Swing arm elastic piece adjusting method based on linear function

Abstract

The invention discloses a swing arm elastic piece adjusting method based on a linear function, and relates to the technical field of distance measurement, and the method comprises the following steps: an adjusting block is used to move from a position not in contact with a swing arm and reciprocates for multiple times to push the swing arm to move, and an elastic piece deformation curve is sequentially divided into an interval a, an interval c and an interval b according to elastic piece deformation curve characteristics; calculating boundary points among the interval a, the interval c and the interval b and functions of the interval a, the interval c and the interval b; presetting an adjustment target position; the position of the swing arm is measured, the elastic piece adjusting amount is calculated, the interval to which the elastic piece adjusting amount belongs is judged, the function of the corresponding interval is called, the corresponding swing arm adjusting distance is calculated according to the corresponding function, and the adjusting block pushes the swing arm according to the swing arm adjusting distance; and judging the adjusting effect, and if the adjusting effect is not qualified, repeatedly adjusting until the adjusting effect is qualified. According to the swing arm elastic piece adjusting method based on the linear function, the elastic piece can be adjusted, and the problems of elastic piece machining tolerance and elastic piece deformation are solved.

Description

Technical Field

[0001] The invention relates to the technical field of distance measurement, and in particular to a swing arm spring piece adjustment method based on a linear function. Background Art

[0002] In the wafer sorting of semiconductor equipment, a sorting machine is required for sorting. During the sorting process, the sorting machine uses a swing arm nozzle mechanism to transfer the core particles. In order to increase the core particle transfer speed, a swing arm nozzle mechanism with a double swing arm structure is generally used for operation.

[0003] In the related technology, the swing arm suction nozzle mechanism includes a base and two swing arm suction nozzle assemblies symmetrically arranged along the center of the base, the swing arm suction nozzle assembly includes a swing arm, a suction nozzle and a spring, the suction nozzle is arranged at the top end of the swing arm, the spring is used to connect the bottom end of the swing arm and the base, a spring is arranged between the side wall of the swing arm and the base, the spring is used to drive the top end of the swing arm to swing away from the base, an adjusting screw and an adjusting nut are also arranged on the base, the end of the adjusting screw supports the spring, the adjusting screw and the adjusting nut cooperate to adjust the compression amount of the spring, a limiting screw is also arranged on the base, the limiting screw is located above the spring, the limiting screw is used to limit the swing arm to limit the swing angle of the swing arm away from the base, a limiting locking nut is also arranged on the limiting screw, and the limiting locking nut is used to adjust the limiting position of the swing arm by the limiting screw.

[0004] When the nozzle is sucking up the wafer core, the core exerts a force on the nozzle, which drives the nozzle to move toward the base, thereby separating the swing arm and the limit screw. This force is the combined force of the shrapnel and the spring.

[0005] In order to ensure the consistency of the suction effect of the two swing arm nozzle assemblies on the core particles, it is necessary to make the suction nozzles have the same force when the swing arm and the limit screw are separated. Ideally, the spring is in a free state when it is vertically supported by the spring. When the spring supports the swing arm vertically, the force of the spring on the swing arm is zero. By adjusting the spring compression to be consistent, the suction nozzles can be made to have the same force when the swing arm and the limit screw are separated.

[0006] However, due to factors such as the processing tolerance and deformation of the spring clip, the spring clip may be in a non-free state vertically. When the spring clip vertically supports the swing arm, the force exerted by the spring clip on the swing arm is greater than zero, resulting in inconsistent spring compression amounts of the two swing arm nozzle assemblies after the force on the nozzle is adjusted to be consistent at the moment the swing arm and the limit screw are separated. This results in poor symmetry and consistency of the two swing arm nozzle assemblies, affecting the adjustment efficiency of the nozzle force at the moment the swing arm and the limit screw are separated and the sorting effect of the swing arm nozzle mechanism. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a swing arm spring piece adjustment method based on a linear function, which can adjust the spring piece, compensate for the problems of spring piece processing tolerance and spring piece deformation, ensure that the spring compression of the two swing arm nozzle assemblies is the same after the swing arm and the limit screw are separated at the moment of separation, ensure the symmetry and consistency of the two swing arm nozzle assemblies, and ensure the adjustment efficiency of the nozzle force at the moment of separation of the swing arm and the limit screw and the sorting effect of the swing arm nozzle mechanism.

