Chip transfer device and alignment method and control method thereof

Abstract

The application discloses a kind of alignment methods of chip transfer device.Compared with prior art, first, the coordinate value of the label corresponding to the alignment of all indexing slots and all stations is obtained and stored, when alignment operation is needed, only the actual coordinate value of the label corresponding to the corresponding indexing slot is consistent with the stored coordinate value of the label, the accurate alignment of the indexing slot can be realized.

Description

Technical Field

[0001] This invention relates to the field of precision control technology, specifically to a chip transfer device and its alignment and control methods. Background Technology

[0002] A chip transfer device is a device used to transfer chips between a workstation and a disk, such as... Figure 1 As shown, the device includes a disk 1 and several workstations 2 located inside and outside the disk 1. This device typically uses a power source (such as a stepper motor, DC motor, etc.) to drive the disk to rotate, thereby aligning the workstation grooves 21 with the indexing slots 11 on the disk 1. Figure 2 As shown. However, due to motion errors inherent in the power source itself (such as motor "step loss" caused by poor performance of the power source itself or malfunction of the mechanical structure), motion errors directly affect the motion effect. Especially in the motion control of precision instruments, if the motion control cannot achieve the preset effect (i.e., precise alignment of the workstation groove with each indexing slot on the disc), it may damage the instrument and the chip.

[0003] To achieve precise positioning, motion state feedback can theoretically be used to eliminate motion errors. Motion state feedback can be implemented using sensors, such as photoelectric proximity switches, contact switches, encoders, and rulers. Additionally, when the motion speed is known, motion time / pulse can also serve as a "sensor" for timing control of the motion. However, in practical engineering applications, sensor selection is constrained by requirements such as control conditions, control accuracy, sensor dimensions, and control costs. Taking fixed-point motion control (moving to a designated position) as an example: for a few low-precision fixed-point movements, only a few photoelectric proximity switches are needed. However, when a large number of fixed points are required and high control accuracy is demanded (such as high-precision multi-gradient fixed-point control of a rotating disk), photoelectric proximity switches are no longer an ideal choice due to limitations in their installation structure and the instability risks associated with their increased quantity.

[0004] Another option is to use a code disk as the motion feedback sensor. Code disks / code rulers, as efficient and high-precision motion feedback control sensors, can meet the motion control requirements of most working conditions, but they also have some drawbacks: First, the accuracy of motion control depends not only on the control accuracy of the code disk / code ruler itself, but also on the matching accuracy between the structure and the code disk. Due to manufacturing errors, to achieve precise control, the code disk / code ruler control needs to be calibrated to eliminate control errors caused by structural errors. However, since structural errors are mostly random errors, achieving multi-point batch calibration and maintenance based on code disks / code rulers becomes complex, especially maintenance, as calibration is necessary whenever the structure is disassembled. If we consider more complex situations, such as using a single motor to achieve motion control in multi-peripheral station docking scenarios for a circular disk, while also requiring convenient position calibration and multi-station maintainability (e.g., ...), further complexity arises. Figure 1 As shown in the image, in such cases, if a code wheel / code ruler is chosen as the sensor for motion state feedback, the workload for calibration and maintenance will increase significantly, which is not conducive to practical engineering applications. Secondly, a good motion control component with code wheel / code ruler feedback generally costs around a thousand yuan, which is very expensive. Summary of the Invention

[0005] To address the problem that existing chip transfer devices in the background art have low alignment accuracy, which may damage the instrument and the chip, the present invention provides an alignment method for a chip transfer device, the specific technical solution of which is as follows.

[0006] A chip transfer device alignment method includes the following steps:

[0007] S1. Define any indexing slot as the initial indexing slot, and define any station as the initial station;

[0008] S2. Align the initial indexing groove with the groove of the initial workstation;

[0009] S3. Obtain the midline of the initial indexing slot and the coordinate values ​​of the label corresponding to the initial indexing slot;

[0010] S4. Rotate the disk so that the center line of the next indexing slot coincides with the center line of the initial indexing slot, and obtain the coordinate value of the label corresponding to the next indexing slot at this time.

