Inclination adjusting device and inclination adjusting method

Abstract

The application provides a tilt adjustment device and a tilt adjustment method. The tilt adjustment device comprises a tilt detection mechanism and a tilt adjustment mechanism. The tilt detection mechanism comprises a plurality of optical mark points arranged in a straight line along a first direction on a first device, and an optical sensor installed on a work platform and arranged on a second device together with the work platform, the optical sensor being used to collect position information of the optical mark points. The tilt adjustment mechanism is arranged on the second device and connected with the work platform. The tilt detection mechanism is configured to detect the tilt of the work platform in the first direction, and the tilt adjustment mechanism is configured to adjust the tilt of the work platform in the first direction. The application can adjust the tilt of the work platform in the horizontal direction, thereby effectively solving the problem that the devices cannot be normally docked due to the tilt deviation during docking.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing, and in particular to a tilt adjustment device and a tilt adjustment method. Background Technology

[0002] Currently, in the fields of intelligent manufacturing and intelligent logistics, due to the increasing level of automation and the trend towards fewer human workers in factories, there is a growing need for automatic docking between equipment. In the past, due to uneven ground and issues with drive actuators, docking accuracy was low, failing to meet the relative positional requirements between the two devices and thus preventing proper docking. Tilt is one particularly critical and difficult-to-handle error.

[0003] Currently, on SMT (Surface Mount Technology) production lines, tray-type chip loading and unloading equipment faces the above situation. The tray refers to the material tray that holds the chips. On SMT production lines, when the chip feeder (such as the NXT LT type feeder) is out of stock, the operator usually places the chip in the tray, removes the empty tray from the chip feeder, and finally replenishes the corresponding position of the chip feeder with the tray containing the chip.

[0004] To achieve automated manufacturing, the equipment that interfaces with the chip feeder first needs to address the issue of tilt accuracy. This is because chips need to be pushed in smoothly and evenly when placed into the chip feeder; any shaking could cause the chips to scatter during the feeding process, leading to placement failures. However, existing equipment, during automated interface operations, is often unable to meet the required tilt accuracy due to factors such as uneven ground and the precision of the interface devices. Therefore, this hinders further automation of the production line and reduction of production costs. Summary of the Invention

[0005] The purpose of this invention is to provide a tilt adjustment device and a tilt adjustment method that can solve one or more defects of the prior art.

[0006] To achieve the above objectives, according to an embodiment of the present invention, a tilt adjustment device is provided, comprising: a tilt detection mechanism and a tilt adjustment mechanism. The tilt detection mechanism includes: a plurality of optical markers arranged in a straight line along a first direction on a first device; and an optical sensor mounted on a working platform and disposed together with the working platform on a second device, the optical sensor being used to collect position information of the optical markers. The tilt adjustment mechanism is disposed on the second device and connected to the working platform. The tilt detection mechanism is configured to detect the tilt of the working platform in the first direction, and the tilt adjustment mechanism is configured to adjust the tilt of the working platform in the first direction.

[0007] In one embodiment of the present invention, the tilt adjustment device further includes: an image acquisition and processing unit connected to the optical sensor and the tilt adjustment mechanism, and configured to calculate the tilt of the working platform in the first direction based on the position information of the optical marker.

[0008] In one embodiment of the present invention, the optical marker is an LED light source capable of emitting infrared light, and the optical sensor is a camera capable of recognizing the infrared light.

[0009] In one embodiment of the present invention, the first direction is the horizontal direction.

[0010] In one embodiment of the present invention, the optical sensor is a camera, and the image acquisition and processing unit further includes a display for displaying the camera's field of view origin, the camera's first reference line, and a tilt reference line defined by the plurality of optical markers, wherein the first reference line passes through the field of view origin, and the tilt reference line extends along the first direction.

[0011] In one embodiment of the present invention, the plurality of optical markers includes two edge markers located on both sides and a center marker located between the two edge markers; wherein the display also displays the tilt center corresponding to the center marker.

