Cylindrical needle calibration method and device, equipment and storage medium

Abstract

The invention discloses a cylindrical needle calibration method, which is used for calibrating two cylindrical needles fixed on the same module, the two cylindrical needles are in contact with a copper-clad area on an FR4 bottom plate in the calibration process, and the method comprises the following steps: controlling the two cylindrical needles to rotate and move along the coordinate axis direction at the same time, recording the moving distance when the position is changed each time; and calculating the relative position according to the moving distance during each position change and the length and width of the copper-clad area to obtain the center distance between the two cylindrical needles and the relative position relationship between the two cylindrical needles and the machine table. The FR4 board comprising the copper-clad area is installed at the fixed position of the machine table, calibration of the cylindrical needles can be achieved, the tool is simple in structure and low in cost, in addition, the cylindrical needles are controlled to move in the copper-clad area for multiple times, the relative position relation between the two cylindrical needles and the relative position relation between the two cylindrical needles and the machine table are determined, and the calibration accuracy is improved. No visual participation exists in the whole process, and full-automatic cylindrical needle calibration is achieved.

Description

Technical Field

[0001] This invention relates to the field of device calibration technology, and in particular to a cylindrical needle calibration method, device, equipment, and storage medium. Background Technology

[0002] In recent years, the surface mount technology (SMT) industry has developed rapidly in China. With the continuous increase in labor costs and the market's increasing demand for quality, factories are gradually replacing manual labor with automated equipment in the production process.

[0003] Currently, the calibration of cylindrical pins in surface mount technology is usually achieved through visual calibration or manual adjustment, which presents problems such as high adjustment difficulty, complex structure, and high cost. Summary of the Invention

[0004] Therefore, it is necessary to propose a cylindrical needle calibration method, apparatus, equipment, and storage medium to address the above problems and achieve low-cost automated cylindrical needle calibration.

[0005] To achieve the above objectives, the first aspect of this application provides a cylindrical pin calibration method. This method is used to calibrate two cylindrical pins in the same module. During the calibration process, both cylindrical pins maintain contact with a copper-plated area on an FR4 base plate. The FR4 base plate is placed on a machine tool, the copper-plated area is rectangular, and the straight line containing the edge of the copper-plated area is parallel to the coordinate axis of a preset coordinate system. The method includes: Obtain the length and width of the copper-clad area; The two cylindrical needles are controlled to rotate and move simultaneously along the coordinate axis, and the distance moved each time the position changes is recorded; The relative position is calculated based on the distance moved during each position change and the length and width of the copper-clad area, to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine platform.

[0006] Furthermore, the control of the two cylindrical needles to simultaneously rotate and move along the coordinate axis, and the recording of the distance moved during each position change, specifically includes: Based on the line connecting the two cylindrical needles, the two cylindrical needles are controlled to rotate counterclockwise by 45 degrees to obtain the second position of the two cylindrical needles after rotation. Starting from the second point, the two cylindrical pins are controlled to move simultaneously along the coordinate axis multiple times to obtain the moving distance of the two cylindrical pins after each movement. During each movement, when either of the two cylindrical pins just leaves the copper-clad area, the current movement is stopped.

[0007] Furthermore, starting from the second point, controlling the two cylindrical needles to move simultaneously along the coordinate axis multiple times, and obtaining the distance moved by the two cylindrical needles after each movement, specifically includes: Starting from the second point, control the two cylindrical needles to move simultaneously along the positive and negative directions of the y-axis, respectively, to obtain the first moving distance after the last movement is completed, and determine the fourth point of the two cylindrical needles after the last movement; Starting from the fourth point, control the two cylindrical needles to move simultaneously along the positive and negative x-axis directions respectively, and obtain the second movement distance after the last movement is completed.

[0008] Furthermore, the relative position calculation based on the distance moved during each position change and the length and width of the copper-clad area to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool specifically includes: Obtain the radii of the two cylindrical needles; The relative positions of the two cylindrical pins are calculated based on the first moving distance, the second moving distance, the length and width of the copper-clad area, and the radii of the two cylindrical pins to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine platform.

[0009] Furthermore, the center distance between the two cylindrical needles and the relative positional relationship between the two cylindrical needles and the machine platform are calculated using the following formula:

[0010]

[0011] In the formula, L The center distance between the two cylindrical needles is... a and b These represent the width and length of the copper-clad area, respectively. c and d These are the first difference and the second difference, respectively. r Let be the radius of the cylindrical needle, and the two cylindrical needles have the same radius. The relative positional relationship between the two cylindrical needles and the machine tool.

