Module nozzle space position, product relative position adjustment method and device

Abstract

The application discloses a module nozzle space position and product relative position adjusting method and device, and the module nozzle space position adjusting method comprises the following steps: obtaining standard position information of a target nozzle; obtaining a first detection image and a second detection image of a nozzle to be adjusted; determining first position information and second position information of the nozzle to be adjusted according to the first detection image and the second detection image respectively; and adjusting the position of the nozzle to be adjusted according to the standard position information, the first position information and the second position information, so that the nozzle to be adjusted is arranged at intervals with the target nozzle and the positions correspond to each other. The module nozzle space position adjusting method provided by the application reduces errors caused by manual operation and improves the automation degree of module nozzle position adjustment.

Description

Technical Field

[0001] This invention relates to the field of workpiece gripping equipment technology, and in particular to a method and device for adjusting the spatial position of a module suction nozzle and the relative position of a product. Background Technology

[0002] The pick and place nozzle module (PNP) station in semiconductor sorting machines and related equipment typically includes multiple nozzles. Before using this module to pick up materials, the spacing and height between the multiple nozzles must first be adjusted. This adjustment is generally achieved through manual verification. Specifically, the nozzles are first inserted into the limiting circular holes. Based on the premise that the center of the nozzle and the center of the circular hole are coaxial, the positions of several nozzles are adjusted according to the difference between the coordinates of the center of the circular hole and the coordinates of the image center.

[0003] The above method has the following drawbacks: First, inserting the nozzle into the limiting hole requires manual intervention, which inevitably leads to low automation and precision of the equipment. Second, the nozzle tip is made of flexible material, and inserting the nozzle into the limiting hole will introduce a certain amount of objective error. Summary of the Invention

[0004] One of the objectives of this invention is to provide a method for adjusting the spatial position of a module nozzle, so as to solve the technical problems of large error rate and low degree of automation in the prior art.

[0005] One of the objectives of this invention is to provide a module nozzle spatial position adjustment device.

[0006] One of the objectives of this invention is to provide a method for adjusting the relative position of a product.

[0007] To achieve one of the above-mentioned objectives, the present invention provides a method for adjusting the spatial position of a module nozzle, comprising: acquiring standard position information of a target nozzle; acquiring a first detection image and a second detection image of a nozzle to be adjusted; wherein the nozzle to be adjusted includes a first side and a second side perpendicular to each other, the first detection image pointing to the first side image projected onto an imaging plane, and the second detection image pointing to the second side image projected onto the imaging plane after reflection; determining first position information and second position information of the nozzle to be adjusted based on the first detection image and the second detection image, respectively; and adjusting the position of the nozzle to be adjusted based on the standard position information, the first position information, and the second position information, such that the nozzle to be adjusted is spaced apart from the target nozzle and their positions correspond.

[0008] As a further improvement of one embodiment of the present invention, the nozzle to be adjusted includes at least two; the step of "adjusting the position of the nozzle to be adjusted so that the nozzle to be adjusted and the target nozzle are spaced apart and correspond in position" specifically includes: adjusting the position of each nozzle to be adjusted in sequence so that all nozzles to be adjusted and the target nozzle are in the same position in a first direction, and the distance between two adjacent nozzles in a second direction is equal; wherein, the first direction is perpendicular to the second side surface, and the second direction is parallel to the second side surface.

[0009] As a further improvement of one embodiment of the present invention, the second direction is parallel to both the first side and the second side.

[0010] As a further improvement of one embodiment of the present invention, a first target image and a second target image of the target nozzle are acquired, wherein the target nozzle includes a first target side and a second target side that are perpendicular to each other, the first target image points to the first target side of the target nozzle that is imaged on the imaging plane, and the second target image points to the second target side of the target nozzle that is imaged on the imaging plane after reflection; first target position information and second target position information of the target nozzle are determined based on the first target image and the second target image, respectively; and standard position information of the target nozzle is obtained based on the first target position information and the second target position information.

[0011] As a further improvement of one embodiment of the present invention, the "acquiring the first detection image and the second detection image of the nozzle to be adjusted" specifically includes: turning on the second light source, turning off the first light source, reflecting the light from the second light source from the first side surface, generating a projection on the imaging plane that at least characterizes the contour of the first side surface, and generating the first detection image.

[0012] As a further improvement of one embodiment of the present invention, the "acquiring the first detection image and the second detection image of the nozzle to be adjusted" specifically includes: turning on the first light source, turning off the second light source, reflecting the light from the first light source from the second side, and reflecting the reflected light at the optical module to the imaging plane to generate the second detection image.

[0013] As a further improvement of one embodiment of the present invention, the step of "determining the first position information and the second position information of the nozzle to be adjusted based on the first detection image and the second detection image respectively" specifically includes: obtaining the extension length of the first side in a first direction based on the first detection image as the first position information; calculating the plane center coordinates of the second side based on the second detection image as the second position information; wherein, the second side is the end face of the nozzle to be adjusted used for picking up and placing products.

