Material box positioning method, system and equipment for feeding trolley of chip mounter and medium

Abstract

The embodiment of the invention discloses a material box positioning method, system, equipment and medium for a feeding trolley of a chip mounter, and the method achieves the coordinate system fitting of a carrying mechanism and the feeding trolley through the position fitting of a detection part and a calibration plate, and the motion track of the carrying mechanism is consistent with that of the feeding trolley. And when the angles between the carrying mechanism and different feeding trolleys for taking and placing the trays are different, the positions of the target material boxes and the trays are corrected, accurate positioning is achieved, the problems existing in an existing material box positioning scheme are effectively solved, and the material box positioning device is suitable for application and popularization.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of placement machines, and in particular to a method, system, device and medium for positioning a material box of a placement machine feeding trolley. Background Art

[0002] Surface Mount Technology (SMT) is a core technology in modern electronic manufacturing and is widely used in consumer electronics, communication equipment, automotive electronics and other fields. The core equipment of SMT patch technology is the patch machine. The patch machine is a device that accurately places surface mount components on the PCB pads by moving the placement head. The patch machine needs to be equipped with multiple feeding trolleys for supplying material tapes to the patch machine. The feeding trolley is provided with multiple material boxes for accommodating material trays. Normally, when the material tape in the patch machine is about to run out, it is necessary to use a material disassembly machine to connect the material tape head of the new tray and the material tape tail of the old tray. After connection, the new tray is placed in the corresponding material box on the feeding trolley.

[0003] During the operation of the material belt splicer, the old material tray in the material box on the feeding trolley needs to be removed by the conveying mechanism and the new material tray after connection needs to be placed in the material box on the feeding trolley. The conveying mechanism needs to position the material box before taking and placing the material tray and identify the position of the material box to ensure the accuracy of taking and placing the material tray.

[0004] The existing material box positioning method is to take a picture of the designated material box through a camera, perform point-to-point compensation on the position of the material box, and complete the material box positioning. However, in the actual working process, due to the possible differences in the installation positions of multiple feeding trolleys or the position of the conveying mechanism being inconsistent with the target position of the feeding trolley it should be in, etc., it will cause different angles between the conveying mechanism and different feeding trolleys that implement the material tray picking and placing operations. Moreover, as the distance becomes longer during the movement of the conveying mechanism, the deviation may become larger and larger. The existing material box positioning method will cause deviations in the material box positioning, and the conveying mechanism will not be able to complete the picking and placing of the material tray.

[0005] The above problems need to be solved urgently. Summary of the Invention

[0006] In order to solve the related technical problems, the present invention provides a material box positioning method, system, equipment and medium for a placement machine feeding trolley to solve the problems mentioned in the above background technology part.

[0007] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0008] In a first aspect, an embodiment of the present invention provides a method for positioning a material box of a placement machine feeding trolley, the method comprising:

[0009] Collect the calibration plate image through the detection component on the handling mechanism; wherein, the calibration plate is arranged on the feeding trolley;

[0010] Calculate the image position of the calibration plate image;

[0011] According to the image position of the calibration plate image and its corresponding calibration image, fit the coordinate systems of the handling mechanism and the feeding trolley so that the movement trajectory of the handling mechanism is consistent with the feeding trolley;

[0012] Collect the calibration plate image corresponding to the target cartridge through the detection component, and the handling mechanism obtains the accurate position of the target cartridge through the fitted coordinate system to complete the positioning of the target cartridge.

[0013] As an optional implementation manner, calibration reference lines and a plurality of identification codes arranged at intervals are provided on the top surface of the calibration plate, and each identification code corresponds to at least one of the cartridges.

[0014] As an optional implementation manner, before collecting the calibration plate image through the detection component on the handling mechanism, it further includes:

[0015] The handling mechanism moves to the position where the target cartridge is located according to the identification code corresponding to the target cartridge on the feeding trolley.

[0016] As an optional implementation manner, collecting the calibration plate image through the detection component on the handling mechanism includes:

[0017] Collect the calibration plate image covering the identification code corresponding to the target cartridge through the detection component.

