PCB board dispensing control method and device, PCB board dispensing equipment and storage medium

Abstract

This invention discloses a PCB board dispensing control method, apparatus, PCB board dispensing equipment, and storage medium. The method includes: acquiring a dispensing control command, the dispensing control command including a target height value between a target dispensing position of a dispensing needle and the PCB board to be processed; determining a first target distance between the initial position of the dispensing needle and a detection sensor based on the current needle model corresponding to the dispensing needle; acquiring a second target distance between the detection sensor and the surface of the PCB board to be processed; determining a target execution value corresponding to the dispensing needle based on the target height value, the first target distance, and the second target distance; and controlling the dispensing needle to move to the target dispensing position and perform a dispensing operation based on the target execution value corresponding to the dispensing needle. This method is simple and convenient to operate, and the acquired target execution value is more consistent with actual conditions and more accurate, thus improving dispensing efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dispensing, in particular to a PCB dispensing control method and device, a PCB dispensing equipment and a storage medium. BACKGROUND

[0002] In the prior art, the programming of the PCB dispensing equipment is mainly achieved through manual teaching, and the dispensing needle head of the PCB dispensing equipment is manually controlled to move slowly. After the target dispensing position of the dispensing needle head is visually observed, the moving distance of the dispensing needle head is extracted and recorded. The prior art cannot directly input the target height value between the target dispensing position of the dispensing needle head and the PCB to be processed for dispensing. In particular, for offline programming during the operation of the PCB dispensing equipment, the programming of the PCB dispensing equipment cannot be achieved through manual teaching. In addition, in the prior art, different target height values between the target dispensing position of the dispensing needle head and the PCB to be processed need to be visually observed and taught. When the target height values are different, the teaching and program editing efficiency are very low, which reduces the dispensing efficiency. In addition, when the dispensing needle head is replaced, different types of dispensing needle heads also need to be re-taught for the target height value, which also reduces the dispensing efficiency. SUMMARY

[0003] The embodiments of the present application provide a PCB dispensing control method, device, equipment and storage medium to solve the problem of how to improve the dispensing efficiency of the PCB.

[0004] A PCB dispensing control method comprises the following steps:

[0005] obtaining a dispensing control instruction, wherein the dispensing control instruction comprises a target height value between a target dispensing position of a dispensing needle head and a PCB to be processed;

[0006] determining a first target distance between an initial position of the dispensing needle head and a detection sensor according to a current needle head type corresponding to the dispensing needle head;

[0007] obtaining a second target distance between the detection sensor and a board surface of the PCB to be processed;

[0008] determining a target execution value corresponding to the dispensing needle head according to the target height value, the first target distance and the second target distance;

[0009] controlling the dispensing needle head to move to the target dispensing position according to the target execution value corresponding to the dispensing needle head, and controlling the dispensing needle head to perform a dispensing operation.

[0010] Preferably, the determining the first target distance between the initial position of the dispensing needle and the detection sensor according to the current needle model corresponding to the dispensing needle comprises:

[0011] According to the current needle model corresponding to the dispensing needle and the current detection sensor model corresponding to the detection sensor, querying a first distance calibration table to determine whether there is an existing first distance corresponding to the current needle model and the current detection sensor model;

[0012] If there is an existing first distance corresponding to the current needle model and the current detection sensor model, the existing first distance is determined as the first target distance;

[0013] If there is no existing first distance corresponding to the current needle model and the current detection sensor model, the first target distance is measured and stored in the first distance calibration table in association with the current needle model of the dispensing needle and the current detection sensor model of the detection sensor.

[0014] Preferably, the measuring the first target distance comprises:

[0015] Controlling the dispensing needle to move to the detection sensor, stopping the movement of the dispensing needle when the detection sensor has a signal output, recording the first movement distance of the dispensing needle as the first target distance.

[0016] Preferably, the obtaining the second target distance between the detection sensor and the board surface of the to-be-processed PCB board comprises:

[0017] According to the current detection sensor model corresponding to the detection sensor and the PCB board model of the to-be-processed PCB board, querying a second distance calibration table to determine whether there is an existing second distance corresponding to the current detection sensor model and the PCB board model;

[0018] If there is an existing second distance corresponding to the current detection sensor model and the PCB board model, the existing second distance is determined as the second target distance;

[0019] If there is no existing second distance corresponding to the current detection sensor model and the PCB board model, the second target distance is measured and stored in the second distance calibration table in association with the current detection sensor model of the detection sensor and the PCB board model of the to-be-processed PCB board.

[0020] Preferably, the measuring the second target distance comprises:

[0021] Controlling the dispensing needle to move to the surface of the PCB to be processed, recording the second movement distance of the dispensing needle;

[0022] The difference between the second movement distance and the first target distance is determined as a second target distance.

[0023] Preferably, the target execution value corresponding to the dispensing needle is determined according to the target height value, the first target distance and the second target distance, comprising:

[0024] According to the first target distance and the second target distance, the target dispensing needle height corresponding to the dispensing needle is obtained;

[0025] According to the target dispensing needle height and the target height value, the target execution value corresponding to the dispensing needle is determined.

