A method for aligning large-sized sheet materials

Abstract

The present invention discloses an alignment method suitable for large-sized sheet materials, which belongs to the technical field of sheet stacking, including fixing the upper and lower materials, obtaining the position information of the lower material platform and the marking points on the upper and lower materials, calculating the correction deviation according to the position information of the marking points on the upper and lower materials, obtaining the theoretical point information of the lower material platform and the actual point information after correction according to the correction deviation, and performing secondary correction according to the theoretical point information and the actual point information of the lower material platform to achieve accurate alignment of the upper and lower materials. The alignment method of large flexible materials in the present application obtains the position information of the upper and lower materials and the lower material platform respectively through two groups of alignment cameras, and adjusts and aligns the upper and lower materials according to the adjustment of the lower material platform, and corrects the displacement deviation of the upper and lower materials through the position information of the marking points on the lower material platform and adjusting the lower material platform through the correction device under the lower material, thereby improving the adjustment and alignment accuracy of the upper and lower materials.

Description

Technical Field

[0001] The invention belongs to the technical field of sheet material stacking, and in particular relates to an alignment method suitable for large-sized sheet materials. Background Art

[0002] Photovoltaic power generation is a technology that uses the photovoltaic effect of semiconductor interfaces to directly convert light energy into electrical energy. Thin-film cells are the core components of photovoltaic power generation. With the continuous advancement of photovoltaic power generation technology, demanders have also put forward higher requirements for cell thin films.

[0003] With the advancement of industrial automation, automated production lines have higher and higher requirements for product alignment accuracy and efficiency, especially for large-scale thin-film bonding in the solar industry, where higher alignment accuracy is required.

[0004] At present, some alignment platforms mainly use the movement of X-axis and Y-axis and the rotation of angle θ to align two workpieces. XYθ alignment platforms are only suitable for small objects. For large objects, the larger the size, the lower the accuracy. The current conventional alignment methods generally cannot meet such high alignment accuracy. Therefore, it is necessary to further improve the bonding of large flexible materials and improve the bonding accuracy. Summary of the invention

[0005] In view of one or more of the above defects or improvement needs in the prior art, the present invention provides an alignment method suitable for large-sized sheet materials, so as to solve the problem of low alignment accuracy of existing large-sized flexible materials.

[0006] To achieve the above object, the present invention provides a method for aligning large-sized sheet materials, which is implemented by using an alignment device; the alignment device includes a correction device, a lower material platform, and an upper material platform arranged in sequence from bottom to top;

[0007] The lower material platform is connected to the correction device, and a first group of alignment cameras is arranged above the lower material platform, and a second group of alignment cameras is arranged above the upper material platform;

[0008] The alignment device is used to align large flexible materials, and the alignment method includes:

[0009] S1. Feed the lower material onto the lower material platform and fix it;

[0010] Control the first group of alignment cameras to identify the first group of marking points on the lower material platform to obtain first position information; control the second group of alignment cameras to obtain the second group of marking points on the lower material to obtain the position information of the lower material;

[0011] S2, controlling the upper material platform to obtain the upper material and drive it to above the lower material;

[0012] Control the second group of alignment cameras to identify the third group of marking points on the upper material to obtain the position information of the upper material;

[0013] S3, solving the correction requirement according to the lower material position information and the upper material position information, the correction requirement is the displacement information of the lower material required to be moved when the lower material is moved to be completely aligned with the upper material, that is, obtaining the displacement information of the lower material platform;

[0014] S4, calculating theoretical marking point position information of the first group of marking points when the correction is completed according to the first position information and the correction requirement;

[0015] Controlling the correction device to correct the lower material platform according to the correction requirement, and obtaining the second position information of the first group of marking points again through the first group of alignment cameras after the correction is completed;

[0016] S5, comparing the theoretical marking point position information with the second position information to determine whether the two coincide with each other;

[0017] If they overlap, the upper and lower materials are aligned vertically;

[0018] If they do not overlap, a correction deviation is obtained according to the difference between the two position information, and then the correction deviation is used to control the correction device to adjust the lower material platform until the upper material and the lower material are aligned up and down.

[0019] As a further improvement of the present invention, the number of marking points in the first group of marking points, the second group of marking points, and the third group of marking points is at least three, and they are respectively located in the corners; the number of cameras included in the first group of alignment cameras and the second group of alignment cameras is at least three, and the first group of alignment cameras corresponds to the first group of marking points, and the second group of alignment cameras corresponds to the second group of marking points and the third group of marking points.

