Screening method and equipment of keyboard scissor foot automatic arrangement machine and storage medium

Abstract

The invention provides a screening method and equipment of an automatic keyboard scissor arranging machine and a storage medium, and belongs to the technical field of keyboard scissor assembling. The method comprises the following steps: keyboard scissor feet in a charging tray are photographed and identified by a camera to form a charging tray matrix data with row rows and a columns; and generating new charging tray matrixes according to the charging tray matrix data by offsetting leftwards for a-1 times and offsetting rightwards for a-1 times, and sequentially combining to generate a material taking matrix proData, thereby realizing optimal matching in a line skipping and offsetting mode, reducing the number of times of charging tray refreshing and improving the screening efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of keyboard scissor foot assembly, and particularly relates to a screening method, device and storage medium for an automatic arrangement machine of keyboard scissor feet. Background Art

[0002] During the assembly process of the automatic assembly device for aluminum plates on the keyboard scissor feet of a notebook computer, a manipulator is used at each station to pick up materials from the tray. The materials in each tray are fixed in the grids of 8 columns in row. The number of rows can be set, and the value of row can be set to 6, 12, 24, etc. The keyboard scissor feet in the tray include OK materials (keyboard scissor feet that meet the grasping conditions of the manipulator) and NG materials (keyboard scissor feet that do not meet the grasping conditions of the manipulator). OK and NG are the results recognized by the machine camera. There are 8 suction nozzles on each manipulator. The manipulator takes out a group of OK materials from the tray and then presses the materials onto the fixture. When the number of OK materials in the tray is less than a group, the tray needs to be refreshed, and the refreshing time is relatively long, generally more than 8 seconds. This refreshing time is the key affecting the assembly of the notebook keyboard.

[0003] In the prior art, each tray is 8 columns in row, and only row-by-row matching can be performed to screen out the OK materials at the corresponding positions that the manipulator suction cup has not grasped in that row. It is impossible to skip rows to match the row with the most OK materials and calculate the optimal solution. Traditional screening requires calculating only a set of material picking data at a time. After the manipulator picks up a set of materials, the camera needs to take a new photo to identify the OK materials and NG materials in the tray, and then calculate the data for the next set. It is impossible to calculate all the material picking data at once.

[0004] Therefore, the screening requirement for controlling the manipulator to pick up materials is a very important link in the high-speed machining and assembly process. Traditional screening requirements often involve grasping row by row for each tray without calculating the optimal solution for material picking, resulting in a long calculation time and many material picking times, which affects the subsequent assembly efficiency of the notebook keyboard. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems and provide a screening method for an automatic arrangement machine of keyboard scissor feet, which is applicable to the manipulator to calculate at once how many groups of materials can be picked up, calculate the optimal solution for each group of material picking, reduce the number of material picking times, and improve the efficiency of automatic assembly.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions: A screening method for an automatic arrangement machine of keyboard scissor feet, the method includes:

[0007] S1. Given a tray matrix, where the keyboard scissor feet that can be grasped by the manipulator in the tray are 1, and the keyboard scissor feet that cannot be grasped are 0, to form a tray matrix data of row rows and a columns;

[0008] Given the picking data takeData, set the picking requirements according to the number and positions of the keyboard scissors feet that the manipulator needs to grasp in a single time, and call the screening requirements to calculate multiple groups of picking data;

[0009] Set the maximum number of picking times, and the total number of picking times does not exceed the maximum number of picking times maxNum;

[0010] S2. Generate a new picking matrix according to the offset. The tray matrix data is offset a - 1 times to the left and a - 1 times to the right to generate new tray matrices and then merged in sequence to generate the picking matrix proData;

[0011] S3. Find the row in the picking matrix proData that matches the most data with the picking data takeData, and set the matching data in the picking data takeData and the picking matrix proData to 0. Each time a match is recorded, the picking times fre = fre + 1. When the picking times is less than or equal to the maximum number of picking times maxNum, continue to match until all the data in the picking data takeData is 0;

[0012] S4. When the number of picking times for the manipulator to complete the single - time picking requirements is greater than maxNum, update the tray matrix and the picking data.