[0011] S5. Repeat step S4 to obtain the coordinate values ​​of the labels corresponding to all the indexing slots;

[0012] S6. For other workstations, repeat steps S2-S5 to obtain the coordinate values ​​of the labels corresponding to all indexing slots in each workstation from their respective workstation perspectives, or the coordinate values ​​of the labels corresponding to each indexing slot in each workstation from the initial workstation perspective.

[0013] Specifically, the labels corresponding to the indexing slots are located on the ridges between the indexing slots, with one label for each indexing slot. When obtaining the coordinate values ​​of the labels corresponding to the indexing slots, the field of view must include at least one indexing slot and the two labels on its two sides. Using this method, the coordinate values ​​of the labels corresponding to all indexing slots when aligned with all workstations are obtained and stored. When alignment is required, simply ensuring that the actual coordinate values ​​of the labels corresponding to the respective indexing slots are consistent with the stored coordinate values ​​will achieve precise alignment of the indexing slots.

[0014] The median line of the initial indexing groove can be obtained using various existing geometric methods. This invention specifically provides one such method: based on the endpoint coordinates of the two sides of the initial indexing groove, the slope of the median line and the coordinates of the intersection of the two sides are calculated to obtain the median line of the initial indexing groove.

[0015] Preferably, the following steps are included after S6:

[0016] S7. Calculate the number of first motor pulses N1 required to align the i-th indexing slot with a certain workstation, N1 = N × (i′ - i); where N is the number of motor pulses per slot, and i′ is the sequence number of the indexing slot that is currently aligned with the workstation to be aligned.

[0017] S8. Calculate the number of second motor pulses N2 required to align the i-th indexing slot with a certain workstation.

[0018] Where d is the difference between the actual coordinate value of the label corresponding to the i-th indexing slot and the coordinate value of the label corresponding to the i-th indexing slot; Δd is the difference in coordinate value corresponding to rotating the median line of the next indexing slot to coincide with the median line of the initial indexing slot.

[0019] The number of motor pulses N in a single slot refers to the number of motor pulses required to rotate the center line of the next indexing slot until it coincides with the center line of the initial indexing slot.

[0020] After obtaining the coordinate values ​​of the labels corresponding to all indexing slots and all workstations when they are aligned, the actual coordinate values ​​of the labels corresponding to the respective indexing slots can be made consistent with the stored coordinate values ​​of the labels using the method described above, thereby achieving precise alignment of the indexing slots. Step S7 can roughly align the indexing slot (the i-th indexing slot) with the workstation to be aligned, and then step S8 can achieve precise alignment of the indexing slot and the workstation.

[0021] Preferably, the following steps are included after S6:

[0022] S7′: Based on the coordinate values ​​of the labels corresponding to all indexing slots at the initial station from the initial station's perspective, calculate the rotation angle δ of the labels corresponding to each indexing slot at the initial station from the initial station's perspective. iThe rotation angles of the labels corresponding to each indexing slot at other workstations from the perspective of the initial workstation, and the rotation angles of the labels corresponding to each indexing slot at other workstations from the perspective of other workstations, are consistent with the rotation angles of the labels corresponding to each indexing slot at the initial workstation from the perspective of the initial workstation.

[0023] Where, δ i The rotation angle by which the label corresponding to the i-th indexing slot is rotated from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot;

[0024] S8′ Calculate the number of first motor pulses N3 required to align the i-th indexing slot with a certain workstation.

[0025] Where, δ 总 The total rotation angle required to align the i-th indexing slot with the station is δ. 总 =δ i′+1 +δ i′+2 +δ i′+3 +...+δ i i′ is the sequence number of the indexing slot that is currently aligned with the workstation to be aligned; δ is the angle corresponding to rotating the center line of the next indexing slot to coincide with the center line of the initial indexing slot; N is the number of motor pulses per slot.

