Precision compensation methods for processing equipment and PCB processing equipment

Abstract

This application provides a precision compensation method for a processing equipment and a PCB processing equipment. The method includes: in a first position, acquiring a first actual distance between a vision camera and a processing spindle in the processing equipment; comparing the first actual distance with a preset distance to obtain a first compensation value, where the preset distance is a theoretical design value between the vision camera and the processing spindle; performing initial compensation processing on the distance between the vision camera and the processing spindle based on the first compensation value; in a second position, acquiring a second actual distance between the vision camera and the processing spindle, wherein the second position and the first position are arranged along the extension direction of the guide rail of the processing equipment; comparing the second actual distance with the preset distance to obtain a second compensation value; and, with the vision camera in the second position, performing compensation processing on the distance between the vision camera and the processing spindle based on the second compensation value. Based on the above method, the positioning accuracy and processing accuracy of the processing equipment can be improved.

Description

Technical Field

[0001] This application relates to the field of circuit board processing technology, and in particular to a precision compensation method for processing equipment and PCB processing equipment. Background Technology

[0002] With the increasing number of artificial intelligence servers and related products, the precision requirements for circuit board processing are becoming higher and higher. In the processing equipment, the relationship between positioning components (such as cameras) and processing components has a crucial impact on the precision of circuit board processing.

[0003] For related technologies, please refer to Figure 1 , Figure 1 This is a schematic diagram of a processing equipment used in the prior art for circuit board manufacturing. (Example:) Figure 1 As shown, the camera and machining spindle in the machining equipment, along with other components, form a spindle system. This spindle system can move along the beam direction. Because the guide rails in mechanical assembly cannot be perfectly horizontal but are approximately curved, the distance between the machining spindle and its corresponding camera is not equal at different positions (e.g., ...). Figure 1 The A, B, and C components severely impacted the positioning and processing accuracy during the circuit board manufacturing process. Summary of the Invention

[0004] In view of this, embodiments of this application provide a precision compensation method for processing equipment and a PCB processing equipment, aiming to improve the positioning accuracy and processing accuracy of the processing equipment.

[0005] The first aspect of this application provides a method for accuracy compensation of a processing device, including: At the first position, the first actual distance between the vision camera and the machining spindle in the machining equipment is obtained; By comparing the first actual distance with the preset distance, a first compensation value is obtained, wherein the preset distance is the theoretical design value between the vision camera and the processing spindle; The distance between the vision camera and the machining spindle is initially compensated based on the first compensation value. At the second position, a second actual distance between the vision camera and the machining spindle is obtained, and the second position and the first position are arranged along the extension direction of the guide rail of the machining equipment; The second actual distance is compared with the preset distance to obtain the second compensation value; When the vision camera is in the second position, the distance between the vision camera and the machining spindle is compensated based on the second compensation value.

[0006] In one possible implementation, prior to the step of acquiring the first actual distance between the vision camera and the machining spindle in the machining equipment, the method further includes: Acquire calibration hole images, which include a first image obtained by the vision camera taking a picture of the calibration hole at the original position and a second image obtained by the vision camera taking a picture of the calibration hole after moving a preset displacement distance in any direction; A mapping relationship between displacement distance and number of pixels is established based on the first image and the second image, and the first compensation value and the second compensation value are determined based on the mapping relationship.

[0007] In one possible implementation, the distance between the vision camera and the machining spindle is initially compensated based on the first compensation value, specifically including: Acquire an image of the correction hole, determine the actual coordinates of the correction hole, and the correction hole is located at the first position; The deviation between the actual coordinates of the correction hole and its corresponding theoretical coordinates is calculated to obtain the first coordinate deviation value. The first compensation value is calculated based on the first coordinate deviation value and the mapping relationship, and an initial compensation process is performed on the distance between the vision camera and the machining spindle based on the first compensation value. In one possible implementation, after performing the initial compensation process on the distance between the vision camera and the machining spindle based on the first compensation value, the process further includes: Acquire images of the verification holes and determine their actual coordinates; The deviation between the actual coordinates of the verification hole and its corresponding theoretical coordinates is calculated to obtain the second coordinate deviation value. The third compensation value is calculated based on the second coordinate deviation value and the mapping relationship; The third compensation value is compared with a preset threshold. If the third compensation value is less than the preset threshold, it is determined that the initial compensation process has been completed.

[0008] In one possible implementation, when the vision camera is located in the second position, compensation processing is performed on the distance between the vision camera and the machining spindle based on the second compensation value, including: Drilling is performed on the copper-clad laminate to obtain a first set of inspection holes, which includes multiple inspection holes arranged along the X-axis direction of the processing equipment and multiple inspection holes arranged along the Y-axis direction of the processing equipment. Perform target positioning processing on the first group of detection holes to obtain the first target positioning error data corresponding to the first group of detection holes; The distance between the vision camera and the machining spindle is compensated based on the first target-grabbing error data. In one possible implementation, it further includes: The first group of detection holes is subjected to target positioning processing, and drilling processing is performed on the copper-clad board based on the position of the first group of detection holes to obtain the third target error data corresponding to the first group of detection holes and the second group of detection holes. The distance between the vision camera and the machining spindle is compensated based on the third target-grabbing error data.