[0013] In the above - mentioned screening method of the keyboard scissors foot automatic arranging machine,

[0014] In S1, the tray includes at least a first tray and a second tray. The keyboard scissors feet that meet the grasping requirements in the first tray and the second tray are identified as 1 by the machine - table camera, and those that do not meet are 0, and they are merged to form a tray matrix data with row rows and 8 columns.

[0015] In the above - mentioned screening method of the keyboard scissors foot automatic arranging machine,

[0016] In S1, according to the requirements, set the keyboard scissors feet that the manipulator needs to pick as 11111111, 11001110, 00111110, where 11111111, 11001110, 00111110 are respectively a set of picking number requirements.

[0017] In the above - mentioned screening method of the keyboard scissors foot automatic arranging machine,

[0018] In S2, the original tray matrix is offset 8 - 1 times to the left and to the right to form a picking matrix proData with 15 * row rows and 8 columns:

[0019] Among them, i is the row number where it is located, and j is the offset column number.

[0020] In the above screening method of the keyboard scissor-foot automatic arranging machine,

[0021] S31. Eight suction nozzles on the robot arm take the keyboard scissor feet from the tray. The picking data is takeData, and the picking row number is takeRow. Compare the picking data takeData with each row of the picking matrix proData, find the row with the highest matching degree with the picking data takeData in the rows of the picking matrix proData, record the row number to the matching row tempRow[fre], record the picking times fre, and the picking times fre = fre + 1 to complete one picking.

[0022] In the above screening method of the keyboard scissor-foot automatic arranging machine,

[0023] Update the picking data takeData and the picking matrix proData, set all the already matched ones in the picking data takeData and the picking matrix proData to 0, and set the already matched ones in the rows corresponding to the offset matrix and the tray matrix data to 0.

[0024] In the above screening method of the keyboard scissor-foot automatic arranging machine,

[0025] In S31, if the data in takaData is not all 0 and the picking times fre is less than the maximum picking times maxNum, then match the picking data takeData with the picking matrix proData again, find the row with the most matches tempRetData[fre], and repeat the steps in S31.

[0026] In the above screening method of the keyboard scissor-foot automatic arranging machine,

[0027] In S31, if all the data in the picking data takaData is 0, record:

[0028] The picked row number retRowArr = tempRow mod row;

[0029] The offset column number;

[0030] The picking position retData, calculated according to the matching row matrix tempRetData

[0031] where temprow is the matching row in the picking matrix proData;

[0032] After completing the record, repeat step S3;

[0033] When the picking times fre is greater than maxNum, enter S4.

[0034] In the above screening method of the keyboard scissor-foot automatic alignment machine,

[0035] The manipulator grabs the keyboard scissor feet that meet the picking requirements according to the number of rows for matching picking, the number of columns of offset, and the picking position. After the transfer of the manipulator is completed, it grabs a new set of keyboard scissor feet according to the number of rows for the new set of picking, the number of columns of offset, and the picking position.

[0036] A device adopting the screening method of the keyboard scissor-foot automatic alignment machine,

[0037] At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above screening method of the keyboard scissor-foot automatic alignment machine;

[0038] A storage medium storing computer instructions, and the computer instructions are used to make the computer execute the above screening method of the keyboard scissor-foot automatic alignment machine.

[0039] Compared with the existing technology, the advantages of the screening method of the present keyboard scissor-foot automatic alignment machine are as follows:

[0040] 1. This method supports skip-row calculation, can calculate the optimal solution for picking, thereby reducing the number of picking times. The traditional method requires 4 to 5 picking times to complete a set of data, while the maximum number of picking times maxNum for each set of picking in this method can be set smaller to meet the picking requirements, increasing the number of groups of picking completed after each refresh of the tray, reducing the number of tray refreshes, and improving the screening efficiency.

[0041] 2. After the tray is refreshed, a new tray matrix is formed. The tray matrix is offset to the left and right in turn, and then merged in turn to form a larger-capacity and more-composed picking matrix, which is more likely to meet the grasping requirements of the vacant positions of the manipulator suction cups, further reducing the number of grasping times and refresh times, and improving the matching efficiency.

[0042] 3. In the existing method, after calculating a set of picking data, and then the manipulator picks up a set of materials, the camera needs to take a new photo to identify the OK materials and NG materials in the tray, and then calculate the data for the next set. This method can calculate all the qualified picking data after the tray is refreshed at one time. After the manipulator picks up a set of materials and then discharges the materials, the manipulator immediately picks up the next set of materials until the next picking cannot meet the requirements of the manipulator, and then it will take a photo, saving the time for taking a photo and identifying the materials for each set of picking.

