CN101293414B - Automatic plastering method and equipment for sheet material - Google Patents

Abstract

The invention provides a sheet material automatic pasting method and its equipment, comprising: (a) providing a sheet material carrier tape in a step-by-step manner; (b) providing a support for the sheet material to be pasted; (c) detecting the Sheet position, output sheet positioning signal; (d) detect the position of the bracket of the sheet to be attached, output bracket positioning signal; (e) according to the sheet positioning signal and the bracket positioning signal, in the X axis and Y Move axially to adjust the position of the sheet tape, rotate around the Z axis to adjust the position of the sheet carrier tape, and transport the bracket to the pasting position; (f) peel the sheet from the sheet carrier tape, and place the peeled sheet (g) carry out step (c) and (d) while carrying out above-mentioned stripping and sticking, output sheet material positioning signal and support positioning signal; After pasting is finished, carry out step (e) to ( f), and so on. In the method of the invention, the sheet material positioning action and the sticking action are carried out in parallel, which changes the series action process in the prior art, reduces the sticking cycle, and improves the production efficiency.

Description

Sheet material automatic pasting method and pasting equipment

technical field

The invention relates to a sheet automatic pasting method and its equipment. Specifically, the method and equipment can complete precise positioning and ensure the position accuracy when the sheet is peeled off the carrier tape during the stepping process.

Background technique

At present, the known automatic precision pasting equipment for sheets all uses a mechanical device or a manipulator to position and calibrate the sheets. It adopts the working method of peeling the sheet from the carrier tape first, then detecting the position of the peeled sheet, and then adjusting the position and sticking the sheet. The general steps are: firstly transport the coiled sheet to the sheet peeling working position in a step-by-step manner, then grab and peel the sheet by a mechanical device or manipulator, use camera technology to detect the current position of the sheet, and then use a mechanical device or The manipulator adjusts the sheet to be consistent with the relative position of the bracket, and finally the mechanical device or the manipulator sticks the sheet. Since each action is connected in series in this pasting method, the pasting cycle is longer and the production efficiency is poor.

Contents of the invention

In order to overcome the problems of long working cycle and poor production efficiency of the existing sheet automatic pasting equipment, the purpose of the present invention is to provide a sheet automatic pasting method, which can greatly reduce the pasting cycle and improve production efficiency.

The present invention also provides an automatic sheet pasting device for realizing the above method, which can greatly reduce the pasting cycle and improve production efficiency.

According to above-mentioned purpose, the present invention provides a kind of sheet material automatic pasting method, and this method comprises the following steps:

(a) providing a sheet carrier tape on which a sheet is attached in a stepwise manner;

(b) Provide a support for the sheet to be attached;

(c) detecting the position of the sheet on the sheet carrier tape, and outputting a sheet positioning signal;

(d) detecting the position of the bracket of the sheet to be pasted, and outputting a bracket positioning signal;

(e) adjusting the position of the sheet carrier tape according to the sheet positioning signal and the bracket positioning signal, thereby adjusting the relative position of the sheet and the bracket, and transporting the bracket to a fixed position;

(f) peeling the adjusted sheet from the sheet carrier tape;

(g) pasting the stripped sheet on the support;

(h) performing the above-mentioned steps (c) and (d) while carrying out the above-mentioned peeling and sticking, to output the sheet positioning signal and the bracket positioning signal; after the pasting is completed, perform steps (e) to (g), and repeat .

The above-mentioned sheet material automatic pasting method, wherein, in step (e), the position of the sheet material carrier tape is adjusted at least once in the X axis and the Y axis direction, and the position of the sheet material carrier tape is adjusted at least once around the Z axis .

In the above method for automatically pasting sheets, step (f) further includes: after peeling off, adjusting the position of the sheet carrier tape at least once again according to the sheet positioning signal and the bracket positioning signal.

