Circuit board assembling method and device, assembling equipment and storage medium

Abstract

The invention provides a circuit board assembling method and device, assembling equipment and a storage medium, and the method comprises the steps: obtaining first point position information corresponding to a target circuit board and a first clamping jaw, and the first point position information represents a motion track and motion of the first clamping jaw clamping the target circuit board and a to-be-assembled product for assembling; and controlling the first clamping jaw to clamp the target circuit board according to the first point position information to be assembled with a product to be assembled.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of circuit board assembly, and more specifically, to a circuit board assembly method, apparatus, assembly equipment and storage medium. Background Art

[0002] Flexible Printed Circuit Board (FPC) is a printed circuit board made of flexible insulating material, which can be bent, rolled and folded freely to a certain extent. The use of FPC can greatly reduce the size of electronic products, which is suitable for the development of electronic products towards high density, miniaturization and high reliability.

[0003] In the assembly and production process of game controllers, the flexible circuit board assembly process mostly adopts manual assembly mode, which has problems such as low assembly efficiency, long training period for skilled operators, fatigue of operators working for a long time, uneven force on the flexible circuit boards, and easy pulling damage. This series of problems seriously affects and reduces the production efficiency and yield of the product. Summary of the invention

[0004] An object of the embodiments of the present disclosure is to provide a circuit board assembly method, apparatus, assembly equipment and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, there is provided a circuit board assembly method, comprising:

[0006] Acquire first point information corresponding to the target circuit board and the first clamping jaw, wherein the first point information indicates a motion trajectory and action of the first clamping jaw clamping the target circuit board and assembling the target circuit board with the product to be assembled;

[0007] The first clamp is controlled to clamp the target circuit board and assemble it with the product to be assembled according to the first point information.

[0008] Optionally, the first point information includes clamping point information and assembly point information.

[0009] The controlling the first clamping jaw to clamp the target circuit board and assemble the product to be assembled according to the first point information includes:

[0010] Controlling the first clamping jaw to move to the first position according to the clamping point information, and clamping the target circuit board placed at the second position to the third position;

[0011] The first clamp is controlled to clamp the target circuit board and the product to be assembled according to the assembly point information.

[0012] Optionally, the assembly point information includes multiple assembly points of the clamp and an assembly point number corresponding to each assembly point, wherein the number indicates the execution order of the corresponding assembly point;

[0013] The controlling the first clamping claw to clamp the target circuit board and the product to be assembled according to the assembly point information comprises:

[0014] Traversing the plurality of assembly points according to the assembly point numbers;

[0015] The first clamping jaw holding the target circuit board is controlled to move to the currently traversed assembly point.

[0016] Optionally, the first point information further includes withdrawal point information, and the method further includes:

[0017] The first clamp is controlled to release the target circuit board and move to a fourth position according to the withdrawal point information.

[0018] Optionally, the method further includes:

[0019] Unify and debug the coordinate system of the second gripper with the coordinate system of the first gripper;

[0020] According to the first point information, second point information corresponding to the target circuit board and the second clamping jaw is obtained; the second point information indicates the motion trajectory and action of the second clamping jaw clamping the target circuit board and assembling the product to be assembled;

[0021] The second clamping jaw is controlled to clamp the target circuit board and assemble it with the product to be assembled according to the second point information.

[0022] Optionally, the step of uniformly debugging the coordinate system of the second gripper and the coordinate system of the first gripper includes:

[0023] Controlling the first clamping jaw and the second clamping jaw to move to a target height, and adjusting the pulse value of the second clamping jaw corresponding to the height to be consistent with the pulse value of the first clamping jaw corresponding to the height;

[0024] Setting the origin of the tool coordinate system of the second clamping jaw so that the second clamping jaw rotates around the clamping point;

[0025] The second coordinate of the calibration point of the calibration tool located in the assembly positioning area corresponding to the second clamp in the coordinate system of the second clamp is adjusted to be consistent with the first coordinate of the calibration point of the calibration tool located in the assembly positioning area corresponding to the first clamp in the coordinate system of the first clamp.

