Method and device for calibrating taking and placing positions of stacker clamp

Abstract

The invention discloses a stacking machine card taking and placing position calibration method and device. The method comprises the steps that a first transverse distance LA1 measured by a distance measuring sensor A1 to a card frame is obtained; acquiring a second transverse distance LA2 from the distance measuring sensor A2 to the frame of the card holder; according to the LA1 and the LA2, the transverse offset dX between the position of the clamp placed on the arm of the stacking machine and the standard position is calculated; calculating an angular deviation dT according to the transverse offset dX and the fixed distance L; the longitudinal distance LY, measured by the distance measuring sensor B, from the distance measuring sensor B to the clamping frame is obtained, and the longitudinal offset dY between the clamping position placed on the stacking machine arm and the standard position is calculated according to the longitudinal distance LY and a preset longitudinal standard value; and according to the transverse offset dX, the angular deviation dT, the longitudinal offset dY and the detected size specification of the card holder, the storage position of the card holder is compensated and calibrated. The position precision of the card holder during storage is effectively guaranteed, and the working efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of stackers, and in particular relates to a method and a device for calibrating a clamping position of a stacker. Background Art

[0002] At present, in each process section of the LCD panel factory, the stacker is the core equipment for material transfer, responsible for material storage and loading and unloading for the production line. In the actual production process, in order to meet the normal loading of the production line, the stacker is usually required to have a pick-and-place accuracy of ±2mm.

[0003] At present, in the production process, the carrier of the stacker to transport materials is a clamp, which often causes the position of the transported materials to shift due to vibration and other factors. After the material shifts, the clamp position needs to be corrected. The weight of the clamp ranges from 200KG to 1600KG, so after the deviation occurs, it is almost impossible to correct it by manpower under high load conditions, resulting in difficulty in correction and low efficiency. Summary of the invention

[0004] To this end, the present invention provides a method and device for calibrating the position of a stacker clamp, which solves the problem of difficulty and low efficiency in correcting the position of the clamp in the traditional technology.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a method for calibrating the position of a stacker clamp, comprising: Acquire a first lateral distance LA1 from the distance measuring sensor A1 to the clamp frame placed on the stacker arm measured by the distance measuring sensor A1, wherein the distance measuring sensor A1 is arranged at a first position on the stacker arm; Acquire a second lateral distance LA2 from the distance measuring sensor A2 to the clamp frame measured by the distance measuring sensor A2, wherein the distance measuring sensor A2 is arranged at a second position on the stacker arm; Calculate the lateral offset dX between the clamping position placed on the stacker arm and the standard position according to the first lateral distance LA1 and the second lateral distance LA2; Calculate the angular deviation dT between the clamp position placed on the stacker arm and the standard position according to the lateral offset dX between the clamp position placed on the stacker arm and the standard position and the fixed distance L between the first position where the distance sensor A1 is located and the second position where the distance sensor A2 is located; Obtaining a longitudinal distance LY from the distance sensor B to the clip frame measured by the distance sensor B, and calculating a longitudinal offset dY between the clip position placed on the stacker arm and the standard position according to the longitudinal distance LY and a preset longitudinal standard value; According to the lateral offset dX between the clip position on the stacker arm and the standard position, the angular deviation dT between the clip position on the stacker arm and the standard position, the longitudinal offset dY between the clip position on the stacker arm and the standard position, the detected clip size specifications are used to compensate and calibrate the storage position of the clip.

[0006] As a preferred solution for the stacker clamp pick-up and placement position calibration method, the formula for calculating the lateral offset dX between the clamp position placed on the stacker arm and the standard position is: dX=LA1-LA2 according to the first lateral distance LA1 and the second lateral distance LA2.

[0007] As a preferred solution for the stacker clamp pick-up and placement position calibration method, based on the lateral offset dX between the clamp position placed on the stacker arm and the standard position, and the fixed spacing L between the first position of the ranging sensor A1 and the second position of the ranging sensor A2, the formula for calculating the angular deviation dT between the clamp position placed on the stacker arm and the standard position is: dT=arctan(dX / L).

[0008] As a preferred solution of the stacker clamping position calibration method, it also includes: comparing the lateral offset dX with a preset lateral offset threshold, comparing the angular deviation dT with a preset angular offset threshold, and comparing the longitudinal offset dY with a preset longitudinal offset threshold; if any one of the lateral offset dX, the angular deviation dT, and the longitudinal offset dY exceeds the limit, an abnormal alarm of excessive deviation is issued.

