A USSD double-head synchronous pasting method and system

Abstract

This application discloses a USSD dual-head synchronous mounting method and system. The method includes: acquiring the left-end pose deviation between the left-end pad and the left-end interface connector on the PCB board, and the right-end pose deviation between the right-end pad and the right-end interface connector; generating compensation parameters and compensating for the pre-mounting pose; synchronously driving the left and right interface connectors to approach the corresponding pads, acquiring left and right six-dimensional torque data, and performing coordinate system transformation and reference point conversion; determining contact conditions based on the converted data; when one end contacts first, adjusting the position of that end to keep the pressing force within a preset contact holding force range, and driving the other end to continue moving; synchronously pressing after both ends contact; constructing a pressing anomaly evaluation value based on the left and right pressing force and torque data, determining the correction magnitude and direction, and correcting the pressing parameters. This application can reduce the risk of off-center load caused by initial pose differences and sequential contact between the two ends, improving the mounting consistency and connection stability of the dual-end interface connectors.

Description

Technical Field

[0001] This application relates to the field of electronic product manufacturing technology, specifically to a USSD dual-head synchronous mounting method and system. Background Technology

[0002] As portable storage products evolve towards miniaturization, dual-interface design, and high integration, dual-interface storage products such as USSDs (Dual-Head SSDs) are increasingly being used in data storage and data transmission scenarios. Some USSD products include a PCB board and two interface connectors located at opposite ends of the PCB board to adapt to different types of external devices. During manufacturing, the left and right interface connectors need to be mounted onto their corresponding positions on the PCB board. Due to the small size of the PCB board, factors such as the initial position, clamping state, structural tolerances, and stress state during mounting can all affect the mounting quality of the interface connectors. When there are differences in the initial position or contact state of the left and right interface connectors, problems such as inconsistent mounting positions, one end contacting first, abnormal local stress, or connector misalignment can easily occur.

[0003] Existing assembly methods typically improve production cycle time by individually adjusting the position of each connector or by using parallel assembly. Individual adjustment can easily increase assembly time; in parallel assembly, if the initial position, contact sequence, or stress state of the connectors at the left and right ends differs, one connector may make contact before the other has reached effective contact. Under existing equipment, differences in the placement state of the connectors at the left and right ends can easily lead to problems such as abnormal local stress, connector position misalignment, abnormal connector posture, or unstable connection quality, affecting the placement consistency and reliability of USSD products.

[0004] Therefore, how to reduce the problem of decreased assembly consistency and unstable connection quality caused by the difference in the mounting status of the left and right ends during the mounting process of USSD dual-ended interface connectors has become a technical problem that needs to be solved in this field. Summary of the Invention

[0005] In view of the above problems, this application provides a USSD dual-head synchronous mounting method and system to solve the technical problems of decreased assembly consistency and unstable connection quality caused by the difference in mounting status between the left and right ends during the mounting process of USSD dual-end interface connectors.

[0006] In a first aspect, this application provides a method for synchronous mounting of dual-head USSDs, applied in the manufacturing process of dual-head USSD products. The dual-head USSD product includes a PCB board, a left-end interface connector mounted on the left end of the PCB board, and a right-end interface connector mounted on the right end of the PCB board. The method includes: The left-end pose deviation between the left-end pad of the PCB board and the left-end interface connector, and the right-end pose deviation between the right-end pad of the PCB board and the right-end interface connector are obtained. Left-end compensation parameters are generated based on the left-end pose deviation, and right-end compensation parameters are generated based on the right-end pose deviation. The relative pre-mount orientation between the left-end interface connector and the left-end pad is compensated according to the left-end compensation parameters, and the relative pre-mount orientation between the right-end interface connector and the right-end pad is compensated according to the right-end compensation parameters. The left-end interface connector and the right-end interface connector are synchronously driven to approach the corresponding left-end pad and right-end pad respectively along their respective pressing directions; Obtain the left-end six-dimensional torque data corresponding to the left-end interface connector and the right-end six-dimensional torque data corresponding to the right-end interface connector. Perform coordinate system transformation and reference point conversion on the left-end six-dimensional torque data and the right-end six-dimensional torque data to obtain the left-end converted six-dimensional torque data and the right-end converted six-dimensional torque data based on the same mounting coordinate system and with the torque corresponding to the preset left-end pressing reference point and the preset right-end pressing reference point, respectively. Based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, it is determined whether the interface connectors at both ends have reached the contact condition. When one end interface connector reaches the contact condition first while the other end interface connector has not, the position of the interface connector at the end that reaches the contact condition first is adjusted along the pressing direction according to the converted six-dimensional torque data of the interface connector at the end that reaches the contact condition first, so that the pressing force of the interface connector at the end that reaches the contact condition is kept within the preset contact holding force range, and the other end interface connector is driven to continue to move along the pressing direction until both the left and right end interface connectors reach the contact condition. The left-end interface connector and the right-end interface connector are synchronously driven to press onto the corresponding left-end pad and right-end pad respectively along their respective pressing directions; During the pressing process, the left-end pressing force and the right-end pressing force are determined based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, and a pressing anomaly evaluation value is constructed. The correction range of the pressing parameters at both ends is determined based on the pressing anomaly evaluation value. The correction direction is determined based on the deviation of the left-end pressing force relative to the left-end target pressing force of the corresponding pressing stage, the deviation of the right-end pressing force relative to the right-end target pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end. The pressing parameters at both ends are corrected according to the correction range and the correction direction.

[0007] Secondly, this application provides a USSD dual-head synchronous mounting system for manufacturing USSD dual-head products. The USSD dual-head product includes a PCB board, a left-end interface connector mounted on the left end of the PCB board, and a right-end interface connector mounted on the right end of the PCB board. The system includes: A PCB board fixing fixture is used to fix the PCB board. The left-end mounting actuator is used to hold the left-end interface connector and drive the left-end interface connector to move along the pressing direction; The right-end mounting actuator is used to hold the right-end interface connector and drive the right-end interface connector to move along the pressing direction; The pose compensation mechanism is used to compensate for the relative pre-mount pose between the left-end interface connector and the left-end pad of the PCB board, and between the right-end interface connector and the right-end pad of the PCB board. A top-view image acquisition device is used to acquire top-view images of the pads at both ends of the PCB board and the corresponding interface connectors. A side view image acquisition device is used to acquire side view images of the interfaces of the left-end interface connector and the right-end interface connector; A six-dimensional force sensor on the left end is installed on the force transmission path of the left end mounting actuator to collect six-dimensional torque data on the left end. The right-end six-dimensional force sensor is set on the force transmission path of the right-end mounting actuator to collect the right-end six-dimensional torque data; The rejection mechanism is used to reject non-conforming USSD dual-head products. The controller is connected to the left-end mounting actuator, the right-end mounting actuator, the pose compensation mechanism, the top view image acquisition device, the side view image acquisition device, the left-end six-dimensional force sensor, the right-end six-dimensional force sensor, and the rejection mechanism, respectively. The controller is used for: The left-end pose deviation between the left-end pad of the PCB board and the left-end interface connector, and the right-end pose deviation between the right-end pad of the PCB board and the right-end interface connector are obtained. Left-end compensation parameters are generated based on the left-end pose deviation, and right-end compensation parameters are generated based on the right-end pose deviation. The relative pre-mount orientation between the left-end interface connector and the left-end pad is compensated according to the left-end compensation parameters, and the relative pre-mount orientation between the right-end interface connector and the right-end pad is compensated according to the right-end compensation parameters. The left-end interface connector and the right-end interface connector are synchronously driven to approach the corresponding left-end pad and right-end pad respectively along their respective pressing directions; Obtain the left-end six-dimensional torque data corresponding to the left-end interface connector and the right-end six-dimensional torque data corresponding to the right-end interface connector. Perform coordinate system transformation and reference point conversion on the left-end six-dimensional torque data and the right-end six-dimensional torque data to obtain the left-end converted six-dimensional torque data and the right-end converted six-dimensional torque data based on the same mounting coordinate system and with the torque corresponding to the preset left-end pressing reference point and the preset right-end pressing reference point, respectively. Based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, it is determined whether the interface connectors at both ends have reached the contact condition. When one end interface connector reaches the contact condition first while the other end interface connector has not, the position of the interface connector at the end that reaches the contact condition first is adjusted along the pressing direction according to the converted six-dimensional torque data of the interface connector at the end that reaches the contact condition first, so that the pressing force of the interface connector at the end that reaches the contact condition is kept within the preset contact holding force range, and the other end interface connector is driven to continue moving along the pressing direction until both the left and right end interface connectors reach the contact condition. The left-end interface connector and the right-end interface connector are synchronously driven to press onto the corresponding left-end pad and right-end pad respectively along their respective pressing directions; During the pressing process, the left-end pressing force and the right-end pressing force are determined based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, and a pressing anomaly evaluation value is constructed. The correction range of the pressing parameters at both ends is determined based on the pressing anomaly evaluation value, and the correction direction is determined based on the deviation of the left-end pressing force relative to the left-end target pressing force of the corresponding pressing stage, the deviation of the right-end pressing force relative to the right-end target pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end. The pressing parameters at both ends are corrected according to the correction range and the correction direction.

[0008] This application provides a USSD dual-head synchronous placement method and system. By acquiring the pose deviation between the left and right end pads of the PCB board and their corresponding interface connectors, left and right compensation parameters are generated, and the relative pre-placement pose between the left and right interface connectors and their corresponding pads is compensated, thereby reducing the impact of inconsistent initial positions of the left and right interface connectors on subsequent placement. By synchronously driving the left and right interface connectors to approach their corresponding pads and converting the left and right six-dimensional torque data to the same placement coordinate system and corresponding pressing reference point, the pressing states of the left and right ends are comparable. When one end interface connector reaches the contact condition first while the other end does not, the pressing force of the first contact end is maintained at a preset contact value. By maintaining the force range and driving the other end to continue approaching, the risk of overpressure or off-center load caused by continuous downward pressure on the first contact end is reduced. After both ends reach the contact condition, the left and right interface connectors are pressed synchronously, and the correction range of the pressing parameters is determined according to the pressing anomaly evaluation value. The correction direction is determined according to the deviation of the left and right pressing forces relative to the target pressing forces of the corresponding pressing stages, as well as the sign and magnitude of the torque. This allows for adaptive adjustment of the pressing parameters at both ends, which can solve the problems of decreased assembly consistency and unstable connection quality caused by differences in the mounting states of the left and right ends during the mounting process of USSD dual-ended interface connectors. It has the technical effects of improving dual-ended mounting consistency, reducing the risk of off-center loading during pressing, and improving product assembly stability.

