A plate placing control method, device and medium based on a delta robot

Abstract

The application discloses a PCB plate placing control method and device based on a Delta robot, and a medium, and relates to the technical field of industrial robot automation control. The method comprises the following steps: recognizing the actual size of a PCB plate to be placed, matching a corresponding target size interval based on the actual size, calling a process parameter set pre-bound with the target size interval, obtaining the coordinate values of the boundary points of a placing platform, calculating the platform size, calculating the maximum array in horizontal and vertical ways based on a user-configured margin proportion coefficient to obtain a horizontal initial placing array and a vertical initial placing array, performing point-by-point screening and elimination of unreachable points on the horizontal initial placing array and the vertical initial placing array based on the workspace radius of the Delta robot to obtain a target placing array, generating a motion control signal based on the called process parameter set and the coordinates of the center points of the plates in the target placing array, and delivering the motion control signal to a motion execution module to drive the robot to perform a plate placing action.

Description

Technical Field

[0001] This application relates to the field of industrial robot automation control technology, and in particular to a plate material tray control method, equipment and medium based on Delta robot. Background Technology

[0002] In the PCB manufacturing industry, Delta robots are widely used in automated PCB board traying operations due to their high speed and high precision. Existing Delta robot-based PCB board traying systems typically use vision systems to identify the position and orientation of the boards on the conveyor belt, with the Delta robot performing the gripping and placement operations. However, existing systems have the following shortcomings when dealing with the diverse types and sizes of PCB boards and the complex traying process: First, PCB board materials vary widely in size and type, and different sizes require different process parameters, such as pick-up time, conveyor speed, and placement delay. The traditional solution is to pre-divide the commonly used size range into several fixed size intervals and write independent subroutines for each interval in the process program file for separate processing. As the number of size intervals increases, the process program file expands rapidly, and the program structure becomes complex and lengthy. Debuggers need to repeatedly switch and adjust parameters between numerous subroutines, greatly increasing the debugging difficulty and the probability of errors. Second, in the existing system, the array arrangement (number of rows and columns) of the board material on the placement platform needs to be manually calculated and set by the debugger based on the board material size and the platform size. The manual setting method is prone to calculation errors, resulting in problems such as the board material not being fully placed, causing wasted space, or the edges of large-sized boards exceeding the boundaries of the placement platform. When the board material type is changed, the array parameters need to be recalculated and modified, which is inefficient.

[0003] Therefore, how to simplify and unify the process procedures and automatically optimize the tray array through a general process procedure and an automatic array calculation method has become an urgent technical problem to be solved. Summary of the Invention

[0004] This application provides a method, device, and medium for controlling sheet metal tray placement based on a Delta robot, to solve the following technical problem: how to achieve simplified and unified process procedures and automatic optimization of tray arrays through general process procedures and automatic array calculation methods.

[0005] In a first aspect, embodiments of this application provide a board material tray control method based on a Delta robot. The method includes: identifying the actual size of the PCB board material to be trayed, and matching the corresponding target size range based on the actual size, so as to call a set of process parameters pre-bound to the target size range; obtaining the coordinate values ​​of each boundary point of the placement platform based on the teaching position information of the placement platform, so as to calculate the platform size, and calculating the maximum array according to the two methods of horizontal and vertical placement of the PCB board material to be trayed based on the user-configured margin ratio coefficient, so as to obtain the initial horizontal placement array and the initial vertical placement array; filtering and eliminating unreachable points point by point in the initial horizontal placement array and the initial vertical placement array according to the working space radius of the Delta robot, so as to obtain the target placement array; generating motion control signals based on the called set of process parameters and the coordinates of the center points of each board material in the target placement array, and sending them to the motion execution module to drive the robot to perform the traying action.

[0006] In one implementation of this application, before calling the set of process parameters pre-bound to the target size range, the method further includes: configuring the process program file that controls the Delta robot to perform the tray placement operation as a general process program template that does not contain any size condition judgment branch instructions and fixed value assignment instructions; writing the boundary value ranges of several size ranges in the full size range, as well as the corresponding tray speed value, tray gripping time value and tray release delay time value for each size range, into the local storage unit in an associative storage manner, so that each size range is bound to a unique set of process parameter value combinations.

[0007] In one implementation of this application, the coordinate values ​​of each boundary point of the placement platform are obtained based on the teaching position information of the placement platform in order to calculate the platform size. Specifically, this includes: controlling the Delta robot to move to the boundary position of the placement platform to record the coordinate values ​​of each boundary point of the placement platform in the robot's base coordinate system; based on the recorded boundary point coordinate values, calculating the first distance value between the two boundary lines of the placement platform along the first direction and the second distance value between the two boundary lines along the second direction, and using the first distance value and the second distance value as the length and width dimensions of the placement platform, respectively.

[0008] In one implementation of this application, based on a user-configured margin ratio coefficient, the maximum array is calculated for both horizontal and vertical placement of the PCB board to be placed, to obtain the initial placement array. Specifically, this includes: calculating the maximum array for the horizontal placement method, expressed by the following formula:

[0009]

[0010] The maximum array size in vertical orientation is calculated using the following formula:

[0011]

[0012] in, This is the actual length of the PCB board to be placed on the tray. This refers to the actual width of the PCB board material to be placed on the tray. For the length of the platform, To accommodate the platform width, This is the margin ratio coefficient. For the largest horizontal array, For the largest vertical array, and , , , This is the maximum value when rounded down.

