Chip cutting device and square workpiece positioning method thereof

Abstract

The present invention relates to the field of chip cutting technology, and provides a chip cutting device and a square workpiece positioning method thereof, which performs positioning detection on a square workpiece placed on a loading platform before cutting. During the detection process, the horizontality of the square workpiece is first confirmed by an image recognition device, and then the deviation parameter between the workpiece contour and the loading area on the loading platform is judged to adjust the relative position relationship between the square workpiece and the loading platform, so that the square workpiece is placed on the loading platform again at the center of the loading area, which is convenient for the cutting blade to accurately cut the square workpiece, avoiding the deviation of the cutting route caused by the deviation of the workpiece placement position, thereby facilitating the improvement of the chip cutting yield. In addition, the number of continuous deviation adjustments is counted by adjusting the counting unit, so that when it is confirmed that it is caused by a problem with the equipment itself, the equipment is stopped for inspection and maintenance in time, avoiding the problem of low cutting efficiency caused by each adjustment of the equipment, which is conducive to improving the cutting efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of chip cutting, and in particular to a chip cutting device and a square workpiece positioning method thereof. Background Art

[0002] In the semiconductor device manufacturing process, a workpiece is cut and separated into individual chips by a chip cutting device along pre-prepared cutting streets, thereby manufacturing individual semiconductor chips.

[0003] Existing cutting equipment generally loads workpieces at a set fixed position. Once a large deviation is found after loading the workpiece, the operation can only be suspended to confirm whether it is a mechanism problem. If there is no problem with the mechanism, a series of parameters such as the loading position need to be reset, which is cumbersome. In addition, existing cutting equipment generally only recognizes the positioning mark points on the workpiece, so the positioning accuracy of the cutting path cannot be guaranteed, which easily leads to the situation where the cutting track deviates from the cutting path, resulting in waste. Summary of the invention

[0004] The object of the present invention is to provide a chip cutting device and a square workpiece positioning method thereof, so as to solve the problem that the cutting track of the existing chip cutting device is easy to deviate and cannot be adjusted online.

[0005] In a first aspect, an embodiment of the present invention provides a chip cutting device, comprising:

[0006] A frame, the frame comprising a bottom bracket and a top bracket;

[0007] A cutting table, wherein the cutting table is mounted on the bottom bracket via an X-axis driving mechanism, the cutting table comprises a cutting platform and a loading platform, the cutting platform is connected to the moving end of the X-axis driving mechanism, the loading platform is mounted on the cutting platform via a rotating motor, and a square loading area is provided on the loading platform;

[0008] A loading arm, the loading arm is mounted on the top bracket via a first Y-axis driving mechanism, the first Y-axis driving mechanism is used to drive the loading arm to move along the Y-axis direction, the loading arm is used to grab and place a square workpiece; the square workpiece includes a plurality of chips arranged in an array and separated by cutting lanes;

[0009] An image recognition device, which is mounted on the top bracket via a second Y-axis drive mechanism and is used to obtain image information of the square workpiece and the loading platform; the image recognition device includes a lens, and the axis of the lens is perpendicular to the plane where the loading platform is located;

[0010] A cutting arm, wherein the cutting arm is mounted on the top bracket via a third Y-axis driving mechanism, a cutting blade is provided at the lower end of the cutting arm, the cutting blade is perpendicular to the plane where the loading platform is located, and is used to cut a square workpiece placed on the loading platform;

[0011] A control module, wherein the control module is electrically connected to the rotating motor, the X-axis drive mechanism, the first Y-axis drive mechanism, the second Y-axis drive mechanism, the image recognition device, the third Y-axis drive mechanism and the cutting arm, and is used to control the image recognition device to obtain image information of the square workpiece and the loading platform, and to extract the workpiece contour and the loading area contour in the image information, and to confirm whether the square workpiece is horizontal according to the workpiece contour, and after confirming that the square workpiece is horizontal, to control the rotating motor, the X-axis drive mechanism, the first Y-axis drive mechanism and the second Y-axis drive mechanism to work according to the deviation parameter of the workpiece contour relative to the loading area contour, so as to adjust the workpiece contour to the center position of the loading area contour.