[0009] One possible implementation also includes: After compensating the distance between the vision camera and the machining spindle based on the first target-grabbing error data, the first set of detection holes is subjected to target-grabbing positioning processing again to obtain the second target-grabbing error data corresponding to the first set of detection holes. After compensating the distance between the vision camera and the machining spindle based on the third target-grabbing error data, the second set of detection holes is subjected to target-grabbing positioning processing again to obtain the fourth target-grabbing error data corresponding to the second set of detection holes. The first target-grabbing error data is compared with the second target-grabbing error data, and / or the third target-grabbing error data is compared with the fourth target-grabbing error data, and / or the second target-grabbing error data is compared with the fourth target-grabbing error data, so as to output the compensation result.

[0010] In one possible implementation, the processing equipment includes a crossbeam and guide rails, and prior to the step of obtaining the first actual distance between the vision camera and the processing spindle in the processing equipment at the first position, the method further includes: The guide rail is installed on the crossbeam; The straightness of the guide rail is corrected using a collimator or a ceramic straightedge.

[0011] A second aspect of this application provides a PCB processing equipment employing the aforementioned precision compensation method. The equipment includes: a crossbeam, an X-axis guide rail, a Y-axis guide rail, a camera, a processing spindle, a base, and a platform. The X-axis guide rail is laid on the crossbeam. The camera and the processing spindle are both movably connected to the X-axis guide rail. The Y-axis guide rail is laid on the base. The platform is movably connected to the Y-axis guide rail and is used to support the PCB. The PCB processing equipment can be a drilling machine, a forming machine, or a drilling and routing machine, etc., and is not limited thereto in this application.

[0012] In one possible implementation, the PCB processing equipment further includes: The detection module is used to obtain the actual distance between the vision camera and the machining spindle in the processing equipment; The processing module is used to compare the actual distance with the preset distance to obtain a compensation value, and to execute the accuracy compensation method as described in any of the first aspects based on the compensation value.

[0013] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the electronic device, wherein the processor executes the computer program to implement the steps of the precision compensation method for the processing equipment provided in the first aspect.

[0014] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the precision compensation method for the processing equipment provided in the first aspect.

[0015] The fifth aspect of this application provides a computer program product that, when run on an electronic device, causes the electronic device to execute the steps of the precision compensation method for the processing equipment provided in the first aspect.

[0016] The precision compensation method and PCB processing equipment provided in this application have the following beneficial effects: By obtaining a first actual distance between the vision camera and the machining spindle in a first position, and comparing this first actual distance with a preset distance to obtain a first compensation value (the theoretical design value between the vision camera and the machining spindle), the distance between the vision camera and the machining spindle is initially compensated based on the first compensation value. Then, by obtaining a second actual distance between the vision camera and the machining spindle in a second position, where the second and first positions are aligned along the guide rail extension direction of the machining equipment, the second actual distance is compared with the preset distance to obtain a second compensation value. With the vision camera in the second position, the distance between the vision camera and the machining spindle is compensated based on the second compensation value. This compensation method can eliminate assembly errors and errors caused by the guide rail's inability to be level, effectively improving the positioning and machining accuracy of the machining equipment. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of a processing equipment used for circuit board processing in the prior art.

[0019] Figure 2 This is a flowchart illustrating the implementation of a precision compensation method for a processing device provided in an embodiment of this application.

[0020] Figure 3 This is a flowchart illustrating one implementation of the precision compensation method for processing equipment provided in this application, which determines the compensation value.

[0021] Figure 4 This is a flowchart illustrating an implementation of the initial compensation process in the precision compensation method for the processing equipment provided in this application embodiment.

[0022] Figure 5 This is a flowchart illustrating an implementation of the precision compensation method for the processing equipment provided in this application, specifically for verifying whether the initial compensation process is complete.

[0023] Figure 6 This is a flowchart illustrating one implementation of the accuracy compensation method for the processing equipment provided in this application embodiment, during the compensation process.

[0024] Figure 7 This is another implementation flowchart of the accuracy compensation method for the processing equipment provided in the embodiments of this application.

[0025] Figure 8 This is a flowchart illustrating one implementation of the accuracy compensation method for processing equipment provided in this application, specifically for confirming the compensation result.

[0026] Figure 9 This is a flowchart illustrating one implementation of the precision compensation method for processing equipment provided in this application, specifically for correcting the guide rail of the processing equipment.