In the above-mentioned sheet material automatic pasting method, wherein, step (e) includes arbitrarily taking one-dimensional or two-dimensional or three-dimensional adjustment of the position of the sheet carrier tape in the three dimensions of the X-axis, the Y-axis and around the Z-axis, and simultaneously step (f) It also includes arbitrarily taking one-dimensional or two-dimensional or three-dimensional adjustment of the position of the sheet carrier tape in the three dimensions of the X-axis, Y-axis and around the Z-axis, satisfying the axial adjustment in the two steps, The X-axis, the Y-axis and around the Z-axis are adjusted at least once.

The above method for automatically pasting sheets is characterized in that the sheets include soft printed circuit boards, labels, foam, and silk screens.

According to the above-mentioned purpose, the present invention also provides a kind of sheet material automatic pasting equipment, comprising:

Sheet carrier tape rolls, which store sheet carrier tape in a coiled manner;

The first adjustment device is located at the exit end of the sheet material carrier tape, and adjusts the position of the sheet material carrier tape;

The sheet positioning camera is located behind the first adjustment device and above the sheet carrier belt, detects the position of the sheet on the sheet carrier belt, and outputs a sheet positioning signal;

The suction mechanism is located behind the sheet positioning camera and is used to suck the sheet on the sheet carrier belt;

A peeling mechanism, located below the suction mechanism, is used to peel the sheet from the carrier tape;

The bracket conveyor belt is used to transport the bracket of the sheet to be pasted;

The bracket positioning camera is located above the bracket conveyor belt, detects the position of the bracket on the bracket conveyor belt, and outputs a bracket positioning signal;

The executive mechanism is connected with the sheet positioning camera and the bracket positioning camera, receives the sheet positioning signal and the bracket positioning signal, and is also connected with the first adjustment device, and controls according to the sheet positioning signal and the bracket positioning signal the first adjusting device to adjust the position of the sheet; and

The pasting mechanism is connected with the material suction mechanism, and pastes the sheets sucked by the material suction mechanism to the bracket located on the bracket conveyor belt.

The above-mentioned sheet material automatic sticking equipment, wherein, the first adjusting device further includes:

at least one first X-axis adjustment mechanism for moving the sheet carrier tape provided by the roll of sheet material in the direction of the X-axis;

at least one first Y-axis adjustment mechanism, the first X-axis adjustment mechanism is located on the first Y-axis adjustment mechanism, the first X-axis adjustment mechanism is moved in the direction of the Y-axis, thereby moving the sheet Carrier tape;

At least one first Z-axis rotation mechanism, the first Y-axis adjustment mechanism is located on the first Z-axis rotation mechanism, and the first Y-axis adjustment mechanism is rotated around the Z axis, thereby rotating the sheet carrier around the Z-axis direction bring.

The above-mentioned sheet material automatic pasting equipment, wherein, the first adjusting device includes at least one of the following mechanisms:

at least one first X-axis adjustment mechanism, which adjusts and moves the sheet carrier tape provided by the sheet material roll in the direction of the X-axis;

at least one first Y-axis adjustment mechanism, which adjusts and moves the sheet material carrier tape provided by the sheet material roll in the Y-axis direction;

At least one first Z-axis rotation mechanism rotates and moves the sheet material carrier tape provided by the sheet material roll in the direction of the Z axis;

The sheet automatic pasting equipment also includes a second adjustment device, the actuator is connected to the second adjustment device, controls the second adjustment device according to the sheet positioning signal and the bracket positioning signal to adjust the position of the sheet, the second The adjustment device includes at least one of the following mechanisms:

at least one second X-axis adjustment mechanism, which adjusts and moves the sheet material carrier tape provided by the sheet material roll in the direction of the X axis;

at least one second Y-axis adjustment mechanism, which adjusts and moves the sheet material carrier tape provided by the sheet material roll in the Y-axis direction;

At least one second Z-axis rotation mechanism rotates the sheet material carrier tape provided by the sheet material roll in the direction of the Z axis;

A corresponding axial mechanism in at least one first or second adjusting device is required for each axial adjustment.

