Smt material conveying method, device, equipment and medium

Abstract

The application relates to the technical field of SMT material conveying, and discloses an SMT material conveying method, device, equipment and medium. The method comprises the following steps: in response to a received feeding instruction, a motor of a feeding device is controlled to start and accelerate to a first rotating speed, a material bin of the feeding device is displaced along a feeding direction, SMT materials on the material bin are displaced along with the material bin and gradually close to an edge of the material bin away from the feeding direction; after the SMT materials close to the edge of the material bin away from the feeding direction, the motor is controlled to periodically change to decelerate, the SMT materials are displaced relative to the material bin in the feeding direction at each time when the change to decelerate is completed, and the SMT materials reach an edge of the material bin close to the feeding direction. The application can improve the success rate of sucking the SMT materials and the mounting efficiency.

Description

Technical Field

[0001] This application relates to the field of SMT material conveying technology, and in particular to an SMT material conveying method, apparatus, equipment and medium. Background Technology

[0002] In the SMT industry, improving the efficiency of pick-and-place machines has been a continuous research and development challenge. The accuracy of the SMT material's position and orientation during pickup by the pick-and-place machine's nozzle is crucial. The orientation of SMT materials during transport is arbitrary and random, without any set rules. This directly leads to the nozzle failing to pick up the material or picking it up and finding it outside the acceptable range, making correction impossible. This unpredictable orientation increases the rejection rate of the pick-and-place machine, requiring more frequent and longer-term manual intervention. The low success rate of picking up SMT materials reduces the machine's placement efficiency, and in some cases, some SMT materials cannot be picked up or placed at all. Summary of the Invention

[0003] The purpose of this application is to provide an SMT material conveying method, apparatus, equipment and medium, which aims to improve the success rate of picking up SMT materials and the efficiency of placement.

[0004] This application provides an SMT material conveying method, including: In response to the received feeding command, the motor of the feeding device is controlled to start and accelerate to the first speed, so that the hopper of the feeding device is displaced along the feeding direction. The SMT material on the hopper moves with the hopper and gradually comes into close contact with the edge of the hopper away from the feeding direction. After the SMT material is close to the edge of the hopper away from the feeding direction, the motor is controlled to rotate periodically with variable speed, so that the SMT material is displaced relative to the hopper in the feeding direction each time the variable speed rotation is completed, until it reaches the edge of the hopper close to the feeding direction.

[0005] In some embodiments, the motor of the control feeding device is started and accelerated to a first rotational speed, including: Control the motor to rotate at variable acceleration to the target acceleration; When the target acceleration is reached, the motor is controlled to rotate at a uniform speed to the second rotational speed; When the second speed is reached, the motor is controlled to accelerate back to the first speed.

[0006] In some embodiments, prior to controlling the periodic variable-speed rotation of the motor, the method further includes: After reaching the first rotational speed, the motor is controlled to rotate at a constant speed within a preset time period, so that the SMT material remains close to the edge of the hopper away from the feeding direction.

[0007] In some embodiments, controlling the motor to rotate periodically with variable speed includes: Determine the number of rotations, duration, and rate of acceleration change of the variable deceleration; Based on the number of times the variable speed rotation is performed, the duration of the rotation, and the rate of acceleration change, the motor is controlled to rotate with variable speed until the relative displacement distance between the SMT material and the hopper reaches the target sliding distance.

[0008] In some embodiments, determining the number of variable deceleration rotations, the duration, and the rate of acceleration change includes: The rate of change of acceleration is determined based on the first rotational speed and the target gliding distance; The number of times and duration of the variable deceleration rotation are determined based on the first rotational speed, the target gliding distance, and the rate of change of acceleration.