[0009] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments 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.

[0011] Figure 1 A flowchart of the USSD dual-head synchronous mounting method provided in an embodiment of this application is shown.

[0012] Figure 2 A flowchart illustrating a specific implementation of step S100 provided in an embodiment of this application is shown.

[0013] Figure 3 A flowchart illustrating a specific implementation of step S200 provided in an embodiment of this application is shown.

[0014] Figure 4 A flowchart illustrating a specific implementation of S400 provided in this application embodiment is shown.

[0015] Figure 5 A flowchart illustrating a specific implementation of step S700 provided in an embodiment of this application is shown. Detailed Implementation

[0016] To enable those skilled in the art to better understand the solutions of this application, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0017] In the embodiments of this application, it should be noted that, in this document, relational terms such as left end, right end, first and second are only used to distinguish one entity, location, component or operation from another entity, location, component or operation, and do not necessarily require or imply any actual spatial direction, relationship or order between these entities, locations, components or operations.

[0018] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to those processes, methods, articles, or apparatuses. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0019] The USSD dual-head synchronous mounting method provided in this application embodiment is applied to the manufacturing process of USSD dual-head products. Exemplarily, it can be applied to USSD dual-head product manufacturing lines, automated mounting stations, or other production equipment for assembling dual-end interface connectors. In this document, a USSD dual-head product (Dual-Head SSD) refers to a solid-state storage product with two interface connectors. Exemplarily, the USSD dual-head product includes a PCB board, a left-end interface connector located at the left end of the PCB board, and a right-end interface connector located at the right end of the PCB board. The PCB board is fixed at the mounting station, and the left-end and right-end interface connectors are held by corresponding mounting actuators and move towards the corresponding pads on the PCB board during the mounting process. The production equipment for implementing the method includes a controller, which is connected to the left and right end mounting actuators, a pose compensation mechanism, and a detection component. The controller acquires relevant data about the PCB board, the left and right end interface connectors, and their mounting process, and controls the left and right end interface connectors to complete the corresponding mounting process based on the acquired data.

[0020] It should be noted that the PCB board fixing fixture, mounting execution mechanism, posture compensation mechanism, detection components, and controller in the production equipment can all be implemented using common industrial equipment, industrial components, or hardware / software combined structures in the field. Their internal structure is not the focus of this application's innovation. The technical focus of this application lies in the coordinated control of the mounting process of the interface connectors at both ends.

[0021] The USSD dual-head synchronous mounting method provided in this application is applied to the manufacturing process of a USSD dual-head product. This USSD dual-head product includes a PCB board, a left-end interface connector mounted on the left end of the PCB board, and a right-end interface connector mounted on the right end of the PCB board. The terms "left-end interface connector mounted on the left end of the PCB board" and "right-end interface connector mounted on the right end of the PCB board" describe the target structural relationship after the USSD dual-head product is formed. During the manufacturing process, the left-end and right-end interface connectors can be in different states, such as awaiting mounting, pre-positioning, approaching the pad, contacting the pad, pressing connection, or pressing completed.

[0022] Figure 1 A flowchart of the USSD dual-head synchronous mounting method provided in this application embodiment is shown, as follows: Figure 1 As shown, the method includes: Step S100: Obtain the left-end pose deviation between the left-end pad and the left-end interface connector of the PCB board, and the right-end pose deviation between the right-end pad and the right-end interface connector of the PCB board. Generate left-end compensation parameters based on the left-end pose deviation, and generate right-end compensation parameters based on the right-end pose deviation.

[0023] Optionally, the left-end pose deviation characterizes the deviation of the current pose of the left-end interface connector relative to the target mounting pose corresponding to the left-end pad; the right-end pose deviation characterizes the deviation of the current pose of the right-end interface connector relative to the target mounting pose corresponding to the right-end pad. The target mounting pose can be the positional and angular relationship that the left or right interface connector should satisfy relative to the corresponding pad after pre-mounting and positioning. The left-end compensation parameter indicates the adjustment amount required to reduce the left-end pose deviation; the right-end compensation parameter indicates the adjustment amount required to reduce the right-end pose deviation.

[0024] As one implementation method, left-end compensation parameters can be determined according to the direction and magnitude of the left-end pose deviation, based on a preset compensation mapping relationship, to move the left-end interface connector toward the left-end target mounting pose; similarly, right-end compensation parameters can be determined according to the direction and magnitude of the right-end pose deviation, based on a preset compensation mapping relationship, to move the right-end interface connector toward the right-end target mounting pose. The preset compensation mapping relationship can be determined based on the mounting coordinate system definition, the positive and negative directions of the pose deviation, the interface connector movement direction, and a preset compensation ratio. For example, when the left-end interface connector experiences a positive offset relative to the left-end pad in a certain direction, a left-end compensation amount opposite to this positive offset can be generated to adjust the left-end interface connector in a direction that reduces the offset.

[0025] In this embodiment, by obtaining the left-end pose deviation and the right-end pose deviation respectively, the subsequent mounting process of the interface connectors at the left and right ends can be adapted to their respective initial deviation states, avoiding the problem that the local deviations at the left and right ends cannot be reduced simultaneously when only the overall position of the PCB board is adjusted uniformly.

[0026] In some embodiments, Figure 2 A flowchart illustrating a specific implementation of step S100 provided in an embodiment of this application is shown. Figure 2 As shown, in step S100, the left-end pose deviation includes the left-end X-axis offset, the left-end Y-axis offset, and the left-end rotation angle; the right-end pose deviation includes the right-end X-axis offset, the right-end Y-axis offset, and the right-end rotation angle. Obtaining the left-end pose deviation between the left-end pads of the PCB board and the left-end interface connector, and the right-end pose deviation between the right-end pads of the PCB board and the right-end interface connector, includes: Step S110: Obtain a top view image of the left end containing the left pad and the left interface connector, and a top view image of the right end containing the right pad and the right interface connector.

[0027] Optionally, the left-end top view image is used to reflect the relative positional relationship between the left-end pad and the left-end interface connector on the PCB board plane; the right-end top view image is used to reflect the relative positional relationship between the right-end pad and the right-end interface connector on the PCB board plane. When acquiring the left-end and right-end top view images, image acquisition can be performed before the interface connector approaches the corresponding pad, so that both the pad area and the interface connector area are in a recognizable state.

[0028] In one implementation, the left-end top view image and the right-end top view image can respectively cover the left-end pad area and the right-end pad area of ​​the PCB board, or they can be obtained by cropping the same top view image that includes the left and right end areas of the PCB board.

[0029] Step S120: Identify the reference features of the left-end pads and the reference features of the left-end interface connector based on the left-end top view image, and identify the reference features of the right-end pads and the reference features of the right-end interface connector based on the right-end top view image.

[0030] Optionally, reference features are used to determine the position and orientation of the pads and interface connectors in the corresponding top view image. For example, the reference features of the left pad may include the left pad edge, the center of the left pad array, a positioning hole, a positioning mark, a silkscreen mark, or other image features that can characterize the position of the left pad; the reference features of the right pad may include the right pad edge, the center of the right pad array, a positioning hole, a positioning mark, a silkscreen mark, or other image features that can characterize the position of the right pad. The reference features of the left interface connector may include the outer contour of the left interface connector, the housing edge, the pin area, a positioning boss, a positioning groove, or a preset identification mark; the reference features of the right interface connector may include the outer contour of the right interface connector, the housing edge, the pin area, a positioning boss, a positioning groove, or a preset identification mark.

[0031] As one implementation method, the baseline features can be identified by edge extraction, contour matching, template matching, feature point matching, or geometric model matching.

[0032] It should be noted that the specific selection, quantity, combination, and identification methods of the reference features of the pads and the interface connector are not limited by the examples above. One or more reference features can be selected from identifiable contours, edges, corners, centerlines, positioning marks, or other geometric features, based on the pad shape, interface connector structure, image clarity, occlusion conditions, and mounting accuracy requirements. When using multiple reference features to determine the pad position, interface connector position, or corresponding direction, the corresponding results can be obtained through weighted calculation, geometric fitting, feature matching result filtering, coordinate averaging, or other processing methods that can determine positional and angular relationships.

[0033] Step S130: Determine the left-end pose deviation based on the positional relationship between the reference features of the left-end pad and the reference features of the left-end interface connector; determine the right-end pose deviation based on the positional relationship between the reference features of the right-end pad and the reference features of the right-end interface connector.

[0034] Optionally, to uniformly characterize the planar positional relationship between the interface connector and its corresponding pad, a mounting coordinate system can be established using the PCB board's reference plane as a reference, with preset X-axis and Y-axis directions. The X-axis and Y-axis directions are used to characterize the planar positional deviation of the interface connector relative to its corresponding pad. The reference position and direction of the left-end pad in the mounting coordinate system can be determined based on the reference features of the left-end pad; the current reference position and direction of the left-end interface connector in the mounting coordinate system can be determined based on the reference features of the left-end interface connector. When there is a positional difference between the current reference position of the left-end interface connector and the reference position of the left-end pad, the components of this positional difference in the X-axis and Y-axis directions can be determined as the left-end X-axis offset and the left-end Y-axis offset, respectively; when there is an angle between the current reference direction of the left-end interface connector and the reference direction of the left-end pad, the angle can be determined as the left-end rotation angle. The right-end pose deviation can be obtained in the same way as the left-end pose deviation.