[0026] Preferably, the target dispensing needle height corresponding to the dispensing needle is obtained according to the first target distance and the second target distance, comprising:

[0027] The sum of the first target distance and the second target distance is determined as the target dispensing needle height.

[0028] Preferably, the target execution value corresponding to the dispensing needle is determined according to the target dispensing needle height and the target height value, comprising:

[0029] The difference between the target dispensing needle height and the target height value is determined as the target execution value.

[0030] A PCB dispensing control device, comprising:

[0031] A dispensing control instruction acquisition module is configured to acquire a dispensing control instruction, wherein the dispensing control instruction comprises a target height value between a target dispensing position of a dispensing needle and a PCB to be processed;

[0032] A first target distance determination module is configured to determine a first target distance between an initial position of the dispensing needle and a detection sensor according to a current needle type corresponding to the dispensing needle;

[0033] A second target distance acquisition module is configured to acquire a second target distance between the detection sensor and a surface of the PCB to be processed;

[0034] A target execution value determination module is configured to determine a target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance;

[0035] The glue dispensing operation control module is configured to control the glue dispensing needle to move to the target glue dispensing position according to the target execution value corresponding to the glue dispensing needle, and control the glue dispensing needle to perform glue dispensing operation.

[0036] The PCB glue dispensing device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the PCB glue dispensing control method.

[0037] A computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the PCB glue dispensing control method.

[0038] The PCB glue dispensing control method, device, PCB glue dispensing equipment and storage medium, obtain glue dispensing control instructions, the glue dispensing control instructions include the target height value between the target glue dispensing position of the glue dispensing needle and the PCB to be processed, determine the target execution value corresponding to the glue dispensing needle according to the target height value, the first target distance and the second target distance, control the glue dispensing needle to move to the target glue dispensing position according to the target execution value corresponding to the glue dispensing needle, and control the glue dispensing needle to perform glue dispensing operation. The method only needs to determine the target execution value corresponding to the glue dispensing needle according to the target height value, the first target distance and the second target distance, and control the glue dispensing needle to realize the glue dispensing control operation on the PCB to be processed. The method is simple and convenient, does not need to be taught glue dispensing, the target execution value obtained is more accurate and conforms to the actual situation, and the glue dispensing efficiency can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 is a flowchart of the PCB glue dispensing control method in an embodiment of the present application;

[0041] Figure 2 is another flowchart of the PCB glue dispensing control method in an embodiment of the present application;

[0042] Figure 3 is another flowchart of the PCB glue dispensing control method in an embodiment of the present application;

[0043] Figure 4 is another flowchart of the PCB glue dispensing control method in an embodiment of the present application;

[0044] Figure 5 is another flow chart of the PCB dispensing control method in an embodiment of the present application;

[0045] Figure 6 is a schematic diagram of the PCB dispensing control device in an embodiment of the present application;

[0046] Figure 7 is a schematic diagram of the PCB dispensing equipment in an embodiment of the present application;

[0047] Figure 8 is a schematic diagram of the PCB dispensing control method in an embodiment of the present application;

[0048] Figure 9 is another schematic diagram of the PCB dispensing control method in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0050] The PCB dispensing control method provided by the embodiments of the present application can be applied to a PCB dispensing equipment. The PCB dispensing equipment can receive and store a target height value between a target dispensing position of a dispensing needle and a PCB to be processed, a first target distance between an initial position of the dispensing needle and a detection sensor, and a second target distance between the detection sensor and a board surface of the PCB to be processed. The PCB dispensing equipment can process the target height value, the first target distance, and the second target distance to determine a target execution value corresponding to the dispensing needle, and control the dispensing needle to perform a dispensing operation.

[0051] In an embodiment, as shown in FIG. 1, a PCB dispensing control method is provided. The method is applied to a PCB dispensing equipment, which includes the following steps. Figure 1 S101: Obtain a dispensing control instruction. The dispensing control instruction includes a target height value between a target dispensing position of a dispensing needle and a PCB to be processed.

[0052] S102: Determine a first target distance between an initial position of the dispensing needle and a detection sensor according to a current needle type corresponding to the dispensing needle.

[0053] S103: Determine a second target distance between the detection sensor and a board surface of the PCB to be processed.

[0054] S103: Obtain a second target distance between the detection sensor and the board surface of the PCB to be processed;

[0055] S104: Determine a target execution value corresponding to the dispensing needle according to the target height value, the first target distance, and the second target distance.

[0056] S105: Control the dispensing needle to move to a target dispensing position and control the dispensing needle to perform a dispensing operation according to the target execution value corresponding to the dispensing needle.

