end of the displacement structure 101, and in the embodiment of the present application, the arc-shaped track 321 is fixed on the Y-axis carrier plate 23, and the arc-shaped track slider 322 is slidably disposed on the arc-shaped track 321. The arc-shaped track 321 can be detachably screwed into a threaded hole in the Y-axis carrier plate 23, and in addition, the arc-shaped track 321 can be fixed with the Y-axis carrier plate 23 in a welding mode.

The alignment plate 33 is fixedly connected to the plurality of arc-shaped track sliders 322, so that the alignment plate 33 can rotate on the Y-axis carrier plate 23 along with the plurality of arc-shaped track sliders 322. Referring to fig. 3, a screw hole is provided on the lower surface of the alignment plate 33, and thus the arc-shaped rail slider 322 may be fastened in the screw hole of the alignment plate 33 by a bolt.

Since the θ axis does not reciprocate in a single direction like the X axis or the Y axis, the θ axis rotating mechanism employs an arc-shaped guide rail so as to be rotatable in the θ axis direction at the time of alignment. In order to consider the stability of the movement of the θ axis direction and avoid the occurrence of shake, alternatively, in the embodiment of the present application, the number of the arc-shaped guide rails in the θ axis rotating mechanism may be four, and the circle centers of the arcs of the four θ axis guide rails coincide, and the radii of the four θ axis guide rails may be the same, that is, the four θ axis guide rails are located on the same circle, as shown in fig. 2. In addition, the radii of the four theta axis guide rails can also be different, and in this case, the alignment plate can also rotate on the theta axis guide rails as long as the circle centers of the four theta axis guide rails are coincident.

The θ -axis driving mechanism 31 is fixed on the Y-axis carrier 23, and the driving end of the θ -axis driving mechanism 31 is connected to the alignment plate 33, and in addition, the alignment plate 33 and the arc-shaped slide rail can be matched through a slide groove, so that the θ -axis driving mechanism is slidably fixed on the Y-axis carrier 23 through the arc-shaped slide rail. When the θ -axis driving mechanism 31 drives the alignment plate 33 to move, the alignment plate 33 can slide along the arc-shaped sliding rail, so that the alignment plate 33 rotates on the plane where the Y-axis carrier plate 23 is located, and the movement in the θ -axis direction is realized, so that the positions of the components on the alignment plate 33 can be adjusted.

In another alternative embodiment of the present application, the θ -axis rotation mechanism may be implemented by a turntable, as shown in fig. 6 to 9, including: a cross bearing 38 and at least three floating support ball assemblies 39, the cross bearing 38 comprising: a fixed shaft 381, and a sleeve 382.

In the embodiment of the present application, the fixed shaft 381 is fixed to the Y-axis carrier plate 23, for example: the fixed shaft 381 may be detachably fixed to the Y-axis carrier plate 23 by bolts. The fixed shaft 381 is a circular shaft, and an angle between an axis of the fixed shaft 381 and a plane of the Y-axis carrier plate 23 is 90 degrees, that is, an axis of the fixed shaft 381 is perpendicular to the plane of the Y-axis carrier plate 23.

The shaft sleeve 382 is rotatably fixed to the fixed shaft 381, for example: the sleeve 382 may be directly fitted over the outer circumference of the fixed shaft 381 in a sliding fit manner, or the sleeve 382 may be fixed to the outer circumference of the fixed shaft 381 by a roller, or in either manner, the sleeve 382 may be rotated around the fixed shaft 381, and in consideration of resistance upon rotation, the sleeve 382 is preferably fixed to the outer circumference of the fixed shaft 381 in a roller manner.

The alignment plate 33 is fixedly connected to the shaft sleeve 382, and can rotate on the Y-axis carrier plate 23 along with the shaft sleeve 382. The lower surface of the alignment plate 33 may be provided with a threaded hole, and the sleeve 382 may be fastened to the threaded hole of the alignment plate 33 by a bolt, thereby being fastened to the alignment plate 33.