The above-mentioned sheet material automatic sticking equipment, wherein, the second adjustment device is a manipulator, which can adjust the sheet material carrier tape in one, two or three dimensions in the three dimensions of the X axis, the Y axis and around the Z axis. s position.

The above automatic pasting equipment for sheet materials, wherein the sheet materials include soft printed circuit boards, labels, foam, and silk screens.

The mechanism of the invention can complete the precise positioning process in the step-by-step transmission process, therefore, while ensuring the sheet material pasting accuracy, the pasting cycle is greatly reduced and the production efficiency is improved.

Description of drawings

Fig. 1 is the structural representation of automatic pasting equipment of the present invention, and wherein Fig. 1A has shown the situation that sheet material is not peeled off from sheet material carrier tape, and Fig. 1 B has shown the situation that sheet material has been peeled off from sheet material carrier tape;

Fig. 2 is another structural representation of automatic pasting equipment of the present invention;

Fig. 3 is another schematic structural view of the automatic sticking device of the present invention;

Fig. 4 is another structural schematic diagram of the automatic pasting device of the present invention.

Detailed ways

The structure and working principle of the sheet automatic sticking device of the present invention will be described in detail below in conjunction with the accompanying drawings.

As shown in Figure 1, sheet material automatic pasting equipment of the present invention comprises following parts:

The sheet carrier tape material roll 107, the sheet material carrier tape material roll 107 stores the sheet material carrier tape 108 in a winding manner, and the sheet material 112 to be pasted is attached to the carrier tape 108 at a certain interval;

The X axial adjustment mechanism 109 is located at the outlet end of the sheet material carrier tape material roll 107, the sheet material carrier tape 108 bypasses the X axial adjustment mechanism 109, and the X axial adjustment mechanism 109 can move the sheet material roll in the direction of the X axis The sheet carrier tape 8 provided by 107;

The Y-axis adjustment mechanism 111 and the X-axis adjustment mechanism 109 are located on the Y-axis adjustment mechanism 111 . When the Y-axis adjustment mechanism 111 moves in the Y-axis, it can drive the X-axis adjustment mechanism 109 to move in the Y-axis, so that the position of the sheet carrier tape 108 in the Y-axis is moved by the X-axis adjustment mechanism 109, thereby To the effect of Y-axis adjustment;

The Z-axis rotation mechanism 110 and the Y-axis adjustment mechanism 111 are located on the Z-axis rotation mechanism 110 . When the Z-axis rotation mechanism 110 rotates around the Z-axis, it can drive the Y-axis adjustment mechanism 111 to rotate. Since the X-axis adjustment mechanism 109 and the sheet material carrier tape 108 are located on the Y-axis adjustment mechanism 111, they will be simultaneously Drive these components and the sheet material carrier belt 108 to rotate together, thereby playing the role of Z-axis rotation adjustment;

In this embodiment, the above-mentioned X-axis adjustment mechanism 109 , Y-axis adjustment mechanism 111 and Z-axis rotation structure 110 constitute a first adjustment device to adjust the position of the sheet carrier tape.

Although in this embodiment, a connection mode in which the X-axis adjustment mechanism 109 is located on the Y-axis adjustment mechanism 111 and the Y-axis adjustment mechanism 111 is located on the Z-axis rotation mechanism 110 is specifically described, it should be understood that in order to realize The position adjustment of the sheet carrier tape in the X-axis, Y-axis and Z-axis is not the only connection method, other connection methods, for example, setting the X-axis adjustment mechanism on the Z-axis rotation mechanism, Then the Z-axis rotation mechanism is arranged on the Y-axis adjustment mechanism, and the position adjustment of the sheet carrier tape in the X-axis, Y-axis and Z-axis can also be realized. Therefore, the connection structure of this embodiment It cannot limit the protection scope of the present invention;

The sheet positioning camera 102 is located behind the X-axis adjustment mechanism 109 and above the sheet carrier belt 108. Its function is to detect the position of the sheet 112 on the sheet carrier belt 108 and output the sheet Material positioning signal;