[0026] Optionally, before controlling the first clamping jaw to clamp the target circuit board according to the first point information for assembly with the product to be assembled, the method further includes:

[0027] When it is detected that the product to be assembled arrives at the corresponding workstation, the transport motor is controlled to operate so as to transport the product to be assembled to the corresponding positioning area to be assembled.

[0028] According to a second aspect of the present disclosure, there is provided a circuit board assembly device, comprising:

[0029] A first information acquisition module is used to acquire first point information corresponding to a target circuit board and a first clamping jaw, wherein the first point information indicates a motion trajectory and action of the first clamping jaw clamping the target circuit board and assembling the target circuit board with the product to be assembled;

[0030] The first assembly control module is used to control the first clamping jaw to clamp the target circuit board and assemble it with the product to be assembled according to the first point information.

[0031] According to a third aspect of the present disclosure, an assembly device is provided, comprising a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method described in the first aspect of the present disclosure under the control of the computer program.

[0032] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method described in the first aspect of the present disclosure is implemented.

[0033] Through the embodiments of the present disclosure, automatic assembly of a target circuit board and a product to be assembled can be achieved through assembly equipment without manual assembly, which can reduce labor costs, improve assembly efficiency and assembly yield, and improve product production efficiency.

[0034] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0036] Figure 1 is a block diagram showing a hardware configuration of an assembly device that can implement an embodiment of the present disclosure;

[0037] Figure 2 is a flow chart of a circuit board assembly method according to an embodiment of the present disclosure;

[0038] Figure 3is a flow chart of an example of a circuit board assembly method according to an embodiment of the present disclosure;

[0039] Figure 4 is a block diagram of a circuit board assembly device according to an embodiment of the present disclosure;

[0040] Figure 5 is a block diagram of an assembly device according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0042] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0043] Technologies, methods and equipment known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered part of the specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0045] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0046] <Hardware Configuration>

[0047] Figure 1 is a block diagram showing a hardware configuration of an assembly device that can implement an embodiment of the present disclosure.

[0048] like Figure 1 As shown, the assembly equipment 1000 may include a controller 1100 , a human-machine interface 1200 , a robot 1300 , an electric gripper 1400 , a transport motor 1500 , a cylinder solenoid valve 1600 , and a photoelectric detection sensor 1700 .

[0049] In this embodiment, the controller 1100 is used to store control programs and equipment parameters, wherein the equipment parameters include motor operation parameters, detection delay parameters, and production count parameters. The human-machine interface 1200 is used to display the equipment status, perform parameter modification, and manually debug the equipment. The manipulator 1300 is fixed to the assembly equipment 1000 through a mounting base, and is used to drive the electric clamp 1400 to move according to a preset trajectory. The electric clamp 1400 is installed on the fourth joint of the manipulator 1300, and is used to clamp the circuit board and perform angle conversion during the circuit board assembly process. The transport motor 1500 is fixedly installed on the stand through a bracket, and is used to transport products between the assembly line and the positioning area to be assembled. The cylinder solenoid valve 1600 is installed on the equipment through a guide rail, and is used to control the actions of the product transport clamp cylinder, positioning cylinder, etc. The photoelectric detection sensor 1700 is respectively installed on the assembly line and the transport clamp to detect the presence or absence of the product.

[0050] <Method Example>

[0051] The present disclosure provides a circuit board assembly method, which can be implemented by an assembly device, wherein the assembly device can be the assembly device 1000 described in the above embodiment.

[0052] Figure 2 The figure is a flow chart of a circuit board assembly method according to an embodiment of the present disclosure.

[0053] like Figure 2 As shown, the method includes steps S2100 to S2200 as shown below:

[0054] Step S2100, obtaining first point information corresponding to the target circuit board and the first clamping jaw, wherein the first point information represents a motion trajectory and action of clamping the target circuit board and assembling the product to be assembled.

[0055] The target circuit board in this embodiment can be a circuit board of a target model, and all circuit boards of the target model have the same assembly method. The target circuit board can be a flexible circuit board or a rigid circuit board.