[0057] The dispensing control instruction refers to a control instruction for controlling the dispensing needle to perform dispensing. The target dispensing position refers to the position where the dispensing needle stays when performing the dispensing operation. The target height value refers to the height difference between the position where the dispensing needle stays when performing the dispensing operation and the PCB to be processed. In this example, the dispensing needle is located at an initial position above the PCB dispensing device when not working, and the target dispensing position and the target height value are both obtained with reference to this initial position.

[0058] As an example, in step S101, the PCB dispensing device obtains a dispensing control instruction, which includes a target dispensing position where the dispensing needle needs to stay when performing dispensing and a height difference between the target dispensing position and the PCB to be processed, i.e., a target height value between the target dispensing position of the dispensing needle and the PCB to be processed. In this example, the dispensing control instruction obtained by the PCB dispensing device includes the target height value between the target dispensing position of the dispensing needle and the PCB to be processed, which facilitates subsequent determination of the target execution value of the dispensing needle according to the target height value.

[0059] The current needle type refers to the type of the dispensing needle of the PCB dispensing device. In this example, different dispensing needles correspond to different needle types, and different needle types correspond to different needle lengths.

[0060] As an example, in step S102, after obtaining the dispensing control instruction, the PCB dispensing device determines a first target distance between the initial position of the dispensing needle and the detection sensor according to the current needle type corresponding to the dispensing needle. In this example, since different dispensing needles correspond to different types of needle types, and different needle types have different lengths, different needle types will result in different first target distances between the initial position of the dispensing needle and the detection sensor. Therefore, the first target distance needs to be determined according to the current needle type corresponding to the dispensing needle. In this example, determining the first target distance according to the current needle type corresponding to the dispensing needle can make the first target distance more consistent with the actual situation and more accurate.

[0061] As an example, in step S103, the PCB dispensing equipment acquires the second target distance between the detection sensor and the board surface of the PCB to be processed. In this example, since different types of detection sensors have different heights, the distance between detection sensors of different heights and the board surface of the PCB to be processed is different, so the PCB dispensing equipment needs to acquire the height of the detection sensor from the board surface of the PCB to be processed as the second target distance according to different types of detection sensors. This method makes it feasible to determine the target execution value corresponding to the dispensing needle according to the second target distance.

[0062] As an example, in step S104, the PCB dispensing equipment determines the target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance. In this example, after acquiring the target height value, the first target distance and the second target distance, the PCB dispensing equipment determines the distance that the dispensing needle needs to move to reach the target dispensing position when performing dispensing operation according to the target height value, the first target distance and the second target distance, and takes the distance as the target execution value. In this example, the target execution value is determined according to the target height value, the first target distance and the second target distance, which makes the process of determining the target execution value more simple and convenient, and makes the determined target execution value more accurate and more in line with the actual situation.

[0063] As an example, in step S105, after acquiring the target execution value of the dispensing needle, the PCB dispensing equipment controls the dispensing needle to move to the target dispensing position according to the target execution value corresponding to the dispensing needle, and controls the dispensing needle to perform dispensing operation. In this example, according to the target execution value corresponding to the dispensing needle, the dispensing needle is controlled to move to the target dispensing position where it needs to stay when performing dispensing operation, and to perform dispensing operation, thereby achieving dispensing control of the PCB. This method is simple and convenient, and has high efficiency.

[0064] The PCB dispensing control method provided in this embodiment acquires a dispensing control instruction, the dispensing control instruction including a target height value between a target dispensing position of a dispensing needle and a PCB to be processed, determines a target execution value corresponding to the dispensing needle according to the target height value, a first target distance and a second target distance, controls the dispensing needle to move to the target dispensing position according to the target execution value corresponding to the dispensing needle, and controls the dispensing needle to perform dispensing operation. This method only needs to determine the target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance, and control the dispensing needle to perform dispensing operation on the PCB to be processed. This method is simple and convenient to operate, the target execution value acquired is more in line with the actual situation and more accurate, and can improve dispensing efficiency.

[0065] In an embodiment, as shown in Figure 2As shown, step S102, i.e. determining the first target distance between the initial position of the dispensing needle and the detection sensor according to the current needle model corresponding to the dispensing needle, comprises:

[0066] S201: According to the current needle model corresponding to the dispensing needle and the current detection sensor model corresponding to the detection sensor, query the first distance calibration table to determine whether there is an existing first distance corresponding to the current needle model and the current detection sensor model;

[0067] S202: If there is an existing first distance corresponding to the current needle model and the current detection sensor model, the existing first distance is determined as the first target distance;

[0068] S203: If there is no existing first distance corresponding to the current needle model and the current detection sensor model, the first target distance is measured and obtained, and the first target distance is associated with the current needle model of the dispensing needle and the current detection sensor model of the detection sensor and stored in the first distance calibration table.

[0069] Wherein, the first distance calibration table refers to the information table stored in the system database for storing the target distance between the needle model of different dispensing needles and the current detection sensor model of different detection sensors. The existing first distance refers to the first target distance corresponding to the current needle model corresponding to the dispensing needle and the current detection sensor model corresponding to the detection sensor in the first distance calibration table.