[0018] As an optional implementation manner, fitting the coordinate systems of the handling mechanism and the feeding trolley according to the image position of the calibration plate image and its corresponding calibration image includes:

[0019] Calculate the XY compensation of the identification code corresponding to the target cartridge and the R angle of the calibration reference line according to the image position of the calibration plate image and its corresponding calibration image;

[0020] Fit the coordinate systems of the handling mechanism and the feeding trolley according to the XY compensation and the R angle of the calibration reference line to generate a user coordinate system for fitting the identification code.

[0021] As an optional implementation manner, the handling mechanism includes a manipulator and a mobile trolley; the manipulator is installed on the mobile trolley; the detection component is arranged on the manipulator.

[0022] As an optional implementation manner, the detection component includes but is not limited to a camera; the identification code is but is not limited to a bar code or a two-dimensional code.

[0023] In a second aspect, an embodiment of the present invention provides a cartridge positioning system for a component mounter feeder trolley. The system adopts the cartridge positioning method for the component mounter feeder trolley described in the first aspect above, and includes:

[0024] A calibration plate image acquisition unit, configured to acquire a calibration plate image through a detection member on a handling mechanism; wherein, the calibration plate is arranged on the feeder trolley;

[0025] An image position calculation unit, configured to calculate the image position of the calibration plate image;

[0026] A coordinate system fitting unit, configured to fit the coordinate systems of the handling mechanism and the feeder trolley according to the image position of the calibration plate image and its corresponding calibration image, so that the movement trajectory of the handling mechanism is consistent with that of the feeder trolley;

[0027] A target cartridge positioning unit, configured to acquire the calibration plate image corresponding to the target cartridge through the detection member, and obtain the accurate position of the target cartridge through the fitted coordinate system, thereby completing the positioning of the target cartridge.

[0028] In a third aspect, an embodiment of the present invention provides an electronic device, which includes a processor and a memory connected to the processor. Among them, program data is stored in the memory, and the processor retrieves the program data stored in the memory to execute the cartridge positioning method for the component mounter feeder trolley provided in the embodiment of the first aspect above.

[0029] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the cartridge positioning method for the component mounter feeder trolley provided in the embodiment of the first aspect above.

[0030] The technical solution proposed in the embodiment of the present invention collects the calibration plate image through the detection component on the handling mechanism; calculates the image position of the calibration plate image; according to the image position of the calibration plate image and its corresponding calibration image, fits the coordinate system of the handling mechanism and the feeding trolley, so that the movement trajectory of the handling mechanism is consistent with the feeding trolley; collects the calibration plate image corresponding to the target cartridge through the detection component, and the handling mechanism obtains the accurate position of the target cartridge through the fitted coordinate system, completing the positioning of the target cartridge. The technical solution proposed in the embodiment of the present invention realizes the fitting of the coordinate system of the handling mechanism and the feeding trolley through the position fitting of the detection component and the calibration plate, and the movement trajectory of the handling mechanism is consistent with the feeding trolley. When the angles between the handling mechanism and the feeding trolleys that perform the material taking and placing operations in different implementations are different, the positions of the target cartridge and the material tray are corrected to achieve accurate positioning, effectively solving the problems existing in the existing cartridge positioning solutions, and is suitable for popularization and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the background technology and embodiment descriptions of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the content of the embodiments of the present invention and these drawings.

[0032] Figure 1 Schematic flow chart of the cartridge positioning method for the feeding trolley of the chip mounter provided by the embodiment of the present invention;

[0033] Figure 2 Schematic diagram of the calibration point position provided by the embodiment of the present invention;

[0034] Figure 3 Schematic diagram of the translation and rotation coordinate system provided by the embodiment of the present invention;

[0035] Figure 4 Schematic flow chart of the manipulator for material taking and placing provided by the embodiment of the present invention;

[0036] Figure 5 Schematic three-dimensional structure diagram of the feeding trolley provided by the embodiment of the present invention;

[0037] Figure 6 Schematic three-dimensional structure diagram of the installation structure of the calibration plate assembly provided by the embodiment of the present invention;

[0038] Figure 7 Top view schematic diagram of the installation structure of the calibration plate assembly provided by the embodiment of the present invention;

[0039] Figure 8The front view schematic diagram of the installation structure of the calibration plate assembly provided by the embodiment of the present invention;

[0040] Figure 9 The structural block diagram of the cartridge positioning system of the feeder trolley of the mounter provided by the embodiment of the present invention. Specific embodiments

[0041] To make the technical problems solved by the present invention, the technical solutions adopted and the achieved technical effects clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0042] Embodiment 1