[0056] In this embodiment, the first point position information may be set according to the way in which the first clamping jaw clamps the target circuit board for assembly.

[0057] In one embodiment, the first point information may include multiple assembly points of the first clamp and the assembly point number corresponding to each assembly point, wherein the number indicates the execution order of the corresponding assembly point. For each assembly point, the position and angle of the corresponding first clamp may be included.

[0058] In this embodiment, the first clamp may be an electric clamp, the first clamp may be arranged at the end of the first manipulator, the first manipulator may drive the first clamp to move, and the first clamp may rotate around the first direction. Then, the angle in an assembly point may represent the angle of rotation of the first clamp around the first direction.

[0059] Furthermore, the first point information may also include an action corresponding to at least one assembly point, and the action may include clamping or releasing.

[0060] Step S2200, controlling the first clamping jaw to clamp the target circuit board and the product to be assembled according to the first point information for assembly.

[0061] In this embodiment, the movement and action of the first clamping jaw is controlled according to the first point position information, so that the target circuit board can be assembled with the product to be assembled.

[0062] Through the embodiments of the present disclosure, automatic assembly of a target circuit board and a product to be assembled can be achieved through assembly equipment without manual assembly, which can reduce labor costs, improve assembly efficiency and assembly yield, and improve product production efficiency.

[0063] In one embodiment of the present disclosure, before controlling the first clamp to clamp the target circuit board and the product to be assembled according to the first point information, the method also includes: when it is detected that the product to be assembled arrives at the corresponding workstation, controlling the transport motor to move the product to be assembled to the corresponding assembly positioning area.

[0064] In this embodiment, a photoelectric sensor in the production line may be used to detect whether the product to be assembled has arrived at the corresponding workstation.

[0065] When the product to be assembled is transported to the corresponding positioning area to be assembled, it is convenient to control the first clamping jaw to clamp the target circuit board and the product to be assembled according to the first point position information for assembly.

[0066] In one embodiment of the present disclosure, the first point information includes clamping point information and assembly point information. The clamping point information can represent the motion trajectory and action of the first clamping jaw clamping the target circuit board, and the assembly point information can represent the motion trajectory and action of the first clamping jaw clamping the target circuit board and assembling the product to be assembled.

[0067] In one example, controlling the first clamp to clamp the target circuit board and the product to be assembled according to the first point information includes: controlling the first clamp to move to the first position according to the clamping point information, and clamping the target circuit board placed at the second position to the third position; controlling the first clamp to clamp the circuit board and the product to be assembled according to the assembly point information.

[0068] In this embodiment, the target circuit board to be assembled with the product to be assembled can be placed in the second position. When the first clamp is in the first position and the first clamp is open, the target circuit board placed in the second position can be clamped by controlling the first clamp to perform the clamping action.

[0069] Furthermore, the third position may be a position close to the positioning area to be assembled, so that the first clamping jaw can clamp the circuit board and the product to be assembled for assembly.

[0070] Controlling the first clamp to clamp the target circuit board and the product to be assembled according to the assembly point information may include: controlling the first clamp to clamp the circuit board to move along a straight line, and / or move along a curve, and / or bend, etc., to achieve the assembly of the target circuit board and the product to be assembled.

[0071] In another example, controlling the first clamp to clamp the target circuit board and the product to be assembled according to the first point information includes: controlling the first clamp to move to the first position according to the clamping point information, and clamping the target circuit board placed on the second position; controlling the first clamp to clamp the circuit board and the product to be assembled according to the assembly point information.

[0072] In this embodiment, the target circuit board to be assembled with the product to be assembled can be placed in the second position. When the first clamp is in the first position and the first clamp is open, the target circuit board placed in the second position can be clamped by controlling the first clamp to perform the clamping action.

[0073] Controlling the first clamp to clamp the target circuit board and the product to be assembled according to the assembly point information may include: controlling the first clamp to clamp the circuit board to move along a straight line, and / or move along a curve, and / or bend, etc., to achieve the assembly of the target circuit board and the product to be assembled.

