High-precision auxiliary material film pasting and assembling method based on multi-vision alignment

Abstract

The high-precision auxiliary material film pasting module comprises a base, first KK modules are fixedly connected to one side of the top of the base at equal intervals, and the output ends of the first KK modules are fixedly connected with auxiliary material carriers. The invention relates to the technical field of PSA (Pressure Swing Adsorption) equipment, and aims to accurately calibrate the suction positions of an auxiliary material carrier, a steel part carrier and a steel part material, shoot the calibrated positions by adopting the double-vision positioning logic of steel part reference hole positioning and auxiliary material head-tail edge grabbing positioning, and identify and calculate the image feature point information to obtain the PSA surface mounting equipment. Calibration data such as calibration positions and angle compensation of auxiliary materials and steel part materials are obtained, high-precision alignment is guaranteed to be achieved in the attaching process by accurately controlling suction movement and angle compensation of the steel part materials, attaching and fixing are conducted with stable pressure, the problem that the attaching quality is unstable due to alignment deviation is effectively solved, and the attaching quality is improved. And the overall quality and performance of the product are improved.

Description

Technical Field

[0001] This invention relates to the field of PSA mounting equipment technology, specifically a high-precision auxiliary material film mounting and assembly method based on multi-vision alignment. Background Technology

[0002] PSA (Pressure-Sensitive Adhesive) mounting is an automated bonding process activated by pressure. It is widely used in electronic assembly, communication equipment, automotive electronics and other fields. By utilizing the adhesiveness generated by pressure-sensitive adhesive, it achieves a fast, accurate and reliable connection between components and the substrate, which greatly simplifies the production process, reduces energy consumption and production costs. It is an efficient, environmentally friendly and highly adaptable surface mount technology. At the same time, it also has good flexibility and impact resistance, which can effectively protect components from mechanical stress damage and improve product reliability and service life.

[0003] However, when steel parts are bonded to different auxiliary materials (PSA, FOAM, etc.), the bonding accuracy between the auxiliary materials and steel parts is difficult to guarantee due to the complex surface characteristics of the steel parts. Deviations are prone to occur during the alignment and bonding process, resulting in unstable bonding quality between the steel parts and auxiliary materials, which in turn affects product quality and performance. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a high-precision auxiliary material bonding assembly method based on multi-vision alignment. This method solves the problem that when bonding steel parts with different auxiliary materials (PSA, FOAM, etc.), the bonding accuracy between the auxiliary materials and the steel parts is difficult to guarantee due to the complex surface characteristics of the steel parts. Deviations are prone to occur during the alignment bonding process, resulting in unstable bonding quality between the steel parts and the auxiliary materials, which in turn affects product quality and performance.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a high-precision auxiliary material laminating module based on multi-vision alignment, comprising a base, a first KK module fixedly connected at equal intervals to one side of the top of the base, an auxiliary material carrier fixedly connected to the output end of the first KK module, a second KK module fixedly connected to the top of the base away from the first KK module, and a steel component carrier fixedly connected to the output end of the second KK module. The high-precision auxiliary material laminating assembly method based on multi-vision alignment further includes a camera positioning component, which is disposed on the top of the base; a steel component assembly component is disposed above the steel component carrier; and a calibration component is connected to the auxiliary material carrier and the steel component carrier. The camera positioning component positions the steel component and the auxiliary material, the steel component assembly component picks up and moves the steel component, and attaches and fixes it to the auxiliary material on the top of the auxiliary material carrier. The calibration component is used to accurately calibrate the positions of the auxiliary material carrier and the steel component carrier.

[0006] Preferably, the camera positioning assembly includes a third KK module, which is fixedly connected to the top of the base and located above the first KK module and the second KK module; two first fixing seats are provided and fixedly connected to the output end of the third KK module; a linear motor is fixedly connected to the top of the base and located on the side where the first KK module and the second KK module are close to each other; a second fixing seat is fixedly connected to the output end of the linear motor; a shooting assembly is located on one side of the outer wall of the first fixing seat and the second fixing seat; a height adjustment assembly is located at one end of the first fixing seat and the second fixing seat; wherein, the third KK module and the first fixing seat drive the shooting assembly to move horizontally, and shooting and positioning is performed from below the sucked steel material; the linear motor and the second fixing seat drive another set of shooting assemblies to shoot and position above the auxiliary material carrier; and the height adjustment assembly adjusts the height position of the camera.

[0007] Preferably, the imaging component includes a coaxial light source, and multiple coaxial light sources are provided, which are respectively fixedly connected to the top of the outer wall of the first fixed base and the bottom of the outer wall of the second fixed base; the camera is fixedly connected to the end of the outer wall of the first fixed base and the second fixed base away from the coaxial light source; the lens is provided on the side of the camera close to the coaxial light source; wherein, the coaxial light source provides a uniform and stable lighting environment for image imaging, and the camera and lens capture images of specific locations of the steel material and auxiliary materials, and transmit the images to the control system for image processing and analysis.

[0008] Preferably, the height adjustment assembly includes a fixed plate, which is fixedly connected to the outer wall of the first and second fixed seats at the end away from the coaxial light source; an adjustment plate is fitted to the outer wall of the fixed plate, and the outer wall is fixedly connected to the camera; adjustment holes are equidistantly opened on both sides of the outer wall of the adjustment plate; an internal hex bolt is fitted to the inner wall of the adjustment hole and threaded to the fixed plate; an adjustment bolt is rotatably connected to the bottom of the fixed plate and threaded to the inner wall of the adjustment plate; wherein, the fixed plate and the adjustment plate are used to install and fix the camera on the first and second fixed seats, the adjustment plate is height-adjusted by the adjustment bolt, and locked and fixed by the internal hex bolt, so as to precisely adjust the height of the camera.