[0070] As an example, in step S201, the PCB dispensing equipment queries the first distance calibration table stored in the system database according to the current needle model corresponding to the dispensing needle and the current detection sensor model corresponding to the detection sensor, to determine whether there is an existing first distance corresponding to the current needle model. Understandably, dispensing needles of different current needle models have different lengths, and detection sensors of different current detection sensor models also have different heights. Different needle models of dispensing needles and different current detection sensor models of detection sensors result in different first target distances between the dispensing needle and the detection sensor. Therefore, it is necessary to query the first distance calibration table stored in the system database according to the current needle model corresponding to the dispensing needle and the current detection sensor model corresponding to the detection sensor to determine whether there is an existing first distance corresponding to the current needle model, and then determine the first target distance. In this example, according to the current needle model corresponding to the dispensing needle and the current detection sensor model corresponding to the detection sensor, the first distance calibration table stored in the system database is queried to facilitate the determination of the first target distance, making the determination of the first target distance more simple and convenient.

[0071] As an example, in step S202, when the PCB dispensing equipment determines that there is an existing first distance corresponding to the current needle type in the first distance calibration table, the existing first distance is determined as the first target distance, and the first target distance is obtained. In this example, when there is an existing first distance corresponding to the current needle type in the first distance calibration table, the existing first distance is determined as the first target distance. This method is simple and convenient, and improves the efficiency of obtaining the first target distance.

[0072] As an example, in step S203, when the PCB dispensing equipment determines that there is no existing first distance corresponding to the current needle type in the first distance calibration table, the first target distance is obtained by measurement, and the first target distance is stored in the first distance calibration table in association with the current needle type of the dispensing needle and the current detection sensor type of the detection sensor. In this example, if there is no existing first distance corresponding to the current needle type in the first distance calibration table, the first target distance is obtained by measurement, and the obtained first target distance is stored in the first distance calibration table in association with the current needle type of the dispensing needle and the current detection sensor type of the detection sensor. Not only is the first target distance obtained, but the first distance calibration table is also updated, so that when the dispensing needle of the current needle type and the detection sensor of the current detection sensor type are used for dispensing next time, the first target distance can be directly obtained by querying the first distance calibration table, without the need to measure the first target distance again.

[0073] The PCB dispensing control method provided in this embodiment queries the first distance calibration table according to the current needle type corresponding to the dispensing needle and the current detection sensor type corresponding to the detection sensor, determines whether there is an existing first distance corresponding to the current needle type, and makes the obtaining of the first target distance simple and convenient. If there is no existing first distance corresponding to the current needle type in the first distance calibration table, the first target distance is obtained by measurement, and the obtained first target distance is stored in the first distance calibration table in association with the current needle type of the dispensing needle and the current detection sensor type of the detection sensor. Not only is the first target distance obtained, but the first distance calibration table is also updated, so that next time the first distance calibration table can be queried.

[0074] In an embodiment, step S203, if there is no existing first distance corresponding to the current needle type, the first target distance is obtained by measurement, including: controlling the dispensing needle to move to the detection sensor, and when it is determined that the detection sensor has a signal output, controlling the dispensing needle to stop moving, recording the first movement distance of the dispensing needle, and taking the first movement distance as the first target distance.

[0075] As an example, when the PCB dispensing equipment determines that there is no existing first distance corresponding to the current needle type in the first distance calibration table, the dispensing needle is controlled to move from the initial position to the detection sensor, and when it is determined that the detection sensor has a signal output, the dispensing needle is controlled to stop moving, and the first movement distance of the dispensing needle is recorded as the first target distance. Understandably, when the PCB dispensing equipment controls the dispensing needle to move from the initial position to the detection sensor, it monitors whether the detection sensor has a signal output at all times until it is determined that the detection sensor has a signal output, indicating that the dispensing needle just touches the detection sensor. At this time, the first movement distance of the dispensing needle is obtained, which is the distance between the dispensing needle and the detection sensor, and the first movement distance is taken as the first target distance. In the example, the first target distance is obtained by measurement, which is more in line with the actual situation and makes the obtained first target distance more accurate.

[0076] As shown in Figure 8 , the PCB dispensing equipment controls the dispensing needle to move from the initial position to the detection sensor, and when it is determined that the detection sensor has a signal output, the dispensing needle is controlled to stop moving, and the first movement distance of the dispensing needle is recorded as the first target distance, which is Z1.

[0077] The PCB dispensing control method provided in the embodiment controls the dispensing needle to move to the detection sensor, and when it is determined that the detection sensor has a signal output, the dispensing needle is controlled to stop moving, and the first movement distance of the dispensing needle is recorded as the first target distance, thereby obtaining the first target distance. The method is more in line with the actual situation and makes the obtained first target distance more accurate.

