Tin spraying point calibration method, system, tin spraying equipment and computer storage medium

Abstract

The present application provides a tin spraying point calibration method, system, tin spraying equipment and computer storage medium, which relate to the technical field of welding machines. The tin spraying point calibration method is applied to the tin spraying equipment, and the tin spraying equipment includes: a gantry arranged along the x-axis direction, a detector, a first material tray, a second material tray, and a first transmission line and a second transmission line arranged along the y-axis direction; the tin spraying point calibration method includes: obtaining the first coordinates of the tin-sprayed point in the first material tray and the first reference coordinates of the first reference point corresponding to the tin-sprayed point through the detector; determining the point to be tin-sprayed corresponding to the tin-sprayed point in the second material tray, and obtaining the second reference coordinates of the second reference point corresponding to the point to be tin-sprayed through the detector; determining the second coordinates of the point to be tin-sprayed based on the first reference coordinates, the second reference coordinates and the first coordinates, so as to calibrate the second coordinates.

Description

Technical Field

[0001] The present application relates to the technical field of welding machines, and in particular to a tin spraying point calibration method, system, tin spraying equipment and computer storage medium. Background Art

[0002] During the soldering process of circuit boards, in order to save labor costs and increase efficiency, a solder ball jet soldering mechanism is usually used for automated production.

[0003] Most existing welding equipment is composed of two parallel gantries vertically arranged above two parallel transmission lines on which circuit boards are placed, so as to set up laser heads and detectors to weld the circuit boards on the two transmission lines.

[0004] However, traditional double-gantry welding equipment has certain requirements for the hardware setting position. The detector and laser head on the double gantry are prone to parallelism errors, resulting in processing errors. The relative position between the gantry and the transmission line also needs to be accurate, which can easily affect the processing accuracy. Summary of the Invention

[0005] The main purpose of this application is to provide a tin spray point calibration method, system, equipment and storage medium, aiming to solve the technical problem of how to reduce the processing error of welding equipment.

[0006] To achieve the above-mentioned object, the present application provides a tin spraying point calibration method, which is applied to a tin spraying device, wherein the tin spraying device includes: a gantry arranged along the x-axis direction, a detector, a first material tray, a second material tray, and a first transmission line and a second transmission line arranged along the y-axis direction;

[0007] The gantry is arranged above the first transmission line and the second transmission line, the detector moves along the x-axis direction on the first surface of the gantry, the first material tray moves along the y-axis direction on the first transmission line, and the second material tray moves along the y-axis direction on the second transmission line, the first transmission line and the second transmission line are arranged side by side, and the x-axis direction is perpendicular to the y-axis direction;

[0008] The tin spraying point calibration method includes:

[0009] Acquire, by the detector, first coordinates of a tin-sprayed point in the first tray and first reference coordinates of a first reference point corresponding to the tin-sprayed point;

[0010] Determine a point to be sprayed with tin in the second material tray corresponding to the point to be sprayed with tin, and obtain a second reference coordinate of a second reference point corresponding to the point to be sprayed with tin by the detector;

[0011] The second coordinate of the point to be tin-sprayed is determined based on the first reference coordinate, the second reference coordinate and the first coordinate, so as to calibrate the second coordinate.

[0012] Optionally, in some feasible embodiments, the tin spraying equipment further comprises: a laser head, the laser head moving along the x-axis direction on the second surface of the gantry;

[0013] Before the step of obtaining the first coordinates of the tin-sprayed points in the first tray by the detector, the method further includes:

[0014] Get the input tin spraying instruction;

[0015] Controlling the laser head to move to a designated point above the first material tray according to the tin spraying instruction;

[0016] The laser head is controlled to spray tin on the designated point, and the designated point is used as a tin-sprayed point.

[0017] Optionally, in some feasible embodiments, the step of determining the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate includes:

[0018] Calculating a first deviation value between the first reference coordinate and the second reference coordinate;

[0019] The second coordinate of the point to be tin-sprayed is determined based on the first deviation value and the first coordinate.

[0020] Optionally, in some feasible embodiments, the first deviation value includes: an x-axis deviation value and a y-axis deviation value;

[0021] The step of determining the second coordinate of the point to be tin-sprayed based on the first deviation value and the first coordinate includes:

[0022] Obtaining a first x-axis coordinate and a first y-axis coordinate of the first coordinate;

[0023] The second x-axis coordinate of the point to be tinned is calculated according to the first x-axis coordinate and the x-axis deviation value, and the second y-axis coordinate of the point to be tinned is calculated according to the first y-axis coordinate and the y-axis deviation value.

[0024] Optionally, in some feasible embodiments, after the step of determining the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate, and the first coordinate, the method further includes:

[0025] Controlling the movement of the laser head based on the x-axis deviation value, and controlling the movement of the second material tray based on the y-axis deviation value, so that the laser head is above the point to be tin-sprayed;

[0026] The laser head is controlled to spray tin on the points to be sprayed tin.