[0009] Preferably, the steel assembly component includes a fourth KK module, which is fixedly connected to the output end of the linear motor away from the second fixed base; a first connecting base is fixedly connected to the output end of the fourth KK module; a DD motor is fixedly connected to the bottom of the first connecting base; a second connecting base is fixedly connected to the bottom of the output end of the DD motor; two suction plates are provided, distributed on both sides below the second connecting base; a servo cylinder is fixedly connected to both sides of the second connecting base, and its output end is fixedly connected to the suction plate; a guide component is provided on the inner side of the second connecting base; and a reset component is provided on the top of the suction plate; wherein, the fourth KK module and the DD motor cause the suction plate to lift and rotate, and perform suction, angle compensation, and release operations on the steel material by moving horizontally on the linear motor; the servo cylinder lifts and moves the suction plate; and the guide component and the reset component guide and reset the suction plate.

[0010] Preferably, the guiding component includes a guide rail, with two sets of guide rails equidistantly fixedly connected to both sides of the inner wall of the second connecting seat; a slide block is slidably connected to the outer wall of the guide rail; a limiting block is fixedly connected to the bottom end of the outer wall of the guide rail and is also connected to the slide block; a connecting plate is fixedly connected to the top of the suction plate and is also fixedly connected to the outer wall of the slide block; wherein, the suction plate slides up and down along the guide rail via the slide block on the side of the connecting plate, and the limiting block at the bottom end of the guide rail restricts the sliding range of the slide block.

[0011] Preferably, the reset assembly includes a vertical rod, which is fixedly connected to both sides of the inner wall of the second connecting seat; a third connecting seat is fixedly connected to the top of the connecting plate on the side away from the slide, and slidably connected to the outer wall of the vertical rod; a compression spring is connected to the outer wall of the vertical rod at the bottom of the third connecting seat, and its two ends are pressed against the vertical rod and the third connecting seat; wherein, when the suction plate moves downward, the third connecting seat compresses the compression spring, and after the suction plate completes the suction or release operation, the compression spring pushes the third connecting seat upward through its own elastic restoring force, so that the suction plate is reset to the initial position.

[0012] Preferably, the calibration component includes a calibration plate, which is connected to the auxiliary material carrier, the steel component carrier, and the suction plate; a checkerboard pattern is set on the outer wall of the calibration plate; multiple QR codes are set and equidistantly distributed inside the checkerboard pattern; wherein, by adsorbing the calibration plate onto the auxiliary material carrier and the suction plate and performing image calibration, the checkerboard pattern and QR codes provide feature point references and calibration parameter data for image processing, enabling the control system to perform angle compensation alignment based on the visual calibration data.

[0013] This invention also provides a high-precision auxiliary material film assembly method based on multi-vision alignment, comprising the following steps: S1. Place two identical calibration plates on the calibration positions on the top of the auxiliary material carrier and the steel component carrier, respectively. The control system controls the output of the linear motor to move the second fixed seat above the first KK module and the steel component assembly above the steel component carrier. The fourth KK module is automatically controlled to move the first connecting seat downward. The suction plate uses vacuum adsorption to pick up the calibration plate on the top of the steel component carrier. Then, the fourth KK module controls the first connecting seat to rise, and the linear motor drives the steel component assembly to move horizontally above the third KK module. The fourth KK module then adjusts the calibration plate to the specified height. S2. After the second fixed base moves above the first KK module, the system controls the first KK module to move one end of the auxiliary material carrier below the second fixed base. The camera installed on the second fixed base takes a picture of one end of the calibration plate on the top of the auxiliary material carrier from top to bottom. Then, the system controls the first KK module to move the other end of the calibration plate below the camera to take a picture. The system also controls the first KK module to move the center position of the calibration plate towards the camera four times in 1mm increments. A picture is taken after each movement. After receiving the captured image, the control system performs image feature point recognition and calibration parameter calculation through checkerboard and QR code to generate calibration data of the movement position of the auxiliary material carrier and the position of the auxiliary material. S3. The calibration plate at the bottom of the suction plate moves to the top of the third KK module and is adjusted to the specified height. Then, the third KK module is controlled to drive the first fixed base and the camera to move directly below the calibration plate. The two cameras take pictures of both ends of the calibration plate at the bottom of the suction plate from bottom to top. The third KK module is controlled to move one of the cameras towards the center of the calibration plate four times in 1mm increments, taking a picture after each movement. After receiving the captured images, the control system uses the checkerboard and QR code to identify image feature points and calculate calibration parameters to generate calibration data for the movement position of the suction plate and the position of the steel part. Subsequently, the suction plate and the calibration plate are rotated positively and negatively by 1° / 2° and 180° sequentially using the DD motor, taking a picture after each rotation. After receiving the captured images, the control system uses the checkerboard and QR code to identify image feature points and calculate calibration parameters to obtain the offset of the rotation axis and the rotation angle parameters, thereby generating compensation data for the rotation angle of the steel part. S4. The control system generates precise alignment parameters between the steel material and the auxiliary material by using the calibration data of the auxiliary material carrier's moving position and the auxiliary material's adsorption position, and based on the calibration data of the suction plate's moving position and the steel part's adsorption position, as well as the compensation data of the steel part's rotation angle. S5. Remove the calibration sheet. After the flatness inspection and film removal operations are completed for the steel and auxiliary materials, they are transferred to the film-applying assembly station via the steel and auxiliary material carriers. The control system sends instructions to each execution component based on the precise alignment parameters, automatically controlling the first KK module to move the auxiliary material carrier to the designated position. The output of the linear motor and the fourth KK module are automatically controlled. After the position of the steel and auxiliary materials is reconfirmed by the imaging component, the suction plate picks up the steel material and moves it directly above the auxiliary material carrier. The DD motor is automatically controlled to apply pressure to the steel material. Angle compensation and alignment are performed, and then the fourth KK module is automatically controlled to move the suction plate and steel material downward to the specified height. The servo cylinder is controlled to push the suction plate downward, so that the steel material and auxiliary material are attached and fixed with a fixed pressure. The suction plate is then released from the steel material. The fourth KK module, DD motor, and servo cylinder are automatically controlled to reset. After the attached steel material is removed from the auxiliary material carrier by the subsequent transfer carrier, the first KK module and the second KK module move the auxiliary material carrier and the steel material carrier to the loading end, waiting for the next loading operation. Beneficial effects