[0008] The swing arm spring piece adjustment method based on linear function according to an embodiment of the present invention comprises the following steps: Use the adjustment block to move from the position where it does not touch the swing arm and move back and forth multiple times to push the swing arm to move. Each time the adjustment block touches the swing arm, it increases a certain distance to adjust the deformation amount of the spring. is the horizontal axis, the effective distance after the adjustment block contacts the swing arm As the ordinate, the deformation curve of the spring fragment is obtained, and the deformation curve of the spring fragment is divided into interval a, interval c and interval b according to the characteristics of the deformation curve of the spring fragment; Collect a series of and Data, calculate the intersection points between interval a, interval c and interval b, and the functions of interval a, interval c and interval b; Install the swing arm to be adjusted on the adjustment device and preset the adjustment target position; Measure the position of the swing arm and calculate the adjustment amount of the spring, determine the interval to which the spring adjustment amount belongs and call the function of the corresponding interval, calculate the corresponding swing arm adjustment distance according to the corresponding function, and the adjustment block pushes the swing arm according to the swing arm adjustment distance to adjust the spring; Determine the adjustment effect. If the adjustment effect is unsatisfactory, repeat the adjustment until the adjustment effect is satisfactory.

[0009] The swing arm spring piece adjustment method based on linear function according to the embodiment of the present invention has at least the following beneficial effects: 1. The present invention measures and collects data on the effective distances of multiple groups of adjustment blocks after contacting the swing arm and the corresponding deformation of the spring piece, produces a spring piece deformation curve, analyzes the characteristics of the spring piece deformation curve, divides the spring piece deformation curve into interval a, interval c and interval b in turn, and collects a series of and The data is used to calculate the intersection points among interval a, interval c and interval b, as well as the functions of interval a, interval c and interval b. Therefore, when adjusting the swing arm to be adjusted, it is only necessary to measure the position of the swing arm and calculate the adjustment amount of the spring clip. After determining the interval to which the adjustment amount of the spring clip belongs, the function of the corresponding interval can be directly called to calculate the distance that the adjustment block needs to push the swing arm to move. Furthermore, the spring clip can be adjusted quickly to compensate for the problems of spring clip processing tolerance and spring clip deformation, and ensure that the force adjustment of the nozzle is consistent when the swing arm and the limit screw are separated at the moment of assembly. The spring compression amounts of the two swing arm nozzle assemblies are the same, ensuring the symmetry and consistency of the two swing arm nozzle assemblies, and ensuring the adjustment efficiency of the nozzle force at the moment the swing arm and the limit screw are separated and the sorting effect of the swing arm nozzle mechanism.

[0010] 2. The present invention utilizes a function as a basis for adjusting the adjustment amount of the spring piece. The production of the spring piece deformation curve and function can be completed by collecting a limited number of data, which is beneficial to improving the production efficiency of the adjustment basis. Moreover, by using the function as the basis for adjusting the adjustment amount of the spring piece, the distance that the adjustment block needs to push the swing arm to adjust the deformation amount of the spring piece can be quickly obtained. At the same time, material properties can be detected while producing the function, which is convenient for identifying material differences in the assembly process.

[0011] According to some embodiments of the present invention, the step of calculating the intersection points between interval a, interval c and interval b comprises the following steps: from Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , compare the correlation coefficients of multiple groups of data Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determine the intersection point of interval b and interval c.

[0012] According to some embodiments of the present invention, Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , including the following steps: from First take 3 data and calculate the correlation coefficient , and then gradually increase the data and calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of from start, For the maximum value, take 3 data from large to small and calculate the correlation coefficient , and then gradually increase the data and calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

[0013] According to some embodiments of the present invention, the correlation coefficient of comparing multiple sets of data is Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determining the intersection point of interval b and interval c includes the following steps: set up The judgment threshold is , , The closer to 1, the better the correlation. ,and When judging is the correlation coefficient at the junction of interval a and interval c, select is the intersection point between interval a and interval c, ; set up The judgment threshold is , , The closer to 1, the better the correlation. ,and ,judge is the correlation coefficient at the junction of interval b and interval c, select is the intersection point of interval b and interval c, .