[0020] As a further improvement of the present invention, the theoretical marking point position information of the first group of marking points is A2, B2, C2, and the second position information of the first group of marking points is A3, B3, C3;

[0021] Controlling the correction device to adjust the lower material platform according to the correction deviation to complete the alignment includes:

[0022] S501, adjust the position of the lower material platform so that the position information of A2 and A3 coincides, and the straight line A2B2 coincides with the straight line A3B3;

[0023] S502, comparing the position information deviations of B2 and B3, C2 and C3, and the angle deviations of ∠B2A2C2 and ∠B3A3C3;

[0024] S503: Adjust the position of the lower material platform according to the information deviation and the angle information deviation.

[0025] As a further improvement of the present invention, the correction device includes a correction platform arranged below the lower material platform; a first displacement mechanism and a second displacement mechanism are provided below the correction platform, wherein there is one first displacement mechanism for controlling the lower material platform to move in a first direction; there are two second displacement mechanisms for controlling the lower material platform to move in a second direction or to rotate in a horizontal plane, the moving directions of the two second displacement mechanisms are the same or opposite, and the first displacement mechanism is located between the two second displacement mechanisms.

[0026] As a further improvement of the present invention, the upper material platform includes an upper material adsorption mechanism and a lifting mechanism, the upper material adsorption mechanism is arranged in alignment with the lower material platform, and the lifting mechanism is arranged on the side of the upper material adsorption mechanism, and is used to control the vertical lifting of the upper material adsorption mechanism;

[0027] The step S5 further includes a bonding process: the upper material adsorption mechanism adsorbs the upper material, and the lifting mechanism is controlled to drive the upper material adsorption mechanism to descend vertically, so that the upper material and the lower material are bonded.

[0028] As a further improvement of the present invention, the lower material platform includes a lower material transport plate, an adsorption chamber connected to the negative pressure device is provided below the material transport plate, and an adsorption hole is also provided on the side of the lower material transport plate facing the lower material;

[0029] The process of fixing the lower material on the lower material platform comprises the following steps: placing the lower material on the lower material transport plate, controlling the negative pressure device to start, the adsorption chamber to generate negative pressure and fix the lower material through the adsorption holes.

[0030] As a further improvement of the present invention, a transport belt is further provided on the lower material transport plate, and a through hole corresponding to the adsorption hole on the lower material transport plate is opened on the transport belt;

[0031] The lower material is delivered to the lower part of the upper material platform by the transport belt and then fixed.

[0032] As a further improvement of the present invention, the step of obtaining the correction requirement includes:

[0033] Constructing a first coordinate system and a second coordinate system according to the lower material position information and the upper material position information respectively;

[0034] Construct transformation equations of the first coordinate system, the second coordinate system and the world coordinate system respectively;

[0035] Substituting the upper material position information and the lower material position information into their corresponding transformation equations respectively, the displacement information of the lower material platform is obtained.

[0036] As a further improvement of the present invention, the step of calculating the theoretical marking point position information of the material after correction according to the first position information and the correction requirement includes:

[0037] Constructing a first coordinate system and a second coordinate system according to the lower material position information and the upper material position information respectively;

[0038] Construct the transformation equations of the first coordinate system, the second coordinate system and the world coordinate system respectively:

[0039] Obtaining a theoretical value to solve an equation according to the lower material position information, the upper material position information and the transformation equation;

[0040] Substituting the first position information into the theoretical value solving equation obtains the theoretical marking point position information.

[0041] The above-mentioned improved technical features can be combined with each other as long as they do not conflict with each other.

[0042] In general, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:

[0043] (1) The present invention is applicable to the alignment method of large-sized sheet materials. It adopts a first group of alignment cameras and a second group of alignment cameras to respectively collect the position information of the lower material platform, the lower material and the upper material, and monitors the displacement information of the lower material platform to determine the alignment of the upper material and the lower material. The first group of alignment cameras is set for the lower material platform, and its information collection of the lower material platform is not affected by the size and position changes of the upper and lower materials. In addition, its shooting point is far away from the rotation center, which can further improve the correction accuracy of the lower material platform, thereby improving the alignment accuracy of the lower material and the upper material after adjustment.