[0027] Optionally, in some feasible embodiments, after the step of obtaining a first deviation value between the first reference coordinate and the second reference coordinate, the method further includes:

[0028] Obtaining the preset coordinates of the point to be tinned;

[0029] Calculating a second deviation value between the preset coordinate and the second coordinate;

[0030] The coordinates of all preset points on the second material tray are adjusted based on the second deviation value.

[0031] Optionally, in some feasible embodiments, after the step of obtaining a first deviation value between the first reference coordinate and the second reference coordinate, the method further includes:

[0032] Determining whether the first deviation value is greater than a preset deviation threshold;

[0033] If the first deviation value is greater than the deviation threshold, an alarm signal is output.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a tin spraying point calibration system, which is a virtual system and is applied to a tin spraying device, wherein the tin spraying device includes: a gantry arranged along the x-axis direction, a detector, a first material tray, a second material tray, and a first transmission line and a second transmission line arranged along the y-axis direction;

[0035] The gantry is arranged above the first transmission line and the second transmission line, the detector moves along the x-axis direction on the first surface of the gantry, the first material tray moves along the y-axis direction on the first transmission line, and the second material tray moves along the y-axis direction on the second transmission line, the first transmission line and the second transmission line are arranged side by side, and the x-axis direction is perpendicular to the y-axis direction;

[0036] The tin spraying point calibration system includes:

[0037] A first coordinate acquisition module, configured to acquire, through the detector, first coordinates of a tin-sprayed point in the first tray and first reference coordinates of a first reference point corresponding to the tin-sprayed point;

[0038] A second coordinate acquisition module is used to determine the point to be tin-sprayed in the second material tray corresponding to the point to be tin-sprayed, and obtain the second reference coordinate of the second reference point corresponding to the point to be tin-sprayed through the detector;

[0039] A coordinate calibration module is used to determine the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate, so as to calibrate the second coordinate.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a tin spraying device, which includes: a memory, a processor, and a tin spraying point calibration program stored on the memory and runnable on the processor. When the tin spraying point calibration program is executed by the processor, the steps of the tin spraying point calibration method as described above are implemented.

[0041] The present application also provides a storage medium, on which a tin spraying point calibration program is stored. When the tin spraying point calibration program is executed by a processor, the steps of the tin spraying point calibration method as described above are implemented.

[0042] The present application provides a tin spraying point calibration method, system, tin spraying equipment and computer storage medium, the tin spraying point calibration method is applied to the tin spraying equipment, the tin spraying equipment includes: a gantry arranged along the x-axis direction, a detector, a first material tray, a second material tray, a first transmission line and a second transmission line arranged along the y-axis direction; the gantry is arranged above the first transmission line and the second transmission line, the detector moves on the first surface of the gantry along the x-axis direction, the first material tray moves on the first transmission line along the y-axis direction, the second material tray moves on the second transmission line along the y-axis direction, the first transmission line ... first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second transmission line, the first transmission line is arranged above the first transmission line and the second It is arranged side by side with the second transmission line, and the x-axis direction is perpendicular to the y-axis direction; the tin-spraying point calibration method includes: obtaining the first coordinate of the tin-sprayed point in the first material tray through the detector, and the first reference coordinate of the first reference point corresponding to the tin-sprayed point; determining the point to be tin-sprayed corresponding to the tin-sprayed point in the second material tray, and obtaining the second reference coordinate of the second reference point corresponding to the point to be tin-sprayed through the detector; determining the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate to calibrate the second coordinate.

[0043] Compared with the tin-spraying equipment using a double gantry structure in the prior art, the tin-spraying point calibration method of the present application is applied to a tin-spraying equipment in which the detector and the laser head are arranged on both sides of the same gantry. During the tin-spraying process, the line passes through the detector to obtain the first coordinate of the tin-sprayed point in the first material tray, and the first reference coordinate of the first reference point corresponding to the tin-sprayed point, and then determines the point to be tin-sprayed corresponding to the tin-sprayed point in the second material tray, that is, the point whose relative position in the second material tray is the same as the relative position of the tin-sprayed point in the first material tray, and obtains the second reference coordinate of the second reference point corresponding to the point to be tin-sprayed through the detector, and finally determines the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate to calibrate the second coordinate.

[0044] In this way, the present application is based on the above-mentioned method of integrating the double gantries and calibrating the corresponding processing points on the two transport lines based on the reference points. Compared with the traditional tin-spraying equipment using a double gantry structure, the tin-spraying point calibration method of the present application can avoid the problem of parallelism error between the double gantries, and can calibrate the corresponding processing points on the material trays on the two transport lines based on the reference points, thereby further reducing the processing error. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings herein are incorporated in and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the description, are used to explain the principles of the present application.