[0027] Figure 10 This is a basic structural block diagram of a PCB processing equipment provided in an embodiment of this application.

[0028] Figure 11 This is a basic structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0029] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of this application with unnecessary detail.

[0030] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0031] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0032] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0033] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0034] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "A plurality" means "two or more."

[0035] 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.

[0036] In some embodiments of this application, please refer to Figure 2 , Figure 2 This is a flowchart illustrating the implementation of a precision compensation method for a processing device provided in an embodiment of this application. Figure 2 As shown, it may specifically include steps S21 to S26.

[0037] S21: At the first position, obtain the first actual distance between the vision camera and the machining spindle in the machining equipment; S22: Compare the first actual distance with the preset distance to obtain a first compensation value, wherein the preset distance is the theoretical design value between the vision camera and the machining spindle; S23: Perform initial compensation processing on the distance between the vision camera and the machining spindle based on the first compensation value; S24: At the second position, obtain the second actual distance between the vision camera and the machining spindle, wherein the second position and the first position are arranged along the extension direction of the guide rail of the machining equipment; S25: Compare the second actual distance with the preset distance to obtain the second compensation value; S26: When the vision camera is in the second position, the distance between the vision camera and the machining spindle is compensated based on the second compensation value.

[0038] In this embodiment, the processing equipment is used for circuit board processing, specifically it can be a laser processing equipment or a mechanical processing equipment. In this processing equipment, the distance between the vision camera and the processing spindle is a mechanical configuration parameter for the calibration and precision control of a machine vision system, directly affecting visual guidance accuracy, processing alignment, and system integration. In this embodiment, the distance between the vision camera and the processing spindle is determined through a calibration process, specifically through mechanical measurement, visual calibration, or geometric calculation. Mechanical measurement is suitable for scenarios where physical contact is possible, specifically using tools such as vernier calipers, micrometers, or laser rangefinders to directly measure the straight-line distance or coordinate difference between the camera mounting reference point and the spindle rotation center. Visual calibration is suitable for non-contact scenarios, specifically calculating the distance indirectly through image processing. For example, using a calibration board to capture multi-angle images, and solving for camera intrinsic and extrinsic parameters through image feature point matching, thereby obtaining the transformation relationship between the camera coordinate system and the equipment coordinate system. Based on this transformation relationship, the distance between the vision camera and the processing spindle can be obtained. The geometric calculation method specifically involves estimating the distance using known geometric relationships. For example, the distance between the vision camera and the machining spindle is obtained by measuring the coaxiality of the spindle taper hole and the spindle axis (e.g., using a dial indicator to measure the mandrel runout), and then mapping the camera detection results to the spindle reference system through coordinate transformation. The first position represents the initial position of the vision camera and the machining spindle before the machining equipment performs the machining task. The second position represents any position of the vision camera and the machining spindle along the extension direction of the machining equipment's guide rail. That is, the second position and the first position are arranged along the extension direction of the machining equipment's guide rail. The first and second actual distances can be obtained through any of the above calibration methods. The assembly error of the machining equipment mainly comes from machining and installation, caused by the mismatch between the coordinates of feature points in the vision camera's field of view and the actual position of the spindle. For example, the system rotation or translation error introduced by the horizontal and / or vertical deviation between the vision camera and the machining spindle affects the positioning accuracy of the machining spindle. The first actual distance includes the assembly error of the processing equipment. In this embodiment, the first actual distance can be compared with a preset distance to measure the magnitude of the assembly error. A first compensation value is then determined, and preliminary compensation processing is performed on the distance between the vision camera and the processing spindle based on this first compensation value. This achieves the goal of eliminating assembly errors and improving the positioning and processing accuracy of the processing equipment. Through this preliminary compensation processing, compensation can be made for the distance between the vision camera and the processing spindle based on the horizontal and / or vertical deviations, ensuring that the deviation value of the distance between the vision camera and the processing spindle is within a reasonable range.

[0039] Because the vision camera and machining spindle in the machining equipment can move along the guide rail, but the guide rail cannot be perfectly horizontal in mechanical assembly and is approximately curved, the distance between the vision camera and the machining spindle is not equal at different positions, which also affects the positioning accuracy of the machining spindle. In this embodiment, during the machining equipment's task execution, a second actual distance between the vision camera and the machining spindle can be obtained at a second position. By comparing this second actual distance with a preset distance, the magnitude of the error caused by the guide rail's inability to be horizontal is measured based on the comparison result, thereby determining a second compensation value. When the vision camera is in the second position, the distance between the vision camera and the machining spindle is compensated based on this second compensation value. Through compensation, the distance between the vision camera and the machining spindle can be ensured to be equal at different positions, thereby eliminating the error caused by the guide rail's inability to be horizontal and improving the positioning accuracy and machining accuracy of the machining equipment.