[0009] As a preferred solution of the stacker clamp pick-up and placement position calibration method, it also includes: According to the first lateral distance LA1 and the second lateral distance LA2, the median LM of the lateral detection distance of the clip placed on the stacker arm is calculated: LM=(LA1+LA2) / 2; The median value LM of the lateral detection distance of the clip is combined with the longitudinal distance LY, and a range comparison is performed with the standard position value of the preset specification clip taught in advance to obtain the current clip size specification.

[0010] The present invention also provides a stacker clamp pick-up and placement position calibration device, comprising: A first lateral distance acquisition module, used for acquiring a first lateral distance LA1 from the distance measuring sensor A1 to a clip frame placed on the stacker arm measured by the distance measuring sensor A1, wherein the distance measuring sensor A1 is arranged at a first position on the stacker arm; A second lateral distance acquisition module, used for acquiring a second lateral distance LA2 from the distance measuring sensor A2 to the clamp frame measured by the distance measuring sensor A2, wherein the distance measuring sensor A2 is arranged at a second position on the stacker arm; A lateral offset calculation module, used to calculate a lateral offset dX between a clamping position placed on the stacker arm and a standard position according to the first lateral distance LA1 and the second lateral distance LA2; An angle deviation calculation module, used to calculate the angle deviation dT between the clamp position placed on the stacker arm and the standard position according to the lateral offset dX between the clamp position placed on the stacker arm and the standard position, and the fixed distance L between the first position where the ranging sensor A1 is located and the second position where the ranging sensor A2 is located; A longitudinal offset calculation module is used to obtain the longitudinal distance LY from the distance sensor B to the clip frame measured by the distance sensor B, and calculate the longitudinal offset dY between the clip position placed on the stacker arm and the standard position according to the longitudinal distance LY and a preset longitudinal standard value; The storage position compensation calibration module is used to compensate and calibrate the storage position of the clip according to the lateral offset dX between the clip position placed on the stacker arm and the standard position, the angular deviation dT between the clip position placed on the stacker arm and the standard position, the longitudinal offset dY between the clip position placed on the stacker arm and the standard position, and the detected clip size specifications.

[0011] As a preferred solution for the stacker clamping position calibration device, in the lateral offset calculation module, the formula for calculating the lateral offset dX between the clamping position placed on the stacker arm and the standard position is: dX=LA1-LA2 based on the first lateral distance LA1 and the second lateral distance LA2.

[0012] As a preferred solution for the stacker clamping position calibration device, in the angle deviation calculation module, based on the lateral offset dX between the clamping position placed on the stacker arm and the standard position, and the fixed spacing L between the first position of the ranging sensor A1 and the second position of the ranging sensor A2, the formula for calculating the angle deviation dT between the clamping position placed on the stacker arm and the standard position is: dT=arctan(dX / L).

[0013] As a preferred solution of the stacker clamp pick-up and placement position calibration device, it also includes: The abnormal alarm module is used to compare the lateral offset dX with the preset lateral offset threshold, compare the angular deviation dT with the preset angular offset threshold, and compare the longitudinal offset dY with the preset longitudinal offset threshold; if any of the lateral offset dX, the angular deviation dT, and the longitudinal offset dY exceeds the limit, an abnormal alarm of excessive deviation is issued.

[0014] As a preferred solution of the stacker clamp pick-up and placement position calibration device, it also includes: The card clip size specification analysis module is used to calculate the median LM of the lateral detection distance of the card clip placed on the stacker arm according to the first lateral distance LA1 and the second lateral distance LA2: LM=(LA1+LA2) / 2; The median value LM of the lateral detection distance of the clip is combined with the longitudinal distance LY, and a range comparison is performed with the standard position value of the preset specification clip taught in advance to obtain the current clip size specification.