The suction mechanism 105 is located behind the sheet positioning camera 102 in the X-axis, and is used to suck the sheet 112 on the sheet carrier belt 108 . The positions of the X-axis adjustment mechanism 109, the sheet positioning camera 102 and the suction mechanism 105 are arranged from front to back in the X-axis direction;

The peeling mechanism 113 is located below the material suction mechanism 105. Before or simultaneously with the sheet material 112 on the sheet material carrier tape 108 when the material suction mechanism 105 descends, the peeling mechanism 113 peels the sheet material 112 off the sheet material carrier tape 108, so that the suction The material structure machine 105 sucks the sheet 112, and FIG. 1A shows a situation where the sheet 112 has not peeled off the sheet carrier tape 108, and FIG. 1B shows a situation where the sheet 112 has peeled off the sheet carrier tape 108;

The bracket conveyor belt 104 is perpendicular to the X axis, and is used to transport the bracket 106 of the sheet to be pasted, and transport the bracket 106 to the bottom of the suction mechanism 105;

The bracket positioning camera 103 is located above the bracket conveyor belt 104, detects the position of the bracket on the bracket conveyor belt 104, and outputs a bracket positioning signal;

The actuator (not shown in the figure), the actuator is connected with the sheet positioning camera 102 and the bracket positioning camera 103, receives the sheet positioning signal and the bracket positioning signal, and the actuator is also adjusted with the X axis adjustment mechanism 109 and the Y axis The mechanism 111 is connected to the Z-axis rotation mechanism 110, and calculates the position of the sheet, the position of the bracket and their relative positions according to the sheet positioning signal and the bracket positioning signal, thereby controlling the X-axis adjustment mechanism 109 and the Y-axis adjustment mechanism 1011 and the action of the Z-axis rotating mechanism 110 to adjust the position of the sheet, the executive mechanism is usually implemented in the form of a digital circuit or a microcomputer, and those skilled in the art can implement it according to the above requirements, so the executive mechanism will not be described in detail here internal implementation of the ; and

Sticking mechanism 101 links to each other with sucking material mechanism 105, and after stripping mechanism 113 strips sheet material 112 from sheet material carrying tape 108, sticking mechanism 101 will drive sucking material mechanism 105 downwards, and the sheet material 112 sucked by it is pasted on It is located on the support 106 on the support conveyor belt 104 below the material suction mechanism 105 .

The working process of sheet material automatic pasting equipment of the present invention is as follows:

At the beginning, the sheet carrier tape 108 is pulled out from the sheet material carrier tape material roll 107, and wound on the X-axis adjustment mechanism 109. The X-axis adjustment mechanism 109 can adopt a step adjustment mechanism to carry the sheet material. The belt moves a certain distance in the X direction and stops. The rack conveying belt 104 transports the rack 106 of the sheet to be attached to the bottom of the rack positioning camera 103 . Then, the sheet positioning camera 102 detects the position of the sheet 112 and outputs a sheet positioning signal, while the frame positioning camera 103 also detects the position of the frame 106 and outputs a frame positioning signal.

Then, the sheet positioning signal and the bracket positioning signal are respectively input into the actuator, and the actuator outputs control signals to the X-axis adjustment mechanism 109, the Y-axis adjustment mechanism 111 and the Z-axis rotation mechanism 110 through calculation and analysis to control these The action of the mechanism completes the adjustment of the position of the sheet. The adjustment of the position of the sheet includes movement in the X direction to move the sheet below the suction mechanism 105 ; movement in the Y direction and rotation in the Z direction. Simultaneously, the bracket output belt 104 is controlled by the actuator to deliver the bracket 106 to its sticking position.

After the adjustment of the sheet position is completed, the suction mechanism 105 moves downwards to suck the sheet 112 on the sheet carrier tape 108, cooperates with the action of the stripping mechanism 113, peels the sheet 112 off the carrier tape 108, and is adsorbed on the suction mechanism. 105 on. Finally, the sticking mechanism 101 drives the suction mechanism 105 to move downward to realize the sticking action of the sheet.