[0078] In an embodiment, as shown in Figure 3 , step S103, i.e., obtaining the second target distance between the detection sensor and the board surface of the PCB to be processed, includes:

[0079] S301: According to the current detection sensor type corresponding to the detection sensor and the PCB type of the PCB to be processed, query the second distance calibration table to determine whether there is an existing second distance corresponding to the current detection sensor type and the PCB type;

[0080] S302: If there is an existing second distance corresponding to the current detection sensor type and the PCB type, it is determined that the existing second distance is the second target distance;

[0081] S303: If there is no existing second distance corresponding to the current detection sensor type and the PCB type, the second target distance is measured and obtained, and the second target distance is stored in the second distance calibration table in association with the current detection sensor type of the detection sensor and the PCB type of the PCB to be processed.

[0082] As an example, in step S301, the PCB dispensing equipment queries the second distance calibration table according to the current detection sensor model corresponding to the detection sensor and the PCB model of the PCB to be processed to determine whether there is an existing second distance corresponding to the current detection sensor model and the PCB model. Understandably, detection sensors of different current detection sensor models also have different heights, and PCBs of different PCB models also have different thicknesses. Therefore, the second target distance between the detection sensor and the PCB to be processed is different. Therefore, it is necessary to query the second distance calibration table stored in the system database according to the current detection sensor model corresponding to the detection sensor and the PCB model of the PCB to be processed to determine whether there is an existing second distance corresponding to the current detection sensor model and the PCB model, and then determine the second target distance. In this example, querying the second distance calibration table stored in the system database according to the current detection sensor model corresponding to the detection sensor and the PCB model of the PCB to be processed facilitates the determination of the second target distance, making the determination of the second target distance more simple and convenient.

[0083] As an example, in step S302, when it is determined that there is an existing second distance corresponding to the current detection sensor model and the PCB model in the second distance calibration table, the PCB dispensing equipment determines the existing second distance as the second target distance, and then obtains the second target distance. In this example, when there is an existing second distance corresponding to the current detection sensor model and the PCB model in the second distance calibration table, the existing second distance is determined as the second target distance. This method is simple and convenient, and improves the efficiency of obtaining the second target distance.

[0084] As an example, in step S303, when it is determined that there is no existing second distance corresponding to the current detection sensor model and the PCB model in the second distance calibration table, the PCB dispensing equipment obtains the second target distance by measurement and stores the second target distance in association with the current detection sensor model and the PCB model in the second distance calibration table. In this example, if there is no existing second distance corresponding to the current detection sensor model and the PCB model in the second distance calibration table, the second target distance is obtained by measurement, and the obtained second target distance is stored in association with the current detection sensor model of the detection sensor and the PCB model of the PCB to be processed in the second distance calibration table. Not only is the second target distance obtained, but the second distance calibration table is also updated, which facilitates the PCB dispensing equipment to directly query the second distance calibration table to obtain the second target distance when the detection sensor of the current detection sensor model and the PCB to be processed of the PCB model are used next time, without the need to measure the second target distance again.

[0085] The PCB dispensing control method provided by the embodiment queries the second distance calibration table according to the current detection sensor model corresponding to the detection sensor and the PCB model of the PCB to be processed, and determines whether there is an existing second distance corresponding to the current detection sensor model and the PCB model. The method makes it simple and convenient to obtain the second target distance. If there is no existing second distance corresponding to the current detection sensor model and the PCB model, the second target distance is obtained by measurement, and the second target distance is associated with the current detection sensor model and the PCB model and stored in the second distance calibration table. Not only is the second target distance obtained, but also the second distance calibration table is updated, which facilitates next query.

[0086] In an embodiment, as shown in Figure 4 Step S303, i.e., if there is no existing second distance corresponding to the current detection sensor model and the PCB model, the second target distance is obtained by measurement, including:

[0087] S401: control the dispensing needle to move to the board surface of the PCB to be processed, and record the second movement distance of the dispensing needle;

[0088] S402: determine the difference between the second movement distance and the first target distance as the second target distance.

[0089] As an example, in step S401, after the PCB dispensing equipment determines that there is no existing second distance in the second distance calibration table of the system database, the dispensing needle is controlled to move from the initial position to the board surface of the PCB to be processed, the movement distance of the dispensing needle is recorded, the movement distance of the dispensing needle is taken as the distance between the initial position of the dispensing needle and the PCB to be processed, and the distance is taken as the second movement distance. This process can be fine-tuned using precision instruments to ensure that the dispensing needle just touches the board surface of the PCB to be processed. In this example, determining the second movement distance facilitates obtaining the second target distance according to the second movement distance. As shown in Figure 8 The PCB dispensing equipment controls the dispensing needle to move from the initial position to the board surface of the PCB to be processed, and the movement distance of this process is the second movement distance, which is OZ.

[0090] As an example, in step S402, after the PCB dispensing equipment obtains the second movement distance, the distance difference between the second movement distance and the first target distance is calculated, and the calculated distance difference is taken as the second target distance, i.e., the second target distance is obtained by measurement and calculation. As shown in Figure 8 The distance difference between the second movement distance OZ and the first target distance Z1 is the second target distance Z2.