[0035] Optionally, when the initial positions of the left-end pad reference feature, the left-end interface connector reference feature, the right-end pad reference feature, and the right-end interface connector reference feature are represented by image pixel coordinates, the corresponding pixel coordinates can be converted into position coordinates in the mounting coordinate system based on the pre-calibrated image ratio, camera calibration parameters, and the transformation relationship between the image coordinate system and the mounting coordinate system. Accordingly, the left-end X-axis offset and left-end Y-axis offset can be determined based on the converted left-end pad reference position and the current left-end interface connector reference position; similarly, the right-end X-axis offset and right-end Y-axis offset can be determined based on the converted right-end pad reference position and the current right-end interface connector reference position.

[0036] For example, let the reference position of the left pad be... The current reference position of the left-end interface connector is Then the left-end X-axis offset and the left-end Y-axis offset can be respectively based on and Confirmed. Let the reference direction of the left-end pad be... The current reference direction of the left-end interface connector is The rotation angle at the left end can be determined according to... Confirmed. The right-end X-axis offset, right-end Y-axis offset, and right-end rotation angle can be determined in the same way as the left end.

[0037] In this embodiment of the application, after obtaining the left-end pose deviation and the right-end pose deviation, the left-end compensation parameters and the right-end compensation parameters can be generated respectively according to the opposite adjustment direction of the corresponding offset and rotation angle, so that the subsequent adjustment process can reduce the pose deviation of the left and right end interface connectors relative to the corresponding pads respectively.

[0038] Step S200: Based on the left-end compensation parameters, compensate for the relative pre-mount orientation between the left-end interface connector and the left-end pad; based on the right-end compensation parameters, compensate for the relative pre-mount orientation between the right-end interface connector and the right-end pad.

[0039] Optionally, the relative pre-mount pose refers to the position and orientation of the interface connector relative to the corresponding pad before the interface connector makes contact with the corresponding pad. In step S200, the position and angle relationships of the left-end interface connector relative to the left-end pad are adjusted according to the left-end compensation parameters, and the position and angle relationships of the right-end interface connector relative to the right-end pad are adjusted according to the right-end compensation parameters, so that the left-end and right-end interface connectors respectively reach the initial relative mounting state that meets the subsequent approach and pressing requirements. After relative pre-mount pose compensation, the left-end and right-end interface connectors enter the subsequent approach process based on the adjusted relative poses.

[0040] In some embodiments, in step S200, the left-end compensation parameters include the left-end X-direction compensation amount, the left-end Y-direction compensation amount, and the left-end angle compensation amount, and the right-end compensation parameters include the right-end X-direction compensation amount, the right-end Y-direction compensation amount, and the right-end angle compensation amount. Figure 3 A flowchart illustrating a specific implementation of step S200 provided in an embodiment of this application is shown. Figure 3 As shown, in step S200, the relative pre-mount orientation between the left-end interface connector and the left-end pad is compensated according to the left-end compensation parameters, and the relative pre-mount orientation between the right-end interface connector and the right-end pad is compensated according to the right-end compensation parameters, including: Step S210: Based on the left-end compensation parameters and the right-end compensation parameters, determine the common plane compensation parameters used to adjust the overall pose of the PCB board, the left-end residual compensation parameters used for left-end compensation, and the right-end residual compensation parameters used for right-end compensation.

[0041] Optionally, the common plane compensation parameters are used to compensate for overall PCB board positional deviation, fixture clamping positional deviation, or overall PCB board rotational deviation. The left-end residual compensation parameters are used to compensate for the local deviation that still exists between the left-end interface connector and the left-end pad after common plane compensation is implemented; the right-end residual compensation parameters are used to compensate for the local deviation that still exists between the right-end interface connector and the right-end pad after common plane compensation is implemented.

[0042] As one implementation method, the left-end compensation parameters and right-end compensation parameters can be weighted, least-squares fitted, or fused at a preset ratio over a plane dimension that can be adjusted together to obtain common plane compensation parameters. Under small angular deviation conditions, the difference between the left-end compensation parameters and the common plane compensation parameters can be determined as the left-end residual compensation parameters, and the difference between the right-end compensation parameters and the common plane compensation parameters can be determined as the right-end residual compensation parameters. Under large angular deviation conditions, the left-end compensation parameters, right-end compensation parameters, and common plane compensation parameters can be represented as pose transformation matrices, and the left-end residual compensation parameters and right-end residual compensation parameters can be determined based on the relative transformation relationships between the pose transformation matrices.

[0043] It should be noted that the specific solution methods for the common plane compensation parameters, left-end residual compensation parameters, and right-end residual compensation parameters are not limited to the examples above. They can be determined based on the common variations, relative differences, preset compensation priorities, mounting error distribution, and the adjustable range of the fixture or interface connector. This can be achieved through coordinate transformation, parameter decomposition, weighted calculation, fitting calculation, optimization calculation, or other methods that combine overall and local compensation.

[0044] Any compensation method that can reduce the pose deviation of the left-end interface connector relative to the left-end pad and the pose deviation of the right-end interface connector relative to the right-end pad after implementing common plane compensation and left and right residual compensation is a compensation method in the embodiments of this application.

[0045] Step S220: Adjust the planar pose of the PCB board or the fixture that fixes the PCB board according to the common plane compensation parameters. Compensate the relative pre-mount pose between the left-end interface connector and the left-end pad according to the left-end residual compensation parameters. Compensate the relative pre-mount pose between the right-end interface connector and the right-end pad according to the right-end residual compensation parameters.

[0046] Optionally, adjusting the planar orientation of the PCB board or the fixture that fixes the PCB board can reduce the overall positional and angular deviations shared by both ends. After the common plane compensation is completed, the relative pre-mount orientation of the left-end interface connector is adjusted according to the left-end residual compensation parameters, and the relative pre-mount orientation of the right-end interface connector is adjusted according to the right-end residual compensation parameters, so as to reduce the local deviations at both ends respectively.

[0047] In this embodiment, by first implementing common plane compensation and then implementing left and right residual compensation, the risk of one end being aligned while the other end still has a deviation when only overall compensation is used can be reduced, and the overall position cumulative error generated when the left and right interface connectors are adjusted completely independently can also be reduced.

[0048] Step S300: Synchronously drive the left and right interface connectors to approach the corresponding left and right pads along their respective pressing directions.

[0049] Optionally, the pressing direction refers to the direction in which the interface connector moves toward the corresponding pad and forms a pressed connection. Synchronous drive does not require the left and right interface connectors to have exactly the same displacement, velocity, pressing force, or stroke at any given time. Instead, it refers to the left and right interface connectors entering the approach process in a coordinated sequence. Specifically, the left interface connector approaches the left pad along the left pressing direction, and the right interface connector approaches the right pad along the right pressing direction, causing the left and right interface connectors to gradually approach their respective corresponding connection positions.

[0050] As one implementation method, the interface connectors at both ends can start moving synchronously according to a preset approach trajectory, and reduce their moving speed after entering the preset approach distance range, so as to improve the stability of subsequent contact status judgment.

[0051] As another implementation, the left and right end interface connectors can use different approach trajectories or different approach speeds, but the two end interface connectors enter the contact state judgment process according to a preset time relationship so as to keep the subsequent mounting process coordinated.

[0052] Step S400: Obtain the left-end six-dimensional torque data corresponding to the left-end interface connector and the right-end six-dimensional torque data corresponding to the right-end interface connector. Perform coordinate system transformation and reference point conversion on the left-end six-dimensional torque data and the right-end six-dimensional torque data to obtain the left-end converted six-dimensional torque data and the right-end converted six-dimensional torque data based on the same mounting coordinate system and with the torque corresponding to the preset left-end pressing reference point and the preset right-end pressing reference point, respectively.

[0053] Optionally, both the left-end and right-end six-dimensional torque data include force data along the three coordinate axes and torque data about the three coordinate axes. In the mounting coordinate system, the Z-axis direction can be defined as the normal direction perpendicular to the plane of the PCB board, and the positive Z-axis direction is defined by a pre-defined mounting coordinate system. For the left-end and right-end interface connectors, the forces along their respective pressing directions in the corresponding converted six-dimensional torque data can be converted into positive left-end pressing forces and right-end pressing forces according to the preset direction mapping relationship between their actual pressing directions and the Z-axis direction. Among them, the torque about the X-axis and the torque about the Y-axis can be used to characterize the tilted force state of the interface connector relative to the PCB board, and the torque about the Z-axis can be used to characterize the torsional force state of the interface connector in the plane of the PCB board. Coordinate system transformation is used to convert the force data and torque data obtained from the left and right ends to the same mounting coordinate system; reference point conversion is used to map the torque data from the left and right ends to preset left-end pressing reference points and preset right-end pressing reference points, respectively. The left-end pressing reference point can be the pressing center of the left-end interface connector, the preset force center between the left-end interface connector and the left-end pad, or the contact center between the left-end interface connector and the pressing area. The right-end pressing reference point can be the pressing center of the right-end interface connector, the preset force center between the right-end interface connector and the right-end pad, or the contact center between the right-end interface connector and the pressing area. The converted six-dimensional torque data for the left and right ends can be used as input data for subsequent contact condition judgment, pressing anomaly evaluation value construction, and pressing parameter correction.

[0054] In some embodiments, in step S400, the left-end six-dimensional torque data is collected by a left-end six-dimensional force sensor disposed on the force transmission path of the left-end mounting actuator, and the right-end six-dimensional torque data is collected by a right-end six-dimensional force sensor disposed on the force transmission path of the right-end mounting actuator. Figure 4 A flowchart illustrating a specific implementation of S400 provided in this application is shown. Figure 4 As shown, coordinate system transformation and reference point conversion are performed on the six-dimensional moment data at the left and right ends, including: Step S410: Based on the pre-calibrated installation posture of the left and right six-dimensional force sensors relative to the mounting coordinate system, perform coordinate system transformation on the left and right six-dimensional torque data.

