A Placement Path Planning Method for Mounter Based on Nearest Insertion Method
A path planning and placement machine technology, which is applied in the direction of assembling printed circuits with electrical components, can solve the problem of long placement paths, achieve the effects of improving production efficiency, shortening the optimization process, and shortening the placement path length
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specific Embodiment approach 1
[0058] Specific implementation mode one: a placement path planning method based on the nearest insertion method described in this implementation mode, the method includes the following steps:
[0059] The present invention is based on the task distribution of the suction rod in the patent CN108925126A to carry out the placement path planning. The "task distribution of the suction rod" refers to the type of components mounted by the suction rod in each sub-cycle; A placement path planning method, and necessary explanations for the results of other links.
[0060] Step 1: According to the type of component to be mounted by each suction rod in the pick-and-place cycle, determine the coordinates of the placement head when each suction rod picks up and pastes the corresponding type of component by coordinate transformation;
[0061] Step 2: According to the latest insertion method, determine the order of visiting the placement points and the corresponding suction rod number in the ...
specific Embodiment approach 2
[0065] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the first step, according to the type of components to be mounted by each suction rod in the pick-and-place cycle, the corresponding type of components picked and pasted by each suction rod is determined through coordinate conversion The coordinates of the placement head at the placement point, the specific process is:
[0066] For a unified description, it is stipulated that when the operator faces the machine, the front is the positive direction of the Y-axis, the right-hand position is the positive direction of the X-axis, and the lower left end of the PCB to be processed is the coordinate origin. Number the suction rods incrementally along the X-axis direction, use S to represent the total number of suction rods, and use s ∈ {1, 2, ..., S} to represent the index number of the suction rods. It is stipulated that during the movement of the placement head, the coordinates...
specific Embodiment approach 3
[0089] Specific implementation mode three: the difference between this implementation mode and specific implementation modes one to two is: the specific process of said step two is:
[0090] Step 21: CpUsed is a vector of size N, N is the total number of various types of components that need to be placed in the entire placement process, C is the total number of types of components that need to be placed in the entire placement process, c=1, 2,..., C, n is the component index, stipulated The value of CpUsed(n) is 0, indicating that the placement path of component n is not determined;
[0091] Step 22: Initialize the picking cycle index k=1;
[0092] Step two and three: For the current pickup cycle k, define a vector RodUsed with a size of S, s is the suction rod index, if the value of CpType(l, s) is 0, then set RodUsed(s)=1, otherwise, set RodUsed (s)=0, set V k Indicates that the pick-and-place cycle k has been determined for the placement point, and the number of placeme...
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