[0014] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a module nozzle spatial position adjustment device, comprising: a camera for providing an imaging plane and acquiring a first detection image and a second detection image on the imaging plane; the first detection image pointing to a first side of the nozzle to be adjusted, and the second detection image pointing to a second side of the nozzle to be adjusted; an optical module for reflecting light onto the second side of the nozzle to be adjusted; a light source for cooperating with the camera to image the first side onto the imaging plane and to image the second side after reflection by the optical module onto the imaging plane; wherein the first side and the second side are perpendicular to each other; and a processing module for acquiring standard position information of the target nozzle, determining first position information and second position information of the nozzle to be adjusted based on the first detection image and the second detection image, and adjusting the position of the nozzle to be adjusted based on the standard position information, the first position information, and the second position information, such that the nozzle to be adjusted and the target nozzle are spaced apart and correspond in position.

[0015] As a further improvement of one embodiment of the present invention, the light source includes a first light source and a second light source configured to be lit alternately; the camera acquires the second detection image when the first light source is lit, and acquires the first detection image when the second light source is lit.

[0016] As a further improvement of one embodiment of the present invention, the first light source is a surface light source, and the light-emitting plane of the first light source is parallel to the second side; the second light source is a surface light source, and the light-emitting plane of the second light source is parallel to the first side.

[0017] As a further improvement of one embodiment of the present invention, the optical module is disposed between the first light source and the suction nozzle to be adjusted, and also between the second light source and the suction nozzle to be adjusted; the extension direction of the projection of the optical module onto the third plane forms a first angle with the extension direction of the projection of the emitting plane of the first light source onto the third plane; the first optical surface of the optical module near the first light source is configured as a light-transmitting surface, and the first optical surface of the optical module near the suction nozzle to be adjusted is configured as a reflective surface; the area of ​​the reflective surface is larger than the projection area of ​​the first side surface onto the plane where the reflective surface is located.

[0018] As a further improvement of one embodiment of the present invention, the first included angle is 45 degrees, and the imaging plane is parallel to the first side surface.

[0019] To achieve one of the above-mentioned objectives, one embodiment of the present invention provides a product relative position adjustment method, comprising: adjusting the spatial position of at least one suction nozzle to be adjusted according to the module suction nozzle spatial position adjustment method described in any of the above technical solutions; acquiring a first calibration image and a second calibration image at a first calibration position and a second calibration position, respectively; wherein the first calibration image points to a first calibration surface of a calibration plate and the product to be adjusted, and the second calibration image points to a second calibration surface of the calibration plate and the module suction nozzle, and the first calibration surface and the second calibration surface are the same surface or parallel to each other; determining the position coordinate difference between the module suction nozzle and the product to be adjusted based on the first calibration image and the second calibration image; and adjusting the position of the product to be adjusted and / or the module suction nozzle based on the position coordinate difference, so as to reduce the position coordinate difference.

[0020] As a further improvement of one embodiment of the present invention, the first calibration surface and the second calibration surface are two parallel surfaces on the calibration plate. A first camera for acquiring the first calibration image is disposed on the side of the first calibration surface away from the second calibration surface, and a second camera for acquiring the second calibration image is disposed on the side of the second calibration surface away from the first calibration surface. The step of "adjusting the position of the product to be adjusted and / or the module nozzle to reduce the position coordinate difference" specifically includes: moving and bringing the product to be adjusted closer to the module nozzle until the imaging center of the product to be adjusted in the first calibration image is aligned with the imaging center of the module in the second calibration image.

[0021] As a further improvement of one embodiment of the present invention, after the step of "acquiring the first calibration image and the second calibration image at the first calibration position and the second calibration position respectively", the product relative position adjustment method further includes: adjusting the relative position of the first camera and the second camera in a first direction according to the clarity of the first calibration image and the second calibration image.

[0022] Compared with the prior art, the embodiments of the present invention have at least one of the following beneficial effects:

[0023] This invention employs a modular nozzle spatial position adjustment method. By imaging two mutually perpendicular sides of the nozzle and obtaining two types of positional information of the nozzle, the position of the nozzle to be adjusted and its relative position with respect to the target nozzle can be controlled in at least two dimensions. This eliminates the need for manual intervention and reduces errors. By imaging the two sides correspondingly onto the same imaging plane, the requirements for image quality and the number of imaging elements can be reduced, significantly reducing costs and saving time. Attached Figure Description

[0024] Figure 1This is a schematic diagram of the module nozzle spatial position adjustment device in one embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the steps of a module nozzle spatial position adjustment method in one embodiment of the present invention.

[0026] Figure 3 This is a detailed schematic diagram of step S1 of the second embodiment of the module nozzle spatial position adjustment method in one embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the steps of a product relative position adjustment method according to an embodiment of the present invention.

[0028] Figure 5 This is a schematic diagram of the operation of the device when performing the product relative position adjustment method in one embodiment of the present invention. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention, and any structural, methodological, or functional modifications made by those skilled in the art based on these embodiments are included within the scope of protection of the present invention.

[0030] It should be noted that the term "comprising" or any other variations thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the description of specific embodiments of the invention, terms such as "upper," "lower," and "vertical" indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, generally with reference to the device or apparatus in its normal operating state, and do not indicate that the indicated position or element must have a specific orientation. Furthermore, terms such as "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] The present invention provides a module nozzle spatial position adjustment device for controlling the position of the nozzle to be adjusted in the module and its relative position with the target nozzle, so that the nozzle to be adjusted and the target nozzle are spaced apart and corresponding in position.