[0015] The present invention has the following advantages: the present invention can utilize the high load capacity of the stacker to correct the position of the card clip during the process of taking and placing the card clip, which can effectively ensure the position accuracy of the card clip during storage, and even if an offset occurs, it can be corrected during the transportation process; automatic correction in the production process is realized, which can effectively reduce the equipment downtime and adjustment time caused by the offset of the card clip position, and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0017] Figure 1 A schematic diagram of the flow chart of a stacker clamp pick-up and placement position calibration method provided in an embodiment of the present invention; Figure 2 A schematic diagram of the arrangement of distance measuring sensors during the stacker clamp pick-up and placement position calibration process provided in an embodiment of the present invention; Figure 3 A schematic diagram of position compensation during the stacker clamp pick-up and placement position calibration process provided in an embodiment of the present invention; Figure 4 It is a schematic diagram of the stacker clamping pick-and-place position calibration device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example 1 See also Figure 1The embodiment of the present invention provides a method for calibrating the position of a stacker clamp, comprising the following steps: S1, obtaining a first lateral distance LA1 from the distance measuring sensor A1 to a clip frame placed on the stacker arm measured by the distance measuring sensor A1, wherein the distance measuring sensor A1 is arranged at a first position on the stacker arm; S2, obtaining a second lateral distance LA2 from the distance measuring sensor A2 to the clamp frame measured by the distance measuring sensor A2, wherein the distance measuring sensor A2 is arranged at a second position on the stacker arm; S3, calculating a lateral offset dX between the clamping position placed on the stacker arm and the standard position according to the first lateral distance LA1 and the second lateral distance LA2; S4, calculating the angular deviation dT between the clamp position placed on the stacker arm and the standard position according to the lateral offset dX between the clamp position placed on the stacker arm and the standard position and the fixed distance L between the first position where the ranging sensor A1 is located and the second position where the ranging sensor A2 is located; S5, obtaining the longitudinal distance LY from the distance sensor B to the clip frame measured by the distance sensor B, and calculating the longitudinal offset dY between the clip position placed on the stacker arm and the standard position according to the longitudinal distance LY and a preset longitudinal standard value; S6. According to the lateral offset dX between the clip position on the stacker arm and the standard position, the angular deviation dT between the clip position on the stacker arm and the standard position, the longitudinal offset dY between the clip position on the stacker arm and the standard position, and the detected clip size specifications, the storage position of the clip is compensated and calibrated.

[0020] In this embodiment, the high load capacity of the stacker is utilized to add precise distance sensors A1, A2 and B to the stacker arm. After the stacker arm takes out the card clip, the distance sensors A1, A2 and B are used to measure and calculate the position offset of the card clip on the stacker arm. Then, the motor shafts in all directions of the stacker are used for position compensation to ensure that the position accuracy requirement of ±2mm is met when the card clip is stored. At the same time, the card clip size can be automatically calculated and detected according to the measured value to achieve the pick-up and placement calibration of card clips of different sizes.

[0021] See also Figure 2 ,When the stacker arm takes out the card clip, the three distance sensors A1, A2 and B respectively measure the distance to the card clip frame, and the offset of the card clip in each direction and the size specifications of the card clip are calculated.

[0022] According to the first lateral distance LA1 and the second lateral distance LA2, the formula for calculating the lateral offset dX between the clamp position placed on the stacker arm and the standard position is: dX=LA1-LA2. According to the lateral offset dX between the clamp position placed on the stacker arm and the standard position, the fixed distance L between the first position where the ranging sensor A1 is located and the second position where the ranging sensor A2 is located, the formula for calculating the angular deviation dT between the clamp position placed on the stacker arm and the standard position is: dT=arctan(dX / L).

[0023] In this embodiment, it also includes: According to the first lateral distance LA1 and the second lateral distance LA2, the median LM of the lateral detection distance of the clip placed on the stacker arm is calculated: LM=(LA1+LA2) / 2; The median LM of the lateral detection distance of the card clip is combined with the longitudinal distance LY, and the standard position value of the preset specification card clip taught in advance is compared with the range to obtain the current card clip size specification. When placing the card clip, the obtained card clip specification can be used to store the corresponding specification card clip position.

[0024] In this embodiment, when the clips are stored according to the lateral offset dX between the position of the clip placed on the stacker arm and the standard position, the angular deviation dT between the position of the clip placed on the stacker arm and the standard position, the longitudinal offset dY between the position of the clip placed on the stacker arm and the standard position, and the detected clip size specifications, the stacker performs position compensation in the X, Y and angle directions at the reference storage position of the corresponding clip, such as Figure 3 As shown, adaptive correction of the clamp position is achieved to ensure placement accuracy.

