Cleaning mechanism and cleaning method based on cleaning mechanism

Abstract

The invention relates to the technical field of cleaning devices, in particular to a cleaning mechanism and a cleaning method based on the cleaning mechanism, and the cleaning mechanism comprises a driving device which can rotate and move in a first direction and / or a second direction; the cleaning device is provided with a plurality of cleaning end faces. The image acquisition device is in communication connection with the driving device, acquires first image information of the cleaning device and second image information of a to-be-cleaned position on the target product, and sends the first image information and the second image information to the driving device; the driving device drives the cleaning device to move and / or rotate according to the first image information and the second image information so as to drive the cleaning device to move and rotate within the target rotation angle range until one cleaning end face on the cleaning device coincides with the to-be-cleaned position on the target product; the cleaning device is automatically controlled, and the cleaning precision is improved; meanwhile, the number of cleaning end faces used for cleaning of the cleaning device is increased, and the utilization rate of the cleaning device is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning devices, and in particular to a cleaning mechanism and a cleaning method based on the cleaning mechanism. Background Art

[0002] Semiconductor chips are the core components of modern electronic devices. They have the advantages of high speed, high density, and low power consumption. In order to ensure the performance and reliability of the chip, various tests are required before the chip leaves the factory, such as functional testing, aging testing, and fault analysis. Dust, dirt, grease, oxides, etc. will be generated during the above operations. If not done in time, it will affect the accuracy of the chip test and even cause damage or failure of the chip. Currently, the chip surface is mainly wiped and cleaned manually using a dust-free cloth dipped in alcohol. Not only is the cleaning efficiency low, the cleaning effect varies greatly, and long-term contact with alcohol can cause physical discomfort to the operator; although there are mechanical equipment in the prior art to automatically clean the chip, the cleaning efficiency is low.

[0003] Based on the shortcomings of the prior art, it is urgent to study a cleaning mechanism and a cleaning method based on the cleaning mechanism to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a cleaning mechanism and a cleaning method based on the cleaning mechanism. The present invention realizes automatic control of the cleaning device, realizes automatic cleaning, and improves the cleaning accuracy; at the same time, it increases the number of cleaning end surfaces used for cleaning by the cleaning device, thereby improving the utilization rate of the cleaning device.

[0005] The invention discloses a cleaning mechanism, comprising:

[0006] A driving device capable of rotating and moving along a first direction and / or a second direction; wherein the first direction and the second direction are arranged perpendicularly;

[0007] A cleaning device disposed on the driving device, having a plurality of cleaning end surfaces;

[0008] an image acquisition device communicatively connected to the driving device, the image acquisition device being used to acquire first image information of the cleaning device and second image information of a position to be cleaned on the target product when the cleaning device cleans the target product, and to send the first image information and the second image information to the driving device;

[0009] The driving device drives the cleaning device to move and / or rotate according to the first image information and the second image information, so as to drive the cleaning device to move and rotate within a target rotation angle range until a cleaning end surface on the cleaning device coincides with a position to be cleaned on the target product.

[0010] Further, the cleaning device includes a negative pressure adsorption component and a cleaning member;

[0011] The cleaning member comprises a connecting end and a cleaning end which are arranged opposite to each other. The connecting end is arranged at the adsorption end of the negative pressure adsorption component. The bottom surface and circumferential intervals of the cleaning end are provided with the multiple cleaning end surfaces.

[0012] Furthermore, the cleaning end is a spherical structure, the multiple cleaning end surfaces are evenly spaced around the circumference of the spherical structure, and the cleaning end surfaces are planes.

[0013] Further, the driving device includes a first driving assembly and a second driving assembly;

[0014] The second driving component is fixedly connected to the negative pressure adsorption component, and the second driving component can drive the negative pressure suction component to rotate around the axis direction of the driving end of the second driving component;

[0015] After the second driving component is connected to the negative pressure adsorption component, it is fixedly connected to the driving end of the first driving component, and the first driving component can drive the second driving component to rotate around the axial direction of the driving end of the first driving component.

[0016] Furthermore, the axis of the cleaning member is arranged to coincide with the axis of the second driving assembly.

[0017] Furthermore, the cleaning device further comprises a pressure sensor, which is disposed close to the connecting end of the cleaning member and is used to obtain a pressure value of the connecting end of the cleaning member acting on the position to be cleaned on the target product.

[0018] Furthermore, it also includes a cleaning member feeding mechanism;

[0019] The cleaning member feeding mechanism includes a third driving assembly and a rotating platform; a plurality of cleaning member engaging positions are arranged circumferentially of the rotating platform, a driving end of the third driving assembly is fixedly connected to the rotating platform, and the third driving assembly drives the rotating platform to rotate.

[0020] The present invention also protects a cleaning method based on a cleaning mechanism, which is applied to the cleaning mechanism as described above, wherein the image acquisition device includes a first camera and a second camera; the method includes:

[0021] Acquire second image information of the position to be cleaned on the target product captured by the first camera;

[0022] Determine first coordinate information of a first calibration point on the target product and second coordinate information of the position to be cleaned according to the second image information;

[0023] Determine a first corresponding relationship between the position to be cleaned and the first calibration point according to the first coordinate information and the second coordinate information;

[0024] Acquire first image information of the cleaning device and the first calibration point captured by the second camera;

[0025] Determine third coordinate information of a first calibration point on the target product and fourth coordinate information of the plurality of clean end surfaces according to the first image information;

[0026] Determining a second correspondence between the first calibration point and the plurality of cleaning end surfaces according to the third coordinate information and the fourth coordinate information;

[0027] The driving device is controlled to drive the cleaning device to clean the position to be cleaned according to the fourth coordinate information, the first corresponding relationship and the second corresponding relationship.