[0026] The above method is another way to ensure that the actual coordinate values ​​of the labels corresponding to the indexing slots are consistent with the stored coordinate values ​​of the labels, thereby achieving precise alignment of the indexing slots. Based on obtaining the coordinate values, this method further obtains the rotation angle required for the label corresponding to the i-th indexing slot to rotate from the (i-1)-aligned indexing slot to the i-th aligned indexing slot. When it is necessary to align the indexing slot to be aligned (the i-th indexing slot) with the workstation to be aligned, it is only necessary to calculate the rotation angle (δ) required for the indexing slot to reach the workstation. 总 Then, by rotating the turntable by that angle, precise alignment of the indexing slot with the workstation can be achieved.

[0027] Rotation angle δ of the label corresponding to each indexing slot from the initial workstation view i It can be obtained using various existing geometric methods, and this invention specifically provides one of them:

[0028] Calculate the rotation distance of the label corresponding to the i-th indexing slot at the initial workstation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot: Among them, X i Let X be the X coordinate value of the label corresponding to the i-th indexing slot, and Y be the Y coordinate value. i Let X be the Y-coordinate value of the label corresponding to the i-th indexing slot. 100+i When the i-th indexing slot is aligned, the X and Y coordinates of the label corresponding to the (i+1)-th indexing slot are...100+i When the i-th indexing slot is aligned, the Y-coordinate value of the label corresponding to the (i+1)-th indexing slot;

[0029] Obtain the coordinates of at least three different positions of the label corresponding to the i-th indexing slot at the initial workstation during its rotation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot. Based on these coordinates, fit the rotation radius R of the label corresponding to the i-th indexing slot during its rotation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot. i ;

[0030] Based on the rotation distance L i and rotation radius R i Calculate the rotation angle δ of the label corresponding to the i-th indexing slot at the initial workstation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot. i .

[0031] Based on the same inventive concept, the present invention also provides a chip transfer device, including a disk with a plurality of indexing slots and a plurality of workstations for transferring chips between workstations and indexing slots; and a computer module configured to perform the above-described alignment method.

[0032] Preferably, the system further includes an image acquisition module for acquiring the coordinate values ​​of the labels corresponding to each indexing slot. The field of view of the image acquisition module includes at least one indexing slot and the two labels on its two sides.

[0033] Preferably, the image acquisition module is provided only above the initial workstation, and is used to acquire the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of the initial workstation.

[0034] Preferably, an image acquisition module is provided above each workstation to acquire the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of each workstation or the coordinate values ​​of the labels corresponding to each indexing slot from any workstation perspective.

[0035] The image acquisition module can obtain the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of each workstation. Therefore, when it is necessary to align the indexing slot with a certain workstation, it can achieve accurate alignment by simply retrieving the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of that workstation.

[0036] The image acquisition module can also define any workstation as the initial workstation by obtaining the coordinate values ​​of the labels corresponding to each indexing slot from any workstation viewpoint. Then, it can obtain the coordinate values ​​of the labels corresponding to each indexing slot from each workstation's initial workstation viewpoint. When it is necessary to align the indexing slots with a specific workstation, precise alignment can be achieved simply by retrieving the coordinate values ​​of the labels corresponding to each indexing slot from that workstation's initial workstation viewpoint.

[0037] Preferably, the coordinate value data acquired by all the image acquisition modules is shared.

[0038] By sequentially acquiring the coordinate values ​​of the labels corresponding to each indexing slot at each workstation from any workstation viewpoint, the coordinate values ​​of the labels corresponding to each indexing slot at each workstation from each workstation viewpoint can be obtained. Furthermore, through coordinate value data sharing, the alignment operation of the indexing slots can be achieved regardless of the workstation viewpoint. Therefore, if one image acquisition module malfunctions, any of the remaining image acquisition modules can be used for alignment recognition and control. This significantly reduces the motion control risks caused by the instability of the image acquisition module's operation.

[0039] By adopting the above technical solution, compared with the existing technology, the present invention first obtains and stores the coordinate values ​​of the labels corresponding to all indexing slots and all workstations when they are aligned. When alignment is required, it is only necessary to make the actual coordinate values ​​of the labels corresponding to the indexing slots consistent with the stored coordinate values ​​of the labels to achieve accurate alignment of the indexing slots. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the chip transfer device of the present invention;

[0041] Figure 2 This is a detailed schematic diagram of the chip transfer device of the present invention when the indexing slot is aligned with the workstation.