[0014] According to some embodiments of the present invention, Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , including the following steps: from Start by selecting multiple sets of data with a fixed number of data. The fixed number of data in each set of data is indivual, , calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of from start, is the maximum value, and multiple groups of data with a fixed number of data are selected in turn. The fixed number of data in each group of data is indivual, , calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

[0015] According to some embodiments of the present invention, the correlation coefficient of comparing multiple sets of data is Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determining the intersection point of interval b and interval c includes the following steps: set up The judgment threshold is , , The closer to 1, the better the correlation. Compare at least three consecutive Value, when ,and When judging is the correlation coefficient at the junction of interval a and interval c, select is the intersection point between interval a and interval c, ; set up The judgment threshold is , , The closer to 1, the better the correlation. Compare at least three consecutive Value, when ,and ,judge is the correlation coefficient at the junction of interval b and interval c, select is the intersection point of interval b and interval c, .

[0016] According to some embodiments of the present invention, calculating the function of the interval a, the interval c and the interval b includes the following steps: For interval a, let the function of interval a be , ; in, , ; The solution is, , ; For interval b, let the function of interval b be , ; in, , ; The solution is, , ; For the c interval, let the function of the c interval be , ; Get from arrive The data of the point, when the spring deformation and If the same ; When the spring deformation exist and In between, , ; Summarizing the functions of interval a, interval b, and interval c, we get: .

[0017] According to some embodiments of the present invention, using the adjusting block to move from a position not in contact with the swing arm and to move back and forth multiple times to push the swing arm to move includes: The regulating block pushes the swing arm to move in the positive direction to obtain a positive spring sheet deformation curve, and the positive spring sheet deformation curve is divided into a positive a interval, a positive c interval and a positive b interval according to the characteristics of the positive spring sheet deformation curve, and the intersection points between the positive a interval, the positive c interval and the positive b interval and the functions of the positive a interval, the positive c interval and the positive b interval are calculated; The regulating block pushes the swing arm to move in the negative direction to obtain a negative spring deformation curve. According to the characteristics of the negative spring deformation curve, the negative spring deformation curve is divided into negative a interval, negative c interval and negative b interval in sequence, and the intersection points among the negative a interval, negative c interval and negative b interval and the functions of the negative a interval, negative c interval and negative b interval are calculated.

[0018] According to some embodiments of the present invention, when the swing arm position of the swing arm to be adjusted is measured and the spring piece adjustment amount is calculated, the spring piece adjustment direction is simultaneously identified.

[0019] According to some embodiments of the present invention, the step of judging the adjustment effect, if the adjustment effect is unqualified, repeating the adjustment until the adjustment effect is qualified, comprises the following steps: Set the maximum number of repeated adjustments. If the adjustment effect is still unsatisfactory after reaching the maximum number of repeated adjustments, re-make a new spring deformation curve and calculate the intersection points among intervals a, c and b, as well as the functions of intervals a, c and b. Then adjust the spring of the swing arm to be adjusted.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of a swing arm nozzle mechanism according to an embodiment of the present invention; Figure 2 It is a structural schematic diagram of the swing arm to be adjusted according to an embodiment of the present invention; Figure 3 A schematic diagram of adjusting the swing arm spring piece according to an embodiment of the present invention; Figure 4 The figure is a flow chart of a swing arm spring piece adjustment method based on a linear function according to an embodiment of the present invention.

[0023] Figure markings: 100-base, 110-swing arm nozzle assembly, 120-swing arm, 130-nozzle, 140-spring, 150-spring, 160-adjusting screw, 170-adjusting nut, 180-limiting screw, 190-limiting locking nut, 200-swing arm to be adjusted, 210-displacement sensor, 220-adjusting block. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0025] In the description of the present invention, it is necessary to understand that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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.