[0032] In this embodiment, such as Figure 1As shown, the module nozzle spatial position adjustment device 1 includes a camera 14, an optical module 13, a light source 11, and a processing module. The camera 14 provides an imaging plane, and according to a certain module nozzle spatial position adjustment method, acquires a first detection image and a second detection image of the nozzle 12 to be adjusted in the module on the imaging plane provided by the camera 14. The first detection image points to a first side 121 of the nozzle 12 to be adjusted, and the second detection image points to a second side 122 of the nozzle 12 to be adjusted.

[0033] The optical module 13, according to a certain module nozzle spatial position adjustment method, cooperates with the light source 11 to reflect light onto the second side 122 of the nozzle 12 to be adjusted in the module, and directly illuminates the first side 121 of the nozzle 12 to be adjusted, so as to characterize the outline of the first side 121 of the nozzle 12 to be adjusted, and image it on the imaging plane provided by the camera 14.

[0034] The light source 11 primarily works in conjunction with the camera 14 to image the first side 121 of the nozzle 12 to be adjusted onto the imaging plane provided by the camera 14, and to image the second side 122 of the nozzle 12 to be adjusted, after reflection by the optical module 13, onto the imaging plane provided by the camera 14. The first side 121 and the second side 122 of the nozzle 12 to be adjusted are perpendicular to each other. It is understandable that although the first side 121 and the second side 122 are... Figure 1 While there is a clear indication, the present invention is not limited thereto. As needed by those skilled in the art, any two mutually perpendicular sides of the nozzle 12 to be adjusted can be used as the first side and the second side.

[0035] The processing module is mainly used for subsequent data processing of the obtained image information of the nozzle to be adjusted and the target nozzle. Specifically, it can include: obtaining the standard position information of the target nozzle; determining the first position information and the second position information of the nozzle to be adjusted 12 based on the first detection image and the second detection image; and adjusting the position of the nozzle to be adjusted 12 based on the standard position information, the first position information, and the second position information, so that the nozzle to be adjusted 12 and the target nozzle are spaced apart and correspond in position. The above functions can be implemented sequentially (that is, the above steps can be executed sequentially) or interspersed.

[0036] Thus, the modular nozzle spatial position adjustment device provided by the present invention uses a camera to image the two sides of the modular nozzle onto the same imaging plane, which not only reduces the requirements for image quality and the number of imaging elements, significantly reducing costs and saving time, but also enables automatic adjustment of the position of several modular nozzles in the pick-and-place module, so that they can accurately pick up and place products in the actual working process.

[0037] In one embodiment, the light source 11 may include a first light source 111 and a second light source 112 configured to be lit alternately. Thus, by controlling the on or off of these two sets of light sources, imaging of the two mutually perpendicular sides of the suction nozzle 12 to be adjusted is assisted respectively. Correspondingly, the camera 14 can acquire the second detection image when the first light source 111 is lit, and acquire the first detection image when the second light source 112 is lit.

[0038] Preferably, in this embodiment, the first light source 111 and the second light source 112 are selected as surface light sources, and the emitting plane of the first light source 111 is parallel to the second side surface 122 of the nozzle to be adjusted, while the emitting plane of the second light source 112 is parallel to the first side surface 121 of the nozzle to be adjusted. It should be noted that surface light sources are used so that the nozzle to be adjusted 12 can be completely reflected onto the imaging surface provided by the camera 14, ensuring that the acquired first and second detection images are complete. Of course, the selection of the light source is not limited to surface light sources; as long as the detection image of the nozzle to be adjusted 12 is complete, this invention does not impose any limitation on this.

[0039] Before imaging, the process may include adjusting the relative positions and angles between the camera 14, the first light source 111, the second light source 112, and the optical module 13. Specifically, the optical module 13 can be positioned between the first light source 111 and the nozzle 12 to be adjusted, and also between the second light source 112 and the nozzle 12 to be adjusted. The extension direction of the projection of the optical module 13 onto the third plane forms a first angle with the extension direction of the projection of the luminous plane of the first light source 111 onto the third plane. Thus, by adjusting the angle of the first angle, the first and second detection images of the nozzle 12 to be adjusted can be generated with high resolution and clear images. The third plane is perpendicular to both the first and second side surfaces. Figure 1 In the illustrated embodiment, the third plane is the paper surface.

[0040] Preferably, in this embodiment, the first included angle is 45 degrees. Preferably, correspondingly, the imaging plane provided by the camera 14 is parallel to the first side surface 121 of the suction nozzle 12 to be adjusted. This further improves image quality and avoids image distortion.

[0041] Continuing, in order to generate corresponding detection images by reflecting the two sides of the nozzle 12 to be adjusted using the optical module 13, the first optical surface of the optical module 13 near the first light source 111 is configured as a light-transmitting surface, while the second optical surface of the optical module 13 near the nozzle 12 to be adjusted is configured as a reflective surface.

