High-precision turret patching equipment and control method thereof, and storage medium

Abstract

The application discloses a high-precision turret patching device and a control method and a storage medium thereof, and comprises the following steps: controlling a rotating shaft to drive a rotating disc to move a material taking module to a first station in sequence, and controlling the material taking module to suck a sheet-shaped workpiece at the first station, correcting a position of a suction nozzle according to a posture of the sheet-shaped workpiece at the first station, and adjusting a material taking reference position of the suction nozzle through a multi-degree-of-freedom motion platform; after the material taking module sucks the sheet-shaped workpiece, controlling the rotating shaft to drive the rotating disc to rotate so that the sheet-shaped workpiece passes through a second station and a third station, and performing rotating disc angle compensation processing according to a posture of the sheet-shaped workpiece when passing through the second station and the third station to obtain a first compensation parameter; based on the corrected material taking module and the first compensation parameter, controlling the rotating shaft to drive the rotating disc to rotate, and controlling the material taking module to suck the sheet-shaped workpiece at the first station and place the sheet-shaped workpiece on a mounting support of the third station. The application can improve the accuracy of sheet-shaped workpiece patching positioning.

Description

Technical Field

[0001] This application relates to the field of automated processing technology, and in particular to a high-precision turret patching device and its control method and storage medium. Background Technology

[0002] Turret mounting equipment is the core equipment for high-precision mounting of optical sheet-like workpieces. It mainly uses a turret to drive the material handling mechanism to rotate in a cycle, completing the material handling, transfer, positioning and mounting of the workpiece. It is a key automated equipment in the semiconductor precision packaging process.

[0003] Existing turret placement equipment can only adjust the position of a single station during operation. It cannot adapt and correct the reference position of the suction nozzle at the pick-up end, nor can it effectively compensate for the deviation of the turntable center during workpiece transfer. The mechanical error generated by the turret operation will be directly transmitted to the placement station, causing the posture and position of the sheet workpiece to shift, ultimately leading to placement positioning deviation and failing to meet the requirements of high-precision placement. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a high-precision turret patch device, its control method, and a storage medium, which can improve the accuracy of patch positioning of sheet-like workpieces.

[0005] In a first aspect, this application provides a control method for a high-precision turret patching device, which is applied to the high-precision turret patching device, including a rotating shaft, a turntable, a first station, a second station and a third station arranged sequentially along the rotating shaft at a first angle in the circumferential direction, and a plurality of material picking modules uniformly arranged in the circumferential direction at the edge of the turntable, wherein the material picking module includes a multi-degree-of-freedom motion platform and a suction nozzle; The control method includes: The rotating shaft is controlled to drive the turntable to move the material picking module to the first station in sequence, and the material picking module is controlled to pick up the sheet workpiece at the first station. The nozzle position is corrected according to the posture of the sheet workpiece at the first station, so as to adjust the picking reference position of the nozzle at the first station through the multi-degree-of-freedom motion platform. After the material picking module picks up the sheet-shaped workpiece from the first station, it controls the rotating shaft to drive the turntable to rotate so that the sheet-shaped workpiece passes through the second station and the third station. The turntable angle is compensated according to the posture of the sheet-shaped workpiece when passing through the second station and the third station to obtain the first compensation parameter. Based on the material picking module after completing the material picking reference position correction and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate and the material picking module picks up the sheet-like workpiece at the first station and places it on the mounting bracket at the third station.

[0006] The control method for the high-precision turret placement equipment according to the first aspect of this application has at least the following beneficial effects: By controlling the rotating shaft to drive the turntable, the material picking module is moved to the first station to pick up the sheet workpiece. Based on the posture of the sheet workpiece at the first station, nozzle position correction is performed. A multi-degree-of-freedom motion platform is used to adjust the picking reference position of the nozzle at the first station. Simultaneously, as the material picking module moves the sheet workpiece through the second and third stations, turntable angle compensation is performed based on the posture of the sheet workpiece to obtain a first compensation parameter. Finally, based on the corrected material picking module and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate, and the material picking module completes the picking and placement of the sheet workpiece. This method can simultaneously adjust the nozzle picking reference position at the picking end and compensate for the turntable center deviation during workpiece transfer, reducing the transmission of mechanical errors generated by the turret operation to the placement station, preventing posture and positional deviations of the sheet workpiece, improving the accuracy of sheet workpiece placement positioning, and effectively meeting the requirements of high-precision placement operations.

[0007] According to some embodiments of the first aspect of this application, controlling the material handling module to pick up the sheet-like workpiece at the first station, and performing nozzle position correction processing according to the posture of the sheet-like workpiece at the first station, so as to adjust the material handling reference position of the nozzle at the first station through the multi-degree-of-freedom motion platform, includes: The suction nozzle is controlled to pick up the sheet-like workpiece from the first workstation, and the first image information of the sheet-like workpiece is acquired by the first image acquisition module set at the first workstation. The multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate in the opposite direction of the rotation direction of the rotating shaft by a second angle, and the second image information of the sheet-like workpiece is acquired again through the first image acquisition module; wherein, the second angle is twice the first angle; Based on the first image information and the second image information, determine the first pose change information of the sheet-like workpiece; Based on the first pose change information, determine the first center offset between the suction nozzle and the sheet-like workpiece; The multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate a second angle in the positive direction relative to the rotation direction of the rotating shaft, and to place the sheet-like workpiece back to its initial position; Based on the first center offset, the multi-degree-of-freedom motion platform is controlled to adjust the position of the suction nozzle, so as to adjust the material pick-up reference position of the suction nozzle at the first station.

