A method for automatically applying film

Abstract

The invention discloses a method for automatic film pasting, wherein an imaging component is moved on a linear path between a product position and a film working position to obtain an angle and a scaling ratio; the imaging component is used to obtain the position of a standard film position and an incoming film under side light, and the positions are proportionally scaled into pixel displacement on a linear path for compensation, so that the positions of the standard film position and the incoming film overlap on the linear path, and the pixel deviation on a path perpendicular to the linear path is calculated; the imaging component is used to obtain the angle of an incoming product under coaxial light, and the position of the incoming product is obtained when the product is rotated to a zero angle with the incoming film, and the pixel deviation between the incoming film and the incoming product at this time is calculated; the center position of the incoming film is absorbed, and the pixel deviation between the moving incoming film and the incoming product is compensated after moving to the product standard position. And an automatic film pasting device. The invention can quickly and automatically paste films, is simple and reliable, has high positioning accuracy, and has high film pasting accuracy.

Description

Technical Field

[0001] The invention relates to an automatic film pasting method, which is mainly applied to the automatic film pasting of semiconductor products and belongs to the technical field of semiconductors. Background Art

[0002] In the production process of semiconductors, glass and other products, in order to protect the products well and avoid scratches, pollution, electrostatic breakdown and other problems, it is usually necessary to apply a protective film on the surface of the product. However, the thickness and size of the film are small, and the number of products is extremely large, so failures often occur during the film application process. The main reasons for film application failure are: first, the film and product cannot be accurately positioned, cannot be accurately adsorbed to the film or cannot be accurately attached to the film; second, the position and angle deviation between the film and the product cannot be accurately measured, resulting in the film being unable to completely cover the entire product after attachment. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a simple and reliable automatic film pasting method with high positioning accuracy and high film pasting precision, which can quickly and automatically perform accurate film pasting.

[0004] In order to achieve the above-mentioned invention object, the present invention provides the following technical solutions:

[0005] A method for automatic film pasting, at least two light sources are set for alignment and imaging, the light sources include a side light source and a coaxial light source; the direction along the linear path between a product station and a film station is recorded as a first direction, and the direction orthogonal to the first direction is recorded as a second direction; the method includes the following steps: presetting an initial mark on the linear path as an initial anchor point, calibrating a first compensation amount in the first direction and a second compensation amount in the second direction based on the initial anchor point; presetting a first mark at the same position on a film standard position and an incoming film as a first anchor point, and using the side light source to respectively image the film standard position and the incoming film; calculating a third compensation amount based on the first anchor point, the first compensation amount and the second compensation amount; presetting a second mark at the same position on a product standard position and an incoming product as a second anchor point, and using the coaxial light source to image the incoming product; calculating a fourth compensation amount based on the second anchor point, the first compensation amount and the second compensation amount; obtaining the incoming film based on the third compensation amount, and then moving the incoming film to the surface of the incoming product based on the fourth compensation amount after the incoming film is transported to the product standard position. The beneficial effect is that mobile calibration on a linear path can improve the accuracy of product and film positioning, while keeping the film stationary and only compensating the product in a direction and angle perpendicular to the linear path, which greatly reduces the variables in the calculation process, thereby reducing the film pasting error caused by equipment error and calculation error, greatly improving the film pasting accuracy, and using side light and coaxial light to position the film and product respectively, thereby improving positioning accuracy.

[0006] The method for calibrating a first compensation amount in the first direction and a second compensation amount in the second direction includes: moving an imaging component on the linear path to capture images of the initial mark at two imaging positions respectively; obtaining an angle between the imaging component and the linear path, and a ratio between an actual displacement of the imaging component and a displacement of a pixel point corresponding to the initial anchor point in the two images; and calculating the first compensation amount and the second compensation amount based on the angle and the ratio respectively.