[0013] In one implementation of this application, the horizontal and vertical initial placement arrays are screened point by point to eliminate unreachable points based on the workspace radius of the Delta robot, in order to obtain the target placement array. Specifically, this includes: reading the coordinate values ​​of the center points of each sheet in the horizontal and vertical initial placement arrays in the robot's base coordinate system, and calculating the distance from each coordinate value to the origin of the robot's base coordinate system; comparing each distance value with the workspace radius of the Delta robot, and eliminating the array points corresponding to the center points of the sheet that have a distance value greater than the workspace radius; counting the number of remaining placeable points in the horizontal and vertical initial placement arrays after elimination, and selecting the array with the larger number of remaining placeable points as the target placement array.

[0014] In one implementation of this application, motion control signals are generated based on the set of process parameters and the coordinates of the center points of each board in the target placement array, and sent to the motion execution module to drive the robot to perform the tray placement action. Specifically, this includes: obtaining the real-time gripping position of the PCB board to be placed on the conveyor belt, and combining the real-time gripping position with the corresponding placement position to generate the motion trajectory of the PCB board to be placed from the gripping point to the placement point; assigning the conveyor speed value, gripping time value, and placement delay time value in the set of process parameters to the transfer segment speed variable, gripping action holding time variable, and waiting time variable after the placement action is completed, respectively; generating a motion control command sequence for each axis based on the assigned motion trajectory, and sending the motion control command sequence to the motion execution module to drive the Delta robot to sequentially complete the tracking, gripping, and placement actions of each board.

[0015] In one implementation of this application, after obtaining the target placement array, the method further includes: displaying a preview layout of the target placement array on a human-computer interaction interface and providing an array editing entry; responding to an array adjustment command input by the user in the array editing entry, reading the user-defined row and column numbers carried in the adjustment command, and comparing the user-defined row and column numbers with the maximum number of rows and columns in the corresponding placement method in the initial placement array; if the number of rows in the user-defined row and column numbers does not exceed the maximum number of rows and the number of columns does not exceed the maximum number of columns in the corresponding placement method, then replacing the number of rows and columns in the corresponding placement method in the initial placement array with the user-defined row and column numbers to update the target placement array; if the number of rows in the user-defined row and column numbers exceeds the maximum number of rows or the number of columns exceeds the maximum number of columns, then rejecting the array adjustment command and outputting an over-limit prompt on the human-computer interaction interface.

[0016] In one implementation of this application, the method further includes: grouping all parameters in the process parameter set into those related to the sheet metal size and those unrelated to the sheet metal size, and displaying them in a grouped manner on the human-machine interface; wherein, the process parameters related to the sheet metal size include the conveyor speed, the gripping time, and the release delay time; the process parameters unrelated to the sheet metal size include the point parameters between the robot's gripping and releasing actions and the safety space limitation parameters; in response to a user's instruction to modify the parameter value in any group, writing the modified parameter value to the storage location of the corresponding size range in the local storage unit to update the process parameter set bound to the size range.

[0017] Secondly, embodiments of this application also provide a board material tray control device based on a Delta robot. The device includes: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to: identify the actual size of the PCB board material to be trayed, and match the corresponding target size range based on the actual size to call a set of process parameters pre-bound to the target size range; obtain the coordinate values ​​of each boundary point of the placement platform based on the teaching position information of the placement platform to calculate the platform size, and calculate the maximum array based on the user-configured margin ratio coefficient for both horizontal and vertical placement of the PCB board material to be trayed, to obtain the initial horizontal placement array and the initial vertical placement array; filter and eliminate unreachable points point by point in the initial horizontal and vertical placement arrays using the working space radius of the Delta robot to obtain the target placement array; generate motion control signals based on the called set of process parameters and the coordinates of the center points of each board material in the target placement array, and send them to the motion execution module to drive the robot to perform traying actions.

[0018] Thirdly, this application embodiment also provides a non-volatile computer storage medium for board material tray control based on a Delta robot, storing computer-executable instructions. The computer-executable instructions are set to: identify the actual size of the PCB board material to be trayed, and match the corresponding target size range based on the actual size to call a set of process parameters pre-bound to the target size range; obtain the coordinate values ​​of each boundary point of the placement platform based on the teaching position information of the placement platform to calculate the platform size, and calculate the maximum array according to the two methods of horizontal and vertical placement of the PCB board material to be trayed based on the user-configured margin ratio coefficient to obtain the initial horizontal placement array and the initial vertical placement array; filter and eliminate unreachable points point by point in the initial horizontal placement array and the initial vertical placement array according to the working space radius of the Delta robot to obtain the target placement array; generate motion control signals based on the called set of process parameters and the coordinates of the center points of each board material in the target placement array, and send them to the motion execution module to drive the robot to perform the traying action.