[0074] In one embodiment of the present disclosure, the assembly point information includes multiple assembly points of the clamp and the assembly point number corresponding to each assembly point, wherein the number indicates the execution order of the corresponding assembly point. Controlling the first clamp to clamp the circuit board and the product to be assembled according to the assembly point information includes: traversing multiple assembly points according to the assembly point number; and controlling the first clamp clamping the target circuit board to move to the currently traversed assembly point.

[0075] When the currently traversed assembly point is the last assembly point, continue to execute the steps of traversing multiple assembly points according to the assembly point number; when the currently traversed assembly point is the last assembly point, determine that the assembly of the target circuit board and the product to be assembled is completed, and the traversal can be ended.

[0076] In this embodiment, the first clamping jaws are controlled in sequence to clamp the target circuit board and move it to the corresponding assembly point, thereby finally achieving the assembly of the target circuit board and the product to be assembled.

[0077] In one embodiment of the present disclosure, the first point information also includes withdrawal point information, and the withdrawal point information can represent the movement trajectory and action of the first clamping jaw withdrawing from the positioning area to be assembled.

[0078] On this basis, the method further includes: controlling the first clamp to release the circuit board according to the withdrawal point information and move to the fourth position.

[0079] In this embodiment, when the target circuit board and the product to be assembled are assembled, in order to continue the next step of processing the product to be assembled and assemble the subsequent product to be assembled with the target circuit board, the first clamping jaw can be controlled to release the target circuit board, and after the first clamping jaw releases the target circuit board, it moves to the fourth position. The fourth position is the position of the first clamping jaw before the first clamping jaw is controlled to clamp the target circuit board and assemble the product to be assembled according to the first point information.

[0080] When the first clamp moves to the fourth position, the next assembly process can be triggered after waiting for the next product to be assembled to arrive at the corresponding assembly positioning area, and the step of controlling the first clamp to clamp the target circuit board and assemble it with the product to be assembled in the assembly positioning area according to the first point information can be re-executed.

[0081] Furthermore, after controlling the first clamp to release the circuit board and move to the fourth position, the step of controlling the transport motor to move the product to be assembled to the corresponding assembly positioning area is continued when it is detected that the product to be assembled arrives at the corresponding workstation.

[0082] In one embodiment of the present disclosure, the method further includes: unifying the coordinate system of the second clamping jaw and the coordinate system of the first clamping jaw; obtaining second point information corresponding to the target circuit board and the second clamping jaw according to the first point information; and controlling the second clamping jaw to clamp the target circuit board and the product to be assembled for assembly according to the second point information. The second point information represents the motion trajectory and action of the second clamping jaw clamping the target circuit board and the product to be assembled for assembly.

[0083] In this embodiment, the first clamp and the second clamp may be arranged in the same assembly device or in different assembly devices, which is not limited here.

[0084] Furthermore, the second clamp can be an electric clamp, the second clamp is fixed to the end of the second manipulator, the second manipulator can drive the second clamp to move, and the second clamp can rotate around the second direction.

[0085] Since the first point information is set according to the first clamp and the target circuit board, if the second point information representing the motion trajectory and action of the second clamp is set according to the second clamp and the target circuit board, this will increase the time and labor costs for obtaining the second point information and reduce the assembly efficiency of the assembly equipment.

[0086] In this embodiment, by uniformly debugging the coordinate system of the second jaw with the coordinate system of the first jaw, the first point information corresponding to the first jaw can be copied as the second point information corresponding to the second jaw, and the second jaw can be controlled to clamp the target circuit board and the product to be assembled according to the second point information, so that the second jaw can execute the same assembly trajectory as the first jaw to assemble the circuit board and the product to be assembled.

[0087] In this way, multiple clamps can be set in the assembly equipment to assemble circuit boards simultaneously, thereby improving product assembly efficiency.

