Methods, systems and media for picking and pasting control of springless nozzles

Abstract

This invention relates to the field of pick-and-place machine control technology, specifically to a pick-and-place control method, system, and medium suitable for springless nozzles. The method includes: controlling the springless nozzle to descend at a first speed to a preset safe suspension height via a Z-axis drive module; after reaching the safe suspension height based on feedback from the Z-axis drive module, switching to a second speed to drive the springless nozzle to decelerate downwards, while simultaneously initiating vacuum pressure sampling and Z-axis motor current sampling to acquire real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change; determining whether the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change meet specified conditions, and if so, controlling the nozzle to stop descending. This solution achieves damage prevention control throughout the entire pick-and-place process without relying on refined parameter calibration or additional hardware modifications, while also considering placement efficiency and accuracy, and improving adaptability to multi-product production.

Description

Technical Field

[0001] This invention relates to the field of pick-and-place machine control technology, and more specifically to a pick-and-place control method, system and medium suitable for springless nozzles. Background Technology

[0002] Surface Mount Technology (SMT) is a core process in the electronics manufacturing industry. Pick-and-place machines, as key equipment in SMT production lines, use nozzles to pick up and place components. Springless nozzles, due to the absence of elastic deformation interference, offer higher Z-axis positioning accuracy and eliminate the risks of spring aging, jamming, and breakage, leading to their increasingly widespread use in pick-and-place machines. As electronic components become increasingly miniaturized and precise, the application scenarios for springless nozzles continue to expand, placing higher demands on the accuracy, reliability, and adaptability of pick-and-place control.

[0003] However, springless nozzles lack an elastic buffer structure, and the accuracy of stroke control during the pick-and-place process directly determines the component yield. For example, in the pick-up stage, excessive pressure can cause components to be forcibly pushed or pulled from the tape or tray, resulting in component lead deformation. In the placement stage, excessive pressure can cause rigid contact between the component and the substrate, leading to pad damage and component breakage. Therefore, precisely controlling the Z-axis stroke of the springless nozzle to avoid excessive pressure is a core requirement for ensuring placement quality.

[0004] Existing solutions mainly fall into two categories: one is hardware modification, which adds buffer mechanisms, pressure sensors, and other components to prevent damage. However, this approach suffers from high modification costs, potential impact on nozzle positioning accuracy after installation, and difficulty in adapting to older pick-and-place machines. The other is software parameter calibration, which controls the stroke by setting a preset pressure stroke threshold. However, unlike spring-loaded nozzles, springless nozzles lack elastic buffer structures. Under current technology, the pressure stroke often requires fine-tuning based on parameters such as component thickness and substrate height, which is time-consuming. Even with fine-tuning, factors such as batch fluctuations in actual components and substrate deformation can still lead to mismatches between parameters and actual heights. Insufficient pressure can result in pick-up failures or inaccurate placement; excessive pressure can damage components. Therefore, software parameter calibration solutions are highly dependent on parameters, have poor adaptability, cannot handle multi-variety production scenarios, and are susceptible to control failures due to system fluctuations.

[0005] Furthermore, existing vacuum pressure detection solutions are based on spring-loaded nozzles, but are not suitable for springless nozzles for the following reasons: 1. Spring-loaded nozzles can adapt to the surface height of components, using a spring to buffer and force a seal, allowing the vacuum pressure to drop quickly to the threshold after contact (due to reliable sealing); while springless nozzles have rigid contact, making their sealing performance susceptible to Z-axis vibration and component surface flatness, resulting in large fluctuations in the vacuum pressure drop rate (slow drop when the seal is poor); 2. Based on the above, spring-loaded nozzles have a narrow and stable threshold range for vacuum pressure variation (e.g., 20~30kPa), offering high error tolerance; while springless nozzles have a wide and dispersed threshold range (e.g., 10~40kPa), requiring frequent calibration and posing a risk of component overpressure damage due to abnormal detection. Therefore, simple vacuum pressure detection solutions have certain limitations for springless nozzles.

[0006] Therefore, existing technologies lack springless nozzle pick-up and placement control technology that requires no hardware modification, has strong anti-interference capabilities, and balances placement efficiency and accuracy. Summary of the Invention

[0007] In order to solve the problems in the prior art, the purpose of this invention is to provide a method, system and medium for picking up and pasting control suitable for springless suction nozzles.