[0007] The process of calculating the first compensation amount and the second compensation amount includes: S1, translating in the first direction, and taking the initial mark as a reference to obtain the coordinates of the two imaging positions as the first coordinate (x1, y1) and the second coordinate (x2, y2), and correspondingly obtaining the coordinates of the pixel point corresponding to the initial anchor point in the two images, which are recorded as the third coordinate (R1, C1) and the fourth coordinate (R2, C2); S2, the angle is recorded as α, the ratio is recorded as m, and the angle and the ratio are calculated: the value of the angle α is the ratio of the difference between the ordinates of the third coordinate and the fourth coordinate to the difference between the abscissas of the third coordinate and the fourth coordinate, and the value of the ratio m is the ratio between the difference between the abscissas of the first coordinate and the second coordinate and the abscissas of the third coordinate and the fourth coordinate, that is, The first compensation amount and the second compensation amount are converted based on the angle α and the ratio m.

[0008] The process of calculating the third compensation amount includes: S3, taking images to obtain the coordinates of the first anchor point in the standard position image of the film and the incoming film image, which are recorded as the fifth coordinates (R A ,C A ) and the sixth coordinate (R A′ , C A′ ); S4, assume that the coordinates of the first anchor point in the final position of the incoming film are the seventh coordinate (x", y"), the value of the abscissa of the seventh coordinate is consistent with the abscissa of the fifth coordinate, and the ordinate of the seventh coordinate is equal to the sum of the product of the difference between the abscissas of the fifth coordinate and the sixth coordinate and the angle α, that is, x"=R A , y"=(R A -R A′ )×α+C A′ ; The third compensation amount is converted based on the abscissa and ordinate x", y" of the seventh coordinate. Its beneficial effect is that mobile calibration in the X-axis direction can improve the accuracy of product and film positioning, while keeping the film stationary and only compensating the product in the Y-axis direction and angle, which greatly reduces the variables in the calculation process, thereby reducing the film-sticking error caused by equipment error and calculation error, and greatly improving the film-sticking accuracy.

[0009] The process of calculating the fourth compensation amount includes: S5, obtaining the initial image of the incoming product, and making the edge of the incoming product parallel to the edge of the incoming film by referring to the abscissa and ordinate of the seventh coordinate; S6, obtaining the current image of the incoming product, and obtaining the coordinate of the second anchor point as the eighth coordinate (R B′ ,C B′ ), taking the coordinates of the second anchor point in the product standard bit image as the origin; S7, calculating the fourth compensation amount, wherein the compensation amount of the horizontal coordinate is the difference between the horizontal coordinates of the fifth coordinate and the eighth coordinate, and the compensation amount of the vertical coordinate is the difference between the vertical coordinates of the seventh coordinate and the eighth coordinate, that is, Δx′=R A -R B′ , Δy′=(R A -R A′ )×α+C A′ -C B′ .

[0010] After S7, S8 is performed, using a suction cup to suck the center position of the incoming film at the final position, moving it to the product standard position, and then moving it to the alignment point based on the fourth compensation amount Δx′, Δy′ and the proportional compensation to attach the film.

[0011] The initial anchor point, the first anchor point and the second anchor point are the corners or the center of the film or product. The beneficial effect is that the positioning is convenient and the positioning accuracy is improved.

[0012] The side light source provides blue strip light, and the coaxial light source provides white light. Its beneficial effects are: it is easy to identify and improves the collection ability of the software; the white coaxial light can be reflected by the product with glass characteristics, which improves the positioning effect.

[0013] The incident angle of the side light source is 15°-75°. The beneficial effect is that it has a good lighting effect and can be applied to a variety of products.