[0008] According to some embodiments of the first aspect of this application, after the step of controlling the multi-degree-of-freedom motion platform to adjust the position of the suction nozzle according to the first center offset, so as to adjust the material picking reference position of the suction nozzle at the first station, the method further includes: After completing the nozzle position correction process again, the nozzle picks up the sheet-like workpiece from the first station and controls the multi-degree-of-freedom motion platform to drive the nozzle to rotate in the opposite direction of the rotation direction of the rotating shaft by a second angle. Based on the first image information newly acquired before the rotation of the rotating shaft and the second image information newly acquired after the reverse rotation, the first pose change information is determined again, and based on the first pose change information, the first center offset between the suction nozzle and the sheet workpiece is re-determined, and the multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate positively by a second angle relative to the rotation direction of the rotating shaft, and the sheet workpiece is placed back to the initial position. When the first center offset is greater than or equal to a preset offset threshold, the multi-degree-of-freedom motion platform is controlled to adjust the position of the nozzle and the nozzle position correction process is repeated until the first center offset is less than the offset threshold. When the first center offset is less than the offset threshold, the position of the suction nozzle is not adjusted.

[0009] According to some embodiments of the first aspect of this application, the control of the rotating shaft drives the turntable to rotate, so that the sheet-like workpiece passes through the second station and the third station, and the turntable angle compensation processing is performed based on the posture of the sheet-like workpiece when passing through the second station and the third station to obtain a first compensation parameter, including: The rotating shaft is controlled to drive the turntable to rotate at the first angle, so that the material handling module that picks up the sheet workpiece from the first station moves to the second station. The third image information of the sheet-like workpiece is obtained by the second image acquisition module set at the second work station; The rotating shaft is controlled again to drive the turntable to rotate by the first angle, so that the material picking module at the second station can be moved to the third station; The fourth image information of the sheet-like workpiece is obtained by the third image acquisition module set at the third work station; Based on the third image information and the fourth image information, the second pose change information of the sheet-like workpiece is determined; Based on the second pose change information and the first angle, a first compensation parameter for the rotation axis is obtained.

[0010] According to some embodiments of the first aspect of this application, after the step of obtaining the first compensation parameter for the rotation axis based on the second pose change information and the first angle, the method further includes: The rotating shaft is controlled to drive the turntable to rotate in the opposite direction by the first angle, so that the material picking module at the third station moves to the second station, and the third image information of the sheet workpiece is re-acquired through the second image acquisition module; Based on the first angle and the first compensation parameter, the rotating shaft is controlled again to drive the turntable to rotate, so that the material picking module at the second station moves to the third station, and the fourth image information of the sheet workpiece is reacquired through the third image acquisition module. Based on the newly acquired third and fourth image information, the second pose change information is determined again, and the second compensation parameter is obtained again based on the second pose change information and the first angle. When the second compensation parameter is greater than or equal to the preset compensation threshold, the rotating shaft is controlled to rotate in the opposite direction according to the first angle and the first compensation parameter, and the first compensation parameter is updated and the turntable angle compensation process is repeated according to the second compensation parameter until the second compensation parameter is less than the compensation threshold. When the second compensation parameter is less than the compensation threshold, the first compensation parameter is not adjusted.

[0011] According to some embodiments of the first aspect of this application, controlling the rotating shaft to drive the turntable to rotate and the material picking module to pick up the sheet-like workpiece at the first station and place it on the mounting bracket at the third station includes: Control the rotating shaft to drive the turntable to rotate, so that one of the material handling modules is positioned at the first work station; The fifth image information is acquired by the first image acquisition module set at the first workstation, and the loading position information of the sheet workpiece is determined based on the fifth image information. Based on the loading position information, the suction nozzle is controlled by the multi-degree-of-freedom motion platform to pick up the sheet-like workpiece. Based on the first angle and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate, so that the material handling module at the first station is moved to the second station. The sixth image information is acquired by the second image acquisition module located at the second workstation; Based on the sixth image information, a second center offset between the suction nozzle and the sheet-like workpiece is determined, and based on the second center offset, a third compensation parameter that the suction nozzle needs to be adjusted is determined. Based on the first angle and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate, so that the material handling module at the second station is moved to the third station. Based on the third compensation parameter, the position of the suction nozzle is adjusted by the multi-degree-of-freedom motion platform and the sheet workpiece is placed on the mounting bracket at the third station.

[0012] According to some embodiments of the first aspect of this application, adjusting the position of the suction nozzle and placing the sheet-like workpiece on the mounting bracket of the third station using the multi-degree-of-freedom motion platform according to the third compensation parameter includes: The position of the suction nozzle is adjusted by the multi-degree-of-freedom motion platform according to the third compensation parameter. The seventh image information is acquired by the third image acquisition module located at the third workstation; Based on the seventh image information, extract the first edge feature information of the sheet-like workpiece and the second edge feature information of the bracket; Based on the first edge feature information and the second edge feature information, the pose offset between the sheet-like workpiece and the bracket is determined; Based on the pose offset, the placement angle of the bracket is adjusted, and the position of the suction nozzle is adjusted by the multi-degree-of-freedom motion platform, and the sheet workpiece is placed on the mounting bracket of the third station.