[0008] To achieve the above objectives, the first aspect of the present invention provides a method for controlling the application of a springless suction nozzle, comprising the following steps:

[0009] The Z-axis drive module controls the springless nozzle to descend to a preset safe suspension height at a first speed.

[0010] After the Z-axis drive module feedback indicates that the safe suspension height has been reached, the system switches to the second speed to drive the springless nozzle to decelerate and descend. At the same time, vacuum pressure sampling and Z-axis motor current sampling are initiated to obtain the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change.

[0011] Determine whether the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change meet the specified conditions respectively. If they do, control the nozzle to stop descending.

[0012] Preferably, it is determined whether the real-time vacuum pressure change, the real-time vacuum pressure change rate, and the real-time current change each meet specified conditions. If they do, the nozzle is controlled to stop descending. Specifically:

[0013] If condition A or condition B is met, the duration of the corresponding condition is monitored. If the duration meets the set duration, the specified condition is determined to be met; otherwise, the nozzle continues to probe downwards. Condition A is that the real-time vacuum pressure change and the real-time vacuum pressure change rate are both greater than or equal to a specified threshold; condition B is that the real-time current change is greater than or equal to a preset threshold.

[0014] Preferably, if the descent attempt reaches the maximum permissible descent distance, an anomaly is triggered, and the descent stops.

[0015] Preferably, in the material handling scenario, the first speed is 500-800 mm / s; in the material application scenario, the first speed is 300-500 mm / s; and the second speed is 1%-5% of the first speed.

[0016] Preferably, after the control nozzle stops descending, it enters the pressure holding stage; in the material picking scenario, after the pressure holding ends, the vacuum state is maintained, and the Z-axis drive module controls the nozzle to lift up to complete the material picking action; in the material bonding scenario, after the pressure holding ends, the vacuum is released after a delay of 30-50ms, and then the Z-axis drive module controls the nozzle to lift up to complete the material bonding action.

[0017] Preferably, the method includes parameter initialization, including: after receiving a material picking or placing instruction, calling a preset corresponding parameter set, the parameter set including the movement speed of each segment, safe suspension height, real-time vacuum pressure change threshold, real-time vacuum pressure change rate threshold and real-time current change threshold, pressure holding time, and maximum allowable test stroke;

[0018] Start the zero-point calibration program to eliminate sensor drift interference, and then collect the current no-load vacuum pressure of the springless nozzle as the judgment reference value P0; at the same time, collect the average drive current I0 of the drive motor as the no-load current reference value.

[0019] Preferably, in the material handling scenario, the threshold for real-time vacuum pressure change is (20%-30%)×|P0|, the threshold for real-time vacuum pressure change rate is (4%-6%)×|P0| / ms, the threshold for real-time current change is 50%I0, and the maximum allowable test stroke is 3-5mm; in the material placement scenario, the threshold for real-time vacuum pressure change is (10%-15%)×|P0|, the threshold for real-time vacuum pressure change rate is (2%-3%)×|P0| / ms, the threshold for real-time current change is 30%I0, and the maximum allowable test stroke is 2-3mm.

[0020] A second aspect of the present invention provides a labeling control system suitable for springless suction nozzles, comprising:

[0021] The first speed module is configured to control the springless nozzle to descend to a preset safe suspension height at a first speed via the Z-axis drive module;

[0022] The second speed module is configured to switch to the second speed after reaching the safe suspension height based on feedback from the Z-axis drive module, drive the springless nozzle to decelerate and descend, and simultaneously start vacuum pressure sampling and Z-axis motor current sampling to obtain real-time vacuum pressure change, real-time vacuum pressure change rate and real-time current change.

[0023] The stop judgment module is configured to determine whether the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change meet specified conditions respectively, and if they do, control the nozzle to stop descending.

[0024] Preferably, it is determined whether the real-time vacuum pressure change, the real-time vacuum pressure change rate, and the real-time current change each meet specified conditions. If they do, the nozzle is controlled to stop descending. Specifically:

[0025] If either condition A or condition B is met, the duration of the corresponding condition is monitored. If the duration meets the set time, the specified condition is determined to be met; otherwise, the nozzle continues its trial downward movement. Condition A is that both the real-time vacuum pressure change and the real-time vacuum pressure change rate are greater than or equal to a specified threshold; condition B is that the real-time current change is greater than or equal to a preset threshold.