[0091] In this example, the second target distance is obtained by the measurement method, which is more in line with the actual situation, and the obtained second target distance is more accurate.

[0092] The PCB dispensing control method provided in this embodiment controls the dispensing needle to move to the PCB board surface, records the movement distance of the dispensing needle, takes the movement distance as the second movement distance, takes the distance difference between the second movement distance and the first target distance as the second target distance, which is more in line with the actual situation, and makes the obtained second target distance more accurate.

[0093] In an embodiment, as shown in Figure 5 The step S104 of determining the target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance includes:

[0094] S501: obtaining the target dispensing needle height corresponding to the dispensing needle according to the first target distance and the second target distance;

[0095] S502: determining the target execution value corresponding to the dispensing needle according to the target dispensing needle height and the target height value.

[0096] The target dispensing needle height refers to the distance between the dispensing needle at the initial position and the PCB board to be processed.

[0097] As an example, in step S501, the PCB dispensing equipment obtains the target dispensing needle height corresponding to the dispensing needle according to the first target distance and the second target distance after obtaining the first target distance and the second target distance.

[0098] In an embodiment, the sum of the first target distance and the second target distance is determined as the target dispensing needle height.

[0099] In this example, the PCB dispensing equipment obtains the sum of the first target distance and the second target distance, and takes the sum of the first target distance and the second target distance as the target dispensing needle height. In this example, the first target distance refers to the distance between the initial position of the dispensing needle and the detection sensor. The second target distance refers to the distance between the detection sensor and the board surface of the PCB to be processed.

[0100] In this example, the sum of the first target distance and the second target distance is taken as the target dispensing needle height, which is convenient for subsequent determination of the target execution value according to the target dispensing needle height.

[0101] As an example, in step S502, the PCB dispensing equipment determines the target execution value corresponding to the dispensing needle according to the target dispensing needle height and the target height value.

[0102] In an embodiment, the difference between the target dispensing needle height and the target height value is determined as the target execution value. In this example, after obtaining the target dispensing needle height, the PCB dispensing equipment obtains the difference between the target dispensing needle height and the target height value, and takes the difference as the target execution value when the dispensing needle executes the dispensing operation.

[0103] In this example, the target execution value when the dispensing needle executes the dispensing operation is obtained according to the difference between the target dispensing needle height and the target height value. This method is not only simpler and more convenient, but also improves the dispensing efficiency, and makes the obtained target execution value more accurate.

[0104] The PCB dispensing control method provided in this embodiment obtains the target dispensing needle height corresponding to the dispensing needle according to the first target distance and the second target distance, and determines the target execution value corresponding to the dispensing needle according to the target dispensing needle height and the target height value. This method only needs to determine the target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance. This method is simple and convenient, the obtained target execution value is more in line with the actual situation and accurate, and the dispensing efficiency can be improved.

[0105] In an embodiment, as shown in Figure 8 and Figure 9 , the target execution value corresponding to the dispensing needle is determined by the following method:

[0106] Z = Z1 + Z2 - Z0

[0107] Wherein, Z is the target execution value corresponding to the dispensing needle, Z1 is the first target distance, Z2 is the second target distance, and Z0 is the target height value.

[0108] As shown in Figure 8 , Z1 is the first target distance, and Z2 is the second target distance. As shown in Figure 9 , Z0 is the target height value, and Z is the target execution value corresponding to the dispensing needle. The sum of Z1 and Z2 is taken as the target dispensing needle height, that is, the sum of the first target distance and the second target distance is taken as the distance between the dispensing needle in the initial position and the PCB to be processed. The difference between the target dispensing needle height and the target height value Z0 is obtained, that is, the difference between the target dispensing needle height and Z0 is the execution value of the dispensing needle moving from the initial position to the target dispensing position. In this example, this method only needs to determine the target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance, which is simple and convenient, and has high accuracy. Moreover, when the current needle type of the dispensing needle is not replaced and the current detection sensor type of the detection sensor is not replaced, the first target distance and the second target distance do not need to be measured. After obtaining the dispensing control instruction, the corresponding distance calibration table is directly queried to obtain the first target distance and the second target distance, thereby improving the dispensing efficiency.

[0109] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the application.

[0110] In an embodiment, a PCB dispensing control device is provided, which corresponds to the PCB dispensing control method in the above embodiment. As shown in the figure, the PCB dispensing control device comprises a dispensing control instruction acquisition module 601, a first target distance determination module 602, a second target distance acquisition module 603, a target execution value determination module 604 and a dispensing operation control module 605. The functions of each module are described in detail as follows: Figure 6

[0111] The dispensing control instruction acquisition module is configured to acquire a dispensing control instruction, wherein the dispensing control instruction comprises a target height value between a target dispensing position of a dispensing needle and a PCB to be processed;

[0112] The first target distance determination module is configured to determine a first target distance between an initial position of the dispensing needle and a detection sensor according to a current needle type corresponding to the dispensing needle;

[0113] The second target distance acquisition module is configured to acquire a second target distance between the detection sensor and a board surface of the PCB to be processed;

[0114] The target execution value determination module is configured to determine a target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance;

[0115] The dispensing operation control module is configured to control the dispensing needle to move to the target dispensing position and control the dispensing needle to perform a dispensing operation according to the target execution value corresponding to the dispensing needle.