It is worth noting that, in the above-mentioned pasting equipment and pasting method of the present invention, while peeling and pasting the sheets, since the subsequent sheets and supports to be pasted have all moved to the position of the sheet positioning camera and the support positioning camera, Therefore, the positioning action and the sticking action are carried out in parallel, which changes the series action process in the prior art. Therefore, the sticking cycle is reduced and the production efficiency is improved.

In the above description, the sheet is taken as an example, but it should be understood that the sheet here may be, for example, a label, a protective film, a silk screen, or a flexible printed circuit board (PCB).

Referring to Fig. 2 below, Fig. 2 shows another embodiment of the automatic pasting device of the present invention. As shown in Figure 2, the sheet material automatic pasting equipment of another embodiment of the present invention comprises following parts:

The sheet carrier tape material roll 207, the sheet material carrier tape material roll 207 stores the sheet material carrier tape 208 in a winding manner, and the sheet material 212 to be pasted is attached to the carrier tape 208 at a certain interval;

The X-axis adjustment mechanism 209 is located at the outlet end of the sheet carrier tape material roll 207, and the sheet material carrier tape 208 bypasses the X-axis adjustment mechanism 209, so the X-axis adjustment mechanism 209 can move the sheet in the direction of the X axis. The sheet material carrier tape 208 provided by the material roll 207; in this embodiment, the X-axis adjustment mechanism 209 constitutes a first adjustment device for adjusting the position of the sheet material carrier tape.

The sheet positioning camera 202 is located behind the X-axis adjustment mechanism 209 and above the sheet carrier tape 208. Its function is to detect the position of the sheet 212 on the sheet carrier tape 208 and output the sheet Material positioning signal;

The manipulator 205 is located behind the sheet positioning camera 202 in the X axis, and is used to suck the sheet 212 on the sheet carrier belt 208 . The positions of the X-axis adjustment mechanism 209, the sheet positioning camera 202, and the manipulator 205 are arranged from front to back on the X-axis; After sucking the sheet 212, the position of the sheet 212 in the Y axis and the position in the Z axis can be adjusted by rotation; The Z axis adjusts the position of the sheet carrier tape upwards.

The peeling mechanism 213 is located below the manipulator 205. When the manipulator 205 probes and sucks the sheet 212 on the sheet carrier tape 208, the peeling mechanism 213 peels the sheet 212 off the sheet carrier tape 208, so that the manipulator 205 sucks the sheet 212;

The support conveyor belt 204 is perpendicular to the X axis, and is used to transport the support 206 of the sheet to be pasted, and transport the support 206 to the bottom of the manipulator 205;

The bracket positioning camera 203 is located above the bracket conveyor belt 204, detects the position of the bracket 206 on the bracket conveyor belt 204, and outputs a bracket positioning signal;

The actuator (not shown in the figure), the actuator is connected with the sheet positioning camera 202 and the bracket positioning camera 203, and receives the sheet positioning signal and the bracket positioning signal. The actuator is also connected with the X-axis adjustment mechanism 209. The positioning signal and the bracket positioning signal control the action of the X-axis adjustment mechanism 209 to adjust the position of the sheet 212. The actuator is also connected to the manipulator 205, and the position of the sheet and the bracket are calculated according to the sheet positioning signal and the bracket positioning signal. position and their relative positions, so as to control the action of the manipulator 205 to adjust the position of the sheet 212 in the Y axis and rotate the position of the sheet 212 in the Z axis. The actuator usually adopts a digital circuit or a microcomputer Those skilled in the art can implement it according to the above requirements, so the internal implementation of the actuator will not be described in detail here.

The working process of sheet material automatic pasting equipment of the present invention is as follows:

At the beginning, the sheet material carrier tape 208 is pulled out from the sheet material carrier tape material roll 207 and wound on the X-axis adjustment mechanism 209. The X-axis adjustment mechanism 209 can adopt a step adjustment mechanism to load the sheet material. The belt moves a certain distance in the X direction and stops at a fixed position. The rack conveying belt 204 transports the rack 206 of the sheet to be attached to the bottom of the rack positioning camera 203 . Then, the sheet positioning camera 202 detects the position of the sheet 212 and outputs a sheet positioning signal, while the frame positioning camera 203 also detects the position of the frame 206 and outputs a frame positioning signal.