[0012] Furthermore, the method also includes: After controlling the line connecting the two cylindrical needles to be parallel to the x-axis, control the two cylindrical needles to move in the opposite direction along the y-axis until the two cylindrical needles just leave the copper-clad area, thus obtaining the seventh position when the two cylindrical needles just leave the copper-clad area. Based on the seventh position of the two cylindrical needles, the two cylindrical needles are rotated 180 degrees around a preset rotation axis to obtain the eighth position of the rotated two cylindrical needles. Based on the eighth point of the two cylindrical needles, control the two cylindrical needles to move in the opposite direction of the y-axis until the two cylindrical needles just leave the copper-clad area, and obtain the third moving distance after the movement is completed. After controlling the line connecting the two cylindrical pins to be parallel to the y-axis, control the two cylindrical pins to move in the opposite direction of the y-axis until either of the two cylindrical pins just leaves the copper-clad area, thus obtaining the tenth position of the two cylindrical pins. Based on the tenth position of the two cylindrical needles, rotate the two cylindrical needles 180 degrees around the rotation axis to obtain the eleventh position of the rotated two cylindrical needles. Based on the eleventh position of the two cylindrical needles, control the two cylindrical needles to move along the positive y-axis until the two cylindrical needles just contact the copper-plated area, and obtain the fourth moving distance after the movement is completed. The offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles is determined based on the third and fourth moving distances.

[0013] Furthermore, the offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles specifically includes: g=e / 2 h=f / 2 In the formula, g This represents the y-axis offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles. h This represents the x-axis offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles. e The third moving distance, f This refers to the fourth moving distance.

[0014] To achieve the above objectives, a second aspect of this application provides a cylindrical pin calibration device. This device is used to calibrate two cylindrical pins in the same module. During the calibration process, both cylindrical pins maintain contact with a copper-plated area on an FR4 base plate. The FR4 base plate is placed on a machine tool, the copper-plated area is rectangular, and the straight line containing the edge of the copper-plated area is parallel to the coordinate axis of a preset coordinate system. The device includes: The data acquisition unit is used to obtain the length and width of the copper-clad area; A motion control unit is used to control the two cylindrical needles to rotate and move simultaneously along the coordinate axis, and to record the distance moved each time the position changes; The position calibration unit is used to calculate the relative position based on the distance moved during each position change and the length and width of the copper-clad area, to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool.

[0015] To achieve the above objectives, a third aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the steps of the method described in the first aspect.

[0016] To achieve the above objectives, a fourth aspect of this application provides a computer device including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described in the first aspect.

[0017] The embodiments of the present invention have the following beneficial effects: This invention proposes a cylindrical pin calibration method for calibrating two cylindrical pins fixed in the same module. During the calibration process, both cylindrical pins maintain contact with the copper-clad area on the FR4 base plate. The FR4 base plate is placed on the machine tool, and the copper-clad area is rectangular with its edges parallel to the coordinate axes of a preset coordinate system. The method includes: obtaining the length and width of the copper-clad area; controlling the two cylindrical pins to rotate and move simultaneously along the coordinate axes, and recording the distance moved during each position change; calculating the relative position based on the distance moved during each position change and the length and width of the copper-clad area to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool. First, this invention uses an FR4 board containing a copper-clad area, which is installed at a fixed position on the machine tool to achieve cylindrical pin calibration. The tooling structure is simple and the cost is low. Second, the cylindrical pins are controlled to move multiple times in the copper-clad area to determine the relative positional relationship between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool. The whole process does not involve vision, thus achieving fully automated cylindrical pin calibration. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] in: Figure 1 This is a schematic flowchart of the cylindrical needle calibration method in an embodiment of the present invention; Figure 2This is a schematic diagram showing the detailed marking of the cylindrical needle position in an embodiment of the present invention; Figure 3 This is a schematic diagram showing the details of the cylindrical needle rotation center calibration in an embodiment of the present invention; Figure 4 This is a structural block diagram of the cylindrical needle calibration device in an embodiment of the present invention; Figure 5 This is an internal structural diagram of a computer device in an embodiment of the present invention. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] To address the challenges of calibrating and adjusting cylindrical pins in current surface mount technology (SMT) applications, and the complexity of the adjustment methods, this invention proposes a cylindrical pin calibration method, which can be found in [reference needed]. Figure 1 , Figure 1 This is a schematic flowchart of the cylindrical pin calibration method in an embodiment of the present invention. In this embodiment, two cylindrical pins are used for SMT chip testing. Therefore, it is necessary to determine the relative positions between the two cylindrical pins and the relative positions between the two cylindrical pins and the testing machine through the cylindrical pin calibration method.

[0022] In this embodiment of the invention, the cylindrical pin calibration method is used to calibrate two cylindrical pins in the same module. During the calibration process, both cylindrical pins are in contact with the copper-plated area on the FR4 base plate. The FR4 base plate is placed on the machine platform, the copper-plated area is rectangular, and the straight line containing the edge of the copper-plated area is parallel to the coordinate axis of the preset coordinate system.