[0055] Optionally, the mounting posture can be characterized by a rotation matrix of the sensor coordinate system relative to the mounting coordinate system. Specifically, a left-end rotation matrix can be used to convert the left-end force data and left-end torque data output by the left-end six-dimensional force sensor to the mounting coordinate system, or a right-end rotation matrix can be used to convert the right-end force data and right-end torque data output by the right-end six-dimensional force sensor to the mounting coordinate system.

[0056] Step S420: Based on the pre-calibrated zero-point offset, perform zero-point compensation on the left-end six-dimensional torque data and the right-end six-dimensional torque data after coordinate system transformation.

[0057] Optionally, the zero-point offset can be obtained before mounting begins, when the sensor is unloaded, or under preset calibration conditions. Specifically, the left-end force data after coordinate system transformation can be subtracted from the corresponding left-end force zero-point offset, and the left-end torque data after coordinate system transformation can be subtracted from the corresponding left-end torque zero-point offset; the right-end six-dimensional torque data can be zero-point compensated in the same way.

[0058] Step S430: Based on the calibration position relationship between the measurement center of the left-end six-dimensional force sensor and the preset left-end pressing reference point, perform reference point conversion on the torque in the left-end six-dimensional torque data after coordinate system transformation and zero-point compensation.

[0059] Step S440: Based on the calibration position relationship between the measurement center of the right-end six-dimensional force sensor and the preset right-end pressing reference point, perform reference point conversion on the torque in the right-end six-dimensional torque data after coordinate system transformation and zero-point compensation.

[0060] Optionally, in steps S430 and S440, the reference point conversion is used to eliminate the influence of the positional difference between the sensor measurement center and the actual pressing reference point on the torque data.

[0061] As one implementation method, taking the left end as an example, let the original force vector output by the six-dimensional force sensor at the left end be... The original torque vector output by the six-dimensional force sensor on the left is .

[0062] Let the rotation matrix of the left-end six-dimensional force sensor relative to the mounting coordinate system be... Then, the left-end force vector and left-end moment vector after coordinate system transformation can be expressed as: Let the zero-point offset of the left end force after transformation to the mounting coordinate system be... The zero-point offset of the left-end torque is Then, the left-end force vector and left-end torque vector after zero-point compensation can be expressed as: Let position vector Pointing from the preset left-end pressing reference point to the measurement center of the left-end six-dimensional force sensor, the left-end torque vector at the left-end pressing reference point can be expressed as: in," " represents the cross product of vectors.

[0063] The six-dimensional torque data on the right end can be converted into coordinate systems, zero-point compensation, and reference point conversion in the same way as the six-dimensional torque data on the left end.

[0064] In this embodiment of the application, by performing coordinate system transformation, zero-point compensation and reference point conversion on the six-dimensional torque data at both ends, the force data at both ends can have a unified coordinate benchmark and a clear force reference position, thereby providing a comparable data basis for subsequent contact state judgment and pressing state comparison.

[0065] Step S500: Based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, determine whether the interface connectors at both ends have reached the contact condition; when one end interface connector reaches the contact condition first while the other end interface connector has not, adjust the position of the interface connector at the end that has reached the contact condition along the pressing direction according to the converted six-dimensional torque data of the interface connector at the end that has reached the contact condition first, so that the pressing force of the interface connector at the end that has reached the contact condition is kept within the preset contact holding force range, and drive the other end interface connector to continue to move along the pressing direction until both the left and right end interface connectors have reached the contact condition.

[0066] Optionally, the contact condition is used to characterize that the interface connector has formed initial contact with the corresponding pad or the structure to be connected located between the interface connector and the pad. When one end of the interface connector reaches the contact condition first, the interface connector that reaches the contact condition first enters the contact holding state. The contact holding state does not mean that the interface connector that reaches the contact condition first completely stops moving, but rather that, based on the converted six-dimensional torque data corresponding to that end of the interface connector, the position of that end of the interface connector along the pressing direction is finely adjusted so that the pressing force of that end of the interface connector is kept within a preset contact holding force range. Specifically, when the pressing force of the interface connector that reaches the contact condition first is lower than the lower limit of the contact holding force range, that end of the interface connector can continue to move slightly along the pressing direction; when the pressing force of that end of the interface connector is higher than the upper limit of the contact holding force range, that end of the interface connector can retract slightly in the opposite direction to the pressing direction; when the pressing force of that end of the interface connector is within the contact holding force range, the current position can be maintained or a small position adjustment can be made. The contact holding force range can be lower than the force range corresponding to the subsequent formal pressing stage, in order to reduce the risk that the first contact end will continue to be subjected to a large pressing force before the other end has reached the contact condition. Once the other end interface connector reaches the contact condition, both the left and right interface connectors will enter the contact state and can enter the subsequent synchronous pressing process.

[0067] In some embodiments, determining whether the interface connectors at the left and right ends meet the contact condition based on the converted six-dimensional torque data at the left end and the converted six-dimensional torque data at the right end includes: When the left end pressing force reaches the contact force threshold within a continuous preset sampling period, or when the rate of change of the left end pressing force reaches the contact change rate threshold within a continuous preset sampling period, the left end interface connector is determined to have reached the contact condition.

[0068] When the right-end pressing force reaches the contact force threshold within a continuous preset sampling period, or when the rate of change of the right-end pressing force reaches the contact change rate threshold within a continuous preset sampling period, the right-end interface connector is determined to have reached the contact condition.

[0069] Among them, the left end pressing force and the right end pressing force are the forces after being positively taken along the pressing direction in the corresponding converted six-dimensional torque data.

[0070] Optionally, a continuously preset sampling period is used to reduce the possibility of misjudging the contact state due to instantaneous vibration, short-term disturbance, or detection noise. The rate of change of the left-end pressing force can be determined based on the ratio of the change in the left-end pressing force within adjacent sampling periods to the corresponding sampling time interval; the rate of change of the right-end pressing force can be determined based on the ratio of the change in the right-end pressing force within adjacent sampling periods to the corresponding sampling time interval.

[0071] In some implementations, when the pressing force shows a continuous increasing trend within a continuous preset sampling period, and the corresponding rate of change reaches the contact rate of change threshold, it can be determined that the interface connector has formed initial contact with the corresponding pad or the structure to be connected.

[0072] As one implementation method, when the left end pressing force reaches the contact force threshold within multiple consecutive sampling periods, it is determined that the left end interface connector has reached the contact condition; when the left end pressing force does not reach the contact force threshold within multiple consecutive sampling periods, but the rate of change of the left end pressing force reaches the contact rate of change threshold, it can also be determined that the left end interface connector has reached the contact condition.

[0073] As another implementation, the contact conditions of the right-end interface connector can be determined in the same way as those of the left-end interface connector.

[0074] In some implementations, if the connector at the end that has not reached the contact condition still fails to do so within a preset maximum waiting time, or if the travel distance of that connector reaches a preset maximum descent distance, or if the approach force corresponding to that connector reaches a preset maximum approach force, the current placement process can be paused and an error message can be output. The error message can be used to indicate missing connectors, abnormal initial connector height, abnormal pad position, abnormal PCB warping, abnormal clamping, or other abnormal conditions affecting the placement process.

[0075] Step S600: Synchronously drive the left and right interface connectors to press them onto their respective left and right pads along their respective pressing directions.

[0076] Optionally, after both the left and right interface connectors have reached the contact condition, the left and right interface connectors enter a synchronous pressing process. The synchronous pressing process is used to move the left and right interface connectors along their respective pressing directions, so that the left and right interface connectors respectively form a mounting state that matches the corresponding pads. The left and right interface connectors can have the same pressing cycle during the synchronous pressing process, or they can complete the pressing according to a coordinated pressing cycle.

[0077] Optionally, the connection method between the interface connector and the PCB board can be solder paste connection, conductive adhesive connection, structural adhesive connection, hot press film connection, crimp connection, pin press-in connection, snap-fit ​​connection, or other connection methods that can form a mechanical connection, electrical connection, or a combination of mechanical and electrical connection.

[0078] In some implementations, at least one of the PCB board, the left-end interface connector, and the right-end interface connector may be preheated, temperature stabilized, or temperature compensated before or during synchronous pressing to reduce dimensional changes, material condition fluctuations, or mounting errors caused by temperature variations.

[0079] It should be noted that preheating, temperature stabilization, or temperature compensation are used to assist the mounting process and are not intended to require that the interface connector and the PCB board be soldered, cured, or latched in this step.

[0080] As one implementation method, the pressing operation can directly form a connection between the interface connector and the PCB board.

[0081] As another implementation, the pressing operation can be used to complete the pre-positioning and initial pressing between the interface connector and the corresponding pad before subsequent reflow, curing, latching or other fixing processes.

[0082] Step S700: During the pressing process, determine the left-end pressing force and the right-end pressing force based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, and construct a pressing anomaly evaluation value; determine the correction range of the pressing parameters of the left and right ends based on the pressing anomaly evaluation value; determine the correction direction based on the deviation of the left-end pressing force relative to the left-end target pressing force of the corresponding pressing stage, the deviation of the right-end pressing force relative to the right-end target pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end; and correct the pressing parameters of the left and right ends based on the correction range and correction direction.

[0083] Optionally, the pressing anomaly evaluation value is used to characterize the degree of anomaly of the left and right end interface connectors in the current pressing stage. The correction amplitude is used to determine the degree of adjustment of the current pressing parameters, and the correction direction is used to determine the adjustment direction of the left and right end pressing parameters towards increase, decrease, positive compensation, or reverse compensation. Specifically, based on the converted six-dimensional torque data of the left and right end interface connectors in the current pressing stage, the corresponding left-end pressing force and right-end pressing force can be determined, and a pressing anomaly evaluation value can be constructed according to preset evaluation rules. Based on the correspondence between the pressing anomaly evaluation value and the preset evaluation interval, the correction amplitude of the current pressing parameters is determined. Based on the deviation of the left-end pressing force from the target left-end pressing force in the corresponding pressing stage, the adjustment direction of the pressure-related pressing parameters on the left end is determined; based on the deviation of the right-end pressing force from the target right-end pressing force in the corresponding pressing stage, the adjustment direction of the pressure-related pressing parameters on the right end is determined. Based on the sign of the torque in the converted six-dimensional torque data of the left and right ends, the angle compensation direction of the corresponding interface connector is determined; based on the magnitude of the torque, the magnitude of the angle compensation amount of the corresponding interface connector is determined. By using the evaluation value of abnormal pressing as the basis for determining the correction range, and using the deviation of left and right pressing forces and the sign and magnitude of the torque as the basis for determining the correction direction, the degree and direction of adjustment of the pressing parameters at both ends can be coordinated to adapt to the actual stress state during the pressing process.