[0012] In one embodiment of the present invention, the tilt adjustment mechanism includes: a fixed base, mounted on the second device and rotatably connected to the working platform; a rotating mechanism, mounted on the fixed base; and a moving mechanism, connecting the rotating mechanism and the working platform, configured to convert the rotation generated by the rotating mechanism into parallel movement along a second direction, wherein the second direction is perpendicular to the first direction, and the moving mechanism is capable of driving the working platform to move along the second direction to adjust the tilt of the working platform in the first direction.

[0013] In one embodiment of the present invention, the rotating mechanism includes: a driving device having a driving shaft; a bearing support fixedly mounted on the fixed base; a bearing mounted on the bearing support; a threaded sleeve sleeved on the bearing; a first pulley sleeved on the driving shaft; a second pulley sleeved on the threaded sleeve; and a belt connecting the first pulley and the second pulley, wherein the driving device is capable of driving the first pulley to rotate via the belt, thereby causing the second pulley to rotate, and thus causing the threaded sleeve to rotate.

[0014] In one embodiment of the present invention, the moving mechanism includes: a limiting block, fixedly installed at the bottom of the working platform; a limiting shaft, the first end of which is hinged to the limiting block; and a threaded rod, the first end of which is fixedly connected to the second end of the limiting shaft, and the second end of which is threadedly connected to the threaded sleeve, wherein the rotation of the threaded sleeve can drive the threaded rod to move parallel along the second direction.

[0015] In one embodiment of the present invention, the driving device and the bearing support are arranged at intervals along the first direction.

[0016] In one embodiment of the present invention, the limiting block has a movable groove arranged along the first direction, and the first end of the limiting shaft is hinged to the limiting block in the movable groove.

[0017] In one embodiment of the present invention, the fixed base is hinged to the middle portion of the bottom of the working platform, and the bearing support is fixed to one side of the fixed base.

[0018] To achieve the above objectives, the present invention further provides a tilt adjustment method, comprising:

[0019] Step S1: Arrange multiple optical marker points in a straight line along a first direction on the first device;

[0020] Step S2: Install the optical sensor on the working platform, and set the optical sensor and the working platform together on the second device; collect the position information of the optical marker point through the optical sensor.

[0021] Step S3: Connect the image acquisition and processing unit to the optical sensor. The image acquisition unit calculates the tilt of the working platform in the first direction based on the position information of the optical markers.

[0022] Step S4: Install the tilt adjustment mechanism on the second device and connect the tilt adjustment mechanism to the working platform, and adjust the tilt of the working platform in the first direction through the tilt adjustment mechanism.

[0023] In another embodiment of the present invention, the optical marker is an LED light source capable of emitting infrared light, and the optical sensor is a camera capable of recognizing the infrared light.

[0024] In another embodiment of the present invention, the first direction is the horizontal direction.

[0025] In another embodiment of the present invention, the optical sensor is a camera, and the image acquisition and processing unit further includes a display, which is capable of displaying at least the origin of the field of view of the camera, the first reference line of the camera, and a tilt reference line defined by the plurality of optical markers, wherein the first reference line passes through the origin of the field of view, and the tilt reference line is set along the first direction; wherein, in step S4, the tilt of the working platform is adjusted by the tilt adjustment mechanism so that the tilt reference line overlaps with the first reference line of the camera.

[0026] In another embodiment of the present invention, the plurality of optical markers include two edge markers located on both sides and a center marker located at the center of the two edge markers; wherein, in step S4, the tilt of the working platform is adjusted by the tilt adjustment mechanism so that the tilt center corresponding to the center marker overlaps with the field of view origin of the camera.

[0027] In another embodiment of the present invention, in step S4, the tilt adjustment mechanism adjusts the tilt of the working platform by: the tilt adjustment mechanism generating a rotation; the tilt adjustment mechanism converting the rotation into a parallel movement along a second direction, and driving the working platform to move along the second direction, so as to adjust the tilt of the working platform in the first direction, wherein the second direction is perpendicular to the first direction.