[0044] (2) The present invention is suitable for the alignment method of large-sized sheet materials. The lower material is adsorbed and fixed on the lower material platform, the position of the lower material platform is adjusted by a correction device, the position information of the lower material platform is obtained by an alignment camera, and the displacement information of the lower material platform is calculated. This solves the problem that it is difficult to obtain accurate position information of the lower material after being blocked by the upper material. Moreover, after the lower material is corrected, the present application compares the theoretical correction point information of the lower material platform with the point information after correction to obtain the displacement error of the lower material platform, and then adjusts the position of the lower material platform to ensure accurate alignment of the upper and lower materials.

[0045] (3) The alignment method of the present invention is applicable to large-sized sheet materials. According to the alignment and bonding environment of large flexible materials, a correction device that is more suitable for large flexible materials is designed, thereby improving the stability of the correction device. The alignment method uses two sets of alignment cameras, so that the correction function of the correction device can achieve closed-loop control, thereby improving the accuracy of the correction result. According to the collaborative correction method of the two sets of alignment cameras, the applicability of the correction device to large flexible materials is improved, and the effect of further improving the alignment accuracy is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a schematic diagram of the overall structure of the alignment device in an embodiment of the present invention;

[0047] Figure 2 is a schematic diagram of the overall structure of the correction device in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the overall structure of the lower material platform in an embodiment of the present invention;

[0049] Figure 4 2 is a schematic diagram of the overall structure of the upper material transport plate in an embodiment of the present invention;

[0050] Figure 5 is a schematic structural diagram of an alignment rack in an embodiment of the present invention;

[0051] Figure 6 is a schematic diagram of position adjustment of a correction device in an embodiment of the present invention;

[0052] Figure 7 Schematic diagram of the position adjustment of the lower material platform and the lower material in the embodiment of the present invention;

[0053] Figure 8 It is a schematic diagram of secondary correction of the lower material platform in an embodiment of the present invention.

[0054] In all the drawings, the same figure marks represent the same technical features, specifically: 1. Correction device; 2. Lower material platform; 3. Upper material transport plate; 4. Loading rack; 5. Lifting mechanism; 6. Alignment rack; 7. First group of alignment cameras; 8. Second group of alignment cameras; 9. First group of alignment light sources; 10. Second group of alignment light sources. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0058] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0060] Example:

[0061] See also Figures 1 to 8The alignment method for large-sized sheet materials in the preferred embodiment of the present invention is implemented by an alignment device, which includes a correction device 1, a lower material platform 2, and an upper material platform from bottom to top. The lower material platform 2 is connected to the correction device 1, and the position of the lower material platform 2 can be adjusted by the correction device 1; and the alignment device also includes a first group of alignment cameras 7 arranged above the lower material platform 2 and a second group of alignment cameras 8 arranged above the upper material platform. Specifically, the specific structure of the alignment device is as follows:

[0062] Correction device 1, such as Figure 2 As shown, the correction device 1 includes a correction platform, which is arranged below the lower material platform 2. The correction platform includes a moving support frame. A first displacement mechanism and two second displacement mechanisms are provided at the bottom of the moving support frame. The three displacement mechanisms are arranged in a straight line. A number of auxiliary support units are also provided on both sides of the three displacement mechanisms. The three displacement mechanisms and the number of auxiliary support units are all arranged on one side of the moving support frame and form a driving unit of the moving support frame. The lower material platform 2 is arranged on the other side of the moving support frame, and is used to move on the horizontal plane with the moving support frame.

[0063] The first displacement mechanism is used to control the movement of the motion support frame in the Y direction, and the second displacement mechanism is used to control the movement of the motion support frame in the X direction. The driving directions of the two second displacement mechanisms are the same or opposite. The first displacement mechanism is arranged between the two second displacement mechanisms. When the two second displacement mechanisms are driven in the same direction, the motion support frame moves in the X direction; when the two second displacement mechanisms move in opposite directions, the motion support frame rotates on the horizontal plane along the first displacement mechanism. Figure 6 Similarly, the first displacement mechanism can also control the movement of the motion support frame in the X direction, and the two second displacement mechanisms control the movement of the motion support frame in the Y direction.