[0043] Please refer to Figure 1 as described, Figure 1 The flowchart of the cartridge positioning method of the feeder trolley of the mounter provided by the embodiment of the present invention. As shown in the figure, the cartridge positioning method 100 of the feeder trolley of the mounter in this embodiment specifically includes the following steps:

[0044] S101. Collect the calibration plate image through the detection component on the handling mechanism; wherein, the calibration plate is arranged on the feeder trolley;

[0045] S102. Calculate the image position of the calibration plate image;

[0046] S103. Fit the coordinate systems of the handling mechanism and the feeder trolley according to the image position of the calibration plate image and its corresponding calibration image, so that the movement trajectory of the handling mechanism is consistent with the feeder trolley;

[0047] S104. Collect the calibration plate image corresponding to the target cartridge through the detection component, and the handling mechanism obtains the accurate position of the target cartridge through the fitted coordinate system, and completes the positioning of the target cartridge.

[0048] Exemplarily, calibration reference lines and a plurality of identification codes arranged at intervals are provided on the top surface of the calibration plate, and each identification code corresponds to at least one cartridge. In this embodiment, preferably, each identification code corresponds to one cartridge.

[0049] Exemplarily, before collecting the calibration plate image through the detection component on the handling mechanism, it further includes:

[0050] The handling mechanism moves to the position where the target material box is located according to the identification code corresponding to the target material box on the feeding trolley. In this embodiment, the information of the identification code is the material box number searched by the handling mechanism, and at the same time, the positional relationship between the identification code and the material box is associated, so as to facilitate the equidistant offset of the coordinate system of the handling mechanism after accurately identifying the position of the identification code, and locate the position of the material box.

[0051] Exemplarily, the acquisition of the calibration plate image by the detection component on the handling mechanism includes:

[0052] Acquire the calibration plate image covering the identification code corresponding to the target material box through the detection component. Specifically, in this embodiment, according to the position where the identification code is located, the detection component can preferably directly acquire the image of the identification code corresponding to the target material box.

[0053] Exemplarily, the fitting of the coordinate systems of the handling mechanism and the feeding trolley according to the image position of the calibration plate image and its corresponding calibration image includes:

[0054] Calculate the XY compensation of the identification code corresponding to the target material box and the R angle of the calibration reference line according to the image position of the calibration plate image and its corresponding calibration image;

[0055] Fit the coordinate systems of the handling mechanism and the feeding trolley according to the XY compensation and the R angle of the calibration reference line to generate a user coordinate system for fitting the identification code.

[0056] In this embodiment, the calculation of the XY compensation of the identification code corresponding to the target material box and the R angle of the calibration reference line according to the image position of the calibration plate image and its corresponding calibration image includes: determining the offset according to the image position of the calibration plate image, the center point of the calibration template and the pixel equivalent, calculating the XY compensation of the identification code corresponding to the target material box and the R angle of the calibration reference line, and sending them to the control end of the handling mechanism.

[0057] Exemplarily, the handling mechanism includes a manipulator and a mobile trolley; the manipulator is installed on the mobile trolley; the detection component is arranged on the manipulator. In this embodiment, the mobile trolley is preferably but not limited to an AGV trolley.

[0058] In this embodiment, the calibration reference line set on the calibration plate is mainly used to calibrate the R angle, that is, the Rz angle, of the manipulator on the handling mechanism.

[0059] Exemplarily, the detection component includes but is not limited to a camera; the identification code includes but is not limited to a bar code or a two-dimensional code. In this embodiment, the identification code is preferably a two-dimensional code. Taking the magazine-type cartridge as an example, the two-dimensional code corresponds to the magazine slot. The origin of the XY coordinates of the manipulator user coordinate system is calibrated based on the position of the two-dimensional code. Based on this, coordinate deviation correction can be performed, and the coordinate systems of the manipulator and the feeding trolley can be fitted, so that a set of point positions corresponds to all the cartridges of the feeding trolley.