[0042] Figure 3 This is a schematic diagram showing the installation position of the camera in the chip transfer device of the present invention;

[0043] Figure 4 This is a schematic flowchart of the alignment method of the transfer device of the present invention. Detailed Implementation

[0044] The present invention will now be described in further detail with reference to the accompanying drawings.

[0045] like Figure 1 As shown, a chip transfer device includes a disk 1, on which multiple indexing slots 2 and multiple workstations for transferring chips between workstations and indexing slots are provided. In this embodiment, a total of ten workstations are provided, including two first workstations 31 and second workstations 32 located on the outer side of the disk 1, and eight workstations 33, 34, 35, 36, 37, 38, 39, and 310 located on the inner side of the disk 1.

[0046] Specifically, such as Figure 2As shown, the indexing groove 2 is enclosed by the spines 21 on both sides, and labels 22 are affixed to the spines 21. The workstation is provided with a workstation groove 311, and the chip 4 is transferred from the workstation groove 311 to the indexing groove 2 or from the indexing groove 2 to the workstation groove 311.

[0047] like Figure 3 As shown, a camera 5, i.e., an image acquisition module, is provided on the first workstation 31. The shooting range of the camera 5 includes at least one indexing slot 2, the spines 21 on both sides of the indexing slot 2, and two labels 22 on the spines 21.

[0048] This embodiment has a total of 80 indexing slots 2. The tag 22 can use various existing tags; any tag that can achieve center position and number reading can be used. This embodiment uses AprilTag as an example, specifically selecting the TAG36H11 family of tags.

[0049] The image data acquired by camera 5 is in YUV422 format, 8-bit color depth, and 640*480 resolution. Then, adaptive threshold segmentation is used to find contours, Union-find is used to find connected components, straight line fitting is performed on the contours, candidate convex quadrilaterals are found, the quadrilaterals are decoded and identified, coordinate transformation is performed, and the coordinates are converted to the desired coordinate system. The coordinate values ​​of the AprilTag are then obtained and used for feedback control. The above method of obtaining coordinate values ​​through image processing is existing technology, and this invention does not improve upon these aspects.

[0050] All stations on the aforementioned chip transfer device are fixed-point installed, and the indexing slot 2 is switched between different stations by rotating the disc 1. Each workpiece processed by the chip transfer device has a processing error, and this error is random. The motion control objective of the chip transfer device is: within a specific time period, the transferred chip 4 completes the transfer action between any specific station (10 stations in this example) and any specific indexing slot (80 indexing slots in this example) (the allowable docking error between the stations and indexing slots in this example is ±0.3mm), which requires precise control of a total of 80 × 10 = 800 positions.

[0051] Therefore, this invention provides a chip transfer device alignment method to achieve the aforementioned precise control objective. This method specifically includes two main steps:

[0052] The first step is to initialize the positioning calibration of the workstation, including:

[0053] S1. Define any indexing slot as the initial indexing slot, and define any station as the initial station;

[0054] S2. Align the initial indexing groove with the groove of the initial workstation;

[0055] S3. Obtain the midline of the initial indexing slot and the coordinate values ​​of the label corresponding to the initial indexing slot;

[0056] S4. Rotate the disk so that the center line of the next indexing slot coincides with the center line of the initial indexing slot, and obtain the coordinate value of the label corresponding to the next indexing slot at this time.

[0057] S5. Repeat step S4 to obtain the coordinate values ​​of the labels corresponding to all the indexing slots;

[0058] S6. For other workstations, repeat steps S2-S5 to obtain the coordinate values ​​of the labels corresponding to all indexing slots in each workstation from their respective workstation perspectives, or the coordinate values ​​of the labels corresponding to each indexing slot in each workstation from the initial workstation perspective.

[0059] Specifically, let's take the first workstation 31 as an example as the initial workstation.