[0023] In one feasible embodiment, the cylindrical needle calibration process can be specifically referred to Figure 2 , Figure 2 This is a detailed schematic diagram of the cylindrical pin position calibration in an embodiment of the present invention. In this embodiment, an FR4 base plate is placed on a machine platform. There is a rectangular copper-clad area in the FR4 base plate. The line containing the width of the copper-clad area is parallel to the y-axis of a preset coordinate system, and the line containing the length of the copper-clad area is parallel to the x-axis of the preset coordinate system.

[0024] Conductivity can be achieved by applying copper to a fixed area on the FR4 base plate. If the cylindrical needle comes into contact with the copper, it will conduct. In conjunction with a preset detection circuit, the on / off signal is detected, thereby determining the position of the cylindrical needle.

[0025] In another embodiment, the line containing the length of the copper-clad area may be parallel to the y-axis of a preset coordinate system, and the line containing the width of the copper-clad area may be parallel to the x-axis of a preset coordinate system. Adaptive changes are made to suit specific application scenarios to achieve cylindrical pin calibration.

[0026] In this embodiment, the cylindrical needle calibration method specifically includes: Step 100: Obtain the length and width of the copper-clad area.

[0027] Specifically, the length of the copper-clad area fixed on the FR4 baseplate can be obtained directly. b and width a .

[0028] Step 200: Control the two cylindrical needles to rotate and move simultaneously along the coordinate axis, and record the distance moved each time the position changes.

[0029] In this embodiment, the calibration of the cylindrical needle includes at least the following two situations: first, when a new machine tool is installed or a new cylindrical needle is replaced, the initial position of the cylindrical needle needs to be calibrated; second, when the machine tool malfunctions, the cylindrical needle needs to be recalibrated.

[0030] After calibrating the cylindrical needles, the point of each movement and the distance of each movement are determined by controlling the two cylindrical needles to rotate and move linearly multiple times in the copper-clad area, and by detecting the on / off state of the detection circuit (conduction occurs when the cylindrical needles are in contact with the copper-clad area, and deactivation occurs when the cylindrical needles are not in contact with the copper-clad area).

[0031] By controlling the rotation and movement of a cylindrical needle within a copper-clad area and recording the distance of position change, real-time and precise tracking of the needle's movement is achieved. This eliminates errors from manual adjustments and provides high-precision, reliable data for subsequent relative position calculations, ensuring the accuracy of the calibration process. This method bypasses complex mechanical structures and visual inspection equipment, relying solely on the copper-clad area and detection circuitry to determine the movement position, thus simplifying the calibration equipment structure and significantly reducing system cost and complexity.

[0032] Step 300: Calculate the relative position based on the distance moved during each position change and the length and width of the copper-clad area to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine.

[0033] In this embodiment, by determining the relative length of the cylindrical needles by measuring the distance the needles move in the copper-clad area and the size of the copper-clad area, the relative positional relationship between the cylindrical needles and the relative positional relationship between the two cylindrical needles and the machine tool can be determined.

[0034] The cylindrical pin calibration method of this invention utilizes an FR4 board with a copper-clad area, mounted at a fixed position on a machine tool, to achieve cylindrical pin calibration. The tooling structure is simple and cost-effective. Furthermore, by controlling the cylindrical pins to move multiple times within the copper-clad area, the relative positional relationship between the two cylindrical pins and their relative positional relationship with the machine tool is determined. The entire process is automated, without visual intervention. By accurately calculating the center distance between the two cylindrical pins and their relative position with the machine tool, calibration accuracy is improved, hardware dependence is reduced, and costs are lowered. This method is highly versatile and adaptable to various calibration scenarios.

[0035] In one feasible embodiment, step 200, controlling the two cylindrical needles to rotate and move simultaneously along the coordinate axis, and recording the distance moved each time the position changes, specifically includes: Step 210: Based on the line connecting the two cylindrical needles, control the two cylindrical needles to rotate counterclockwise by 45 degrees to obtain the second position of the two cylindrical needles after rotation.

[0036] In this embodiment, as Figure 2 As shown, before calibration, the line connecting the two cylindrical needles forms an angle θ with the horizontal line of the machine tool, and this angle θ is unknown. To eliminate the influence of the unknown angle on the relative position calculation, the two cylindrical needles can be rotated counterclockwise by 45 degrees along their respective lines. By rotating by 45 degrees, the unknown θ can be eliminated in the subsequent relative position calculation, facilitating the calculation.

[0037] Specifically, the initial position of the two cylindrical needles before calibration is the first potential. After the two cylindrical needles are rotated 45 degrees counterclockwise along the line they are on, the two cylindrical needles are at the second point.