[0028] Further, the step of determining the third coordinate information of the first calibration point on the target product and the fourth coordinate information of the plurality of clean end surfaces according to the first image information comprises:

[0029] Determine the third coordinate information of the first calibration point and the fifth coordinate information of the second calibration point set on the cleaning device according to the first image information; wherein the second calibration point is a point on a cleaning end surface;

[0030] Acquiring preset arrangement information of the plurality of cleaning end surfaces;

[0031] The fourth coordinate information of the plurality of cleaning end surfaces is determined according to the fifth coordinate information and the preset arrangement information.

[0032] Furthermore, the cleaning member feeding mechanism is communicatively connected to the driving device, and the method further comprises:

[0033] Controlling the cleaning member to rotate from the cleaning position to the initial position;

[0034] The second camera acquires third image information of the cleaning member feeding mechanism and the cleaning member at the initial position;

[0035] Determine sixth coordinate information of the cleaning member and seventh coordinate information of a material discharge position of a feeding mechanism of the cleaning member according to the third image information;

[0036] The driving device is controlled according to the sixth coordinate information and the seventh coordinate information to drive the cleaning member to move to the material unloading position.

[0037] Implementing the embodiments of the present invention has the following beneficial effects:

[0038] The present invention realizes automatic control of the cleaning device through the cooperation of the driving device, the cleaning device and the image acquisition device. The driving device can drive the cleaning device to rotate or move in the first direction and / or the second direction, and then adjust the position of the cleaning device according to the position to be cleaned on the target product, so as to realize automatic cleaning and improve the cleaning efficiency and cleaning accuracy; at the same time, the cleaning device has multiple cleaning end faces, and the driving device and the image acquisition device cooperate with each other to change the contact point between the cleaning device and the target product, so that different cleaning end faces of the cleaning device can respectively perform cleaning operations on the target product, thereby avoiding secondary contamination caused by the cleaning device repeatedly cleaning the target product with the same cleaning end face, and also increasing the number of cleaning end faces used for cleaning by the cleaning device, thereby improving the utilization rate of the cleaning device. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative work.

[0040] Figure 1 This is a structural diagram of the driving device and the cleaning device of this embodiment after being connected;

[0041] Figure 2 is a structural diagram of the cleaning member feeding mechanism described in this embodiment;

[0042] Figure 3 This is a structural diagram of the cleaning end described in this embodiment.

[0043] Among them, the reference numerals in the figure correspond to:

[0044] 1-driving device; 2-cleaning device; 3-cleaning member feeding mechanism; 11-first driving assembly; 12-second driving assembly; 21-negative pressure adsorption assembly; 22-cleaning member; 23-pressure sensor; 24-cleaning end; 25-cleaning end surface; 31-third driving assembly; 32-rotating platform. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0046] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] In view of the defects of the prior art, the present invention realizes automatic control of the cleaning device through the cooperation of the driving device, the cleaning device and the image acquisition device. The driving device can drive the cleaning device to rotate or move in the first direction and / or the second direction, and then adjust the position of the cleaning device according to the position to be cleaned on the target product, so as to realize automatic cleaning and improve the cleaning efficiency and cleaning accuracy; at the same time, the cleaning device has multiple cleaning end faces, and the driving device and the image acquisition device cooperate with each other to change the contact point between the cleaning device and the target product, so that different cleaning end faces of the cleaning device can respectively clean the target product, thereby avoiding secondary contamination caused by the cleaning device repeatedly cleaning the target product with the same cleaning end face, and also increasing the number of cleaning end faces used for cleaning by the cleaning device, thereby improving the utilization rate of the cleaning device.

[0048] See attached Figure 1 to Figure 3The present embodiment provides a cleaning mechanism, comprising: a driving device 1, which can rotate and move along a first direction and / or a second direction; wherein the first direction and the second direction are arranged perpendicularly; a cleaning device 2 arranged on the driving device 1, having a plurality of cleaning end surfaces 25; an image acquisition device communicatively connected to the driving device 1, wherein the image acquisition device is used to acquire first image information of the cleaning device 2 and second image information of a position to be cleaned on the target product when the cleaning device 2 cleans the target product, and send the first image information and the second image information to the driving device 1; the driving device 1 drives the cleaning device 2 to move and / or rotate according to the first image information and the second image information, so as to drive the cleaning device 2 to move and rotate within a target rotation angle range, until a cleaning end surface 25 on the cleaning device 2 coincides with the position to be cleaned on the target product.

[0049] It should be noted that: in the present embodiment, the driving device 1, the cleaning device 2 and the image acquisition device cooperate with each other to realize automatic control of the cleaning device 2, and the driving device 1 can drive the cleaning device 2 to rotate or move in the first direction and / or the second direction, and then adjust the position of the cleaning device 2 according to the position to be cleaned on the target product, so as to realize automatic cleaning and improve the cleaning efficiency and cleaning accuracy; at the same time, the cleaning device 2 has a plurality of cleaning end faces 25, and the driving device 1 and the image acquisition device cooperate with each other to change the contact point between the cleaning device 2 and the target product, so that different cleaning end faces 25 of the cleaning device 2 can respectively perform cleaning operations on the target product, thereby avoiding secondary contamination caused by the cleaning device 2 repeatedly cleaning the target product with the same cleaning end face 25, and also increasing the number of cleaning end faces 25 used for cleaning by the cleaning device 2, thereby improving the utilization rate of the cleaning device 2.

[0050] In this embodiment, the cleaning mechanism also includes a controller, which is respectively connected to the driving device 1 and the image acquisition device 2 for communication; the controller controls the driving device 1 to drive the cleaning device 2 to move by acquiring information obtained by the image acquisition device 2, and cleans the target product, thereby realizing full automation and improving cleaning accuracy.

[0051] In this embodiment, the cleaning device 2 is disposed in the area above the target product. Driven by the driving device 1 , the cleaning device 2 can clean the position to be cleaned on the target product.