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 A schematic diagram of the structure of a tin-spraying device in the hardware operating environment of the device involved in the embodiment of the present application;

[0048] Figure 2 This is a schematic diagram of the front structure of the tin spraying equipment involved in the embodiment of the present application;

[0049] Figure 3 This is a schematic diagram of the back structure of the tin spraying equipment involved in the embodiment of the present application;

[0050] Figure 4 This is a schematic diagram of an implementation flow of an embodiment of a tin spray point calibration method of the present application;

[0051] Figure 5 This is a schematic diagram of the functional modules of the tin spray point calibration system involved in the embodiment of the present application.

[0052] Description of Figure Numbers:

[0053] Label name Label name 1 gantry 11 detector 12 Laser head 2 First transmission line 21 First tray 3 Second transmission line 31 Second tray

[0054] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0056] It should be noted that the descriptions of "first" and "second" in this application are for descriptive purposes only and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0057] In the embodiments of the present application, unless otherwise specified or limited, the terms "connection" and "fixed" should be understood in a broad sense. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, or a communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal connection between two elements or the interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0058] It should be noted that, in the process of soldering circuit boards, in order to save labor costs and increase efficiency, a solder ball jet soldering mechanism is usually used for automated production.

[0059] Most existing welding equipment is composed of two parallel gantries vertically arranged above two parallel transmission lines on which circuit boards are placed, so as to set up laser heads and detectors to weld the circuit boards on the two transmission lines.

[0060] However, traditional double-gantry welding equipment has certain requirements for the hardware setting position. The detector and laser head on the double gantry are prone to parallelism errors, resulting in processing errors. The relative position between the gantry and the transmission line also needs to be accurate, which can easily affect the processing accuracy.

[0061] In response to the above problems, the present application provides a tin spraying point calibration method, system, tin spraying equipment and computer storage medium, the tin spraying point calibration method is applied to the tin spraying equipment, the tin spraying equipment includes: a gantry arranged along the x-axis direction, a detector, a first material tray, a second material tray, a first transmission line and a second transmission line arranged along the y-axis direction; the gantry is arranged above the first transmission line and the second transmission line, the detector moves on the first surface of the gantry along the x-axis direction, the first material tray moves on the first transmission line along the y-axis direction, the second material tray moves on the second transmission line along the y-axis direction, and the first transmission line is arranged above the first transmission line and the second transmission line. A transmission line and a second transmission line are arranged side by side, and the x-axis direction is perpendicular to the y-axis direction; the tin-spraying point calibration method includes: obtaining the first coordinates of the tin-sprayed point in the first material tray and the first reference coordinates of the first reference point corresponding to the tin-sprayed point through the detector; determining the point to be tin-sprayed corresponding to the tin-sprayed point in the second material tray, and obtaining the second reference coordinates of the second reference point corresponding to the point to be tin-sprayed through the detector; determining the second coordinates of the point to be tin-sprayed based on the first reference coordinates, the second reference coordinates and the first coordinates to calibrate the second coordinates.

[0062] Compared with the tin-spraying equipment using a double gantry structure in the prior art, the tin-spraying point calibration method of the present application is applied to a tin-spraying equipment in which the detector and the laser head are arranged on both sides of the same gantry. During the tin-spraying process, the line passes through the detector to obtain the first coordinate of the tin-sprayed point in the first material tray, and the first reference coordinate of the first reference point corresponding to the tin-sprayed point, and then determines the point to be tin-sprayed corresponding to the tin-sprayed point in the second material tray, that is, the point whose relative position in the second material tray is the same as the relative position of the tin-sprayed point in the first material tray, and obtains the second reference coordinate of the second reference point corresponding to the point to be tin-sprayed through the detector, and finally determines the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate to calibrate the second coordinate.

[0063] In this way, the present application is based on the above-mentioned method of integrating the double gantries and calibrating the corresponding processing points on the two transport lines based on the reference points. Compared with the traditional tin-spraying equipment using a double gantry structure, the tin-spraying point calibration method of the present application can avoid the problem of parallelism error between the double gantries, and can calibrate the corresponding processing points on the material trays on the two transport lines based on the reference points, thereby further reducing the processing error.

[0064] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0065] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of the tin-spraying equipment in the equipment hardware operating environment involved in the embodiment of this application.

[0066] The terminal device in the embodiment of the present application may be a tin spraying device.

[0067] like Figure 1 As shown, the tin spraying device may include: a processor 1001, such as a CPU, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection and communication between the processor 1001 and the memory 1005. The memory 1005 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk storage. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0068] Optionally, the tin spraying device may further include a user interface 1003, a network interface 1004, a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. The user interface may include a display screen and an input submodule such as a keyboard. Optionally, the user interface may also include a standard wired interface or a wireless interface. The network interface may optionally include a standard wired interface or a wireless interface (such as a WiFi interface).

[0069] Those skilled in the art will understand that Figure 1 The structure of the tin-spraying equipment shown in the figure does not constitute a limitation to the tin-spraying equipment, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0070] like Figure 1 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, and a tin spray point calibration program. The operating system is a program that manages and controls the hardware and software resources of the tin spray equipment and supports the operation of the tin spray point calibration program and other software and / or programs. The network communication module is used to enable communication between the various components within the memory 1005, as well as communication with other hardware and software in the tin spray point calibration system.