[0040] In some specific implementations, the compensation process is similar to interferometer compensation, where the distance between the vision camera and the machining spindle at different positions along the guide rail can be compensated according to the measured values.

[0041] In some embodiments of this application, please refer to Figure 3 , Figure 3 This is a flowchart illustrating one implementation of the accuracy compensation method for processing equipment provided in this application, specifically for determining the compensation value. Figure 3 As shown, before the step of obtaining the first actual distance between the vision camera and the machining spindle in the machining equipment, steps S31 to S32 may be specifically included.

[0042] S31: Acquire calibration hole images, the calibration hole images including a first image obtained by the vision camera taking pictures of the calibration hole at the original position and a second image obtained by the vision camera taking pictures of the calibration hole after moving a preset displacement distance in any direction; S32: Establish a mapping relationship between displacement distance and number of pixels based on the first image and the second image, and determine the first compensation value and the second compensation value based on the mapping relationship.

[0043] In this embodiment, a calibration plate with calibration holes can be placed in a processing device, and then a vision camera can be used to capture images of the calibration holes to obtain at least two images of the calibration holes. These include a first image captured by the vision camera at its original position and at least one second image captured by the vision camera after moving a preset displacement distance in any direction. Specifically, after acquiring the first image, the vision camera moves a preset displacement distance in any direction and then captures another image to obtain the corresponding second image. In one specific implementation, the aforementioned "any direction" includes, but is not limited to, the upper left, lower left, upper right, and lower right positions of the first image. The upper left position is defined as moving a preset displacement distance simultaneously along the negative X-axis and positive Y-axis of the camera coordinate system; the lower left position is defined as moving a preset displacement distance simultaneously along the negative X-axis and negative Y-axis of the camera coordinate system; the upper right position is defined as moving a preset displacement distance simultaneously along the positive X-axis and positive Y-axis of the camera coordinate system; and the lower right position is defined as moving a preset displacement distance simultaneously along the positive X-axis and negative Y-axis of the camera coordinate system. It should be noted that the second image can be acquired by the vision camera moving in different directions, or by moving different preset displacement distances along the same direction. By comparing the pixels of different second images with the first image, a mapping relationship between displacement distance and the number of pixels can be established. When determining the compensation value, the coordinate deviation value representing the positional deviation between the vision camera and the machining spindle can be obtained through image analysis. Combining the coordinate deviation value with the above mapping relationship, the corresponding compensation value can be calculated.

[0044] In some embodiments of this application, please refer to Figure 4 , Figure 4 This is a flowchart illustrating an implementation of the initial compensation process in the precision compensation method for the processing equipment provided in this application embodiment. For example... Figure 4 As shown, it may specifically include steps S41 to S43.

[0045] S41: Acquire an image of the correction hole and determine the actual coordinates of the correction hole, wherein the correction hole is located at the first position; S42: Calculate the deviation between the actual coordinates of the correction hole and its corresponding theoretical coordinates to obtain the first coordinate deviation value; S43: Calculate the first compensation value based on the first coordinate deviation value and the mapping relationship, and perform initial compensation processing on the distance between the vision camera and the machining spindle based on the first compensation value. In this embodiment, drilling can be performed using a machining device to obtain at least one corrective hole. The theoretical coordinates of the corrective hole are pre-obtained through calibration. Further, an image of the corrective hole is captured using a vision camera. The position of the corrective hole in the image is obtained through feature recognition, and then the actual coordinates of the corrective hole are obtained using Python or Matlab. Based on the actual and theoretical coordinates of the corrective hole, the deviation between the actual and theoretical coordinates is calculated, and the X-coordinate difference and Y-coordinate difference are calculated as the first coordinate deviation value. Based on the first coordinate deviation value, a displacement distance is obtained by substituting this value into a mapping relationship. This displacement distance is the first compensation value. Based on this first compensation value, initial compensation processing can be performed on the distance between the vision camera and the machining spindle in both the X and Y axes. Specifically, if the actual coordinates are located in the positive X-axis direction of the theoretical coordinate system, the compensation for the distance between the vision camera and the machining spindle on the X-axis is to increase the first compensation value. If the actual coordinates are located in the negative X-axis direction of the theoretical coordinate system, the compensation for the distance between the vision camera and the machining spindle on the X-axis is to decrease the first compensation value. Similarly, if the actual coordinates are located in the positive Y-axis direction of the theoretical coordinate system, the compensation for the distance between the vision camera and the machining spindle on the Y-axis is to increase the first compensation value. If the actual coordinates are located in the negative Y-axis direction of the theoretical coordinate system, the compensation for the distance between the vision camera and the machining spindle on the Y-axis is to decrease the first compensation value. It is understandable that the first compensation values ​​in the X-axis and Y-axis directions can be unequal.