[0014] An automatic film pasting device includes an imaging component that can move on a linear path between a product position and a film working position, a product platform that can rotate and move in a direction perpendicular to the linear path, a film platform that can transport a film in a moving direction parallel to the product platform, and a suction cup that can absorb the film and move the film to the product position, and the imaging component is provided with a side light source and a coaxial light source. Its beneficial effect is that: the movement calibration on the linear path can improve the accuracy of product and film positioning, while keeping the film stationary, only compensating the product in a direction and angle perpendicular to the linear path, greatly reducing the variables in the calculation process, thereby reducing the film pasting error caused by equipment error and calculation error, greatly improving the film pasting accuracy, and using side light and coaxial light to position the film and product respectively, improving the positioning accuracy.

[0015] The side light source is two blue light bars, which are respectively arranged on both sides of the linear path. Its beneficial effect is that it can emit blue light, which is easy to identify and improves the collection ability of the software.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The imaging component of the present invention performs mobile calibration on a linear path to improve the accuracy of product and film positioning, while keeping the film stationary and only compensating the product in a direction and angle perpendicular to the linear path, which greatly reduces the variables in the calculation process, thereby reducing the film pasting error caused by equipment error and calculation error, greatly improving the film pasting accuracy, and simultaneously using side light and coaxial light to position the film and product respectively, thereby improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the specific embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic flow chart of an automatic film-sticking method according to a preferred embodiment of the present invention;

[0020] Figure 2 A schematic diagram of a film standard position of an automatic film sticking method according to a preferred embodiment of the present invention;

[0021] Figure 3 A schematic diagram of an incoming film in an automatic film-sticking method according to a preferred embodiment of the present invention;

[0022] Figure 4 A schematic diagram of the final position of the automatic film application method according to a preferred embodiment of the present invention;

[0023] Figure 5 A schematic diagram of an incoming product of an automatic film-sticking method according to a preferred embodiment of the present invention;

[0024] Figure 6 A schematic diagram of the angle adjustment of the incoming product in the automatic film-sticking method according to the preferred embodiment of the present invention;

[0025] Figure 7 A schematic diagram of a film attaching position of an automatic film attaching method according to a preferred embodiment of the present invention;

[0026] Figure 8 It is a schematic structural diagram of an automatic film-sticking device according to a preferred embodiment of the present invention.

[0027] Figure markings: 10-first moving component, 11-first rotating component, 12-product platform, 20-second moving component, 21-second lifting component, 22-suction cup bracket, 23-suction cup, 30-third moving component, 31-third lifting component, 32-imaging component, 33-side light source, 34-coaxial light source, 40-film material tray, 41-film platform, 50-product, 51-film, 52-center position, 53-Mark53. DETAILED DESCRIPTION

[0028] The technical solutions in the specific embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Embodiment 1:

[0030] Reference Figure 1 As shown, this embodiment discloses a method for automatic film application, comprising the following steps:

[0031] S1, the imaging component 32 is translated in the X-axis direction, and the two points A (x1, y1) and B (x2, y2) are anchored by the anchored Mark 53, and the pixel M (R1, C1) of the anchored Mark 53 is obtained at point A, and the pixel N (R2, C2) of the Mark 53 is obtained at point B. Position A and position B are the initial anchor points.

[0032] S2, calculate the angle Angle between the imaging component 32 and the X-axis direction and the ratio ScaleX of the X-axis to calibrate the X-axis direction component. The angle Angle is the first compensation amount α, and the ratio ScaleX is the second compensation amount m. The specific calculation formula is as follows:

[0033] Angle = α = (C2-C1) / (R2-R1)

[0034] ScaleX = m = (x2-x1) / (R2-R1)

[0035] S3, refer to Figure 2 and Figure 3 As shown, the image capturing component 32 is used to anchor the Mark 53 of the standard position of the film and the Mark 53 of the incoming film at the film station. The Mark 53 of the standard position of the film and the Mark 53 of the incoming film are the first anchor points. When anchoring, side light is used to illuminate the image of the image capturing component 32 so that the image presents a white background and a black foreground, and the coordinates A (R A ,C A ) and Mark53 of incoming film A′ (R A′ , C A′ ).