[0116] In an embodiment, the first target distance determination module 602 comprises:

[0117] The existing first distance determination sub-module is configured to query a first distance calibration table according to a current needle type corresponding to the dispensing needle and a current detection sensor type corresponding to the detection sensor, and determine whether there is an existing first distance corresponding to the current needle type and the current detection sensor type;

[0118] The first target distance determination sub-module is configured to determine the existing first distance as the first target distance if there is an existing first distance corresponding to the current needle type and the current detection sensor type;

[0119] ​The first target distance measurement obtaining submodule is configured to, if there is no existing first distance corresponding to the current needle type and the current detection sensor type, measure and obtain a first target distance, and store the first target distance in association with the current needle type of the dispensing needle and the current detection sensor type of the detection sensor in the first distance calibration table.

[0120] In an embodiment, the first target distance measurement obtaining submodule comprises:

[0121] The first target distance determination unit is configured to control the dispensing needle to move to the detection sensor, and when it is determined that the detection sensor has a signal output, control the dispensing needle to stop moving, record a first movement distance of the dispensing needle, and determine the first movement distance as the first target distance.

[0122] In an embodiment, the second target distance obtaining module 603 comprises:

[0123] The existing second distance determination submodule is configured to query the second distance calibration table according to the current detection sensor type corresponding to the detection sensor and the PCB type of the PCB to be processed, and determine whether there is an existing second distance corresponding to the current detection sensor type and the PCB type.

[0124] The second target distance determination submodule is configured to, if there is an existing second distance corresponding to the current detection sensor type and the PCB type, determine the existing second distance as the second target distance.

[0125] The second target distance measurement obtaining submodule is configured to, if there is no existing second distance corresponding to the current detection sensor type and the PCB type, measure and obtain a second target distance, and store the second target distance in association with the current detection sensor type of the detection sensor and the PCB type of the PCB to be processed in the second distance calibration table.

[0126] In an embodiment, the second target distance measurement obtaining submodule comprises:

[0127] The second movement distance obtaining unit is configured to control the dispensing needle to move to the board surface of the PCB to be processed, and record a second movement distance of the dispensing needle.

[0128] The second target distance determination unit is configured to determine the difference between the second movement distance and the first target distance as the second target distance.

[0129] In an embodiment, the target execution value determination module 604 comprises:

[0130] The target dispensing needle height obtaining submodule is configured to obtain a target dispensing needle height corresponding to the dispensing needle according to the first target distance and the second target distance.

[0131] The target execution value determination submodule is configured to determine the target execution value of the dispensing needle according to the target dispensing needle height and the target height value.

[0132] In an embodiment, the target dispensing needle height acquisition submodule includes:

[0133] The target dispensing needle height determination unit is configured to determine the sum of the first target distance and the second target distance as the target dispensing needle height.

[0134] In an embodiment, the target execution value determination submodule includes:

[0135] The target execution value determination unit is configured to determine the difference between the target dispensing needle height and the target height value as the target execution value.

[0136] In an embodiment, a PCB dispensing device is provided, which can be a server, and an internal structure diagram thereof can be as shown in Figure 7 The PCB dispensing device includes a processor, a memory, a network interface, and a database connected through a system bus. The processor of the PCB dispensing device is configured to provide computing and control capabilities. The memory of the PCB dispensing device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The database of the PCB dispensing device is configured to store data used or generated during the execution of the PCB dispensing control method. The network interface of the PCB dispensing device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement a PCB dispensing control method.

[0137] In an embodiment, a PCB dispensing device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the PCB dispensing control method in the above embodiments is implemented, for example, Figure 1 as shown in S101-S105, or Figures 2 to 5 For brevity, details are not repeated here. Alternatively, when the processor executes the computer program, the functions of each module / unit in this embodiment of the PCB dispensing control device are implemented, for example, Figure 6 the functions of the dispensing control instruction acquisition module 601, the first target distance determination module 602, the second target distance acquisition module 603, the target execution value determination module 604, and the dispensing operation control module 605 as shown in

[0138] In an embodiment, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the PCB dispensing control method in the above embodiments, for example Figure 1 As shown in S101-S105, or Figures 2 to 5 As shown in the above embodiments, details are not repeated here. The computer readable storage medium can be non-volatile or volatile. Alternatively, the computer program is executed by the processor to implement the functions of each module / unit in the above embodiment of the PCB dispensing control device, for example Figure 6 As shown in the dispensing control instruction acquisition module 601, the first target distance determination module 602, the second target distance acquisition module 603, the target execution value determination module 604 and the dispensing operation control module 605, details are not repeated here. The computer readable storage medium can be non-volatile or volatile.