Then, the sheet positioning signal and the bracket positioning signal are respectively input into the actuator, and the actuator outputs a control signal to the X-axis adjustment mechanism 209 through calculation and analysis, and moves the position of the sheet carrier tape 208 in the X-axis, thereby adjusting the sheet. material 212 and the relative position of the bracket, and the bracket is transported to the pasting position, that is, the first adjustment;

Then, the manipulator 205 sucks and peels the sheet adjusted in the X-axis position from the sheet carrier tape;

Then the executive mechanism controls the manipulator to adjust the position of the stripped sheet 212 in the Y axis according to the sheet positioning signal and the bracket positioning signal, and rotates and adjusts the position of the sheet 212 in the Z axis, that is, readjustment after stripping, and simultaneously The peeled sheet 212 is attached to the holder 206 .

Alternatively, in the above process, the X-axis adjustment mechanism 209 only provides for forwarding the sheet carrier tape to a fixed position. The manipulator is controlled by the positioning signal to move above the fixed position, the sheet is peeled off and then adjusted in three axes according to the positioning signal, and the sheet 212 is pasted on the bracket 206 after the adjustment is completed.

Fig. 3 shows yet another embodiment of the automatic pasting device of the present invention. As shown in Figure 3, the embodiment of Figure 3 has made the following changes on the basis of Figure 2:

In addition to the structure shown in Figure 2, the automatic pasting device of Figure 3 embodiment also includes:

The sheet position adjustment mechanism 311 and the X-axis adjustment mechanism 309 are located on the sheet position adjustment mechanism 311 . The sheet position adjustment mechanism 311 can be a Y-axis adjustment mechanism, which drives the X-axis adjustment mechanism 309 to move in the Y-axis direction, thereby moving the sheet carrier tape in the Y-axis position through the X-axis adjustment mechanism 309; It may be a Z-axis rotation mechanism, which drives the X-axis adjustment mechanism 309 to rotate around the Z-axis, thereby driving the sheet material carrier tape 308 to rotate around the Z-axis together, thereby playing the role of Z-axis rotation adjustment; the sheet position adjustment mechanism 311 Together with the X-axis adjusting mechanism 309, it forms the first adjusting device.

If the sheet position adjustment mechanism 311 adopts the Y-axis adjustment mechanism, then the manipulator 305 as the second adjustment device adopts a multi-axis manipulator, which provides rotation to adjust the position in the Z-axis, but does not provide an adjustment action in the Y-axis; if The sheet position adjustment mechanism 311 adopts a Z-axis rotation mechanism, and the mechanism hand 305 provides Y-axis adjustment action instead of Z-axis rotation adjustment action;

The actuator (not shown in the figure), the actuator is connected with the sheet positioning camera 302 and the bracket positioning camera 303, and receives the sheet positioning signal and the bracket positioning signal. The positioning signal and the bracket positioning signal control the action of the X-axis adjustment mechanism 309 to adjust the position of the sheet 312; the actuator is also connected to the sheet position adjustment mechanism 311, and controls the position of the sheet according to the sheet positioning signal and the bracket positioning signal The action of the adjustment mechanism 311, that is, if the sheet position adjustment mechanism 311 adopts the Y-axis adjustment mechanism, the sheet position adjustment mechanism 311 is controlled to move on the Y-axis, and at the same time, the position of the sheet is calculated according to the sheet positioning signal and the bracket positioning signal. position, the position of the support and their relative positions, control the action of the manipulator 305 to rotate and adjust the position of the sheet 312 in the Z-axis; if the sheet position adjustment mechanism 311 adopts a Z-axis rotation adjustment mechanism, then control the position Adjusting the rotation of the mechanism 311 on the Z axis, at the same time calculating the position of the sheet, the position of the bracket and their relative positions according to the sheet positioning signal and the bracket positioning signal, and controlling the action of the manipulator 305 to adjust the position of the sheet 312 on the Y axis up position.