[0052] In this embodiment, the image acquisition device may be disposed in an area above the target product or in an area obliquely above the target product.

[0053] In this embodiment, the cleaning mechanism further includes a supporting assembly, and the image acquisition device and the driving device 1 are respectively fixed on the supporting assembly.

[0054] Specifically, the specific structure of the support assembly is not limited, as long as it can ensure that the image acquisition device, the driving device 1 and the target product can be installed.

[0055] In this embodiment, the cleaning mechanism further includes a target product fixing jig, one side of the target product fixing jig is fixedly disposed on the support assembly, and the other side is used to place and fix the target product.

[0056] In this embodiment, the driving device 1 is slidably connected to the support assembly, and the target product fixing fixture is fixedly connected to the support assembly. The driving device 1 can slide back and forth above the target product fixing fixture to further adjust the distance between the cleaning device 2 and the target product to further improve the cleaning effect on the target product.

[0057] Specifically, one of the driving device 1 and the supporting assembly is provided with a slide rail, and the other is provided with a slider matching the slide rail; the cleaning mechanism also includes a linear driving assembly, which is drivingly connected to the driving device 1. Under the drive of the linear driving assembly, the driving device 1 and the cleaning device 2 arranged thereon can move back and forth along the slide rail to adjust the cleaning device 2 to the optimal position.

[0058] In other possible embodiments, the driving device 1 is fixedly connected to the supporting assembly, the target product fixing jig is slidably connected to the supporting assembly, and the target product fixing jig can reciprocate under the cleaning device 2 to further adjust the distance between the cleaning device 2 and the target product to further improve the cleaning effect on the target product.

[0059] Specifically, one of the target product fixing jig and the supporting assembly is provided with a slide rail, and the other is provided with a slider matching the slide rail; the cleaning mechanism also includes a linear drive assembly, which is drive-connected to the target product fixing jig. Driven by the linear drive assembly, the target product fixing jig and the target product arranged thereon can reciprocate along the slide rail to adjust the target product fixing jig to an optimal position.

[0060] Furthermore, the length direction of the slide rail is perpendicular to the axial direction of the first driving assembly 11 and the axial direction of the second driving assembly 12 respectively.

[0061] In this embodiment, a limiting component is respectively provided on one side of the slide rail, the limiting component is detachably connected to the slide rail, and the position of the limiting component fixed on the slide rail can be adjusted according to actual conditions.

[0062] Specifically, when the target product fixing fixture is slidably connected to the supporting assembly, the limit assembly is arranged on one side of the slide rail, and the limit assembly is arranged close to the initial position of the cleaning device 2, so that when the target product fixing fixture moves to the extreme position, the target product is located below the cleaning member 22.

[0063] Specifically, when the driving device 1 is slidingly connected to the supporting assembly, the limit assembly is arranged on one side of the slide rail, and the limit assembly is arranged close to the target product fixing fixture, so that when the driving device 1 moves to the extreme position, the cleaning member 22 is arranged above the target product fixing fixture.

[0064] Specifically, the structure of the limiting component is not limited, as long as it is ensured that the limiting component can limit the driving device 1 or the target product fixing fixture.

[0065] In this embodiment, the image acquisition device is arranged close to the cleaning device 2 and the target product placement position. Since the cleaning device 2 and the target product placement position in this embodiment are not arranged in the same plane, if only one camera is used for image acquisition, the acquired data will have errors. Therefore, the image acquisition device includes at least a first camera and a second camera. The above-mentioned first camera and second camera mainly obtain image information of the cleaning device 2 and image information of the target product respectively.

[0066] In this embodiment, the arrangement positions of the first camera and the second camera are not limited, as long as both cameras can respectively obtain image information of the cleaning device 2 and image information of the target product.

[0067] In this embodiment, the lens of the first camera is set toward the plane where the target product is located, and the angle between the lens axis and the vertical direction is an acute angle; the lens of the second camera is set toward the cleaning end surface 25 of the cleaning device 2, and the angle between the lens axis and the plane where the target product is located is an acute angle.

[0068] Preferably, the lens axis of the first camera is arranged parallel to the vertical direction, and the lens axis of the second camera is arranged parallel to the plane where the target product is located.

[0069] In some possible embodiments, the cleaning device 2 includes a negative pressure adsorption component 21 and a cleaning member 22;

[0070] The cleaning member 22 includes a connecting end and a cleaning end 24 which are arranged opposite to each other. The connecting end is arranged at the adsorption end of the negative pressure adsorption component 21. A plurality of cleaning end faces 25 are arranged on the bottom surface and circumferential intervals of the cleaning end 24. By arranging the negative pressure adsorption component 21 and the cleaning member 22 which cooperate with each other, the effect of facilitating the disassembly and installation of the cleaning member 22 can be achieved. After all the cleaning end faces 25 of the cleaning member 22 have cleaned the target product, the used cleaning member 22 can be quickly removed by controlling the negative pressure adsorption component 21, and the unused cleaning member can be adsorbed, thereby increasing the disassembly and installation time, improving the degree of automation and reducing labor costs.

[0071] In this embodiment, the cleaning member 22 is a glue stick.

[0072] In some possible embodiments, the negative pressure adsorption component 21 includes a suction pump, a negative pressure pipeline and an adsorption component. The suction pump is communicatively connected to the controller, one end of the suction pump is connected to one end of the negative pressure pipeline, the other end of the negative pressure pipeline is connected to the first end of the adsorption component, the second end of the adsorption component is the adsorption end, and the adsorption end is adsorbed and fixedly connected to the connecting end of the cleaning component 22.

[0073] In some possible embodiments, the adsorption assembly includes an outer adsorption component and an inner adsorption component that are interconnected. The inner adsorption component is located in the outer adsorption component. The inner adsorption component has an inner cavity opening downward. The inner cavity of the inner adsorption component is connected to the negative pressure pipeline. An annular outer cavity is formed between the inner adsorption component and the outer adsorption component. The connecting end of the cleaning component 22 is arranged in the annular outer cavity.