[0046] In one specific embodiment, please refer to Figure 5 , Figure 5 This is a flowchart illustrating an implementation of the accuracy compensation method for the processing equipment provided in this application, specifically for verifying whether the initial compensation process is complete. Figure 5 As shown, it may specifically include steps S51 to S55.

[0047] S51: Acquire images of the verification hole and determine the actual coordinates of the verification hole; S52: Calculate the deviation between the actual coordinates of the verification hole and its corresponding theoretical coordinates to obtain the second coordinate deviation value; S53: Calculate the third compensation value based on the second coordinate deviation value and the mapping relationship; S54: Compare the third compensation value with a preset threshold. If the third compensation value is less than the preset threshold, it is determined that the initial compensation process has been completed.

[0048] In this embodiment, after performing the initial compensation process for the distance between the vision camera and the machining spindle, a drilling process can be further performed using machining equipment to obtain a verification hole. The completion of the initial compensation process is then determined by checking the positional relationship between the actual coordinates of the verification hole and its corresponding theoretical coordinates. Specifically, for the verification hole, its theoretical coordinates are pre-obtained through calibration. Further, the vision camera is used to capture an image of the verification hole, and the position of the verification hole in the image is obtained through feature recognition. Then, the actual coordinates of the verification hole are obtained using Python or Matlab. Based on the actual and theoretical coordinates of the verification hole, the deviation between the actual and theoretical coordinates is calculated, and the X-coordinate difference and Y-coordinate difference are calculated as the second coordinate deviation value. By substituting this second coordinate deviation value into the mapping relationship for conversion, a displacement distance is obtained, which is the third compensation value. In this embodiment, a preset threshold can be set as a standard to check whether the initial compensation process has been completed. After obtaining the third compensation value, the third compensation value can be compared with the preset threshold. If the third compensation value is less than the preset threshold, it can be determined that the distance between the vision camera and the processing spindle is within the allowable deviation range. At this time, it can be determined that the initial compensation process has been completed.

[0049] In one specific embodiment, please refer to Figure 6 , Figure 6 This is a flowchart illustrating one implementation of the accuracy compensation method for the processing equipment provided in this application embodiment, specifically during compensation processing. Figure 6 As shown, it may specifically include steps S61 to S63.

[0050] S61: Drill holes on the copper-clad laminate to obtain a first set of inspection holes, the first set of inspection holes including multiple inspection holes arranged along the X-axis direction of the processing equipment and multiple inspection holes arranged along the Y-axis direction of the processing equipment; S62: Perform target positioning processing on the first group of detection holes to obtain the first target error data corresponding to the first group of detection holes; S63: Compensate for the distance between the vision camera and the machining spindle based on the first target-grabbing error data.

[0051] In this embodiment, a linear drilling compensation method can be used for compensation processing. Specifically, a pre-set drilling program can be invoked by the controller to drill holes on the copper-clad laminate to obtain the first set of detection holes. For example, the drilling program can use a 1.0mm drill bit to drill 27 detection holes along the X-axis of the processing equipment at 20mm intervals, for a total length of 520mm. These 27 detection holes are arranged along the X-axis of the processing equipment. Along the Y-axis of the processing equipment at 20mm intervals, a total length of 620mm is drilled, resulting in 31 detection holes arranged along the X-axis of the processing equipment. Then, the controller invokes a pre-set target-grabbing program to perform target-grabbing processing on the first set of detection holes on the copper-clad laminate, obtaining the actual coordinates of each detection hole in the first set. For each detection hole, the deviation between the actual coordinates and the theoretical coordinates is compared to obtain the corresponding coordinate deviation value. The coordinate deviation values ​​obtained for each detection hole are collected to obtain a set of coordinate deviation values ​​as the first target-grabbing error data. Based on the first target grabbing error data, the displacement distance corresponding to each coordinate deviation value can be obtained by substituting each coordinate deviation value into the mapping relationship. Then, based on the displacement distance corresponding to each coordinate deviation value and the positional relationship between the actual coordinates of the detection hole and its corresponding theoretical coordinates, the distance between the vision camera and the machining spindle can be compensated.

[0052] In one specific embodiment, please refer to Figure 7 , Figure 7 This is another implementation flowchart of the accuracy compensation method for the processing equipment provided in the embodiments of this application, during the compensation process. For example... Figure 7 As shown, it may specifically include steps S71 to S72.

[0053] S71: Perform target positioning processing on the first group of detection holes and drill holes on the copper-clad board based on the positions of the first group of detection holes to obtain the third target error data corresponding to the first group of detection holes and the second group of detection holes. S72: Compensate for the distance between the vision camera and the machining spindle based on the third target grabbing error data.