[0014] This invention provides a high-precision auxiliary material bonding and assembly method based on multi-vision alignment. It offers the following advantages: This method precisely calibrates the positions of the auxiliary material carrier, the steel component carrier, and the steel material itself. It employs a dual-vision positioning logic, utilizing steel component reference hole positioning and auxiliary material end-to-end gripping edge positioning. The calibrated positions are captured in images, and the image feature points are precisely identified and calculated to obtain calibration data such as the calibrated positions and angle compensation of the auxiliary and steel materials. By precisely controlling the suction movement and angle compensation of the steel material, high-precision alignment between the steel and auxiliary materials is ensured during bonding. Stable pressure is used for bonding and fixing, effectively avoiding bonding quality instability caused by alignment deviations. This contributes to improving the overall quality and performance of the bonded product.

[0015] Through the coordination of a linear motor, the fourth KK module, the first connecting seat, the DD motor, the second connecting seat, the suction plate, and the servo cylinder, the suction plate can be moved horizontally and vertically by controlling the linear motor and the fourth KK module. The angle of the suction plate can be adjusted by controlling the DD motor, enabling angle compensation when attaching steel materials. When attaching and fixing steel materials and auxiliary materials, the suction plate is lowered to a suitable position, and then the servo cylinder is controlled to allow the suction plate to attach the steel materials and auxiliary materials under stable pressure. This ensures the stability and accuracy of the suction plate during movement, further improving the precision and stability of the attachment of steel materials and auxiliary materials, and ensuring the consistency of the mounting effect. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the appearance of the present invention; Figure 3 This is a schematic diagram showing the appearance of the first connecting seat, DD motor, and suction plate in this invention; Figure 4 This is a schematic diagram showing the appearance of the first fixed base, coaxial light source, and camera in this invention; Figure 5 This is a schematic diagram showing the appearance of the first KK module, auxiliary material carrier, and calibration component in this invention; Figure 6 This is a schematic diagram of the structure of the calibration chip, checkerboard pattern, and QR code in this invention; Figure 7 for Figure 3 A magnified view of a portion of region A in the middle.

[0017] Explanation of reference numerals in the attached drawings: 1. Base; 2. First KK module; 3. Auxiliary material carrier; 4. Second KK module; 5. Steel component carrier; 6. Camera positioning assembly; 7. Steel component assembly; 8. Calibration assembly; 61. Third KK module; 62. First fixed base; 63. Linear motor; 64. Second fixed base; 65. Shooting assembly; 66. Height adjustment assembly; 651. Coaxial light source; 652. Camera; 653. Lens; 661. Fixing plate; 662. Adjustment plate; 663. Adjustment hole; 664, Socket head cap screw; 665, Adjustment bolt; 71, Fourth KK module; 72, First connecting seat; 73, DD motor; 74, Second connecting seat; 75, Suction plate; 76, Servo cylinder; 77, Guide assembly; 78, Reset assembly; 771, Guide rail; 772, Slide; 773, Limit block; 774, Connecting plate; 781, Vertical rod; 782, Third connecting seat; 783, Compression spring; 81, Calibration plate; 82, Checkerboard pattern; 83, QR code. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] When steel parts are bonded to different auxiliary materials (PSA, FOAM, etc.), the bonding accuracy between the auxiliary materials and steel parts is difficult to guarantee due to the complex surface characteristics of the steel parts. Deviations are prone to occur during the alignment and bonding process, resulting in unstable bonding quality between the steel parts and auxiliary materials, which in turn affects product quality and performance.

[0020] In view of this, the present invention provides a high-precision auxiliary material lamination assembly method based on multi-vision alignment. Through the cooperation of a base, a first KK module, an auxiliary material carrier, a second KK module, a steel component carrier, a camera positioning component, a steel component assembly component, and a calibration component, the method precisely calibrates the suction positions of the auxiliary material carrier, the steel component carrier, and the steel material. It employs a dual-vision positioning logic of steel component reference hole positioning and auxiliary material end-to-end gripping edge positioning to capture images of the calibration positions. By accurately identifying and calculating the image feature point information, calibration data such as the calibration positions and angle compensation of the auxiliary material and the steel component are obtained. Furthermore, by precisely controlling the suction movement and angle compensation of the steel component, high-precision alignment of the steel component and the auxiliary material is ensured during the lamination process. Stable pressure is used for attachment and fixation, effectively avoiding unstable lamination quality caused by alignment deviations and improving the overall quality and performance of the product.