[0009] In some embodiments, controlling the variable-speed rotation of the motor based on the number of variable-speed rotations, the duration, and the rate of acceleration change includes: Each time the motor completes the variable speed rotation, the SMT material sliding distance is obtained; the SMT material sliding distance is the displacement distance of the SMT material relative to the hopper when the motor has completed a certain number of variable speed rotations; Based on the deviation between the SMT material sliding distance and the target sliding distance, the number of times, duration, and / or acceleration change rate of the variable deceleration rotation are dynamically updated, and the motor is controlled to perform variable deceleration rotation based on the updated number of times, duration, and / or acceleration change rate until the relative displacement distance between the SMT material and the hopper reaches the target sliding distance.

[0010] In some embodiments, the SMT material conveying method further includes: After the SMT material reaches the edge of the hopper near the feeding direction, the motor is controlled to decelerate evenly until it stops.

[0011] This application embodiment also provides an SMT material conveying device, including: The first module is used to respond to the received feeding command, control the motor of the feeding device to start and accelerate to a first speed, so that the hopper of the feeding device is displaced along the feeding direction, and the SMT material on the hopper moves with the hopper and gradually comes into close contact with the edge of the hopper away from the feeding direction. The second module is used to control the motor to periodically rotate with varying speed after the SMT material is close to the edge of the hopper away from the feeding direction. This causes the SMT material to move relative to the hopper in the feeding direction each time the variable speed rotation is completed, until it reaches the edge of the hopper close to the feeding direction.

[0012] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described SMT material conveying method.

[0013] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described SMT material conveying method.

[0014] The beneficial effects of this application are as follows: By precisely controlling the rate of change of acceleration and the number of cycles during the speed change process, SMT materials can gradually complete position correction under controllable inertia, realizing autonomous attitude correction during the SMT material conveying process. This allows disordered SMT materials to automatically align to the predetermined position during the conveying stage, ensuring the consistency of the SMT materials' position when they arrive at the placement station without the need for additional positioning mechanisms. This effectively reduces the probability of nozzle failure. Through the inertial displacement mechanism generated by periodic speed changes, the problem of uncontrollable SMT material attitude caused by uniform speed conveying is solved, reducing the frequency of manual intervention and improving the continuous operation capability of the placement process. Attached Figure Description

[0015] Figure 1 This is a diagram illustrating the application environment of the SMT material conveying method provided in the embodiments of this application.

[0016] Figure 2 This is a flowchart of the SMT material conveying method provided in the embodiments of this application.

[0017] Figure 3 This is a schematic diagram of the displacement of SMT materials relative to the hopper provided in the embodiments of this application.

[0018] Figure 4 This is a schematic diagram of the speed change of the motor provided in an embodiment of this application.

[0019] Figure 5 This is a schematic diagram of the structure of the SMT material conveying device provided in the embodiments of this application.

[0020] Figure 6 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0022] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and drawings are used to distinguish similar objects and are not used to describe a specific order or sequence.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0024] The SMT material handling method provided in this application can be executed by a computer device, which can be a terminal device or a host computer. The terminal device includes, but is not limited to, an industrial control computer, a computer, or a programmable logic controller. The host computer can be a PC-based host computer or an embedded host computer. Furthermore, all information, data, and signals involved in this application's embodiments are authorized by the relevant parties or have been fully authorized by all parties, and the collection, use, and processing of related data comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0025] Figure 1 This diagram illustrates the application environment of the SMT material conveying method provided in this embodiment. (See attached diagram.) Figure 1 This SMT material conveying method is applied to an SMT material conveying system. The SMT material conveying system includes a terminal 110 and a host computer 120. The terminal 110 and the host computer 120 communicate. The terminal 110 can be a desktop terminal or a mobile terminal; the mobile terminal can be at least one of a mobile phone, tablet, or laptop. The host computer 120 sends feeding instructions to the terminal 110. In response to the received feeding instructions, the terminal 110 controls the motor of the feeding device to start and accelerate to a first rotational speed, causing the material bin of the feeding device to move along the feeding direction. The SMT material on the bin moves with the bin and gradually presses against the edge of the bin away from the feeding direction. After the SMT material presses against the edge of the bin away from the feeding direction, the terminal controls the motor to periodically decelerate, causing the SMT material to move relative to the bin in the feeding direction at the end of each deceleration rotation, until it reaches the edge of the bin near the feeding direction.