[0084] In some embodiments, the compression anomaly evaluation value E is calculated using the following formula: in: in, and These are the left end pressing force and the right end pressing force, respectively. and These are the target pressure forces at the left and right stages corresponding to the current sampling time and the compression stage, respectively. The target pressure forces at the left and right stages are determined based on the corresponding stage pressure curves. and These are the normalized reference values ​​for the left-end compressive force and the right-end compressive force, respectively. and These are the normalized pressure deviations at the left and right ends, respectively. , and These are the torques about the X-axis, Y-axis, and Z-axis from the six-dimensional torque data converted on the left side, respectively. , and These are the torques about the X-axis, Y-axis, and Z-axis from the converted six-dimensional torque data on the right side, respectively. and These are the left-end tilting moment values ​​obtained by combining the left-end torque around the X-axis and the Y-axis, respectively, and the right-end tilting moment values ​​obtained by combining the right-end torque around the X-axis and the Y-axis, respectively. and These are the torsional moments at the left and right ends, respectively. and These are the limit values ​​of the tilting moment at the left end and the limit values ​​of the tilting moment at the right end, respectively. and These are the limit values ​​of the torsional moment at the left end and the limit values ​​of the torsional moment at the right end, respectively. , , , , as well as All are preset reference values ​​or preset limit values ​​that are greater than zero.

[0085] , , , and All are non-negative weighting coefficients, and , , , and The sum is greater than zero.

[0086] Optionally, and The difference between them is used to reflect the deviation of the current pressing force on the left end from the target pressing force on the left end in the current pressing stage; and The difference between them is used to reflect the deviation of the current pressing force on the right end from the target pressing force on the right end in the current pressing stage.

[0087] Optionally, Used to reflect the difference between the normalized pressure deviations at the left and right ends; It is used to reflect the end that deviates more from its own stage target pressure between the left and right ends.

[0088] Optionally, Used to reflect the difference between the tilting moment states at the left and right ends; It is used to reflect the end with a greater risk of tilting between the left and right ends.

[0089] Optionally, Used to reflect the difference between the torsional moment states at the left and right ends; It is used to reflect the end with a greater risk of torsion between the left and right ends.

[0090] In some embodiments, step S700, determining the correction range of the pressing parameters at both ends based on the pressing anomaly evaluation value, includes: When the abnormal pressing evaluation value is less than or equal to the first threshold, pressing continues according to the current pressing parameters.

[0091] When the abnormal pressing evaluation value is greater than the first threshold and less than or equal to the second threshold, the corresponding correction range is determined from the preset correction range set according to the preset evaluation range where the abnormal pressing evaluation value is located, and the pressure increase rate is reduced according to the correction range, or at least one of the pressing speed, pressing stroke, target pressing force, holding time and angle compensation is adjusted.

[0092] When the abnormal pressing value exceeds the second threshold, the pressing operation is paused, and the left and right interface connectors are slightly retracted in the opposite direction to the pressing direction. The second threshold is greater than the first threshold.

[0093] When the left-end pressing force exceeds the maximum left-end pressing force threshold, or the right-end pressing force exceeds the maximum right-end pressing force threshold, the pressing operation is paused, and the interface connector exceeding the maximum pressing force threshold is slightly retracted in the opposite direction to the pressing direction. Optionally, even if the pressing anomaly evaluation value does not exceed the second threshold, as long as the pressing force at either end exceeds the corresponding maximum pressing force threshold, the pressing operation can be paused and the over-limit end can be slightly retracted.

[0094] As one implementation method, the first threshold, the second threshold, the maximum pressing force threshold, the weighting coefficient, the normalized reference value, and the limit value can be preset according to the interface connector structure, connection method, PCB board material, pressing process requirements, and process verification results.

[0095] As another implementation, the preset correction range set may include multiple correction range levels. The higher the pressing anomaly evaluation value, the larger the corresponding correction range level can be.

[0096] In some embodiments, Figure 5 A flowchart illustrating a specific implementation of step S700 provided in an embodiment of this application is shown. Figure 5 As shown, the correction direction is determined based on the deviation of the left-end pressing force relative to the target left-end pressing force of the corresponding pressing stage, the deviation of the right-end pressing force relative to the target right-end pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the converted six-dimensional torque data of the left and right ends. This includes: Step S710: Based on the deviation of the left end pressing force relative to the left end target pressing force of the corresponding pressing stage, and the deviation of the right end pressing force relative to the right end target pressing force of the corresponding pressing stage, determine the adjustment direction of the pressure-related pressing parameters at both ends.

[0097] Optionally, when the left-end pressing force is higher than the target left-end pressing force for the corresponding pressing stage, the left-end pressure-related pressing parameters can be adjusted in the direction of reducing the pressing force; when the left-end pressing force is lower than the target left-end pressing force for the corresponding pressing stage, the left-end pressure-related pressing parameters can be adjusted in the direction of increasing the pressing force. The deviation of the right-end pressing force from the target right-end pressing force for the corresponding pressing stage can be determined using the same logic as for the left end to determine the direction of adjustment of the right-end pressure-related pressing parameters.

[0098] Step S720: Determine the angle compensation direction of the corresponding interface connector according to the preset correspondence between the torque symbol and the angle compensation direction.

[0099] Optionally, the correspondence between the torque sign and the angle compensation direction can be pre-calibrated based on the installation posture of the left and right end interface connectors, the definition of the mounting coordinate system, and the execution direction.

[0100] Step S730: Determine the axial angle compensation amount of the corresponding interface connector based on the magnitude of the torque around the X-axis, the torque around the Y-axis and the torque around the Z-axis of the corresponding interface connector, as well as the correction range corresponding to the crimping anomaly evaluation value.

[0101] Optionally, the larger the absolute value of the torque, the greater the angle compensation of the corresponding axis can be under the same correction range; the greater the correction range corresponding to the evaluation range where the pressing abnormality evaluation value is located, the greater the angle compensation of the corresponding axis can also be.

[0102] Step S740: Perform angle compensation during the low-load contact stage, the pressing parameter adjustment stage, or the realignment stage after micro-retraction.

[0103] Step S750: When the target pressing force of the current pressing stage is greater than or equal to the preset high load threshold, limit the angle compensation amount and prohibit displacement compensation exceeding the preset displacement threshold in the direction perpendicular to the pressing direction.

[0104] Among them, the low-load contact stage can be the stage after the interface connector reaches the contact condition but before the pressing force has been increased to the target pressing force of the formal pressing stage; the pressing parameter adjustment stage can be the stage to correct the pressing parameters according to the pressing abnormality evaluation value; the re-alignment stage after micro-retraction can be the stage after the interface connector has slightly retracted in the opposite direction to the pressing direction and the relative mounting state has been readjusted again.

[0105] The high load threshold is used to distinguish between low load adjustment and high load pressing states. When the target pressing force in the current pressing stage is greater than or equal to the high load threshold, the angle compensation amount and lateral displacement compensation are limited, which helps to reduce the risk of pad scratching, connection structure damage, or increased local stress on the PCB board under high load conditions.

[0106] As one implementation, when the sign of the torque around the X-axis of a certain interface connector indicates that the interface connector is tilted in the first direction, the interface connector can be controlled to perform angle compensation along the compensation angle direction corresponding to the first direction; when the sign of the torque around the X-axis is opposite, the interface connector can be controlled to perform angle compensation along the opposite compensation angle direction.

[0107] As another implementation, the torque about the Y-axis can be used to determine the angular compensation direction of the interface connector in another tilt direction; the torque about the Z-axis can be used to determine the planar torsional compensation direction of the interface connector.

[0108] In this embodiment, steps S100 to S700 are performed to acquire the pose deviation and compensate for the relative pre-mount pose of the left and right end interface connectors, respectively, so that the left and right end interface connectors approach the corresponding pads with a small initial deviation; the left and right six-dimensional torque data are converted to a unified mounting coordinate system and converted to the corresponding pressing reference point, so that the pressing state of the left and right ends is comparable; when one end reaches the contact condition first, the first contact end is kept within the preset contact holding force range, so that the other end continues to approach, reducing the risk of local overpressure or off-center load caused by continuous pressure on one end; after both ends reach the contact condition, the pressing parameters are corrected according to the pressing anomaly evaluation value, the pressing force deviation of each end and the torque state, thereby improving the consistency and stability of the mounting of the double-ended interface connectors.

[0109] In some embodiments, the USSD dual-head synchronous mounting method provided in this application further includes: Step S800: After pressing is completed, obtain the interface side images of the left and right interface connectors, and determine the coplanarity, gap and tilt angle of the left and right interface connectors relative to the PCB board based on the interface side images.

[0110] Optionally, the interface side image may include the side profile of the interface connector, the bottom edge of the interface connector, the edge of the interface connector housing, the edge of the PCB board, the lateral reference line of the PCB board, or other side view features that can characterize the positional relationship of the interface connector relative to the PCB board.

[0111] Among them, coplanarity is used to characterize the maximum deviation of the interface connector's preset detection edge, preset mounting surface, or multiple preset detection points from the PCB reference plane; gap is used to characterize the distance between the interface connector's preset detection position and the corresponding reference position on the PCB; tilt angle is used to characterize the angle between the interface connector's preset detection edge or mounting surface and the PCB reference plane, reference line, or preset direction.