[0060] In this embodiment, the cartridge positioning method 100 of the mounter feeding trolley uses the manipulator to obtain the two-dimensional code image corresponding to the target cartridge and its image position when shooting from above, calculates the XYR data by comparing it with the corresponding calibrated image, and supplements it to the origin coordinates of the coordinate system, so that the origin of the manipulator coordinate system coincides with the calibration point (Mark point) and the directions are fitted. Since each cartridge corresponds to a two-dimensional code on the calibration board, the AGV cart of the handling mechanism finds the corresponding two-dimensional code according to the received target cartridge number, and then calculates according to the correct image position, so that the coordinate system can be corrected in real time. Therefore, a set of point trajectories of the manipulator can be applied to all cartridges of the same specification.

[0061] In this embodiment, the calibration process of the cartridge positioning method 100 of the mounter feeding trolley is as follows: First, keep the AGV cart and the calibration board at equal distances on both sides, that is, keep the manipulator parallel to the feeding trolley. Second, the camera performs nine-point + rotation calibration on the feeding trolley calibration to establish the association between the camera coordinate system and the manipulator coordinate system. Third, as Figure 2 shown, the manipulator rotates 3 points with the TCP (default flange center) to fit a circle, and calculates the center coordinates Xc and Yc of the three points 5, 10, and 11; add #X = Xc - X5 and #Y = Yc - Y5 to the pixel coordinates of 1-9 before in sequence to establish the calibration coordinate system. Fourth, the manipulator is at the teaching and photographing position of the feeding trolley to obtain the XY under the base coordinates. Fifth, set XY as the origin of the manipulator user coordinate system 1; that is, the relevant point positions of the feeding trolley are relative to the photographing point position of the feeding trolley as the origin. Sixth, under the manipulator user coordinate system 1, calibrate the photographing position of the target cartridge; under the manipulator user coordinate system 1, calibrate the photographing position of the tray; under the manipulator user coordinate system 1, collect all the point positions on the feeding trolley.

[0062] After calibration, during operation: First, the AGV cart runs to the position of the two-dimensional code on the calibration board corresponding to the target cartridge number on the feeding trolley according to the target cartridge number issued by the system. Second, the manipulator moves to the calibration board of the feeding trolley, that is, the trolley photographing position; the camera takes a picture to obtain the image position, combines the center point of the calibration template and the pixel equivalent to determine the offset, calculates the XY deviation compensation of the two-dimensional code corresponding to the target cartridge, and the R angle of the calibration reference line, and sends it to the manipulator control terminal. It should be noted that in the usual camera deviation correction, it is the product that moves while the manipulator remains stationary; now it is the manipulator that moves while the product remains stationary, but the principle is the same, asFigure 3 As shown, the rectification formula for the template and the image can be used as follows:

[0063] x = x'·cos(θ) + y'·sin(θ) + a

[0064] y = y'·cos(θ) - x'·sin(θ) + b

[0065] That is:

[0066] x = x'·cos(θ) + y'·sin(θ) + a

[0067] y = y'·cos(θ) - x'·sin(θ) + b

[0068] That is:

[0069] ddeg = r - imageR + offsetR

[0070] dx = (robotX - imageX)·cos(ddeg) - (robotY - imageY)·sin(ddeg) + x

[0071] dy = (robotX - imageX)·sin(ddeg) + (robotY - imageY)·cos(ddeg) + y

[0072] X = dx + offsetX

[0073] Y = dy + offsetY

[0074] R = ddeg·180 / Math.PI + robotR

[0075] Among them, ImageXYR is the teaching coordinate of the camera teaching image template; RobotXYR is the teaching grasping coordinate of the manipulator; offsetXYR is the compensation value (theoretically 0); xyr is the camera mark point coordinate of the current picture grasping point; XYR is the real-time grasping coordinate of the manipulator. Third, add the above XY deviation to the XY of the manipulator user coordinate system 1, and assign the angle to Rc to generate a coordinate system that fits the QR code on the feeding table; in the application, add the camera compensation to the X and Y of the feeding trolley photographing position, and convert the angle data Rc into a quaternion and assign it to the manipulator user coordinate system 1. That is, the relevant points of the feeding trolley are relative to the origin of the rectified point of the feeding trolley photographing, corresponding to step five in the above calibration process. Fourth, run the subsequent feeding trolley points in the manipulator user coordinate system 1; as Figure 4 shown Figure 4For the robot pick-and-place process adopting the technical solution provided by the embodiment of the present invention, in this embodiment, the magazine-type magazine is used as an example for the magazine. In the figure, the trolley refers to the feeding trolley, and the trolley mark is positioned at a fixed point in the world coordinate system of the robot; the camera can capture the corresponding magazine code, that is, the QR code on the calibration board corresponding to the target magazine. The AGV cart moves to the corresponding trolley magazine position, that is, the working position of the AGV; the camera compensation threshold is a parameter setting, and the parameter setting range does not affect the robot trajectory; the tray photographing position and compensation are based on the generated trolley coordinate system.