[0043] 4. The traditional method does not support the complementarity between the left tray and the right tray. The new method can regard the materials on the right tray as an extension of the materials on the left tray, which is equivalent to doubling the number of rows on the left tray. With the increase in the amount of tray data, the new method can calculate more cases where the materials can be taken out within 2 to 3 times, improving the utilization rate of the left tray and the right tray, reducing the number of material taking times, and reducing the number of tray refreshes. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic flowchart of the screening method for the keyboard scissor feet automatic alignment machine provided by the present invention.

[0045] Figure 2 is a schematic flowchart of the process of matching the material taking data in the material taking matrix provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The following further describes the present invention in detail with reference to the drawings and specific embodiments. The screening method of the present keyboard scissor feet automatic alignment machine is as Figure 1 shown. In this embodiment,

[0047] The first tray and the second tray are refreshed. By taking pictures with a camera, the keyboard scissor feet that meet the requirements for being grasped by the manipulator in the first tray and the second tray are identified as OK materials, simplified to 1, and the keyboard scissor feet that do not meet the requirements for being grasped by the manipulator are identified as NG materials, simplified to 0. When the keyboard scissor feet enter the tray, they have two orientations. The keyboard scissor feet that meet the installation orientation are OK materials, and vice versa. For example, the first tray and the second tray are each 6 rows and 8 columns. For the convenience of understanding, a combined tray matrix data of the first tray and the second tray is randomly generated:

[0048] 1 1 0 1 1 0 0 0 1 1 0 1 1 0 0 0 0 1 1 0 0 1 1 1 1 1 1 0 1 1 1 0 1 1 0 1 1 0 0 0 1 0 0 1 1 0 1 1 1 0 1 0 1 0 1 0 1 1 1 0 1 1 1 0 1 0 1 1 1 1 0 1 1 0 1 0 1 0 1 1 1 1 1 0 1 1 1 0 1 0 1 1 1 0 1 1

[0049] Given the material taking data, according to the number and position of the keyboard scissor feet that the manipulator needs to grasp each time, the material taking requirements are set, and multiple groups of material taking data are calculated by calling the screening requirements; according to the requirements, the keyboard scissor feet that the manipulator needs to take are set as 11111111, 11001110, 00111110 and stored, where 11111111, 11001110, 00111110 are respectively a set of material taking requirements. According to the number and position of the keyboard scissor feet that the manipulator needs to configure for the keyboard, the screening requirements are determined, and the material taking data is calculated after calling the screening requirements.

[0050] Furthermore, the maximum number of material taking times is set, and the total number of material taking times does not exceed the maximum number of material taking times maxNum.

[0051] After the above steps are completed, the tray matrix data is shifted to the left by a - 1 times and to the right by a - 1 times to generate a new tray matrix, and the new tray matrices are merged in sequence to generate the picking matrix proData; in this embodiment, the original tray matrix data has 8 columns, and the tray matrix data is shifted to the left and to the right by 8 - 1 times to form a picking matrix proData with 15 * row rows and 8 columns:

[0052]

[0053] Among them

[0054] i is the row number where it is located, and j is the offset column number.

[0055] For example:

[0056] The tray matrix data is:

[0057]

[0058] The picking data takeData is:

[0059] takeData = [1 1 0 1 1 1 1 1]

[0060] Set maxNum = 3.

[0061] The tray matrix data is merged with the matrix after the tray matrix data is offset:

[0062]

[0063] Furthermore, the picking data takeData is matched with the picking data in the picking matrix proData;

[0064] 8 suction nozzles on the robot arm pick up the keyboard scissors feet on the tray, call the picking data takeData, compare the picking data takeData with the picking matrix proData, find the row with the highest matching degree with the picking data takeData in the rows of the picking matrix proData, the picking row number is takeRow, record the row number to the matching row tempRow[fre], record the picking times fre, and the picking times fre = fre + 1 to complete one picking.