[0012] Optionally, the deviation parameters include: tilt angle deviation and profile center coordinate deviation;

[0013] The tilt angle deviation is the angle between the geometric center line of the workpiece contour along the length direction and the geometric center line of the loading area contour along the length direction; the control module controls the rotation of the rotary motor according to the tilt angle deviation so that the geometric center line of the loading area contour along the length direction is parallel to the geometric center line of the workpiece contour along the length direction;

[0014] The contour center coordinate deviation is the coordinate difference between the geometric center of the workpiece contour and the geometric center of the loading area contour; the control module controls the X-axis drive mechanism to drive the loading platform to move a first preset distance according to the component of the contour center coordinate deviation along the X-axis direction, and controls the first Y-axis drive mechanism to drive the loading arm to move a second preset distance according to the component of the contour center coordinate deviation along the Y-axis direction, so that the geometric center of the workpiece contour coincides with the geometric center of the loading area contour.

[0015] Optionally, when it is detected that the inclination angle deviation and the contour center coordinate deviation are both within a preset deviation range, the control module controls the cutting arm to directly cut the square workpiece.

[0016] Optionally, determining whether the square workpiece is horizontal according to the workpiece contour includes:

[0017] The control module compares the extracted workpiece contour with a pre-stored standard contour, and if the comparison result is consistent, determines that the square workpiece is set horizontally.

[0018] Optionally, the first Y-axis driving mechanism includes: a first Y-axis beam, a first guide rail and a first driving assembly; the first Y-axis beam is fixed to the top bracket, the first guide rail is arranged on the side of the first Y-axis beam away from the second Y-axis driving mechanism, the loading arm is connected to the first slider on the first guide rail, and the first driving assembly is used to drive the first slider to move along the Y-axis direction.

[0019] Optionally, the loading arm includes: a Z-axis telescopic shaft and a suction cup; the upper end of the Z-axis telescopic shaft is fixedly connected to the first slider on the first guide rail; the lower end of the Z-axis telescopic shaft is connected to the suction cup, the suction cup is used to adsorb the square workpiece, and the Z-axis telescopic shaft can be telescoped along the Z-axis direction, thereby driving the suction cup to move up and down.

[0020] Optionally, at least two positioning sensors are provided on the cutting platform; at least two of the positioning sensors are distributed below the loading platform, and positioning marks corresponding to the positioning sensors are provided at the bottom of the loading platform, which are used to determine the initial position of the loading platform, and when the loading platform is in the initial position, the center line of the loading area along the length direction is parallel to the center line of the suction cup along the length direction.

[0021] Optionally, the chip cutting equipment also includes: an adjustment counting unit and a shutdown alarm module; the control module is electrically connected to the adjustment counting unit and the shutdown alarm module respectively, the adjustment counting unit is used to count the consecutive times that at least one parameter of the inclination angle deviation and the contour center coordinate deviation exceeds the preset deviation range, and the control module is used to control the shutdown alarm module to issue a shutdown alarm message when the number is greater than the preset number.

[0022] In a second aspect, an embodiment of the present invention further provides a square workpiece positioning method based on the chip cutting device described in the first aspect, comprising:

[0023] S100, controlling the loading arm to grab a square workpiece;

[0024] S200, controlling the rotary motor to reset, and controlling the X-axis drive mechanism and the first Y-axis drive mechanism to operate, so that the square workpiece is placed on the loading platform in a reset state;

[0025] S300, controlling the image recognition device to obtain image information of the square workpiece and the loading platform;

[0026] S400, extracting the workpiece contour and the loading area contour in the image information;

[0027] S500, confirming whether the square workpiece is horizontal according to the workpiece contour;

[0028] S600, after confirming that the square workpiece is level, the rotating motor, X-axis drive mechanism, first Y-axis drive mechanism and second Y-axis drive mechanism are controlled to work according to the deviation parameters of the workpiece contour relative to the loading area contour to adjust the workpiece contour to the center position of the loading area contour.

[0029] Optionally, the step S500 further includes:

[0030] S510, controlling the rotation motor to rotate according to the tilt angle deviation so that the geometric center line of the loading area contour along the length direction is parallel to the geometric center line of the workpiece contour along the length direction;

[0031] S520, according to the component of the contour center coordinate deviation along the X-axis direction, the X-axis drive mechanism is controlled to drive the loading platform to move a first preset distance, and according to the component of the contour center coordinate deviation along the Y-axis direction, the first Y-axis drive mechanism is controlled to drive the loading arm to move a second preset distance, so that the geometric center of the workpiece contour coincides with the geometric center of the loading area contour.