[0021] Those skilled in the art can connect the components in this case sequentially. The specific connection and operation sequence should refer to the working principle described below. The detailed connection methods are well-known technologies in the field. The working principle and process are mainly described below.

[0022] Depend on Figure 1-7 It is known that a high-precision auxiliary material laminating module based on multi-vision alignment includes a base 1, a first KK module 2 is fixedly connected at equal intervals to one side of the top of the base 1, an auxiliary material carrier 3 is fixedly connected to the output end of the first KK module 2, a second KK module 4 is fixedly connected to the top of the base 1 away from the first KK module 2, and a steel component carrier 5 is fixedly connected to the output end of the second KK module 4. The high-precision auxiliary material laminating assembly method based on multi-vision alignment also includes a camera positioning component 6, a steel component assembly component 7, and a calibration component 8. The camera positioning component 6 is disposed on the top of the base 1; the steel component assembly component 7 is disposed above the steel component carrier 5; and the calibration component 8 is connected to the auxiliary material carrier 3 and the steel component carrier 5. The camera positioning component 6 positions the steel component material and the auxiliary material, the steel component assembly component 7 picks up and moves the steel component material and attaches and fixes it to the auxiliary material on the top of the auxiliary material carrier 3, and the calibration component 8 is used to accurately calibrate the positions of the auxiliary material carrier 3 and the steel component carrier 5. In the specific implementation process, it is worth noting that the base 1 provides a supporting foundation for the entire equipment. Through the cooperation of the first KK module 2, auxiliary material carrier 3, second KK module 4, and steel component carrier 5, both auxiliary material carrier 3 and steel component carrier 5 use vacuum adsorption to adsorb and fix the auxiliary material and steel component materials. After the auxiliary material and steel component materials have completed processes such as film removal and flatness inspection, the first KK module 2 and second KK module 4 respectively move the auxiliary material and steel component materials to the film-applying assembly station, providing a foundation for subsequent precise alignment and bonding operations. This is achieved through the cooperation of the first KK module 2, auxiliary material carrier 3, second KK module 4, steel component carrier 5, and camera. The positioning component 6 and the calibration component 8 work together to precisely calibrate the positions of the auxiliary material carrier 3, the steel component carrier 5, and the material being picked up. The camera positioning component 6 captures images of the calibrated positions of the auxiliary material carrier 3 and the steel component carrier 5. By accurately identifying and calculating the image feature points, calibration data such as the calibrated positions and angle compensations of the auxiliary material and the steel component are obtained. This provides precise data support for the subsequent accurate alignment and bonding operations of the auxiliary material and the steel component. Through the coordination of the first KK module 2, the auxiliary material carrier 3, the second KK module 4, the steel component carrier 5, and the steel component assembly component 7, based on the auxiliary material and the steel component... The calibration data, such as the calibration position and angle compensation, are used to precisely control the movement and angle adjustment of the steel material by the steel assembly component 7. This ensures high-precision alignment of the steel material and auxiliary materials during the bonding process, and fixes them with fixed pressure. This effectively avoids unstable bonding quality caused by alignment deviations, improving the overall quality and performance of the product. Through the cooperation of the base 1, the first KK module 2, the auxiliary material carrier 3, the second KK module 4, the steel material carrier 5, the camera positioning component 6, the steel assembly component 7, and the calibration component 8, the precise calibration of the suction positions of the auxiliary material carrier 3, the steel material carrier 5, and the steel material is achieved. The system employs a dual-vision positioning logic, utilizing both steel reference hole positioning and auxiliary material end-to-end gripping edge positioning. It captures images of the calibration positions and precisely identifies and calculates image feature points to obtain calibration data such as the calibration positions and angle compensation of the auxiliary and steel materials. By precisely controlling the suction movement and angle compensation of the steel material, it ensures high-precision alignment between the steel and auxiliary materials during the bonding process. Stable pressure is used for bonding and fixing, effectively avoiding unstable bonding quality due to alignment deviations and improving the overall quality and performance of the product. The specific models of the first KK module 2 and the second KK module 4 are not limited; they only need to meet the usage requirements. Furthermore, the camera positioning assembly 6 includes a third KK module 61, a first mounting base 62, a linear motor 63, a second mounting base 64, a shooting assembly 65, and a height adjustment assembly 66. The third KK module 61 is fixedly connected to the top of the base 1, located above the first KK module 2 and the second KK module 4. Two first mounting bases 62 are provided and fixedly connected to the output end of the third KK module 61. The linear motor 63 is fixedly connected to the top of the base 1, located on the side where the first KK module 2 and the second KK module 4 are close to each other. The second mounting base 64 is fixedly connected to... The output end of the linear motor 63; the shooting component 65 is disposed on one side of the outer wall of the first fixed base 62 and the second fixed base 64; the height adjustment component 66 is disposed at one end of the first fixed base 62 and the second fixed base 64; wherein, the third KK module 