[0074] Specifically, an annular buffer is disposed in the annular outer cavity, and the annular buffer is detachably disposed in the annular outer cavity, and the connecting end of the cleaning member 22 can abut against the annular buffer to achieve buffering of the cleaning member 22, reduce installation noise, and improve the operating experience of the operator.

[0075] In some other possible embodiments, the outer adsorption member and the inner adsorption member are both made of elastic material. During the adsorption process of the cleaning member 22 , the adsorption component avoids abnormal noise between the cleaning member 22 and the adsorption component, thereby reducing the installation noise of the cleaning member 22 .

[0076] In some other possible embodiments, the adsorption component has an inner cavity with an opening facing downward, the inner cavity is connected to the negative pressure pipeline, and the connecting end of the cleaning member 22 is adsorbed into the inner cavity.

[0077] In some possible embodiments, the cleaning end 24 is a spherical structure, and a plurality of cleaning end faces 25 are evenly arranged around the circumference of the spherical structure, and the cleaning end faces 25 are planes. By setting the cleaning end 24 to a spherical structure, the maximum number of cleaning end faces 25 can be set under the same size, thereby further improving the utilization rate of the cleaning device 2. Compared with setting the cleaning end 24 to other structures, the use time of the same cleaning device 2 is extended, the number of times the cleaning part 22 is replaced is reduced, and the replacement cost of the cleaning mechanism can be reduced.

[0078] In this embodiment, the diameter of the cleaning end 24 of the cleaning member 22 is larger than the diameter of the connecting end of the cleaning member 22, so as to increase the number of cleaning end surfaces 25 that can be set at the cleaning end 24, further improve the utilization rate of the cleaning device 2, and extend the use time of the same cleaning device 2 compared with setting the cleaning end 24 to other structures, reduce the number of times the cleaning member 22 is replaced, and reduce the replacement cost of the cleaning mechanism.

[0079] In this embodiment, multiple groups of annular surfaces are arranged from bottom to top along the circumference of the spherical structure, each group of annular surfaces includes at least one cleaning end surface 25, the distance between adjacent cleaning end surfaces 25 in the same group is equal, and the distance between two adjacent groups of annular surfaces is also equal.

[0080] In this embodiment, the number of the annular surfaces is not limited.

[0081] Preferably, there are three groups of annular surfaces, and the number of cleaning end surfaces 25 included in the annular surfaces gradually increases from the bottom to the top of the cleaning end 24 , and the bottommost annular surface of the cleaning end 24 only includes one cleaning end surface 25 .

[0082] Preferably, when the cleaning member 22 is in the initial position, the spherical surface of the spherical structure of the cleaning end 24 is arranged parallel to the target product, and the annular surfaces are arranged below the spherical surface, so as to avoid interference between the cleaning member 22 or other structures and the target product during the cleaning process, thereby ensuring the stable operation of the cleaning mechanism and facilitating the cleaning of the target product.

[0083] Preferably, the distance between adjacent cleaning end surfaces 25 in the same group is zero.

[0084] In this embodiment, the shape and area of ​​the cleaning end surface 25 are not limited, as long as the cleaning end surface 25 can clean the target product.

[0085] Preferably, the cleaning end surface 25 is circular in shape.

[0086] In some other possible embodiments, the cleaning mechanism also includes a cleaning member driving assembly, the cleaning member 22 includes a snap-in assembly having a snap-in protrusion, a first spherical cleaning member and a second spherical cleaning member, the first spherical cleaning member and the second spherical cleaning member are both mounted on the snap-in assembly, and the first spherical cleaning member and the second spherical cleaning member are both shell structures having an inner cavity; the inner cavity of the first spherical cleaning member is provided with two first snap-in grooves arranged opposite to each other, and the inner cavity of the second spherical cleaning member is provided with two second snap-in grooves arranged opposite to each other, and the first snap-in groove and the second snap-in groove are both matched with the snap-in protrusion.

[0087] In this embodiment, the first spherical cleaning member and the second spherical cleaning member are made of silicone or thermoplastic material.

[0088] Specifically, the clamping assembly is a tweezer-like structure, and the clamping assembly includes a first clamping rod and a second clamping rod arranged opposite to each other, the first ends of the first clamping rod and the second clamping rod are fixedly connected, and the second ends of the first clamping rod and the second clamping rod are both provided with clamping protrusions, and the cleaning member driving assembly is drivingly connected to the clamping assembly, and the cleaning member driving assembly can adjust the angle between the first clamping rod and the second clamping rod so that the first spherical cleaning member and the second spherical cleaning member can fall off the clamping assembly.

[0089] Furthermore, along the bottom to the top of the snap-fit ​​assembly, the first spherical cleaning piece and the second spherical cleaning piece are arranged in sequence, and the distance between the two second snap-fit ​​grooves is smaller than the distance between the two first snap-fit ​​grooves. Such an arrangement can ensure that when the first spherical cleaning piece falls off from the snap-fit ​​assembly, the second spherical cleaning piece is still snap-fitted to the rod portion of the snap-fit ​​assembly.

[0090] Furthermore, the cleaning mechanism also includes a material receiving device arranged below the cleaning device 2, which is used to receive the cleaning member 22 after the first spherical cleaning member and the second spherical cleaning member have completed cleaning. After the two spherical cleaning members on the cleaning member 22 have completed cleaning, the snap-on assembly is disconnected from the cleaning member drive assembly and the negative pressure adsorption assembly 21.