[0038] Step 220: Starting from the second point, control the two cylindrical pins to move simultaneously along the coordinate axis multiple times, and obtain the distance moved by the two cylindrical pins after each movement. During each movement, when either of the two cylindrical pins just leaves the copper-clad area, stop the current movement.

[0039] In this embodiment, after the cylindrical needles have rotated, they are positioned at the second point. Starting from this second point, the two cylindrical needles are controlled to move multiple times along the coordinate axis. Each movement occurs simultaneously, with the same direction and speed. The movement time is recorded for each movement to determine the distance traveled. When either of the two cylindrical needles leaves the copper-clad area (i.e., when the detection circuit detects a power outage), the current movement ends, and the next movement, rotation, or movement ends. The direction and speed of movement can be changed during the next movement. It is important to note that even when the direction and speed are changed, the direction and speed of movement of the two cylindrical needles remain consistent.

[0040] In one feasible embodiment, the relative positional relationship of the two cylindrical needles is calculated by determining the horizontal and vertical distances between them. Specifically, Step 220: Starting from the second point, the two cylindrical needles are controlled to move simultaneously along the coordinate axis multiple times to obtain the distance moved by the two cylindrical needles after each movement. This includes: Step 221: Starting from the second point, control the two cylindrical needles to move simultaneously along the positive and negative directions of the y-axis, respectively, to obtain the first movement distance after the last movement, and determine the fourth point of the two cylindrical needles after the last movement.

[0041] In this embodiment, two cylindrical needles are controlled to reciprocate along the positive and negative y-axis. During each linear movement, if either needle leaves the copper-clad area, the movement stops, and the needle changes direction for the next movement. The distance traveled after the last movement is recorded. It is understood that since the direction, speed, and time of movement are the same, the distance traveled by both needles is the same each time. After the last movement, the position of the two needles is marked as the fourth point.

[0042] In one embodiment, if the two cylindrical pins are at the second point, and the first cylindrical pin is below the second cylindrical pin (i.e., the ordinate of the first cylindrical pin is less than the ordinate of the second cylindrical pin), then the two cylindrical pins can be controlled to move linearly in the negative direction of the y-axis simultaneously until the first cylindrical pin just leaves the copper-clad area. At this point, the two cylindrical pins are at the third point. Then, the two cylindrical pins are controlled to move linearly in the positive direction of the y-axis from the third point until the second cylindrical pin just leaves the copper-clad area. At this point, the two cylindrical pins are at the fourth point. The distance the two cylindrical pins move from the third point to the fourth point is the first moving distance.

[0043] In another embodiment, if the two cylindrical needles are at the second point, and the first cylindrical needle is below the second cylindrical needle (i.e., the ordinate of the first cylindrical needle is less than the ordinate of the second cylindrical needle), then the two cylindrical needles can be controlled to move in a straight line simultaneously along the positive direction of the y-axis until the second cylindrical needle just leaves the copper-clad area. At this point, the two cylindrical needles are at the third point. Then, the two cylindrical needles are controlled to move in a straight line from the third point in the negative direction of the y-axis until the first cylindrical needle just leaves the copper-clad area. At this point, the two cylindrical needles are at the fourth point. The distance the two cylindrical needles move from the third point to the fourth point is the first moving distance.

[0044] Step 222: Starting from the fourth point, control the two cylindrical needles to move simultaneously along the positive and negative x-axis respectively, and obtain the second movement distance after the last movement is completed.

[0045] In this embodiment, starting from the fourth position of the two cylindrical needles, the two needles are controlled to reciprocate along the positive and negative x-axis. During each linear movement, if either needle leaves the copper-clad area, the movement stops, and the direction changes for the next movement. The distance traveled after the last movement is recorded, which is the second travel distance. It can be understood that since the direction, speed, and time of movement are the same, the travel distance of the two needles is the same each time. After the last movement, the position of the two needles is marked as the sixth position.

[0046] In one embodiment, if the two cylindrical needles are at the fourth point, and the first cylindrical needle is below the second cylindrical needle (i.e., the ordinate of the first cylindrical needle is less than the ordinate of the second cylindrical needle), then the two cylindrical needles can be controlled to move linearly in the negative x-axis direction simultaneously until the first cylindrical needle just leaves the copper-clad area. At this point, the two cylindrical needles are at the fifth point. Then, the two cylindrical needles are controlled to move linearly in the positive x-axis direction starting from the fifth point until the second cylindrical needle just leaves the copper-clad area. At this point, the two cylindrical needles are at the sixth point. The distance the two cylindrical needles move from the fifth point to the sixth point is the second moving distance.