61 and the first fixed base 62 drive the shooting component 65 to move in the horizontal direction, and shoot and position it from below the steel material being sucked up; the linear motor 63 and the second fixed base 64 drive another set of shooting components 65 to shoot and position it above the auxiliary material carrier 3; the height adjustment component 66 adjusts the height position of the camera; In the specific implementation process, it is worth noting that the shooting component 65 located above the third KK module 61 takes pictures from bottom to top below the steel material being picked up. By identifying the reference hole position of the steel material, the picking position of the steel material is determined, avoiding subsequent inaccurate alignment problems caused by deviations in the picking position of the steel material. The shooting component 65 located above the linear motor 63 takes pictures of the auxiliary material from top to bottom above the auxiliary material carrier 3. By identifying the first and last gripping positions of the auxiliary material, the adsorption position of the auxiliary material is determined, avoiding subsequent inaccurate alignment problems caused by deviations in the adsorption position of the auxiliary material. This provides a reliable positional data basis for the accurate attachment of the steel material and the auxiliary material. The height adjustment component 66 can adjust and fix the height position of the camera to ensure the clarity and accuracy of the captured image. The specific models of the third KK module 61 and the linear motor 63 are not limited, as long as they meet the usage requirements. Furthermore, the imaging component 65 includes a coaxial light source 651, a camera 652, and a lens 653. Multiple coaxial light sources 651 are provided and are respectively fixedly connected to the top of the outer wall of the first fixing base 62 and the bottom of the outer wall of the second fixing base 64. The camera 652 is fixedly connected to the end of the outer wall of the first fixing base 62 and the second fixing base 64 away from the coaxial light source 651. The lens 653 is disposed on the side of the camera 652 close to the coaxial light source 651. The coaxial light source 651 provides a uniform and stable lighting environment for image imaging. The camera 652 and the lens 653 capture images of specific locations of the steel material and auxiliary materials and transmit them to the control system for image processing and analysis. In the specific implementation process, it is worth noting that through the cooperation between the coaxial light source 651, camera 652, and lens 653, the uniform and stable light emitted by the coaxial light source 651 illuminates the steel and auxiliary materials, providing good lighting conditions for the camera 652 and lens 653 to capture images, ensuring that the captured images are clear, accurate, and free from interference factors such as shadows or reflections. The camera 652 and lens 653 capture images of the steel and auxiliary materials, and the captured image information is transmitted to the control system in real time so that the control system can process and analyze the images. The specific models of the coaxial light source 651, camera 652, and lens 653 are not limited, as long as they meet the usage requirements. Furthermore, the height adjustment assembly 66 includes a fixed plate 661, an adjusting plate 662, an adjusting hole 663, an internal hex bolt 664, and an adjusting bolt 665. The fixed plate 661 is fixedly connected to the outer wall of the first fixed seat 62 and the second fixed seat 64 at the end away from the coaxial light source 651. The adjusting plate 662 is fitted to the outer wall of the fixed plate 661, and the outer wall is fixedly connected to the camera 652. The adjusting holes 663 are equidistantly opened on both sides of the outer wall of the adjusting plate 662. The internal hex bolt 664 is fitted to the inner wall of the adjusting hole 663 and threaded to the fixed plate 661. The adjusting bolt 665 is rotatably connected to the bottom of the fixed plate 661 and threaded to the inner wall of the adjusting plate 662. The fixed plate 661 and the adjusting plate 662 are used to install and fix the camera 652 on the first fixed seat 62 and the second fixed seat 64. The adjusting plate 662 is height-adjusted by the adjusting bolt 665 and locked by the internal hex bolt 664, so as to precisely adjust the height of the camera 652. In the specific implementation process, it is worth noting that the camera 652 is connected to the fixed base through the fixed plate 661 and the adjusting plate 662. By rotating the adjusting bolt 665, the height of the adjusting plate 662 on the fixed plate 661 can be adjusted. By inserting the hexagonal socket bolt 664 into the adjusting hole 663 and tightening it with the threaded hole of the fixed plate 661, the height of the camera 652 can be flexibly adjusted and fixed. Furthermore, the steel assembly component 7 includes a fourth KK module 71, a first connecting seat 72, a DD motor 73, a second connecting seat 74, a suction plate 75, a servo cylinder 76, a guide assembly 77, and a reset assembly 78. The fourth KK module 71 is fixedly connected to the output end of the linear motor 63 away from the second fixed seat 64; the first connecting seat 72 is fixedly connected to the output end of the fourth KK module 71; the DD motor 73 is fixedly connected to the bottom of the first connecting seat 72; the second connecting seat 74 is fixedly connected to the bottom of the output end of the DD motor 73; two suction plates 75 are provided, distributed on the second connecting seat 76. The lower two sides of 4; the servo cylinder 76 is fixedly connected to both sides of the second connecting seat 74, and the output end is fixedly connected to the suction plate 75; the guide component 77 is set inside the second connecting seat 74; the reset component 78 is set on the top of the suction plate 75; wherein, the fourth KK module 71 and the DD motor 73 make the suction plate 75 lift and rotate, and perform suction, angle compensation and release operations on the steel material by moving horizontally on the linear motor 63, the servo cylinder 76 lifts and moves the suction plate 75, and the guide component 77 and the reset component 78 move, guide and reset the suction plate 75; In the specific implementation process, it