[0064] Lower material platform 2, such as Figure 3 As shown, the lower material platform 2 is arranged on the correction device 1, and the lower material platform 2 includes a lower material transport plate, and an adsorption chamber is arranged below the lower material transport plate, and the adsorption chamber is attached to the lower part of the lower material transport plate, and the adsorption chamber is connected to the external negative pressure device. The material transport plate is also provided with adsorption holes, which are used to generate negative pressure in the adsorption chamber after the negative pressure device is started, and adsorb and fix the lower material on the lower material transport plate; further, the lower material transport plate is also provided with a conveying belt, and the conveying belt is provided with holes corresponding to the adsorption holes on the material transport plate, so that the lower material placed on the conveying belt can be transported synchronously, and the lower material can be transported from other workstations to the lower material platform 2 through the conveying belt.

[0065] On the material platform, such as Figure 4As shown, the upper material platform is located above the lower material platform 2, and the upper material platform includes an upper material transport plate 3, in which an adsorption chamber is arranged, and the adsorption chamber is connected to an external negative pressure device. Adsorption holes are also provided on the downward surface of the upper material transport plate 3 for adsorbing the upper material. The upper material platform is also provided with a corresponding lifting mechanism 5, which is arranged on the side of the upper material transport plate 3 and is mainly used to drive the upper material transport plate 3 to rise and fall in the vertical direction to achieve the alignment and stacking of the upper material and the lower material. Preferably, there are two lifting mechanisms 5, and the upper material conveying plate 3 is arranged between the two lifting mechanisms 5. Furthermore, the upper material platform also includes a loading rack 4, one end of which extends to other workstations, and the other end is arranged below the upper material adsorption plate. The loading rack 4 is used to transport the upper material of other workstations to the bottom of the upper material adsorption plate. The upper material adsorption plate adsorbs and fixes the upper material under the control of the lifting mechanism 5, so as to facilitate the subsequent alignment of the upper and lower materials.

[0066] The first group of alignment cameras 7, such as Figure 5 As shown, the first group of alignment cameras 7 is mainly used to obtain the position information of the marking points on the lower material platform 2. An alignment rack 6 is provided for the first group of alignment cameras 7. The first group of alignment cameras 7 includes at least three alignment cameras, and the three alignment cameras are respectively located directly above three of the four corners of the lower material platform 2. Furthermore, a first group of alignment light sources 9 are provided on both sides of the lower material platform 2 corresponding to the first group of alignment cameras 7. The first group of alignment light sources 9 increase the accuracy of the first group of alignment cameras 7 in obtaining the point information on the lower material rack.

[0067] The second group of alignment cameras 8 is mainly used to obtain the position information of the marking points on the lower material and the upper material. The second group of alignment cameras 8 is also set on the alignment frame 6. The second group of alignment cameras 8 also includes at least three alignment cameras. The positions of the three alignment cameras are adjusted according to the size of the upper material and the lower material. Furthermore, a second group of alignment light sources 10 are provided on the upper material platform corresponding to the second group of alignment cameras 8. The second group of alignment light sources 10 increases the accuracy of the second group of alignment cameras 8 in obtaining the point information on the upper material and the lower material. The first group of alignment cameras 7 are located on both sides of the alignment frame 6, and can directly obtain the point information on the lower material platform 2. The second group of alignment cameras 8 are vertically blocked by the upper material transport plate 3. The upper material transport plate 3 is provided with a through hole for the second group of alignment cameras 8 to obtain the point information of the upper and lower materials.

[0068] The first group of alignment cameras 7 corresponds to the first group of marking point arrangements, and the second group of alignment cameras 8 corresponds to the second group of marking point arrangements and the third group of marking point arrangements.

[0069] The alignment method of the large flexible material in the present application is implemented by the above alignment device, and the steps are as follows:

[0070] S1, feeding the lower material to the lower material platform 2 and fixing it;

[0071] Control the first group of alignment cameras 7 to identify the first group of marking points on the lower material platform 2 to obtain first position information; at the same time, control the second group of alignment cameras 8 to obtain the second group of marking points on the lower material to obtain the lower material position information;

[0072] S2, controlling the upper material platform to obtain the upper material and drive it to above the lower material;

[0073] Control the second group of alignment cameras 8 to identify the third group of marking points on the upper material to obtain the position information of the upper material;

[0074] S3, solving the correction requirement according to the lower material position information and the upper material position information, the correction requirement is the displacement information of the lower material required to move when the lower material is moved to be completely aligned with the upper material, that is, obtaining the displacement information of the lower material platform 2;

[0075] S4, calculating theoretical marking point position information of the first group of marking points when the correction is completed according to the first position information and the correction requirement;

[0076] According to the correction requirement, the correction device 1 is controlled to correct the lower material platform 2, and after the correction is completed, the second position information of the first group of marking points is obtained again through the first group of alignment cameras 7;

[0077] S5, comparing the theoretical marking point position information with the second position information to determine whether the two coincide with each other;

[0078] If they overlap, the upper and lower materials are aligned vertically;

[0079] If they do not overlap, a correction deviation is obtained according to the difference between the two position information, and then the correction deviation is used to control the correction device 1 to adjust the lower material platform 2 until the upper material and the lower material are aligned up and down.