[0047] In another embodiment, if the two cylindrical needles are at the fourth point, and the first cylindrical needle is below the second cylindrical needle (i.e., the ordinate of the first cylindrical needle is less than the ordinate of the second cylindrical needle), then the two cylindrical needles can be controlled to move in a straight line simultaneously along the positive x-axis until the second cylindrical needle just leaves the copper-clad area. At this point, the two cylindrical needles are at the fifth point. Then, the two cylindrical needles are controlled to move in a straight line from the fifth point in the negative x-axis direction until the first cylindrical needle just leaves the copper-clad area. At this point, the two cylindrical needles are at the sixth point. The distance the two cylindrical needles move from the fifth point to the sixth point is the second moving distance.

[0048] This embodiment relies solely on the copper-clad area and the detection circuit, eliminating the need for complex mechanical structures or vision equipment. This achieves automated calibration, significantly reducing equipment costs and operational complexity while improving calibration efficiency. By reciprocating along the y-axis and x-axis, combined with the on / off signals of the detection circuit, the boundary position and time of the cylindrical needle leaving the copper-clad area are accurately recorded. This effectively eliminates human error, ensures the accuracy of position information, and provides reliable data for subsequent relative position calculations.

[0049] In one embodiment of the present invention, after the two cylindrical pins reciprocate along the coordinate axis and a first moving distance and a second moving distance are obtained, the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool can be determined based on the first moving distance and the second moving distance. Specifically, step 300 involves calculating the relative position based on the distance moved during each position change and the length and width of the copper-clad area to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool. This specifically includes: Step 310: Obtain the radius of the two cylindrical needles.

[0050] In this embodiment, the two cylindrical needles have the same radius.

[0051] Step 320: Calculate the relative positions of the two cylindrical pins based on the first moving distance, the second moving distance, the length and width of the copper-clad area, and the radii of the two cylindrical pins, to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine platform.

[0052] In this embodiment, the first moving distance of the cylindrical needle from the third point to the fourth point plus the vertical distance between the two cylindrical needles is equal to the width of the copper-clad area. Therefore, the vertical distance between the two cylindrical needles can be determined by the known width of the copper-clad area and the first moving distance.

[0053] The second moving distance of the cylindrical pin from the fifth point to the sixth point, plus the horizontal distance between the two cylindrical pins, equals the width of the copper-clad area. Therefore, the horizontal distance between the two cylindrical pins can be determined by the known length of the copper-clad area and the second moving distance.

[0054] The center distance between the two cylindrical needles can be determined based on the horizontal and vertical distances between them, as well as the angle between the line containing the two cylindrical needles and the coordinate axis.

[0055] Since the angle between the line containing the two cylindrical needles and the coordinate axis is located, it is easier to calculate the angle θ between the line containing the two cylindrical needles and the horizontal plane of the machine in Step 210 by rotating the line containing the two cylindrical needles by 45 degrees.

[0056] Specifically, based on the data above, we can obtain: (a-c+2r) / L=sin (θ+π / 4) (1) (b-d+2r) / L=cos(θ+π / 4)(2) From formula (1) / (2), we can obtain: tan(θ+π / 4)=(a-c+2r) / (b-d+2r)(3) Therefore, the angle θ between the line containing the two cylindrical needles and the horizontal plane of the machine platform can be calculated using the following formula: θ=arctan[(a-c+2r) / (b-d+2r)]-π / 4(4) Because the two right triangles formed during the movement are congruent ( Figure 2 The center distance between the two cylindrical needles (two triangles in the shaded area) can be calculated using the following formula: (5) Further simplification of formula (5) yields: （6） In the formula, L The center distance between the two cylindrical needles. a and b These represent the width and length of the copper-clad area, respectively. c and d These are the first difference and the second difference, respectively. r Let be the radius of the cylindrical needle; the two cylindrical needles have the same radius. This refers to the relative positional relationship between the two cylindrical needles and the machine tool.

[0057] In another embodiment, the relative position between the two cylindrical needles and the machine tool can be calculated based on the formula for calculating the center distance between the two cylindrical needles, the horizontal distance between the two cylindrical needles, and the vertical distance between the two cylindrical needles, according to the center distance, the horizontal distance between the two cylindrical needles, and the vertical distance between the two cylindrical needles. That is, the angle between the straight line where the two cylindrical needles are located and the horizontal plane (x-axis) of the machine tool.

[0058] The embodiments of the present invention achieve efficient, low-cost, and high-precision cylindrical needle calibration through automated and precise mathematical calculations.