[0036] S4, ref. Figure 3 and Figure 4 As shown, the pixel distance Δx compensated by the imaging component 32 in the X-axis direction is calculated, and the specific calculation formula is:

[0037] Δx=(C A′ -C A )·m

[0038] S5, refer to Figure 4 As shown, the final position A"(x", y") is calculated, and the angle Angle1(α1) of the incoming film, that is, the third compensation amount, is obtained according to the final position A"(x", y"), and the specific calculation formula is:

[0039] x"=R A

[0040] y"=(R A -R A′ )·α+C A′

[0041] S6, ref. Figure 5 and Figure 6 As shown, the image capturing component 32 is used to anchor the Mark 53 of the incoming product at the product station. The Mark 53 of the incoming product is the second anchor point. During anchoring, coaxial light is used for lighting to obtain the angle Angle2 (α2) of the Mark 53 of the incoming product. The product is rotated to rotate through an angle θ. The specific calculation formula of the angle θ is:

[0042] θ=α1-α2

[0043] S7, reference Figure 6 As shown, the image capturing component 32 is used to anchor the Mark 53 of the rotated incoming product at the product station, and coaxial light is used for lighting during anchoring to obtain the coordinates B′ (R B′ ,C B′ ), i.e. the fourth compensation amount, calculate the final compensation distance:

[0044] Δx′=R A -R B′

[0045] Δy′=(R A -R A′ )·α+C A′ -C B′

[0046] S8, refer to Figure 7 As shown, the suction cup 23 is used to suck the center position 52 of the film at the final position A"(x", y"), and after moving to the product standard position, the compensation movement Δx' and Δy' is made to the point B", and the film is attached to the surface of the product.

[0047] By sucking the suction cup 23 at the center position 52 of the membrane, air leakage and vacuum breaking can be avoided.

[0048] Embodiment 2:

[0049] Reference Figure 1 As shown, this embodiment discloses a method for automatic film application, comprising the following steps:

[0050] S1, makes the imaging component 32 translate in the X-axis direction, and anchors two points A (x1, y1) and B (x2, y2) with the anchored Mark53 respectively, and simultaneously obtains the pixel M (R1, C1) of the anchored Mark53 at point A and the pixel N (R2, C2) of Mark53 at point B.

[0051] S2, calculate the angle Angle between the imaging component 32 and the X-axis direction and the ratio ScaleX of the X-axis, the angle Angle is the first compensation amount α, and the ratio ScaleX is the second compensation amount m, so as to calibrate the X-axis direction component. The specific calculation formula is as follows:

[0052] Angle = α = (C2-C1) / (R2-R1)

[0053] ScaleX = m = (x2-x1) / (R2-R1)

[0054] S3, refer to Figure 2 and Figure 3 As shown, the image-taking component 32 is used to anchor the Mark 53 of the standard position of the film and the Mark 53 of the incoming film at the film station. During anchoring, two blue strips of light are used to illuminate the side, and the angle of the light is 15°-75°, so that the image of the image-taking component 32 presents a white background and a black foreground, and the film is a yellow transparent film, so as to obtain a clear image, facilitate algorithm analysis, and then obtain the coordinates A (R A ,C A ) and Mark53 of incoming film A′ (R A′ , C A′ ). Preferably, the angle of the light is 45°.

[0055] S4, ref. Figure 3 and Figure 4 As shown, the pixel distance Δx compensated by the imaging component 32 in the X-axis direction is calculated, and the specific calculation formula is:

[0056] Δx=(C A′ -C A )·m

[0057] S5, refer to Figure 4 As shown, the final position A"(x", y") is calculated, and the angle α1 (Angle1) of the incoming film is obtained based on the final position A"(x", y"), and the specific calculation formula is:

[0058] x"=R A

[0059] y"=(R A -R A′ )·α+CA′

[0060] S6, ref. Figure 5 and Figure 6 As shown, the image capturing component 32 is used to anchor the Mark 53 of the incoming product at the product station. When anchoring, white coaxial light is used for lighting. The glass characteristics of the product make the reflection of the coaxial light extremely strong, thereby obtaining the precise Mark position, obtaining the angle α2 (Angle2) of the Mark 53 of the incoming product, and rotating the product to make it rotate through the angle θ. The specific calculation formula of the angle θ is:

[0061] θ=α1-α2

[0062] S7, reference Figure 6 As shown, the image capturing component 32 is used to anchor the Mark 53 of the rotated incoming product at the product station, and coaxial light is used for lighting during anchoring to obtain the coordinates B′ (R B′ ,C B′ ), calculate the final compensation distance:

[0063] Δx′=R A -R B′

[0064] Δy′=(R A -R A′ )·α+C A′ -C B′

[0065] S8, refer to Figure 7 As shown, a suction cup is used to suck the center position 52 of the film at the final position A"(x", y"), and after moving to the product standard position, the compensation movement Δx' and Δy' is made to point B", and the film is attached to the surface of the product.

[0066] By sucking the suction cup 23 at the center position 52 of the membrane, air leakage and vacuum breaking can be avoided.

[0067] Embodiment three:

[0068] Reference Figure 1 As shown, this embodiment discloses a method for automatic film application, comprising the following steps:

[0069] S1, makes the imaging component 32 translate in the X-axis direction, and anchors two points A (x1, y1) and B (x2, y2) with the anchored Mark53 respectively, and simultaneously obtains the pixel M (R1, C1) of the anchored Mark53 at point A and the pixel N (R2, C2) of Mark53 at point B.

[0070] S2, calculate the angle Angle between the imaging component 32 and the X-axis direction and the ratio ScaleX of the X-axis, the angle Angle is the first compensation amount α, and the ratio ScaleX is the second compensation amount m, so as to calibrate the X-axis direction component. The specific calculation formula is as follows:

[0071] Angle = α = (C2-C1) / (R2-R1)

[0072] ScaleX = m = (x2-x1) / (R2-R1)

[0073] S3, refer to Figure 2 and Figure 3 As shown, the image capturing component 32 is used to anchor the Mark 53 of the standard position of the film and the Mark 53 of the incoming film at the film station. The Mark 5 of the standard position of the film and the Mark 53 of the incoming film are the corners or centers of the film. The Mark 53 of the incoming film is, and side light is used for lighting during anchoring, so that the image of the image capturing component 32 presents a white background and a black foreground, and the coordinates A (R A ,C A ) and Mark53 of incoming film A′ (R A′ , C A′ ).

[0074] S4, ref. Figure 3 and Figure 4 As shown, the pixel distance Δx compensated by the imaging component 32 in the X-axis direction is calculated, and the specific calculation formula is:

[0075] Δx=(C A′ -C A )·m

[0076] S5, refer to Figure 4 As shown, the final position A"(x", y") is calculated, and the angle Angle1(α1) of the incoming film is obtained based on the final position A"(x", y"), and the specific calculation formula is:

[0077] x"=R A

[0078] y"=(R A -R A′ )·α+C A′

[0079] S6, ref. Figure 5 and Figure 6As shown, the image capturing component 32 is used to anchor the Mark 53 of the incoming product at the product station. During the anchoring, coaxial light is used for lighting to obtain the angle Angle1 (α2) of the Mark 53 of the incoming product, where the Mark 53 of the incoming product is the corner or center of the product. The product is rotated to rotate through an angle θ. The specific calculation formula of the angle θ is:

[0080] θ=α1-α2

[0081] S7, reference Figure 6 As shown, the image capturing component 32 is used to anchor the Mark 53 of the rotated incoming product at the product station, and coaxial light is used for lighting during anchoring to obtain the coordinates B′ (R B′ ,C B′ ), calculate the final compensation distance:

[0082] Δx′=R A -R B′

[0083] Δy′=(R A -R A′ )·α+C A′ -C B′

[0084] S8, refer to Figure 7 As shown, the suction cup 23 is used to suck the center position 52 of the film at the final position A"(x", y"), and after moving to the product standard position, the compensation movement Δx' and Δy' is made to the point B", and the film is attached to the surface of the product.