[0026] A third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0027] The above technical solutions achieve the following beneficial effects: (1) Integrated pick-up and placement adaptation logic: By using a built-in set of pick-up / placement parameters that can be automatically switched, the same core logic of "multi-segment motion + multi-source fusion judgment" can cover the entire pick-up and placement process, solving the industry pain point of the fragmented pick-up and placement process in the existing technology. (2) Vacuum pressure + Z-axis current multi-source fusion judgment mechanism: Breaking through the limitations of the single-dimensional judgment in the existing technology, combining the changes in vacuum pressure and the changes in the drive current of the Z-axis servo motor, and using a filtering algorithm to eliminate interference, the robustness of component contact judgment is greatly improved, avoiding component damage or placement offset caused by misjudgment. (3) Low parameter dependence stroke control design: The safety suspension height is set by "nominal value + fixed safety margin", which does not require precise measurement of the actual size of components, substrates or tapes, reducing the dependence on the parameter adjustment ability of operators and improving the adaptability of multi-variety production. (4) Low-cost implementation without hardware modification: damage prevention control is achieved only through software logic optimization, reusing the existing Z-axis drive and vacuum detection module of the pick and place machine. There is no need to add hardware such as pressure sensors and buffer mechanisms, resulting in low modification cost and strong compatibility.

[0028] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0030] Figure 1This is a schematic diagram of the adhesive application control process applicable to springless suction nozzles according to an embodiment of the present invention. Detailed Implementation

[0031] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0032] The first aspect of this invention provides a method for controlling the application of adhesive on a springless suction nozzle, such as... Figure 1 As shown, it includes the following steps:

[0033] S1. Initialization phase: After receiving the material picking or placing instruction, the preset corresponding parameter set is called. The parameter set includes the movement speed of each segment, the safe suspension height, the real-time vacuum pressure change threshold, the real-time vacuum pressure change rate threshold and the real-time current change threshold, the pressure holding time, and the maximum allowable test stroke.

[0034] After receiving the material picking or placement command from the host computer, the main control module immediately calls the corresponding parameter set pre-stored in the picking and placement adapter unit. The vacuum detection module starts the zero-point calibration program to eliminate sensor drift interference, and then collects the current no-load vacuum pressure of the springless nozzle (the vacuum pressure when the nozzle is not in contact with any part), uses it as the judgment reference value P0, and stores it in the main control module. At the same time, each Z-axis servo motor drive module collects the average drive current I0 of the servo motor (e.g., 0.8A) as the no-load current reference value.

[0035] S2, First stage of motion (rapid approach stage): The springless nozzle is controlled by the Z-axis drive module to descend to the preset safe suspension height at the first speed;

[0036] The main control module sends commands to the Z-axis drive module through a multi-segment motion control unit, controlling the springless nozzle to rapidly descend to a preset safe suspension height H0 at a first speed V1. V1 is set to 500-800 mm / s to ensure motion efficiency. H0 is adaptively set based on the pick-up / placement scenario, eliminating the need for precise measurement of the actual dimensions of components, substrates, or tapes: In the pick-up scenario, H0 = nominal height of the tape surface + fixed safety margin (2-3 mm); in the place-up scenario, H0 = nominal height of the substrate surface + nominal thickness of the component + fixed safety margin (2-3 mm). This combination of nominal values ​​and fixed margins avoids reliance on actual size measurements.

[0037] S3, Second stage of motion (deceleration and probing stage): After reaching the safe suspension height based on feedback from the Z-axis drive module, switch to the second speed, drive the springless nozzle to decelerate and descend, and simultaneously start vacuum pressure sampling and Z-axis motor current sampling to obtain real-time vacuum pressure change, real-time vacuum pressure change rate and real-time current change.

[0038] Once the Z-axis drive module reports that the nozzle has reached the safe suspension height H0, the main control module switches the Z-axis drive module to the second speed V2, driving the springless nozzle to decelerate and descend. V2 is set to 1%~5% of V1; this extremely low speed prevents rigid impacts between the nozzle and components, strips, or substrates. Simultaneously, the main control module activates the vacuum pressure determination unit and the Z-axis servo motor current determination unit. The sampling frequencies for both types of signals are unified: 200Hz for vacuum pressure and 200Hz for current, with a sampling timestamp error ≤1ms, ensuring signal alignment in the time dimension. A moving average filtering algorithm is used to process the original signals, eliminating interference from system and environmental fluctuations, resulting in smoothed real-time vacuum pressure Pn and real-time drive current In.

[0039] S4. Determine whether the real-time vacuum pressure change, real-time vacuum pressure change rate and real-time current change meet the specified conditions respectively. If they meet the conditions, control the nozzle to stop descending.