[0025] In a possible embodiment, it also includes: comparing the lateral offset dX with a preset lateral offset threshold, comparing the angular deviation dT with a preset angular offset threshold, and comparing the longitudinal offset dY with a preset longitudinal offset threshold; if any one of the lateral offset dX, the angular deviation dT, and the longitudinal offset dY exceeds the limit, an excessive deviation abnormal alarm is issued, thereby avoiding tipping over during the card clamping process due to excessive position deviation, thereby improving the safety of picking and placing.

[0026] In a possible embodiment, the technical solution of the embodiment of the present invention is applied to a material with a regular shape similar to a clip. The distance measuring sensor A1, the distance measuring sensor A2 and the distance measuring sensor B detect the designated reference position of the measured clip, which can also achieve the purpose of position calibration.

[0027] In summary, the present invention obtains a first lateral distance LA1 from the distance measuring sensor A1 to the clip frame placed on the stacker arm, measured by the distance measuring sensor A1, and the distance measuring sensor A1 is arranged at a first position on the stacker arm; obtains a second lateral distance LA2 from the distance measuring sensor A2 to the clip frame, measured by the distance measuring sensor A2, and the distance measuring sensor A2 is arranged at a second position on the stacker arm; calculates a lateral offset dX between the clip position placed on the stacker arm and the standard position according to the first lateral distance LA1 and the second lateral distance LA2; calculates the lateral offset dX between the clip position placed on the stacker arm and the standard position according to the lateral offset dX between the clip position placed on the stacker arm and the standard position and the fixed spacing L of the second position where the distance sensor A2 is located, calculate the angle deviation dT between the clamp position placed on the stacker arm and the standard position; obtain the longitudinal distance LY from the distance sensor B to the clamp frame measured by the distance sensor B, and calculate the longitudinal offset dY between the clamp position placed on the stacker arm and the standard position according to the longitudinal distance LY and the preset longitudinal standard value; according to the lateral offset dX between the clamp position placed on the stacker arm and the standard position, the angle deviation dT between the clamp position placed on the stacker arm and the standard position, the longitudinal offset dY between the clamp position placed on the stacker arm and the standard position, and the detected clamp size specifications, the storage position of the clamp is compensated and calibrated. The present invention can utilize the high load capacity of the stacker to correct the clamp position in the process of taking and placing the clamp, and can effectively ensure the position accuracy of the clamp when it is stored. Even if an offset occurs, it can be corrected during the handling process; automatic correction is realized in the production process, which can effectively reduce the equipment downtime and adjustment time caused by the clamp position offset, and improve work efficiency.

[0028] Example 2 See also Figure 4 Embodiment 2 of the present invention further provides a stacker clamp pick-up and placement position calibration device, comprising: A first lateral distance acquisition module 100, for acquiring a first lateral distance LA1 from the distance measuring sensor A1 to a clip frame placed on the stacker arm, measured by the distance measuring sensor A1, wherein the distance measuring sensor A1 is arranged at a first position on the stacker arm; A second lateral distance acquisition module 200, for acquiring a second lateral distance LA2 from the distance measuring sensor A2 to the clamp frame measured by the distance measuring sensor A2, wherein the distance measuring sensor A2 is arranged at a second position on the stacker arm; A lateral offset calculation module 300, for calculating a lateral offset dX between a clamping position placed on the stacker arm and a standard position according to the first lateral distance LA1 and the second lateral distance LA2; An angle deviation calculation module 400, for calculating an angle deviation dT between the clamp position placed on the stacker arm and the standard position according to a lateral offset dX between the clamp position placed on the stacker arm and the standard position, and a fixed distance L between the first position where the ranging sensor A1 is located and the second position where the ranging sensor A2 is located; A longitudinal offset calculation module 500 is used to obtain a longitudinal distance LY from the distance sensor B to the clip frame measured by the distance sensor B, and calculate a longitudinal offset dY between the clip position placed on the stacker arm and the standard position according to the longitudinal distance LY and a preset longitudinal standard value; The storage position compensation calibration module 600 is used to compensate and calibrate the storage position of the clip according to the lateral offset dX between the clip position placed on the stacker arm and the standard position, the angular deviation dT between the clip position placed on the stacker arm and the standard position, the longitudinal offset dY between the clip position placed on the stacker arm and the standard position, and the detected clip size specifications.