[0032] The embodiments of the present invention have at least the following technical effects:

[0033] The chip cutting equipment and square workpiece positioning method provided by the embodiment of the present invention are to perform positioning detection on the square workpiece placed on the loading platform before cutting. During the detection process, the horizontality of the square workpiece is first confirmed by the image recognition device, and then the deviation parameter between the workpiece contour and the loading area on the loading platform is judged to adjust the relative position relationship between the square workpiece and the loading platform, so that the square workpiece is in the center of the loading area when it is placed on the loading platform again, which is convenient for the cutting blade to accurately cut the square workpiece and avoid the deviation of the cutting route caused by the deviation of the workpiece placement position, which is conducive to improving the yield of chip cutting, and can realize online adjustment of loading deviation and reduce the frequency of equipment shutdown. In addition, by adjusting the counting unit to count the number of continuous deviation adjustments, it is possible to stop the equipment for inspection and maintenance in time when it is confirmed that it is caused by problems with the equipment itself, so as to avoid the problem of low cutting efficiency caused by frequent adjustments of the equipment, which is conducive to improving cutting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of the overall structure of a chip cutting device provided by an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of the overall structure of a chip cutting device provided by an embodiment of the present invention from another angle;

[0037] Figure 3 The embodiment of the present invention provides Figure 1 Front view of

[0038] Figure 4 The embodiment of the present invention provides Figure 3 A is an enlarged schematic diagram;

[0039] Figure 5 A control module connection block diagram of a chip cutting device provided by an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of the relative position relationship between a workpiece contour and a loading area contour extracted by a control module of a chip cutting device provided in an embodiment of the present invention;

[0041] Figure 7 The embodiment of the present invention provides Figure 6 A schematic diagram of the relative position relationship between the workpiece contour and the loading area contour after the tilt angle deviation is adjusted;

[0042] Figure 8 The embodiment of the present invention provides Figure 7 A schematic diagram of the relative position relationship between the workpiece contour and the loading area contour after the contour center coordinate deviation is adjusted;

[0043] Fig. 9 A flow chart of a square workpiece positioning method for a chip cutting device provided by an embodiment of the present invention;

[0044] Fig.10 A schematic diagram of a specific flow chart of step S500 of a square workpiece positioning method for chip cutting equipment provided in an embodiment of the present invention.

[0045] Icons: 100-frame; 110-top bracket; 120-bottom bracket; 200-cutting workbench; 201-X-axis drive mechanism; 210-cutting platform; 220-loading platform; 221-loading area contour; 230-positioning sensor; 240-positioning mark; 250-rotating motor; 300-loading arm; 310-Z-axis telescopic axis; 320-suction cup; 330-workpiece contour; 400-image recognition device; 500-first Y-axis drive mechanism; 600-second Y-axis drive mechanism; 700-third Y-axis drive mechanism; 800-cutting arm; 900-control module. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. 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.

[0047] Those skilled in the art will understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0048] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0049] The chip cutting device has high requirements for precision, generally requiring at least micron-level precision. Positioning only through the positioning mark points on the workpiece or directly loading it at the set position can easily lead to deviations in the cutting trajectory, and when problems occur, the machine can only be shut down for maintenance. In addition, the structure of the entire dicing device is complex, and there are many factors that affect the cutting accuracy. The above method is difficult to quickly and accurately analyze and troubleshoot the causes of the deviation in the cutting trajectory, which is time-consuming and labor-intensive, and seriously affects production efficiency. Therefore, the embodiment of the present invention provides a specially designed chip cutting device structure and a corresponding square workpiece positioning method to address the problem that the alignment accuracy of the above-mentioned square workpiece cutting device is insufficient, causing the cutting trajectory to deviate and the inability to achieve online monitoring and adjustment.

[0050] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments.

[0051] Combination Figures 1 to 5 As shown, an embodiment of the present invention provides a chip cutting device, including: a frame 100, a cutting workbench 200, a loading arm 300, an image recognition device 400, a cutting arm 800 and a control module 900.

[0052] Specifically, the frame 100 includes a bottom bracket 120 and a top bracket 110. The cutting workbench 200 is installed on the bottom bracket 120 through an X-axis drive mechanism 201. The cutting workbench 200 includes a cutting platform 210 and a loading platform 220. The cutting platform 210 is connected to the moving end of the X-axis drive mechanism 201. The loading platform 220 is installed on the cutting platform 210 through a rotating motor 250. A square loading area is provided on the loading platform 220.