is worth noting that the suction plate 75 uses vacuum adsorption to pick up and fix the steel material, ensuring that the steel material will not fall off during movement and angle adjustment. Through the cooperation between the fourth KK module 71, the first connecting seat 72, the DD motor 73, the second connecting seat 74, the suction plate 75, and the servo cylinder 76, and by controlling the linear motor 63 and the fourth KK module 71, the suction plate 75 can be moved in the horizontal and vertical directions, thereby realizing the suction and release operation of the steel material. By controlling the DD motor 73, the angle of the suction plate 75 can be adjusted to facilitate the attachment of the steel material. Angle compensation is used when attaching and fixing steel parts and auxiliary materials. By lowering the suction plate 75 to a suitable position, the servo cylinder 76 is controlled to make the suction plate 75 move the steel parts further downward. Under stable pressure, the steel parts and auxiliary materials are tightly attached to each other, ensuring the quality of the attachment. The guide component 77 plays the role of precisely guiding the movement of the suction plate 75, ensuring the stability and accuracy of the suction plate 75 during the movement. The reset component 78 resets the suction plate 75 after the steel parts and auxiliary materials are attached and fixed. The specific models of the fourth KK module 71, DD motor 73 and servo cylinder 76 are not limited, as long as they meet the usage requirements. Furthermore, the guide assembly 77 includes a guide rail 771, a slide 772, a limiting block 773, and a connecting plate 774. Two sets of guide rails 771 are provided and are fixedly connected at equal intervals to both sides of the inner wall of the second connecting seat 74. The slide 772 is slidably connected to the outer wall of the guide rail 771. The limiting block 773 is fixedly connected to the bottom end of the outer wall of the guide rail 771 and is also connected to the slide 772. The connecting plate 774 is fixedly connected to the top of the suction plate 75 and is also fixedly connected to the outer wall of the slide 772. The suction plate 75 slides up and down along the guide rail 771 via the slide 772 on the side of the connecting plate 774, and the limiting block 773 restricts the sliding range of the slide 772 at the bottom end of the guide rail 771. In the specific implementation process, it is worth noting that through the cooperation between the second connecting seat 74, suction plate 75, guide rail 771, slide 772, limiting block 773 and connecting plate 774, when the suction plate 75 needs to be lifted and moved, the connecting plate 774 slides along the guide rail 771 through the slide 772, ensuring the straightness and stability of the suction plate 75 movement, improving the accuracy of steel material suction and attachment process, and limiting the sliding range of the slide 772 to prevent the slide 772 from slipping off the guide rail 771, ensuring the safety and reliability of the entire guide assembly 77. Furthermore, the reset assembly 78 includes a vertical rod 781, a third connecting seat 782, and a compression spring 783. The vertical rod 781 is fixedly connected to both sides of the inner wall of the second connecting seat 74; the third connecting seat 782 is fixedly connected to the top of the connecting plate 774 on the side away from the slide 772, and is slidably connected to the outer wall of the vertical rod 781; the compression spring 783 is connected to the outer wall of the vertical rod 781 at the bottom of the third connecting seat 782, and its two ends are pressed against the vertical rod 781 and the third connecting seat 782; wherein, when the suction plate 75 moves downward, the third connecting seat 782 compresses the compression spring 783; after the suction plate 75 completes the suction or release operation, the compression spring 783 pushes the third connecting seat 782 upward through its own elastic restoring force, so that the suction plate 75 is reset to the initial position; In the specific implementation process, it is worth noting that, through the cooperation between the second connecting seat 74, the connecting plate 774, the vertical rod 781, the third connecting seat 782 and the compression spring 783, when the suction plate 75 moves downward under the action of the servo cylinder 76 to perform the operation of picking up or attaching steel materials, the connecting plate 774 drives the third connecting seat 782 to slide down synchronously along the vertical rod 781, compressing the compression spring 783. When the servo cylinder 76 stops applying force or completes the attachment action, the compression spring 783 releases the stored elastic potential energy, and pushes the third connecting seat 782 upward to drive the connecting plate 774 to reset, thereby realizing the automatic return of the suction plate 75. Furthermore, the calibration component 8 includes a calibration plate 81, a checkerboard pattern 82, and a QR code 83. The calibration plate 81 is connected to the auxiliary material carrier 3, the steel component carrier 5, and the suction plate 75. The checkerboard pattern 82 is disposed on the outer wall of the calibration plate 81. Multiple QR codes 83 are disposed and equidistantly distributed inside the checkerboard pattern 82. The calibration plate 81 is adsorbed onto the auxiliary material carrier 3 and the suction plate 75 for image calibration. The checkerboard pattern 82 and the QR code 83 provide feature point references and calibration parameter data for image processing, enabling the control system to perform angle compensation and alignment based on the visual calibration data. In the specific implementation process, it is worth noting that the calibration plate 81 uses a checkerboard grid 82 with a single cell size of 0.5*0.5mm and a QR code 83 as calibration references, providing rich feature points for the image processing algorithm. This enables more accurate calibration data to be obtained when performing position calibration and angle compensation, providing solid data support for the high-precision alignment of steel parts and auxiliary materials. This ensures that the two achieve extremely high positional accuracy and angle matching during the bonding process, thereby further improving the bonding accuracy between steel parts and auxiliary materials.