[0040] This invention employs a multi-source fusion judgment mechanism: the logic of "any single condition satisfied + duration verification," specifically divided into three layers of judgment.

[0041] Layer 1: Single-condition determination of two types of signals (independent parallel detection)

[0042] Simultaneously detect the vacuum pressure signal and the Z-axis current signal. If either signal meets its own single condition, it is recorded as a "candidate valid".

[0043] Vacuum pressure single condition (Condition A): Two sub-conditions must be satisfied simultaneously.

[0044] Sub-condition 1: Real-time vacuum pressure change ΔP = |Pn-P0|≥ΔPth (e.g., ≥5kPa);

[0045] Subcondition 2: Vacuum pressure change rate Vp = ΔP / Δt ≥ Vpth (e.g., ≥ 3 kPa / ms);

[0046] If condition A is met, it is considered "true," representing "microscopic seal change confirms contact": After the nozzle contacts the component, the gap between the nozzle and the component is filled, the seal changes, and this causes fluctuations in vacuum pressure, which is microscopic evidence of contact. However, during the placement process, this change is very small, so condition B is needed to help improve the sensitivity of the judgment.

[0047] Z-axis current single condition (Condition B): Only one sub-condition needs to be satisfied.

[0048] Sub-condition: Real-time current change ΔI = In - I0 ≥ ΔIth (e.g., ≥ 0.3A);

[0049] If condition B is met, it is considered "true", representing "confirmation of contact by changes in macroscopic mechanical resistance": After the springless nozzle makes rigid contact with the substrate, the downward resistance increases sharply, the servo motor needs to output more torque to maintain low-speed movement, and the drive current increases. This is macroscopic mechanical evidence of contact.

[0050] Second layer: Logical OR decision

[0051] Judgment rule: Either condition A or condition B is true (i.e., either the vacuum pressure condition or the current condition is satisfied).

[0052] If at least one of A and B is true, proceed to "Duration Verification";

[0053] If both A and B are false, continue to test the downward trend without triggering a stop-pressure.

[0054] Third layer: Duration verification (to prevent transient interference)

[0055] Monitor the duration of the condition satisfied in the second-layer "logical OR result", requiring the continuous satisfaction time to be greater than or equal to the decision delay T (10-15ms). For example, with a sampling frequency of 200Hz, the decision delay T is 10ms, which corresponds to 2 sampling periods.

[0056] For example, if condition A is true in the first sampling period, but both A and B are false in the second sampling period, it is determined to be "instantaneous interference" and no voltage stop is triggered; if condition A is true for two consecutive sampling periods (10ms), or condition B is true for three consecutive sampling periods, it is determined to be "effective contact".

[0057] Final judgment output: When the "logic or result continues to meet the time T", the main control module immediately sends a pressure stop command to control the nozzle to stop descending; if the test stroke reaches the maximum allowable test stroke Hmax (e.g., 2mm) and still does not meet the requirement, an abnormal fallback (pressure stop + alarm + position recording) is triggered.

[0058] S5, Pressure Holding and Reset Stage: In the material picking scenario, after the pressure holding is completed, a vacuum state is maintained, and the Z-axis drive module controls the nozzle to lift up to complete the material picking action; in the material placement scenario, after the pressure holding is completed, the vacuum is released after a delay of 30-50ms, and then the Z-axis drive module controls the nozzle to lift up to complete the placement action.

[0059] After the nozzle stops moving, it enters the pressure holding stage. The pressure holding time is set by the pick-and-place adapter unit according to the scenario: during pick-up, the pressure holding time T1 = 50-80ms to ensure that the component is stably adsorbed on the nozzle end face; during placement, the pressure holding time T2 = 80-120ms to ensure that the component and solder paste are in full contact, improving placement stability. After the pressure holding is completed, in the pick-up scenario, the vacuum generation module maintains a vacuum state, and the Z-axis drive module controls the nozzle to lift to complete the pick-up action; in the placement scenario, the vacuum generation module releases the vacuum after a delay of 30-50ms (to avoid component displacement caused by sudden vacuum release), and then the Z-axis drive module controls the nozzle to lift to complete the placement action.