[0013] According to some embodiments of the first aspect of this application, after the steps of controlling the rotating shaft to drive the turntable to rotate and the picking module to pick up the sheet-like workpiece at the first station and place it on the mounting bracket at the third station based on the picking module after the picking reference position correction is completed and the first compensation parameter, the method further includes: After a preset interval, the nozzle position of each material handling module is recalibrated and the first compensation parameter of the rotating shaft is updated.

[0014] Secondly, this application also provides a high-precision turret patching device, comprising: At least one memory; At least one processor; At least one program; The program is stored in the memory, and the processor executes at least one of the programs to implement the control method for the high-precision turret patch device as described in any of the second aspects.

[0015] Thirdly, the computer-readable storage medium stores a computer-executable program for performing a control method for a high-precision turret patch device as described in any embodiment of the first aspect.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] Additional aspects and advantages of this application will become apparent and readily understood in conjunction with the following description of the embodiments, in which: Figure 1 This is a schematic diagram of the structure of a precision turret patch device provided in some embodiments of this application; Figure 2 A flowchart illustrating a control method for a precision turret patch device provided in some embodiments of this application.

[0018] The attached icons are numbered as follows: 100 rotating shaft; 200 turntable; 310 first station; 320 second station; 330 third station; 400 material handling module; 500 sheet workpiece; 600 support. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0020] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0021] In the description of this application, the use of "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.

[0022] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0023] Turret mounting equipment is the core equipment for high-precision mounting of optical sheet-like workpieces. It mainly uses a turret to drive the material handling mechanism to rotate in a cycle, completing the material handling, transfer, positioning and mounting of the workpiece. It is a key automated equipment in the semiconductor precision packaging process.

[0024] Existing turret placement equipment can only adjust the position of a single station during operation. It cannot adapt and correct the reference position of the suction nozzle at the pick-up end, nor can it effectively compensate for the deviation of the turntable center during workpiece transfer. The mechanical error generated by the turret operation will be directly transmitted to the placement station, causing the posture and position of the sheet workpiece to shift, ultimately leading to placement positioning deviation and failing to meet the requirements of high-precision placement.

[0025] Based on this, this application provides a high-precision turret patching device and its control method and storage medium to solve the above-mentioned technical problems. The technical solutions provided by this application will be described in detail below.

[0026] Firstly, referring to Figure 1 This application provides a control method for a high-precision turret chip placement device, applied to a high-precision turret chip placement device, including a rotating shaft, a turntable, a first station, a second station, and a third station arranged sequentially along the rotating shaft at a first angle, and a plurality of material picking modules evenly arranged circumferentially at the edge of the turntable. Each material picking module includes a multi-degree-of-freedom motion platform and a suction nozzle. Specifically, in this embodiment, the first angle is 90°, meaning that after the turntable rotates 90°, the material picking module at the first station moves to the second station, the material picking module at the second station moves to the third station, and the material picking module at the third station needs to rotate 180° to move to the first station. Therefore, after completing the chip placement, the material picking module at the third station first rotates to between the third and first stations, waiting for the next material picking. In the embodiments of this application, there are 4 material picking modules. The angle between adjacent material picking modules relative to the center of the turntable is 90°. This arrangement ensures that if one material picking module is located at the first station, the other two material picking modules are located at the second and third stations respectively, and the other material picking module is waiting for the next material picking operation.

[0027] Reference Figure 2 The control method for this high-precision turret patching equipment may include, but is not limited to, the following steps: Step S110: Control the rotating shaft to drive the turntable to move the material picking module to the first station in sequence, and control the material picking module to pick up the sheet workpiece at the first station. According to the posture of the sheet workpiece at the first station, perform nozzle position correction processing, so as to adjust the picking reference position of the nozzle at the first station through the multi-degree-of-freedom motion platform.

[0028] Step S120: After the material picking module picks up the sheet-like workpiece from the first station, it controls the rotating shaft to drive the turntable to rotate so that the sheet-like workpiece passes through the second and third stations. The turntable angle is compensated according to the posture of the sheet-like workpiece when passing through the second and third stations to obtain the first compensation parameter.

[0029] Step S130: Based on the material picking module after the material picking reference position is corrected and the first compensation parameter, control the rotating shaft to drive the turntable to rotate and the material picking module to pick up the sheet workpiece at the first station and place it on the mounting bracket at the third station.

[0030] In steps S110 to S130, this control method is applied to a high-precision turret patching equipment. This equipment includes a rotating shaft, a turntable, a first station, a second station, and a third station arranged circumferentially at a first angle of 90°, and four adjacent pick-up modules with an included angle of 90° relative to the center of the turntable. Each pick-up module includes a multi-degree-of-freedom motion platform and a suction nozzle. The method controls the rotating shaft to drive the turntable to rotate, causing the pick-up modules to move according to the 90° station switching logic. At the first station, the pick-up of the sheet-like workpiece is completed, and the suction is performed according to the posture of the sheet-like workpiece. The nozzle position correction process involves adjusting the nozzle's pick-up reference position at the first station via a multi-degree-of-freedom motion platform. As the pick-up module moves the sheet workpiece through the second and third stations, turntable angle compensation is performed based on the workpiece's posture to obtain the first compensation parameter. The pick-up module at the third station, after completing the placement, rotates to a position between the third and first stations to await the next pick-up. Finally, based on the corrected pick-up module and the first compensation parameter, the rotating shaft is controlled to rotate the turntable, and the pick-up module completes the pick-up of the sheet workpiece and its placement on the mounting bracket at the third station. This solution, combining a four-pick-up module layout with a 90° station arrangement, simultaneously achieves nozzle position correction at the pick-up end, adjustment of the pick-up reference position, and turntable center deviation compensation during workpiece transfer. This reduces the transmission of mechanical errors caused by turret operation to the placement station, prevents posture and positional offsets of the sheet workpiece, improves the accuracy of sheet workpiece placement, and effectively meets the requirements of high-precision placement operations.