[0059] In one embodiment of the present invention, some chips are placed at an angle on the PCB board of the testing machine. Therefore, to accommodate different chip placement states, the two cylindrical pins need to rotate along the R-axis (i.e., the rotation axis) of the same module to adapt to chip testing at different positions. Each module's R-axis has a theoretical rotation center. The two cylindrical pins can rotate to a specified position based on the corresponding module's R-axis. However, the actual rotation center will deviate from the theoretical rotation center, resulting in inaccurate positioning of the cylindrical pins and affecting subsequent chip testing. Therefore, to accurately control the cylindrical pins, it is also necessary to determine the offset between the actual and theoretical positions of the rotation axis (rotation center) of the module containing the two cylindrical pins, and then perform position compensation based on the offset.

[0060] Specifically, the methods for determining the offset between the actual rotation center and the theoretical rotation center include: Step A: After controlling the line connecting the two cylindrical needles to be parallel to the x-axis, control the two cylindrical needles to move in the opposite direction along the y-axis until the two cylindrical needles just leave the copper-clad area, thus obtaining the seventh position when the two cylindrical needles just leave the copper-clad area.

[0061] For reference Figure 3 , Figure 3 This is a detailed schematic diagram illustrating the calibration of the rotation center of the cylindrical pins in an embodiment of the present invention. First, the line connecting the two cylindrical pins is controlled to be parallel to the x-axis. After parallelization, the two cylindrical pins are controlled to move simultaneously in the opposite direction along the y-axis until they just leave the copper-clad area, at which point the movement stops, and the position of the two cylindrical pins at this point is marked as the seventh point.

[0062] In one embodiment, the angle between the line containing the two cylindrical needles and the horizontal plane of the machine is first determined. Based on the angle between the line containing the two cylindrical needles and the horizontal plane of the machine, the line containing the two cylindrical needles is rotated to a direction parallel or perpendicular to the x-axis.

[0063] Step B: Based on the seventh position of the two cylindrical needles, rotate the two cylindrical needles 180 degrees around the preset rotation axis to obtain the eighth position of the rotated two cylindrical needles.

[0064] In this embodiment, the two cylindrical needles are controlled to rotate 180 degrees clockwise around the rotation axis starting from the seventh position, at which point the two cylindrical needles reach the eighth position. The rotation axis refers to the rotation axis of the same module containing the two cylindrical needles.

[0065] Step C: Based on the eighth point of the two cylindrical pins, control the two cylindrical pins to move in the opposite direction of the y-axis until the two cylindrical pins just leave the copper-clad area, and obtain the third movement distance after the movement is completed.

[0066] In this embodiment, the two cylindrical needles are controlled to move in the opposite direction of the y-axis starting from the eighth position until the two cylindrical needles just leave the copper-clad area. The third moving distance after the movement is completed is obtained. At this time, the two cylinders are at the ninth position. By making the two cylindrical needles just leave the copper-clad area, the vertical distance completed by the two cylindrical needles rotating 180 degrees is obtained, which is convenient for the subsequent determination of the y-axis offset between the actual rotation center and the theoretical rotation center.

[0067] Step D: After controlling the line connecting the two cylindrical pins to be parallel to the y-axis, control the two cylindrical pins to move in the opposite direction of the y-axis until either of the two cylindrical pins just leaves the copper-clad area, thus obtaining the tenth position of the two cylindrical pins.

[0068] In this embodiment, the line connecting the two cylindrical needles is first controlled to be parallel to the y-axis. After parallelism, the two cylindrical needles are controlled to move in the opposite direction along the y-axis until either of the two cylindrical needles just leaves the copper-clad area, thus obtaining the tenth position of the two cylindrical needles.

[0069] In one embodiment, if the second cylindrical pin is below the first cylindrical pin, that is, the y-axis coordinate value of the second cylindrical pin is less than the y-axis coordinate value of the first cylindrical pin, then when the second cylindrical pin just leaves the copper-clad area, the movement stops. After the movement stops, the two cylindrical pins are at the tenth position.

[0070] Step E: Based on the tenth position of the two cylindrical needles, rotate the two cylindrical needles 180 degrees around the rotation axis to obtain the eleventh position of the two cylindrical needles after rotation.

[0071] In this embodiment, the two cylindrical needles are controlled to rotate 180 degrees clockwise around the rotation axis starting from the tenth position. At this time, the two cylindrical needles reach the eleventh position.

[0072] In one embodiment, if the second cylindrical pin is below the first cylindrical pin, that is, the second cylindrical pin is just leaving the copper-clad area, then after rotating the two cylindrical pins 180 degrees clockwise around the rotation axis starting from the tenth position, the first cylindrical pin will be below the second cylindrical pin. At this time, the first cylindrical pin is removed from the copper-clad area.

[0073] Step F: Based on the eleventh position of the two cylindrical pins, control the two cylindrical pins to move along the positive y-axis until the two cylindrical pins just touch the copper-plated area, and obtain the fourth movement distance after the movement is completed.