[0060] The pick-up and place-up adapter unit is key to achieving "the same logic for both picking up and placing". It has built-in independent pick-up parameter sets and place-up parameter sets, and the main control module can automatically switch according to the received instructions. The parameter differences are shown in the table below:

[0061] Table 1. Differences between Material Picking and Material Applying Parameter Sets

[0062]

[0063] By setting the aforementioned parameter differences and adopting a unified core control logic, the core control logic can accurately adapt to different scenarios of component picking and placement. Higher movement speeds and judgment thresholds are used during picking to improve picking efficiency; lower movement speeds and stricter stroke limits are used during placement to ensure placement accuracy. The adaptive switching of parameter sets covers the entire picking and placement process, solving the problems of component hard pulling during picking and damage caused by component overpressure during placement. For precision pin components, the yield rate is improved to over 95%. Simultaneously, no fine-tuning of stroke parameters is required; through multi-segment motion and multi-source fusion judgment logic, it can adapt to components and substrates of different thicknesses and materials. No re-adjustment is needed when switching production types; compared to existing software parameter adjustment solutions, debugging time is reduced by more than 80%, adapting to multi-variety, small-batch production.

[0064] A multi-source fusion judgment method is introduced, which combines vacuum pressure changes and Z-axis servo motor current changes. The vacuum pressure signal can accurately identify microscopic changes at the moment of contact, while the current signal can provide macroscopic mechanical confirmation. The combination of the two can significantly reduce the false judgment rate to below 0.1%, effectively avoiding component damage and placement misalignment, and improving the reliability of judgment.

[0065] Based on the same inventive concept, a second aspect of the present invention provides a labeling control system suitable for springless suction nozzles, comprising:

[0066] The first speed module is configured to control the springless nozzle to descend to a preset safe suspension height at a first speed via the Z-axis drive module;

[0067] The second speed module is configured to switch to the second speed after reaching the safe suspension height based on feedback from the Z-axis drive module, drive the springless nozzle to decelerate and descend, and simultaneously start vacuum pressure sampling and Z-axis motor current sampling to obtain real-time vacuum pressure change, real-time vacuum pressure change rate and real-time current change.

[0068] The stop judgment module is configured to determine whether the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change meet specified conditions respectively, and if they do, control the nozzle to stop descending.

[0069] Further, it is determined whether the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change each meet specified conditions. If they do, the nozzle is controlled to stop descending. Specifically:

[0070] If condition A or condition B is met, the duration of the corresponding condition is monitored. If the duration meets the set duration, the specified condition is determined to be met; otherwise, the nozzle continues to probe downwards. Condition A is that the real-time vacuum pressure change and the real-time vacuum pressure change rate are both greater than or equal to a specified threshold; condition B is that the real-time current change is greater than or equal to a preset threshold.

[0071] The system also includes the main body of the pick-and-place machine, a springless nozzle assembly (compatible with models 304A and 305A), a vacuum generation module, a vacuum detection module, and a main control module. All modules are connected via signal lines to achieve coordinated operation of motion control, vacuum status monitoring, and judgment.

[0072] Based on the same inventive concept, a third aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0073] In summary, the technical solution of the present invention has the following beneficial effects: (1) Integrated pick-up and placement adaptation logic: Through the built-in automatically switchable pick-up / placement parameter set, the same set of "multi-segment motion + multi-source fusion judgment" core logic can cover the entire pick-up and placement process, solving the industry pain point of the fragmented pick-up and placement process in the existing technology. (2) Vacuum pressure + Z-axis current multi-source fusion judgment mechanism: Breaking through the limitation of the single-dimensional judgment in the existing technology, combining the change of vacuum pressure and the change of Z-axis servo motor drive current, and using the filtering algorithm to eliminate interference, the robustness of component contact judgment is greatly improved, avoiding component damage or placement offset caused by misjudgment. (3) Low parameter dependence stroke control design: The safe suspension height is set by "nominal value + fixed safety margin", which does not require precise measurement of the actual size of components, substrates or strips, reduces the dependence on the parameter adjustment ability of operators, and improves the adaptability of multi-variety production. (4) Low-cost implementation without hardware modification: damage prevention control is achieved only through software logic optimization, reusing the existing Z-axis drive and vacuum detection module of the pick and place machine. There is no need to add hardware such as pressure sensors and buffer mechanisms, resulting in low modification cost and strong compatibility.