[0139] Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above embodiments. Any reference to memory, storage, database or other medium in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0140] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of functional units and modules is exemplified. In actual application, the above functions can be completed by different functional units or modules according to needs, i.e. the internal structure of the device is divided into different functional units or modules to complete all or part of the above described functions.

[0141] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those ordinarily skilled in the art should understand: the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A PCB dispensing control method, characterized in that, The method comprises the following steps: acquiring a dispensing control instruction, the dispensing control instruction comprising a target height value between a target dispensing position of a dispensing needle and a PCB to be processed; determining a first target distance between an initial position of the dispensing needle and a detection sensor according to a current needle type of the dispensing needle; acquiring a second target distance between the detection sensor and a board surface of the PCB to be processed, comprising: querying a second distance calibration table according to a current detection sensor type of the detection sensor and a PCB type of the PCB to be processed to determine whether there is an existing second distance corresponding to the current detection sensor type and the PCB type; if there is an existing second distance corresponding to the current detection sensor type and the PCB type, determining the existing second distance as the second target distance; if there is no existing second distance corresponding to the current detection sensor type and the PCB type, measuring and acquiring the second target distance; determining a target execution value corresponding to the dispensing needle according to the target height value, the first target distance and the second target distance; the target execution value is a distance that the dispensing needle needs to move to reach a target dispensing position for executing a dispensing operation; controlling the dispensing needle to move to the target dispensing position according to the target execution value corresponding to the dispensing needle, and controlling the dispensing needle to execute the dispensing operation.

2. The PCB dispensing control method of claim 1, wherein, The method of determining the first target distance between the initial position of the dispensing needle and the detection sensor according to the current needle type of the dispensing needle comprises the following steps: querying a first distance calibration table according to the current needle type of the dispensing needle and the current detection sensor type of the detection sensor to determine whether there is an existing first distance corresponding to the current needle type and the current detection sensor type; if there is an existing first distance corresponding to the current needle type and the current detection sensor type, determining the existing first distance as the first target distance; if there is no existing first distance corresponding to the current needle type and the current detection sensor type, measuring and acquiring the first target distance, and storing the first target distance in association with the current needle type of the dispensing needle and the current detection sensor type of the detection sensor in the first distance calibration table.

3. The PCB dispensing control method of claim 2, wherein, The method of measuring and acquiring the first target distance comprises the following steps: controlling the dispensing needle to move to the detection sensor, controlling the dispensing needle to stop moving when it is determined that the detection sensor outputs a signal, recording a first moving distance of the dispensing needle, and taking the first moving distance as the first target distance.

4. The PCB dispensing control method of claim 1, wherein, The method of acquiring the second target distance between the detection sensor and the board surface of the PCB to be processed comprises the following steps: storing the second target distance in association with the current detection sensor type of the detection sensor and the PCB type of the PCB to be processed in a second distance calibration table.

5. The PCB dispensing control method of claim 1, wherein, The method of measuring and acquiring the second target distance comprises the following steps: controlling the dispensing needle to move to the board surface of the PCB to be processed, and recording a second moving distance of the dispensing needle; A difference between the second movement distance and the first target distance is determined as a second target distance.

6. The PCB dispensing control method of claim 1, wherein, The target execution value corresponding to the dispensing needle is determined according to the target height value, the first target distance, and the second target distance. A target dispensing needle height corresponding to the dispensing needle is obtained according to the first target distance and the second target distance. The target execution value corresponding to the dispensing needle is determined according to the target dispensing needle height and the target height value.

7. The PCB dispensing control method of claim 6, wherein, The target dispensing needle height corresponding to the dispensing needle is obtained according to the first target distance and the second target distance. A sum of the first target distance and the second target distance is determined as the target dispensing needle height. The target execution value corresponding to the dispensing needle is determined according to the target dispensing needle height and the target height value. The target execution value corresponding to the dispensing needle is determined according to the target dispensing needle height and the target height value.

8. A PCB dispensing control device for implementing the PCB dispensing control method according to any one of claims 1 to 7, characterized in that, The apparatus comprises: A dispensing control instruction obtaining module is configured to obtain a dispensing control instruction, the dispensing control instruction comprising a target height value between a target dispensing position of a dispensing needle and a PCB to be processed; A first target distance determining module is configured to determine a first target distance between an initial position of the dispensing needle and a detection sensor according to a current needle type corresponding to the dispensing needle; A second target distance obtaining module is configured to obtain a second target distance between the detection sensor and a board surface of the PCB to be processed; A target execution value determining module is configured to determine a target execution value corresponding to the dispensing needle according to the target height value, the first target distance, and the second target distance; A dispensing operation control module is configured to control the dispensing needle to move to the target dispensing position and control the dispensing needle to perform a dispensing operation according to the target execution value corresponding to the dispensing needle.

9. A PCB dispensing apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, The processor executes the computer program to implement the PCB dispensing control method in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the PCB dispensing control method in any one of claims 1 to 7.

Images