[0053] Furthermore, the loading arm 300 is mounted on the top bracket 110 via a first Y-axis driving mechanism 500, and the first Y-axis driving mechanism 500 is used to drive the loading arm 300 to move along the Y-axis direction, and the loading arm 300 is used to grab and place a square workpiece. The square workpiece in this embodiment is a rectangular chip array to be cut, and the square workpiece includes a plurality of chips arranged in an array and separated by cutting lanes.

[0054] The image recognition device 400 is mounted on the top bracket 110 through the second Y-axis drive mechanism 600, and is used to obtain image information of the square workpiece and the loading platform 220. The image recognition device 400 includes a lens, and the axis of the lens is perpendicular to the plane where the loading platform 220 is located, so as to avoid errors caused by problems of the device itself. The cutting arm 800 is mounted on the top bracket 110 through the third Y-axis drive mechanism 700, and a cutting blade is provided at the lower end of the cutting arm 800, and the cutting blade is perpendicular to the plane where the loading platform 220 is located, and is used to cut the square workpiece placed on the loading platform 220.

[0055] The control module 900 is electrically connected to the rotating motor 250, the X-axis drive mechanism 201, the first Y-axis drive mechanism 500, the second Y-axis drive mechanism 600, the image recognition device 400, the third Y-axis drive mechanism 700 and the cutting arm 800, and is used to control the image recognition device 400 to obtain image information of the square workpiece and the loading platform 220, and to extract the workpiece contour 330 and the loading area contour 221 in the image information, and to confirm whether the square workpiece is horizontal according to the workpiece contour 330, and after confirming that the square workpiece is horizontal, to control the rotating motor 250, the X-axis drive mechanism 201, the first Y-axis drive mechanism 500 and the second Y-axis drive mechanism 600 to work according to the deviation parameters of the workpiece contour 330 relative to the loading area contour 221, so as to adjust the workpiece contour 330 to the center position of the loading area contour 221.

[0056] It should be noted that when it is confirmed that the deviation parameter of the workpiece contour 330 relative to the loading area contour 221 exceeds the preset range, it is necessary to grab the square workpiece from the loading platform 220 by the loading arm 300, and then adjust the angle of the loading platform 220 and the position along the X-axis direction, and adjust the position of the loading arm 300 along the Y-axis direction, so that when the square workpiece is placed in the loading area on the loading platform 220 again, when the image recognition device 400 re-acquires the image information of the square workpiece and the loading platform 220, it can ensure that the workpiece contour 330 is adjusted to the center position of the loading area contour 221. Of course, the center position referred to here can be set to a certain deviation threshold, and as long as it is within the deviation threshold range, it can be considered that the workpiece contour 330 is at the center position of the loading area contour 221.

[0057] The chip cutting equipment provided by the embodiment of the present invention performs positioning detection on the square workpiece placed on the loading table before cutting. During the detection process, the horizontality of the square workpiece is first confirmed by an image recognition device, and then the deviation parameters between the workpiece contour and the loading area on the loading table are judged to adjust the relative position relationship between the square workpiece and the loading table, so that the square workpiece is located in the center of the loading area when it is placed on the loading table again, which is convenient for the cutting blade to accurately cut the square workpiece and avoid the deviation of the cutting route caused by the deviation of the workpiece placement position, thereby helping to improve the yield of chip cutting, and can realize online adjustment of loading deviation and reduce the frequency of equipment shutdown.

[0058] In some embodiments, the deviation parameters include: an inclination angle deviation and a contour center coordinate deviation, which are respectively equivalent to the rotation angle deviation and coordinate position deviation of the workpiece contour 330 and the loading area contour 221. For the inclination angle deviation, it refers to the angle between the geometric center line of the workpiece contour 330 along the length direction and the geometric center line of the loading area contour 221 along the length direction. The control module 900 controls the rotation of the rotary motor 250 according to the inclination angle deviation, thereby driving the loading platform 220 to rotate a corresponding angle, so that the geometric center line of the loading area contour 221 along the length direction is parallel to the geometric center line of the workpiece contour 330 along the length direction. As for the contour center coordinate deviation, it refers to the coordinate difference between the geometric center of the workpiece contour 330 and the geometric center of the loading area contour 221. After adjusting the rotation angle of the loading platform 220, the control module 900 controls the X-axis drive mechanism 201 to drive the loading platform 220 to move a first preset distance according to the component of the contour center coordinate deviation along the X-axis direction, and controls the first Y-axis drive mechanism 500 to drive the loading arm 300 to move a second preset distance according to the component of the contour center coordinate deviation along the Y-axis direction, so that the geometric center of the workpiece contour 330 coincides with the geometric center of the loading area contour 221.