[0028] This invention effectively solves the problem of misalignment during equipment docking due to tilt deviations by employing optical automatic calibration and adjustment. Compared with existing technologies, the advantages of this invention are:

[0029] 1. An optical automatic calibration position acquisition device was set up. Data was collected by sensors, and the tilt angle error was calculated.

[0030] 2. A tilt adjustment mechanism is provided, which allows for adjustment of the horizontal tilt of the work platform, thereby enabling adjustment of the horizontal tilt when docking with the machine.

[0031] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. Attached Figure Description

[0032] The above and other features and advantages of the present invention will become more apparent from a detailed description of exemplary embodiments thereof with reference to the accompanying drawings.

[0033] Figure 1 This is a schematic diagram of a tilt adjustment device provided in a preferred embodiment of the present invention, applied to a first device and a second device for docking.

[0034] Figure 2 This is a schematic diagram of a working platform with an electric guide rail provided in a preferred embodiment of the present invention;

[0035] Figure 3 This is an overall front view of the tilt adjustment mechanism of the present invention;

[0036] Figure 4 for Figure 3 A partial view of the tilt adjustment mechanism.

[0037] Figure 5 This is a schematic diagram of the imaging field of view of the camera when the tilt position of the device is automatically adjusted in a preferred embodiment of the present invention.

[0038] Figure 6 This is a flowchart illustrating a tilt adjustment method provided in a preferred embodiment of the present invention. Detailed Implementation

[0039] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0040] In describing the elements / components / etc. described and / or illustrated herein, the terms “a,” “an,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc. The terms “comprising,” “including,” and “having” are used to indicate an open-ended inclusion and to mean that additional elements / components / etc. may exist in addition to those listed. Relative terms, such as “upper” or “lower,” may be used in the embodiments to describe the relative relationship of one component of the icon to another component. It is understood that if the device of the icon is flipped so that it is upside down, the component described as being on the “upper” side will become the component on the “lower” side. Furthermore, the terms “first,” “second,” etc., in the claims are used only as illustrative marks and are not intended to limit the number of objects to which they apply.

[0041] like Figure 1 The diagram illustrates the structure of a tilt adjustment device 100 provided in a preferred embodiment of the invention, applied to a first device 10 and a second device 20 for docking. Figure 1 In this invention, the first device 10 can be, for example, a chip feeder on an SMT production line, and the second device 20 can be, for example, a tray chip loading / unloading device. Of course, it is understood that the tilt adjustment device 100 in this invention can also be applied to other two devices that need to be docked, and this is not intended to limit the invention.

[0042] In this invention, such as Figure 1 As shown, the tilt adjustment device 100 may include a tilt detection mechanism 30 and a tilt adjustment mechanism 40. The tilt detection mechanism 30 may include a plurality of optical markers 31 and an optical sensor 32. The plurality of optical markers 31 are along a first direction (e.g., a horizontal direction, such as...). Figure 1 The optical markers 31 are arranged in a straight line along the X-axis direction on the first device 10. The optical sensor 32 is mounted on a working platform 21 and is disposed together with the working platform 21 on the second device 20. The optical sensor 32 can be used to acquire the position information of the optical markers 31. In some embodiments, the optical markers 31 may include two or more optical markers, such as LED light sources capable of emitting infrared light. The optical sensor 32 may be, for example, a camera capable of recognizing the infrared light. The tilt detection mechanism 30 is configured to detect the tilt of the working platform 21 in the first direction.

[0043] The tilt adjustment mechanism 40 is mounted on the second device 20 and connected to the work platform 21. The tilt adjustment mechanism 40 is configured to adjust the tilt of the work platform 21 in the first direction.

[0044] In other embodiments, the tilt adjustment device 100 of the present invention may further include an image acquisition and processing unit 50, which may be connected to the optical sensor 32 and the tilt adjustment mechanism 40, and is configured to calculate the tilt of the working platform 21 in the first direction based on the position information of the optical marker 31.