[0091] In some possible embodiments, the driving device 1 includes a first driving component 11 and a second driving component 12;

[0092] The second driving component 12 is fixedly connected to the negative pressure adsorption component 21, and the second driving component 12 can drive the negative pressure suction component to rotate around the axis direction of the driving end of the second driving component 12;

[0093] After the second driving component 12 is connected to the negative pressure adsorption component 21, it is fixedly connected to the driving end of the first driving component 11. The first driving component 11 can drive the second driving component 12 to rotate around the axial direction of the driving end of the first driving component 11. By setting up independently operating first driving components 11 and second driving components 12, the driving device 1 can drive the cleaning device 2 to move and rotate in multiple directions, thereby improving the flexibility of the cleaning device 2.

[0094] In this embodiment, the first drive component 11 is a Y-axis rotating motor, and the second drive component 12 is a Z-axis rotating motor. The first drive component 11 is in an initial state, and the output shaft of the first drive component 11 is parallel to the Y-axis. The second drive component 12 is in an initial state, and the output shaft of the second drive component 12 is parallel to the Z-axis. The adjustment process of the above-mentioned cleaning device 2 includes: first, the cleaning member 22 is kept in a vertical state to perform spot adhesion cleaning on the target product; then the output shaft of the first drive component 11 rotates a first angle stroke, and the axis of the second drive component 12 and the cleaning member 22 generates an inclined angle with the Z-axis. At this time, the cleaning member 22 replaces a new contact point, and the cleaning member 22 performs spot adhesion cleaning on the target product through the new contact point; then, the first drive component 11 rotates a second angle stroke, and the cleaning member 22 replaces a new contact point again. After one spot adhesion cleaning action, the second drive component 12 repeats the rotation action until the cleaning member 22 completes one circle.

[0095] It is understandable that, during the angle adjustment process of the above-mentioned cleaning device 2, the first drive assembly 11 can rotate multiple times, and the stroke of each rotation of the first drive assembly 11 can be inconsistent, that is, the first drive assembly 11 rotates a first angle stroke, and after the second drive assembly 12 controls the cleaning member 22 to rotate one circle, the first drive assembly 11 rotates a first angle stroke again, and the first angle strokes of the two rotations of the first drive assembly 11 are different. On the other hand, the second angle stroke of the second drive assembly 12 is adjusted according to the first angle stroke of the first drive assembly 11. The cleaning end 24 of the cleaning member 22 is regarded as a spherical shape, and the contact points of the cleaning end 24 should meet the following two requirements: the contact points cannot overlap with each other, the contact points are arranged as closely as possible, and when the cleaning member 22 is not vertically downward, the contact point change trajectory is a ring. Therefore, as the number of rotations of the first drive assembly 11 increases, the radius of the corresponding contact point change trajectory ring increases, and the number of times the corresponding second drive assembly 12 controls the cleaning member 22 to rotate one circle also increases.

[0096] In a specific embodiment, the first drive component 11 rotates once, and the contact point of the corresponding cleaning member 22 rotates from a first annular surface to an adjacent second annular surface. The number of cleaning end surfaces 25 included in the first annular surface is less than the number of cleaning end surfaces 25 included in the second annular surface. Compared with the first rotation of the first drive component 11, the number of corresponding cleaning end surfaces 25 increases during the second rotation of the first drive component 11, and the number of rotations of the second drive component 12 also increases.

[0097] In some possible embodiments, the axis of the cleaning member 22 is arranged to coincide with the axis of the second drive assembly 12. The above arrangement can ensure that during the rotation of the driving end of the second drive assembly 12, the rotation axis of the cleaning member 22 can coincide with the rotation axis of the driving end of the second drive assembly 12, thereby achieving synchronous movement of the cleaning member 22 and the second drive assembly 12, avoiding that the rotation radius of the cleaning member 22 is too large, which causes the cleaning member 22 to interfere with other structures of the cleaning mechanism during rotation, and improving the stability of the operation of the cleaning member 22.

[0098] In some possible embodiments, the cleaning device 2 also includes a pressure sensor 23, which is arranged near the connecting end of the cleaning member 22. The pressure sensor 23 is used to obtain the pressure value of the connecting end of the cleaning member 22 acting on the position to be cleaned on the target product. By setting the pressure sensor 23, the cleaning force of the cleaning member 22 on the position to be cleaned on the target product can be controlled to avoid the cleaning force being too small, which will lead to a reduction in the cleaning effect, and can also avoid the cleaning force being too large, which will cause damage to the target product.

[0099] Specifically, the pressure sensor 23 is connected to the controller for communication, and the controller can control the real-time pressure of the cleaning device 2 on the target product to avoid damage to the target product due to excessive pressure or no cleaning effect due to too little pressure.

[0100] Specifically, the type of pressure sensor 23 is not limited as long as it can detect pressure; preferably, the pressure sensor 23 can be a piezoelectric device, a pressure-sensitive device, a pressure-thermal device, or a detection circuit / equipment / device based on the pressure sensor 23.

[0101] In this embodiment, the driving device 1 also includes a linear module. When the linear module is in the initial position, the direction of the reciprocating motion of the linear module is set parallel to the Y-axis; after the first driving component 11, the second driving component 12 and the cleaning device 2 are connected, the whole is connected to the linear module, that is, the linear module can drive the first driving component 11, the second driving component 12 and the cleaning device 2 to reciprocate as a whole, and the slider cooperating with the slide rail is set on the linear module.

[0102] Preferably, the linear module is communicatively connected with the controller. The linear module is a high-precision module. The high-precision module can move at a sufficiently small distance to avoid damaging the target product due to excessive downward pressure. By setting the high-precision module, the accuracy of the up and down movement of the cleaning device 2 can be improved, and the pressure change of the cleaning member 22 on the target product will not change greatly, thereby accurately controlling the pressure of the cleaning member 22 to ensure that the cleaning member 22 can remove dust on the target product. At the same time, it also avoids excessive pressure of the cleaning member 22 on the product, which may cause the cleaning member 22 to deform and break or damage the product.