[0080] In conventional alignment equipment, usually only one set of alignment cameras is used to record the position information of the upper and lower materials. There are two problems when performing correction based on the comparison results of the position information. Since the upper material and the lower material must be completely aligned, after the upper material moves above the lower material, it is difficult for the alignment camera to obtain the corrected position of the lower material and no positive feedback can be formed. Secondly, the correction accuracy is affected by the distance from the point to the rotation center. Under the same camera resolution, the farther the point is from the rotation center, the higher the correction accuracy. The material size is smaller than the material platform. When it rotates, the closer the point information recorded by the alignment camera is, the greater the possibility of correction error. The large-scale flexible material alignment method involved in the present invention uses two sets of alignment cameras to work together. The second alignment camera is responsible for recording the material position for calculating the correction requirements, and the first alignment camera is responsible for recording the position of the material platform for feeding back the correction signal to achieve closed-loop control of the correction. The shooting points of the first alignment camera are not on the material, and the distance between all the points photographed by the first alignment camera and the rotation center is not affected by the size of the material. The points photographed by the first alignment camera are far away from the rotation center, which can further improve the correction accuracy.

[0081] In addition, the present application fully considers the alignment problem of large flexible materials. After the correction of the lower material platform 2 is completed by the correction device 1, the correction position of the lower material is compared with the theoretical point information to obtain the correction error of the lower material platform 2, and then the lower material platform 2 is corrected for the second time to eliminate the displacement error of the lower material platform 2, thereby ensuring the accuracy of the alignment of the upper and lower materials.

[0082] Furthermore, the material fixing method in this application is as follows:

[0083] Start the negative pressure device at the bottom of the lower material, the negative pressure device suctions to generate negative pressure in the adsorption chamber, the adsorption chamber adsorbs and fixes the lower material on the lower material transport plate through the adsorption holes on the lower material transport plate, and the lower material transport plate drives the lower material to be transported to the top of the correction device 1.

[0084] Furthermore, the fixing method of the upper material in this application is as follows:

[0085] The loading rack 4 is controlled to transport the upper materials on other workstations to the top of the lower material platform 2, the lifting mechanism 5 controls the upper material platform to descend and stick to the upper materials, and controls the negative pressure device above the upper materials to generate negative pressure to adsorb and fix the upper materials on the bottom surface of the upper material platform.

[0086] In this application, both the upper and lower materials are fixed by adsorption, so that there are no obstacles between the two materials during the bonding process, which facilitates the bonding of the two materials. Secondly, adsorption fixation can achieve stable fixation of the upper and lower materials at various positions, and will not cause indentation or damage to the surface of the material, ensuring the flatness of the surface of the material, and facilitating the positioning camera to locate the upper and lower materials.

[0087] Further, as a preferred embodiment of the present invention, the first position information of the first group of marking points on the lower material platform 2 in this application is A1, B1, and C1, the theoretical marking point position information of the first group of marking points is A2, B2, and C2, and the second position information of the first group of marking points is A3, B3, and C3; and the information of the second group of marking points on the lower material in this application is D1, E1, and F1, and a first coordinate system is established with these three points, wherein E1 is the origin and the straight line direction of E1F1 is the X-axis; the position information of the third group of marking points on the upper material is D2, E2, and F2, and a second coordinate system is established with these three points, wherein E2 is the origin and E2F2 is the X-axis.

[0088] The establishment of the first coordinate system and the second coordinate system in this application is mainly because the upper and lower materials are dynamic during transportation and alignment, and the lower material will deflect and shift with the movement of the lower material platform 2. In addition, the alignment equipment does not align a single upper material and a lower material. When the second group of upper and lower materials are aligned, the position between the upper material and the lower material may change. When the world coordinate system is used to obtain position information, the point information in the three directions of X, Y, and Z is changing, which is not convenient for calculating the displacement difference between the upper and lower materials. The alignment of the upper and lower materials only needs to consider their position information on the plane. Therefore, the first coordinate system and the second coordinate system are established for the position information of the upper and lower materials to quickly obtain the position information of the two on the plane, so as to obtain the correction requirements.