[0031] It should be noted that the sheet-like workpiece mentioned above can be a filter.

[0032] It is understood that step S110 may include, but is not limited to, the following steps: Step S210: Control the suction nozzle to pick up the sheet-like workpiece from the first station, and obtain the first image information of the sheet-like workpiece through the first image acquisition module set at the first station.

[0033] Step S220: Control the multi-degree-of-freedom motion platform to drive the suction nozzle to rotate in the opposite direction of the rotation direction of the rotating shaft by a second angle, and obtain the second image information of the sheet-like workpiece again through the first image acquisition module; wherein, the second angle is twice the first angle.

[0034] Step S230: Determine the first pose change information of the sheet-like workpiece based on the first image information and the second image information.

[0035] Step S240: Determine the first center offset between the nozzle and the sheet workpiece based on the first pose change information.

[0036] Step S250: Control the multi-degree-of-freedom motion platform to drive the suction nozzle to rotate a second angle in the positive direction relative to the rotation direction of the rotating shaft, and place the sheet workpiece back to the initial position.

[0037] Step S260: Based on the first center offset, control the multi-degree-of-freedom motion platform to adjust the position of the suction nozzle, so as to adjust the material pick-up reference position of the suction nozzle at the first station.

[0038] In steps S210 to S260, the suction nozzle is first controlled to pick up the sheet-like workpiece at the first station. The first image acquisition module at the first station acquires the first image information of the sheet-like workpiece. Then, the multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate in the opposite direction of the rotation axis by a second angle twice the first angle. The first image acquisition module acquires the second image information of the sheet-like workpiece. Based on the first and second image information, the first pose change information of the sheet-like workpiece is determined, thereby obtaining the first center offset between the suction nozzle and the sheet-like workpiece. Subsequently, the multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate in the forward direction of the rotation axis by a second angle and return the sheet-like workpiece to its initial position. Finally, the multi-degree-of-freedom motion platform is controlled to adjust the position of the suction nozzle based on the first center offset, completing the correction of the suction nozzle's picking reference position at the first station. This correction method, through two image acquisitions combined with the reverse and forward rotation of the suction nozzle, can accurately determine the center offset between the suction nozzle and the sheet-like workpiece, completing the precise adjustment of the suction nozzle's picking reference position from the material picking source, reducing the transmission of center deviation in the picking process to subsequent stations, and improving the accuracy of the picking posture. By adjusting the pick-up reference position of the suction nozzle at the first station, the coordinate system difference between the feeding sheet workpiece and the suction nozzle can be synchronously adapted, so that the suction nozzle can achieve preliminary correction and positioning during the pick-up of the sheet workpiece, eliminating the positional deviation caused by the inconsistency of the coordinate system from the source of material picking.

[0039] It is understood that after step S260, the following steps are included, but not limited to: Step S310: Control the nozzle after completing the nozzle position correction process again to pick up the sheet workpiece from the first station, and control the multi-degree-of-freedom motion platform to drive the nozzle to rotate in the opposite direction of the rotation direction of the rotating shaft by a second angle.

[0040] Step S320: Based on the first image information newly acquired before the rotation of the rotating shaft and the second image information newly acquired after the reverse rotation, the first pose change information is determined again. Based on the first pose change information, the first center offset between the suction nozzle and the sheet workpiece is re-determined, and the multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate positively by a second angle relative to the rotation direction of the rotating shaft, and the sheet workpiece is placed back to the initial position.

[0041] Step S330: When the first center offset is greater than or equal to the preset offset threshold, control the multi-degree-of-freedom motion platform to adjust the position of the nozzle and re-perform the nozzle position correction process until the first center offset is less than the offset threshold.

[0042] Step S340: When the first center offset is less than the offset threshold, the position of the nozzle is not adjusted.

[0043] In steps S310 to S340, after completing the nozzle position correction process, the nozzle is again controlled to pick up the sheet workpiece from the first station and driven to rotate in the opposite direction of the rotation axis by a second angle. The first image information newly acquired before the rotation axis rotates and the second image information newly acquired after the reverse rotation are combined to re-determine the first position change information. Then, the first center offset between the nozzle and the sheet workpiece is calculated. The nozzle is then driven to rotate in the forward direction of the rotation axis by a second angle and the sheet workpiece is returned to its initial position. Subsequently, based on the comparison between the first center offset and a preset offset threshold, nozzles that do not meet the threshold requirements are adjusted and corrected repeatedly until the offset reaches the target value, at which point no further adjustment is needed, forming a closed-loop correction and verification mechanism. This cyclical verification and correction method continuously optimizes the nozzle's pick-up reference position, completely eliminating any residual center deviation from a single correction, ensuring that the relative position of the nozzle and the sheet workpiece is always precisely matched, further enhancing the correction and positioning effect of the pick-up process, and providing a more reliable reference guarantee for the high-precision operation of the entire mounting process.