[0085] By sucking the suction cup 23 at the center position 52 of the membrane, air leakage and vacuum breaking can be avoided.

[0086] Embodiment 4:

[0087] Reference Figure 8 As shown, this embodiment discloses an automatic film-sticking device, including a product unit, a loading and unloading unit, an imaging unit and a film unit.

[0088] The product unit includes a first moving component 10, a first rotating component 11 and a product platform 12. The first rotating component 11 is disposed on the first moving component 10. The product platform 12 is disposed on the rotating component 11. The first moving component 10 can drive the rotating component 11 to move along the Y-axis direction. The rotating component 11 can drive the product platform 12 to rotate. The product platform 12 can adsorb and fix the product.

[0089] The loading and unloading unit includes a second moving assembly 20, a second lifting assembly 21, a suction cup bracket 22 and a suction cup 23. The second lifting assembly 21 is arranged on the second moving assembly 20. The suction cup bracket 22 is arranged on the second lifting assembly 21. The suction cup 23 is arranged on the suction cup bracket 22. The second moving assembly 20 can drive the second lifting assembly 21 to move along the X-axis direction. The second lifting assembly 21 can drive the suction cup 23 to move along the Z-axis direction. The suction cup bracket 22 is used to fix and adjust the position of the suction cup 23. The suction cup 23 can suck or put down the product 50 and the film 51.

[0090] The imaging unit comprises a third moving assembly 30, a third lifting assembly 31, an imaging assembly 32, a side light source 33 and a coaxial light source 34. The third lifting assembly 31 is arranged on the third moving assembly 30. The imaging assembly 32, the side light source 33 and the coaxial light source 34 are all arranged on the third moving lifting assembly 31. The side light source 33 is located on both sides of the imaging assembly 32. The coaxial light source 34 is coaxial with the imaging assembly 32. The third moving assembly 30 can drive the third lifting assembly 31 to move along the X-axis direction. The third lifting assembly 31 can drive the imaging assembly 32, the side light source 33 and the coaxial light source 34 to move along the Z-axis direction. The side light source 33 and the coaxial light source 34 provide side light and coaxial light respectively. The imaging assembly 32 takes images under the side light and / or coaxial light.

[0091] The side light sources 33 are two blue light strips. The incident light angle of the side light sources 33 is 15°-75°. Preferably, the incident light angle of the side light sources 33 is 45°.

[0092] The imaging component 32 is a CCD.

[0093] The membrane unit comprises a membrane tray 40 and a membrane platform 41. The membrane tray 40 can store or release the membrane 51. The membrane platform 41 can adsorb and fix the membrane.

[0094] The automatic film sticking device provided in this embodiment, when working:

[0095] The loading and unloading unit places the product on the product platform 12. The film unit adsorbs the film on the film platform 41. The imaging unit takes images of the product 50 and the film 51 respectively, and measures the position and angle difference between the product 50 and the film 51. After the suction cup 23 adsorbs the film 51, it adjusts the position and angle difference and accurately attaches it to the product 50. Since the film 51 will only deviate in the X-axis direction, it only needs to compensate in the X-axis direction, which reduces the complexity of the system.