[0089] Furthermore, the specific method of obtaining the correction requirements in this application is:

[0090] Firstly, a first coordinate system and a second coordinate system are constructed according to the position information of the lower material and the position information of the upper material respectively;

[0091] Construct transformation equations of the first coordinate system, the second coordinate system and the world coordinate system respectively;

[0092] Then, the upper material position information and the lower material position information are respectively substituted into their corresponding transformation equations to obtain the displacement information of the lower material platform.

[0093] The specific steps to obtain it include:

[0094] Substitute the coordinate values ​​E1 and F1 into formula 1 to obtain the first matrix T0 1 ; Substitute the coordinate values ​​E2 and F2 into formula (2) to obtain the second matrix T0 2 ;

[0095]

[0096]

[0097] Wherein, formula (1) is the transformation equation from the first coordinate system to the world coordinate system, and formula (2) is the transformation equation from the second coordinate system to the world coordinate system;

[0098] In formula (1), P 0 is the coordinate value of point P in the world coordinate system, P 1 is the value of point P in the first coordinate system;

[0099] In formula (2), P 0 is the coordinate value of point P in the world coordinate system, P 2 is the value of point P in the second coordinate system; the displacement value of the correction device 1 is calculated by combining formula 3 and formula 4;

[0100] T1 2 =T1 0 T0 2 (Formula 3)

[0101]

[0102] Among them, T1 0 T0 1 The inverse matrix of the second coordinate system is: x1 is the displacement value of the correction device 1 in the X direction in the second coordinate system, y1 is the displacement value of the correction device 1 in the Y direction in the second coordinate system, and θ1 is the counterclockwise rotation angle of the correction device 1 around the origin of the second coordinate system in the second coordinate system, such as Figure 7 Through the above calculation steps, we can obtain the displacement deviation between the upper and lower materials, namely the X-direction deviation, Y-direction deviation and rotation angle deviation.

[0103] According to the above calculation, the displacement deviation between the upper and lower materials, namely the X-direction deviation, the Y-direction deviation and the rotation angle deviation, can be obtained. By controlling the correction device 1 to displace x1 along the X-direction of the first coordinate system, and then displace y1 along the Y-direction of the first coordinate system, and finally rotate θ1 counterclockwise around the origin of the first coordinate system, the position of the lower material can be adjusted, and the upper and lower materials can be aligned.

[0104] Furthermore, step S4 specifically includes: moving the points A1, B1, and C1 on the lower material support according to the correction requirements, calculating the corrected theoretical point information A2, B2, and C2 according to the correction requirements, and the correction device 1 corrects the lower material platform 2 according to the correction requirements, and obtains the corrected point information A3, B3, and C3 on the lower material platform 2 through the first alignment camera. Since the lower material and the lower material platform 2 are relatively fixed, we can calculate the corrected theoretical point information of the lower material platform 2 and the actual corrected position information, and compare the two to determine whether the lower material is corrected in place. If the two are the same, the lower material is adjusted in place and aligned with the upper material; if the two are different, the lower material platform 2 has a displacement error during the adjustment process, and the position of the lower material platform 2 needs to be corrected.

[0105] Specifically, the method for obtaining the corrected theoretical point information is as follows:

[0106] Construct a first coordinate system and a second coordinate system according to the lower material position information and the upper material position information respectively;

[0107] Construct transformation equations of the first coordinate system, the second coordinate system and the world coordinate system respectively;

[0108] Obtain theoretical values ​​and solve equations based on lower material position information, upper material position information and transformation equations;

[0109] Substitute the first position information into the theoretical value solution equation to obtain the theoretical marking point position information.

[0110] Furthermore, the calculation method of the corrected theoretical point position is as follows: Substitute the point position information of A1, B1, and C1 on the lower material support into Formula 5 to obtain the corrected theoretical point position information A2, B2, and C2;

[0111] P1=T1 2 P2 (Formula 5)

[0112] Among them, P2 is the theoretical point information after correction, and P1 is the point information on the lower material support.