[0074] In this embodiment, the two cylindrical needles are controlled to move along the positive y-axis starting from the eleventh position until both needles contact the copper-clad area, thus obtaining the fourth movement distance after the movement is completed. At this point, the two cylinders are at the twelfth position. By ensuring that the two cylindrical needles just contact the copper-clad area, the horizontal distance completed by rotating the two cylindrical needles 180 degrees is obtained, which facilitates the subsequent determination of the x-axis offset between the actual rotation center and the theoretical rotation center.

[0075] In one embodiment, at the eleventh point, the first cylindrical needle is below the second cylindrical needle. At this time, the two cylindrical needles are controlled to move along the positive y-axis until the first cylindrical needle just touches the copper-clad area, then the movement stops and a fourth moving distance is determined.

[0076] Step G: Determine the offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles based on the third and fourth movement distances.

[0077] In this embodiment, e It is twice the offset value g, the offset value g It is the actual center of rotation and the theoretical center of rotation. y For axis difference, we need to calculate the rotation according to the theoretical center, because only the theoretical center can be used to calculate the circle. f It is the offset value. h 2 times, h This is the y-axis difference between the actual rotation center and the theoretical rotation center. The rotation of the cylindrical needles needs to be calculated based on the theoretical center because only calculations based on the theoretical center produce a circle. Therefore, the offset between the actual and theoretical rotation centers of the modules containing the two cylindrical needles specifically includes: g=e / 2 h=f / 2 In the formula, g This represents the y-axis offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles. h This represents the x-axis offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles. e This is the third distance traveled. f This is the fourth distance traveled.

[0078] Since the R-axis of the module is currently a hollow rotating platform, due to assembly and other factors, it is impossible to guarantee that the rotation center of the two cylindrical needles coincides with the center of the R-axis. That is, there is a difference between the actual rotation center and the theoretical rotation center. Therefore, in this embodiment, by calculating this difference (offset), compensation can be made based on this difference in actual application, so that the position of the cylindrical needles is more accurate.

[0079] In one embodiment of the present invention, a cylindrical needle calibration device is proposed, which can be referred to. Figure 4 , Figure 4 This is a structural block diagram of the cylindrical pin calibration device according to an embodiment of the present invention. The device is used to calibrate two cylindrical pins in the same module. During the calibration process, both cylindrical pins maintain contact with the copper-plated area on the FR4 base plate. The FR4 base plate is placed on the machine platform, the copper-plated area is rectangular, and the straight line containing the edge of the copper-plated area is parallel to the coordinate axis of the preset coordinate system. The device includes: Data acquisition unit 401 is used to acquire the length and width of the copper-clad area; The motion control unit 402 is used to control the two cylindrical needles to rotate and move simultaneously along the coordinate axis, and to record the distance moved each time the position changes; The position calibration unit 403 is used to calculate the relative position based on the distance moved during each position change and the length and width of the copper-clad area, so as to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool.

[0080] The cylindrical pin calibration device proposed in this invention can achieve cylindrical pin calibration by installing an FR4 board with a copper-clad area at a fixed position on the machine tool. The tooling structure is simple and the cost is low. Furthermore, by controlling the cylindrical pins to move multiple times within the copper-clad area, the relative positional relationship between the two cylindrical pins and their relative positional relationship with the machine tool is determined. The entire process is automated without visual intervention. By accurately calculating the center distance between the two cylindrical pins and their relative position with the machine tool, calibration accuracy is improved, hardware dependence is reduced, and costs are lowered. This method is highly versatile and can be adapted to various calibration scenarios.

[0081] Figure 5 An internal structural diagram of a computer device according to one embodiment of the present invention is shown. This computer device can specifically be a terminal or a system. Figure 5 As shown, the computer device includes a processor, memory, and network interface connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program causes the processor to perform the steps in the above-described method embodiments. The internal memory may also store a computer program, which, when executed by the processor, causes the processor to perform the steps in the above-described method embodiments. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0082] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps in the above method embodiments.

[0083] In one embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, causes the processor to perform the steps in the above method embodiments.

[0084] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0085] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for calibrating a cylindrical needle, characterized in that, The method is used to calibrate two cylindrical pins in the same module. During the calibration process, both cylindrical pins maintain contact with the copper-plated area on the FR4 base plate. The FR4 base plate is placed on a machine tool, the copper-plated area is rectangular, and the straight line containing the edge of the copper-plated area is parallel to the coordinate axis of a preset coordinate system. The method includes: Obtain the length and width of the copper-clad area; The two cylindrical needles are controlled to rotate and move simultaneously along the coordinate axis, and the distance moved each time the position changes is recorded; The relative position is calculated based on the distance moved during each position change and the length and width of the copper-clad area, to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine platform.