[0026] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed", etc. are understood to exclude the number itself, and "above", "below", "within", etc. are understood to include the number itself. If there is a description of first and second, this is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation, connection and connection" 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 mechanical connection or an electrical connection; it can be a direct connection, or it can be 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 circumstances.

[0028] The following is combined with Figure 1-4 A swing arm spring piece adjustment method based on a linear function according to an embodiment of the present invention is described.

[0029] The present invention aims to provide an embodiment of a swing arm spring piece adjustment method based on a linear function.

[0030] Reference Figure 1As for the swing arm suction nozzle mechanism, the swing arm suction nozzle mechanism includes a base 100 and two swing arm suction nozzle assemblies 110 symmetrically arranged along the center of the base 100. The swing arm suction nozzle assembly 110 includes a swing arm 120, a suction nozzle 130 and a spring 140. The suction nozzle 130 is arranged at the top of the swing arm 120. The spring 140 is used to connect the bottom end of the swing arm 120 and the base 100. A spring 150 is arranged between the side wall of the swing arm 120 and the base 100. The spring 150 is used to drive the top end of the swing arm 120 to swing away from the base 100. The base 100 is also provided with an adjusting screw The base 100 is provided with a limit screw 180, and the limit screw 180 is located above the spring 150. The limit screw 180 is used to limit the swing arm 120 to limit the swing angle of the swing arm 120 away from the base 100. The limit screw 180 is also provided with a limit locking nut 190, and the limit locking nut 190 is used to adjust the limit position of the limit screw 180 on the swing arm 120.

[0031] When the suction nozzle 130 is sucking the wafer core particles, the core particles exert a force on the suction nozzle 130, and the force also drives the suction nozzle 130 to move towards the direction close to the base 100, thereby separating the swing arm 120 and the limit screw 180. This force is the resultant force of the combined action of the spring 140 and the spring 150.

[0032] In order to ensure consistency in the suction effect of the nozzles 130 of the two swing arm nozzle assemblies 110 on the core particles, it is necessary to make the suction nozzles 130 have the same force when the swing arm 120 and the limit screw 180 are separated. Ideally, the spring 140 is in a vertical free state. When the spring 140 vertically supports the swing arm 120, the force of the spring 140 on the swing arm 120 is zero. By adjusting the compression amount of the spring 150 to be consistent, the suction nozzles 130 can be made to have the same force when the swing arm 120 and the limit screw 180 are separated.

[0033] However, due to factors such as the processing tolerance of the spring clip 140 and the deformation of the spring clip 140, the spring clip 140 may be in a non-free state vertically. When the spring clip 140 vertically supports the swing arm 120, the force exerted by the spring clip 140 on the swing arm 120 is greater than zero, resulting in that after the force of the suction nozzle 130 is adjusted to be consistent at the moment the swing arm 120 and the limit screw 180 are separated, the compression amounts of the springs 150 of the two swing arm suction nozzle assemblies 110 are inconsistent, thereby resulting in poor symmetry and consistency of the two swing arm suction nozzle assemblies 110, affecting the adjustment efficiency of the force of the suction nozzle 130 at the moment the swing arm 120 and the limit screw 180 are separated and the sorting effect of the swing arm suction nozzle mechanism.

[0034] In order to ensure the symmetry and consistency of the two swing arm nozzle assemblies 110, it is necessary to adjust the spring clip 140 to compensate for the processing tolerance and deformation of the spring clip 140, to ensure that the force applied to the nozzle 130 is adjusted consistently when the swing arm 120 and the limit screw 180 are separated after assembly, and the compression amount of the spring 150 of the two swing arm nozzle assemblies 110 is the same, to ensure the symmetry and consistency of the two swing arm nozzle assemblies 110, to ensure the adjustment efficiency of the force applied to the nozzle 130 when the swing arm 120 and the limit screw 180 are separated, and the sorting effect of the swing arm nozzle mechanism.

[0035] Reference Figure 2 It should be explained that the swing arm 200 to be adjusted is in a state where the swing arm suction nozzle mechanism is not equipped with the spring 150 and the limit screw 180.