[0045] exist Figure 1 In the illustrated embodiment, the plurality of optical markers 31 are disposed on one end face below the memory cell 11 of the first device 10 and arranged in a straight line. These optical markers 31 may include, for example, two edge markers located on either side and a center marker located between the two edge markers. Of course, in other embodiments, these optical markers 31 may also include only two edge markers, which is not intended to limit the invention.

[0046] When the optical sensor 32 is a camera, the image acquisition and processing unit 50 may further include a display 51, which can be used to display at least the imaging field of view A1 of the camera, such as including the origin O of the field of view of the camera and the first reference line Ref 11 of the camera, wherein the first reference line Ref 11 passes through the origin O of the field of view (e.g., ...). Figure 5 (as shown) and along the direction of the line connecting point a and point c in the figure (i.e.) Figure 5 The display 51 can also be used to display a first tilt reference line Ref 21 defined by the plurality of optical markers 31, wherein the first tilt reference line Ref 21 extends along the first direction and is defined by a line connecting the corresponding positions of two markers (e.g., two edge markers) in the imaging field of view A1 of the camera, which can reflect the tilt of the working platform 21 in the first direction, for example, through horizontal errors £1 and £2. When a center marker is present, the first tilt reference line Ref 21 also passes through the tilt center O1 corresponding to the center marker in the imaging field of view A1 of the camera, and the display 51 can also display the tilt center O1 corresponding to the center marker. Of course, it is understood that in other embodiments, the display 51 can also display a second reference line Ref 12 of the camera, which can be, for example, along the second direction (e.g., the line connecting the origin of the field of view O and point b in the figure, i.e., ...). Figure 5 The line extends in the longitudinal direction and passes through the origin of the field of view O. Furthermore, the display 51 may also display a second tilt reference line Ref 22, which extends in a second direction and may, for example, reflect the longitudinal errors £3 and £4 (equivalent to horizontal errors) of the work platform 21.

[0047] like Figure 2The diagram illustrates the structure of a work platform 21 with an electric guide rail according to a preferred embodiment of the present invention. In this embodiment, the work platform 21 may, for example, have a longitudinal electric guide rail 25 and a transverse electric guide rail 26. The work platform 21 can move along the longitudinal direction (e.g., via the longitudinal electric guide rail 25) Figure 2 It can move in the Z' axis direction, and can be moved in the lateral direction (e.g., via the transverse electric guide rail 26) along the lateral direction. Figure 2 It moves in the X' axis direction. Figure 2 In the illustrated embodiment, the working platform 21 may include, for example, a transmission platform 213, which may be rotatably mounted on a rotating base 211 via a rotating mechanism (not shown). The working platform 21 is movably mounted on a fixed base 41 via the rotating base 211. The transverse electric guide rail 26 and the tilt adjustment mechanism 40 may be disposed, for example, in the space between the rotating base 211 and the fixed base 41.

[0048] like Figure 3 and Figure 4 The diagram illustrates the structure of a tilt adjustment mechanism 40 according to a preferred embodiment of the present invention. For clarity, only the rotating base 211 of the working platform 21 is schematically shown, while other structures mounted on the rotating base 211 are omitted. In this invention, the tilt adjustment mechanism 40 mainly includes: a fixed base 41, a rotating mechanism 42, and a moving mechanism 43. The fixed base 41 is mounted on the second device 20 (e.g., fixedly mounted on the longitudinal electric guide rail 25) and rotatably connected to the working platform 21. The rotating mechanism 42 is mounted on the fixed base 41. The moving mechanism 43 connects the rotating mechanism 42 to the working platform 21 and is configured to convert the rotation generated by the rotating mechanism 42 into rotation along a second direction F2 (e.g., which can be connected to...). Figure 2 Parallel movement of the second direction F2 (where the Z' axis direction is the same as the first direction F1) to the first direction F1 (e.g., it can be parallel to the first direction F1). Figure 2 (The X' axis direction is the same as the X' axis direction), the moving mechanism 43 can drive the working platform 21 to move along the second direction F2 to adjust the tilt of the working platform 21 in the first direction F1.