[0076] It is worth mentioning that the magazine positioning method 100 of the feeding trolley of the mounter in this embodiment does not limit the specific structural forms of the feeding trolley of the mounter, the handling mechanism, and the calibration board assembly (including the calibration board). For the convenience of understanding the present invention, only an example is given below: as Figures 5 to 8 shown, in this embodiment, the feeding trolley 10 is provided with at least one layer of storage positions 11 extending along the first horizontal direction. The storage positions 11 are configured to temporarily store a plurality of magazines 12 arranged side by side along the first horizontal direction ( Figure 5 the X direction in ). The magazine 12 is configured to carry a tray (not shown in the figure); the calibration board assembly 20 includes a calibration board 21. The calibration board 21 is arranged below the lowermost storage position 11 and extends out of the feeding trolley 10. The calibration reference line 26 and a plurality of identification codes 22 arranged at intervals are arranged on the top surface of the calibration board 21. Each identification code 22 corresponds to a magazine 12, and the calibration reference line 26 extends along the first horizontal direction; the detection member of the handling mechanism takes pictures or scans the calibration reference line 26 and the identification codes 22. The calibration reference line 26 is used to calibrate the angle between the frame of the handling mechanism and the corresponding feeding trolley. In this embodiment, the handling mechanism includes a robot. The execution end of the robot is installed with a detection member and a material taking member. The detection end of the detection member faces downward. The detection member faces downward to take pictures or scan the calibration reference line 26 and the identification codes 22 on the top surface of the calibration board 21. The material taking member is used to pick up or release a new tray or an old tray. It can be seen that by arranging the calibration board 21 on the feeding trolley 10 and arranging the calibration reference line 26 and a plurality of identification codes 22 on the calibration board 21, when the handling mechanism picks up and places the tray, the angle between the handling mechanism and the feeding trolley can be calibrated by taking pictures or scanning the calibration reference line 26, and the position information of the corresponding magazine 12 can be obtained by taking pictures or scanning the identification codes, so as to accurately obtain the position information of the corresponding magazine 12, so as to control the subsequent smooth picking up and placing of the tray by the handling mechanism, which is beneficial to improving the operation accuracy of the feeder.

[0077] In this embodiment, the calibration plate assembly 20 further includes a connecting member 23. The first end of the connecting member 23 is fixedly installed on the frame 13 of the feeding trolley 10, and the second end of the connecting member 23 is fixedly installed on the calibration plate 21. Specifically, the connecting member 23 is a flat plate, and a weight-reducing hole 24 is formed in the flat plate to reduce the overall weight of the connecting member 23 on the premise of ensuring the connection reliability. By providing the connecting member 23, the calibration plate 21 is detachably and fixedly installed on the feeding trolley 10, facilitating the replacement of the calibration plate 21. The first end of the connecting member 23 is detachably and fixedly installed on the frame 13 through a plurality of fixing screws, and the second end of the connecting member 23 is detachably and fixedly installed on the calibration plate 21 through a plurality of fixing screws. Through the cooperation of the fixing screws and the threaded holes, the connection between the connecting member 23 and the frame 13 and the connection between the connecting member 23 and the calibration plate 21 are realized, providing a connection method between the connecting member 23 and the frame 13 and the calibration plate 21 with a simple structure, easy to implement, and convenient to operate. The connecting member 23 is installed perpendicular to the frame 13 of the feeding trolley 10, the calibration plate 21 is installed perpendicular to the connecting member 23, and the calibration plate 21 extends along the first horizontal direction. A reasonable layout and convenient installation form of the connecting member 23 and the calibration plate 21 are provided.