[0112] Step S900: Identify the interface connectors whose at least one test result does not meet the corresponding preset tolerance requirement as interface connectors to be adjusted. Optionally, interface connectors whose test results for coplanarity, clearance, and tilt angle do not meet the corresponding preset tolerance requirements can be identified as interface connectors to be adjusted.

[0113] When all test results for the left and right interface connectors meet the corresponding preset tolerance requirements, a pass / fail judgment is performed. When all test results for the left and right interface connectors do not exceed the corresponding allowable adjustment range, and there is at least one interface connector to be adjusted, and the connection structure of each interface connector to be adjusted is within the process window allowing for minor deformation adjustment, a second micro-pressing is performed. When any test result for any interface connector exceeds the corresponding allowable adjustment range, or the connection structure of any interface connector to be adjusted is not within the process window allowing for minor deformation adjustment, a rejection process is performed. Optionally, the allowable adjustment range is used to characterize the range of test results that, although not meeting the preset tolerance requirements, still have the possibility of adjustment through low-incremental pressing. The process window allowing for minor deformation adjustment refers to the process state where the connection structure between the interface connector and the PCB board can still be slightly adjusted through controlled low-incremental pressing.

[0114] As one implementation, when the interface connector and the PCB board are connected using solder paste, the process window that allows for minor deformation adjustment can be located before the reflow soldering is completed; when the interface connector and the PCB board are connected using adhesive, the process window that allows for minor deformation adjustment can be located before the adhesive is fully cured; when the interface connector and the PCB board are connected using locking, crimping, or snap-fit, the process window that allows for minor deformation adjustment can be located before locking is completed, or at a stage where the connection structure still allows for minor deformation adjustment.

[0115] In some embodiments of the USSD dual-head synchronous mounting method provided in this application, in step S900, when the detection results of the left-end interface connector and the right-end interface connector do not exceed the corresponding allowable adjustment range, there is at least one interface connector to be adjusted, and the connection structure of each interface connector to be adjusted is within the process window that allows for slight deformation adjustment, a secondary micro-pressing is performed, including: Step S910: For each connector to be adjusted, perform secondary micro-pressing using a low-increment pressure curve, and limit the maximum pressing force and maximum torque during the secondary micro-pressing process. Optionally, the low-increment pressure curve may include a low-speed approach stage, a micro-increment loading stage, a short-term holding stage, and a force verification stage.

[0116] Step S920: After the secondary micro-pressing is completed, re-acquire the interface side image of each connector to be adjusted, and determine the coplanarity, gap and tilt angle of the corresponding connector to be adjusted based on the re-acquired interface side image.

[0117] Step S930: When the re-inspection result of any interface connector to be adjusted does not meet the corresponding preset tolerance requirements, the rejection process is performed.

[0118] In one implementation, the maximum pressing force during the secondary micro-pressing process can be less than or equal to the preset upper limit of the secondary pressing force, and the maximum torque during the secondary micro-pressing process can be less than or equal to the preset upper limit of the secondary pressing torque.

[0119] In this embodiment, by performing side-view inspection after pressing, secondary micro-pressing, and re-inspection, controlled adjustments can be made to interface connectors that are within the allowable adjustment range and the allowable micro-deformation adjustment process window; interface connectors that exceed the allowable adjustment range or are no longer within the allowable adjustment conditions are rejected, thereby improving the reliability of product quality judgment.

[0120] In some implementations, for each USSD dual-head product, the following data can be recorded: left-end pose deviation, right-end pose deviation, left and right compensation parameters, left and right contact time, left and right six-dimensional torque data, pressing anomaly evaluation value, pressing parameter correction result, pressing test result and pass / fail judgment result.

[0121] The system can aggregate recorded data from multiple USSD dual-head products according to preset batches. Based on the distribution of pressing anomaly evaluation values, pressing parameter correction results, post-pressing test results, and reasons for non-conformity within each batch, the initial pressing parameters for subsequent batches can be updated. Optionally, the update range of the initial pressing parameters is limited to a preset update range, and the previously verified parameters are retained. If the updated initial pressing parameters lead to an increased anomaly rate, pressing anomaly evaluation values ​​exceeding the preset range, or abnormal test results, the system can revert to the previously verified parameters and output equipment maintenance or process review prompts.

[0122] It should be noted that, in the above embodiments, steps S100 to S900 can be executed by the controller of the production equipment based on a preset control program. The controller can acquire position deviation data, six-dimensional torque data, and pressing state data, and generate corresponding compensation commands, movement commands, and pressing parameter correction commands according to preset control logic to control the left and right end interface connectors to complete the corresponding mounting process.

[0123] The side-view inspection after pressing, secondary micro-pressing, and rejection processing can be implemented by the controller, or by an image processing unit, process control unit, or production line control unit that communicates with the controller, depending on the production line configuration. The controller can be an industrial controller, programmable logic controller, motion controller, embedded processor, or a control unit composed of the above components.

[0124] This application also provides a USSD dual-head synchronous mounting system for manufacturing USSD dual-head products. The USSD dual-head product includes a PCB board, a left-end interface connector mounted on the left end of the PCB board, and a right-end interface connector mounted on the right end of the PCB board.

[0125] The USSD dual-head synchronous placement system includes a PCB board fixing fixture, a left-end placement actuator, a right-end placement actuator, a pose compensation mechanism, a top-view image acquisition device, a side-view image acquisition device, a left-end six-dimensional force sensor, a right-end six-dimensional force sensor, a rejection mechanism, and a controller.

[0126] The PCB board fixing fixture is used to fix the PCB board, so that the PCB board maintains a preset clamping state during the pose detection, relative pre-mount pose compensation, interface connector approach and pressing processes. For example, the PCB board fixing fixture can be implemented by vacuum adsorption fixture, mechanical positioning fixture, clamping fixture, positioning pin limiting fixture or other fixing structures that can limit the position change of the PCB board.

[0127] The left-end mounting actuator is used to hold the left-end interface connector and drive the left-end interface connector to move along the left-end pressing direction; the right-end mounting actuator is used to hold the right-end interface connector and drive the right-end interface connector to move along the right-end pressing direction.

[0128] Optionally, both the left-end and right-end mounting actuators may include a drive assembly and a holding assembly. The drive assembly may be implemented using a servo drive structure, a linear module, a pneumatic actuator, a piezoelectric actuator, a precision displacement platform, or other structures capable of position adjustment and pressing movement. The holding assembly may be implemented using a vacuum adsorption assembly, a clamping assembly, a limiting assembly, or other structures capable of stably holding the interface connector.

[0129] The pose compensation mechanism is used to compensate for the relative pre-mount pose between the left-end interface connector and the left-end pad of the PCB board, and between the right-end interface connector and the right-end pad of the PCB board.

[0130] Optionally, the pose compensation mechanism can achieve relative pre-mount pose compensation by adjusting the position and angle of at least one of the PCB board, the fixture for fixing the PCB board, the left-end interface connector, and the right-end interface connector.

[0131] For example, the pose compensation mechanism can be implemented using a planar motion platform, an XY adjustment mechanism, a rotation compensation platform, an angle adjustment mechanism, a micro-displacement adjustment mechanism, or other structures capable of achieving planar position adjustment and angle adjustment.

[0132] The top-view image acquisition device is used to acquire top-view images of the pads at both ends of the PCB board and the corresponding interface connectors. The top-view images acquired by the top-view image acquisition device can be used to determine the left-end pose deviation between the left-end pad of the PCB board and the left-end interface connector, and the right-end pose deviation between the right-end pad of the PCB board and the right-end interface connector.

[0133] The side-view image acquisition device is used to acquire side images of the interfaces of the left and right end connectors. These side-view images can be used for coplanarity, clearance, and tilt angle detection after the bonding process is complete.

[0134] For example, the top-view image acquisition device and the side-view image acquisition device may each include at least one of an industrial camera, a lens, a light source assembly, an image acquisition card, and a related mounting structure.

[0135] A six-dimensional force sensor is positioned on the force transmission path of the left-end mounting actuator to collect six-dimensional torque data. A six-dimensional force sensor is positioned on the force transmission path of the right-end mounting actuator to collect six-dimensional torque data.

[0136] Optionally, the left-end six-dimensional force sensor and the right-end six-dimensional force sensor can be respectively set at the force transmission position between the corresponding mounting actuator and the corresponding interface connector, so that the collected six-dimensional torque data can reflect the triaxial force and triaxial torque state of the corresponding interface connector during the approach and pressing process.

[0137] The rejection mechanism is used to reject non-conforming USSD dual-head products. Exemplarily, the rejection mechanism may be implemented using a sorting mechanism, a pushing mechanism, a transfer mechanism, a robotic arm, an air blowing mechanism, a marking mechanism, or other processing structures capable of distinguishing non-conforming products from conforming products.

[0138] The controller is connected to the left-end mounting actuator, the right-end mounting actuator, the pose compensation mechanism, the top view image acquisition device, the side view image acquisition device, the left-end six-dimensional force sensor, the right-end six-dimensional force sensor, and the rejection mechanism.

[0139] Specifically, the controller is used to determine the left-end pose deviation between the left-end pad and the left-end interface connector of the PCB board, and the right-end pose deviation between the right-end pad and the right-end interface connector of the PCB board, based on the top-view image acquired by the top-view image acquisition device; and to generate left-end compensation parameters based on the left-end pose deviation and right-end compensation parameters based on the right-end pose deviation.

[0140] The controller is also used to control the pose compensation mechanism to compensate for the relative pre-mount pose between the left-end interface connector and the left-end pad according to the left-end compensation parameters; and to compensate for the relative pre-mount pose between the right-end interface connector and the right-end pad according to the right-end compensation parameters.

[0141] The controller is also used to control the left-end placement actuator and the right-end placement actuator to synchronously drive the left-end interface connector and the right-end interface connector to approach the corresponding left-end pad and right-end pad respectively along their respective pressing directions.