[0071] exist Figure 1 In the tin spraying device shown, the processor 1001 is used to execute the tin spraying point calibration program stored in the memory 1005, and perform the following operations:

[0072] Acquire, by the detector, first coordinates of a tin-sprayed point in the first tray and first reference coordinates of a first reference point corresponding to the tin-sprayed point;

[0073] Determine a point to be sprayed with tin in the second material tray corresponding to the point to be sprayed with tin, and obtain a second reference coordinate of a second reference point corresponding to the point to be sprayed with tin by the detector;

[0074] The second coordinate of the point to be tin-sprayed is determined based on the first reference coordinate, the second reference coordinate and the first coordinate, so as to calibrate the second coordinate.

[0075] Furthermore, the processor 1001 may call the tin spraying point calibration program stored in the memory 1005 and perform the following operations:

[0076] Get the input tin spraying instruction;

[0077] Controlling the laser head to move to a designated point above the first material tray according to the tin spraying instruction;

[0078] The laser head is controlled to spray tin on the designated point, and the designated point is used as a tin-sprayed point.

[0079] Furthermore, the processor 1001 may call the tin spraying point calibration program stored in the memory 1005 and perform the following operations:

[0080] Calculating a first deviation value between the first reference coordinate and the second reference coordinate;

[0081] The second coordinate of the point to be tin-sprayed is determined based on the first deviation value and the first coordinate.

[0082] Furthermore, the processor 1001 may call the tin spraying point calibration program stored in the memory 1005 and perform the following operations:

[0083] Obtaining a first x-axis coordinate and a first y-axis coordinate of the first coordinate;

[0084] The second x-axis coordinate of the point to be tinned is calculated according to the first x-axis coordinate and the x-axis deviation value, and the second y-axis coordinate of the point to be tinned is calculated according to the first y-axis coordinate and the y-axis deviation value.

[0085] Furthermore, the processor 1001 may call the tin spraying point calibration program stored in the memory 1005 and perform the following operations:

[0086] Controlling the movement of the laser head based on the x-axis deviation value, and controlling the movement of the second material tray based on the y-axis deviation value, so that the laser head is above the point to be tin-sprayed;

[0087] The laser head is controlled to spray tin on the points to be sprayed tin.

[0088] Furthermore, the processor 1001 may call the tin spraying point calibration program stored in the memory 1005 and perform the following operations:

[0089] Obtaining the preset coordinates of the point to be tin-sprayed;

[0090] Calculating a second deviation value between the preset coordinate and the second coordinate;

[0091] The coordinates of all preset points on the second material tray are adjusted based on the second deviation value.

[0092] Furthermore, the processor 1001 may call the tin spraying point calibration program stored in the memory 1005 and perform the following operations:

[0093] Determining whether the first deviation value is greater than a preset deviation threshold;

[0094] If the first deviation value is greater than the deviation threshold, an alarm signal is output.

[0095] The present application embodiment is applied to a tin spraying device, please refer to Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the front structure of the tin spraying equipment involved in the embodiment of this application. Figure 3 This is a schematic diagram of the back structure of the tin spraying equipment involved in the embodiment of the present application;

[0096] The tin spraying equipment includes: a gantry 1 arranged along the x-axis direction, a detector 11, a laser head 12, a first material tray 21, a second material tray 31, and a first transmission line 2 and a second transmission line 3 arranged along the y-axis direction;

[0097] The gantry is arranged above the first transmission line and the second transmission line, the detector moves on the first surface of the gantry along the x-axis direction, the laser head moves on the second surface of the gantry along the x-axis direction, the first material tray moves on the first transmission line along the y-axis direction, and the second material tray moves on the second transmission line along the y-axis direction. The first transmission line and the second transmission line are arranged side by side, and the x-axis direction is perpendicular to the y-axis direction.

[0098] Based on the above hardware structure, the present application provides a method for calibrating the tin spraying point. In the first embodiment of the tin spraying point calibration method of the present application, please refer to Figure 4, the tin spraying point calibration method includes:

[0099] Step S10, obtaining, by the detector, first coordinates of a tin-sprayed point in the first tray and first reference coordinates of a first reference point corresponding to the tin-sprayed point;

[0100] In this embodiment, the tin-spraying device first sprays tin on the points on the first tray according to the point coordinates preset by the user, and then obtains the first coordinates of the tin-sprayed points on the first tray through a detector.

[0101] It should be noted that the material tray may be a circuit board, and the reference point of the tinned point may be a reference point pre-set on the material tray for calibration, or may be any other point on the material tray.

[0102] After obtaining the first coordinates of the tin-sprayed point on the first material tray, the position of the reference point set by the user is identified and the first reference coordinates of the reference point are obtained.