[0044] It is understandable that the core components of the turret equipment, such as the turntable and shaft, have inherent minor machining tolerances during manufacturing, and assembly deviations also occur during assembly. These, combined with mechanical vibrations and positional drift during operation, result in the actual center of the turntable not perfectly aligning with its theoretical center, leading to posture and positional deviations in the sheet-like workpiece during station transfer. Step S120 may include, but is not limited to, the following steps: Step S410: Control the rotating shaft to drive the turntable to rotate by a first angle, so that the material picking module that picks up the sheet-like workpiece from the first station moves to the second station.

[0045] Step S420: Obtain the third image information of the sheet-like workpiece through the second image acquisition module set at the second work station.

[0046] Step S430: Control the rotating shaft again to drive the turntable to rotate by the first angle, so that the material picking module at the second station can be moved to the third station.

[0047] Step S440: Obtain the fourth image information of the sheet-like workpiece through the third image acquisition module set at the third work station.

[0048] Step S450: Determine the second pose change information of the sheet-like workpiece based on the third image information and the fourth image information.

[0049] Step S460: Based on the second pose change information and the first angle, obtain the first compensation parameter about the rotation axis.

[0050] In steps S410 to S460, the rotating shaft drives the turntable to rotate by a first angle, causing the material handling module to move sequentially to the second and third workstations. The second image acquisition module at the second workstation and the third image acquisition module at the third workstation acquire the third and fourth image information of the sheet-like workpiece, respectively. Based on the third and fourth image information, the second pose change information of the sheet-like workpiece is determined, and combined with the first angle, the first compensation parameter for the rotating shaft is calculated, thus completing the turntable angle compensation process. This method can accurately capture the pose change of the sheet-like workpiece during the turret transfer process, accurately calculate the compensation parameter adapted to the rotating shaft based on the workstation rotation angle, effectively correct the center deviation caused by the turntable operation, and coordinate with the nozzle material handling reference position correction completed at the first workstation. This further eliminates the influence of mechanical errors on the workpiece pose from the transfer stage, continuously ensuring the accuracy of sheet-like workpiece mounting and positioning.

[0051] It is understood that after step S460, the following steps may be included, but are not limited to: Step S510: Control the rotating shaft to drive the turntable to rotate in the opposite direction by a first angle, so that the material picking module at the third station moves to the second station, and the third image information of the sheet workpiece is re-acquired through the second image acquisition module.

[0052] Step S520: Based on the first angle and the first compensation parameter, control the rotating shaft to drive the turntable to rotate again, so that the material picking module at the second station moves to the third station, and re-acquire the fourth image information of the sheet workpiece through the third image acquisition module.

[0053] Step S530: Based on the newly acquired third and fourth image information, determine the second pose change information again, and based on the second pose change information and the first angle, obtain the second compensation parameters again.

[0054] Step S540: When the second compensation parameter is greater than or equal to the preset compensation threshold, the rotating shaft is controlled to rotate in the opposite direction according to the first angle and the first compensation parameter, and the first compensation parameter is updated and the turntable angle compensation is re-processed according to the second compensation parameter until the second compensation parameter is less than the compensation threshold.

[0055] Step S550: When the second compensation parameter is less than the compensation threshold, the first compensation parameter is not adjusted.

[0056] In steps S510 to S550, after obtaining the first compensation parameter for the rotating shaft, the rotating shaft is first controlled to drive the turntable to rotate in the opposite direction by a first angle, causing the material picking module at the third station to move to the second station and re-acquire the third image information of the sheet-like workpiece through the second image acquisition module. Then, based on the first angle and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate, causing the material picking module at the second station to move to the third station and re-acquire the fourth image information of the sheet-like workpiece through the third image acquisition module. Subsequently, based on the newly acquired third and fourth image information, the second pose change information is determined again, and the second compensation parameter is obtained again by combining it with the first angle. Based on the comparison result between the second compensation parameter and the preset compensation threshold, parameters that do not meet the threshold requirements are updated and the turntable angle compensation process is repeated until the second compensation parameter meets the standard, at which point the first compensation parameter is no longer adjusted. Through this closed-loop parameter verification and iterative compensation mechanism, the residual error of a single turntable center compensation can be effectively corrected, further offsetting the center offset problem caused by factors such as component processing and assembly tolerances and mechanical vibration, making the turntable center compensation parameter more consistent with the actual operating state of the equipment.

[0057] It is understandable that even if the nozzle's pick-up reference position has been calibrated at the first station beforehand, slight offsets may still occur during the actual pick-up of sheet workpieces due to uneven nozzle suction distribution and instantaneous external forces acting on the sheet workpieces. Furthermore, the initial calibration is a coarse calibration at the pick-up end and cannot cover random dynamic deviations during the actual pick-up and transfer process. This equipment needs to meet high-precision placement requirements and eliminate offsets caused by positional deviations between the center of the rotating shaft and the turntable. Therefore, before transferring to the third station for placement, real-time fine calibration is still required for each operation to ensure the accuracy of the final placement position. Step S130 may include, but is not limited to, the following steps: Step S610: Control the rotating shaft to drive the turntable to rotate so that one of the material handling modules is in the first position.