[0088] In one embodiment of the present disclosure, the coordinate system of the second jaw is uniformly debugged with the coordinate system of the first jaw, including: controlling the first jaw and the second jaw to move to the target height, adjusting the pulse value of the second jaw corresponding to the height to be consistent with the pulse value of the first jaw corresponding to the height; setting the origin of the tool coordinate system of the second jaw so that the second jaw rotates around the clamping point; adjusting the second coordinate of the calibration point of the calibration tool located in the to-be-assembled positioning area corresponding to the second jaw in the coordinate system of the second jaw to be consistent with the first coordinate of the calibration point of the calibration tool located in the to-be-assembled positioning area corresponding to the first jaw in the coordinate system of the first jaw.

[0089] In this embodiment, the pulse value of the second clamping jaw corresponding to the height can be calibrated by using a calibration tool and a measuring instrument (such as a dial indicator or a micrometer, etc.).

[0090] Specifically, controlling the first jaw and the second jaw to move to a target height and adjusting the pulse value of the second jaw corresponding to the height to be consistent with the pulse value of the first jaw corresponding to the height can include: first controlling the first jaw and the second jaw to move to a target height, obtaining a pulse value corresponding to the height when the first manipulator is driven to move the first jaw to the target height as a first pulse value, and calibrating the pulse value corresponding to the height when the second manipulator is driven to move the second jaw to the target height to the first pulse value, so that the pulse value of the second jaw corresponding to the height is adjusted to be consistent with the pulse value of the first jaw corresponding to the height.

[0091] In this embodiment, the second coordinate of the calibration point of the calibration tool located in the to-be-assembled positioning area corresponding to the second jaw in the coordinate system of the second jaw is adjusted to be consistent with the first coordinate of the calibration point of the calibration tool located in the to-be-assembled positioning area corresponding to the first jaw in the coordinate system of the first jaw. It can include: setting the same calibration tool in the to-be-assembled positioning area corresponding to the first jaw and the to-be-assembled positioning area corresponding to the second jaw, respectively; when the calibration tool is located in the to-be-assembled positioning area corresponding to the first jaw, obtaining the first coordinates of at least two calibration points on the calibration tool in the first coordinate system corresponding to the first jaw; when the calibration tool is located in the to-be-assembled positioning area corresponding to the second jaw, calibrating the coordinates of the calibration point on the calibration tool in the second coordinate system corresponding to the second jaw to the corresponding first coordinates, so that the second coordinate of the calibration point of the calibration tool located in the to-be-assembled positioning area corresponding to the second jaw in the coordinate system of the second jaw is consistent with the first coordinate of the calibration point of the calibration tool located in the to-be-assembled positioning area corresponding to the first jaw in the coordinate system of the first jaw.

[0092] Through this embodiment, the coordinate system of the second jaw can be quickly debugged in a unified manner with the coordinate system of the first jaw, and the first point position information corresponding to the first jaw can be copied as the second point position information corresponding to the second jaw, thereby quickly obtaining the second point position information used to control the second jaw to clamp the target circuit board and assemble the product to be assembled.

[0093] In one embodiment, on the basis of copying the first point position information corresponding to the first clamping jaw as the second point position information corresponding to the second clamping jaw, the accuracy of each point position can also be verified and fine-tuned on the second clamping jaw.

[0094] Figure 3 The flowchart is an example of a circuit board assembly method according to an embodiment of the present disclosure.

[0095] like Figure 3 As shown, the method may include:

[0096] Step S3001, obtaining first point information corresponding to the target circuit board and the first clamping jaw, wherein the first point information represents the motion trajectory and action of clamping the target circuit board and assembling the product to be assembled.

[0097] The first point information includes clamping point information, assembly point information and withdrawal point information.

[0098] Step S3002, detect whether the product to be assembled has arrived at the corresponding workstation in the assembly line, if yes, execute step S3003, if not, continue to execute step S3002.

[0099] Step S3003, controlling the transport motor to move the product to be assembled to the corresponding assembly positioning area.

[0100] Step S3004, controlling the first clamping jaw to move to the first position according to the clamping point information in the first point information, and clamping the target circuit board placed at the second position to the third position.