[0019] The sheet metal tray control method, equipment, and medium based on Delta robot provided in this application have the following beneficial effects: By pre-binding and storing process parameters and size ranges, the process program is freed from coupling with specific size ranges through dynamic calling; the Delta robot is used to teach the platform boundary points to automatically obtain the platform size, and a margin ratio coefficient is introduced to make the spacing automatically scale with the sheet metal size. Large sheets automatically obtain a large spacing to ensure operational safety, and small sheets automatically obtain a small spacing to improve space utilization. At the same time, the maximum array for both horizontal and vertical placement is calculated and the optimal one is selected. At the mechanism level, the problem that manual array setting can easily lead to incomplete sheet metal placement or edges exceeding the platform boundary is avoided. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A flowchart of a sheet metal tray control method based on a Delta robot is provided for embodiments of this application; Figure 2 This is a schematic diagram of the internal structure of a sheet metal tray control device based on a Delta robot, provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] This application provides a method, device, and medium for controlling sheet metal tray placement based on a Delta robot, to solve the following technical problem: how to achieve simplified and unified process procedures and automatic optimization of tray arrays through general process procedures and automatic array calculation methods.

[0023] The technical solutions proposed in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0024] Figure 1 This document provides a flowchart of a sheet metal tray control method based on a Delta robot, as illustrated in an embodiment of this application. Figure 1 As shown in the figure, the sheet metal tray control method based on a Delta robot provided in this application embodiment specifically includes the following steps: Step 10: Identify the actual size of the PCB board to be placed on the tray, and match the corresponding target size range based on the actual size to call the set of process parameters pre-bound to the target size range.

[0025] As an optional embodiment, the actual size of the PCB board to be placed on the tray is identified, and the corresponding target size range is matched based on the actual size to call the set of process parameters pre-bound to the target size range. Specifically, it may include: Step 101: Configure the process program file that controls the Delta robot to perform the tray placement operation as a general process program template that does not contain any size condition judgment branch instructions and fixed value assignment instructions.

[0026] In this step, traditional solutions require writing independent subroutines for various PCB sizes, resulting in programs filled with numerous size determination branches and fixed process parameters. The more board specifications there are, the more bloated the program becomes, making it prone to logical errors. Furthermore, modifications to branches and parameters by different debugging personnel can lead to inconsistencies in the processes of different equipment, making troubleshooting difficult. The new universal template in this application only retains basic motion logic common to all specifications, such as grabbing, vacuum control, point movement, and reset. All process variables related to board size have reserved external calling interfaces. Size determination and parameter assignment are all handled by the host computer's backend data unit, eliminating production line process differences caused by manual program modifications, reducing debugging difficulty, minimizing program maintenance errors, and facilitating production line process standardization and rapid anomaly troubleshooting.

[0027] Step 102: Write the boundary value ranges of several size intervals within the full size range, as well as the corresponding conveyor speed, gripping time, and release delay time values ​​for each size interval, into the local storage unit in an associative storage manner, so that each size interval is bound to a unique set of process parameter values.

[0028] In this step, multiple size ranges within the full PCB specification are pre-divided, the boundary range of each size range is determined, and then appropriate board conveying speed, board grabbing time, and board release delay time are configured for each range. The boundary information of the size range and the corresponding process parameters are established and stored together in the local storage unit, so that each size range is individually bound to a set of exclusive process parameters. The debugging personnel can complete the adjustment and saving of parameters for each range through the operation interface. The modified associated data will be synchronously written to the local storage unit. The entire set of configuration data can be completely copied and migrated to other devices, which can avoid process differences caused by different debugging personnel. The partitioned binding storage also facilitates the adjustment of parameters as needed in the later stage, reducing the difficulty of on-site debugging and production line operation and maintenance.

[0029] Step 103: Group all parameters in the process parameter set according to whether they are related to the sheet size or not, and display them in the human-machine interface in the form of groups.

[0030] In this step, when operators configure process parameters on the human-machine interface, all process parameters are first divided into two groups: one group consists of parameters related to the PCB board size, and the other group consists of parameters unaffected by the board size. The interface is displayed in partitions according to these two categories. Parameters related to size are grouped together and bound to each preset size range for matching settings, while parameters unrelated to size are divided into another group and configured independently as global fixed parameters. After the two types of parameters are presented separately, the debugging personnel can intuitively distinguish different attribute parameters. During configuration, they can make targeted adjustments by module without having to search for various parameters, which greatly simplifies the parameter setting operation. At the same time, the parameters are stored in a neat and organized manner, making subsequent modification and verification of parameters clear and easy to standardize the process configuration standards of different equipment.

[0031] Step 104: In response to the user's instruction to modify the parameter value in any group, write the modified parameter value to the storage location of the corresponding size range in the local storage unit to update the set of process parameters bound to the size range.