[0059] It should be noted that when it is detected that the tilt angle deviation and the profile center coordinate deviation are both within the corresponding preset deviation range (the tilt angle deviation and the profile center coordinate deviation have different corresponding preset deviation ranges), the control module 900 controls the cutting arm to directly cut the square workpiece. When it is detected that at least one of the tilt angle deviation and the profile center coordinate deviation exceeds the corresponding preset deviation range, it is necessary to adjust the placement position of the square workpiece in the loading area to ensure the subsequent cutting accuracy.

[0060] In a specific embodiment, see Figures 6 to 8 , sequentially illustrate the deviation parameter adjustment process of the workpiece profile 330 relative to the loading area profile 221. Specifically, refer to Figure 6 First, the coordinates of the center o of the workpiece contour 330 and the center p of the loading area contour 221, as well as the angle θ between the geometric center line of the workpiece contour 330 along the length direction and the geometric center line of the loading area contour 221 along the length direction are determined by three points (a, b, c) on the workpiece; Figure 7 By adjusting the angle of the loading area contour 221 (specifically by controlling the rotating motor 250 to rotate the corresponding angle), the geometric center line of the workpiece contour 330 is made parallel to the geometric center line of the loading area contour 221; Figure 8 , the coordinates of p and o are overlapped by adjusting the X-axis driving mechanism 201 and the first Y-axis driving mechanism 500. It should be noted that, Figures 6 to 8 The adjustment process is only illustrated for ease of understanding. The deviation parameter adjustment is performed by the control module 900. During the specific adjustment process, the square workpiece is grabbed by the loading arm 300 and is not placed on the loading area of ​​the loading platform 220. When the deviation parameter adjustment is completed, the square workpiece will be placed on the loading platform 220 again. The workpiece contour 330 corresponding to the adjusted square workpiece is located at the center of the loading area contour 221 corresponding to the loading area, which is the position to be cut.

[0061] In some embodiments, determining whether the square workpiece is horizontal according to the workpiece contour 330 is mainly performed in the following manner: directly judging by the image information obtained by the image recognition device 400, and the specific judging process is:

[0062] The control module 900 compares the extracted workpiece contour 330 with the pre-stored standard contour. If the comparison result is consistent, it is determined that the square workpiece is set horizontally; otherwise, if the workpiece contour 330 is inconsistent with the pre-stored standard contour, it is considered that the square workpiece is not placed horizontally. The pre-stored standard contour can be obtained by placing a standard square workpiece on a standard horizontal platform.

[0063] In some embodiments, continue to refer to Figure 1The first Y-axis driving mechanism 500 includes: a first Y-axis beam, a first guide rail and a first driving assembly.

[0064] Specifically, the first Y-axis beam is fixed on the top bracket 110, the first guide rail is set to the side of the first Y-axis beam away from the second Y-axis drive mechanism, the loading arm 300 is connected to the first slider on the first guide rail, and the first drive assembly is used to drive the first slider to move along the Y-axis direction.

[0065] Optionally, the loading arm 300 includes: a Z-axis telescopic shaft 310 and a suction cup 320; the upper end of the Z-axis telescopic shaft 310 is fixedly connected to the first slider on the first guide rail; the lower end of the Z-axis telescopic shaft 310 is connected to the suction cup 320, and the suction cup 320 is used to adsorb square workpieces. The Z-axis telescopic shaft 310 can be telescoped along the Z-axis direction, thereby driving the suction cup 320 to move up and down, thereby realizing the grasping and placement of square workpieces.