[0074] It should also be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0075] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the application of adhesive using a springless suction nozzle, characterized in that, Includes the following steps: The Z-axis drive module controls the springless nozzle to descend to a preset safe suspension height at a first speed. After the Z-axis drive module feedback indicates that the safe suspension height has been reached, the system switches to the second speed to drive the springless nozzle to decelerate and descend. At the same time, vacuum pressure sampling and Z-axis motor current sampling are initiated to obtain the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change. It is determined whether the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change each meet specified conditions. If they do, the nozzle is controlled to stop descending. Specifically: If condition A or condition B is met, the duration of the corresponding condition is monitored. If the duration meets the set duration, the specified condition is determined to be met; otherwise, the nozzle continues to probe downwards. Condition A is that the real-time vacuum pressure change and the real-time vacuum pressure change rate are both greater than or equal to a specified threshold; condition B is that the real-time current change is greater than or equal to a preset threshold. In the material handling scenario, the threshold for real-time vacuum pressure change is (20%-30%)×|P0|, the threshold for real-time vacuum pressure change rate is (4%-6%)×|P0| / ms, the threshold for real-time current change is 50%I0, and the maximum allowable test stroke is 3-5mm; in the material placement scenario, the threshold for real-time vacuum pressure change is (10%-15%)×|P0|, the threshold for real-time vacuum pressure change rate is (2%-3%)×|P0| / ms, the threshold for real-time current change is 30%I0, and the maximum allowable test stroke is 2-3mm; P0 is the judgment benchmark value, and I0 is the no-load current benchmark value.

2. The method according to claim 1, characterized in that, If the descent attempt reaches the maximum allowed descent distance, an anomaly is triggered, and the descent stops.

3. The method according to claim 1, characterized in that, In the material handling scenario, the first speed is 500-800 mm / s; in the material application scenario, the first speed is 300-500 mm / s; and the second speed is 1%-5% of the first speed.

4. The method according to claim 1, characterized in that, After the control nozzle stops descending, it enters the pressure holding stage. In the material picking scenario, after the pressure holding ends, the vacuum state is maintained, and the Z-axis drive module controls the nozzle to lift up to complete the material picking action. In the material bonding scenario, after the pressure holding ends, the vacuum is released after a delay of 30-50ms, and then the Z-axis drive module controls the nozzle to lift up to complete the material bonding action.

5. The method according to any one of claims 1-4, characterized in that, The method includes parameter initialization, including: after receiving a material picking or placing instruction, calling a preset corresponding parameter set, the parameter set including the movement speed of each segment, safe suspension height, real-time vacuum pressure change threshold, real-time vacuum pressure change rate threshold and real-time current change threshold, pressure holding time, and maximum allowable test stroke; Start the zero-point calibration program to eliminate sensor drift interference, and then collect the current no-load vacuum pressure of the springless nozzle as the judgment reference value P0; at the same time, collect the average drive current I0 of the drive motor as the no-load current reference value.

6. A labeling control system suitable for springless suction nozzles, characterized in that, include: The first speed module is configured to control the springless nozzle to descend to a preset safe suspension height at a first speed via the Z-axis drive module; The second speed module is configured to switch to the second speed after reaching the safe suspension height based on feedback from the Z-axis drive module, drive the springless nozzle to decelerate and descend, and simultaneously start vacuum pressure sampling and Z-axis motor current sampling to obtain real-time vacuum pressure change, real-time vacuum pressure change rate and real-time current change. The stop judgment module is configured to determine whether the real-time vacuum pressure change, real-time vacuum pressure change rate, and real-time current change meet specified conditions respectively. If they meet, the nozzle is controlled to stop descending. Specifically, if condition A or condition B is met, the duration of the corresponding condition is monitored. If the duration meets the set duration, the specified condition is determined to be met; otherwise, the nozzle continues to probe downwards. Condition A is that the real-time vacuum pressure change and the real-time vacuum pressure change rate are both greater than or equal to a specified threshold; condition B is that the real-time current change is greater than or equal to a preset threshold. In the material handling scenario, the threshold for real-time vacuum pressure change is (20%-30%)×|P0|, the threshold for real-time vacuum pressure change rate is (4%-6%)×|P0| / ms, the threshold for real-time current change is 50%I0, and the maximum allowable test stroke is 3-5mm; in the material placement scenario, the threshold for real-time vacuum pressure change is (10%-15%)×|P0|, the threshold for real-time vacuum pressure change rate is (2%-3%)×|P0| / ms, the threshold for real-time current change is 30%I0, and the maximum allowable test stroke is 2-3mm; P0 is the judgment benchmark value, and I0 is the no-load current benchmark value.

7. A computer-readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the method according to any one of claims 1-5.

Images