At least three floating support ball assemblies 39 are disposed dispersed around the periphery of the cross bearing 38. In the embodiment of the present application, at least three floating support ball assemblies 39 are uniformly distributed around the periphery of the cross bearing 38, so that the alignment plate can be uniformly supported when the alignment plate is provided with the articles. For example: when there are three floating support ball assemblies 39, the three floating support ball assemblies 39 differ by 120 degrees, that is, the three floating support ball assemblies 39 are equally disposed around the periphery of the cross bearing 38; when there are four floating support ball assemblies 39, the four floating support ball assemblies 39 may be disposed at the four corners of the cross bearing 38, respectively, i.e., the four floating support ball assemblies 39 are 90 degrees apart.

Referring to fig. 8 and 9, fig. 9 is a side view of the floating support ball assembly 39 of fig. 8. In an embodiment of the present application, each floating support ball assembly 39 comprises: a floating support ball seat 391, a support ball 392, at least three support columns 393, and at least three support springs 394, wherein:

the fixed ends 3932 of the three support columns 393 are all fixed on the Y-axis carrier plate 23, and the fixed ends 3932 can be fixed on the Y-axis carrier plate 23 by bolts or welding. The floating support ball seats 391 are connected with the mounting ends 3931 of each support post 393 by a support spring 394, as shown in fig. 9, with spring mounting holes 3912 provided on the floating support ball seats 391 and a snap groove provided on the mounting ends 3931 of the support posts 393 for connection with the springs. The floating support ball seat 391 is suspended by the tension of the three support springs 394, and when an external force in a horizontal direction acts on the floating support ball seat 391, the floating support ball seat 391 can move in a horizontal plane to realize a floating support function of the alignment plate 33.

The receiving surface 3911 of the floating support ball seat 391 is provided with a ball socket, and in the embodiment of the present application, the ball socket may be a groove structure, and only the top of the support ball 392 is exposed. Alternatively, the ball socket may be a through hole so that both ends of the support ball 392 are exposed.

In an embodiment of the present application, the support ball 392 is rotatably fixed within the socket, alternatively, the support ball 392 is mounted within the socket by a clearance fit and rotatable within the socket. In addition, the supporting ball 392 may be mounted in the ball socket in a ball-type manner and may be rotatable in the ball socket, and when the ball is mounted in the ball socket in a ball-type manner, the balls may be disposed in a dispersed manner in the ball socket.

The supporting ball 392 is used for rolling and supporting the alignment plate, so in the embodiment of the application, the top of the supporting ball 392 protrudes from the bearing surface 3911 of the floating supporting ball seat 391, and thus the alignment plate does not directly contact the bearing surface 3911 when pressed on the floating supporting ball seat 391, but contacts the top of the supporting ball 392, so that rolling connection with the supporting ball 392 can be ensured instead of friction with the bearing surface 3911 when the alignment plate 33 moves.

In the embodiment of the present application, the θ -axis driving mechanism 31 may be a linear power, which is disposed on a side far away from the rotation axis of the alignment plate 33, and may provide power required for the rotation of the alignment plate 33 around the θ -axis, as shown in the figure, the driving end 36 of the θ -axis driving mechanism 31 is assembled and connected with the mounting hole 331 on the alignment plate 33 on the leftmost side of the alignment plate 33, and the axis of the mounting hole 331 is perpendicular to the plane of the alignment plate 33, so that the θ -axis driving mechanism 31 may have a longer arm of force, and thus, a higher anti-eccentric load capability may be achieved. In addition, the arrangement does not need to be provided with a theta-axis coaxial driving mechanism and a corresponding speed reducing and transmitting device, so that the integral weight and the integral volume of the device are reduced while the precision components are reduced, and the integral cost of the device is greatly reduced.

In other embodiments of the present application, the θ -axis driving mechanism 31 may be a rotation axis, and the axis direction of the rotation axis is perpendicular to the Y-axis carrier 23, and a gear matched with the rotation axis is disposed at the bottom of the alignment plate, so that the θ -axis driving mechanism 31 may drive the gear through the rotation axis, and further drive the alignment plate 33 to rotate in the θ -axis direction. However, considering that the rotation axis directly drives the gear, there may be insufficient rotation force, the gear may be driven by the rotation axis through the reduction mechanism, so that the θ -axis driving mechanism 31 is more stable when driving the alignment plate 33.