[0032] In this step, after the operator modifies and confirms the parameter value within any group on the human-machine interface, the updated parameter value is written to the dedicated storage area of ​​the corresponding size range in the local storage unit. This synchronously updates the entire set of process parameters originally bound to that size range. Regardless of whether the parameter belongs to a size-related group or an unrelated group, the modification action will synchronously update the parameter data of the matching range in the local storage unit. The modified configuration will be retained for a long time. When the equipment retrieves that size range in subsequent operation, it will directly read the latest saved parameter content. The categorized storage binding mode also ensures that parameter modifications only affect the target size range and will not interfere with the process configuration of other ranges. This makes it convenient for commissioning personnel to adjust and maintain the parameters of each range step by step and independently. At the same time, the updated complete parameter data can be migrated to other equipment as a whole, ensuring that the process configuration of multiple devices is synchronized and unified.

[0033] Step 20: Based on the teaching position information of the placement platform, obtain the coordinate values ​​of each boundary point of the placement platform to calculate the platform size. Based on the user-configured margin ratio coefficient, calculate the maximum array according to the two methods of horizontal and vertical placement of the PCB board to be placed, so as to obtain the initial placement array.

[0034] As an optional embodiment, based on the teaching position information of the placement platform, the coordinate values ​​of each boundary point of the placement platform are obtained to calculate the platform size. Based on the user-configured margin ratio coefficient, the maximum array is calculated according to the two methods of horizontal and vertical placement of the PCB board to be placed, so as to obtain the initial placement array. Specifically, it may include: Step 201: Control the Delta robot to move to the boundary position of the placement platform to record the coordinate values ​​of each boundary point of the placement platform in the robot base coordinate system one by one.

[0035] In this step, during the equipment debugging phase, the Delta robot is manipulated to move sequentially to each boundary point around the placement platform, performing teaching operations on each boundary point one by one, and simultaneously recording the coordinate information of all boundary points in the robot's base coordinate system. Based on the collected complete set of boundary coordinate data, the upper module can autonomously calculate the overall outline dimensions of the placement platform. The spatial constraints required for subsequent PCB board arrangement are all calculated and generated based on this set of coordinate information. The entire process relies on robot teaching to collect real point coordinates, eliminating the need for manual input of platform dimensions. This allows for adaptation to placement platforms of different specifications, and the acquired spatial boundary data closely matches the actual tooling conditions on site, avoiding arrangement deviations caused by manual size estimation from the source, and providing accurate and reliable basic data for automatically calculating compliant tray arrays.

[0036] Step 202: Based on the recorded boundary point coordinates, calculate the first distance between the two boundary lines along the first direction and the second distance between the two boundary lines along the second direction, and use the first distance and the second distance as the length and width dimensions of the placement platform, respectively.

[0037] In this step, the coordinate data of all boundary points of the placement platform, which were completely recorded in the previous robot teaching operation, are retrieved. First, the coordinates of the two sets of relative boundary points distributed along the first arrangement direction are processed to calculate the vertical distance between the two parallel boundary lines, obtaining the first distance value. Then, the same calculation is performed on the coordinates of the other two sets of relative boundary points distributed along the second arrangement direction to obtain the vertical distance between the two corresponding boundary lines, obtaining the second distance value. The calculated first distance is identified as the overall length of the placement platform, and the second distance is identified as the overall width of the placement platform and stored. The entire set of length and width dimensions is automatically generated based on the actual teaching coordinates on site, without the need for debugging personnel to manually measure or enter the platform dimensions. The obtained dimension parameters completely match the actual installation state of the tooling on site, and there is no error caused by manual estimation. It can provide an accurate and reliable spatial dimension benchmark for the subsequent automatic calculation of the number of rows and columns of the tray array based on the sheet material specifications and custom edge distance ratio coefficients. From the basic data level, it prevents various process problems such as sheet material placement exceeding the platform boundary and platform space waste caused by platform dimension distortion.

[0038] Step 203: Calculate the maximum array size in landscape mode, expressed by the following formula:

[0039]

[0040] The maximum array size in vertical orientation is calculated using the following formula:

[0041]

[0042] in, This is the actual length of the PCB board to be placed on the tray. This refers to the actual width of the PCB board material to be placed on the tray. For the length of the platform, To accommodate the platform width, This is the margin ratio coefficient. For the largest horizontal array, For the largest vertical array, and , , , This is the maximum value when rounded down.

[0043] In this step, after obtaining all parameters including the length and width of the placement platform, the actual length and width of the PCB board, and the margin ratio coefficient, the maximum array quantity is calculated for two placement orientations. For the horizontal layout mode, the length of the placement platform is used as the total horizontal layout space, and the width of the placement platform is used as the total vertical layout space. A corresponding calculation formula is constructed by combining the board length, board width, and margin ratio coefficient. The maximum horizontal layout quantity is obtained by dividing the platform length by the combined dimensions of the board length and margin, and the maximum vertical layout quantity is obtained by dividing the platform width by the combined dimensions of the board width and margin. Both calculation results are rounded down to the nearest integer, which represents the maximum total number of arrays the platform can accommodate in the horizontal layout mode. When switching to the vertical layout mode, the board length and width are interchanged according to the layout direction, while using the same space operation... The calculation logic is re-established to establish the calculation relationship. The maximum number of horizontally arranged elements is obtained by dividing the platform length by the combined size of the sheet width and the edge distance. The maximum number of vertically arranged elements is obtained by dividing the platform width by the combined size of the sheet length and the edge distance. The calculation results are also rounded down to obtain the maximum total number of arrays in the vertical mode. The entire calculation logic introduces the edge distance ratio coefficient to simultaneously calculate the sheet size itself and the reserved safety gap, ensuring that compliant spacing is reserved between sheets and between sheets and the platform edge. At the same time, the upper limit of the number of rows and columns is constrained by rounding down to avoid the array arrangement exceeding the available platform space. The array calculation for the two placement schemes is automatically completed by relying on standardized calculation formulas, without the need for manual estimation of row and column parameters. The calculation logic eliminates defects such as placement exceeding limits and insufficient space utilization caused by human debugging.