[0103] Step S20, determining a point to be sprayed with tin corresponding to the point to be sprayed with tin in the second material tray, and obtaining a second reference coordinate of a second reference point corresponding to the point to be sprayed with tin by the detector;

[0104] It should be noted that, in this embodiment, the correspondence between the points to be tinned and the already tinned points in the second tray is that the relative positions of the already tinned points in the first tray and the relative positions of the points to be tinned in the second tray are the same.

[0105] In this embodiment, after obtaining the coordinates of the tin-sprayed point and the first reference coordinates of the first reference point, the point to be tin-sprayed corresponding to the tin-sprayed point on the second material tray is determined, and then the second reference coordinates of the second reference point corresponding to the point to be tin-sprayed are obtained.

[0106] Step S30 , determining a second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate, and the first coordinate, so as to calibrate the second coordinate.

[0107] In this embodiment, after obtaining the first reference coordinate, the second reference coordinate and the first coordinate, the second coordinate of the point to be tin-sprayed can be calculated according to these coordinate values, thereby calibrating the second coordinate.

[0108] Furthermore, in a feasible embodiment, in the above step S30, the step of determining the second coordinate of the point to be tinned based on the first reference coordinate, the second reference coordinate and the first coordinate includes:

[0109] Step S301, calculating a first deviation value between the first reference coordinate and the second reference coordinate;

[0110] Step S302 : determining a second coordinate of the point to be tin-sprayed based on the first deviation value and the first coordinate.

[0111] In this embodiment, the deviation value between the two coordinates can be calculated based on the first reference coordinate and the second reference coordinate. Since there is a corresponding relationship between the two reference points and the tin-sprayed points and the points to be tin-sprayed, the deviation value between the two reference points can also be regarded as the deviation value between the tin-sprayed points and the points to be tin-sprayed, and the second coordinate can be calculated by the deviation value and the first coordinate.

[0112] Furthermore, in a feasible embodiment, the first deviation value includes: an x-axis deviation value and a y-axis deviation value; the above-mentioned step S302, the step of determining the second coordinate of the point to be tinned based on the first deviation value and the first coordinate includes:

[0113] Step S3021, obtaining a first x-axis coordinate and a first y-axis coordinate of the first coordinate;

[0114] Step S3022: Calculate a second x-axis coordinate of the point to be tinned according to the first x-axis coordinate and the x-axis deviation value, and calculate a second y-axis coordinate of the point to be tinned according to the first y-axis coordinate and the y-axis deviation value.

[0115] In this embodiment, when performing calculations, because the coordinates are determined by the x-axis and y-axis of the tin-spraying equipment, the x-axis coordinate and y-axis coordinate of the first coordinate are first obtained, and then the second x-axis coordinate of the second coordinate can be calculated based on the x-axis coordinate and the x-axis deviation value, and the second y-axis coordinate of the second coordinate can be calculated based on the y-axis coordinate and the y-axis deviation value.

[0116] It should be noted that, in this embodiment, the number of reference points is not limited, and multiple reference points can be used to calibrate the vertical relationship between the x-axis and the y-axis, thereby further improving the processing accuracy.

[0117] For example, in the actual tin-spraying process, the tin-spraying equipment first sprays tin on the points on the first material tray according to the point coordinates preset by the user, and then obtains the first coordinates (10, 10) of the tin-sprayed points on the first material tray through the detector. After obtaining the first coordinates of the tin-sprayed points on the first material tray, the user pre-sets a reference point for calibration on the material tray. The tin-spraying equipment then identifies the position of the reference point set by the user and obtains the first reference coordinates (1, 1) of the reference point. After obtaining the coordinates of the tin-sprayed points and the first reference coordinates of the first reference point, the points to be tin-sprayed corresponding to the tin-sprayed points on the second material tray are determined. When the preset reference point is used as the reference point, the points to be tin-sprayed can be determined first, and the reference points on the second material tray can be directly identified. The position of the reference point is identified as (6.5, 1.3). Therefore, the deviation value of the two reference points on the x-axis can be calculated to be 5.5, and the deviation value on the y-axis can be calculated to be 0.3. The second coordinate can be calculated as (15.5, 10.3) based on the first coordinate.

[0118] In addition, points around the tin-sprayed points and the points to be tin-sprayed can also be used as reference points. For example, when the four points closest to the tin-sprayed points and the points to be tin-sprayed are used as reference points, it is necessary to record the coordinates of each point in real time to determine which four points are closest. After determining the first coordinate of the tin-sprayed point, the coordinates of the four first reference points are obtained, and then the position of the point to be tin-sprayed on the second material tray is determined based on the position of the tin-sprayed point relative to the first material tray, thereby determining the position of the four nearest second reference points, and then calculating the deviation values ​​between the four first reference points and the four second reference points respectively, and combining the four deviation values ​​to calculate the deflection angle of the material tray, so that the position of the point to be tin-sprayed can be calculated. This method can calibrate the vertical relationship between the x-axis and the y-axis, further improving the calibration accuracy.