[0042] Thus, when the first light source 111 is turned on and the second light source 112 is turned off, the light emitted by the first light source 111 passes through the first optical surface and illuminates the second side surface 122 of the nozzle to be adjusted. After reflection by the second optical surface, the second side surface 122 of the nozzle to be adjusted is imaged onto the imaging plane provided by the camera 14, thereby generating a second detection image, which is the end face of the nozzle to be adjusted used for picking up and placing products. When the second light source 112 is turned on and the first light source 111 is turned off, the light emitted by the second light source 112 passes through the first optical surface and directly illuminates the first side surface 121 of the nozzle to be adjusted, imaged onto the imaging plane provided by the camera 14, thereby generating a first detection image, which is the projected height of the first side surface 121 of the nozzle to be adjusted.

[0043] The area of ​​the reflective surface is larger than the projected area of ​​the first side surface 121 onto the plane containing the reflective surface. Alternatively, when the first side surface 121 and the reflective surface are projected onto the same plane, the projected area of ​​the reflective surface is always larger than the projected area of ​​the first side surface 121. This ensures that the suction nozzle 12 to be adjusted can be completely imaged onto the imaging plane provided by the camera 14.

[0044] This concludes the description of the module nozzle spatial position adjustment device provided in this embodiment. It should be emphasized that this device utilizes the reflective characteristics of the optical module to generate two different images using only one camera, thereby determining the spatial position of the nozzle. Compared with the prior art, this reduces the use of one camera, simplifies the structure, and reduces the cost of the optical module compared to the camera.

[0045] The following will continue to describe the module nozzle spatial position adjustment method provided by the present invention, with specific steps as follows: Figure 2 As shown.

[0046] The aforementioned module nozzle spatial positioning can be implemented independently or integrated into the aforementioned module nozzle spatial positioning adjustment device 1. In the latter case, after receiving the nozzle 12 to be adjusted, the module nozzle spatial positioning adjustment device 1 acquires detection images of two sides of the nozzle 12 (the two detection images are imaged on the same imaging plane), analyzes them to obtain at least two types of positional information, and adjusts the spatial position of the nozzle and its relative position to the target nozzle accordingly, thereby completing the position adjustment of several nozzles.

[0047] In a preferred embodiment of the latter of the above-described embodiments, two light sources cooperate with at least one optical module for achieving reflection to achieve projection imaging of one side and / or reflection imaging of the other plane. Any modifications made based on the method steps described above and below without departing from the inventive concept are included within the scope of protection of this invention, including but not limited to simple adjustments to the order of the steps.

[0048] The method for adjusting the spatial position of the module nozzle provided by the present invention specifically includes the following steps:

[0049] Step S1: Obtain the standard position information of the target nozzle.

[0050] Step S2: Obtain the first detection image and the second detection image of the nozzle to be adjusted.

[0051] Step S3: Determine the first position information and the second position information of the nozzle to be adjusted based on the first detection image and the second detection image, respectively.

[0052] Step S4: Adjust the position of the nozzle to be adjusted according to the standard position information, the first position information, and the second position information.

[0053] The nozzle to be adjusted includes a first side and a second side that are perpendicular to each other. The first detection image points to the first side that is imaged on the imaging plane, and the second detection image points to the second side that is imaged on the imaging plane after reflection. In this way, the spatial position of the nozzle to be adjusted can be adjusted in at least two directions based on the two positional information determined by the two detection images. Furthermore, since the two detection images are imaged on the same imaging plane, the time and economic cost of constructing the imaging plane can be saved.

[0054] The "adjusting the position of the nozzle to be adjusted" may further include: setting the nozzle to be adjusted and the target nozzle at a distance and corresponding in position. In this way, by establishing a relative positional relationship between at least two nozzles, the module can achieve the goal of advancing multiple workpieces at once, adapting to the placement order of various workpieces or products, eliminating human interference, and reducing errors.

[0055] For step S1, obtaining the standard position information of the target nozzle, in the first embodiment, may include the following steps: receiving preset position information provided by the user and storing the preset position information as standard position information; determining whether the position information of at least one module nozzle (preferably the first module nozzle in a certain direction) is the same as the standard position information; if they are different, then the module nozzle is used as the nozzle to be adjusted, and steps S1 to S4 are executed to adjust its position so that the position of the module nozzle matches the standard position information, and it is used as the target nozzle; if they are the same, then the module nozzle is directly used as the target nozzle, and steps S1 to S4 are executed to complete the position adjustment of other nozzles.

[0056] In the second embodiment, at least one nozzle can be selected from the module as the target nozzle according to requirements, and the position information of the nozzle can be obtained as the standard position information. Preferably, this can be achieved by performing the following refinement steps of step S1, such as... Figure 3 As shown.

[0057] S11, acquire the first target image and the second target image of the target nozzle.

[0058] S12, determine the first target position information and the second target position information of the target nozzle based on the first target image and the second target image, respectively.

[0059] S13, based on the first target position information and the second target position information, obtain the standard position information of the target nozzle.

[0060] The target nozzle includes a first target side and a second target side that are perpendicular to each other. The first target image points to the first target side image that is projected onto the imaging plane, and the second target image points to the second target side image that is projected onto the imaging plane after reflection. Thus, based on the two positional information determined by the two target images, the spatial position of the target nozzle can be adjusted in at least two directions, thereby obtaining the standard positional information with the target nozzle as a reference.