[0026] To facilitate understanding of the SMT material conveying method provided in this application embodiment, the following example uses terminal 110 as the execution subject to illustrate the application scenario of the SMT material conveying method.

[0027] Figure 2 This is a flowchart of the SMT material conveying method provided in an embodiment of this application. (See attached document.) Figure 2 In some embodiments, the method includes, but is not limited to, steps S201 to S202.

[0028] In step S201, in response to the received feeding command, the motor of the feeding device is controlled to start and accelerate to the first speed, so that the hopper of the feeding device is displaced along the feeding direction, and the SMT material on the hopper moves with the hopper and gradually comes into close contact with the edge of the hopper away from the feeding direction.

[0029] It can be understood that a feeding command is a control signal that triggers the SMT material conveying process. Specifically, it can be implemented using a pulse signal sent by a host computer. This signal may contain parameters such as the conveying path and the type of SMT material. It should be noted that the feeding device is controlled by the terminal of the aforementioned material conveying system. The feeding device loads SMT materials through its configured hopper, and its configured motor drives the hopper to move. In practical applications, the motor, in conjunction with the hopper drive, drives the hopper to the area where SMT materials are stored, or other devices transfer SMT materials to the hopper. After the SMT materials are transferred to the hopper, the terminal responds to the received feeding command, controls the motor to start, and controls the motor to drive the hopper in the feeding direction until the hopper delivers the SMT materials to the picking area.

[0030] As an example, after receiving a feeding command from the host computer, the terminal controls the motor of the feeding device to start and accelerate to a first rotational speed, causing the motor to drive the hopper containing SMT materials to move along the feeding direction. During this movement, the SMT materials on the hopper follow the hopper's movement. As the motor accelerates to the first rotational speed, the friction between the SMT materials and the hopper is insufficient to provide the SMT materials with the same acceleration as the hopper. Therefore, the SMT materials on the hopper move with the hopper and gradually press against the edge of the hopper away from the feeding direction. The first rotational speed can be understood as the stable rotational speed after the hopper completes its initial acceleration phase. This can be achieved through closed-loop control using the motor's encoder feedback. This rotational speed must ensure that the SMT materials remain pressed against the edge of the hopper due to inertia.

[0031] In step S202, after the SMT material is close to the edge of the hopper away from the feeding direction, the motor is controlled to rotate periodically with variable speed, so that the SMT material is moved relative to the hopper in the feeding direction when each variable speed rotation is completed, until it reaches the edge of the hopper close to the feeding direction.

[0032] It is understandable that periodic variable deceleration rotation refers to the alternating increase and decrease of the motor speed decay rate according to a preset waveform pattern. Specifically, it can be achieved by using a trapezoidal acceleration curve or a sine wave acceleration curve. By periodically changing the deceleration rate of the speed, relative slippage between the SMT material and the hopper is caused.

[0033] As examples, after the terminal controls the motor to accelerate to a first speed, it controls the motor to periodically decelerate, causing the motor's speed decay rate to alternately increase and decrease according to a preset waveform. This causes the displacement velocity decay rate of the material hopper to alternately increase and decrease along with the motor's speed decay rate, also according to a preset waveform. The friction between the SMT material and the hopper is insufficient to provide the SMT material with the same acceleration as the hopper. Therefore, during the periodic variable-speed rotation of the motor, the SMT material on the hopper gradually shifts relative to the hopper in the feeding direction until it reaches the edge of the hopper near the feeding direction. Figure 3 As shown.