[0103] In some possible embodiments, a cleaning member feeding mechanism 3 is further included;

[0104] The cleaning piece feeding mechanism 3 includes a third driving assembly 31 and a rotating platform 32; a plurality of cleaning piece clamping positions are arranged circumferentially of the rotating platform 32, a driving end of the third driving assembly 31 is fixedly connected to the rotating platform 32, and the third driving assembly 31 drives the rotating platform 32 to rotate. By setting the cleaning piece feeding mechanism 3, and setting a plurality of clamping positions of the cleaning piece 22 on the cleaning piece feeding mechanism, and placing the cleaning piece 22 on the clamping positions, it is possible to quickly cooperate with the cleaning device 2, realize accurate unloading and loading of the cleaning piece 22, and improve the unloading and loading speed.

[0105] In the present embodiment, the rotating platform 32 is a cylindrical platform structure, and a plurality of cleaning member clamping positions are arranged in the circumference of the rotating platform 32, each of which can clamp a cleaning member 22, and at least one cleaning member clamping position on the rotating platform 32 is not clamped with a cleaning member 22, so as to receive the cleaning members 22 used by the cleaning device 2, that is, to unload the cleaning members 22 on the cleaning device 2; when the cleaning member feeding mechanism 3 cooperates with the cleaning device 2, the cleaning members 22 of the cleaning device 2 rotate to the unloading area, and the above-mentioned unloading area is above the cleaning member feeding mechanism 3. At the same time, the cleaning piece feeding mechanism 3 rotates the engaging position where the cleaning piece 22 is not set to the bottom of the cleaning piece 22 of the cleaning device 2, so that the cleaning piece 22 of the cleaning device 2 can be quickly engaged in the engaging position, and the cleaning piece feeding mechanism 3 rotates a preset angle to rotate the unused cleaning piece 22 to the bottom of the cleaning device 2, and the negative pressure adsorption component 21 adsorbs the above cleaning piece 22, so that the cleaning piece 22 can be automatically replaced, which can avoid the secondary pollution problem of manual replacement of the cleaning piece 22 and shorten the shutdown time for changing materials, thereby improving the cleaning efficiency.

[0106] The present invention also protects a cleaning method based on a cleaning mechanism, which is applied to the above cleaning mechanism, wherein the image acquisition device includes a first camera and a second camera; the method includes:

[0107] Acquire second image information of the position to be cleaned on the target product captured by the first camera;

[0108] In this embodiment, the controller obtains a photo of the target product taken by the first camera, identifies the photo, obtains the size of the contaminants on the surface to be cleaned, and locates the contaminants to obtain position information of the position to be cleaned; any point on the target product is determined as a first calibration point, and second image information carrying the position information of the position to be cleaned and the position information of the first calibration point is obtained; wherein the first calibration point is a point that can be captured by the second camera.

[0109] In this embodiment, first coordinate information of a first calibration point on the target product and second coordinate information of the position to be cleaned are determined according to the second image information;

[0110] In this embodiment, the position to be cleaned includes at least one, and different positions to be cleaned correspond to different second coordinate information; the controller determines multiple second coordinate information of the position to be cleaned carried by the second image information and the first coordinate information of the first calibration point in the first coordinate system.

[0111] Determine a first corresponding relationship between the position to be cleaned and the first calibration point according to the first coordinate information and the second coordinate information;

[0112] In this embodiment, the controller determines the positional relationship between at least one position to be cleaned and the first coordinate information according to the first coordinate information and the plurality of second coordinate information, and determines the first corresponding relationship between each position to be cleaned and the first calibration point according to the above positional relationship.

[0113] Acquire first image information of the cleaning device 2 and the first calibration point captured by the second camera;

[0114] In this embodiment, the controller obtains photos of the cleaning device 2 and the first calibration point on the target product by the second camera, and obtains first image information carrying the position information of the first calibration point and the position information of the cleaning device 2; wherein the position information of the cleaning device 2 is the position information of the cleaning end surface 25 of the cleaning member 22.

[0115] Determine third coordinate information of a first calibration point on the target product and fourth coordinate information of the plurality of cleaning end surfaces 25 according to the first image information;

[0116] In this embodiment, the controller determines the third coordinate information of the first calibration point in the second coordinate system and the fourth coordinate information of the plurality of cleaning end surfaces 25 according to the first image information.

[0117] Determine a second correspondence between the first calibration point and the plurality of cleaning end surfaces 25 according to the third coordinate information and the fourth coordinate information;

[0118] In this embodiment, the correspondence between at least one cleaning end surface 25 and the first calibration point is determined based on the third coordinate information and multiple fourth coordinate information. The cleaning part is in a vertical state, and the cleaning end surface 25 closest to the target product among the multiple cleaning end surfaces 25 is set as the second calibration point. The third correspondence with other cleaning end surfaces 25 is determined based on the coordinate information of the second calibration point.

[0119] According to the fourth coordinate information, the first corresponding relationship and the second corresponding relationship, the driving device 1 is controlled to drive the cleaning device 2 to clean the position to be cleaned. The first camera, the second camera, the cleaning device 2 and the driving device 1 cooperate with each other to realize automatic control of the cleaning device. The driving device can drive the cleaning device to rotate or move in the first direction and / or the second direction, and then adjust the position of the cleaning device according to the position to be cleaned on the target product, thereby realizing automatic cleaning and improving the cleaning accuracy.

[0120] In this embodiment, the controller controls the movement of the second calibration point on the cleaning member 22 in the second coordinate system and makes it coincide with the first calibration point in the second coordinate system, and controls the driving device 1 to drive the cleaning device 2 to clean the position to be cleaned according to the fourth coordinate information, the first corresponding relationship and the second corresponding relationship.