[0061] Regarding step S2, firstly, in the embodiment where imaging is achieved through photosensitive elements such as a camera, light source, and optical module, before imaging, it is of course possible to include a step of adjusting the camera position and angle (i.e., the position and angle of the imaging plane) to obtain a detection image with better clarity. The above steps have already been described in detail in the structure of the module nozzle spatial position adjustment device 1, and will not be repeated here.

[0062] Furthermore, the method for obtaining the first detection image and the second detection image can be specifically implemented through the following embodiments provided by the present invention. In this embodiment, the first detection image or the second detection image is selectively generated on the imaging plane by adjusting the brightness of the light source. Preferably, the light source includes a first light source and a second light source.

[0063] Based on this idea, the part of obtaining the first detection image of the nozzle to be adjusted in step S2 in this embodiment can specifically include the following steps: turning on the second light source, turning off the first light source, reflecting the light from the second light source on the first side, generating a projection on the imaging plane that at least represents the contour of the first side, and generating the first detection image.

[0064] Correspondingly and in parallel configuration, in this embodiment, the part of obtaining the second detection image of the nozzle to be adjusted in step S2 may specifically include the steps of: turning on the first light source, turning off the second light source, the second side reflecting the light from the first light source, and the reflected light being reflected at the optical module to the imaging plane to generate the second detection image.

[0065] Of course, in the process of acquiring the first detection image and the second detection image, the first light source, the second light source and the optical module used can be the same group.

[0066] The above method is applied to, for example Figure 1 The embodiment of the module nozzle spatial position adjustment device 1 shown above can be specifically described from the following two aspects.

[0067] On one hand, the motion control module controls the movement of the pick-and-place nozzle module to move the nozzle 12 to be adjusted into the field of view of the camera 14 of the nozzle spatial position adjustment device 1. Preferably, the nozzle 12 to be adjusted is moved to the center of the field of view of the camera 14, the second light source 112 in the device 1 is turned on, and the first light source 111 is turned off. The second light source 112 directly illuminates the first side 121 of the nozzle 12 to be adjusted through the first optical surface (configured as a light-transmitting surface) of the optical module 13. The first side 121 reflects the light from the second light source 112 and generates a projection on the imaging plane provided by the camera 14 that at least characterizes the outline of the first side 121 of the nozzle 12 to be adjusted, thereby generating a first detection image of the nozzle 12 to be adjusted.

[0068] On the other hand, the first light source 111 in the device 1 is turned on and the second light source 112 is turned off. The light generated by the first light source 111 passes through the first optical surface (configured as a light-transmitting surface) of the optical module 13 and illuminates the second side surface 122 of the nozzle to be adjusted. Then, after being reflected by the second optical surface (configured as a reflective surface) of the optical module 13, the second side surface 122 of the nozzle to be adjusted is imaged on the imaging plane provided by the camera 14, thereby generating a second detection image of the nozzle to be adjusted.

[0069] Based on the above two operational steps, we can obtain two sets of detection images. It should be emphasized that the activation and deactivation of the first and second light sources can be controlled automatically via software or other means; this invention does not impose specific limitations on this. Furthermore, the aforementioned first and second target images can also be obtained through the above two operational steps.

[0070] For step S3, the method of obtaining the first and second position information of the nozzle to be adjusted can be specifically implemented through an embodiment of the present invention. After performing the above step S2, two sets of detection images of the nozzle to be adjusted can be obtained. Based on the first and second detection images of the nozzle to be adjusted, an image recognition algorithm is used to perform image recognition on the first and second detection images respectively to obtain two types of position information of the nozzle. Specifically, based on the first detection image, at least the extension length of the first side 121 of the nozzle to be adjusted in the first direction 801 is obtained as the first position information. Then, based on the second detection image, at least the plane center coordinates of the second side 122 of the nozzle to be adjusted are calculated as the second position information. In one embodiment, the second side 122 is the end face of the nozzle to be adjusted used for picking up and placing products, and the first side 121 is at least one side face of the nozzle to be adjusted that is perpendicular to the end face.

[0071] For step S4, after executing steps S1 to S3, we can obtain the standard position information of the target nozzle and the first and second position information of the nozzle to be adjusted. Based on the above position information, the position of the nozzle to be adjusted is adjusted so that the nozzle to be adjusted and the target nozzle are spaced apart and correspond in position. In this embodiment of the invention, when there are at least two nozzles to be adjusted, the position of each nozzle to be adjusted can be adjusted sequentially so that all nozzles to be adjusted and the target nozzle are at the same position in the first direction 801, and the spacing between two adjacent nozzles in the second direction 802 is also made equal. The first direction 801 is perpendicular to the second side surface of the nozzle to be adjusted, while the second direction 802 is parallel to the second side surface of the nozzle to be adjusted.

[0072] In one embodiment, the second direction 802 can be simultaneously parallel to both the first and second sides of the nozzle to be adjusted. In this case, not only can the nozzle spacing be adjusted along the second direction 802, but also... Figure 1 For example, the second direction 802 is defined as a direction perpendicular to the paper and pointing inward or outward. Since the first light source 111 and the optical module 13 are located near the second side 122 and are positioned relatively below the nozzle to be adjusted 12, the second light source 112 is located near the first side and is positioned relatively to the left of the nozzle to be adjusted 12, and the camera 14 is positioned relatively to the right of the nozzle to be adjusted 12, the module nozzles arranged at intervals along the second direction 802 can be sequentially fed into the module nozzle spatial position adjustment device 1 along the second direction 802 to simplify the overall control logic and reduce working time.