[0044] Step 30: Using the Delta robot's workspace radius, filter out unreachable points from the initial horizontal and vertical placement arrays point by point to obtain the target placement array.

[0045] As an optional embodiment, the horizontal initial placement array and the vertical initial placement array are screened point by point to eliminate unreachable points based on the working space radius of the Delta robot to obtain the target placement array. Specifically, it may include: Step 301: Read the coordinate values ​​of the center points of each sheet in the horizontal initial placement array and the vertical initial placement array in the robot base coordinate system, and calculate the distance value of each coordinate value to the origin of the robot base coordinate system.

[0046] In this step, after generating the initial placement arrays for both horizontal and vertical placement orientations, the two array structures undergo global point analysis. The center position information of all sheet metal placement points within the horizontal and vertical initial placement arrays is read sequentially and converted into standard coordinate data in the robot's base coordinate system. After obtaining the coordinates of all center points of both arrays, spatial distance calculations are performed on each independent sheet metal center coordinate point. The straight-line distance between each array center point and the origin of the robot's base coordinate system is calculated, completing the collection and statistics of distance parameters for all placement points under both placement modes. This provides comprehensive and complete pre-calculation data support for subsequent unified comparison of robot working radius, screening of effective working points, and elimination of overtravel invalid points.

[0047] Step 302: Compare each distance value with the working space radius of the Delta robot, and remove the array points corresponding to the center point of the sheet metal whose distance value is greater than the working space radius.

[0048] In this step, the distance calculated from the center point of each sheet relative to the origin of the robot's base coordinate system is compared with the Delta robot's preset working space radius. Since the robot has a fixed range of motion, points beyond the radius will cause the robotic arm to be unable to reach them, triggering an overtravel stop alarm. Any placement point whose center point distance exceeds the working space radius limit is directly removed from the initial placement array. Before the formal tray placement action is executed, all points are verified in advance, and all positions that do not meet the motion accessibility requirements are screened out in advance, retaining only the valid placement points within the robot's movement range. This avoids equipment operation interruption problems. At the same time, the retained points are all within the robot's smooth operation range, which can reduce process defects such as shaking and sheet offset caused by the robotic arm's extreme posture, and ensure the stable and continuous operation of the tray placement.

[0049] Step 303: Count the number of remaining placeable points in the initial horizontal and vertical placement arrays after the elimination, and select the array with the larger number of remaining placeable points as the target placement array.

[0050] In this step, after verifying the positions and removing invalid positions for both the horizontal and vertical initial placement arrays, a comprehensive statistical analysis of the remaining valid placement positions under both placement orientations is conducted. The total number of remaining workable positions for each array is accurately calculated. A horizontal comparison of the number of valid positions between the horizontal and vertical arrays is performed, and the optimal array layout with more valid placement positions and stronger single-dispatch carrying capacity is selected. This optimal array layout is defined as the target placement array for formal production. This selection mechanism comprehensively considers the spatial layout of the placement platform and the working range of the Delta robot. While completely avoiding robot overtravel faults and ensuring that all placement positions can be stably reached, it maximizes the utilization of the equipment's working space, effectively increasing the total material placement volume per single disposal, optimizing the overall automated placement efficiency and space utilization, and achieving intelligent optimal matching of placement schemes.

[0051] Step 304: Display a preview layout of the target placement array on the human-computer interaction interface and provide an array editing entry.

[0052] In this step, after generating the target placement array, the corresponding layout preview is displayed intuitively on the human-machine interface. Operators can intuitively view the overall layout status of the sheet metal inside the platform, clearly understand the distribution of each placement point, and quickly confirm whether the array scheme calculated automatically meets the on-site production needs. The interface also provides access to the array editing function. Even if the target array obtained by automatic filtering meets the basic production conditions, staff can independently adjust the array row and column size according to special process requirements and customize the reduction of placement points. At the same time, the manually modified array is double-checked for boundary and robot reachability to avoid problems such as sheet metal exceeding the platform boundary or points exceeding the robot's movement range after manual adjustment. This not only allows for intuitive verification of the automatic calculation results but also gives operators the authority to flexibly adjust the layout scheme, balancing the efficiency of automated calculation with the flexibility of on-site process adjustments.

[0053] Step 305: In response to the array adjustment command entered by the user in the array editing entry, read the user-defined number of rows and columns carried in the adjustment command, and compare the user-defined number of rows and columns with the maximum number of rows and columns under the corresponding placement method in the initial placement array.