[0121] In some possible embodiments, the step of determining the third coordinate information of the first calibration point on the target product and the fourth coordinate information of the plurality of cleaning end surfaces 25 according to the first image information includes:

[0122] Determine the third coordinate information of the first calibration point and the fifth coordinate information of the second calibration point set on the cleaning device 2 according to the first image information; wherein the second calibration point is a point on a certain cleaning end surface 25;

[0123] Obtaining preset arrangement information of a plurality of cleaning end surfaces 25;

[0124] In this embodiment, the cleaning end 24 is a spherical structure, and a plurality of groups of annular surfaces are arranged from bottom to top along the circumference of the spherical structure, each group of annular surfaces includes at least one cleaning end face 25, and the distance between two adjacent groups of annular surfaces is equal; the size of each cleaning end face 25 is the same, the cleaning end face 25 is circular, and the rotation angle of two adjacent cleaning end faces 25 is the angle required to rotate from the center of one cleaning end face 25 to the center of another cleaning end face 25; the controller obtains the preset arrangement information of the plurality of cleaning end faces 25, and the preset arrangement information includes the number of annular surfaces of the cleaning end 24, the number of cleaning end faces 25 included in each group of annular surfaces, the rotation angle of two adjacent cleaning end faces 25 in each group of annular surfaces, and the distance between adjacent annular surfaces.

[0125] According to the fifth coordinate information and the preset arrangement information, the fourth coordinate information of the multiple clean end surfaces 25 is determined. Through the fifth coordinate information and the preset arrangement information of the second calibration point, the fourth coordinate information of each clean end surface 25 in the multiple clean end surfaces 25 can be determined. In the case that each clean end surface 25 cannot be fully captured in the first image information, the accuracy of the coordinates of each clean end surface 25 can still be guaranteed.

[0126] In this embodiment, the controller determines the fourth coordinate information of multiple cleaning end surfaces 25 based on the fifth coordinate information, the number of annular surfaces, the number of cleaning end surfaces 25 included in each group of annular surfaces, the rotation angle of two adjacent cleaning end surfaces 25 in each group of annular surfaces, and the distance between adjacent annular surfaces.

[0127] In some possible embodiments, the cleaning member feeding mechanism 3 is in communication connection with the driving device 1, and the method further includes:

[0128] Controlling the cleaning member 22 to rotate from the cleaning position to the initial position;

[0129] In this embodiment, the controller controls the cleaning member 22 to rotate from the cleaning position to the initial position, wherein the cleaning position is the position in contact with the target product, and the initial position is when the cleaning member 22 rotates to a vertical state and gradually moves away from the target product until the cleaning member 22 moves to the upper area of ​​the target product. The initial position is set by itself and is not specifically limited here.

[0130] The second camera acquires third image information of the cleaning member feeding mechanism 3 and the cleaning member 22 in the initial position;

[0131] Determine the sixth coordinate information of the cleaning member 22 and the seventh coordinate information of the unloading position of the cleaning member feeding mechanism 3 according to the third image information;

[0132] According to the sixth coordinate information and the seventh coordinate information, the driving device 1 is controlled to drive the cleaning part 22 to move to the unloading position. By communicating with the cleaning part feeding mechanism 3 and the driving device 1, the cleaning part feeding mechanism 3 can be quickly coordinated with the cleaning device 2 to achieve accurate unloading and loading of the cleaning part 22, thereby improving the unloading and loading speed.

[0133] The present invention also protects a cleaning device based on a cleaning mechanism, which is used to perform the above cleaning method based on the cleaning mechanism, and the device comprises:

[0134] A first acquisition unit, used to acquire second image information of a position to be cleaned on the target product captured by the first camera;

[0135] A first execution unit, used to determine first coordinate information of a first calibration point on the target product and second coordinate information of a position to be cleaned according to the second image information;

[0136] A second execution unit, used to determine a first corresponding relationship between the position to be cleaned and the first calibration point according to the first coordinate information and the second coordinate information;

[0137] A second acquisition unit, used to acquire first image information of the cleaning device 2 and the first calibration point captured by a second camera;

[0138] A third execution unit, used to determine third coordinate information of the first calibration point on the target product and fourth coordinate information of the plurality of cleaning end surfaces 25 according to the first image information;

[0139] A fourth execution unit, used to determine a second corresponding relationship between the first calibration point and the plurality of cleaning end surfaces 25 according to the third coordinate information and the fourth coordinate information;

[0140] A fifth execution unit is used to control the driving device 1 to drive the cleaning device 2 to clean the position to be cleaned according to the fourth coordinate information, the first corresponding relationship and the second corresponding relationship;

[0141] A sixth execution unit, used to determine the third coordinate information of the first calibration point and the fifth coordinate information of the second calibration point set on the cleaning device 2 according to the first image information; wherein the second calibration point is a point on a cleaning end surface 25;

[0142] A third acquisition unit, used to acquire preset arrangement information of a plurality of cleaning end surfaces 25;

[0143] a seventh execution unit, configured to determine fourth coordinate information of the plurality of cleaning end surfaces 25 according to the fifth coordinate information and the preset arrangement information;

[0144] An eighth execution unit, used for controlling the cleaning member 22 to rotate from the cleaning position to the initial position;

[0145] A fourth acquisition unit, used for the second camera to acquire third image information of the cleaning member feeding mechanism 3 and the cleaning member 22 in the initial position;

[0146] a ninth execution unit, configured to determine sixth coordinate information of the cleaning member 22 and seventh coordinate information of a material discharge position of the cleaning member feeding mechanism 3 according to the third image information;

[0147] The tenth execution unit is used to control the driving device 1 to drive the cleaning member 22 to move to the unloading position according to the sixth coordinate information and the seventh coordinate information.

[0148] This embodiment also provides a storage medium, which can be set in a server to store at least one instruction, at least one program, a code set or an instruction set related to a cleaning method based on a cleaning mechanism in the method embodiment. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the above-mentioned cleaning method based on the cleaning mechanism.

[0149] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a mobile hard disk, a magnetic disk, or an optical disk.