According to different working requirements, the precise positioning platform can realize the alignment of positions by controlling different movements of the X-axis driving mechanism, the Y-axis driving mechanism and the theta-axis motor, so that an efficient and stable working environment is provided for operators. Meanwhile, the precise positioning platform has the advantages of simple structure, small volume, strong eccentric load resistance, stable operation in a severe environment and wide application prospect.

Fig. 4 is a schematic structural diagram of a θ -axis driving mechanism of a precision positioning platform according to an embodiment of the present application. Further, the θ -axis driving mechanism 31 is a linear driving, the θ -axis driving mechanism 31 is provided on one side of the alignment plate 33, and the θ -axis driving mechanism 31 is fixed on the Y-axis carrier plate 23.

Referring to fig. 2, in order to realize rotation of the alignment plate 33, in the embodiment of the present application, the arc-shaped slide rails include four groups of arc-shaped slide rails, and the four groups of arc-shaped slide rails are correspondingly disposed around the rotation axis of the alignment plate 33, where the four groups of arc-shaped slide rails are all arc-shaped, and the radii of the arc-shaped slide rails are the same. When the arc-shaped sliding rail is installed, the circle centers of the arcs of the four groups of arc-shaped sliding rails are coincided, namely the projection positions of the four arc-shaped sliding rails are positioned on the same circle.

The arc slide rail includes arc track 321 and arc track slider 322, and arc track 321 is fixed in Y axle carrier plate 23, and arc track slider 322 slidable rotationally sets up arc track 321, and a plurality of arc track sliders 322 of counterpoint board 33 fixed connection in two arc slide rails, and then can drive counterpoint board 33 through a plurality of arc track sliders 322 and remove.

In the embodiment of the present application, since the X direction and the Y direction are simple linear reciprocating motions, the X-axis driving mechanism 11 adopts a linear motor or a servo motor; and/or the Y-axis driving mechanism 21 adopts a linear motor or a servo motor; and/or the θ -axis driving mechanism 31 employs a linear motor or a servo motor. Further, the included angle between the X-direction slide rail 34 and the Y-direction slide rail 35 is 90 degrees.

Further, the X-axis driving mechanism 11 is a linear driving, and the X-axis driving mechanism 11 includes an X-axis motor 111, an X-axis coupling 112, and an X-axis screw 113; the output end of the X-axis motor 111 is connected with an X-axis screw 113 in a transmission way; the Y-axis driving mechanism 21 is in linear driving, and the Y-axis driving mechanism 21 comprises a Y-axis motor 211, a Y-axis coupler 212 and a Y-axis screw 213; the output end of the Y-axis motor 211 is in transmission connection with a Y-axis screw 213.

In order to realize limit control on the movement in the X-axis and Y-axis directions, referring to fig. 2, in the embodiment of the present application, an X-axis sensor 15 is disposed on a slider corresponding to the X-axis screw 113 in the X-axis driving mechanism 11; and/or, the slider corresponding to the Y-axis screw 213 in the Y-axis driving mechanism 21 is provided with a Y-axis sensor 25. The X-axis sensor 15 and the Y-axis sensor 25 are in-place sensors, and in practical application, may be a photoelectric switch, a magnetic grating ruler or a grating ruler, and in addition, those skilled in the art may replace other components capable of realizing in-place detection functions.

By arranging the in-place sensor, the situation that the X-axis carrier plate 13 and the Y-axis carrier plate 23 exceed the movement range and are in displacement fault or jamming when being driven can be avoided.

Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:

The device provided by the embodiment of the application adopts a relatively low cost and compact structure, realizes the unreachable rigidity and precision of the XXYUVW alignment platform, can replace the commercial XY theta alignment platform (linear motor+DD motor version), the XXYUVW alignment platform and the XXYUVWR alignment platform, improves the rigidity and precision of the alignment platform by one level by using the lowest cost and has the compact structure, and the use effect of the XXYYUVWR alignment platform and the XY theta alignment platform (linear motor+DD motor version) is realized by using a simple structure and a simple algorithm and a common processing and debugging process, thereby meeting most alignment application requirements.

In an embodiment of the present application, there is also provided a printer 1000 in which the precision positioning stage 100 mentioned in any of the foregoing embodiments can be applied.