[0078] In this embodiment, at least two first reference holes 14 are spaced apart on the frame 13, and at least two second reference holes 25 are spaced apart on the top surface of the connecting member 23. Each first reference hole 14 corresponds to a second reference hole 25. A first positioning pin is provided on the cartridge corresponding to the position of the first reference hole 14, and the first positioning pin sequentially penetrates into the first reference hole 14 and the second reference hole 25 from top to bottom; at least two third reference holes 27 are spaced apart on the bottom surface of the connecting member 23, and at least two fourth reference holes 28 are spaced apart on the calibration plate 21. A second positioning pin is provided corresponding to the position of the fourth reference hole 28, and the second positioning pin sequentially penetrates into the fourth reference hole 28 and the third reference hole 27 from bottom to top. By providing the first reference hole 14 and the second reference hole 25 and cooperating with the first positioning pin, the installation accuracy of the connecting member 23 on the frame 13 is improved. By providing the third reference hole 27 and the fourth reference hole 28 and cooperating with the second positioning pin, the installation accuracy of the calibration plate 21 and the connecting member 23 is improved, thereby ensuring the accuracy of the detection member of the handling mechanism in identifying the identification code 22 on the calibration plate 21.

[0079] In this embodiment, the identification code 22 is provided on the top surface of the calibration plate 21 by printing or engraving. The identification code 22 is provided on a label, and the label is attached to the top surface of the calibration plate 21, facilitating the replacement of the identification code 22. A plurality of identification codes 22 are arranged side by side along the first horizontal direction, and each identification code 22 corresponds to the corresponding cartridge 12 in the second horizontal direction ( Figure 5corresponds to the Y direction in it. The first horizontal direction is perpendicular to the second horizontal direction. The feeding trolley 10 is provided with two layers of material storage positions 11 to increase the material storage capacity of the feeding trolley 10. When the handling mechanism needs to place a new tray into the corresponding material box 12, the manipulator first drives the detection component to move directly above the identification code 22 corresponding to the material box 12 where the new tray is to be placed on the calibration plate 21. The detection component takes pictures of the calibration reference line 26 and the identification code 22 directly below to obtain the position information of the material box 12 where the new tray is to be placed. According to the obtained position information, the manipulator then drives the material taking component to move to the corresponding material box 12 and place the new tray into the corresponding material box 12.

[0080] The material box positioning method 100 of the feeding trolley of the mounter proposed in this embodiment realizes the coordinate system fitting of the handling mechanism and the feeding trolley through the position fitting of the detection component and the calibration plate. The movement trajectory of the handling mechanism is consistent with that of the feeding trolley. When the angle between the handling mechanism and the feeding trolleys that perform the operation of taking and placing trays is different, the positions of the target material box and the tray are corrected to achieve accurate positioning, effectively solving the problems existing in the existing material box positioning scheme.

[0081] Embodiment Two

[0082] Please refer to Figure 9 as described[[ID=e12]] Figure 9 is the structural block diagram of the material box positioning system of the feeding trolley of the mounter provided by the embodiment of the present invention. This embodiment proposes a material box positioning system 900 for the feeding trolley of the mounter. This system adopts the material box positioning method 100 of the feeding trolley of the mounter proposed in the above Embodiment One, and includes:

[0083] A calibration plate image acquisition unit 901, which is used to acquire a calibration plate image through a detection component on the handling mechanism; wherein, the calibration plate is arranged on the feeding trolley;

[0084] An image position calculation unit 902, which is used to calculate the image position of the calibration plate image;

[0085] A coordinate system fitting unit 903, which is used to fit the coordinate systems of the handling mechanism and the feeding trolley according to the image position of the calibration plate image and its corresponding calibration image, so that the movement trajectory of the handling mechanism is consistent with that of the feeding trolley;

[0086] A target material box positioning unit 904, which is used to acquire the calibration plate image corresponding to the target material box through the detection component, and obtain the accurate position of the target material box through the fitted coordinate system, so as to complete the positioning of the target material box.

[0087] It should be noted that the working principle of the material box positioning system 900 for the feeding trolley of the mounter proposed in this embodiment is the same as the content recorded in the above Embodiment One, and will not be elaborated here.

[0088] The cartridge positioning system 900 of the feeder trolley of the mounter proposed in this embodiment realizes the coordinate system fitting of the handling mechanism and the feeder trolley by fitting the positions of the detection part and the calibration plate. The movement trajectory of the handling mechanism is consistent with that of the feeder trolley. When the angles between the handling mechanism and the feeder trolleys operating the pick-and-place trays in different implementations are different, the positions of the target cartridge and the tray are corrected to achieve accurate positioning, effectively solving the problems existing in the existing cartridge positioning solutions.