[0058] Step S620: Obtain the fifth image information through the first image acquisition module set at the first workstation, and determine the loading position information of the sheet workpiece based on the fifth image information.

[0059] Step S630: Based on the feeding position information, the suction nozzle is controlled by a multi-degree-of-freedom motion platform to pick up the sheet-like workpiece.

[0060] Step S640: Based on the first angle and the first compensation parameter, control the rotating shaft to drive the turntable to rotate, so that the material picking module at the first station can be moved to the second station.

[0061] Step S650: Obtain the sixth image information through the second image acquisition module set at the second workstation.

[0062] Step S660: Based on the information in the sixth image, determine the second center offset between the nozzle and the sheet-like workpiece, and based on the second center offset, determine the third compensation parameter that the nozzle needs to be adjusted.

[0063] Step S670: Based on the first angle and the first compensation parameter, control the rotating shaft to drive the turntable to rotate, so that the material picking module at the second station moves to the third station, and based on the third compensation parameter, adjust the position of the suction nozzle through the multi-degree-of-freedom motion platform and place the sheet workpiece on the mounting bracket at the third station.

[0064] In steps S610 to S670, the rotating shaft is first controlled to rotate the turntable, causing the material handling module to stop at the first station. The first image acquisition module at the first station acquires the fifth image information and determines the loading position information of the sheet-like workpiece. Then, the multi-degree-of-freedom motion platform, in conjunction with the suction nozzle, completes the suction operation of the sheet-like workpiece. Subsequently, based on the first angle and the first compensation parameter, the rotating shaft is controlled to rotate the turntable, allowing the material handling module to move sequentially to the second and third stations. At the second station, the second image acquisition module acquires the sixth image information to determine the second center offset between the suction nozzle and the sheet-like workpiece, and derives the third compensation parameter. Finally, at the third station, according to the third compensation parameter, the multi-degree-of-freedom motion platform adjusts the suction nozzle position in the xy direction, precisely placing the sheet-like workpiece on the mounting bracket at the third station. Even though the initial coarse calibration of the nozzle's pick-up reference position has been completed at the first station, the workpiece is prone to slight displacement due to uneven suction distribution of the nozzle and instantaneous force on the sheet workpiece. Furthermore, the initial calibration cannot adapt to the dynamic position fluctuations during the transfer process. Since high-precision placement operations have stringent requirements for positioning accuracy, the method of real-time detection of displacement at the second station and secondary fine correction at the third station can overcome the limitations of a single coarse calibration, correct random deviations caused by pick-up and transfer in real time, achieve precise alignment for each placement operation, and effectively ensure the placement accuracy and operational stability of sheet workpieces on the mounting bracket.

[0065] It is understood that step S670 may include, but is not limited to, the following steps: Step S710: Adjust the position of the nozzle using a multi-degree-of-freedom motion platform according to the third compensation parameter.

[0066] Step S720: Obtain the seventh image information through the third image acquisition module set at the third workstation.

[0067] Step S730: Based on the information in the seventh image, extract the first edge feature information of the sheet-like workpiece and the second edge feature information of the bracket.

[0068] Step S740: Determine the pose offset between the sheet-like workpiece and the support based on the first edge feature information and the second edge feature information.

[0069] Step S750: Adjust the placement angle of the bracket according to the pose offset, and adjust the position of the nozzle through the multi-degree-of-freedom motion platform to place the sheet workpiece on the mounting bracket of the third station.

[0070] In steps S710 to S750, the position of the suction nozzle is first adjusted using a multi-degree-of-freedom motion platform based on the third compensation parameters. Then, the seventh image information is acquired using the third image acquisition module at the third station. The first edge feature information of the sheet-like workpiece and the second edge feature information of the bracket are extracted from the seventh image information. The pose offset between the sheet-like workpiece and the bracket is determined based on the first and second edge feature information. The placement angle of the bracket is then adjusted according to the obtained pose offset, and the position of the suction nozzle is adjusted again in conjunction with the multi-degree-of-freedom motion platform. Finally, the sheet-like workpiece is accurately placed on the mounting bracket at the third station. This method uses edge feature information to accurately identify the relative pose deviation between the sheet-like workpiece and the mounting bracket. While adjusting the position of the suction nozzle, the bracket placement angle is simultaneously adapted. This can compensate for the slight positional deviations caused by uneven suction and transport disturbances after the initial calibration, achieving the final accurate alignment calibration before mounting. It eliminates alignment errors from the perspective of bidirectional matching between the workpiece and the bracket, effectively improving the positioning accuracy and bonding consistency of the workpiece and bracket assembly in high-precision mounting operations.

[0071] It is understood that after step S130, the following steps are included, but not limited to: Step S810: After a preset interval, re-calibrate the nozzle position of each material handling module and update the first compensation parameters of the rotating shaft during rotation.

[0072] In step S810, after the sheet workpiece is picked up and placed on the mounting bracket at the third station, the nozzle position of each picking module is recalibrated at preset intervals, and the first compensation parameter corresponding to the rotation of the shaft is updated simultaneously. During long-term operation, the equipment is prone to slight mechanical wear, minor structural deformation, and slow positional drift due to operating conditions. By periodically recalibrating all picking modules and iteratively updating the compensation parameters, various latent errors accumulated over time can be eliminated in a timely manner, preventing the continuous accumulation of errors from affecting the placement accuracy.