[0142] The controller is also used to acquire the left-end six-dimensional torque data collected by the left-end six-dimensional force sensor and the right-end six-dimensional torque data collected by the right-end six-dimensional force sensor, and to perform coordinate system transformation and reference point conversion on the left-end six-dimensional torque data and the right-end six-dimensional torque data, respectively, based on the same mounting coordinate system and with the torque corresponding to the preset left-end pressing reference point and the preset right-end pressing reference point.

[0143] The controller is also used to determine whether the interface connectors at the left and right ends have reached the contact condition based on the converted six-dimensional torque data at the left end and the converted six-dimensional torque data at the right end.

[0144] When one end of the interface connector reaches the contact condition first while the other end does not, the controller controls the corresponding mounting actuator to adjust the position of the interface connector along the pressing direction based on the converted six-dimensional torque data of the interface connector that reaches the contact condition first, so that the pressing force of the interface connector at that end is kept within the preset contact holding force range; at the same time, the controller controls the other end mounting actuator to drive the other end interface connector to continue moving along the pressing direction until both the left and right end interface connectors reach the contact condition.

[0145] After the interface connectors at both ends reach the contact condition, the controller controls the left-end placement actuator and the right-end placement actuator to synchronously drive the left-end interface connector and the right-end interface connector to press onto the corresponding left-end pad and right-end pad respectively along their respective pressing directions.

[0146] During the pressing process, the controller determines the left and right pressing forces based on the converted six-dimensional torque data of the left and right ends, and constructs a pressing anomaly evaluation value. Based on the pressing anomaly evaluation value, the controller determines the correction range of the pressing parameters at both ends, and determines the correction direction based on the deviation of the left pressing force relative to the target left pressing force of the corresponding pressing stage, the deviation of the right pressing force relative to the target right pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the converted six-dimensional torque data of the left and right ends. Based on the correction range and correction direction, the controller controls the left and right mounting actuators to correct the pressing parameters at both ends.

[0147] In some implementations, the controller may also be communicatively connected to an image processing unit, a process control unit, or a production line control unit. The side-view image acquisition device acquires an image of the interface side after lamination. Based on this image, the image processing unit, process control unit, or production line control unit determines the coplanarity, gap, and tilt angle of the left and right interface connectors relative to the PCB board.

[0148] When all test results of the connectors at both ends meet the corresponding preset tolerance requirements, a pass / fail judgment can be performed; when the test results do not exceed the corresponding allowable adjustment range and the corresponding connection structure is within the process window for allowing slight deformation adjustment, the corresponding mounting mechanism can be controlled to perform secondary micro-pressing and re-inspection; when the test results exceed the allowable adjustment range, or the corresponding connection structure is not within the process window for allowing slight deformation adjustment, the rejection mechanism can be controlled to perform non-conforming product rejection processing.

[0149] It should be understood that the PCB board fixing fixture, the left-end mounting actuator, the right-end mounting actuator, the pose compensation mechanism, the top-view image acquisition device, the side-view image acquisition device, the left-end six-dimensional force sensor, the right-end six-dimensional force sensor, the rejection mechanism, and the controller can all be implemented using common industrial equipment, industrial components, or hardware-software combined structures in this field. The specific mechanical structure, transmission method, internal circuit, image acquisition method, and installation form of each component can be selected or adjusted according to the actual production line configuration, interface connector structure, and process requirements, and do not constitute a limitation on the technical solution of this application.

[0150] This embodiment does not focus on improving the specific internal structure of the fixing fixture, mounting execution mechanism, image acquisition device, six-dimensional force sensor, rejection mechanism, or controller itself. Instead, it utilizes the data interaction and coordinated control relationship between the components to achieve independent pose compensation, contact timing coordination, unified processing of pressing force state, and adaptive correction of pressing parameters for the left and right end interface connectors. This improves the force coordination, mounting consistency, and process stability during the synchronous mounting process of the dual-end interface connectors.

[0151] The above description, in conjunction with specific embodiments, provides a further detailed explanation of this application and should not be construed as limiting the specific implementation of this application to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of this application, and all such modifications and substitutions should be considered within the scope of protection of this application.

Claims

1. A method for simultaneous placement of dual-head USSDs, characterized in that, A method applied to the manufacturing process of a dual-head USSD product, the dual-head USSD product comprising a PCB board, a left-end interface connector mounted on the left end of the PCB board, and a right-end interface connector mounted on the right end of the PCB board, the method comprising: The left-end pose deviation between the left-end pad of the PCB board and the left-end interface connector, and the right-end pose deviation between the right-end pad of the PCB board and the right-end interface connector are obtained. Left-end compensation parameters are generated based on the left-end pose deviation, and right-end compensation parameters are generated based on the right-end pose deviation. The relative pre-mount orientation between the left-end interface connector and the left-end pad is compensated according to the left-end compensation parameters, and the relative pre-mount orientation between the right-end interface connector and the right-end pad is compensated according to the right-end compensation parameters. The left-end interface connector and the right-end interface connector are synchronously driven to approach the corresponding left-end pad and right-end pad respectively along their respective pressing directions; Obtain the left-end six-dimensional torque data corresponding to the left-end interface connector and the right-end six-dimensional torque data corresponding to the right-end interface connector. Perform coordinate system transformation and reference point conversion on the left-end six-dimensional torque data and the right-end six-dimensional torque data to obtain the left-end converted six-dimensional torque data and the right-end converted six-dimensional torque data based on the same mounting coordinate system and with the torque corresponding to the preset left-end pressing reference point and the preset right-end pressing reference point, respectively. Based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, it is determined whether the interface connectors at both ends have reached the contact condition. When one end interface connector reaches the contact condition first while the other end interface connector has not, the position of the interface connector at the end that reaches the contact condition first is adjusted along the pressing direction according to the converted six-dimensional torque data of the interface connector at the end that reaches the contact condition first, so that the pressing force of the interface connector at the end that reaches the contact condition is kept within the preset contact holding force range, and the other end interface connector is driven to continue to move along the pressing direction until both the left and right end interface connectors reach the contact condition. The left-end interface connector and the right-end interface connector are synchronously driven to press onto the corresponding left-end pad and right-end pad respectively along their respective pressing directions; During the pressing process, the left-end pressing force and the right-end pressing force are determined based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, and a pressing anomaly evaluation value is constructed. The correction range of the pressing parameters at both ends is determined based on the pressing anomaly evaluation value. The correction direction is determined based on the deviation of the left-end pressing force relative to the left-end target pressing force of the corresponding pressing stage, the deviation of the right-end pressing force relative to the right-end target pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end. The pressing parameters at both ends are corrected according to the correction range and the correction direction.

2. The USSD dual-head synchronous mounting method according to claim 1, characterized in that, The step of obtaining the left-end pose deviation between the left-end pad of the PCB board and the left-end interface connector, and the right-end pose deviation between the right-end pad of the PCB board and the right-end interface connector includes: Obtain a top view image of the left end including the left end pad and the left end interface connector, and a top view image of the right end including the right end pad and the right end interface connector; The reference features of the left-end pad and the reference features of the left-end interface connector are identified based on the top view image of the left end; the reference features of the right-end pad and the reference features of the right-end interface connector are identified based on the top view image of the right end. The left-end pose deviation is determined based on the positional relationship between the reference features of the left-end pad and the reference features of the left-end interface connector; the right-end pose deviation is determined based on the positional relationship between the reference features of the right-end pad and the reference features of the right-end interface connector. The left-end pose deviation includes the left-end X-axis offset, the left-end Y-axis offset, and the left-end rotation angle; the right-end pose deviation includes the right-end X-axis offset, the right-end Y-axis offset, and the right-end rotation angle.

3. The USSD dual-head synchronous placement method according to claim 1, characterized in that, The left-end compensation parameters include left-end X-direction compensation amount, left-end Y-direction compensation amount and left-end angle compensation amount, and the right-end compensation parameters include right-end X-direction compensation amount, right-end Y-direction compensation amount and right-end angle compensation amount; The step of compensating for the relative pre-mount orientation between the left-end interface connector and the left-end pad according to the left-end compensation parameters, and compensating for the relative pre-mount orientation between the right-end interface connector and the right-end pad according to the right-end compensation parameters, includes: Based on the left-end compensation parameters and the right-end compensation parameters, determine the common plane compensation parameters used to adjust the overall pose of the PCB board, the left-end residual compensation parameters used for left-end compensation, and the right-end residual compensation parameters used for right-end compensation. According to the common plane compensation parameters, the planar orientation of the PCB board or the fixture that fixes the PCB board is adjusted. According to the left-end residual compensation parameters, the relative pre-mount orientation between the left-end interface connector and the left-end pad is compensated. According to the right-end residual compensation parameters, the relative pre-mount orientation between the right-end interface connector and the right-end pad is compensated.

4. The USSD dual-head synchronous mounting method according to claim 1, characterized in that, The left-end six-dimensional torque data is collected by a left-end six-dimensional force sensor located on the force transmission path of the left-end mounting actuator, and the right-end six-dimensional torque data is collected by a right-end six-dimensional force sensor located on the force transmission path of the right-end mounting actuator. The coordinate system transformation and reference point conversion for the left-end six-dimensional moment data and the right-end six-dimensional moment data include: Based on the pre-calibrated mounting orientation of the left-end six-dimensional force sensor and the right-end six-dimensional force sensor relative to the mounting coordinate system, coordinate system transformation is performed on the left-end six-dimensional torque data and the right-end six-dimensional torque data; Based on the pre-calibrated zero-point offset, zero-point compensation is performed on the left-end six-dimensional torque data and the right-end six-dimensional torque data after coordinate system transformation; Based on the calibrated positional relationship between the measurement center of the left-end six-dimensional force sensor and the preset left-end pressing reference point, the torque in the left-end six-dimensional torque data after coordinate system transformation and zero-point compensation is converted to a reference point. Based on the calibrated positional relationship between the measurement center of the right-end six-dimensional force sensor and the preset right-end pressing reference point, the torque in the right-end six-dimensional torque data after coordinate system transformation and zero-point compensation is converted to a reference point.