[0073] It should be noted here that the first direction and the second direction are related to the current actual working condition of the nozzle to be adjusted in the module. For ease of understanding, in one embodiment of the present invention, we can establish a spatial coordinate system. When the nozzle to be adjusted 12 is used to pick up or place products by adjusting the vertical height of the nozzle, that is, when the nozzle to be adjusted 12 is placed perpendicular to the ground along the z-axis direction of the spatial coordinate system, the first direction is along the direction of the height of the nozzle to be adjusted, that is, the z-axis direction, and the second direction is along the y-axis direction. Preferably, the y-axis direction is the direction in which several module nozzles are arranged at intervals. The first side surface 121 of the nozzle to be adjusted 12 is preferably a plane on the nozzle to be adjusted that extends simultaneously along the first direction and the second direction, that is, the plane corresponding to the yz spatial coordinate system. The second side surface 122 of the nozzle to be adjusted 12 is preferably the end face of the nozzle to be adjusted, that is, the horizontal plane where xy is located.

[0074] In a preferred embodiment, the target nozzle performs steps S1 to S4 to obtain its first position information and second position information, denoted as Z0 and (X0, Y0) respectively. Based on the first and second position information, its spatial position (X0, Y0, Z0) is obtained. Similarly, the i-th nozzle to be detected in the module performs steps S1 to S4 to obtain its first and second position information, denoted as Z0 and (X0, Y0) respectively. i and (X) i ,Y i ), thereby obtaining the corresponding spatial location (X). i ,Y i Z i Let i = 1, 2, ..., N. Here, N is the total number of nozzles to be adjusted in the module. Finally, referring to the spatial position of the target nozzle, the nozzles to be adjusted are adjusted sequentially so that the nozzles to be adjusted are spaced apart from the target nozzle and their positions correspond.

[0075] In summary, this invention provides a method for adjusting the spatial position of grinding nozzles and suction nozzles. This method adaptively adjusts the positions of several suction nozzle modules within a nozzle pick-and-place module, enabling accurate product pick-and-place during actual operation. This improves automation, increases work efficiency, and boosts industrial output. It also reduces errors caused by manual operation, enhancing the accuracy and precision of nozzle product pick-and-place.

[0076] This concludes the description of the method for adjusting the spatial position of the module nozzle provided in this embodiment. Finally, it should be emphasized that the definitions of the first direction and the second direction, as well as the first side and the second side, are merely for descriptive convenience. The specific orientations of the first direction, the second direction, the first side, and the second side can be selectively adjusted according to user needs. In this embodiment, the aforementioned directions or sides can be directly derived or inferred from the figures. In practical applications, the first direction can be configured as a vertical direction, and the second direction can be configured as a horizontal direction. Of course, the specific direction is determined based on the actual working condition of the nozzle to be adjusted. These are all within the scope of protection of this invention and will not be exhaustively listed here.

[0077] This invention also provides a method for adjusting the relative position of a product, used to adjust the relative positional relationship between the module nozzle and the product to be picked up or placed. For example... Figure 4 The product relative position adjustment method specifically includes the following steps:

[0078] Step S5: Adjust the spatial position of at least one module nozzle according to a module nozzle spatial position adjustment method.

[0079] Step S6: Obtain the first calibration image and the second calibration image at the first calibration position and the second calibration position, respectively.

[0080] Step S7: Determine the position coordinate difference between the module nozzle and the product to be adjusted based on the first calibration image and the second calibration image.

[0081] Step S8: Adjust the position of the product to be adjusted and / or the module nozzle according to the position coordinate difference, so as to reduce the position coordinate difference.

[0082] In this system, the first calibration image points to the first calibration surface of the calibration plate and the product to be adjusted. The first calibration surface and the second calibration surface are the same surface or parallel to each other. Thus, the positional coordinate difference between the module nozzle and the product to be adjusted can be determined based on the two calibration images, enabling positional adjustment of the product and / or the module nozzle. Furthermore, since the two calibration images are projected onto two different imaging planes, interference between corresponding mechanical structures is prevented, and the system also facilitates operation.

[0083] Step S5 can be configured to execute any of the module nozzle spatial position adjustment methods described above, so that subsequent steps are all performed on the basis of the nozzle module with the relative positions of the nozzles already adjusted. This not only improves the accuracy of picking up and placing products, but also enables the simultaneous picking up and placing of multiple products at one time.

[0084] The above-mentioned methods for adjusting the relative positions of products can be implemented independently, or they can be mounted on... Figure 5 The product relative position adjustment device shown achieves this. For ease of description, the following description will focus on the latter case, but this does not necessarily limit the scope of protection of the present invention.

[0085] In one embodiment, the product relative position adjustment device includes a first camera 141 and a second camera 142. In another embodiment, at least one of the two cameras can be shared with the camera in the module nozzle spatial position adjustment method and corresponding device. The first camera 141 can be used to acquire the first calibration image, and the second camera 142 can be used to acquire the second calibration image.