[0034] The SMT material conveying method provided in this application embodiment involves a terminal responding to a received feeding command and controlling the motor of the feeding device to operate. Specifically, when the motor of the feeding device receives a start signal from the terminal, the motor drives the hopper to move. In the initial stage, an acceleration mode is used, causing the SMT material on the hopper to gradually press against the edge of the hopper away from the feeding direction. In the final stage, a periodic deceleration mode is used, causing the SMT material on the hopper to gradually move towards the edge of the feeding direction. During the acceleration stage, the hopper of the feeding device moves along the feeding direction. The friction between the SMT material and the hopper is insufficient to provide the SMT material with the same acceleration as the hopper. The SMT material on the hopper moves with the hopper and gradually presses against the edge of the hopper away from the feeding direction. When the SMT material is completely flush against the rear edge of the hopper, the motor enters a periodic deceleration phase. The rate of decrease in the displacement speed of the hopper alternates with the rate of decrease in the motor speed according to a preset waveform. The friction between the SMT material and the hopper is insufficient to provide the SMT material with the same acceleration as the hopper. During the periodic variable deceleration of the motor, the SMT material on the hopper gradually shifts relative to the hopper in the feeding direction until it reaches the edge of the hopper near the feeding direction. Thus, by precisely controlling the rate of change of acceleration and the number of cycles during the speed change process, the SMT material gradually completes its position correction under controllable inertia, achieving autonomous attitude correction during the SMT material conveying process. This allows disordered SMT material to automatically align to the predetermined position during the conveying stage, ensuring the consistency of the SMT material's position when it arrives at the placement station without the need for an additional positioning mechanism. This effectively reduces the probability of nozzle failure. The inertial displacement mechanism generated by the periodic speed change solves the problem of uncontrollable SMT material attitude caused by uniform speed conveying, reduces the frequency of manual intervention, and improves the continuous operation capability of the placement process.

[0035] In some embodiments, controlling the motor of the feeding device to start and accelerate to a first speed includes: controlling the motor to accelerate to a target acceleration; when the target acceleration is reached, controlling the motor to accelerate uniformly to a second speed; and when the second speed is reached, controlling the motor to decelerate back to the first speed.

[0036] Variable acceleration rotation refers to the process of gradually adjusting the motor's acceleration to a preset target value. This can be achieved by dynamically tracking the acceleration curve using a PID controller, preventing SMT material displacement caused by sudden acceleration changes. Uniform acceleration rotation refers to the process of maintaining a constant acceleration to reach an intermediate speed. This can be achieved by using an encoder to provide real-time feedback of speed data and closed-loop control of the motor drive current, ensuring linear and stable acceleration. Deceleration rotation refers to the process of gradually reducing acceleration to zero. This can be achieved by dynamically adjusting the acceleration decay rate using fuzzy logic algorithms, allowing the speed to smoothly transition to the target value.

[0037] like Figure 4 As shown, when the motor starts, it first enters a variable acceleration phase, where the motor's speed acceleration is gradually increased to the target acceleration. For example, the acceleration curve is ramped up by adjusting the PWM duty cycle. When the motor's speed acceleration reaches the target acceleration, the SMT material on the hopper moves with the hopper and gradually presses against the edge of the hopper away from the feeding direction. After the motor's speed acceleration reaches the target acceleration, it switches to a uniform acceleration mode. At this time, the drive current of the motor is kept constant, so that the motor speed increases at a fixed slope to the second speed. During the uniform acceleration phase, the SMT material on the hopper is completely pressed against the edge of the hopper away from the feeding direction. After reaching the second speed, it switches to a deceleration mode, where the motor's speed acceleration gradually decreases according to a preset decay curve, for example, by using an exponential decay function to control the acceleration change, until the speed stabilizes at the first speed. During the deceleration phase, the SMT material on the hopper remains pressed against the edge of the hopper away from the feeding direction, avoiding violent shaking caused by drastic changes in displacement speed that could alter the posture of the SMT material. The transition between these three stages is achieved through real-time monitoring of rotational speed and acceleration parameters. For example, at the end of the uniform acceleration stage, a Hall sensor detects whether the rotational speed has reached the second speed. Thus, by adjusting the motor's rotational speed and acceleration in stages, the SMT material remains relatively stationary with respect to the hopper throughout the acceleration process. For instance, in the variable acceleration stage, a gradual increase in acceleration is used to avoid inertial displacement of the SMT material, and in the deceleration stage, a gradual decrease in acceleration is used to eliminate the risk of sudden changes in rotational speed.