[0101] Step S3005, controlling the first clamping jaw to clamp the circuit board and the product to be assembled for assembly according to the assembly point information in the first point information.

[0102] Step S3006, controlling the first clamping jaw to release the circuit board and move to the fourth position according to the withdrawal point information in the first point information.

[0103] Step S3007, controlling the transport motor to move the assembled product to the assembly line.

[0104] After executing step S3007, you can continue to execute step S3002.

[0105] <Device Example>

[0106] This embodiment also provides a circuit board assembly device. Figure 4 As shown, the circuit board assembly device 4000 may include a first information acquisition module 4100 and a first assembly control module 4200 .

[0107] The first information acquisition module 4100 is used to acquire first point information corresponding to the target circuit board and the first clamping jaw, wherein the first point information represents the motion trajectory and action of the first clamping jaw clamping the target circuit board and assembling the product to be assembled.

[0108] The first assembly control module 4200 is used to control the first clamping jaw to clamp the target circuit board and assemble it with the product to be assembled according to the first point information.

[0109] In one embodiment of the present disclosure, the first point information includes clamping point information and assembly point information, and the first information acquisition module 4100 is used to:

[0110] Controlling the first clamping jaw to move to the first position according to the clamping point information, and clamping the target circuit board placed at the second position to the third position;

[0111] The first clamp is controlled to clamp the target circuit board and the product to be assembled according to the assembly point information.

[0112] In one embodiment of the present disclosure, the assembly point information includes a plurality of assembly points of the clamp and an assembly point number corresponding to each assembly point, wherein the number indicates the execution order of the corresponding assembly point;

[0113] The controlling the first clamping claw to clamp the target circuit board and the product to be assembled according to the assembly point information comprises:

[0114] Traversing the plurality of assembly points according to the assembly point numbers;

[0115] The first clamping jaw holding the target circuit board is controlled to move to the currently traversed assembly point.

[0116] In one embodiment of the present disclosure, the first point information further includes withdrawal point information, and the circuit board assembly device 4000 further includes:

[0117] A module for controlling the first clamp to release the target circuit board and move to a fourth position according to the withdrawal point information.

[0118] In one embodiment of the present disclosure, the circuit board assembly device 4000 further includes:

[0119] A debugging module, used for uniformly debugging the coordinate system of the second clamping jaw and the coordinate system of the first clamping jaw;

[0120] A second information acquisition module is used to obtain second point information corresponding to the target circuit board and the second clamping jaw according to the first point information; the second point information represents the motion trajectory and action of the second clamping jaw clamping the target circuit board and assembling the product to be assembled;

[0121] The human assembly control module is used to control the second clamping jaw to clamp the target circuit board and assemble it with the product to be assembled according to the second point information.

[0122] In one embodiment of the present disclosure, the debugging module is used to:

[0123] Controlling the first clamping jaw and the second clamping jaw to move to a target height, and adjusting the pulse value of the second clamping jaw corresponding to the height to be consistent with the pulse value of the first clamping jaw corresponding to the height;

[0124] Setting the origin of the tool coordinate system of the second clamping jaw so that the second clamping jaw rotates around the clamping point;

[0125] The second coordinate of the calibration point of the calibration tool located in the assembly positioning area corresponding to the second clamp in the coordinate system of the second clamp is adjusted to be consistent with the first coordinate of the calibration point of the calibration tool located in the assembly positioning area corresponding to the first clamp in the coordinate system of the first clamp.

[0126] In one embodiment of the present disclosure, before controlling the first clamping jaw to clamp the target circuit board and assemble it with the product to be assembled according to the first point information, the method further includes:

[0127] When it is detected that the product to be assembled arrives at the corresponding workstation, the transport motor is controlled to operate so as to transport the product to be assembled to the corresponding positioning area to be assembled.

[0128] <Assembly Equipment Example>

[0129] This embodiment provides an assembly device. In one aspect, the assembly device may include the aforementioned circuit board assembly apparatus 4000 .