[0036] Reference Figure 3 and Figure 4 In this embodiment, the swing arm spring piece adjustment method based on the linear function mainly includes the following steps: S1000: Use the adjustment block 220 to move from a position not in contact with the swing arm 120 and move back and forth multiple times to push the swing arm 120 to move. Each time the adjustment block 220 contacts the swing arm 120, it increases a certain distance to adjust the deformation amount of the spring piece. is the horizontal axis, the effective distance after the adjustment block 220 contacts the swing arm 120 As the ordinate, the spring deformation curve is obtained, and the spring deformation curve is divided into interval a, interval c and interval b according to the characteristics of the spring deformation curve.

[0037] Specifically, for the deformation of the spring For the measurement, a displacement sensor 210 can be used to measure the plane of the swing arm 120 above the suction nozzle 130. The displacement sensor 210 can be a triangulation laser displacement sensor, a spectral confocal displacement sensor, etc.

[0038] The effective distance after the adjustment block 220 contacts the swing arm 120 The distance can be converted by the number of movement steps of the motor driving the adjustment block 220 to move.

[0039] In some specific embodiments, the adjusting block 220 is used to move from a position not in contact with the swing arm 120 and to move back and forth multiple times to push the swing arm 120 to move, including: S1100: The adjustment block 220 pushes the swing arm 120 to move in the positive direction to obtain a positive spring deformation curve. According to the characteristics of the positive spring deformation curve, the positive spring deformation curve is divided into a positive a interval, a positive c interval and a positive b interval in sequence, and the intersection points among the positive a interval, the positive c interval and the positive b interval and the functions of the positive a interval, the positive c interval and the positive b interval are calculated.

[0040] S1200: The adjustment block 220 pushes the swing arm 120 to move in the negative direction to obtain a negative spring deformation curve. According to the characteristics of the negative spring deformation curve, the negative spring deformation curve is divided into a negative a interval, a negative c interval and a negative b interval in sequence, and the intersection points among the negative a interval, the negative c interval and the negative b interval and the functions of the negative a interval, the negative c interval and the negative b interval are calculated.

[0041] S2000: Collect a series of and Data, calculate the intersection points between interval a, interval c and interval b, and the functions of interval a, interval c and interval b.

[0042] In some specific embodiments, when collecting a series of and When calculating the data, the distance increased after the adjustment block 220 contacts the swing arm 120 each time, that is, the effective distance between the two adjacent adjustment blocks 220 contacting the swing arm 120 , for three intervals, the spacing It can be equidistant or unequal.

[0043] When setting the spacing When the spacing is not equal, you can set the judgment value, such as the spring deformation is less than , that is, in the interval a, the spacing is , the deformation of the spring is and Between, that is, in the interval c, the spacing is , the deformation of the spring is greater than , that is, in the interval b, the spacing is .

[0044] In order to accurately obtain the points in the middle c interval, you can also use Set to and Same or smaller.

[0045] In some specific embodiments, calculating the intersection point between interval a, interval c and interval b includes the following steps: S2100: From Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , compare the correlation coefficients of multiple groups of data Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determine the intersection point of interval b and interval c.

[0046] Specifically, for calculating the intersection points among the a interval, the c interval, and the b interval, the present invention provides two method embodiments.

[0047] Example 1 from Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , including the following steps: S2111: From First take 3 data and calculate the correlation coefficient , and then gradually increase the data and calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

[0048] Furthermore, for the a interval, we need to first determine ,if , you need to skip this point and continue to the next point and find the cause. This means that the entire spring piece 140 has no deformation or sampling anomaly.

[0049] S2112: From start, For the maximum value, take 3 data from large to small and calculate the correlation coefficient , and then gradually increase the data and calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

[0050] Furthermore, for the b interval, we need to first determine ,if , you need to skip this point and continue to the next point and find the cause. This means that the entire spring piece 140 has no deformation or sampling anomaly.

[0051] Furthermore, we can compare the correlation coefficients of multiple groups of data. Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determining the intersection point of interval b and interval c includes the following steps: S2113: Settings The judgment threshold is , , The closer to 1, the better the correlation. ,and When judging is the correlation coefficient at the junction of interval a and interval c, select is the intersection point between interval a and interval c, .