[0038] In some embodiments, before controlling the motor to rotate periodically with variable speed, the method further includes: after reaching the first speed, controlling the motor to rotate at a constant speed within a preset time period, so that the SMT material remains close to the edge of the hopper away from the feeding direction.

[0039] like Figure 4As shown, after the motor accelerates to the first speed, the constant speed rotation stage maintains a constant translational speed for the material hopper. During this time, the SMT material, under inertia, remains firmly attached to the edge of the hopper away from the feeding direction, preventing separation due to acceleration fluctuations. The preset duration of the constant speed stage can be set according to the mass of the SMT material or the friction coefficient of the hopper, for example, within the range of 0.5 to 2 seconds. During this process, the relative positional relationship between the hopper and the SMT material is fixed, providing stable initial conditions for subsequent periodic variable deceleration rotation. Therefore, by introducing the constant speed rotation stage, the SMT material, under inertia, fully adheres to the edge of the hopper away from the feeding direction, eliminating displacement deviations caused by sudden acceleration changes, thereby improving the accuracy of SMT material slippage during subsequent variable deceleration.

[0040] In some embodiments, controlling the motor to rotate periodically with variable speed includes: determining the number of times the variable speed rotation is rotated, the duration and the rate of acceleration change; and controlling the motor to rotate with variable speed according to the number of times the variable speed rotation is rotated, the duration and the rate of acceleration change, until the relative displacement distance between the SMT material and the hopper reaches the target sliding distance.

[0041] The target sliding distance refers to the amount of displacement that the SMT material needs to achieve relative to the hopper. Specifically, it can be measured in real time through a vision inspection system or a displacement sensor to determine the distance between the SMT material position and the edge of the hopper.

[0042] like Figure 4 As shown, in the process of controlling the motor's periodic variable-deceleration rotation, the required acceleration change rate is first calculated based on the target sliding distance, thereby determining the number of variable-deceleration rotations and the duration of each rotation. Subsequently, the motor drive module outputs corresponding control signals to enable the motor to complete periodic speed adjustments according to the preset acceleration change rate. Each time a variable-deceleration rotation is completed, the SMT material displaces relative to the hopper due to inertia. Through multiple cycles, the displacement is gradually accumulated, eventually bringing the SMT material to the position corresponding to the target sliding distance. Therefore, by dynamically adjusting the variable-deceleration parameters, the control strategy can be optimized in real time based on the actual displacement of the SMT material, thereby achieving closed-loop control of the displacement. This allows for precise control of the SMT material's sliding distance within the hopper, enabling the SMT material to gradually adjust to the predetermined position during periodic variable-deceleration, thus solving the problem of pick-up deviation caused by the random posture of the SMT material, reducing the pick-and-place machine's rejection rate, and minimizing the frequency of manual intervention.

[0043] In some embodiments, determining the number of variable deceleration rotations, the duration, and the rate of acceleration change includes: determining the rate of acceleration change based on a first rotational speed and a target coasting distance; and determining the number of variable deceleration rotations and the duration based on the first rotational speed, the target coasting distance, and the rate of acceleration change.