[0119] In this embodiment, compared with the tin-spraying equipment using a double gantry structure in the prior art, the tin-spraying point calibration method of the present application is applied to a tin-spraying equipment in which the detector and the laser head are set on both sides of the same gantry. During the tin-spraying process, the line passes through the detector to obtain the first coordinate of the tin-sprayed point in the first material tray, and the first reference coordinate of the first reference point corresponding to the tin-sprayed point, and then determines the point to be tin-sprayed corresponding to the tin-sprayed point in the second material tray, that is, the point whose relative position in the second material tray is the same as the relative position of the tin-sprayed point in the first material tray, and obtains the second reference coordinate of the second reference point corresponding to the point to be tin-sprayed through the detector, and finally determines the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate to calibrate the second coordinate.

[0120] In this way, the present application is based on the above-mentioned method of integrating the double gantries and calibrating the corresponding processing points on the two transport lines based on the reference points. Compared with the traditional tin-spraying equipment using a double gantry structure, the tin-spraying point calibration method of the present application can avoid the problem of parallelism error between the double gantries, and can calibrate the corresponding processing points on the material trays on the two transport lines based on the reference points, thereby further reducing the processing error.

[0121] Furthermore, based on the first embodiment of the tin spraying point calibration method of the present application, a second embodiment of the tin spraying point calibration method of the present application is proposed.

[0122] In the second embodiment of the tin spraying point calibration method of the present application, before the step S10 of obtaining the first coordinates of the tin sprayed point in the first material tray by the detector, the tin spraying point calibration method of the present application further includes:

[0123] Step A10, obtaining the input tin spraying instruction;

[0124] Step A20, controlling the laser head to move to a designated point above the first material tray according to the tin spraying instruction;

[0125] Step A30: Control the laser head to spray tin on the designated point, and use the designated point as a tin-sprayed point.

[0126] In this embodiment, when the user needs to spray tin on the material tray, the user first inputs the spray tin instruction into the spray tin device, controls the movement of the laser head and the first material tray through the control instruction, moves the laser head to the point specified by the user, and then sprays tin on the specified point on the first material tray. After that, the specified point after spraying tin is used as the tin-sprayed point for subsequent calibration operations.

[0127] Specifically, the user needs to spray tin at the point with coordinates (10, 10). After inputting instructions to the tin spraying equipment, the tin spraying equipment controls the first material tray to move on the first transmission line according to the y-axis coordinate according to the instructions, controls the laser head to move on the gantry according to the x-axis coordinate, moves the laser head to the point (10, 10), controls the laser head to spray tin, and after the tin spraying is completed, the point is used as the tin-sprayed point for subsequent calibration.

[0128] Furthermore, in a feasible embodiment, in the above-mentioned step S30, after the step of determining the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate, the tin-spraying point calibration method of the present application further includes:

[0129] Step B10, controlling the movement of the laser head based on the x-axis deviation value, and controlling the movement of the second material tray based on the y-axis deviation value, so that the laser head is above the point to be tin-sprayed;

[0130] Step B20, controlling the laser head to spray tin on the points to be sprayed tin.

[0131] In this embodiment, after calibrating the second coordinate, the movement of the laser head and the second material tray can be controlled directly based on the calibrated second coordinate, or the movement of the laser head and the second material tray can be controlled directly based on the calculated deviation value. After the movement is completed, tin is sprayed on the points to be sprayed.

[0132] Specifically, if the first coordinate is (10,10,), the deviation value on the x-axis is 5.5, the deviation value on the y-axis is 0.3, and the second coordinate is (15.5, 10.3), you can directly control the laser head and the material tray to move the laser head to the coordinate of (15.5, 10.3), or you can move the laser head by 5.5 and the second material tray by 0.3 according to the deviation value, so that the laser head moves to the second coordinate, and then perform the tin spraying operation.

[0133] In this way, the present application can complete the preparatory work for tin spray calibration and the tin spray operation after calibration based on the above method.

[0134] Furthermore, based on the first embodiment of the tin spraying point calibration method of the present application, a second embodiment of the tin spraying point calibration method of the present application is proposed.

[0135] In the second embodiment of the tin spraying point calibration method of the present application, in the above-mentioned step S30, after the step of determining the second coordinate of the point to be tin sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate, the tin spraying point calibration method of the present application further includes:

[0136] Step C10, obtaining the preset coordinates of the points to be tinned;

[0137] Step C20, calculating a second deviation value between the preset coordinate and the second coordinate;

[0138] Step C20: adjusting the coordinates of all preset points on the second tray based on the second deviation value.

[0139] In this embodiment, after obtaining the deviation value of the first coordinate and the second coordinate, it can be considered that all the preset points on the second material tray are deviated from the corresponding points on the first material tray. Therefore, the second deviation value between the second coordinate and the preset coordinate of the point to be tin-sprayed can be calculated, and all the preset points on the second material tray can be obtained. Then, the coordinates of all the preset points are adjusted according to the second deviation value, thereby completing the calibration of all the preset points.

[0140] Specifically, if the deviation value also includes a deviation angle, it is also necessary to further calculate and calibrate the point based on the deviation angle to make the calculation result more accurate.