As shown in fig. 12 and 13: the printer 1000 includes a printing unit 200, a vision system (not shown), a conveying unit 300, a precision positioning stage 100, and a frame 400 for mounting the respective components, as shown in fig. 12 and 13, and in the embodiment of the present application, the printing unit 200, the vision system (not shown), the conveying unit 300, and the precision positioning stage 100 are disposed in order from top to bottom in the up-down direction shown in fig. 12 or 13.

The conveying unit 300 is used for feeding and discharging the PCB or the chip board, and when the PCB or the chip board needs to be fed, the conveying unit 300 can convey the PCB or the chip board which needs to be printed to the precise positioning platform 100, so that the feeding work is completed; when the printed PCB or chip board is required to be blanked after being printed, the conveying unit 300 may move the printed PCB or chip board from the precise positioning platform 100 to complete the blanking work.

When the PCB or the chip board is printed, the PCB or the chip board and the screen to be printed are required to be aligned strictly, and accurate printing can be realized. When the precision positioning stage 100 moves, the PCB or the chip board can be moved in the X-axis direction by the X-axis driving mechanism 11, in the Y-axis direction by the Y-axis driving mechanism 21, and can be rotated in the θ -axis by the θ -axis driving mechanism 31. Therefore, in the embodiment of the present application, the precise positioning platform 100 can independently adjust the positions of the PCB or the chip board on the X axis, the Y axis and the θ axis, so that the PCB or the chip board can be precisely aligned with the screen.

As shown in fig. 14: the printing unit 200 includes a doctor module (not shown in the figure), a printing screen module 201, a screen cleaning module 202, etc., wherein the doctor module cooperates with the printing screen module 201 to realize a printing function, and in a specific application, the doctor module can press a screen carried in the printing screen module 201 onto a PCB board or a chip board. After the screen carried on the printing screen module 201 is pressed onto the PCB or the chip board, the screen cleaning module 202 may wipe and clean the printing screen module 201 along with the rotation of the printing screen module 201, so that the printing screen module 201 performs a subsequent printing job.

As shown in fig. 15 and 16: the conveying unit 300 is of a three-section design, adopts a belt conveying mode, sequentially comprises a feeding assembly 302, a printing station assembly 304 and a discharging assembly 305, wherein the feeding assembly 302 is used for feeding a PCB or a chip board 301, conveying the PCB or the chip board 301 after being fed into the printing station assembly 304, and the printing station assembly 304 is used for positioning the PCB or the chip board 301 and jacking the PCB or the chip board 301 below the printing screen module 201 in cooperation with the precise positioning platform 100 so as to align and print the PCB or the chip board 301; when the printing of the PCB or chip board 301 is completed, the printing station assembly 304 moves down to reset, and conveys the printed PCB or chip board 301 to the discharging assembly 305, and the discharging assembly 305 conveys the printed PCB or chip board 301 to an external buffer device to complete one-time printing.

As shown in fig. 16, the printing station assembly 304 includes a conveying limiting module 306 and a width adjusting module 3011, the conveying limiting module 306 can convey and limit the PCB or the chip board 301, and the width adjusting module 3011 can adjust the width of the conveying limiting module 306 so as to be suitable for PCB or chip board products with different width specifications.

As shown in fig. 16, specifically, the width adjustment module 3011 includes a width adjustment screw 309, a width adjustment guide 3010, and a width adjustment motor 3012, and the width adjustment screw 309 is driven by the width adjustment motor 3012 to move, so that the conveying limiting module 306 moves along the width adjustment guide 3010, so as to implement width adjustment, and adapt to PCB or chip board products with different widths.

As shown in fig. 17 and 18, the conveying and limiting modules 306 are divided into two sets that are disposed in opposition, and mainly include an upper limiting plate 3066, a limiting flange 3065, a limiting cylinder 3072, an upper limiting plate rail 3073, and a lower conveying belt 3061, a conveying motor 3063, a lower top plate 3064, a lower top plate rail 3071, and the like.

Fig. 17 and 18 are schematic diagrams of the conveying limiting module. The transport limit module 306 may include: a lower conveyor belt 3061, a conveyor motor 3063, an upper stop plate 3066, and a lower top plate 3064, wherein,

The lower conveying belt 3061 is driven by the conveying motor 3063, and can carry and convey the limiting PCB board or the chip board 301 from the lower end, specifically, the lower conveying belt 3061 comprises a belt guide groove 3069 and a belt support 3070 outer edge, guide blocks 3067 are correspondingly arranged at two ends of the upper limiting plate 3066, guide raised strips 3068 matched with the belt guide groove 3069 are arranged at the lower ends of the upper limiting plate 3066 and the guide blocks 3067, so that the lower conveying belt 3061 is guided, and the position of the PCB board or the chip board 301 is prevented from being deviated.