In the embodiments of the above-mentioned Fig. 1 to Fig. 3 of the present invention, the support conveyer belt all transports the support to the directly below the pasting mechanism or the manipulator, so no matter whether it is the pasting mechanism or the manipulator, it only needs to put the sucked sheet vertically downward. Just move (except that the manipulator needs to be adjusted in position). And in some occasions, it may be inconvenient for the transmission mode of this support. As shown in Figure 4, the support conveyor belt 404 does not transfer the support 406 to the right below the manipulator 405, so the manipulator 405 cannot simply vertically absorb the sheet material. The action of moving downward for pasting needs to be shifted according to the relative position of the sheet material and the manipulator 405, and then moved down for pasting.

It should be understood that the relative position of the bracket and the sheet is only determined by the three directions of the X axis, the Y axis, and the Z axis, and in the embodiments of the above-mentioned Figures 1 to 3 of the present invention, the X axis of the bracket and the sheet is The three-dimensional relative positions of the bracket and the sheet in the X-axis, Y-axis, and around the Z-axis are adjusted only once to reach the sticking position. The three-dimensional relative position adjustment method does not limit the protection scope of the present invention.

The above-mentioned embodiments are provided for those of ordinary skill in the art to implement or use the present invention. Those of ordinary skill in the art can make various modifications or changes to the above-mentioned embodiments without departing from the inventive idea of the present invention. Therefore, the present invention The scope of protection of the invention is not limited by the above-mentioned embodiments, but should be the maximum scope consistent with the innovative features mentioned in the claims.

Claims (10)