[0096] The above is a detailed introduction to the automatic film application method and device provided by the present invention. The structure and working principle of the present invention are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, the present invention can also be improved and modified without departing from the principle of the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A method for automatic film application, characterized in that: At least two light sources are provided for alignment imaging, the light sources comprising a side light source and a coaxial light source; the direction along the linear path between the product station and the film station is recorded as a first direction, and the direction orthogonal to the first direction is recorded as a second direction; the method comprises the following steps: Presetting an initial mark on the linear path as an initial anchor point, and calibrating a first compensation amount in the first direction and a second compensation amount in the second direction based on the initial anchor point; Preset a first mark at the same position on the standard film position and the incoming film as a first anchor point, use the side light source to take images of the standard film position and the incoming film respectively; calculate a third compensation amount based on the first anchor point, the first compensation amount and the second compensation amount; A second mark is preset at the same position on the product standard position and the incoming product as a second anchor point, and the coaxial light source is used to capture an image of the incoming product; a fourth compensation amount is calculated based on the second anchor point, the first compensation amount and the second compensation amount; after the incoming film is transported to the product standard position based on the third compensation amount, the incoming film is moved to be attached to the surface of the incoming product based on the fourth compensation amount; the method for calibrating the first compensation amount in the first direction and the second compensation amount in the second direction includes: an imaging component moves on the linear path to capture images of the initial mark at two imaging positions respectively; an angle between the imaging component and the linear path is obtained, as well as a ratio of the actual displacement of the imaging component and the displacement of the pixel point corresponding to the initial anchor point in the two images; the first compensation amount and the second compensation amount are calculated based on the angle and the ratio; the process of calculating the first compensation amount and the second compensation amount includes: S1, translating in the first direction, and obtaining the coordinates of the two imaging positions as the first coordinate and the second coordinate respectively with reference to the initial mark. S2, the value of the angle is the ratio of the difference between the ordinates of the third coordinate and the fourth coordinate to the difference between the abscissas of the third coordinate and the fourth coordinate, and the value of the ratio is the ratio between the difference between the abscissas of the first coordinate and the second coordinate and the abscissas of the third coordinate and the fourth coordinate; the first compensation amount and the second compensation amount are converted based on the angle and the ratio; the process of calculating the third compensation amount includes: S3, taking images to obtain the coordinates of the first anchor point in the standard position image of the film and the image of the incoming film, respectively, and recording them as the fifth coordinate and the sixth coordinate; S4, assuming that the coordinate of the first anchor point in the final position of the incoming film is the seventh coordinate, the value of the abscissa of the seventh coordinate is consistent with the abscissa of the fifth coordinate, and the ordinate of the seventh coordinate is equal to the sum of the difference between the abscissas of the fifth coordinate and the sixth coordinate and the product of the angle and the ordinate of the sixth coordinate; the third compensation amount is converted based on the abscissa and ordinate of the seventh coordinate.

2. The automatic film application method according to claim 1, characterized in that: The process of calculating the fourth compensation amount includes: S5, obtaining the initial image of the incoming product, and making the edge of the incoming product parallel to the edge of the incoming film with reference to the horizontal and vertical coordinates of the seventh coordinate; S6, obtaining the current image of the incoming product, obtaining the coordinates of the second anchor point as the eighth coordinate, and taking the coordinates of the second anchor point in the product standard position image as the origin; S7, calculating the fourth compensation amount, wherein the compensation amount of the horizontal coordinate is the difference between the horizontal coordinates of the fifth coordinate and the eighth coordinate, and the compensation amount of the vertical coordinate is the difference between the vertical coordinates of the seventh coordinate and the eighth coordinate.

3. The automatic film application method according to claim 2, characterized in that: After S7, S8 is performed, using a suction cup to suck the center position of the incoming film at the final position, moving it to the product standard position, and then moving it to the alignment point based on the fourth compensation amount and the proportional compensation to attach the film.

4. The automatic film application method according to claim 1, characterized in that: The initial anchor point, the first anchor point and the second anchor point are the corners or the center of the film or product.

5. The automatic film application method according to claim 1, characterized in that: The side light source provides blue strip light; the coaxial light source provides white light.

6. The automatic film application method according to claim 5, characterized in that: The incident angle of the side light source is 15°-75°.

Images