[0052] Specifically, Set to 0.9.

[0053] S2114: Settings The judgment threshold is , , The closer to 1, the better the correlation. ,and ,judge is the correlation coefficient at the junction of interval b and interval c, select is the intersection point of interval b and interval c, .

[0054] Specifically, Set to 0.9.

[0055] Example 2 from Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , including the following steps: S2121: From Start by selecting multiple sets of data with a fixed number of data. The fixed number of data in each set of data is indivual, , calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

[0056] Furthermore, for the a interval, we need to first determine ,if , you need to skip this point and continue to the next point and find the cause. This means that the entire spring piece 140 has no deformation or sampling anomaly.

[0057] S2122: From start, is the maximum value, and multiple groups of data with a fixed number of data are selected in turn. The fixed number of data in each group of data is indivual, , calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

[0058] Furthermore, for the b interval, we need to first determine ,if , you need to skip this point and continue to the next point and find the cause. This means that the entire spring piece 140 has no deformation or sampling abnormality.

[0059] Furthermore, we can compare the correlation coefficients of multiple groups of data. Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determining the intersection point of interval b and interval c includes the following steps: S2123: Settings The judgment threshold is , , The closer to 1, the better the correlation. Compare at least three consecutive Value, when ,and When judging is the correlation coefficient at the junction of interval a and interval c, select is the intersection point between interval a and interval c, .

[0060] Specifically, Set to 0.9.

[0061] S2124: Settings The judgment threshold is , , The closer to 1, the better the correlation. Compare at least three consecutive Value, when ,and ,judge is the correlation coefficient at the junction of interval b and interval c, select is the intersection point of interval b and interval c, .

[0062] Specifically, Set to 0.9.

[0063] In some specific embodiments, calculating the function of the interval a, the interval c, and the interval b includes the following steps: S2210: For interval a, let the function of interval a be , ; in, , ; The solution is, , .

[0064] S2220: For interval b, let the function of interval b be , ; in, , ; The solution is, , .

[0065] S2230: For interval c, let the function of interval c be , ; Get from arrive The data of the point, when the spring deformation and If the same ; When the spring deformation exist and In between, , .

[0066] S2240: Summarizing the functions of interval a, interval b and interval c, we get: .

[0067] S300: Install the swing arm 200 to be adjusted on the adjustment device and preset the adjustment target position.

[0068] S400: Measure the position of the swing arm 120 and calculate the spring adjustment amount, determine the interval to which the spring adjustment amount belongs and call the function of the corresponding interval, calculate the corresponding swing arm 120 adjustment distance according to the corresponding function, and the adjustment block 220 pushes the swing arm 120 according to the swing arm 120 adjustment distance to adjust the spring 140.

[0069] Furthermore, when the position of the swing arm 120 of the swing arm 200 to be adjusted is measured and the adjustment amount of the spring piece is calculated, the adjustment direction of the spring piece 140 is simultaneously identified.

[0070] S500: Determine the adjustment effect. If the adjustment effect is unsatisfactory, repeat the adjustment until the adjustment effect is satisfactory.

[0071] For the adjustment effect, an adjustment threshold can be set. If the difference between the adjusted position of the swing arm 120 and the target position is less than the threshold, the adjustment is completed. Otherwise, the adjustment amount needs to be recalculated and adjusted.

[0072] In some specific embodiments, judging the adjustment effect, if the adjustment effect is unqualified, repeating the adjustment until the adjustment effect is qualified, includes the following steps: Set the maximum number of repeated adjustments. If the adjustment effect is still unsatisfactory after reaching the maximum number of repeated adjustments, re-produce a new spring deformation curve and calculate the intersection points between interval a, interval c and interval b and the functions of interval a, interval c and interval b, and then adjust the spring 140 of the swing arm 200 to be adjusted.

[0073] It is understandable that when the maximum number of repeated adjustments is reached and the requirements are still not met, the elastic properties of the material may change. There may be certain changes due to batch, size, thickness and material, which will affect the adjustment effect and require the adjustment function to be created again for correction.