[0029] In this embodiment, in the lateral offset calculation module 300, the formula for calculating the lateral offset dX between the clamping position placed on the stacker arm and the standard position is: dX=LA1-LA2 according to the first lateral distance LA1 and the second lateral distance LA2.

[0030] In this embodiment, in the angle deviation calculation module 400, according to the lateral offset dX between the clamping position placed on the stacker arm and the standard position, and the fixed distance L between the first position of the ranging sensor A1 and the second position of the ranging sensor A2, the formula for calculating the angle deviation dT between the clamping position placed on the stacker arm and the standard position is: dT=arctan(dX / L).

[0031] In this embodiment, it also includes: The abnormal alarm module 700 is used to compare the lateral offset dX with a preset lateral offset threshold, compare the angular deviation dT with a preset angular offset threshold, and compare the longitudinal offset dY with a preset longitudinal offset threshold; if any of the lateral offset dX, the angular deviation dT, and the longitudinal offset dY exceeds the limit, an abnormal alarm of excessive deviation is issued.

[0032] In this embodiment, it also includes: The card clip size specification analysis module 800 is used to calculate the median LM of the lateral detection distance of the card clip placed on the stacker arm according to the first lateral distance LA1 and the second lateral distance LA2: LM=(LA1+LA2) / 2; The median value LM of the lateral detection distance of the clip is combined with the longitudinal distance LY, and a range comparison is performed with the standard position value of the preset specification clip taught in advance to obtain the current clip size specification.

[0033] It should be noted that the information interaction, execution process and other contents between the modules of the above-mentioned device are based on the same concept as the method embodiment in Example 1 of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown in the previous part of the present application, and will not be repeated here.

[0034] Example 3 Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium, in which a program code for a stacker clamp pick-up and placement position calibration method is stored, and the program code includes instructions for executing the stacker clamp pick-up and placement position calibration method of embodiment 1 or any possible implementation thereof.

[0035] Computer-readable storage media can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0036] Example 4 Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor; The processor and the memory communicate with each other via a bus; the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the stacker clamping position calibration method of embodiment 1 or any possible implementation thereof.

[0037] Specifically, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor implemented by reading software codes stored in a memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0038] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0039] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0040] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A method for calibrating the position of a stacker clamp. It is characterized in that include: Acquire a first lateral distance LA1 from the distance measuring sensor A1 to the clamp frame placed on the stacker arm measured by the distance measuring sensor A1, wherein the distance measuring sensor A1 is arranged at a first position on the stacker arm; Acquire a second lateral distance LA2 from the distance measuring sensor A2 to the clamp frame measured by the distance measuring sensor A2, wherein the distance measuring sensor A2 is arranged at a second position on the stacker arm; Calculate the lateral offset dX between the clamping position placed on the stacker arm and the standard position according to the first lateral distance LA1 and the second lateral distance LA2; Calculate the angular deviation dT between the clamp position placed on the stacker arm and the standard position according to the lateral offset dX between the clamp position placed on the stacker arm and the standard position and the fixed distance L between the first position where the distance sensor A1 is located and the second position where the distance sensor A2 is located; Obtaining a longitudinal distance LY from the distance sensor B to the clip frame measured by the distance sensor B, and calculating a longitudinal offset dY between the clip position placed on the stacker arm and the standard position according to the longitudinal distance LY and a preset longitudinal standard value; According to the lateral offset dX between the clip position on the stacker arm and the standard position, the angular deviation dT between the clip position on the stacker arm and the standard position, the longitudinal offset dY between the clip position on the stacker arm and the standard position, the detected clip size specifications are used to compensate and calibrate the storage position of the clip.

2. A stacker clamp pick-up and placement position calibration method according to claim 1, It is characterized in that According to the first lateral distance LA1 and the second lateral distance LA2, a formula for calculating the lateral offset dX between the clamping position placed on the stacker arm and the standard position is: dX=LA1-LA2.

3. A stacker clamping position calibration method according to claim 1, It is characterized in that According to the lateral offset dX between the clamp position placed on the stacker arm and the standard position, and the fixed distance L between the first position of the ranging sensor A1 and the second position of the ranging sensor A2, the formula for calculating the angular deviation dT between the clamp position placed on the stacker arm and the standard position is: dT=arctan(dX / L).