[0049] In this embodiment, the rotating mechanism 42 may include, for example, a drive device 421, a bearing support 422, a bearing 423, a threaded sleeve 424, a first pulley 425, a second pulley 426, and a belt 427. The drive device 421 may be, for example, a motor, which may have a drive shaft. The bearing support 422 is fixedly mounted on the fixed base 41. The bearing 423 is mounted on the bearing support 422. The threaded sleeve 424 is sleeved on the bearing 423. The first pulley 425 is sleeved on the drive shaft of the drive device 421. The second pulley 426 is sleeved on the threaded sleeve 424. The belt 427 connects the first pulley 425 and the second pulley 426. The drive device 421 can drive the first pulley 425 through the belt 427, causing the second pulley 426 to rotate, thereby causing the threaded sleeve 424 to rotate.

[0050] The moving mechanism 43 may include, for example, a limiting block 431, a limiting shaft 432, and a threaded rod 433. The limiting block 431 is fixedly installed on the bottom of the working platform 21, for example, on the bottom of the rotating base 211. The first end of the limiting shaft 432 is hinged to the limiting block 431. For example, a movable groove 4311 along the first direction F1 can be formed on the limiting block 431, and the first end of the limiting shaft 432 is hinged to the limiting block 431 in the movable groove 4311. The first end of the threaded rod 433 is fixedly connected to the second end of the limiting shaft 432, and the second end of the threaded rod 433 is threadedly connected to the threaded sleeve 424. Thus, rotation of the threaded sleeve 424 can drive the threaded rod 433 to move parallel to the second direction F2.

[0051] In this invention, since the second pulley 426 and the threaded sleeve 424 form a closed frame that clamps the bearing 423 and the bearing support 422, and the bearing support 422 is fixed on the fixed base 421, the second pulley 426 and the threaded sleeve 424 can only rotate and cannot move up and down. Therefore, when the driving device 421 drives the first pulley 425 through the belt 427, it can drive the second pulley 426 to rotate. Since the threaded sleeve 424 is fixed to the second pulley 426, it can also drive the threaded sleeve 426 to rotate. Since the threaded sleeve 424 can only rotate and not move up and down, and due to the characteristics of the threaded connection, the threaded rod 433 can only move up and down and not rotate. Therefore, when the threaded sleeve 424 rotates, it will drive the threaded rod 433 to move up and down along the second direction F2, thereby realizing the translation of the threaded rod 433 by the drive device 421, and thus realizing the adjustment of the tilt of the movable rotating base 211 (i.e., the working platform 21).

[0052] Preferably, the drive unit 421 and the bearing support 422 can be arranged at intervals along the first direction F1 to save installation space. Additionally, the fixed base 41 is preferably hinged to the middle portion of the bottom of the working platform 21 (or rotating base 211), and the bearing support 422 can be fixed, for example, to one side of the fixed base 41, such as on... Figure 4 The top left side of the fixed base 41 described in the text.

[0053] Reference Figures 1-5 ,like Figure 6 As shown, the tilt adjustment method 200 provided by the present invention mainly includes:

[0054] Step S1: Arrange multiple optical marker points 31 in a straight line along the first direction on the first device 10;

[0055] Step S2: Install the optical sensor 32 on the working platform 21, and set the optical sensor 32 and the working platform 21 together on the second device 20, and collect the position information of the optical marker point 31 through the optical sensor 32;

[0056] Step S3: Connect the image acquisition and processing unit 50 to the optical sensor 32. The image acquisition unit 50 calculates the tilt of the working platform 21 in the first direction based on the position information of the optical marker point 31.

[0057] Step S4: Install the tilt adjustment mechanism 40 on the second device 20 and connect the tilt adjustment mechanism 40 to the working platform 21. Adjust the tilt of the working platform 21 in the first direction through the tilt adjustment mechanism 40.