[0023] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision auxiliary material film pasting module based on multi-vision alignment, comprising a base (1), characterized in that: The top side of the base (1) is equidistantly fixedly connected with a first KK module (2), the output end of the first KK module (2) is fixedly connected with an auxiliary material carrier (3), the top side of the base (1) away from the first KK module (2) is fixedly connected with a second KK module (4), the output end of the second KK module (4) is fixedly connected with a steel piece carrier (5), the high-precision auxiliary material film pasting module based on multi-vision alignment further comprises: a camera positioning assembly (6) arranged on the top of the base (1); a steel piece assembling assembly (7) arranged above the steel piece carrier (5); a calibration assembly (8) connected with the auxiliary material carrier (3) and the steel piece carrier (5); Wherein, the camera positioning assembly (6) positions the position of the steel material and the auxiliary material, the steel piece assembling assembly (7) moves the steel material and fixes the auxiliary material on the top of the auxiliary material carrier (3), the calibration assembly (8) is used for accurately calibrating the position of the auxiliary material carrier (3) and the steel piece carrier (5).

2. The high-precision auxiliary material film pasting module based on multi-vision alignment according to claim 1, characterized in that: The camera positioning assembly (6) comprises: a third KK module (61) fixedly connected to the top of the base (1) above the first KK module (2) and the second KK module (4); two first fixed seats (62) fixedly connected to the output end of the third KK module (61); a linear motor (63) fixedly connected to the top of the base (1) on the side where the first KK module (2) and the second KK module (4) are close to each other; a second fixed seat (64) fixedly connected to the output end of the linear motor (63); a shooting assembly (65) arranged on one side of the outer wall of the first fixed seat (62) and the second fixed seat (64); a height adjusting assembly (66) arranged at one end of the first fixed seat (62) and the second fixed seat (64); Wherein, the third KK module (61) and the first fixed seat (62) drive the shooting assembly (65) to move in the horizontal direction and shoot and position the steel material below, the linear motor (63) and the second fixed seat (64) drive another group of shooting assemblies (65) to shoot and position above the auxiliary material carrier (3), and the height adjusting assembly (66) adjusts the height position of the camera.

3. The high-precision auxiliary material film pasting module based on multi-vision alignment according to claim 2, characterized in that: The shooting assembly (65) comprises: a plurality of coaxial light sources (651) fixedly connected to the top of the outer wall of the first fixed seat (62) and the bottom of the outer wall of the second fixed seat (64); a camera (652) fixedly connected to one end of the outer wall of the first fixed seat (62) and the second fixed seat (64) away from the coaxial light source (651); a lens (653) arranged on one side of the camera (652) close to the coaxial light source (651); Wherein, the coaxial light source (651) provides a uniform and stable light environment for image shooting, and the camera (652) and the lens (653) shoot the specific position of the steel material and the auxiliary material and transmit to the control system for image processing and analysis.

4. The high-precision auxiliary material film pasting module based on multi-vision alignment according to claim 3, characterized in that: The height adjusting assembly (66) comprises a fixed plate (661) fixedly connected to the outer wall of the first fixing seat (62) and the second fixing seat (64) away from the coaxial light source (651), an adjusting plate (662) cooperatively connected to the outer wall of the fixed plate (661) and fixedly connected to the camera (652), an adjusting hole (663) equidistantly provided on the outer wall of the adjusting plate (662), an inner hexagonal bolt (664) cooperatively connected to the inner wall of the adjusting hole (663) and threadedly connected to the fixed plate (661), and an adjusting bolt (665) rotatably connected to the bottom of the fixed plate (661) and threadedly connected to the inner wall of the adjusting plate (662). The fixed plate (661) and the adjusting plate (662) are mounted and fixed to the camera (652) on the first fixing seat (62) and the second fixing seat (64), the height of the camera (652) is adjusted by the adjusting bolt (665) and fixedly locked by the inner hexagonal bolt (664).

5. The high-precision auxiliary material film pasting module based on multi-vision alignment according to claim 4, characterized in that: The steel piece assembling assembly (7) comprises a fourth KK module (71) fixedly connected to the output end of the linear motor (63) away from the second fixing seat (64), a first connecting seat (72) fixedly connected to the output end of the fourth KK module (71), a DD motor (73) fixedly connected to the bottom of the first connecting seat (72), a second connecting seat (74) fixedly connected to the output end bottom of the DD motor (73), two suction plates (75) arranged below the two sides of the second connecting seat (74), a servo cylinder (76) fixedly connected to the two sides of the second connecting seat (74) and having an output end fixedly connected to the suction plate (75), a guide assembly (77) arranged inside the second connecting seat (74), and a reset assembly (78) arranged on the top of the suction plate (75). The fourth KK module (71) and the DD motor (73) make the suction plate (75) lift and rotate, and the suction plate (75) moves, angle compensation and release operation are performed on the steel piece material by moving horizontally on the linear motor (63), the servo cylinder (76) lifts and moves the suction plate (75), and the guide assembly (77) and the reset assembly (78) move and reset the suction plate (75).

6. The high-precision auxiliary material film pasting module based on multi-vision alignment according to claim 5, characterized in that: The guide assembly (77) comprises two guide rails (771) equidistantly fixedly connected to the inner walls of the two sides of the second connecting seat (74), a sliding seat (772) slidably connected to the outer wall of the guide rail (771), a limiting block (773) fixedly connected to the bottom end of the outer wall of the guide rail (771) and cooperatively connected to the sliding seat (772), and a connecting plate (774) fixedly connected to the top of the suction plate (75) and fixedly connected to the outer wall of the sliding seat (772). The suction plate (75) slides up and down along the guide rail (771) through the sliding seat (772) on the side of the connecting plate (774), and the limiting block (773) limits the sliding range of the sliding seat (772) at the bottom end of the guide rail (771).

7. The high-precision auxiliary material film pasting module based on multi-vision alignment according to claim 6, characterized in that: The reset assembly (78) includes: a vertical rod (781), which is fixedly connected to both sides of the inner wall of the second connecting seat (74); a third connecting seat (782), which is fixedly connected to the top of the side of the connecting plate (774) away from the slide (772) and slidably connected to the outer wall of the vertical rod (781); and a compression spring (783), which is connected to the outer wall of the vertical rod (781) at the bottom of the third connecting seat (782) and has both ends pressed against the vertical rod (781) and the third connecting seat (782). When the suction plate (75) moves downward, the third connecting seat (782) compresses the compression spring (783). After the suction plate (75) completes the suction or release operation, the compression spring (783) pushes the third connecting seat (782) upward through its own elastic restoring force, so that the suction plate (75) returns to the initial position.