[0060] S1. Define any indexing slot as the initial indexing slot and assign it the indexing slot number 1. Define the first station 31 as the initial station;

[0061] S2. Align the indexing slot 1 with the groove of the first station 31, so that the chip 4 can move back and forth easily between the first station 31 and the indexing slot 1.

[0062] S3. Obtain the midline of the initial indexing slot and the coordinate values ​​of the label corresponding to the initial indexing slot.

[0063] The midline of the No. 1 indexing slot can be obtained using various existing geometric methods. This invention specifically provides one such method: based on the endpoint coordinates of the two sides of the No. 1 indexing slot, the slope of the midline and the coordinates of the intersection of the two sides are calculated to obtain the midline of the No. 1 indexing slot. The coordinate values ​​of the midline of the No. 1 indexing slot and the corresponding label of the No. 1 indexing slot can both be obtained using camera 5.

[0064] S4. Rotate the disk so that the center line of the next indexing slot coincides with the center line of the initial indexing slot, and obtain the coordinate value of the label corresponding to the next indexing slot at this time.

[0065] The automatic control disk 1 is roughly rotated to the next slot (i.e., indexing slot 2). First, the label 22 identifies whether the next slot is indexing slot 2 (each indexing slot is numbered). If not, a compensation rotation is performed until the label for indexing slot 2 is identified within a custom recognition range (including at least one indexing slot 2, the ridges 21 on both sides of the indexing slot 2, and the two labels 22 on the ridges 21). Then, image recognition is performed on the center line of indexing slot 2, while the disk is rotated for adjustment, aligning the center line of indexing slot 2 with the center line of indexing slot 1 to form a straight line, completing the alignment. The coordinate values ​​of the label corresponding to indexing slot 2 at this point are obtained.

[0066] S5. Repeat step S4 to obtain the coordinate values ​​of the labels corresponding to all indexing slots. Repeat S4 to obtain the coordinate values ​​of the labels corresponding to indexing slots 1-80.

[0067] S6. For other workstations, repeat steps S2-S5 to obtain the coordinate values ​​of the labels corresponding to all indexing slots from their respective workstation perspectives, or the coordinate values ​​of the labels corresponding to each indexing slot from the initial workstation perspective. Store all coordinate values.

[0068] There are two possible arrangements for camera 5.

[0069] Scenario 1: Only workstation 1 has camera 5. In this case, by repeating steps S2-S5, the coordinate values ​​of the labels corresponding to all indexing slots at workstation 2, workstation 3, ..., workstation 10, from the perspective of workstation 1, can be obtained sequentially. This yields the coordinate values ​​of the labels corresponding to all indexing slots at all workstations from the perspective of workstation 1. The advantage of this approach is that only one camera is needed to align all indexing slots at all workstations. It should be noted that due to the spatial distance between workstations, when indexing slot 1 is aligned with different workstations, the label corresponding to the indexing slot from the perspective of workstation 1 is not necessarily the label of indexing slot 1. For example, when obtaining the coordinate values ​​of the labels corresponding to all indexing slots of the second station from the perspective of the first station, when the indexing slot 1 is aligned with the groove of the second station, the label corresponding to the indexing slot appearing from the perspective of the first station may be the label corresponding to the indexing slot 8. Therefore, although the actual coordinate value obtained is the label of the indexing slot 8, we record it as the coordinate value of the second station when the indexing slot 1 is aligned with the groove of the second station from the perspective of the first station.

[0070] The second scenario: Each workstation is equipped with camera 5. In this case, by repeating steps S2-S5, the coordinate values ​​of the labels corresponding to all indexing slots at the second workstation (from its second-position perspective), the coordinate values ​​of the labels corresponding to all indexing slots at the third workstation (from its third-position perspective), ..., and the coordinate values ​​of the labels corresponding to all indexing slots at the tenth workstation (from its tenth-position perspective) can be obtained. This yields the coordinate values ​​of the labels corresponding to all indexing slots at all workstations from their respective workstation perspectives. In this scenario, there is another, even better, solution: In addition to obtaining the coordinate values ​​of the labels corresponding to all indexing slots at all workstations from the first-position perspective, also obtain the coordinate values ​​of the labels corresponding to all indexing slots at all workstations from the second-position perspective, the coordinate values ​​of the labels corresponding to all indexing slots at all workstations from the third-position perspective, ..., and the coordinate values ​​of the labels corresponding to all indexing slots at all workstations from the tenth-position perspective, and share all the data. The advantage of this is that the alignment operation of the indexing slots can be achieved regardless of the workstation's perspective. Therefore, if one of the cameras 5 malfunctions, any of the remaining cameras 5 can be used for alignment and recognition control. This greatly reduces the motion control risks caused by the operational instability of the cameras 5.