[0086] When the calibration plate 15 has a first calibration surface 151 and a second calibration surface 152, and the first calibration surface 151 and the second calibration surface 152 are two parallel surfaces on the calibration plate 15, the first camera 141 can be disposed on the side of the first calibration surface 151 opposite to the second calibration surface 152, and the second camera 142 can be disposed on the side of the second calibration surface 152 opposite to the first calibration surface 151. Thus, the first camera 141 can acquire a first calibration image at a first calibration position close to the first calibration surface 151, and the second camera 142 can acquire a second calibration image at a second calibration position close to the second calibration surface 152.

[0087] For step S7, after performing step S6 and obtaining the first and second calibration images, an image recognition algorithm can be used to identify the positions of the two calibration images and determine the coordinate positions of the product to be adjusted and the module nozzle in the two calibration images, respectively. Specifically, step S7 may include: recognizing the first calibration image to determine the imaging center of the product to be adjusted in the first calibration image; and recognizing the second calibration image to determine the imaging center of the module nozzle in the second calibration image. The above two steps can be performed simultaneously or sequentially.

[0088] Regarding step S8, in this embodiment, after performing steps S5 to S6 to obtain the imaging center positions of the product to be adjusted and the module nozzle, the positions of the product to be adjusted and / or the module nozzle can be further adjusted based on the coordinate difference between the two center positions, thereby reducing the position coordinate difference. Specifically, step S8 may specifically include: adjusting the relative positions of the product to be adjusted and the module nozzle so that the imaging center in the first calibration image and the imaging center in the second calibration image coincide, thereby realizing the adjustment of the relative position of the product.

[0089] Before adjusting the relative position of the product and the nozzle, step S6 may specifically include the step of adjusting the relative position of the two cameras in a first direction based on the clarity of the first calibration image and the second calibration image. In this way, by adjusting the camera position and angle (i.e., the position and angle of the imaging plane), a clearer calibration image can be obtained, thereby improving the accuracy of the relative position adjustment and preventing low confidence in position coordinate differences caused by defocusing.

[0090] Preferably, the calibration plate 15, positioned between the first camera 141 and the second camera 142, is configured to be transparent, facilitating subsequent imaging of the product to be adjusted and the module nozzle through the calibration plate. Before step S7, a step of removing the calibration plate 15 may be included to prevent interference. After removing the calibration plate 15, in one embodiment, the position coordinate difference analysis can continue based on the first and second calibration images obtained in step S6; in another embodiment, between steps S6 and S7, a process of acquiring calibration images again may be included, namely, the steps of acquiring and updating the first and second calibration images at the first and second calibration positions respectively. This prevents internal refraction of the calibration plate 15 from causing imaging distortion of the product to be adjusted and the module nozzle, thus improving the accuracy of the position coordinate difference.

[0091] In summary, the modular nozzle spatial position adjustment method provided by this invention improves the logic of nozzle spatial position adjustment. In practical situations where installing two cameras on a modular nozzle is not permitted, it utilizes the reflective characteristics of the optical module and the interaction of two sets of light sources from different directions to acquire two sets of images, thereby determining the spatial position of the nozzle. The same method is used to obtain the spatial positions of all nozzles. Finally, referring to a standard position, the nozzles to be adjusted are sequentially positioned at the same location in the first direction, and the spacing between adjacent nozzles in the second direction is equal. Thus, while keeping the hardware cost of the modular nozzle at a low level, it significantly saves the time and cost of manually adjusting the nozzle position, improves work efficiency, and can be better applied to high-volume processing of products with multiple different characteristics. Furthermore, automated adjustment replacing manual operation not only reduces errors but also improves the automation function of the modular nozzle, enhancing the user experience.

[0092] It should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0093] The detailed descriptions listed above are merely specific descriptions of feasible embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for adjusting the spatial position of a module nozzle, characterized in that, include: Obtain the standard position information of the target nozzle; Acquire a first detection image and a second detection image of the nozzle to be adjusted; wherein the nozzle to be adjusted includes a first side and a second side that are perpendicular to each other, the first detection image points to the first side that is imaged on the imaging plane, and the second detection image points to the second side that is imaged on the imaging plane after reflection; The first position information and the second position information of the nozzle to be adjusted are determined based on the first detection image and the second detection image, respectively. Based on the standard position information, the first position information, and the second position information, the position of the nozzle to be adjusted is adjusted so that the nozzle to be adjusted is spaced apart from the target nozzle and their positions correspond. Specifically, "acquiring the first and second detection images of the nozzle to be adjusted" includes: The second light source is turned on and the first light source is turned off. The light from the second light source is reflected from the first side surface, and a projection representing at least the contour of the first side surface is generated on the imaging plane to generate the first detection image. The "acquiring of the first and second detection images of the nozzle to be adjusted" specifically includes: The first light source is turned on, the second light source is turned off, the second side reflects the light from the first light source, and the reflected light is reflected at the optical module to the imaging plane to generate the second detection image; The nozzles to be adjusted include at least two; the step of "adjusting the position of the nozzles to be adjusted so that the nozzles to be adjusted are spaced apart from and corresponding to the target nozzle" specifically includes: The position of each nozzle to be adjusted is adjusted sequentially so that all nozzles to be adjusted are in the same position as the target nozzle in the first direction, and the distance between two adjacent nozzles in the second direction is equal. Wherein, the first direction is perpendicular to the second side surface, and the second direction is parallel to the first side surface.