2. The method as described in claim 1, characterized in that, The control of the two cylindrical needles to rotate and move simultaneously along the coordinate axis, and the recording of the distance moved during each position change, specifically includes: Based on the line connecting the two cylindrical needles, the two cylindrical needles are controlled to rotate counterclockwise by 45 degrees to obtain the second position of the two cylindrical needles after rotation. Starting from the second point, the two cylindrical pins are controlled to move simultaneously along the coordinate axis multiple times to obtain the moving distance of the two cylindrical pins after each movement. During each movement, when either of the two cylindrical pins just leaves the copper-clad area, the current movement is stopped.

3. The method as described in claim 2, characterized in that, Starting from the second point, the two cylindrical needles are controlled to move simultaneously along the coordinate axis multiple times to obtain the distance moved by the two cylindrical needles after each movement. Specifically, this includes: Starting from the second point, control the two cylindrical needles to move simultaneously along the positive and negative directions of the y-axis, respectively, to obtain the first moving distance after the last movement is completed, and determine the fourth point of the two cylindrical needles after the last movement; Starting from the fourth point, control the two cylindrical needles to move simultaneously along the positive and negative x-axis directions respectively, and obtain the second movement distance after the last movement is completed.

4. The method as described in claim 3, characterized in that, The process of calculating the relative position based on the distance moved during each position change and the length and width of the copper-clad area to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool specifically includes: Obtain the radii of the two cylindrical needles; The relative positions of the two cylindrical pins are calculated based on the first moving distance, the second moving distance, the length and width of the copper-clad area, and the radii of the two cylindrical pins to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine platform.

5. The method as described in claim 4, characterized in that, The center distance between the two cylindrical needles and the relative positional relationship between the two cylindrical needles and the machine platform are calculated using the following formula: In the formula, L The center distance between the two cylindrical needles is... a and b These represent the width and length of the copper-clad area, respectively. c and d These are the first difference and the second difference, respectively. r Let be the radius of the cylindrical needle, and the two cylindrical needles have the same radius. The relative positional relationship between the two cylindrical needles and the machine tool.

6. The method as described in claim 1, characterized in that, The method further includes: After controlling the line connecting the two cylindrical needles to be parallel to the x-axis, control the two cylindrical needles to move in the opposite direction along the y-axis until the two cylindrical needles just leave the copper-clad area, thus obtaining the seventh position when the two cylindrical needles just leave the copper-clad area. Based on the seventh position of the two cylindrical needles, the two cylindrical needles are rotated 180 degrees around a preset rotation axis to obtain the eighth position of the rotated two cylindrical needles. Based on the eighth point of the two cylindrical needles, control the two cylindrical needles to move in the opposite direction of the y-axis until the two cylindrical needles just leave the copper-clad area, and obtain the third moving distance after the movement is completed. After controlling the line connecting the two cylindrical pins to be parallel to the y-axis, control the two cylindrical pins to move in the opposite direction of the y-axis until either of the two cylindrical pins just leaves the copper-clad area, thus obtaining the tenth position of the two cylindrical pins. Based on the tenth position of the two cylindrical needles, rotate the two cylindrical needles 180 degrees around the rotation axis to obtain the eleventh position of the rotated two cylindrical needles. Based on the eleventh position of the two cylindrical needles, control the two cylindrical needles to move along the positive y-axis until the two cylindrical needles just contact the copper-plated area, and obtain the fourth moving distance after the movement is completed. The offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles is determined based on the third and fourth moving distances.

7. The method as described in claim 6, characterized in that, The offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles specifically includes: g=e / 2 h=f / 2 In the formula, g This represents the y-axis offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles. h This represents the x-axis offset between the actual rotation center and the theoretical rotation center of the module containing the two cylindrical needles. e The third moving distance, f This refers to the fourth moving distance.

8. A cylindrical needle calibration device, characterized in that, The device is used to calibrate two cylindrical pins in the same module. During the calibration process, both cylindrical pins maintain contact with the copper-plated area on the FR4 base plate. The FR4 base plate is placed on a machine platform, the copper-plated area is rectangular, and the straight line containing the edge of the copper-plated area is parallel to the coordinate axis of a preset coordinate system. The device includes: The data acquisition unit is used to obtain the length and width of the copper-clad area; A motion control unit is used to control the two cylindrical needles to rotate and move simultaneously along the coordinate axis, and to record the distance moved each time the position changes; The position calibration unit is used to calculate the relative position based on the distance moved during each position change and the length and width of the copper-clad area, to obtain the center distance between the two cylindrical pins and the relative positional relationship between the two cylindrical pins and the machine tool.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

10. A computer device, comprising a memory and a processor, characterized in that, The memory stores a computer program that, when executed by the processor, causes the processor to perform the steps of the method as described in any one of claims 1 to 7.

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