[0065] For example, takeData = [1 1 0 1 1 1 1 1]. Compare the picking data takeData with the picking matrix proData, and the row that meets the most conditions is the first row in the above - mentioned picking matrix proData, tempRetData[fre] = [1 1 0 1 1 0 0 0];

[0066] Record the number of material pickups fre = fre + 1 = 1. Further, update the material pickup data takeData and the material pickup matrix proData. Set the matched data in the material pickup data takeData and the material pickup matrix proData to 0, and also set the matched data in the corresponding rows of the offset matrix and the tray matrix data to 0. Obtain the new material pickup matrix proData by setting the matched row tempRow[fre] = 0:

[0067]

[0068] At this time, the material pickup data takeData is takeData = [00000111]. Not all the data in takaData is 0 and the number of material pickups fre = 1 is less than the maximum number of material pickups maxNum = 3. Then, match the material pickup data takeData with the material pickup matrix proData to find the row with the most matches tempRetData[fre]. The row with the most matches is the 38th row, tempRetData[fre] = [00000111], and record the row number temoRow[fre] = 38. The number of material pickups fre = fre + 1 = 2. Set all the matched data in the material pickup data takeData and the material pickup matrix proDatat to 0, takeData = [00000000]

[0069]

[0070] At this time, all the data in the material pickup data takeData is 0.

[0071] Record:

[0072] The row numbers of material pickups retRowArr = tempRow mod row

[0073] Record the row numbers of material pickups retRowArr:

[0074] retRowArr[0] = 0 mod 3 = 0, that is, the first material pickup is the first row.

[0075] retRowArr[1] = 38 mod 3 = 2, that is, the second material pickup is the third row.

[0076] The offset column numbers retOffsetColu[0] = 0 (tempRow[0] / row = 0 < 8), that is, no offset.

[0077] retOffsetColu[1] = [38 / 3] = -5 (tempRow[0] / row = 0 < 8), that is, offset 5 columns to the right.

[0078] The position retData for material taking is calculated based on the matching row matrix tempRetData of the material taking data takeData in the material taking matrix proData

[0079]

[0080] where temprow is the number of matching rows in the material taking matrix proData;

[0081] In this embodiment, the matching row matrix of the material taking data takeData in the material taking matrix proData is:

[0082]

[0083] Calculate retData:

[0084] tempRetDara[1][5]=1, [tempRow / row]=[38 / 3]=12>8,

[0085] retData[1][5-(12-7)]=retData[1][0]=1

[0086] retData[1][0]=1 indicates that the material taking position for the second material taking is the first column of the tray matrix data,

[0087] To sum up:

[0088]

[0089] After completing the record, it is judged whether the number of material taking times for the manipulator to complete a single material taking requirement is greater than the maximum number of material taking times maxNum. If the number of material taking times is less than or equal to the maximum number of material taking times maxNum, repeat step S3. If the number of material taking times is greater than the maximum number of material taking times maxNum, update the tray matrix and the material taking data.

[0090] The manipulator grabs the keyboard scissor feet that meet the material taking requirements according to the number of matching material taking rows, the offset columns, and the material taking position. After the manipulator transfer is completed, it grabs a new set of keyboard scissor feet according to the number of rows, the offset columns, and the material taking position of the new set of material taking.

[0091] The device adopting the screening method of the above keyboard scissor foot automatic arrangement machine has at least one processor;

[0092] and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the screening method of the keyboard scissor-foot automatic alignment machine according to any one of claims 1-9;

[0093] A storage medium storing computer instructions for causing the computer to execute the screening method of the keyboard scissor-foot automatic alignment machine according to any one of claims 1-9.

[0094] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar ways to substitute them, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0095] Although terms such as picking matrix and tray matrix are used more frequently herein, the possibility of using other terms is not excluded. Using these terms is only for more conveniently describing and explaining the essence of the present invention; interpreting them as any additional limitation is contrary to the spirit of the present invention.