[0066] In some embodiments, Figure 4 As shown, at least two positioning sensors 230 are arranged on the cutting platform 210; at least two positioning sensors 230 are distributed below the loading platform 220, and a positioning mark 240 corresponding to the positioning sensor 230 is arranged at the bottom of the loading platform 220, which is used to determine the initial position of the loading platform 220, and when the loading platform 220 is in the initial position, the center line of the loading area along the length direction is parallel to the center line of the suction cup 320 along the length direction, so that even if the loading platform 220 is rotated to a certain angle, it can be quickly reset by the positioning sensor 230, so that the workpiece can be cut after subsequent quick adjustment.

[0067] Optionally, three positioning sensors 230 are provided on the cutting platform 210, and the connecting lines between the three positioning sensors 230 form an equilateral triangle, the center of the equilateral triangle overlaps with the rotation center line of the rotating motor 250, and a corresponding positioning mark 240 is provided at the bottom of the loading platform 220 to facilitate identification by the positioning sensor 230.

[0068] In some embodiments, the chip cutting equipment further includes: an adjustment counting unit and a shutdown alarm module, the control module 900 is electrically connected to the adjustment counting unit and the shutdown alarm module respectively, the adjustment counting unit is used to count the consecutive times that at least one parameter of the tilt angle deviation and the profile center coordinate deviation exceeds the preset deviation range, and the control module 900 is used to control the shutdown alarm module to issue a shutdown alarm message when the number is greater than the preset number. The shutdown alarm message can be an audible and visual alarm, a vibration alarm, or a prompt message pop-up box, etc., which is not specifically limited in this embodiment.

[0069] For example, if the preset deviation range is exceeded for more than 3 consecutive times, it is considered that there is a problem with the equipment itself and it is necessary to shut down for inspection or repair. If the preset deviation range is exceeded for only 1 or 2 consecutive times, the control module 900 determines that the deviation of the square workpiece is a random event (for example, the difference of a single workpiece itself and other issues), and the equipment may not be shut down for processing temporarily, and the position matching between the square workpiece and the loading platform 220 is achieved only by adjusting the relative position (tilt angle deviation and contour center coordinate deviation) of the two. If the preset deviation number monitoring is not set, random events that are not equipment failures will be identified as equipment failures, requiring shutdown for inspection and repair, which will seriously affect production efficiency.

[0070] The embodiment of the present invention counts the number of consecutive deviation adjustments by adjusting the counting unit, so that when it is confirmed that the deviation is caused by a problem with the equipment itself, the equipment is stopped for inspection and maintenance in time, thereby avoiding the problem of low cutting efficiency caused by frequent adjustments of the equipment, which is beneficial to improving cutting efficiency.

[0071] Based on the same inventive concept, Fig. 9 As shown, an embodiment of the present invention further provides a square workpiece positioning method based on the chip cutting device as described in the above embodiment, comprising the following steps:

[0072] S100, controlling the loading arm 300 to grab a square workpiece.

[0073] S200, controlling the rotary motor 250 to reset, and controlling the X-axis driving mechanism 201 and the first Y-axis driving mechanism 500 to operate, so that the square workpiece is placed on the loading platform 220 in the reset state.

[0074] S300 , controlling the image recognition device 400 to obtain image information of the workpiece and the loading platform 220 .

[0075] S400, extracting the workpiece contour 330 and the loading area contour 221 in the image information.

[0076] S500 , confirming whether the square workpiece is horizontal according to the workpiece profile 330 .

[0077] S600, after confirming that the square workpiece is level, the rotating motor 250, the X-axis drive mechanism 201, the first Y-axis drive mechanism 500 and the second Y-axis drive mechanism 600 are controlled to work according to the deviation parameters of the workpiece contour 330 relative to the loading area contour 221 to adjust the workpiece contour 330 to the center position of the loading area contour 221.

[0078] It should be noted that if the deviation parameter exceeds the preset range, the rotating motor 250, the X-axis drive mechanism 201, the first Y-axis drive mechanism 500 and the second Y-axis drive mechanism 600 are controlled so that the workpiece contour 330 is adjusted to the center position of the loading area contour 221; if the deviation parameter does not exceed the preset range (that is, within the allowable error range), there is no need to adjust the deviation parameter or the adjustment amount of the deviation parameter is zero, and the subsequent cutting operation can be directly performed.