[0044] After the motor completes the uniform rotation phase, the control system establishes a kinematic model based on the relationship between the current rotation speed and the target sliding distance. By decomposing the target sliding distance into displacement components generated by multiple variable deceleration movements, the required rate of acceleration change during a single variable deceleration process is calculated. For example, when the SMT material needs to move 5 mm, the system can decompose it into three variable deceleration cycles, each producing a displacement of 1.7 mm. Based on the initial kinetic energy corresponding to the first rotation speed and combined with the displacement requirement of the target sliding distance, the system automatically generates a time integral function of the acceleration change curve, thereby deriving the duration of each variable deceleration cycle. This parameter determination method allows the displacement of the SMT material under inertia to be precisely quantified and controlled, ensuring that it eventually reaches the predetermined edge position. Thus, by establishing a dynamic correlation between rotation speed, displacement, and acceleration, adaptive generation of control parameters is achieved, effectively solving the positioning inaccuracy problem caused by differences in the physical properties of SMT materials. It can dynamically generate optimal control parameters according to actual working conditions, ensuring that SMT materials of different specifications can accurately complete the predetermined displacement. This adaptive control mechanism significantly improves the repeatability of SMT material positioning, enabling the pick-and-place machine nozzle to stably acquire SMT materials with proper orientation, thereby reducing the rejection rate and improving placement efficiency.

[0045] In some embodiments, controlling the motor to rotate with variable speed based on the number of variable speed rotations, duration, and rate of acceleration change includes: acquiring the SMT material sliding distance each time the motor completes a variable speed rotation; dynamically updating the number of variable speed rotations, duration, and / or rate of acceleration change based on the deviation between the SMT material sliding distance and the target sliding distance; and controlling the motor to rotate with variable speed based on the updated number of rotations, duration, and / or rate of acceleration change until the relative displacement distance between the SMT material and the hopper reaches the target sliding distance. The SMT material sliding distance is the displacement distance of the SMT material relative to the hopper when the motor has completed a certain number of variable speed rotations, which can be measured in real time using a displacement sensor or visual inspection device installed on the hopper.

[0046] After each variable-speed rotation cycle of the motor, the actual sliding distance of the SMT material is obtained through sensors. If this distance deviates from the target sliding distance, the required number of variable-speed cycles is recalculated based on the deviation. For example, when the actual sliding distance is only 80% of the target value, the number of subsequent variable-speed cycles can be increased, while the duration of a single cycle can be shortened to increase the operating frequency. Regarding the adjustment of the acceleration change rate, if the SMT material's sliding distance is insufficient, the acceleration change rate can be increased to enhance the inertial force. This process continues until the cumulative sliding distance of the SMT material reaches the target value, ensuring that the SMT material ultimately moves accurately to the edge of the hopper. Therefore, through real-time detection and dynamic parameter adjustment, the energy loss during the sliding process can be automatically compensated. For example, when oil stains on the surface of SMT materials cause increased friction, the system can automatically increase the number of deceleration cycles or increase the rate of acceleration change to maintain a stable sliding effect. This effectively solves the problem of displacement deviation caused by environmental interference during the sliding of SMT materials, avoids the need for manual repeated adjustment of equipment parameters, and ensures that SMT materials maintain controllable sliding dynamics during the conveying process. Ultimately, this ensures that SMT materials accurately reach the predetermined position, providing a stable SMT material posture for subsequent placement processes.

[0047] In some embodiments, the SMT material conveying method further includes: after the SMT material reaches the edge of the hopper near the feeding direction, controlling the motor to decelerate uniformly until it stops.

[0048] When the SMT material moves to the feed edge of the hopper through a periodic variable deceleration process, the motor enters the uniform deceleration stage. At this time, the control system generates a speed control curve based on preset deceleration parameters, driving the motor to gradually reduce its speed at a constant acceleration. During this process, the slippage of the SMT material due to inertia is limited to a controllable range, and finally, when the motor stops completely, the SMT material forms a stable contact state with the edge of the hopper. This process effectively controls the end position error of the SMT material by eliminating vibration interference caused by non-uniform braking. Thus, by introducing a uniform deceleration control strategy, the kinetic energy of the SMT material is released gradually in a linear manner, avoiding positioning deviations caused by sudden speed changes, and reducing the risk of mechanical impact damage to the transmission system.