[0141] In this way, all point calibrations can be completed based on two corresponding points, thereby improving processing efficiency.

[0142] Furthermore, based on the first and second embodiments of the tin spraying point calibration method of the present application, a third embodiment of the tin spraying point calibration method of the present application is proposed.

[0143] In a third embodiment of the tin spraying point calibration method of the present application, in the above-mentioned step S30, after the step of determining the second coordinate of the point to be tin sprayed based on the first reference coordinate, the second reference coordinate and the first coordinate, the tin spraying point calibration method of the present application further includes:

[0144] Step D10, determining whether the first deviation value is greater than a preset deviation threshold;

[0145] Step D20: If the first deviation value is greater than the deviation threshold, an alarm signal is output.

[0146] In this embodiment, after the deviation value is calculated, it is determined whether the deviation value is greater than the deviation threshold set by the user. If it is greater than the deviation threshold, the tin spraying equipment stops working and outputs an alarm signal to notify the user to perform manual calibration.

[0147] Specifically, after calculating the deviation value, a deviation threshold can be set according to the total distance of the deviation value. An alarm will be issued if the deviation threshold is exceeded. A deviation threshold can also be set on the x-axis and y-axis respectively. An alarm will be issued as long as the deviation value on one axis exceeds the deviation threshold.

[0148] In this way, the tin spray point calibration method of the present application can avoid excessive deviation of the equipment, which may cause errors that the machine itself cannot adjust.

[0149] In addition, please refer to Figure 5 , Figure 5 This is a functional module diagram of the tin spray point calibration system of the present application. The present application also provides a tin spray point calibration system, which includes:

[0150] A first coordinate acquisition module 10 is configured to acquire, through the detector, first coordinates of a tin-sprayed point in the first tray and first reference coordinates of a first reference point corresponding to the tin-sprayed point;

[0151] The second coordinate acquisition module 20 is used to determine the point to be tin-sprayed in the second material tray corresponding to the point to be tin-sprayed, and obtain the second reference coordinate of the second reference point corresponding to the point to be tin-sprayed through the detector;

[0152] The coordinate calibration module 30 is configured to determine the second coordinate of the point to be tin-sprayed based on the first reference coordinate, the second reference coordinate, and the first coordinate, so as to calibrate the second coordinate.

[0153] Optionally, the tin spray point calibration system also includes:

[0154] The instruction acquisition module is used to obtain the input tin spraying instruction;

[0155] The control module is used to control the laser head to move to the designated point above the first material tray according to the tin spraying instruction; control the laser head to spray tin on the designated point, and use the designated point as a tin-sprayed point.

[0156] Optionally, the coordinate calibration module includes:

[0157] The coordinate calculation unit is used to calculate a first deviation value between the first reference coordinate and the second reference coordinate; and determine a second coordinate of the point to be tin-sprayed based on the first deviation value and the first coordinate.

[0158] Optionally, the coordinate calculation unit includes:

[0159] an axis coordinate acquisition subunit, configured to acquire a first x-axis coordinate and a first y-axis coordinate of the first coordinate;

[0160] The axis coordinate calculation subunit is used to calculate the second x-axis coordinate of the point to be tin-sprayed according to the first x-axis coordinate and the x-axis deviation value, and to calculate the second y-axis coordinate of the point to be tin-sprayed according to the first y-axis coordinate and the y-axis deviation value.

[0161] Optionally, the tin spray point calibration system also includes:

[0162] The second control module is used to control the movement of the laser head based on the x-axis deviation value, and control the movement of the second material tray based on the y-axis deviation value, so that the laser head is above the point to be tin-sprayed; control the laser head to spray tin on the point to be tin-sprayed.

[0163] Optionally, the tin spray point calibration system also includes:

[0164] The overall calibration module is used to obtain the preset coordinates of the point to be tin-sprayed; calculate the second deviation value between the preset coordinates and the second coordinates; and adjust the coordinates of all preset points on the second material tray based on the second deviation value.

[0165] Optionally, the tin spray point calibration system also includes:

[0166] The alarm unit is used to determine whether the first deviation value is greater than a preset deviation threshold; if the first deviation value is greater than the deviation threshold, an alarm signal is output.

[0167] The specific implementation of the tin spray point calibration system of the present application is basically the same as the various embodiments of the tin spray point calibration method described above, and will not be repeated here.

[0168] In addition, the present application also proposes a computer storage medium, which stores a tin spray point calibration program. When the tin spray point calibration program is executed by a processor, the steps of the tin spray point calibration method of the present application as described above are implemented.

[0169] The specific embodiments of the computer storage medium of the present application are basically the same as the embodiments of the above-mentioned tin spraying point calibration method, and will not be described in detail here.