[0054] In this step, when the operator initiates an array adjustment operation through the array editing entry on the interface, the system receives and reads the row and column arrangement values ​​set by the user in the instruction. Then, it retrieves the maximum row and column limit of the initial placement array automatically calculated under this placement method. The user-defined row and column parameters are compared and verified one by one with the upper limit value. This comparison logic is used to limit the manually set arrangement scale, prevent the operator from inputting row and column values ​​that exceed the theoretical maximum capacity, and avoid problems such as PCB board arrangement exceeding the boundary of the placement platform and insufficient safety margin between boards due to the custom array being too large. From the operational perspective, it constrains the range of manual input and ensures that the adjusted array always meets the spatial constraints of the placement platform.

[0055] Step 306: If the number of rows in the user-defined row and column count does not exceed the maximum number of rows and columns under the corresponding placement method, then replace the number of rows and columns in the initial placement array under the corresponding placement method with the user-defined row and column count to update the target placement array.

[0056] In this step, if the number of rows and columns set by the user does not exceed the upper limit value calculated automatically, the original row and column configuration of the initial placement array will be replaced by the row and column parameters manually entered by the operator. The corresponding point layout information will be regenerated synchronously to update the target placement array used for production. The entire replacement and update process is only executed when the custom row and column parameters meet the platform space constraints. It will not cause defects such as the board material exceeding the platform edge or insufficient safety clearance due to the manual setting of the scale exceeding the limit. On the basis of automatic optimal layout, the right to manually adjust is retained to adapt to the needs of small batch pallet placement under special production conditions, and to take into account the space utilization of automated calculation and the flexibility of on-site process adjustment.

[0057] Step 307: If the number of rows in the user-defined row and column count exceeds the maximum number of rows or the number of columns exceeds the maximum number of columns, then reject the array adjustment command and output an over-limit prompt on the human-computer interaction interface.

[0058] In this step, if the number of custom rows entered by the operator exceeds the maximum number of rows corresponding to this placement method, or the number of custom columns exceeds the corresponding maximum number of columns, the array adjustment command will be rejected directly. The layout scheme will not be updated according to the parameters entered by the user. At the same time, the human-machine interface will pop up the corresponding over-limit prompt message, informing the operator that the currently set row and column values ​​exceed the upper limit that the placement platform can bear, guiding the operator to modify the parameters and resubmit. This verification mechanism can effectively prevent process problems such as the board arrangement exceeding the boundary of the placement platform or insufficient safety margin between boards caused by human error in setting the array too large. It forms operation protection from the interaction level, eliminating the need for manual calculation of the space bearing limit and reducing the probability of debugging errors.

[0059] Step 40: Generate motion control signals based on the set of process parameters called and the coordinates of the center points of each sheet in the target placement array, and send them to the motion execution module to drive the robot to perform the tray-swing action.

[0060] As an optional embodiment, a motion control signal is generated based on the set of process parameters called and the coordinates of the center points of each board in the target placement array, and sent to the motion execution module to drive the robot to perform the tray placement action. Specifically, it may include: Step 401: Obtain the real-time gripping position of the PCB board to be placed on the conveyor belt, and combine the real-time gripping position with the corresponding placement position to generate the motion trajectory of the PCB board to be placed from the gripping point to the placement point.

[0061] In this step, before performing the PCB board placement operation, the precise gripping position of the board to be processed on the conveyor mechanism is collected in real time to accurately locate the current picking point of the board. After obtaining the real-time gripping point information, the corresponding compliant placement point in the final confirmed target placement array is retrieved, and the gripping point of a single PCB board to be placed is matched with the matching placement point. Based on the two sets of precise spatial point information, the complete motion trajectory of the Delta robot arm from the material picking position to the placement position is generated, providing a standard motion path basis for subsequent automated robot gripping, transfer, and placement operations. This ensures that the motion path of each placement operation is standardized and consistent, achieving precise docking of board gripping and placement actions, and providing core trajectory support for the stable and accurate completion of continuous placement operations.

[0062] Step 402: Assign the conveyor speed value, gripping time value, and placement delay time value from the process parameter set to the transfer segment speed variable, gripping action holding time variable, and placement action completion waiting time variable of the motion trajectory, respectively.

[0063] In this step, after generating the robot's motion trajectory, the complete set of process parameters bound to the corresponding size range is retrieved from the local storage unit to accurately match and assign values ​​to the process parameters and trajectory motion variables. The preset board-carrying speed parameter is assigned to the speed control variable of the robot's motion trajectory transfer segment, thus defining the overall transfer speed of the robot after gripping the board. Simultaneously, the corresponding gripping time parameter is assigned to the device's gripping action holding time variable, standardizing the holding time after the robot vacuum adsorbs and grips the board, ensuring the board is gripped firmly and does not fall off. Finally, the board placement delay time parameter is assigned to the waiting time variable after the placement action is completed, allowing the robot to reset after a set delay following the board placement action. Through one-to-one parameter assignment and binding, the running speed, gripping, and placement of the entire motion trajectory are matched to the specific process standards of the corresponding board specifications, achieving standardized and adaptive configuration of trajectory motion parameters. This ensures that the tray placement actions of different PCB board specifications conform to the corresponding process requirements, improving the stability and adaptability of the equipment operation.