As shown in fig. 17 and 18, wherein the upper limit plate 3066 is connected to the limit stop 3065, and the PCB or chip board 301 in transportation is limited from the upper end by the limit stop 3065;

as shown in fig. 19 and 20, another schematic diagram of the conveying and limiting module is shown. In fig. 19 and 20, the upper limiting plate 3066 is further disposed to move up and down through a limiting cylinder 3072 and an upper limiting plate guide rail 3073, and the upper limiting plate 3066 can be driven to move up and down along the upper limiting plate guide rail 3073 through the limiting cylinder 3072, so as to realize position leveling of the PCB board or chip board 301; the lower top plate 3064 is located below the PCB or chip board 301, and is connected to the lower top plate rail 3071, and can be lifted up and down along with the precision positioning platform 100.

As shown in fig. 21 and 22, a support stud 3076 and a support plate 3075 are disposed below the lower top plate 3064, the support plate 3075 is fixedly connected with an alignment plate 33 on the precision positioning platform 100, when the precision positioning platform 100 rises, the alignment plate 33 on the precision positioning platform 100 pushes up the lower top plate 3064, so that the lower top plate 3064 rises along the lower top plate guide rail 3071, and after the lower top plate 3064 rises, the PCB or chip board 301 is pushed up, so that the PCB or chip board 301 is separated from the lower conveying belt 3061 and contacts with a limit flange 3065 on the upper part to realize positioning; in addition, while moving, the supporting plate 3075 fixedly connected with the precise positioning platform 100 will also rise together with the precise positioning platform 100, when the PCB board or chip board 301 abuts against the limit stop 3065, the supporting stud 3076 on the supporting plate 3075 should abut against the lower limit plate 3074, and at this time, the supporting stud 3076 and the lower limit plate 3074 are used for supporting, instead of the PCB board or chip board 301; further, at this time, the precise positioning platform 100 continues to rise, the support stud 3076 will jack up the whole printing station assembly 304 and rise to the lower end of the printing screen module 201, after rising in place, the printing screen module 201 and the PCB or chip board 301 will be aligned, if there is a deviation in position, the position of the PCB or chip board 301 will be adjusted by the precise positioning platform 100 to align with the printing screen module 201 group, and after alignment is completed, the scraper module cooperates with the printing screen module 201 to realize solder paste printing of the PCB or chip board 301; after printing, the precision positioning stage 100 is moved downward, the printing station assembly 304 is reset, the printed PCB or chip board 301 falls onto the outer edge of the belt support 3070 and is transported to the discharge assembly 305 by the lower conveyor belt 3061.

As shown in fig. 23 and 24, the alignment unit is disposed below the printing station assembly 304 and mainly includes a precise positioning platform 100, a lifting assembly 502 and a fixed frame 501, where the precise positioning platform 100 is disposed on the lifting assembly 502, and the specific structure of the precise positioning platform 100 may refer to the precise positioning platform 100 in the foregoing embodiment shown in fig. 1-11, which is not described herein again; the lifting assembly 502 is fixed on the fixed frame 501, and the fixed frame 501 is fixed on the stand 400; the lifting assembly 502 mainly comprises a lifting cylinder 5021, a lifting guide rail 5022 and the like, and the lifting cylinder 5021 can drive the precise positioning platform 100 to move up and down along the lifting guide rail 5022.