[0049] Please see Figure 5 This application also provides an SMT material conveying device that can implement the above-described SMT material conveying method. The device includes: The first module 501 is used to respond to the received feeding command, control the motor of the feeding device to start and accelerate to a first speed, so that the hopper of the feeding device is displaced along the feeding direction, and the SMT material on the hopper moves with the hopper and gradually comes into close contact with the edge of the hopper away from the feeding direction. The second module 502 is used to control the motor to periodically rotate with variable speed after the SMT material is close to the edge of the hopper away from the feeding direction, so that the SMT material is displaced relative to the hopper in the feeding direction each time the variable speed rotation is completed, until it reaches the edge of the hopper close to the feeding direction.

[0050] The specific implementation of this SMT material conveying device is basically the same as the specific implementation of the above-mentioned SMT material conveying method, and will not be repeated here.

[0051] Figure 6 This is a block diagram illustrating an electronic device according to an exemplary embodiment.

[0052] The following reference Figure 6 To describe an electronic device 600 according to such an embodiment of the present disclosure. Figure 6 The electronic device 600 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0053] like Figure 6 As shown, the electronic device 600 is presented in the form of a general-purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 connecting different system components (including storage unit 620 and processing unit 610), a display unit 640, etc.

[0054] The storage unit stores program code, which can be executed by the processing unit 610, causing the processing unit 610 to perform the steps described in the above-described SMT material conveying method section of this specification according to various exemplary embodiments of this disclosure.

[0055] Storage unit 620 may include a readable medium in the form of a volatile storage unit, such as random access memory (RAM) 6201 and / or cache memory 6202, and may further include a read-only memory (ROM) 6203.

[0056] Storage unit 620 may also include a program / utility 6204 having a set (at least one) program module 6205, such program module 6205 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0057] Bus 630 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0058] Electronic device 600 can also communicate with one or more external devices 600' (e.g., keyboard, pointing device, Bluetooth device, etc.), and with one or more devices that enable a user to interact with electronic device 600, and / or with any device that enables electronic device 600 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 650. Furthermore, electronic device 600 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 660. Network adapter 660 can communicate with other modules of electronic device 600 via bus 630. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0059] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0060] The SMT material conveying method, apparatus, equipment, and medium provided in this application embodiment, by precisely controlling the acceleration change rate and cycle number of the speed change process, enables the SMT material to gradually complete position correction under controllable inertia, realizing autonomous attitude correction during the SMT material conveying process. This allows disordered SMT materials to automatically align to a predetermined position during the conveying stage, ensuring the consistency of the SMT material's position when it arrives at the placement station without the need for an additional positioning mechanism. This effectively reduces the probability of nozzle failure. Through the inertial displacement mechanism generated by periodic speed changes, the problem of uncontrollable SMT material attitude caused by uniform speed conveying is solved, reducing the frequency of manual intervention and improving the continuous operation capability of the placement process.

[0061] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, or network device, etc.) to execute the methods described above according to the embodiments of this disclosure.

[0062] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0063] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0064] Those skilled in the art will understand that the above modules can be distributed in the device as described in the embodiments, or they can be modified accordingly and placed in one or more devices that are unique to this embodiment. The modules in the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0065] Exemplary embodiments of this disclosure have been specifically shown and described above. It should be understood that this disclosure is not limited to the detailed structures, arrangements, or implementations described herein; rather, this disclosure is intended to cover various modifications and equivalent arrangements contained within the spirit and scope of the appended claims.