[0064] Step 403: Generate motion control command sequence for each axis based on the assigned motion trajectory, and send the motion control command sequence to the motion execution module to drive the Delta robot to complete the tracking, grasping and placement of each piece of sheet metal in sequence.

[0065] In this step, after completing the assignment and matching of all process parameters and motion trajectory variables, the fully configured motion trajectory, combined with the appropriate process parameters such as speed, action duration, and delay, automatically calculates and generates a complete set of motion control command sequences for each motion axis of the robot. This command sequence integrates the control logic of all operation actions such as trajectory walking, material grasping, and delayed placement, covering the axis motion control requirements of the entire robot's tray placement operation. The generated standardized motion control command sequence is sent to the motion execution module of the equipment in real time. The motion execution module parses and executes each control command, driving the Delta robot to run in an orderly manner according to the preset trajectory and process standards, sequentially completing the entire set of operation actions of tracking, grasping, transferring, and accurately placing a single PCB board. This process is repeated to complete the automated tray placement process of all boards in the target placement array, ensuring that the overall tray placement operation process is coherent and the actions are standardized and uniform.

[0066] The above are embodiments of the method proposed in this application. Based on the same inventive concept, embodiments of this application also provide a sheet metal tray control device based on a Delta robot, the structure of which is as follows: Figure 2 As shown.

[0067] Figure 2 This is a schematic diagram of the internal structure of a sheet metal tray control device based on a Delta robot, provided as an embodiment of this application. Figure 2 As shown, the device includes: At least one processor 201; And a memory 202 that is communicatively connected to at least one processor; The memory 202 stores instructions executable by at least one processor. These instructions are executed by at least one processor 201 to enable the processor 201 to: identify the actual size of the PCB board to be placed on the tray, and match the corresponding target size range based on the actual size to call a set of process parameters pre-bound to the target size range; obtain the coordinate values ​​of each boundary point of the placement platform based on the teaching position information of the placement platform to calculate the platform size, and calculate the maximum array based on the user-configured margin ratio coefficient for both horizontal and vertical placement of the PCB board to be placed on the tray, to obtain the initial horizontal placement array and the initial vertical placement array; filter and eliminate unreachable points point by point in the initial horizontal and vertical placement arrays using the Delta robot's workspace radius to obtain the target placement array; and generate motion control signals based on the called set of process parameters and the coordinates of the center points of each board in the target placement array, and send them to the motion execution module to drive the robot to perform the tray placement action.

[0068] Some embodiments of this application provide corresponding to Figure 1 A non-volatile computer storage medium for PCB board tray control based on a Delta robot stores computer-executable instructions. The computer-executable instructions are configured to: identify the actual size of the PCB board to be trayed, and match the corresponding target size range based on the actual size to call a set of process parameters pre-bound to the target size range; obtain the coordinate values ​​of each boundary point of the placement platform based on the teaching position information of the placement platform to calculate the platform size, and calculate the maximum array according to the user-configured margin ratio coefficient for both horizontal and vertical placement of the PCB board to be trayed, so as to obtain the initial horizontal placement array and the initial vertical placement array; filter and eliminate unreachable points point by point in the initial horizontal and vertical placement arrays according to the workspace radius of the Delta robot to obtain the target placement array; generate motion control signals based on the called set of process parameters and the coordinates of the center points of each board in the target placement array, and send them to the motion execution module to drive the robot to perform the traying action.

[0069] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments for IoT devices and media are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0070] The systems, media, and methods provided in this application are one-to-one correspondences. Therefore, the systems and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the systems and media will not be repeated here.

[0071] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0076] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0077] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0078] It should also be noted that 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 such a process, method, article, or apparatus. 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.

[0079] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A sheet metal tray control method based on a Delta robot, characterized in that, The method includes: Identify the actual size of the PCB board to be placed on the tray, and match the corresponding target size range based on the actual size to call up the set of process parameters pre-bound to the target size range; wherein, the set of process parameters includes board speed, board gripping time and board release delay time; Based on the teaching position information of the placement platform, the coordinate values ​​of each boundary point of the placement platform are obtained to calculate the platform size. Based on the user-configured margin ratio coefficient, the maximum array is calculated according to the two methods of horizontal and vertical placement of the PCB board to be placed, so as to obtain the initial horizontal placement array and the initial vertical placement array. The margin ratio coefficient is used to determine the distance between the boards and the distance between the boards and the edge of the placement platform. Using the workspace radius of the Delta robot, the horizontal initial placement array and the vertical initial placement array are screened point by point to eliminate unreachable points, so as to obtain the target placement array; Motion control signals are generated based on the set of process parameters and the coordinates of the center points of each plate in the target placement array, and sent to the motion execution module to drive the robot to perform the tray-swing action.