[0071] At this point, the positioning calibration initialization of all workstations and all indexing slots has been completed.

[0072] The second step is to achieve precise alignment between any specific indexing slot and any specific workstation through control. There are two different methods for this.

[0073] The first method is precise alignment control based on coordinate values. This method only requires the X coordinate value, and the specific control method is as follows:

[0074] S7. Calculate the number of first motor pulses N1 required to align the i-th indexing slot with a certain workstation, N1 = N × (i′ - i); where N is the number of motor pulses per slot, and i′ is the sequence number of the indexing slot that is currently aligned with the workstation to be aligned.

[0075] S8. Calculate the number of second motor pulses N2 required to align the i-th indexing slot with a certain workstation.

[0076] Where d is the difference between the actual coordinate value of the label corresponding to the i-th indexing slot and the coordinate value of the label corresponding to the i-th indexing slot; Δd is the difference in coordinate value corresponding to rotating the median line of the next indexing slot to coincide with the median line of the initial indexing slot.

[0077] For example, when aligning the 65th indexing slot with station 1, first calculate the first motor pulse count N1 = N × (i′ - i); if (i′ - i) is negative, rotate the disk in the opposite direction. Since the distance between each indexing slot is basically the same, we only need to know the motor pulse count N corresponding to a single indexing slot and the total number of indexing slots required to rotate the 65th indexing slot to align with station 1 to obtain the total number of pulses required to rotate the 65th indexing slot to align with station 1, which is the first motor pulse count N1.

[0078] At this point, indexing slot 65 has been basically aligned with station 1. This can be verified by checking if indexing slot 65 is within the camera's field of view. If not, compensated rotation can be performed until indexing slot 65 is within the camera's field of view.

[0079] Because there may be slight errors in the data, further alignment is required to achieve precise alignment. This involves controlling the turntable rotation to ensure that the actual coordinates of the label corresponding to indexing slot 65 match the previously stored coordinates. Specifically, this involves calculating the number of pulses from the second motor. By using the X-coordinate value and the number of motor pulses corresponding to a single indexing slot, the number of motor pulses per unit distance (e.g., 1mm) can be calculated. Then, based on the difference between the actual X-coordinate value of the label corresponding to indexing slot 65 and the previously stored coordinate value, the distance that indexing slot 65 still needs to move can be calculated. The motor output will then control the rotation of the disc to precisely align indexing slot 65 with the first station. The alignment method for other stations is the same, so it will not be elaborated further.

[0080] The second method is precise alignment control based on rotation angle. Unlike the coordinate-based control method, this method requires both X and Y coordinate values. The specific control method is as follows:

[0081] S7′: Based on the coordinate values ​​of the labels corresponding to all indexing slots at the initial station from the initial station's perspective, calculate the rotation angle δ of the labels corresponding to each indexing slot at the initial station from the initial station's perspective. i Among them, δ i The rotation angle by which the label corresponding to the i-th indexing slot is rotated from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot;

[0082] Since all workstations are coaxial with the disk, the rotation angles of the labels corresponding to each indexing slot at other workstations from the initial workstation's perspective, and the rotation angles of the labels corresponding to each indexing slot at other workstations from other workstations' perspectives, are consistent with the rotation angles of the labels corresponding to each indexing slot at the initial workstation's perspective. Therefore, regardless of the workstation's perspective or which workstation requires alignment, as long as the label number remains unchanged, δ i It will remain unchanged.