[0054] In this embodiment, a linear drilling compensation method can also be used for compensation processing. Specifically, a pre-set drilling program can be invoked by the controller to drill holes on the copper-clad laminate to obtain the first set of detection holes. For example, the drilling program can use a 1.0mm drill bit to drill 27 detection holes along the X-axis of the processing equipment at 20mm intervals, for a total length of 520mm. These 27 detection holes are arranged along the X-axis of the processing equipment. Along the Y-axis of the processing equipment at 20mm intervals, a total length of 620mm is drilled, resulting in 31 detection holes arranged along the X-axis of the processing equipment. Then, the controller invokes the target-grabbing program in the pre-set target-grabbing and drilling combined program to perform target-grabbing processing on the first set of detection holes on the copper-clad laminate, obtaining the actual coordinates of each detection hole in the first set. For each detection hole, the deviation between the actual coordinates and the theoretical coordinates is compared to obtain the corresponding coordinate deviation value. The coordinate deviation values ​​obtained for each detection hole are collected to obtain a set of coordinate deviation values ​​as the third target-grabbing error data. By substituting each coordinate deviation value from the third target-grabbing error data into the mapping relationship for conversion, the displacement distance corresponding to each coordinate deviation value can be obtained. Then, based on the displacement distance corresponding to each coordinate deviation value, and combined with the positional relationship between the actual coordinates of the detection holes and their corresponding theoretical coordinates, compensation processing is performed on the distance between the vision camera and the machining spindle. Simultaneously, the controller calls the pre-set drilling program in the target-grabbing and drilling joint program to perform drilling processing again on the copper-clad board based on the first set of detection holes to obtain a second set of detection holes. The diameter of the detection holes in the second set is larger than that in the first set. At this point, the detection holes in the first set on the copper-clad board have been replaced one by one by the detection holes in the second set.

[0055] In one specific embodiment, please refer to Figure 8 , Figure 8 This is a flowchart illustrating one implementation of the accuracy compensation method for processing equipment provided in this application, specifically for confirming the compensation result. Figure 8 As shown, it may specifically include steps S81 to S83.

[0056] S81: After compensating the distance between the vision camera and the machining spindle according to the first target grabbing error data, the target grabbing program is called to perform target grabbing positioning processing on the first group of detection holes again to obtain the second target grabbing error data corresponding to the first group of detection holes. S82: After compensating the distance between the vision camera and the machining spindle according to the third target grabbing error data, the target grabbing program is called to perform target grabbing positioning processing on the second group of detection holes again to obtain the fourth target grabbing error data corresponding to the second group of detection holes. S83: Compare the first target-grabbing error data with the second target-grabbing error data, and / or compare the third target-grabbing error data with the fourth target-grabbing error data, and / or compare the second target-grabbing error data with the fourth target-grabbing error data, to output a compensation result.

[0057] In this embodiment, after linear compensation using the linear drilling compensation method, it can be further confirmed whether the compensation process has achieved its intended effect. Specifically, the target-grabbing program can be invoked to perform target-grabbing positioning processing on the first group of detection holes again, obtaining the second target-grabbing error data corresponding to the first group of detection holes. By comparing the first target-grabbing error data and the second target-grabbing error data, if the coordinate deviation value recorded in the second target-grabbing error data is less than the coordinate deviation value recorded in the first target-grabbing error data for the same detection hole, it indicates that the compensation for the distance between the vision camera and the machining spindle at different positions has taken effect, effectively improving the positioning accuracy and machining accuracy of the machining equipment.

[0058] In this embodiment, after linear compensation using the linear drilling compensation method, the second set of detection holes can be repositioned by calling the target-grabbing program to obtain the fourth target-grabbing error data corresponding to the second set of detection holes. By comparing the third and fourth target-grabbing error data, if the coordinate deviation value recorded in the fourth target-grabbing error data is less than that recorded in the third target-grabbing error data for the same detection hole, it indicates that the compensation for the distance between the vision camera and the machining spindle at different positions has played a role, effectively improving the positioning accuracy and machining accuracy of the machining equipment.

[0059] In this embodiment, after obtaining the second and fourth target error data through the target grabbing process again, the second and fourth target error data can be compared. If the coordinate deviation value recorded in the fourth target error data is less than the coordinate deviation value recorded in the second target error data, it indicates that the compensation of the distance between the vision camera and the machining spindle at different positions has played a role, effectively improving the positioning accuracy and machining accuracy of the machining equipment.

[0060] It is understandable that the compensation result can be represented as the reduction value corresponding to the coordinate deviation value recorded in the target acquisition error data.

[0061] In some embodiments of this application, please refer to Figure 9 , Figure 9 This is a flowchart illustrating one implementation of the precision compensation method for processing equipment provided in this application, specifically for correcting the guide rail of the processing equipment. Figure 9 As shown, it may specifically include steps S91 to S92.

[0062] S91: Install the guide rail onto the crossbeam; S92: Correct the straightness of the guide rail using a collimator or ceramic straightedge.