[0130] On the other hand, Figure 5 As shown, the assembly device 5000 may include a processor 5100 and a memory 5200, the memory 5200 is used to store a computer program, and the processor 5100 is used to control the assembly device to execute the method of any embodiment of the present disclosure under the control of the computer program.

[0131] <Readable Storage Medium Embodiment>

[0132] This embodiment provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method described in any method embodiment of the present disclosure is executed.

[0133] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0134] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0135] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0136] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0137] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0138] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0139] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0140] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0141] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A circuit board assembly method, characterized in that: include: Acquire first point information corresponding to the target circuit board and the first clamping jaw, wherein the first point information indicates a motion trajectory and action of the first clamping jaw clamping the target circuit board and assembling the target circuit board with the product to be assembled; The first clamp is controlled to clamp the target circuit board and assemble it with the product to be assembled according to the first point information.

2. The method according to claim 1, characterized in that The first point information includes clamping point information and assembly point information. The controlling the first clamping claw to clamp the target circuit board and assemble it with the product to be assembled according to the first point information includes: Controlling the first clamping jaw to move to the first position according to the clamping point information, and clamping the target circuit board placed at the second position to the third position; The first clamp is controlled to clamp the target circuit board and the product to be assembled according to the assembly point information.

3. The method according to claim 2, characterized in that The assembly point information includes a plurality of assembly points of the clamp and an assembly point number corresponding to each assembly point, wherein the number indicates the execution order of the corresponding assembly point; The controlling the first clamping claw to clamp the target circuit board and the product to be assembled according to the assembly point information comprises: Traversing the plurality of assembly points according to the assembly point numbers; The first clamping jaw holding the target circuit board is controlled to move to the currently traversed assembly point.

4. The method according to claim 2, characterized in that The first point information also includes withdrawal point information, and the method further includes: The first clamp is controlled to release the target circuit board and move to a fourth position according to the withdrawal point information.

5. The method according to claim 1, characterized in that The method further comprises: Unify and debug the coordinate system of the second gripper with the coordinate system of the first gripper; According to the first point information, second point information corresponding to the target circuit board and the second clamping jaw is obtained; the second point information indicates the motion trajectory and action of the second clamping jaw clamping the target circuit board and assembling the product to be assembled; The second clamping jaw is controlled to clamp the target circuit board and assemble it with the product to be assembled according to the second point information.

6. The method according to claim 5, characterized in that The step of uniformly debugging the coordinate system of the second gripper and the coordinate system of the first gripper includes: Controlling the first clamping jaw and the second clamping jaw to move to a target height, and adjusting the pulse value of the second clamping jaw corresponding to the height to be consistent with the pulse value of the first clamping jaw corresponding to the height; Setting the origin of the tool coordinate system of the second clamping jaw so that the second clamping jaw rotates around the clamping point; The second coordinate of the calibration point of the calibration tool located in the assembly positioning area corresponding to the second clamp in the coordinate system of the second clamp is adjusted to be consistent with the first coordinate of the calibration point of the calibration tool located in the assembly positioning area corresponding to the first clamp in the coordinate system of the first clamp.

7. The method according to claim 1, characterized in that Before controlling the first clamping jaw to clamp the target circuit board and assemble it with the product to be assembled according to the first point information, the method further includes: When it is detected that the product to be assembled arrives at the corresponding workstation, the transport motor is controlled to operate so as to transport the product to be assembled to the corresponding positioning area to be assembled.

8. A circuit board assembly device, characterized in that: include: A first information acquisition module is used to acquire first point information corresponding to a target circuit board and a first clamping jaw, wherein the first point information indicates a motion trajectory and action of the first clamping jaw clamping the target circuit board and assembling the target circuit board with the product to be assembled; The first assembly control module is used to control the first clamping jaw to clamp the target circuit board and assemble it with the product to be assembled according to the first point information.

9. An assembly device, characterized in that: The method comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to execute the method according to any one of claims 1 to 7 under the control of the computer program.

10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method according to any one of claims 1 to 7 when executed by a processor.

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