[0083] Specifically, the present invention provides a method for calculating δ based on coordinate values. i The method is as follows:

[0084] Calculate the rotation distance of the label corresponding to the i-th indexing slot at the initial workstation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot: Among them, X i Let X be the X coordinate value of the label corresponding to the i-th indexing slot, and Y be the Y coordinate value. i Let X be the Y-coordinate value of the label corresponding to the i-th indexing slot. 100+i When the i-th indexing slot is aligned, the X and Y coordinates of the label corresponding to the (i+1)-th indexing slot are... 100+i This refers to the Y-coordinate value of the label corresponding to the (i+1)th indexing slot when the i-th indexing slot is properly aligned. Since the disks are connected end-to-end, an ID is specifically defined. 181 =ID 101 (That is, when positioning indexing slot 80, indexing slot 1 will appear in the field of view at the same time as indexing slot 80). The i-th indexing slot is indexing slot i.

[0085] Obtain the coordinates of at least three different positions of the label corresponding to the i-th indexing slot at the initial workstation during its rotation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot. Based on these coordinates, fit the rotation radius R of the label corresponding to the i-th indexing slot during its rotation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot. i ;

[0086] Based on the rotation distance L i and rotation radius R i Calculate the rotation angle δ of the label corresponding to the i-th indexing slot at the initial workstation from the (i-1)-th aligned indexing slot to the i-th aligned indexing slot. i .

[0087] S8′ Calculate the number of first motor pulses N3 required to align the i-th indexing slot with a certain workstation.

[0088] Where, δ 总 The total rotation angle required to align the i-th indexing slot with the station is δ.总 =δ i′+1 +δ i′+2 +δ i′+3 +...+δ i i′ is the sequence number of the indexing slot that is currently aligned with the workstation to be aligned; δ is the angle corresponding to rotating the center line of the next indexing slot to coincide with the center line of the initial indexing slot; N is the number of motor pulses per slot.

[0089] The above control method is based on the premise that a certain indexing slot has already been aligned with the workstation. At this point, it only requires knowing the sequence number of the indexing slot currently aligned with the workstation to be aligned (taking the first workstation as an example) (taking indexing slot number 1 as an example), and the sequence number of the indexing slot to be aligned (taking indexing slot number 8 as an example), and then calculating the δ between them. i The total rotation angle δ can be obtained by summing the results. 总 , i.e. δ 总 =δ2 + δ3 + ... + δ8. The motor output will be δ 总 The corresponding number of motor pulses will allow for precise alignment of indexing slot 8 with the first station. The alignment method for other stations is the same, so it will not be described in detail here.