[0063] In this embodiment, a crossbeam is provided on the processing equipment, and the guide rail is mounted on the crossbeam. The straightness of the guide rail is a key indicator for measuring the accuracy of the processing equipment and directly affects the processing quality of the workpiece. In this embodiment, the straightness of the main rail can be improved by using a collimator or a ceramic straightedge, while the secondary rail remains parallel to the main rail, thereby achieving the correction of the guide rail.

[0064] As can be seen from the above, the accuracy compensation method for the processing equipment provided in this application involves: obtaining a first actual distance between the vision camera and the processing spindle in the processing equipment at a first position; comparing the first actual distance with a preset distance to obtain a first compensation value, where the preset distance is the theoretical design value between the vision camera and the processing spindle; performing initial compensation processing on the distance between the vision camera and the processing spindle based on the first compensation value; obtaining a second actual distance between the vision camera and the processing spindle at a second position, where the second position and the first position are arranged along the extension direction of the guide rail of the processing equipment; comparing the second actual distance with the preset distance to obtain a second compensation value; and performing compensation processing on the distance between the vision camera and the processing spindle based on the second compensation value when the vision camera is located at the second position. Compensation based on the above method can eliminate assembly errors and errors caused by the guide rail not being able to ensure horizontality, effectively improving the positioning accuracy and processing accuracy of the processing equipment.

[0065] It is understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0066] In some embodiments of this application, a PCB processing device is also provided, employing the aforementioned precision compensation method, such as... Figure 1 As shown, the PCB processing equipment includes a crossbeam (not shown), an X-axis guide rail 1, a Y-axis guide rail (not shown), a camera 2, a processing spindle 3, a base (not shown), and a platform 4. The X-axis guide rail 1 is mounted on the crossbeam, and the camera 2 and processing spindle 3 are movably connected to the X-axis guide rail 1. The Y-axis guide rail is mounted on the base, and the platform 4 is movably connected to the Y-axis guide rail. The platform 4 is used to support the PCB. For some embodiments of this application, please refer to... Figure 10 , Figure 10 This is a basic structural block diagram of a PCB processing equipment provided in an embodiment of this application. In this embodiment, the devices include units used to perform the steps in the above-described method embodiments. Please refer to the relevant descriptions in the above-described method embodiments for details. For ease of explanation, only the parts relevant to this embodiment are shown. Figure 10As shown, the precision compensation device for the processing equipment includes a detection module 101 and a processor 102. The detection module 101 is used to acquire the actual distance between the vision camera and the processing spindle in the processing equipment; the processing module 102 is used to compare the actual distance with a preset distance to acquire a compensation value, and execute a precision compensation method based on the compensation value. This precision compensation method includes the steps of any of the above-described method embodiments.

[0067] In some embodiments of this application, please refer to Figure 11 , Figure 11 This is a basic structural block diagram of an electronic device provided in an embodiment of this application. Figure 11 As shown, the electronic device 11 of this embodiment includes: a processor 111, a memory 112, and a computer program 113 stored in the memory 112 and executable on the processor 111, such as a program for a precision compensation method for a processing device. When the processor 111 executes the computer program 113, it implements the steps of each embodiment of the precision compensation method for the processing device described above. Please refer to the relevant descriptions in the embodiments for details, which will not be repeated here.

[0068] For example, the computer program 113 may be divided into one or more modules (units) for performing the various steps in the above method embodiments. The one or more modules are stored in the memory 112 and executed by the processor 111 to complete this application. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 113 in the electronic device 11.

[0069] The electronic device may include, but is not limited to, a processor 111 and a memory 112. Those skilled in the art will understand that... Figure 11 This is merely an example of electronic device 11 and does not constitute a limitation on electronic device 11. It may include more or fewer components than shown, or combine certain components, or different components. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0070] The processor 111 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0071] The memory 112 can be an internal storage unit of the electronic device 11, such as a hard disk or memory of the electronic device 11. The memory 112 can also be an external storage device of the electronic device 11, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the electronic device 11. Furthermore, the memory 112 can include both internal and external storage units of the electronic device 11. The memory 112 is used to store the computer program and other programs and data required by the electronic device. The memory 112 can also be used to temporarily store data that has been output or will be output.

[0072] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0073] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the various method embodiments described above. In this embodiment, the computer-readable storage medium can be either non-volatile or volatile.

[0074] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the various method embodiments.

[0075] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above device can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0076] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0077] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0078] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A precision compensation method of a processing apparatus, characterized by, include: At the first position, the first actual distance between the vision camera and the machining spindle in the machining equipment is obtained; By comparing the first actual distance with the preset distance, a first compensation value is obtained, wherein the preset distance is the theoretical design value between the vision camera and the processing spindle; The distance between the vision camera and the machining spindle is initially compensated based on the first compensation value. At the second position, a second actual distance between the vision camera and the machining spindle is obtained, and the second position and the first position are arranged along the extension direction of the guide rail of the machining equipment; The second actual distance is compared with the preset distance to obtain the second compensation value; When the vision camera is in the second position, the distance between the vision camera and the machining spindle is compensated based on the second compensation value.