[0113] Furthermore, in step S5, controlling the correction device 1 to correct the displacement of the lower material platform 2 according to the correction deviation to complete the correction specifically includes:

[0114] S501, adjust the position of the lower material platform 2 so that the point information of A2 and A3 on the lower material platform 2 coincides, and the straight line A2B2 coincides with the straight line A3B3;

[0115] S502, comparing the point information deviations of B2 and B3, C2 and C3, and the angle deviations of ∠B2A2C2 and ∠B3A3C3;

[0116] S503: Adjust the position of the lower material platform 2 according to the point information deviation and the angle information deviation.

[0117] Under normal circumstances, the theoretical point information of the lower material platform 2 coincides with its actual point information after correction, that is, the points A2 and A3, B2 and B3, and C2 and C3 coincide, indicating that the correction device 1 has completed the alignment correction of the lower material; when the point information of A2 and A3, B2 and B3, and C2 and C3 cannot coincide, it indicates that the lower material support has been deformed during the correction process. For large structures with high precision requirements, the influence of deformation on precision cannot be ignored. The lower material support can be adjusted accordingly to make the points A2 and A3 coincide, and the straight line A2B2 coincide with the straight line A3B3, and then compare the deviations of B2 and B3, C2 and C3, and ∠B2A2C2 and ∠B3A3C3, and further correct the lower material mechanism according to the deviation to reduce the influence of the deformation of the lower material support on the correction accuracy.

[0118] Furthermore, the correction requirements of the upper and lower materials in the present application can be obtained by calculating two point information, but considering that the angle deviation of the lower material platform 2 needs to be taken into account during correction in the present application, three point information needs to be obtained to obtain the angle deviation. Therefore, the point information in the upper and lower materials and the lower material platform 2 is determined by collecting information through three alignment cameras.

[0119] In the process of conventional material positioning, the position of the lower material platform 2 is adjusted by the correction device 1 to achieve the alignment of the upper and lower materials. However, for large flexible materials, they are fixed by adsorption, and during the overall rotation and displacement process of the correction device 1, they are also prone to misalignment or movement, so that after the lower material platform 2 completes the alignment work, there is still a small displacement deviation between the upper and lower materials. Therefore, it is necessary to obtain its corrected point information through the first alignment camera group, and perform a secondary comparison based on the theoretical value to determine the displacement deviation of the lower material platform 2, and then perform a secondary adjustment on the lower material platform 2 based on the displacement deviation to further eliminate the deviation between the upper and lower materials and achieve accurate alignment of the upper and lower materials.

[0120] The alignment method of large flexible materials in the present invention is to synchronously set two groups of alignment cameras, which are used to capture the position information of the lower material platform 2 and the upper and lower materials respectively, calculate the displacement deviation of the two through the position information of the upper and lower materials and obtain the correction requirements, and control the correction device 1 to drive the lower material platform 2 to perform correction according to the correction requirements, so as to achieve the alignment of the upper and lower materials. At the same time, this application aims at the alignment offset problem of large flexible materials, by calculating the theoretical displacement value of the lower material platform 2 and comparing it with the actual displacement value, and performing secondary correction, eliminating the displacement deviation of the lower material platform 2, and achieving accurate alignment of the upper and lower materials.

[0121] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for aligning large-sized sheet materials, which is implemented by using an alignment device; characterized in that: The alignment device includes a correction device, a lower material platform, and an upper material platform arranged in sequence from bottom to top; The lower material platform is connected to the correction device, and a first group of alignment cameras is arranged above the lower material platform, and a second group of alignment cameras is arranged above the upper material platform; The upper material platform includes an upper material transport plate, and the upper material transport plate is provided with corresponding through holes for the second group of alignment cameras to obtain the position information of the upper and lower materials; The alignment device is used to align large flexible materials, and the alignment method includes: S1. Feed the lower material onto the lower material platform and fix it; Control the first group of alignment cameras to identify the first group of marking points on the lower material platform to obtain first position information; control the second group of alignment cameras to obtain the second group of marking points on the lower material to obtain the position information of the lower material; S2, controlling the upper material platform to obtain the upper material and drive it to above the lower material, so that the lower material is blocked by the upper material; Control the second group of alignment cameras to identify the third group of marking points on the upper material to obtain the position information of the upper material; S3, solving the correction requirement according to the lower material position information and the upper material position information, the correction requirement is the displacement information of the lower material required to be moved when the lower material is moved to be completely aligned with the upper material, that is, obtaining the displacement information of the lower material platform; S4, calculating theoretical marking point position information of the first group of marking points when the correction is completed according to the first position information and the correction requirement; Controlling the correction device to correct the lower material platform according to the correction requirement, and obtaining the second position information of the first group of marking points again through the first group of alignment cameras after the correction is completed; S5, comparing the theoretical marking point position information with the second position information to determine whether the two coincide with each other; If they overlap, the upper and lower materials are aligned vertically; If they do not overlap, a correction deviation is obtained according to the difference between the two position information, and then the correction deviation is used to control the correction device to adjust the lower material platform until the upper material and the lower material are aligned up and down.