8. The high-precision auxiliary material film pasting module based on multi-vision alignment according to claim 7, characterized in that: The calibration component (8) includes: a calibration plate (81), which is connected to the auxiliary material carrier (3), the steel component carrier (5) and the suction plate (75); a checkerboard grid (82), which is set on the outer wall of the calibration plate (81); and multiple QR codes (83), which are equidistantly distributed inside the checkerboard grid (82). The calibration plate (81) is adsorbed onto the auxiliary material carrier (3) and suction plate (75) and is used for shooting calibration. The checkerboard (82) and QR code (83) provide feature point reference and calibration parameter data for image processing, so that the control system can perform angle compensation and alignment based on the visual calibration data.

9. A high-precision auxiliary material film pasting assembly method based on multi-vision alignment, which is applied to the high-precision auxiliary material film pasting module based on multi-vision alignment as claimed in claim 8, characterized in that: Includes the following steps: S1. Place two calibration plates (81) of the same specifications on the calibration positions on the top of the auxiliary material carrier (3) and the steel component carrier (5), respectively. The control system controls the output end of the linear motor (63) to move the second fixed seat (64) above the first KK module (2) and move the steel component assembly (7) above the steel component carrier (5). The control system automatically controls the fourth KK module (71) to move the first connecting seat (72) downward. The suction plate (75) uses vacuum adsorption to pick up the calibration plate (81) on the top of the steel component carrier (5). Then the fourth KK module (71) controls the first connecting seat (72) to rise. The linear motor (63) drives the steel component assembly (7) to move horizontally above the third KK module (61) and adjusts the calibration plate (81) to the specified height through the fourth KK module (71). S2. After the second fixed seat (64) moves above the first KK module (2), the system controls the first KK module (2) to move one end of the auxiliary material carrier (3) to the bottom of the second fixed seat (64). The camera (652) installed on the second fixed seat (64) takes a picture of one end of the calibration plate (81) on the top of the auxiliary material carrier (3) from top to bottom. Then, the system controls the first KK module (2) to move the other end of the calibration plate (81) to the bottom of the camera (652) for taking a picture. The system also controls the first KK module (2) to move the center position of the calibration plate (81) towards the camera (652) four times in units of 1mm. After each movement, a picture is taken. After the system receives the captured image, it uses the checkerboard (82) and QR code (83) to identify image feature points and calculate calibration parameters to generate calibration data of the movement position of the auxiliary material carrier (3) and the auxiliary material position. S3. The calibration plate (81) at the bottom of the suction plate (75) is moved above the third KK module (61) and adjusted to the specified height. Then, the third KK module (61) is controlled to drive the first fixed base (62) and the camera (652) to move directly below the calibration plate (81). The two cameras (652) take pictures of both ends of the calibration plate (81) at the bottom of the suction plate (75) from bottom to top. The third KK module (61) is controlled to move one of the cameras (652) towards the center of the calibration plate (81) four times in 1mm increments. After each movement, a picture is taken. The control system receives the picture. After capturing the image, the image feature points are identified and calibration parameters are calculated using the checkerboard (82) and QR code (83) to generate calibration data for the moving position of the suction plate (75) and the position of the steel part. Then, the suction plate (75) and calibration plate (81) are rotated 1° / 2° and 180° in sequence by the DD motor (73), and the image is captured after each rotation. After receiving the captured image, the control system identifies the image feature points and calculates calibration parameters using the checkerboard (82) and QR code (83) to obtain the offset of the rotation axis and the rotation angle parameters, and then generates compensation data for the rotation angle of the steel part material. S4. The control system generates precise alignment parameters between the steel material and the auxiliary material by using the calibration data of the moving position of the auxiliary material carrier (3) and the adsorption position of the auxiliary material, and based on the calibration data of the moving position of the suction plate (75) and the adsorption position of the steel part, as well as the compensation data of the rotation angle of the steel part material. S5. Take out the calibration sheet (81). After the flatness detection and film removal operation of the steel material and auxiliary material are completed, they are transferred to the film-applying assembly station through the steel material carrier (5) and the auxiliary material carrier (3). The control system sends instructions to each execution component according to the precise alignment parameters. The first KK module (2) is automatically controlled to move the auxiliary material carrier (3) to the designated position. The output end of the linear motor (63) and the fourth KK module (71) are automatically controlled. After the position of the steel material and auxiliary material is reconfirmed by the shooting component (65), the suction plate (75) picks up the steel material and moves it to the top of the auxiliary material carrier (3). The DD motor (73) is automatically controlled to angle the steel material. After compensation and alignment, the fourth KK module (71) is automatically controlled to move the suction plate (75) and the steel material downward to the specified height. The servo cylinder (76) is controlled to push the suction plate (75) downward so that the steel material and the auxiliary material are attached and fixed with a fixed pressure. The suction plate (75) is released from adsorption of the steel material. The fourth KK module (71), DD motor (73), and servo cylinder (76) are automatically controlled to reset. After the attached steel material is removed from the auxiliary material carrier (3) by the transfer carrier of the subsequent process, the first KK module (2) and the second KK module (4) move the auxiliary material carrier (3) and the steel material carrier (5) to the loading end to wait for the next loading operation.

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