2. The method for adjusting the spatial position of the module nozzle according to claim 1, characterized in that, The second direction is parallel to both the first side and the second side.

3. The method for adjusting the spatial position of the module nozzle according to claim 1, characterized in that, The "acquiring of the standard position information of the target nozzle" specifically includes: Acquire a first target image and a second target image of the target nozzle, wherein the target nozzle includes a first target side and a second target side that are perpendicular to each other, the first target image points to the first target side of the target nozzle that is imaged on the imaging plane, and the second target image points to the second target side of the target nozzle that is imaged on the imaging plane after reflection; The first target position information and the second target position information of the target nozzle are determined based on the first target image and the second target image, respectively. Based on the first target position information and the second target position information, the standard position information of the target nozzle is obtained.

4. The method for adjusting the spatial position of the module nozzle according to claim 1, characterized in that, The phrase "determining the first position information and the second position information of the nozzle to be adjusted based on the first detection image and the second detection image respectively" specifically includes: Based on the first detected image, the extension length of the first side in the first direction is obtained as the first position information; Based on the second detection image, the plane center coordinates of the second side are calculated as the second position information; wherein, the second side is the end face on the suction nozzle to be adjusted for picking up and placing products.

5. A module nozzle spatial position adjustment device, characterized in that, include: A camera is used to provide an imaging plane and acquire a first detection image and a second detection image on the imaging plane; The first detection image points to the first side of the nozzle to be adjusted, and the second detection image points to the second side of the nozzle to be adjusted. An optical module is used to reflect light onto the second side of the nozzle to be adjusted; A light source is used in conjunction with the camera to image the first side onto the imaging plane and to image the second side, after being reflected by the optical module, onto the imaging plane; wherein the first side and the second side are perpendicular to each other. The processing module is used to acquire standard position information of the target nozzle, determine first position information and second position information of the nozzle to be adjusted based on the first detection image and the second detection image, and adjust the position of the nozzle to be adjusted based on the standard position information, the first position information and the second position information, so that the nozzle to be adjusted and the target nozzle are spaced apart and correspond in position. The light source includes a first light source and a second light source configured to be lit alternately; the camera acquires a second detection image when the first light source is lit, and acquires the first detection image when the second light source is lit. The optical module is disposed between the first light source and the nozzle to be adjusted, and also between the second light source and the nozzle to be adjusted. The extension direction of the projection of the optical module onto the third plane forms a first angle with the extension direction of the projection of the emitting plane of the first light source onto the third plane. The first optical surface of the optical module near the first light source is configured as a light-transmitting surface, and the first optical surface of the optical module near the nozzle to be adjusted is configured as a reflective surface. The area of ​​the reflective surface is larger than the projection area of ​​the first side surface onto the plane where the reflective surface is located.

6. The module nozzle spatial position adjustment device according to claim 5, characterized in that, The first light source is a surface light source, and the emitting plane of the first light source is parallel to the second side; the second light source is a surface light source, and the emitting plane of the second light source is parallel to the first side.

7. The module nozzle spatial position adjustment device according to claim 5, characterized in that, The first included angle is 45 degrees, and the imaging plane is parallel to the first side surface.

8. A method for adjusting the relative position of a product, characterized in that, include: The module nozzle spatial position adjustment method according to any one of claims 1-4 adjusts the spatial position of at least one module nozzle; A first calibration image and a second calibration image are acquired at a first calibration position and a second calibration position, respectively; wherein, the first calibration image points to the first calibration surface of the calibration plate and the product to be adjusted, and the second calibration image points to the second calibration surface of the calibration plate and the module nozzle, and the first calibration surface and the second calibration surface are the same surface or parallel to each other; Based on the first calibration image and the second calibration image, determine the position coordinate difference between the module nozzle and the product to be adjusted; Based on the positional coordinate difference, adjust the position of the product to be adjusted and / or the module nozzle to reduce the positional coordinate difference.

9. The product relative position adjustment method according to claim 8, characterized in that, The first calibration surface and the second calibration surface are two parallel surfaces on the calibration plate. A first camera for acquiring the first calibration image is positioned on the side of the first calibration surface opposite to the second calibration surface, and a second camera for acquiring the second calibration image is positioned on the side of the second calibration surface opposite to the first calibration surface. The phrase "adjusting the position of the product to be adjusted and / or the module nozzle to reduce the position coordinate difference" specifically includes: Move and bring the product to be adjusted closer to the module nozzle until the imaging center of the product to be adjusted in the first calibration image is aligned with the imaging center of the module nozzle in the second calibration image.

10. The product relative position adjustment method according to claim 9, characterized in that, After the step of "acquiring the first calibration image and the second calibration image at the first calibration position and the second calibration position respectively", the product relative position adjustment method further includes: The relative positions of the first camera and the second camera in a first direction are adjusted based on the sharpness of the first calibration image and the second calibration image.

Images