2. The alignment method for large-sized sheet materials according to claim 1, characterized in that: The number of marking points in the first group of marking points, the second group of marking points, and the third group of marking points is at least three, and they are respectively located in the corners; the number of cameras included in the first group of alignment cameras and the second group of alignment cameras is at least three, and the first group of alignment cameras corresponds to the first group of marking points, and the second group of alignment cameras corresponds to the second group of marking points and the third group of marking points.

3. The alignment method for large-sized sheet materials according to claim 2, characterized in that: The theoretical marking point position information of the first group of marking points is A2, B2, C2, and the second position information of the first group of marking points is A3, B3, C3; Controlling the correction device to adjust the lower material platform according to the correction deviation to complete the alignment includes: S501, adjust the position of the lower material platform so that the position information of A2 and A3 coincides, and the straight line A2B2 coincides with the straight line A3B3; S502, comparing the position information deviations of B2 and B3, C2 and C3, and the angle deviations of ∠B2A2C2 and ∠B3A3C3; S503: Adjust the position of the lower material platform according to the information deviation and the angle information deviation.

4. The alignment method for large-sized sheet materials according to claim 1, characterized in that: The correction device includes a correction platform arranged below the lower material platform; a first displacement mechanism and a second displacement mechanism are arranged below the correction platform, wherein there is one first displacement mechanism for controlling the lower material platform to move in a first direction; there are two second displacement mechanisms for controlling the lower material platform to move in a second direction or to rotate in a horizontal plane, the two second displacement mechanisms have the same or opposite moving directions, and the first displacement mechanism is located between the two second displacement mechanisms.

5. The alignment method for large-sized sheet materials according to claim 1, characterized in that: The upper material platform includes an upper material adsorption mechanism and a lifting mechanism. The upper material adsorption mechanism is aligned with the lower material platform. The lifting mechanism is arranged on the side of the upper material adsorption mechanism and is used to control the vertical lifting of the upper material adsorption mechanism. The step S5 further includes a bonding process: the upper material adsorption mechanism adsorbs the upper material, and the lifting mechanism is controlled to drive the upper material adsorption mechanism to descend vertically, so that the upper material and the lower material are bonded.

6. The alignment method for large-sized sheet materials according to claim 1, characterized in that: The lower material platform comprises a lower material transport plate, an adsorption chamber connected to the negative pressure device is provided below the lower material transport plate, and an adsorption hole is also provided on the side of the lower material transport plate facing the lower material; The process of fixing the lower material on the lower material platform comprises the following steps: placing the lower material on the lower material transport plate, controlling the negative pressure device to start, the adsorption chamber to generate negative pressure and fix the lower material through the adsorption holes.

7. The alignment method for large-sized sheet materials according to claim 1, characterized in that: The lower material transport plate is also provided with a transport belt, and the transport belt is provided with a through hole corresponding to the adsorption hole on the lower material transport plate; The lower material is delivered to the lower part of the upper material platform by the transport belt and then fixed.

8. The alignment method for large-sized sheet materials according to claim 1, characterized in that: The steps of obtaining the correction requirements include: Constructing a first coordinate system and a second coordinate system according to the lower material position information and the upper material position information respectively; Construct transformation equations of the first coordinate system, the second coordinate system and the world coordinate system respectively; Substitute the upper material position information and the lower material position information into their corresponding transformation equations to obtain the displacement information of the lower material platform.

9. The alignment method for large-sized sheet materials according to claim 1, characterized in that: The step of calculating theoretical marking point position information of the material after correction according to the first position information and the correction requirement includes: Constructing a first coordinate system and a second coordinate system according to the lower material position information and the upper material position information respectively; Construct the transformation equations of the first coordinate system, the second coordinate system and the world coordinate system respectively: Obtaining a theoretical value to solve an equation according to the lower material position information, the upper material position information and the transformation equation; Substituting the first position information into the theoretical value solving equation obtains the theoretical marking point position information.

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