Claims

1. A method for conveying SMT materials, characterized in that, include: In response to the received feeding command, the motor of the feeding device is controlled to start and accelerate to the first speed, so that the hopper of the feeding device is displaced along the feeding direction. The SMT material on the hopper moves with the hopper and gradually comes into close contact with the edge of the hopper away from the feeding direction. After the SMT material is close to the edge of the hopper away from the feeding direction, the motor is controlled to rotate periodically with variable speed, so that the SMT material is moved relative to the hopper in the feeding direction at the end of each variable speed rotation, until it reaches the edge of the hopper close to the feeding direction. The control of the motor to periodically rotate with variable speed includes: Determine the number of rotations, duration, and rate of acceleration change of the variable deceleration; Based on the number of times the variable speed rotation is performed, the duration of the rotation, and the rate of acceleration change, the motor is controlled to rotate with variable speed until the relative displacement distance between the SMT material and the hopper reaches the target sliding distance. The determination of the number of variable deceleration rotations, duration, and rate of acceleration change includes: The rate of change of acceleration is determined based on the first rotational speed and the target gliding distance; The number of times and duration of the variable deceleration rotation are determined based on the first rotational speed, the target gliding distance, and the rate of change of acceleration.

2. The SMT material conveying method according to claim 1, characterized in that, The motor of the controlled feeding device is started and accelerated to a first rotational speed, including: Control the motor to rotate at variable acceleration to the target acceleration; When the target acceleration is reached, the motor is controlled to rotate at a uniform speed to the second rotational speed; When the second speed is reached, the motor is controlled to accelerate back to the first speed.

3. The SMT material conveying method according to claim 1, characterized in that, Before controlling the periodic variable-speed rotation of the motor, the method further includes: After reaching the first rotational speed, the motor is controlled to rotate at a constant speed within a preset time period, so that the SMT material remains close to the edge of the hopper away from the feeding direction.

4. The SMT material conveying method according to claim 1, characterized in that, The step of controlling the variable-speed rotation of the motor based on the number of rotations, duration, and rate of acceleration change includes: Each time the motor completes the variable speed rotation, the SMT material sliding distance is obtained; the SMT material sliding distance is the displacement distance of the SMT material relative to the hopper when the motor has completed a certain number of variable speed rotations; Based on the deviation between the SMT material sliding distance and the target sliding distance, the number of times, duration, and / or acceleration change rate of the variable deceleration rotation are dynamically updated, and the motor is controlled to perform variable deceleration rotation based on the updated number of times, duration, and / or acceleration change rate until the relative displacement distance between the SMT material and the hopper reaches the target sliding distance.

5. The SMT material conveying method according to claim 1, characterized in that, Also includes: After the SMT material reaches the edge of the hopper near the feeding direction, the motor is controlled to decelerate evenly until it stops.

6. An SMT material conveying device, characterized in that, include: The first module is used to respond to the received feeding command, control the motor of the feeding device to start and accelerate to a first speed, so that the hopper of the feeding device is displaced along the feeding direction, and the SMT material on the hopper moves with the hopper and gradually comes into close contact with the edge of the hopper away from the feeding direction. The second module is used to control the motor to periodically rotate with variable speed after the SMT material is close to the edge of the hopper away from the feeding direction, so that the SMT material is displaced relative to the hopper in the feeding direction each time the variable speed rotation is completed, until it reaches the edge of the hopper close to the feeding direction. The control of the motor to periodically rotate with variable speed includes: Determine the number of rotations, duration, and rate of acceleration change of the variable deceleration; Based on the number of times the variable speed rotation is performed, the duration of the rotation, and the rate of acceleration change, the motor is controlled to rotate with variable speed until the relative displacement distance between the SMT material and the hopper reaches the target sliding distance. The determination of the number of variable deceleration rotations, duration, and rate of acceleration change includes: The rate of change of acceleration is determined based on the first rotational speed and the target gliding distance; The number of times and duration of the variable deceleration rotation are determined based on the first rotational speed, the target gliding distance, and the rate of change of acceleration.

7. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the SMT material conveying method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the SMT material conveying method according to any one of claims 1 to 5.

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