[0058] In step S4, the tilt of the working platform 21 may be adjusted by the tilt adjustment mechanism 40 so that the first tilt reference line Ref 21 overlaps with the first reference line Ref 11 of the camera.

[0059] In step S4, the tilt of the working platform 21 may be adjusted by the tilt adjustment mechanism 40 so that the tilt center O1 corresponding to the center marker point overlaps with the field of view origin O of the camera.

[0060] In this invention, in step S4, the tilt adjustment mechanism 40 adjusting the tilt of the working platform 21 may specifically include: the tilt adjustment mechanism 40 generating a rotation; the tilt adjustment mechanism 40 converting the rotation into a second direction (e.g., along a second direction). Figure 2 The parallel movement of the work platform 21 in the Z' axis direction (as shown in the second direction) causes the work platform 21 to move along the second direction, thereby adjusting the work platform 21 in the first direction (e.g., the Z' axis direction). Figure 2 The inclination in the X' axis direction, wherein the second direction is perpendicular to the first direction.

[0061] like Figure 5 As shown, this illustrates the imaging field of view of the camera in a preferred embodiment of the present invention when the tilt position of the device is automatically adjusted. This embodiment, for example, uses three LED light sources located in a straight line, through... Figure 2 The longitudinal electric guide rail 25 and the transverse electric guide rail 26 can compensate the position of the LED light source located in the middle position among the three LED light sources (i.e., the center marker point), so that the position errors Δx and Δy of its corresponding tilt center O1 are compensated to coincide with the camera's field of view origin O. Then, the horizontal errors £1 and £2 (the longitudinal errors £3 and £4 are equivalent to the horizontal errors) generated by the other two LED light sources are compensated through... Figure 3 and Figure 4 The tilt adjustment mechanism 40 shown is adjusted to be horizontal, thus completing the tilt adjustment.

[0062] This invention effectively solves the problem of misalignment during equipment docking due to tilt deviations by employing optical automatic calibration and adjustment. Compared with existing technologies, the advantages of this invention are:

[0063] 1. An optical automatic calibration position acquisition device was set up. Data was collected by sensors, and the tilt angle error was calculated.

[0064] 2. A tilt adjustment mechanism is provided, which allows for adjustment of the horizontal tilt of the work platform, thereby enabling adjustment of the horizontal tilt when docking with the machine.

[0065] Exemplary embodiments of the present invention have been specifically illustrated and described above. It should be understood that the present invention is not limited to the disclosed embodiments; rather, the present invention is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A tilt adjustment device, characterized in that, include: Tilt detection mechanism, including: Multiple optical markers are arranged in a straight line along a first direction on the first device; and An optical sensor is mounted on a working platform and set together with the working platform on a second device. The optical sensor is used to collect the position information of the optical marker point. A tilt adjustment mechanism is installed on the second device and connected to the working platform. An image acquisition and processing unit is connected to the optical sensor and the tilt adjustment mechanism, and is configured to calculate the tilt of the working platform in the first direction based on the position information of the optical markers. The optical sensor is a camera. The image acquisition and processing unit further includes: A display for showing the camera's field of view origin, the camera's first reference line, and a tilt reference line defined by the plurality of optical markers, wherein the first reference line passes through the field of view origin, and the tilt reference line extends along the first direction. The tilt detection mechanism is configured to detect the tilt of the work platform in the first direction, and the tilt adjustment mechanism is configured to adjust the tilt of the work platform in the first direction.

2. The tilt adjustment device according to claim 1, characterized in that, The optical marker is an LED light source capable of emitting infrared light, and the optical sensor is a camera capable of recognizing the infrared light.

3. The tilt adjustment device according to claim 1, characterized in that, The first direction is the horizontal direction.

4. The tilt adjustment device according to claim 1, characterized in that, The plurality of optical markers includes two edge markers located on both sides and a center marker located between the two edge markers; The display also shows the tilt center corresponding to the center marker point.