[0090] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A chip transfer device alignment method, comprising the following steps: S1. Define any indexing slot as the initial indexing slot, and define any station as the initial station; S2. Align the initial indexing groove with the groove of the initial workstation. S3. Obtain the midline of the initial indexing slot and the coordinate values ​​of the corresponding label of the initial indexing slot; S4. Rotate the disk so that the center line of the next indexing slot coincides with the center line of the initial indexing slot, and obtain the coordinate value of the label corresponding to the next indexing slot at this time. S5. Repeat step S4 to obtain the label number and coordinate value of all the labels corresponding to the indexing slots; S6. Define the data obtained in S5 as the label number and coordinate value of each indexing slot corresponding to the initial workstation from the initial workstation perspective; S7. For other workstations, repeat steps S2-S5 to obtain the coordinate values ​​of the labels corresponding to each indexing slot from their respective workstation perspectives. Combine these coordinate values ​​with the data from S6 to obtain the coordinate values ​​of the labels corresponding to each indexing slot from each workstation's respective workstation perspectives; or For other workstations, repeat steps S2-S5 to obtain the coordinate values ​​of the labels corresponding to each indexing slot from the initial workstation viewpoint. Combine these coordinate values ​​with the data from S6 to obtain the coordinate values ​​of the labels corresponding to each indexing slot from the initial workstation viewpoint; or For other workstations, repeat steps S2-S5 to obtain the coordinate values ​​of the initial workstation from the perspective of other workstations and the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of each workstation. Combine these coordinate values ​​with the data in S6 to obtain the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of each workstation. S8. During the alignment operation, ensure that the actual coordinate value of the tag corresponding to the corresponding indexing slot is consistent with the stored coordinate value of the tag. in, S8 includes: S81, Calculate the label serial number as... The number of first motor pulses required to align the indexing slot with a certain workstation , Where N is the number of pulses per slot motor. The first step is to assign the label serial number to the indexing slot that is currently aligned with this workstation; the second step is to calculate the label serial number. The number of second motor pulses required to align the indexing slot with a certain workstation , ;in, For the label serial number The difference between the coordinate value of the label corresponding to the indexing slot and the actual coordinate value; The number of motor pulses per unit distance; or S81' Based on the coordinate values ​​of the labels corresponding to each indexing slot at the initial station from the initial station's perspective, calculate the rotation angle of the labels corresponding to each indexing slot at the initial station from the initial station's perspective. The rotation angles of the labels corresponding to each indexing slot from each workstation's own workstation viewpoint, the rotation angles of the labels corresponding to each indexing slot from each workstation's initial workstation viewpoint, and the rotation angles of the labels corresponding to each indexing slot from each workstation's viewpoint are all related to the rotation angle. Equal; among them, The label corresponding to the first indexing slot starts from the... The aligned indexing slots rotate to the first... The rotation angle of a well-aligned indexing slot; S82', Calculate the first The number of first motor pulses required for each indexing slot to align with a certain workstation , ;in, To make the first The total rotation angle required for the indexing slot to align with the station. ;in, ; N'' is the sequence number of the indexing slot that is currently aligned with this workstation; N'' is the number of motor pulses corresponding to a unit rotation angle.

2. The alignment method of the chip transfer device according to claim 1, characterized in that: The process of obtaining the midline of the indexing groove includes: determining the midline of the indexing groove based on the coordinates of the intersection point of the two sides and the average of the slopes of the two sides.

3. The alignment method of the chip transfer apparatus according to claim 1 or 2, characterized in that, The following method is used to calculate the rotation angle of each label corresponding to a division slot at the initial workstation from the initial workstation's perspective, based on the coordinate values ​​of all labels corresponding to the indexing slots at the initial workstation. : Calculate the initial workstation number The label corresponding to the first indexing slot starts from the... The aligned indexing slots rotate to the first... The rotational distance of a properly aligned indexing slot: ;in No. The X-coordinate value of the label corresponding to each indexing slot. No. The Y-coordinate value of the label corresponding to each indexing slot. No. When the first indexing slot is aligned, the second... The X-coordinate value of the label corresponding to each indexing slot. No. When the first indexing slot is aligned, the second... The Y-coordinate value of the label corresponding to each indexing slot; Obtain the initial workstation The label corresponding to the first indexing slot starts from the... The aligned indexing slots rotate to the first... During the process of aligning the indexing slots, coordinate values ​​at least three different positions are used to fit the first indexing slot. The label corresponding to the first indexing slot starts from the... The aligned indexing slots rotate to the first... The rotation radius of a properly aligned indexing groove ; Based on rotation distance Rotation radius No. The label corresponding to the first indexing slot starts from the... The aligned indexing slots rotate to the first... The rotation angle of each aligned indexing slot .

4. A chip transfer device, comprising a disk, the disk having a plurality of indexing slots and a plurality of stations for transferring chips between stations and indexing slots, characterized in that: It also includes a computer module configured to perform the alignment method according to any one of claims 1-3.

5. The chip transfer apparatus according to claim 4, characterized in that: The computer module includes an image acquisition module, used to acquire the coordinate values ​​of the labels corresponding to each indexing slot.

6. The chip transfer apparatus according to claim 5, characterized in that: The image acquisition module is located only above the initial workstation and is used to acquire the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of the initial workstation.

7. The chip transfer apparatus according to claim 5, characterized in that: Above each workstation is an image acquisition module, used to acquire the coordinate values ​​of the labels corresponding to each indexing slot from the perspective of each workstation or from any workstation perspective.

Images