5. The USSD dual-head synchronous placement method according to claim 1, characterized in that, The step of determining whether the interface connectors at the left and right ends meet the contact condition based on the converted six-dimensional torque data at the left end and the converted six-dimensional torque data at the right end includes: When the left end pressing force reaches the contact force threshold within a continuous preset sampling period, or when the rate of change of the left end pressing force reaches the contact change rate threshold within a continuous preset sampling period, it is determined that the left end interface connector has reached the contact condition. When the right end pressing force reaches the contact force threshold within a continuous preset sampling period, or when the rate of change of the right end pressing force reaches the contact change rate threshold within a continuous preset sampling period, it is determined that the right end interface connector has reached the contact condition. Wherein, the left end pressing force and the right end pressing force are both forces that are positively taken along the pressing direction from the corresponding converted six-dimensional torque data.

6. The USSD dual-head synchronous placement method according to claim 1, characterized in that, The compression anomaly evaluation value E is calculated using the following formula: in: in, and These are the left end pressing force and the right end pressing force, respectively; and These are the target pressure forces at the left and right ends of the current sampling time, respectively, which are determined based on the corresponding stage pressure curves. and These are the normalized reference values ​​for the left-end compressive force and the right-end compressive force, respectively. and These are the normalized pressure deviations at the left and right ends, respectively. , and These are the torque around the X-axis, torque around the Y-axis, and torque around the Z-axis in the six-dimensional torque data converted from the left end, respectively. , and These are the torque around the X-axis, torque around the Y-axis, and torque around the Z-axis in the converted six-dimensional torque data on the right end, respectively. and These are the left-end tilting moment values ​​obtained by combining the left-end torque around the X-axis and the Y-axis, respectively, and the right-end tilting moment values ​​obtained by combining the right-end torque around the X-axis and the Y-axis, respectively. and These are the torsional moments at the left and right ends, respectively. and These are the limit values ​​of the tilting moment at the left end and the limit values ​​of the tilting moment at the right end, respectively. and These are the limit values ​​of the torsional moment at the left end and the limit values ​​of the torsional moment at the right end, respectively. , , , , as well as All are preset reference values ​​or preset limit values ​​that are greater than zero. , , , and All are non-negative weighting coefficients, and , , , and The sum is greater than zero. The step of determining the correction range of the left and right end pressing parameters based on the pressing anomaly evaluation value includes: When the compression anomaly evaluation value is less than or equal to the first threshold, compression continues according to the current compression parameters; When the abnormal pressing evaluation value is greater than the first threshold and less than or equal to the second threshold, the corresponding correction range is determined from the preset correction range set according to the preset evaluation range where the abnormal pressing evaluation value is located, and the pressure increase rate is reduced according to the correction range, or at least one of the pressing speed, pressing stroke, target pressing force, holding time and angle compensation is adjusted. When the pressing abnormality evaluation value is greater than the second threshold, the pressing operation is paused, and the left end interface connector and the right end interface connector are slightly retracted in the opposite direction to the pressing direction. Wherein, the second threshold is greater than the first threshold; When the left end pressing force exceeds the left end maximum pressing force threshold, or the right end pressing force exceeds the right end maximum pressing force threshold, the pressing operation is paused, and the interface connector that exceeds the maximum pressing force threshold is slightly retracted in the opposite direction to the pressing direction.

7. The USSD dual-head synchronous placement method according to claim 1, characterized in that, The step of determining the correction direction based on the deviation of the left-end pressing force relative to the left-end target pressing force of the corresponding pressing stage, the deviation of the right-end pressing force relative to the right-end target pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the left-end converted six-dimensional torque data and the right-end converted six-dimensional torque data includes: Based on the deviation of the left end pressing force relative to the left end target pressing force of the corresponding pressing stage, and the deviation of the right end pressing force relative to the right end target pressing force of the corresponding pressing stage, determine the adjustment direction of the pressure-related pressing parameters at both ends. Based on the preset correspondence between torque symbols and angle compensation directions, the angle compensation direction of the corresponding interface connector is determined. Based on the magnitudes of the torques around the X-axis, Y-axis, and Z-axis of the corresponding interface connector, and the correction range corresponding to the press-fit anomaly evaluation value, determine the compensation amount for each axis angle of the corresponding interface connector. Angle compensation is performed during the low-load contact stage, the pressing parameter adjustment stage, or the realignment stage after micro-retraction. When the target pressing force in the current pressing stage is greater than or equal to the preset high load threshold, the angle compensation amount is limited, and displacement compensation exceeding the preset displacement threshold is prohibited in the direction perpendicular to the pressing direction.

8. The USSD dual-head synchronous mounting method according to claim 1, characterized in that, The method further includes: After lamination is completed, the interface side images of the left-end interface connector and the right-end interface connector are obtained, and the coplanarity, gap and tilt angle of the left-end interface connector and the right-end interface connector relative to the PCB board are determined according to the interface side images. Interface connectors that have at least one test result that does not meet the corresponding preset tolerance requirements are identified as interface connectors that need to be adjusted. When all test results of the left and right interface connectors meet the corresponding preset tolerance requirements, a pass / fail judgment is executed. When the test results of the left and right interface connectors do not exceed the corresponding allowable adjustment range, and there is at least one interface connector to be adjusted, and the connection structure of each interface connector to be adjusted is within the process window that allows for slight deformation adjustment, a second micro-pressing is performed. If any test result of any interface connector exceeds the corresponding allowable adjustment range, or if the connection structure of any interface connector to be adjusted is not within the process window that allows for minor deformation adjustment, a rejection process will be performed.

9. The USSD dual-head synchronous placement method according to claim 8, characterized in that, The process of performing secondary micro-pressing includes: For each connector interface to be adjusted, a low-increment pressure curve is used to perform secondary micro-pressing, and the maximum pressing force and maximum torque are limited during the secondary micro-pressing process; After the secondary micro-pressing is completed, the interface side images of each connector to be adjusted are re-acquired, and the coplanarity, clearance and tilt angle of the corresponding connector to be adjusted are determined based on the re-acquired interface side images. If the re-inspection result of any connector to be adjusted does not meet the corresponding preset tolerance requirements, a rejection process will be performed.

10. A USSD dual-head synchronous placement system, characterized in that, For manufacturing a dual-head USSD product, the dual-head USSD product includes a PCB board, a left-end interface connector mounted on the left end of the PCB board, and a right-end interface connector mounted on the right end of the PCB board. The system includes: A PCB board fixing fixture is used to fix the PCB board. The left-end mounting actuator is used to hold the left-end interface connector and drive the left-end interface connector to move along the pressing direction; The right-end mounting actuator is used to hold the right-end interface connector and drive the right-end interface connector to move along the pressing direction; The pose compensation mechanism is used to compensate for the relative pre-mount pose between the left-end interface connector and the left-end pad of the PCB board, and between the right-end interface connector and the right-end pad of the PCB board. A top-view image acquisition device is used to acquire top-view images of the pads at both ends of the PCB board and the corresponding interface connectors. A side view image acquisition device is used to acquire side view images of the interfaces of the left-end interface connector and the right-end interface connector; A six-dimensional force sensor on the left end is installed on the force transmission path of the left end mounting actuator to collect six-dimensional torque data on the left end. The right-end six-dimensional force sensor is set on the force transmission path of the right-end mounting actuator to collect the right-end six-dimensional torque data; The rejection mechanism is used to reject non-conforming USSD dual-head products. The controller is connected to the left-end mounting actuator, the right-end mounting actuator, the pose compensation mechanism, the top view image acquisition device, the side view image acquisition device, the left-end six-dimensional force sensor, the right-end six-dimensional force sensor, and the rejection mechanism, respectively. The controller is used for: The left-end pose deviation between the left-end pad of the PCB board and the left-end interface connector, and the right-end pose deviation between the right-end pad of the PCB board and the right-end interface connector are obtained. Left-end compensation parameters are generated based on the left-end pose deviation, and right-end compensation parameters are generated based on the right-end pose deviation. The relative pre-mount orientation between the left-end interface connector and the left-end pad is compensated according to the left-end compensation parameters, and the relative pre-mount orientation between the right-end interface connector and the right-end pad is compensated according to the right-end compensation parameters. The left-end interface connector and the right-end interface connector are synchronously driven to approach the corresponding left-end pad and right-end pad respectively along their respective pressing directions; Obtain the left-end six-dimensional torque data corresponding to the left-end interface connector and the right-end six-dimensional torque data corresponding to the right-end interface connector. Perform coordinate system transformation and reference point conversion on the left-end six-dimensional torque data and the right-end six-dimensional torque data to obtain the left-end converted six-dimensional torque data and the right-end converted six-dimensional torque data based on the same mounting coordinate system and with the torque corresponding to the preset left-end pressing reference point and the preset right-end pressing reference point, respectively. Based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, it is determined whether the interface connectors at both ends have reached the contact condition. When one end interface connector reaches the contact condition first while the other end interface connector has not, the position of the interface connector at the end that reaches the contact condition first is adjusted along the pressing direction according to the converted six-dimensional torque data of the interface connector at the end that reaches the contact condition first, so that the pressing force of the interface connector at the end that reaches the contact condition is kept within the preset contact holding force range, and the other end interface connector is driven to continue moving along the pressing direction until both the left and right end interface connectors reach the contact condition. The left-end interface connector and the right-end interface connector are synchronously driven to press onto the corresponding left-end pad and right-end pad respectively along their respective pressing directions; During the pressing process, the left-end pressing force and the right-end pressing force are determined based on the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end, and a pressing anomaly evaluation value is constructed. The correction range of the pressing parameters at both ends is determined based on the pressing anomaly evaluation value, and the correction direction is determined based on the deviation of the left-end pressing force relative to the left-end target pressing force of the corresponding pressing stage, the deviation of the right-end pressing force relative to the right-end target pressing force of the corresponding pressing stage, and the sign and magnitude of the torque in the converted six-dimensional torque data of the left end and the converted six-dimensional torque data of the right end. The pressing parameters at both ends are corrected according to the correction range and the correction direction.

Images