2. The precision compensation method of a processing apparatus according to claim 1, characterized by, Before the step of obtaining the first actual distance between the vision camera and the machining spindle in the machining equipment, the method further includes: Acquire calibration hole images, which include a first image obtained by the vision camera taking a picture of the calibration hole at the original position and a second image obtained by the vision camera taking a picture of the calibration hole after moving a preset displacement distance in any direction; A mapping relationship between displacement distance and number of pixels is established based on the first image and the second image, and the first compensation value and the second compensation value are determined based on the mapping relationship.

3. The precision compensation method of a processing apparatus according to claim 2, characterized by, Based on the first compensation value, an initial compensation process is performed on the distance between the vision camera and the machining spindle, specifically including: Acquire an image of the correction hole, determine the actual coordinates of the correction hole, and the correction hole is located at the first position; The deviation between the actual coordinates of the correction hole and its corresponding theoretical coordinates is calculated to obtain the first coordinate deviation value. The first compensation value is calculated based on the first coordinate deviation value and the mapping relationship, and the distance between the vision camera and the machining spindle is initially compensated based on the first compensation value.

4. The precision compensation method of a processing apparatus according to claim 3, wherein After performing initial compensation processing on the distance between the vision camera and the machining spindle based on the first compensation value, the process further includes: Acquire images of the verification holes and determine their actual coordinates; The deviation between the actual coordinates of the verification hole and its corresponding theoretical coordinates is calculated to obtain the second coordinate deviation value. The third compensation value is calculated based on the second coordinate deviation value and the mapping relationship; The third compensation value is compared with a preset threshold. If the third compensation value is less than the preset threshold, it is determined that the initial compensation process has been completed.

5. The precision compensation method of a processing apparatus according to Claim 1, wherein When the vision camera is in the second position, compensation processing is performed on the distance between the vision camera and the machining spindle based on the second compensation value, including: Drilling is performed on the copper-clad laminate to obtain a first set of inspection holes. The first set of inspection holes includes multiple inspection holes arranged along the X-axis direction of the processing equipment and multiple inspection holes arranged along the Y-axis direction of the processing equipment. Perform target positioning processing on the first group of detection holes to obtain the first target positioning error data corresponding to the first group of detection holes; The distance between the vision camera and the machining spindle is compensated based on the first target-grabbing error data.

6. The precision compensation method of a processing apparatus according to claim 5, wherein Also includes: The first group of detection holes is subjected to target positioning processing, and drilling processing is performed on the copper-clad board based on the position of the first group of detection holes to obtain the third target error data corresponding to the first group of detection holes and the second group of detection holes. The distance between the vision camera and the machining spindle is compensated based on the third target-grabbing error data.

7. The accuracy compensation method for processing equipment according to claim 6, characterized in that, Also includes: After compensating the distance between the vision camera and the machining spindle based on the first target-grabbing error data, the first set of detection holes is subjected to target-grabbing positioning processing again to obtain the second target-grabbing error data corresponding to the first set of detection holes. After compensating the distance between the vision camera and the machining spindle based on the third target-grabbing error data, the second set of detection holes is subjected to target-grabbing positioning processing again to obtain the fourth target-grabbing error data corresponding to the second set of detection holes. The first target-grabbing error data is compared with the second target-grabbing error data, and / or the third target-grabbing error data is compared with the fourth target-grabbing error data, and / or the second target-grabbing error data is compared with the fourth target-grabbing error data, so as to output the compensation result.

8. The accuracy compensation method for the processing equipment according to any one of claims 1-7, characterized in that, The processing equipment includes a crossbeam and guide rails. Before the step of obtaining the first actual distance between the vision camera and the processing spindle in the processing equipment at the first position, the equipment further includes: The guide rail is installed on the crossbeam; The straightness of the guide rail is corrected using a collimator or a ceramic straightedge.

9. A PCB processing equipment, employing the accuracy compensation method for the processing equipment as described in any one of claims 1-8, characterized in that, include: The system includes a crossbeam, an X-axis guide rail, a Y-axis guide rail, a camera, a machining spindle, a base, and a platform. The X-axis guide rail is laid on the crossbeam. The camera and the machining spindle are both movably connected to the X-axis guide rail. The Y-axis guide rail is laid on the base. The platform is movably connected to the Y-axis guide rail and is used to support the PCB.

10. The PCB processing equipment according to claim 9, characterized in that, Also includes: The detection module is used to obtain the actual distance between the vision camera and the machining spindle in the processing equipment; The processing module is used to compare the actual distance with the preset distance to obtain a compensation value, and to execute the accuracy compensation method as described in any one of claims 1-8 based on the compensation value.

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