[0073] In a second aspect, this application also provides a high-precision turret patching device, comprising: at least one memory; at least one processor; at least one program; the program is stored in the memory, and the processor executes the at least one program to implement the control method of the high-precision turret patching device as described in any embodiment of the first aspect.

[0074] In this high-precision turret placement equipment, the rotating shaft drives the turntable to move the pick-up module to the first station to pick up the sheet workpiece. Based on the workpiece's posture at the first station, the nozzle position is corrected. A multi-degree-of-freedom motion platform adjusts the nozzle's pick-up reference position at the first station. Simultaneously, as the pick-up module moves the workpiece through the second and third stations, turntable angle compensation is performed based on the workpiece's posture to obtain a first compensation parameter. Finally, based on the corrected pick-up module and the first compensation parameter, the rotating shaft is controlled to rotate the turntable, and the pick-up module completes the pick-up and placement of the workpiece. This method simultaneously adjusts the nozzle's pick-up reference position at the pick-up end and compensates for turntable center deviation during workpiece transfer, reducing the transmission of mechanical errors caused by turret operation to the placement station, preventing workpiece posture and position offsets, improving the accuracy of workpiece placement and positioning, and effectively meeting the requirements of high-precision placement.

[0075] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and signals, such as the program instructions / signals corresponding to the processing module in the embodiments of this application. The processor executes various functional applications and data processing by running the non-transitory software programs, instructions, and signals stored in the memory, thereby implementing the touch signal extraction method of the above-described method embodiments.

[0076] The memory may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data related to the aforementioned touch signal extraction method. Furthermore, the memory may include high-speed random access memory and non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processing module via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0077] One or more signals are stored in a memory, and when executed by one or more processors, the touch signal extraction method in any of the above method embodiments is performed.

[0078] Thirdly, embodiments of this application provide a computer-readable storage medium storing a computer program that is executed by one or more processors, enabling the one or more processors to perform the control method for the high-precision turret patch device described in the above method embodiments.

[0079] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0080] Based on the above description of the embodiments, those skilled in the art will understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable signals, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible by a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable signals, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0081] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0082] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0083] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0084] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0085] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0086] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A control method for a high-precision turret patch device, characterized in that, A high-precision turret patching device includes a rotating shaft, a turntable, a first station, a second station, and a third station arranged circumferentially along the rotating shaft at a first angle, and several material picking modules evenly arranged circumferentially at the edge of the turntable. Each material picking module includes a multi-degree-of-freedom motion platform and a suction nozzle. The control method includes: The rotating shaft is controlled to drive the turntable to move the material picking module to the first station in sequence, and the material picking module is controlled to pick up the sheet workpiece at the first station. The nozzle position is corrected according to the posture of the sheet workpiece at the first station, so as to adjust the picking reference position of the nozzle at the first station through the multi-degree-of-freedom motion platform. After the material picking module picks up the sheet-shaped workpiece from the first station, it controls the rotating shaft to drive the turntable to rotate so that the sheet-shaped workpiece passes through the second station and the third station. The turntable angle is compensated according to the posture of the sheet-shaped workpiece when passing through the second station and the third station to obtain the first compensation parameter. Based on the material picking module after completing the material picking reference position correction and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate and the material picking module picks up the sheet-like workpiece at the first station and places it on the mounting bracket at the third station.

2. The control method for the high-precision turret patch device according to claim 1, characterized in that, The control of the material handling module to pick up the sheet-like workpiece at the first station, and to perform nozzle position correction processing based on the posture of the sheet-like workpiece at the first station, so as to adjust the material handling reference position of the nozzle at the first station through the multi-degree-of-freedom motion platform, includes: The suction nozzle is controlled to pick up the sheet-like workpiece from the first workstation, and the first image information of the sheet-like workpiece is acquired by the first image acquisition module set at the first workstation. The multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate in the opposite direction of the rotation direction of the rotating shaft by a second angle, and the second image information of the sheet-like workpiece is acquired again through the first image acquisition module; wherein, the second angle is twice the first angle; Based on the first image information and the second image information, determine the first pose change information of the sheet-like workpiece; Based on the first pose change information, determine the first center offset between the suction nozzle and the sheet-like workpiece; The multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate a second angle in the positive direction relative to the rotation direction of the rotating shaft, and to place the sheet-like workpiece back to its initial position; Based on the first center offset, the multi-degree-of-freedom motion platform is controlled to adjust the position of the suction nozzle, so as to adjust the material pick-up reference position of the suction nozzle at the first station.

3. The control method for the high-precision turret patch device according to claim 2, characterized in that, After the step of controlling the multi-degree-of-freedom motion platform to adjust the position of the suction nozzle according to the first center offset, so as to adjust the material picking reference position of the suction nozzle at the first station, the method further includes: After completing the nozzle position correction process again, the nozzle picks up the sheet-like workpiece from the first station and controls the multi-degree-of-freedom motion platform to drive the nozzle to rotate in the opposite direction of the rotation direction of the rotating shaft by a second angle. Based on the first image information newly acquired before the rotation of the rotating shaft and the second image information newly acquired after the reverse rotation, the first pose change information is determined again, and based on the first pose change information, the first center offset between the suction nozzle and the sheet workpiece is re-determined, and the multi-degree-of-freedom motion platform is controlled to drive the suction nozzle to rotate positively by a second angle relative to the rotation direction of the rotating shaft, and the sheet workpiece is placed back to the initial position. When the first center offset is greater than or equal to a preset offset threshold, the multi-degree-of-freedom motion platform is controlled to adjust the position of the nozzle and the nozzle position correction process is repeated until the first center offset is less than the offset threshold. When the first center offset is less than the offset threshold, the position of the suction nozzle is not adjusted.