[0150] Although the present invention has been described through preferred embodiments, the present invention is not limited to the embodiments described herein but includes various changes and modifications that may be made without departing from the scope of the present invention.

[0151] In this document, the directional words such as front, back, top, and bottom are defined by the positions of the components in the drawings and the positions of the components relative to each other, and are only for the sake of clarity and convenience in expressing the technical solution. It should be understood that the use of the directional words should not limit the scope of protection claimed in this application.

[0152] In the absence of conflict, the above embodiments and features in the embodiments can be combined with each other.

[0153] The above disclosure is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A cleaning mechanism, characterized in that: include: A driving device (1) capable of rotating and moving along a first direction and / or a second direction; wherein the first direction and the second direction are arranged perpendicularly; A cleaning device (2) disposed on the driving device (1) and having a plurality of cleaning end surfaces (25); an image acquisition device connected in communication with the driving device (1), the image acquisition device being used to acquire first image information of the cleaning device (2) and second image information of a position to be cleaned on the target product when the cleaning device (2) is cleaning the target product, and to send the first image information and the second image information to the driving device (1); The driving device (1) drives the cleaning device (2) to move and / or rotate according to the first image information and the second image information, so as to drive the cleaning device (2) to move and rotate within a target rotation angle range until a cleaning end surface (25) on the cleaning device (2) coincides with a position to be cleaned on the target product.

2. The cleaning mechanism according to claim 1, characterized in that: The cleaning device (2) comprises a negative pressure adsorption component (21) and a cleaning member (22); The cleaning member (22) comprises a connecting end and a cleaning end (24) which are arranged opposite to each other, the connecting end being arranged at the adsorption end of the negative pressure adsorption component (21), and the bottom surface and circumferential intervals of the cleaning end (24) being provided with the plurality of cleaning end surfaces (25).

3. The cleaning mechanism according to claim 2, characterized in that: The cleaning end (24) is a spherical structure, the plurality of cleaning end surfaces (25) are evenly spaced around the circumference of the spherical structure, and the cleaning end surfaces (25) are planes.

4. The cleaning mechanism according to claim 2, characterized in that: The driving device (1) comprises a first driving component (11) and a second driving component (12); The second driving component (12) is fixedly connected to the negative pressure adsorption component (21), and the second driving component (12) can drive the negative pressure suction component to rotate around the axis direction of the driving end of the second driving component (12); After the second driving component (12) is connected to the negative pressure adsorption component (21), it is fixedly connected to the driving end of the first driving component (11), and the first driving component (11) can drive the second driving component (12) to rotate around the axial direction of the driving end of the first driving component (11).

5. The cleaning mechanism according to claim 4, characterized in that: The axis of the cleaning member (22) is arranged to coincide with the axis of the second driving assembly (12).

6. The cleaning mechanism according to claim 2, characterized in that: The cleaning device (2) further comprises a pressure sensor (23), wherein the pressure sensor (23) is arranged close to the connection end of the cleaning member (22), and the pressure sensor (23) is used to obtain a pressure value exerted by the connection end of the cleaning member (22) on a position to be cleaned on the target product.

7. The cleaning mechanism according to any one of claims 1 to 6, characterized in that: It also includes a cleaning element feeding mechanism (3); The cleaning member feeding mechanism (3) comprises a third driving assembly (31) and a rotating platform (32); a plurality of cleaning member engaging positions are arranged in the circumference of the rotating platform (32); a driving end of the third driving assembly (31) is fixedly connected to the rotating platform (32); and the third driving assembly (31) drives the rotating platform (32) to rotate.

8. A cleaning method based on a cleaning mechanism, characterized in that: Applied to the cleaning mechanism according to any one of claims 1 to 7, the image acquisition device comprises a first camera and a second camera; the method comprises: Acquire second image information of the position to be cleaned on the target product captured by the first camera; Determine first coordinate information of a first calibration point on the target product and second coordinate information of the position to be cleaned according to the second image information; Determine a first corresponding relationship between the position to be cleaned and the first calibration point according to the first coordinate information and the second coordinate information; Acquiring first image information of the cleaning device (2) and the first calibration point captured by the second camera; Determining third coordinate information of a first calibration point on the target product and fourth coordinate information of the plurality of clean end surfaces (25) according to the first image information; Determining a second corresponding relationship between the first calibration point and the plurality of cleaning end surfaces (25) according to the third coordinate information and the fourth coordinate information; The driving device (1) is controlled to drive the cleaning device (2) to clean the position to be cleaned according to the fourth coordinate information, the first corresponding relationship and the second corresponding relationship.

9. The cleaning method based on the cleaning mechanism according to claim 8, characterized in that: The step of determining the third coordinate information of the first calibration point on the target product and the fourth coordinate information of the plurality of clean end surfaces (25) according to the first image information comprises: Determining third coordinate information of the first calibration point and fifth coordinate information of a second calibration point arranged on the cleaning device (2) according to the first image information; wherein the second calibration point is a point on a cleaning end surface (25); Acquiring preset arrangement information of the plurality of cleaning end surfaces (25); The fourth coordinate information of the plurality of cleaning end surfaces (25) is determined according to the fifth coordinate information and the preset arrangement information.

10. The cleaning method based on the cleaning mechanism according to claim 8, characterized in that: The cleaning element feeding mechanism (3) is in communication connection with the driving device (1), and the method further comprises: Controlling the cleaning member (22) to rotate from the cleaning position to the initial position; The second camera acquires third image information of the cleaning member feeding mechanism (3) and the cleaning member (22) at the initial position; Determining sixth coordinate information of the cleaning member (22) and seventh coordinate information of a material discharge position of the cleaning member feeding mechanism (3) according to the third image information; The driving device (1) is controlled according to the sixth coordinate information and the seventh coordinate information to drive the cleaning member (22) to move to the material discharge position.

Images