[0170] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0171] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0172] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0173] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A tin spraying point calibration method, characterized in that: The tin spraying point calibration method is applied to a tin spraying device, which includes: a gantry arranged along the x-axis direction, a detector, a first material tray, a second material tray, and a first transmission line and a second transmission line arranged along the y-axis direction; The gantry is arranged above the first transmission line and the second transmission line, the detector moves along the x-axis direction on the first surface of the gantry, the first material tray moves along the y-axis direction on the first transmission line, and the second material tray moves along the y-axis direction on the second transmission line, the first transmission line and the second transmission line are arranged side by side, and the x-axis direction is perpendicular to the y-axis direction; The tin spraying point calibration method includes: Acquire, by the detector, first coordinates of a tin-sprayed point in the first tray and first reference coordinates of a first reference point corresponding to the tin-sprayed point; Determine a point to be sprayed with tin in the second material tray corresponding to the point to be sprayed with tin, and obtain a second reference coordinate of a second reference point corresponding to the point to be sprayed with tin by the detector; Calculating a first deviation value between the first reference coordinate and the second reference coordinate, wherein the first deviation value includes: an x-axis deviation value and a y-axis deviation value; Obtaining a first x-axis coordinate and a first y-axis coordinate of the first coordinate; The second x-axis coordinate of the point to be tin-sprayed is calculated according to the first x-axis coordinate and the x-axis deviation value, and the second y-axis coordinate of the point to be tin-sprayed is calculated according to the first y-axis coordinate and the y-axis deviation value, so as to calibrate the second coordinate of the tin-spraying point.

2. The tin spraying point calibration method according to claim 1, characterized in that: The tin spraying equipment further includes: a laser head, the laser head moving along the x-axis direction on the second surface of the gantry; Before the step of obtaining the first coordinates of the tin-sprayed points in the first tray by the detector, the method further includes: Get the input tin spraying instruction; Controlling the laser head to move to a designated point above the first material tray according to the tin spraying instruction; The laser head is controlled to spray tin on the designated point, and the designated point is used as a tin-sprayed point.

3. The tin spraying point calibration method according to claim 2, characterized in that: After the step of calibrating the second coordinates of the tin spraying point, the method further includes: Controlling the movement of the laser head based on the x-axis deviation value, and controlling the movement of the second material tray based on the y-axis deviation value, so that the laser head is above the point to be tin-sprayed; The laser head is controlled to spray tin on the points to be sprayed tin.

4. The tin spraying point calibration method according to claim 1, characterized in that: After the step of obtaining a first deviation value between the first reference coordinate and the second reference coordinate, the method further includes: Obtaining the preset coordinates of the point to be tin-sprayed; Calculating a second deviation value between the preset coordinate and the second coordinate; The coordinates of all preset points on the second material tray are adjusted based on the second deviation value.

5. The tin spraying point calibration method according to claim 1, characterized in that: After the step of obtaining a first deviation value between the first reference coordinate and the second reference coordinate, the method further includes: Determining whether the first deviation value is greater than a preset deviation threshold; If the first deviation value is greater than the deviation threshold, an alarm signal is output.

6. A tin spraying point calibration system, characterized in that: The tin spraying point calibration system is applied to a tin spraying device, which includes: a gantry arranged along the x-axis direction, a detector, a first material tray, a second material tray, and a first transmission line and a second transmission line arranged along the y-axis direction; The gantry is arranged above the first transmission line and the second transmission line, the detector moves along the x-axis direction on the first surface of the gantry, the first material tray moves along the y-axis direction on the first transmission line, and the second material tray moves along the y-axis direction on the second transmission line, the first transmission line and the second transmission line are arranged side by side, and the x-axis direction is perpendicular to the y-axis direction; The tin spraying point calibration system includes: A first coordinate acquisition module, configured to acquire, through the detector, first coordinates of a tin-sprayed point in the first tray and first reference coordinates of a first reference point corresponding to the tin-sprayed point; A second coordinate acquisition module is used to determine the point to be tin-sprayed in the second material tray corresponding to the point to be tin-sprayed, and obtain the second reference coordinate of the second reference point corresponding to the point to be tin-sprayed through the detector; A coordinate calibration module, configured to calculate a first deviation value between the first reference coordinate and the second reference coordinate, wherein the first deviation value includes: an x-axis deviation value and a y-axis deviation value; Obtaining a first x-axis coordinate and a first y-axis coordinate of the first coordinate; The second x-axis coordinate of the point to be tin-sprayed is calculated according to the first x-axis coordinate and the x-axis deviation value, and the second y-axis coordinate of the point to be tin-sprayed is calculated according to the first y-axis coordinate and the y-axis deviation value, so as to calibrate the second coordinate of the tin-spraying point.

7. A tin spraying device, characterized in that: The tin spraying device includes: a memory and a processor, wherein a tin spraying point calibration program is stored in the memory, and when the tin spraying point calibration program is executed by the processor, the steps of the tin spraying point calibration method according to any one of claims 1 to 5 are implemented.

8. A computer storage medium, characterized in that The computer storage medium stores a tin spraying point calibration program, and when the tin spraying point calibration program is executed by the processor, the steps of the tin spraying point calibration method according to any one of claims 1 to 5 are implemented.

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