1. A sheet material automatic pasting method, the method comprises the steps: (a) providing a sheet carrier tape on which a sheet is attached in a stepwise manner; (b) Provide a support for the sheet to be attached; (c) detecting the position of the sheet on the sheet carrier tape, and outputting a sheet positioning signal; (d) detecting the position of the bracket of the sheet to be pasted, and outputting a bracket positioning signal; (e) adjusting the position of the sheet carrier tape according to the sheet positioning signal and the bracket positioning signal, thereby adjusting the relative position of the sheet and the bracket, and transporting the bracket to a fixed position; (f) peeling the adjusted sheet from the sheet carrier tape; (g) Paste the peeled sheet on the sheet to be attached on the support; (h) performing the above-mentioned steps (c) and (d) while carrying out the above-mentioned peeling and sticking, to output the sheet positioning signal and the bracket positioning signal; after the pasting is completed, perform steps (e) to (g), and repeat . 2. The sheet material automatic pasting method as claimed in claim 1, characterized in that, in step (e), the position of the sheet material carrier tape is at least moved and adjusted once horizontally in the horizontal plane and vertically in the horizontal plane, and rotated at least around the vertical direction Adjust the position of the sheet carrier tape once. 3. The sheet material automatic sticking method as claimed in claim 1, characterized in that, step (f) also includes: after peeling, adjust the position of the sheet material carrier tape at least once again according to the sheet material positioning signal and the bracket positioning signal Location. 4. The sheet material automatic pasting method as claimed in claim 3, is characterized in that, step (e) comprises arbitrarily getting one-dimensional or two-dimensional or three-dimensional adjustment of this sheet in horizontal horizontal plane, horizontal plane vertical direction and these three-dimensional around vertical direction The position of the sheet material carrier tape, while step (f) also includes the horizontal plane, the horizontal plane longitudinal direction and the three dimensions around the vertical direction, arbitrarily taking one-dimensional or two-dimensional or three-dimensional adjustment of the position of the sheet material carrier tape, satisfying that in two steps In the axial adjustment, the horizontal plane, the horizontal plane longitudinal direction and the vertical direction have been adjusted at least once. 5. The sheet material automatic pasting method according to any one of claims 1 to 4, wherein the sheet material comprises a flexible printed circuit board, a label, foam, and a silk screen. 6. A sheet automatic pasting equipment, comprising: Sheet carrier tape rolls, which store sheet carrier tape in a coiled manner; The first adjustment device is located at the exit end of the sheet material carrier tape, and adjusts the position of the sheet material carrier tape; The sheet positioning camera is located behind the first adjustment device and above the sheet carrier belt, detects the position of the sheet on the sheet carrier belt, and outputs a sheet positioning signal; The suction mechanism is located behind the sheet positioning camera and is used to suck the sheet on the sheet carrier belt; A peeling mechanism, located below the suction mechanism, is used to peel the sheet from the carrier tape; The bracket conveyor belt is used to transport the bracket of the sheet to be pasted; The bracket positioning camera is located above the bracket conveyor belt, detects the position of the bracket on the bracket conveyor belt, and outputs a bracket positioning signal; The executive mechanism is connected with the sheet positioning camera and the bracket positioning camera, receives the sheet positioning signal and the bracket positioning signal, and is also connected with the first adjustment device, and controls according to the sheet positioning signal and the bracket positioning signal the first adjusting device to adjust the position of the sheet; and The pasting mechanism is connected with the material suction mechanism, and pastes the sheet material sucked by the material suction mechanism to the sheet material to be pasted on the bracket located on the bracket conveyor belt. 7. The sheet material automatic pasting device as claimed in claim 6, wherein the first adjusting device further comprises: at least one first horizontal adjustment mechanism for moving the sheet carrier tape provided by the roll of sheet material in a direction transverse to the horizontal plane; at least one first horizontal plane longitudinal adjustment mechanism, the first horizontal plane transverse adjustment mechanism positioned on the first horizontal plane longitudinal adjustment mechanism, moving the first horizontal plane transverse adjustment mechanism in a horizontal plane longitudinal direction, thereby moving the sheet carrier tape; at least one first vertical rotation mechanism on which the first horizontal longitudinal adjustment mechanism is positioned to rotate the first horizontal longitudinal adjustment mechanism about the vertical direction to rotate the sheet about the vertical direction carrier tape. 8. The sheet material automatic sticking equipment as claimed in claim 6, characterized in that, the first adjusting device comprises at least one of the following mechanisms: At least one first horizontal horizontal adjustment mechanism, which adjusts and moves the sheet carrier tape provided by the sheet material roll in the horizontal horizontal direction; At least one first horizontal-plane longitudinal adjustment mechanism adjusts and moves the sheet material carrier tape provided by the sheet material roll in the horizontal-plane longitudinal direction; at least one first vertical rotation mechanism for rotating the sheet carrier tape provided by the roll of sheet material in the vertical direction; The sheet automatic pasting equipment also includes a second adjustment device, the actuator is connected to the second adjustment device, controls the second adjustment device according to the sheet positioning signal and the bracket positioning signal to adjust the position of the sheet, the second The adjustment device includes at least one of the following mechanisms: At least one second horizontal horizontal adjustment mechanism, which adjusts and moves the sheet material carrier tape provided by the sheet material roll in the horizontal horizontal direction; at least one second horizontal plane longitudinal adjustment mechanism, adjusting and moving the sheet material carrier tape provided by the sheet material roll in the horizontal plane longitudinal direction; at least one second vertical rotation mechanism for rotating the sheet carrier tape provided by the roll of sheet material in the vertical direction; A corresponding axial mechanism in at least one first or second adjusting device is required for each axial adjustment. 9. The sheet material automatic sticking equipment as claimed in claim 8, characterized in that, the second adjustment device is a manipulator, which can arbitrarily take one or two dimensions in the three dimensions of the horizontal plane, the horizontal plane longitudinal direction and the vertical direction. Or three-dimensionally adjust the position of the sheet carrier tape. 10. The sheet material automatic sticking device according to any one of claims 6-9, wherein the sheet material comprises a flexible printed circuit board, a label, foam, and a silk screen.

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