5. The tilt adjustment device according to any one of claims 1 to 4, characterized in that, The tilt adjustment mechanism includes: A fixed base is mounted on the second device and rotatably connected to the working platform; A rotating mechanism is mounted on the fixed base; and A moving mechanism, connecting the rotating mechanism and the working platform, is configured to convert the rotational rotation generated by the rotating mechanism into parallel movement along a second direction, wherein the second direction is perpendicular to the first direction, and the moving mechanism is capable of driving the working platform to move along the second direction to adjust the tilt of the working platform in the first direction.

6. The tilt adjustment device according to claim 5, characterized in that, The rotating mechanism includes: The drive unit has a drive shaft; The bearing support is fixedly installed on the fixed base; The bearing is mounted on the bearing support; A threaded sleeve is fitted onto the bearing; The first pulley is fitted onto the drive shaft; The second pulley is fitted onto the threaded sleeve; and A belt connects the first pulley and the second pulley. The drive device can drive the first pulley through the belt, drive the second pulley to rotate, and thus drive the threaded sleeve to rotate.

7. The tilt adjustment device according to claim 6, characterized in that, The moving mechanism includes: A limiting block is fixedly installed at the bottom of the working platform; A limiting shaft, the first end of which is hinged to the limiting block; and A threaded rod, the first end of which is fixedly connected to the second end of the limiting shaft, and the second end of which is threadedly connected to the threaded sleeve. The rotation of the threaded sleeve can drive the threaded rod to move parallel to the second direction.

8. The tilt adjustment device according to claim 6, characterized in that, The drive unit and the bearing support are arranged at intervals along the first direction.

9. The tilt adjustment device according to claim 7, characterized in that, The limiting block has a movable groove arranged along the first direction, and the first end of the limiting shaft is hinged to the limiting block in the movable groove.

10. The tilt adjustment device according to claim 9, characterized in that, The fixed base is hinged to the middle part of the bottom of the working platform, and the bearing support is fixed to one side of the fixed base.

11. A method for adjusting tilt, characterized in that, include: Step S1: Arrange multiple optical marker points in a straight line along a first direction on the first device; Step S2: Install the optical sensor on the working platform, and set the optical sensor and the working platform together on the second device; collect the position information of the optical marker point through the optical sensor. Step S3: Connect the image acquisition and processing unit to the optical sensor. The image acquisition unit calculates the tilt of the working platform in the first direction based on the position information of the optical markers. Step S4: Install the tilt adjustment mechanism on the second device and connect the tilt adjustment mechanism to the working platform. Adjust the tilt of the working platform in the first direction using the tilt adjustment mechanism. The optical sensor is a camera, and the image acquisition and processing unit further includes a display, which is at least able to display the camera's field of view origin, the camera's first reference line, and a tilt reference line defined by the plurality of optical markers, wherein the first reference line passes through the field of view origin, and the tilt reference line is set along the first direction. In step S4, the tilt of the working platform is adjusted by the tilt adjustment mechanism so that the tilt reference line overlaps with the first reference line of the camera.

12. The tilt adjustment method according to claim 11, characterized in that, The optical marker is an LED light source capable of emitting infrared light, and the optical sensor is a camera capable of recognizing the infrared light.

13. The tilt adjustment method according to claim 11, characterized in that, The first direction is the horizontal direction.

14. The tilt adjustment method according to claim 11, characterized in that, The plurality of optical markers includes two edge markers located on both sides and a center marker located at the center of the two edge markers; In step S4, the tilt of the working platform is adjusted by the tilt adjustment mechanism so that the tilt center corresponding to the center marker point overlaps with the origin of the camera's field of view.

15. The tilt adjustment method according to claim 11, characterized in that, In step S4, the tilt adjustment mechanism adjusts the tilt of the work platform, specifically including: The tilt adjustment mechanism generates rotation; The tilt adjustment mechanism converts the rotation into parallel movement along the second direction and drives the work platform to move along the second direction to adjust the tilt of the work platform in the first direction, wherein the second direction is perpendicular to the first direction.

Images