[0079] Alternatively, if Fig.10 As shown, step S500 further includes:

[0080] S510, controlling the rotation motor 250 to rotate according to the tilt angle deviation so that the geometric center line of the loading area contour 221 along the length direction is parallel to the geometric center line of the workpiece contour 330 along the length direction;

[0081] S520, according to the component of the contour center coordinate deviation along the X-axis direction, the X-axis drive mechanism 201 is controlled to drive the loading platform 220 to move a first preset distance, and according to the component of the contour center coordinate deviation along the Y-axis direction, the first Y-axis drive mechanism 500 is controlled to drive the loading arm 300 to move a second preset distance, so that the geometric center of the workpiece contour 330 coincides with the geometric center of the loading area contour 221.

[0082] It should be noted that the positioning method of the square workpiece is based on the chip cutting equipment in the aforementioned embodiment, and the specific adjustment process of the deviation parameters will not be repeated here. The square workpiece positioning method provided in the embodiment of the present invention performs positioning detection on the square workpiece placed on the loading platform before cutting. During the detection process, the horizontality of the square workpiece is first confirmed by the image recognition device, and then the deviation parameters between the workpiece contour and the loading area on the loading platform are judged to adjust the relative position relationship between the square workpiece and the loading platform, so that the square workpiece is placed on the loading platform again. The center position of the loading area is convenient for the cutting blade to accurately cut the square workpiece, avoiding the deviation of the cutting route caused by the deviation of the workpiece placement position, which is beneficial to improve the yield of chip cutting, and can realize online adjustment of loading deviation and reduce the frequency of equipment downtime.

[0083] Those skilled in the art will appreciate that the various operations, methods, steps, measures, and schemes discussed in the present invention may be alternated, modified, combined, or deleted. Further, other steps, measures, and schemes in the various operations, methods, and schemes discussed in the present invention may also be alternated, modified, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and schemes in the prior art that are similar to those disclosed in the present invention may also be alternated, modified, rearranged, decomposed, combined, or deleted.

[0084] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0085] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0086] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.

[0087] In the description of this specification, specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. It should be understood that although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless clearly stated herein, there is no strict order restriction on the execution of these steps, and they may be performed in other orders. Moreover, at least a portion of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times, and their execution order is not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A chip cutting device, characterized in that: include: A frame, the frame comprising a bottom bracket and a top bracket; A cutting table, the cutting table is mounted on the bottom bracket through an X-axis driving mechanism, the cutting table includes a cutting platform and a loading platform, the cutting platform is connected to the moving end of the X-axis driving mechanism, the loading platform is mounted on the cutting platform through a rotating motor, and a square loading area is provided on the loading platform; A loading arm, the loading arm is mounted on the top bracket via a first Y-axis driving mechanism, the first Y-axis driving mechanism is used to drive the loading arm to move along the Y-axis direction, the loading arm is used to grab and place a square workpiece; the square workpiece includes a plurality of chips arranged in an array and separated by cutting lanes; An image recognition device, which is mounted on the top bracket via a second Y-axis drive mechanism and is used to obtain image information of the square workpiece and the loading platform; the image recognition device includes a lens, and the axis of the lens is perpendicular to the plane where the loading platform is located; A cutting arm, wherein the cutting arm is mounted on the top bracket via a third Y-axis driving mechanism, a cutting blade is provided at the lower end of the cutting arm, the cutting blade is perpendicular to the plane where the loading platform is located, and is used to cut a square workpiece placed on the loading platform; a control module, the control module being electrically connected to the rotating motor, the X-axis drive mechanism, the first Y-axis drive mechanism, the second Y-axis drive mechanism, the image recognition device, the third Y-axis drive mechanism and the cutting arm, and being used for controlling the image recognition device to obtain image information of the square workpiece and the loading platform, and extracting the workpiece contour and the loading area contour in the image information, and confirming whether the square workpiece is horizontal according to the workpiece contour, and after confirming that the square workpiece is horizontal, controlling the rotating motor, the X-axis drive mechanism, the first Y-axis drive mechanism and the second Y-axis drive mechanism to work according to a deviation parameter of the workpiece contour relative to the loading area contour, so as to adjust the workpiece contour to the center position of the loading area contour; The chip cutting equipment further includes: an adjustment counting unit and a shutdown alarm module, the control module is electrically connected to the adjustment counting unit and the shutdown alarm module respectively, the adjustment counting unit is used to count the consecutive times that at least one parameter of the tilt angle deviation and the profile center coordinate deviation exceeds the preset deviation range, and the control module is used to control the shutdown alarm module to send a shutdown alarm message when the consecutive times are greater than the preset times; if the consecutive times are less than the preset times, the control module determines that the deviation of the square workpiece is a random event, does not shut down the equipment, and only adjusts the relative positions of the square workpiece and the loading platform to achieve position matching between the two; The deviation parameters include: an inclination angle deviation and a contour center coordinate deviation; the inclination angle deviation is the angle between the geometric center line of the workpiece contour along the length direction and the geometric center line of the loading area contour along the length direction; the control module controls the rotation of the rotating motor according to the inclination angle deviation, so that the geometric center line of the loading area contour along the length direction is parallel to the geometric center line of the workpiece contour along the length direction; the contour center coordinate deviation is the coordinate difference between the geometric center of the workpiece contour and the geometric center of the loading area contour; the control module controls the X-axis drive mechanism to drive the loading platform to move a first preset distance according to the component of the contour center coordinate deviation along the X-axis direction, and controls the first Y-axis drive mechanism to drive the loading arm to move a second preset distance according to the component of the contour center coordinate deviation along the Y-axis direction, so that the geometric center of the workpiece contour coincides with the geometric center of the loading area contour.