Claims

1. A method for screening a keyboard scissor foot automatic arrangement machine, characterized in that: The method includes: S1. Given a tray matrix, the keyboard scissor pins that can be grasped by the robot in the tray are 1, and the keyboard scissor pins that cannot be grasped are 0, forming a tray matrix data with row rows and a columns; Given the material picking data, set the material picking requirements according to the number and position of the keyboard scissor legs that the manipulator needs to grab at a time, and call the screening requirements to calculate multiple sets of material picking data; Set the maximum number of material fetching times, the total number of material fetching times shall not exceed the maximum number of material fetching times maxNum; S2. Generate a new material taking matrix according to the offset. The material tray matrix data is offset to the left a-1 times and to the right a-1 times to generate a new material tray matrix and then merged in sequence to generate the material taking matrix proData; S3. The material taking data takeData matches the row with the most data in the material taking data takeData in the material taking matrix proData, and sets the matching data in the material taking data takeData and the material taking matrix proData to 0, and records the material taking times fre=fre+1 for each match. When the material taking times is less than or equal to the maximum material taking times maxNum, the matching continues until all the data in the material taking data takeData is 0; S4. Determine whether the number of times the robot can pick up materials to complete a single material picking requirement is greater than the maximum number of times maxNum. If the number of times the robot can pick up materials is less than or equal to the maximum number of times maxNum, repeat step S3. If the number of times the robot can pick up materials is greater than the maximum number of times maxNum, update the material tray matrix and the material picking data.

2. The method for selecting a keyboard scissor foot automatic arrangement machine according to claim 1, characterized in that: In S1, the material tray includes at least the first material tray and the second material tray. The machine camera is used to identify the keyboard scissor feet of the first material tray and the second material tray that meet the grasping requirements as 1, and those that do not meet the requirements as 0, and they are merged to form a material tray matrix data with row rows and 8 columns.

3. The screening method of the keyboard scissor foot automatic arrangement machine according to claim 1, characterized in that: In S1, the keyboard scissor feet that the robot is to take are set to 11111111, 11001110, and 00111110 according to the requirements, where 11111111, 11001110, and 00111110 are a set of material taking requirements respectively.

4. The method for selecting a keyboard scissor foot automatic arrangement machine according to claim 2, characterized in that: In S2, the original material tray matrix is ​​shifted to the left and right 8-1 times to form a material extraction matrix proDada with 15*row rows and 8 columns: in i is the row number, j is the offset column number.

5. The method for selecting a keyboard scissor foot automatic arrangement machine according to claim 4, characterized in that: S31, 8 suction nozzles on the robot take the keyboard scissor feet on the material tray, the material taking data is takeData, the material taking data takeData is compared with the material taking matrix proData, and the row with the highest matching degree in the material taking data takeData is found in the rows of the material taking matrix proData, the number of material taking rows is takeRow, the number of rows is recorded to the matching row tempRow[fre], the number of material taking times fre is recorded, and the number of material taking times fre=fre+1 completes one material taking.

6. The method for selecting a keyboard scissor foot automatic arrangement machine according to claim 5, characterized in that: Update the material taking data takeData and the material taking matrix proData, set the matched ones in the material taking data takeData and the material taking matrix proData to 0, and set the matched ones in the rows corresponding to the offset matrix and the material tray matrix data to 0.

7. The method for selecting a keyboard scissor foot automatic arrangement machine according to claim 6, characterized in that: In S31, if the data in takaData are not all 0 and the number of material taking times fre is less than the maximum number of material taking times maxNum, match the material taking data takeData with the material taking matrix proData, find the row tempRetData[fre] with the most matches, and repeat the steps in S31.

8. The method for selecting a keyboard scissor foot automatic arrangement machine according to claim 7, characterized in that: In S31, if the data in the material taking data takaData are all 0, record: The number of rows to be retrieved retRowArr = tempRow mod row Number of columns to offset The location of the material to be taken, retData, is calculated based on the matching row matrix tempRetData of the material taking data takeData in the material taking matrix proData Where temprow is the matching row in the material matrix proData; After completing the recording, repeat step S3; When the material fetching times fre is greater than maxNum, enter S4.

9. The method for selecting a keyboard scissor foot automatic arrangement machine according to claim 8, characterized in that: The robot grabs the keyboard scissor feet that meet the material picking requirements according to the number of rows, offset columns, and material picking position. After the robot transfer is completed, it grabs a new set of keyboard scissor feet according to the number of rows, offset columns, and material picking position of a new set of material picking.

10. A device using the screening method of the keyboard scissor leg automatic arrangement machine according to any one of claims 1 to 9 and a storage medium storing computer instructions, characterized in that: at least one processor; and a memory in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the screening method of the keyboard scissor foot automatic arrangement machine according to any one of claims 1 to 9; The computer instructions are used to enable the computer to execute the screening method of the keyboard scissor foot automatic arrangement machine according to any one of claims 1-9.

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