[0074] In this embodiment, the effective distance after the adjustment block 220 contacts the swing arm 120 and the corresponding data of the spring deformation are measured and collected to produce the spring deformation curve. After analyzing the characteristics of the spring deformation curve, the spring deformation curve is divided into interval a, interval c and interval b in sequence and a series of data are collected. and The data is used to calculate the intersection points among interval a, interval c and interval b, as well as the functions of interval a, interval c and interval b. Thus, when adjusting the swing arm 200 to be adjusted, it is only necessary to measure the position of the swing arm 120 and calculate the adjustment amount of the spring. After determining the interval to which the adjustment amount of the spring can belong, the function of the corresponding interval can be directly called to calculate the distance that the adjustment block 220 needs to push the swing arm 120 to move. Thus, the spring 140 can be quickly adjusted to compensate for the machining tolerance of the spring 140 and the deformation of the spring 140, and to ensure that after assembly, when the swing arm 120 and the limit screw 180 are separated, the force adjustment of the nozzle 130 is consistent, and the compression amount of the spring 150 of the two swing arm nozzle assemblies 110 is the same, thereby ensuring the symmetry and consistency of the two swing arm nozzle assemblies 110, and ensuring the adjustment efficiency of the force of the nozzle 130 at the moment when the swing arm 120 and the limit screw 180 are separated and the sorting effect of the swing arm nozzle mechanism.

[0075] This embodiment uses a function as the basis for adjusting the spring piece adjustment amount. The production of the spring piece deformation curve and function can be completed by collecting a limited number of data, which is beneficial to improving the production efficiency of the adjustment basis. Moreover, by using the function as the basis for adjusting the spring piece adjustment amount, the distance that the adjustment block 220 needs to push the swing arm 120 to adjust the spring piece deformation can be quickly obtained. At the same time, material properties can be detected while producing the function, which is convenient for identifying material differences in the assembly process.

[0076] In the description of this specification, the description with reference to the terms "one embodiment, some embodiments, illustrative embodiments, examples, specific examples or some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0077] The terms "first, second, third, fourth", etc. (if any) in the specification and claims of this application and the above 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 numbers used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that shown or described herein.

[0078] It should also be noted that in the description of this specification, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0079] In addition, the terms "comprises" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may also include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0080] Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0081] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A swing arm spring adjustment method based on a linear function, characterized in that: The steps include: Use the adjustment block to move from the position where it does not touch the swing arm and move back and forth multiple times to push the swing arm to move. Each time the adjustment block touches the swing arm, it increases a certain distance to adjust the deformation amount of the spring. is the horizontal axis, the effective distance after the adjustment block contacts the swing arm As the ordinate, the deformation curve of the spring fragment is obtained, and the deformation curve of the spring fragment is divided into interval a, interval c and interval b according to the characteristics of the deformation curve of the spring fragment; Collect a series of and Data, calculate the intersection points between interval a, interval c and interval b, and the functions of interval a, interval c and interval b; Install the swing arm to be adjusted on the adjustment device and preset the adjustment target position; Measure the position of the swing arm and calculate the adjustment amount of the spring, determine the interval to which the spring adjustment amount belongs and call the function of the corresponding interval, calculate the corresponding swing arm adjustment distance according to the corresponding function, and the adjustment block pushes the swing arm according to the swing arm adjustment distance to adjust the spring; Determine the adjustment effect. If the adjustment effect is unsatisfactory, repeat the adjustment until the adjustment effect is satisfactory.

2. The swing arm spring piece adjustment method based on linear function according to claim 1 is characterized in that: The step of calculating the intersection points among the interval a, the interval c and the interval b comprises the following steps: from Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , compare the correlation coefficients of multiple groups of data Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determine the intersection point of interval b and interval c.