The printer 1000 provided by the embodiment of the application can solve the problems of low rigidity and low precision of the traditional alignment platform, and meanwhile, the three-section type conveying unit is matched with the alignment unit to lift, so that the plate changing speed can be improved, and the precision and quality of the screen printer are improved.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely illustrative of specific embodiments of the application to enable those skilled in the art to understand or practice the application, and it is to be understood that the application is not limited to the precise forms disclosed, and that various other combinations, modifications and environments may be made within the scope of the inventive concept described herein, including but not limited to equivalent structures or equivalent process variations using the teachings of the present application and the contents of the drawings or directly or indirectly applied to other related arts, without departing from the spirit and scope of the application, and it is intended to claim all such modifications and variations as fall within the scope of the appended claims. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A precision positioning stage comprising:

a displacement structure having a moving end moving in a set direction; and

the theta axis alignment structure (3) comprises a theta axis driving mechanism (31), a theta axis rotating mechanism (32) and an alignment plate (33), wherein the theta axis driving mechanism (31) and the theta axis rotating mechanism (32) are arranged on the moving end, the theta axis driving mechanism (31) is arranged on one side of the theta axis rotating mechanism (32), the alignment plate (33) is arranged at the rotating end of the theta axis rotating mechanism (32) and is connected with a driving end (36) of the theta axis driving mechanism (31), and the driving end (36) can move and has a driving stroke and a compensation stroke, and the compensation stroke is matched with the rotating angle of the rotating end.

2. The precision positioning stage according to claim 1, characterized in that the θ -axis drive mechanism (31) comprises an X-direction slide (34) and a Y-direction slide (35), the X-direction slide (34) being adapted to the drive stroke and the Y-direction slide (35) being adapted to the compensation stroke.

3. The precision positioning stage according to claim 2, characterized in that the θ -axis driving mechanism (31) further comprises a θ -axis motor (311), and an output end of the θ -axis motor (311) is in driving connection with the driving end.

4. A precision positioning stage according to any one of claims 1 to 3, characterized in that the θ -axis drive mechanism (31) further comprises a zero-point positioning structure (37), the drive end (36) acting on a positioning area of the zero-point positioning structure (37).

5. The precision positioning platform according to claim 4, wherein the zero point positioning structure (37) comprises a theta axis synchronous sensor sheet (371), a theta axis right sensor (372), a theta axis zero point sensor (373) and a theta axis left sensor (374), the theta axis synchronous sensor sheet (371) is connected to the driving end (36), and the theta axis right sensor (372), the theta axis zero point sensor (373) and the theta axis left sensor (374) are sequentially disposed on a sliding path of the theta axis synchronous sensor sheet (371).

6. A precision positioning stage according to any one of claims 1 to 3, wherein the θ -axis rotating mechanism (32) comprises at least two sets of arc-shaped slide rails, the arc-shaped slide rails comprising an arc-shaped rail (321) and an arc-shaped rail slider (322), the arc-shaped rail (321) being fixed to the moving end, the arc-shaped rail slider (322) being slidably disposed on the arc-shaped rail (321), and the alignment plate (33) being fixedly connected to a plurality of the arc-shaped rail sliders (322).

7. A precision positioning stage according to any one of claims 1 to 3, characterized in that the θ -axis rotation mechanism (32) comprises: a cross bearing (38) and at least three floating support ball assemblies (39), wherein at least three floating support ball assemblies (39) are arranged on the periphery of the cross bearing (38) in a dispersing mode.

8. A precision positioning stage according to any one of claims 1 to 3, wherein the displacement structure is provided with an X-axis displacement structure (1) and a Y-axis displacement structure (2) at the movement end, the Y-axis displacement structure (2) is disposed on the movement end of the X-axis displacement structure (1), and the θ -axis driving mechanism (31) and the θ -axis rotating mechanism (32) are both disposed on the movement end of the Y-axis displacement structure (2).

9. The precision positioning platform according to claim 8, wherein the displacement structure further comprises an equipment lifting platform (4), the X-axis displacement structure (1) being arranged on the equipment lifting platform (4).

10. A printing press comprising a printing unit, a transport unit, a vision system, a frame, and a precision positioning stage according to any one of claims 1-9, wherein,

the printing unit, the vision system, the conveying unit and the precision positioning platform are sequentially arranged on the frame from top to bottom;

The conveying unit is used for moving the PCB or the chip board to the precise positioning platform for feeding, and moving the printed PCB or the chip board from the precise positioning platform for discharging;

the precise positioning platform can drive the PCB or the chip board to move to a printing working position of the printing unit, adjust the position of the PCB or the chip board to align with the position of the screen of the printing unit, and realize printing after the PCB or the chip board is aligned with the screen of the printing unit through the vision system.