2. The chip cutting equipment according to claim 1, characterized in that: When it is detected that the inclination angle deviation and the contour center coordinate deviation are both within a preset deviation range, the control module controls the cutting arm to directly cut the square workpiece.

3. The chip cutting equipment according to claim 1, characterized in that: The control module is used to compare the extracted workpiece contour with a pre-stored standard contour, and if the comparison result is consistent, it is determined that the square workpiece is set horizontally.

4. The chip cutting equipment according to claim 1, characterized in that: The first Y-axis driving mechanism comprises: a first Y-axis crossbeam, a first guide rail and a first driving assembly; The first Y-axis beam is fixed on the top bracket, the first guide rail is set on the side of the first Y-axis beam away from the second Y-axis driving mechanism, the loading arm is connected to the first slider on the first guide rail, and the first driving assembly is used to drive the first slider to move along the Y-axis direction.

5. The chip cutting equipment according to claim 4, characterized in that: The loading arm includes: a Z-axis telescopic shaft and a suction cup; the upper end of the Z-axis telescopic shaft is fixedly connected to the first slider on the first guide rail; the lower end of the Z-axis telescopic shaft is connected to the suction cup, and the suction cup is used to adsorb the square workpiece. The Z-axis telescopic shaft can be telescoped along the Z-axis direction, thereby driving the suction cup to move up and down.

6. The chip cutting equipment according to claim 5, characterized in that: At least two positioning sensors are arranged on the cutting platform; At least two of the positioning sensors are distributed below the loading platform, and positioning marks corresponding to the positioning sensors are provided at the bottom of the loading platform, which are used to determine the initial position of the loading platform. When the loading platform is in the initial position, the center line of the loading area along the length direction is parallel to the center line of the suction cup along the length direction.

7. A square workpiece positioning method based on the chip cutting equipment according to any one of claims 1 to 6, characterized in that: include: S100, controlling the loading arm to grab a square workpiece; S200, controlling the rotary motor to reset, and controlling the X-axis drive mechanism and the first Y-axis drive mechanism to operate, so that the square workpiece is placed on the loading platform in a reset state; S300, controlling the image recognition device to obtain image information of the square workpiece and the loading platform; S400, extracting the workpiece contour and the loading area contour in the image information; S500, confirming whether the square workpiece is horizontal according to the workpiece contour; S600, after confirming that the square workpiece is level, the rotating motor, X-axis drive mechanism, first Y-axis drive mechanism and second Y-axis drive mechanism are controlled to work according to the deviation parameters of the workpiece contour relative to the loading area contour to adjust the workpiece contour to the center position of the loading area contour.

8. The square workpiece positioning method according to claim 7, characterized in that: The step S500 further comprises: S510, controlling the rotation motor to rotate according to the tilt angle deviation so that the geometric center line of the loading area contour along the length direction is parallel to the geometric center line of the workpiece contour along the length direction; S520, according to the component of the contour center coordinate deviation along the X-axis direction, the X-axis drive mechanism is controlled to drive the loading platform to move a first preset distance, and according to the component of the contour center coordinate deviation along the Y-axis direction, the first Y-axis drive mechanism is controlled to drive the loading arm to move a second preset distance, so that the geometric center of the workpiece contour coincides with the geometric center of the loading area contour.

Images