3. The swing arm spring piece adjustment method based on linear function according to claim 2 is characterized in that: Said from Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , including the following steps: from First take 3 data and calculate the correlation coefficient , and then gradually increase the data and calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of from start, For the maximum value, take 3 data from large to small and calculate the correlation coefficient , and then gradually increase the data and calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

4. The swing arm spring piece adjustment method based on linear function according to claim 3 is characterized in that: The correlation coefficient of comparing multiple groups of data Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determining the intersection point of interval b and interval c includes the following steps: set up The judgment threshold is , , The closer to 1, the better the correlation. ,and When judging is the correlation coefficient at the junction of interval a and interval c, select is the intersection point between interval a and interval c, ; set up The judgment threshold is , , The closer to 1, the better the correlation. ,and ,judge is the correlation coefficient at the junction of interval b and interval c, select is the intersection point of interval b and interval c, .

5. The swing arm spring piece adjustment method based on linear function according to claim 2, characterized in that: Said from Start taking multiple sets of data to calculate the correlation coefficient of interval a ,from start, is the maximum value, and multiple groups of data are taken from large to small to calculate the correlation coefficient of interval b , including the following steps: from Start by selecting multiple sets of data with a fixed number of data. The fixed number of data in each set of data is indivual, , calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of from start, is the maximum value, and multiple groups of data with a fixed number of data are selected in turn. The fixed number of data in each group of data is indivual, , calculate different correlation coefficients , , For all selected data The average value of For all selected data The average value of .

6. The swing arm spring piece adjustment method based on linear function according to claim 5, characterized in that: The correlation coefficient of comparing multiple groups of data Determine the intersection point between interval a and interval c, and compare the correlation coefficients of multiple groups of data Determining the intersection point of interval b and interval c includes the following steps: set up The judgment threshold is , , The closer to 1, the better the correlation. Compare at least three consecutive Value, when ,and When judging is the correlation coefficient at the junction of interval a and interval c, select is the intersection point between interval a and interval c, ; set up The judgment threshold is , , The closer to 1, the better the correlation. Compare at least three consecutive Value, when ,and ,judge is the correlation coefficient at the junction of interval b and interval c, select is the intersection point of interval b and interval c, .

7. The swing arm spring piece adjustment method based on linear function according to claim 4 or 6, characterized in that: Calculating the function of interval a, interval c, and interval b includes the following steps: For interval a, let the function of interval a be , ; in, , ; The solution is, , ; For interval b, let the function of interval b be , ; in, , ; The solution is, , ; For the c interval, let the function of the c interval be , ; Get from arrive The data of the point, when the spring deformation and If the same ; When the spring deformation exist and In between, , ; Summarizing the functions of interval a, interval b, and interval c, we get: 。 8. The swing arm spring piece adjustment method based on linear function according to claim 1, characterized in that: The method of using the adjusting block to move from a position not in contact with the swing arm and to move back and forth multiple times to push the swing arm to move includes: The regulating block pushes the swing arm to move in the positive direction to obtain a positive spring sheet deformation curve, and the positive spring sheet deformation curve is divided into a positive a interval, a positive c interval and a positive b interval according to the characteristics of the positive spring sheet deformation curve, and the intersection points between the positive a interval, the positive c interval and the positive b interval and the functions of the positive a interval, the positive c interval and the positive b interval are calculated; The regulating block pushes the swing arm to move in the negative direction to obtain a negative spring deformation curve. According to the characteristics of the negative spring deformation curve, the negative spring deformation curve is divided into negative a interval, negative c interval and negative b interval in sequence, and the intersection points among the negative a interval, negative c interval and negative b interval and the functions of the negative a interval, negative c interval and negative b interval are calculated.

9. The swing arm spring piece adjustment method based on linear function according to claim 8, characterized in that: When measuring the swing arm position of the swing arm to be adjusted and calculating the spring piece adjustment amount, the spring piece adjustment direction is simultaneously identified.

10. The swing arm spring piece adjustment method based on linear function according to claim 1, characterized in that: The step of judging the adjustment effect, if the adjustment effect is unsatisfactory, repeating the adjustment until the adjustment effect is satisfactory, comprises the following steps: Set the maximum number of repeated adjustments. If the adjustment effect is still unsatisfactory after reaching the maximum number of repeated adjustments, re-make a new spring deformation curve and calculate the intersection points among intervals a, c and b, as well as the functions of intervals a, c and b. Then adjust the spring of the swing arm to be adjusted.

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