4. The control method for the high-precision turret patch device according to claim 1, characterized in that, The control mechanism drives the rotating shaft to rotate the turntable, so that the sheet-like workpiece passes through the second and third workstations. Based on the posture of the sheet-like workpiece as it passes through the second and third workstations, turntable angle compensation is performed to obtain a first compensation parameter, including: The rotating shaft is controlled to drive the turntable to rotate at the first angle, so that the material handling module that picks up the sheet workpiece from the first station moves to the second station. The third image information of the sheet-like workpiece is obtained by the second image acquisition module set at the second work station; The rotating shaft is controlled again to drive the turntable to rotate by the first angle, so that the material picking module at the second station can be moved to the third station; The fourth image information of the sheet-like workpiece is obtained by the third image acquisition module set at the third work station; Based on the third image information and the fourth image information, the second pose change information of the sheet-like workpiece is determined; Based on the second pose change information and the first angle, a first compensation parameter for the rotation axis is obtained.

5. The control method for the high-precision turret patch device according to claim 4, characterized in that, After the step of obtaining the first compensation parameter for the rotation axis based on the second pose change information and the first angle, the method further includes: The rotating shaft is controlled to drive the turntable to rotate in the opposite direction by the first angle, so that the material picking module at the third station moves to the second station, and the third image information of the sheet workpiece is re-acquired through the second image acquisition module; Based on the first angle and the first compensation parameter, the rotating shaft is controlled again to drive the turntable to rotate, so that the material picking module at the second station moves to the third station, and the fourth image information of the sheet workpiece is reacquired through the third image acquisition module. Based on the newly acquired third and fourth image information, the second pose change information is determined again, and the second compensation parameter is obtained again based on the second pose change information and the first angle. When the second compensation parameter is greater than or equal to the preset compensation threshold, the rotating shaft is controlled to rotate in the opposite direction according to the first angle and the first compensation parameter, and the first compensation parameter is updated and the turntable angle compensation process is repeated according to the second compensation parameter until the second compensation parameter is less than the compensation threshold. When the second compensation parameter is less than the compensation threshold, the first compensation parameter is not adjusted.

6. The control method for the high-precision turret patch device according to claim 1, characterized in that, The control of the rotating shaft to drive the turntable to rotate and the material picking module to pick up the sheet-like workpiece at the first station and place it on the mounting bracket at the third station includes: Control the rotating shaft to drive the turntable to rotate, so that one of the material handling modules is positioned at the first work station; The fifth image information is acquired by the first image acquisition module set at the first workstation, and the loading position information of the sheet workpiece is determined based on the fifth image information. Based on the loading position information, the suction nozzle is controlled by the multi-degree-of-freedom motion platform to pick up the sheet-like workpiece. Based on the first angle and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate, so that the material handling module at the first station is moved to the second station. The sixth image information is acquired by the second image acquisition module located at the second workstation; Based on the sixth image information, a second center offset between the suction nozzle and the sheet-like workpiece is determined, and based on the second center offset, a third compensation parameter that the suction nozzle needs to be adjusted is determined. Based on the first angle and the first compensation parameter, the rotating shaft is controlled to drive the turntable to rotate, so that the material handling module at the second station is moved to the third station. Based on the third compensation parameter, the position of the suction nozzle is adjusted by the multi-degree-of-freedom motion platform and the sheet workpiece is placed on the mounting bracket at the third station.

7. The control method for the high-precision turret patch device according to claim 6, characterized in that, The step of adjusting the position of the suction nozzle and placing the sheet-like workpiece on the mounting bracket of the third station according to the third compensation parameter via the multi-degree-of-freedom motion platform includes: The position of the suction nozzle is adjusted by the multi-degree-of-freedom motion platform according to the third compensation parameter. The seventh image information is acquired by the third image acquisition module located at the third workstation; Based on the seventh image information, extract the first edge feature information of the sheet-like workpiece and the second edge feature information of the bracket; Based on the first edge feature information and the second edge feature information, the pose offset between the sheet-like workpiece and the bracket is determined; Based on the pose offset, the placement angle of the bracket is adjusted, and the position of the suction nozzle is adjusted by the multi-degree-of-freedom motion platform, and the sheet workpiece is placed on the mounting bracket of the third station.

8. The control method for the high-precision turret patch device according to claim 1, characterized in that, After the steps of controlling the rotating shaft to drive the turntable to rotate and the picking module to pick up the sheet-like workpiece at the first station and place it on the mounting bracket at the third station based on the picking module after the picking reference position correction is completed and the first compensation parameter, the method further includes: After a preset interval, the nozzle position of each material handling module is recalibrated and the first compensation parameter of the rotating shaft is updated.

9. A high-precision turret patching device, characterized in that, include: At least one memory; At least one processor; At least one program; The program is stored in the memory, and the processor executes at least one of the programs to implement the control method for the high-precision turret patch device as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer-executable program for performing the control method of the high-precision turret patch device as described in any one of claims 1 to 8.

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