4. A stacker clamp pick-up and placement position calibration method according to claim 1, It is characterized in that Also includes: The lateral offset dX is compared with the preset lateral offset threshold, the angular deviation dT is compared with the preset angular offset threshold, and the longitudinal offset dY is compared with the preset longitudinal offset threshold; if any of the lateral offset dX, the angular deviation dT, and the longitudinal offset dY exceeds the limit, an excessive deviation abnormal alarm is issued.

5. A stacker clamp pick-up and placement position calibration method according to claim 1, It is characterized in that Also includes: According to the first lateral distance LA1 and the second lateral distance LA2, the median LM of the lateral detection distance of the clip placed on the stacker arm is calculated: LM=(LA1+LA2) / 2; The median value LM of the lateral detection distance of the clip is combined with the longitudinal distance LY, and a range comparison is performed with the standard position value of the preset specification clip taught in advance to obtain the current clip size specification.

6. A stacker clamp pick-up and placement position calibration device, It is characterized in that include: A first lateral distance acquisition module, used for acquiring a first lateral distance LA1 from the distance measuring sensor A1 to a clip frame placed on the stacker arm measured by the distance measuring sensor A1, wherein the distance measuring sensor A1 is arranged at a first position on the stacker arm; A second lateral distance acquisition module, used for acquiring a second lateral distance LA2 from the distance measuring sensor A2 to the clamp frame measured by the distance measuring sensor A2, wherein the distance measuring sensor A2 is arranged at a second position on the stacker arm; A lateral offset calculation module, used to calculate a lateral offset dX between a clamping position placed on the stacker arm and a standard position according to the first lateral distance LA1 and the second lateral distance LA2; An angle deviation calculation module, used to calculate the angle deviation dT between the clamp position placed on the stacker arm and the standard position according to the lateral offset dX between the clamp position placed on the stacker arm and the standard position, and the fixed distance L between the first position where the ranging sensor A1 is located and the second position where the ranging sensor A2 is located; A longitudinal offset calculation module is used to obtain the longitudinal distance LY from the distance sensor B to the clip frame measured by the distance sensor B, and calculate the longitudinal offset dY between the clip position placed on the stacker arm and the standard position according to the longitudinal distance LY and a preset longitudinal standard value; The storage position compensation calibration module is used to compensate and calibrate the storage position of the clip according to the lateral offset dX between the clip position placed on the stacker arm and the standard position, the angular deviation dT between the clip position placed on the stacker arm and the standard position, the longitudinal offset dY between the clip position placed on the stacker arm and the standard position, and the detected clip size specifications.

7. A stacker clamping position calibration device according to claim 6, It is characterized in that In the lateral offset calculation module, the formula for calculating the lateral offset dX between the clamping position placed on the stacker arm and the standard position is: dX=LA1-LA2 according to the first lateral distance LA1 and the second lateral distance LA2.

8. A stacker clamping position calibration device according to claim 6, It is characterized in that In the angle deviation calculation module, according to the lateral offset dX between the clamp position placed on the stacker arm and the standard position, and the fixed distance L between the first position of the ranging sensor A1 and the second position of the ranging sensor A2, the formula for calculating the angle deviation dT between the clamp position placed on the stacker arm and the standard position is: dT=arctan(dX / L).

9. A stacker clamping position calibration device according to claim 6, It is characterized in that Also includes: The abnormal alarm module is used to compare the lateral offset dX with the preset lateral offset threshold, compare the angular deviation dT with the preset angular offset threshold, and compare the longitudinal offset dY with the preset longitudinal offset threshold; if any of the lateral offset dX, the angular deviation dT, and the longitudinal offset dY exceeds the limit, an abnormal alarm of excessive deviation is issued.

10. A stacker clamping position calibration device according to claim 6, It is characterized in that Also includes: The card clip size specification analysis module is used to calculate the median LM of the lateral detection distance of the card clip placed on the stacker arm according to the first lateral distance LA1 and the second lateral distance LA2: LM=(LA1+LA2) / 2; The median value LM of the lateral detection distance of the clip is combined with the longitudinal distance LY, and a range comparison is performed with the standard position value of the preset specification clip taught in advance to obtain the current clip size specification.

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