[0089] Embodiment III

[0090] This embodiment provides an electronic device, which includes a processor and a memory connected to the processor. Among them, program data is stored in the memory, and the processor retrieves the program data stored in the memory to execute the cartridge positioning method 100 of the feeder trolley of the mounter provided in the above-mentioned Embodiment I.

[0091] Embodiment IV

[0092] This embodiment provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the cartridge positioning method 100 of the feeder trolley of the mounter provided in the above-mentioned Embodiment I.

[0093] It should be noted that the above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disc. The readable storage medium can be any available medium accessible by a general-purpose or special-purpose computer.

[0094] Note that the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for positioning a magazine of a component mounter feeding trolley, characterized in that, The method includes: Collecting a calibration plate image through a detection component on a handling mechanism; wherein, the calibration plate is arranged on a feeding trolley; Calculating the image position of the calibration plate image; Fitting the coordinate systems of the handling mechanism and the feeding trolley according to the image position of the calibration plate image and its corresponding calibration image, so that the movement trajectory of the handling mechanism is consistent with that of the feeding trolley; Collecting the calibration plate image corresponding to the target cartridge through the detection component, and the handling mechanism obtaining the accurate position of the target cartridge through the fitted coordinate system to complete the positioning of the target cartridge.

2. The method for positioning the cartridge of the component feeder trolley according to claim 1, wherein, Calibration reference lines and a plurality of identification codes arranged at intervals are provided on the top surface of the calibration plate, and each identification code corresponds to at least one cartridge.

3. The method for positioning the cassette of the component feeder trolley according to claim 2, wherein Before collecting the calibration plate image through the detection component on the handling mechanism, it further includes: The handling mechanism moves to the position where the target cartridge is located according to the identification code corresponding to the target cartridge on the feeding trolley.

4. The method for positioning the cartridge of the feeder trolley of the mounter according to claim 3, characterized in that, Collecting the calibration plate image through the detection component on the handling mechanism includes: Collecting the calibration plate image covering the identification code corresponding to the target cartridge through the detection component.

5. The method for positioning a cartridge of a component mounter feeding trolley according to claim 4, characterized in that, Fitting the coordinate systems of the handling mechanism and the feeding trolley according to the image position of the calibration plate image and its corresponding calibration image includes: Calculating the XY compensation of the identification code corresponding to the target cartridge and the R angle of the calibration reference line according to the image position of the calibration plate image and its corresponding calibration image; Fitting the coordinate systems of the handling mechanism and the feeding trolley according to the XY compensation and the R angle of the calibration reference line to generate a user coordinate system for fitting the identification code.

6. The method for positioning the cartridge of the feeder trolley of the mounter according to claim 1, wherein The handling mechanism includes a manipulator and a mobile trolley; the manipulator is installed on the mobile trolley; the detection component is arranged on the manipulator.

7. The method for positioning the cartridge of the component feeder trolley of a mounter according to any one of claims 1 to 6, characterized in that, The detection component includes but is not limited to a camera; the identification code adopts but is not limited to a bar code or a QR code.

8. A material box positioning system for a feeder trolley of a chip mounter, characterized in that, The system adopts the cartridge positioning method for the feeding trolley of the mounter as claimed in claim 1, and includes: A calibration plate image acquisition unit for collecting a calibration plate image through a detection component on a handling mechanism; wherein, the calibration plate is arranged on a feeding trolley; An image position calculation unit for calculating the image position of the calibration plate image; A coordinate system fitting unit for fitting the coordinate systems of the handling mechanism and the feeding trolley according to the image position of the calibration plate image and its corresponding calibration image, so that the movement trajectory of the handling mechanism is consistent with that of the feeding trolley; A target cartridge positioning unit for collecting the calibration plate image corresponding to the target cartridge through the detection component, and obtaining the accurate position of the target cartridge through the fitted coordinate system to complete the positioning of the target cartridge.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory connected to the processor. Among them, program data is stored in the memory, and the processor retrieves the program data stored in the memory to execute the cartridge positioning method for the feeding trolley of the mounter as claimed in claim 1.

10. A computer-readable storage medium, characterized in that, Computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, they are used to implement the cartridge positioning method for the feeding trolley of the mounter as claimed in claim 1.

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