2. The sheet metal tray control method based on a Delta robot according to claim 1, characterized in that, Before invoking the set of process parameters pre-bound to the target size range, the method further includes: Configure the process program file that controls the Delta robot to perform the tray-setting operation as a general process program template that does not contain any size condition judgment branch instructions and fixed value assignment instructions. The boundary value ranges of several size intervals within the full size range, as well as the corresponding conveyor speed, gripping time, and release delay time values ​​for each size interval, are written into the local storage unit in an associative storage manner, so that each size interval is bound to a unique set of process parameter values.

3. The sheet metal tray control method based on a Delta robot according to claim 1, characterized in that, Based on the teaching position information of the placement platform, the coordinate values ​​of each boundary point of the placement platform are obtained to calculate the platform size, specifically including: Control the Delta robot to move to the boundary position of the placement platform, and record the coordinate values ​​of each boundary point of the placement platform in the robot base coordinate system one by one; Based on the recorded boundary point coordinates, the first distance between the two boundary lines along the first direction and the second distance between the two boundary lines along the second direction of the placement platform are calculated respectively, and the first distance and the second distance are used as the length and width dimensions of the placement platform respectively.

4. The sheet metal tray control method based on a Delta robot according to claim 3, characterized in that, Based on the user-configured margin ratio coefficient, the maximum array is calculated for both horizontal and vertical placement of the PCB board to be placed, in order to obtain the initial placement array, specifically including: The maximum array size is calculated using the horizontal orientation, and is expressed by the following formula: The maximum array size in vertical orientation is calculated using the following formula: in, This represents the actual length of the PCB board to be placed on the tray. This represents the actual width of the PCB board to be placed on the tray. For the length of the platform, To accommodate the platform width, This is the margin ratio coefficient. For the largest horizontal array, For the largest vertical array, and , , , This is the maximum value when rounded down.

5. The sheet metal tray control method based on a Delta robot according to claim 1, characterized in that, Using the Delta robot's workspace radius, the horizontal and vertical initial placement arrays are screened point by point to eliminate unreachable points, in order to obtain the target placement array, specifically including: Read the coordinate values ​​of the center points of each sheet in the horizontal initial placement array and the vertical initial placement array in the robot base coordinate system, and calculate the distance from each coordinate value to the origin of the robot base coordinate system. Each distance value is compared with the working space radius of the Delta robot, and array points corresponding to the center point of the sheet metal whose distance value is greater than the working space radius are removed. The number of remaining placeable points in the initial horizontal and vertical placement arrays after elimination is counted, and the array with the larger number of remaining placeable points is selected as the target placement array.

6. The sheet metal tray control method based on a Delta robot according to claim 1, characterized in that, Based on the set of process parameters invoked and the coordinates of the center points of each sheet in the target placement array, motion control signals are generated and sent to the motion execution module to drive the robot to perform the tray-swing action, specifically including: The real-time gripping position of the PCB board to be trayed on the conveyor belt is obtained, and the real-time gripping position is combined with the corresponding placement position to generate the motion trajectory of the PCB board to be trayed from the gripping point to the placement point. The conveyor speed value, gripping time value, and placement delay time value in the process parameter set are respectively assigned to the conveying segment speed variable, gripping action holding time variable, and placement action completion waiting time variable of the motion trajectory. Based on the assigned motion trajectory, a sequence of motion control commands for each axis is generated, and the sequence of motion control commands is sent to the motion execution module to drive the Delta robot to sequentially complete the tracking, grasping, and placement of each piece of sheet metal.

7. The sheet metal tray control method based on a Delta robot according to claim 1, characterized in that, After obtaining the target placement array, the method further includes: The human-computer interaction interface displays a preview layout of the target placement array and provides an array editing entry point; In response to the array adjustment command input by the user in the array editing entry, the user-defined number of rows and columns carried in the adjustment command is read, and the user-defined number of rows and columns is compared with the maximum number of rows and columns in the corresponding placement mode in the initial placement array; If the number of rows in the user-defined number of rows and columns does not exceed the maximum number of rows and columns under the corresponding placement method, then the number of rows and columns in the initial placement array under the corresponding placement method is replaced with the user-defined number of rows and columns to update the target placement array; If the number of rows in the user-defined number of rows exceeds the maximum number of rows or the number of columns exceeds the maximum number of columns, the array adjustment command is rejected and an over-limit prompt is output on the human-computer interaction interface.

8. The sheet metal tray control method based on a Delta robot according to claim 2, characterized in that, The method further includes: All parameters in the process parameter set are grouped into those related to and those unrelated to the sheet metal size, and then displayed in a grouped manner on the human-machine interface. Among them, the process parameters related to the sheet metal size include the conveyor speed, the gripping time, and the release delay time; the process parameters unrelated to the sheet metal size include the point parameters between the robot's gripping and releasing actions and the safety space limitation parameters. In response to a user's instruction to modify the parameter value in any group, the modified parameter value is written to the storage location of the corresponding size range in the local storage unit to update the set of process parameters bound to the size range.

9. A sheet metal tray control device based on a Delta robot, characterized in that, The device includes: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform a method as described in any one of claims 1-8.

10. A non-volatile computer storage medium for sheet metal tray control based on a Delta robot, storing computer-executable instructions, characterized in that, When the computer-executable instructions are executed, they implement a method as described in any one of claims 1-8.

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