CN109348700B

CN109348700B - Mobile plug-in method and plug-in device

Info

Publication number: CN109348700B
Application number: CN201811029852.8A
Authority: CN
Inventors: 黄凯焕
Original assignee: Robotics Robotics Shenzhen Ltd
Current assignee: Robotics Robotics Shenzhen Ltd
Priority date: 2018-09-05
Filing date: 2018-09-05
Publication date: 2020-10-27
Anticipated expiration: 2038-09-05
Also published as: CN109348700A

Abstract

The invention provides a mobile plug-in method and a plug-in device. Acquiring feedback information of the PCB positioned on the conveying device moving to the first area; acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired; and generating a first instruction based on the current target jack pose, the displacement information related to the conveying device and the current pin pose, and controlling the manipulator to drive the current pin to be inserted into the corresponding current target jack in a second area through the first instruction. By adopting the technical scheme of the invention, the procedures of positioning the PCB in the process of inserting the machine are reduced, so that the inserting machine does not depend on the requirement of high-precision positioning of the PCB.

Description

Mobile plug-in method and plug-in device

Technical Field

The invention relates to the technical field of industrial automatic plug-in machines, in particular to a mobile plug-in machine method and a plug-in machine device.

Background

The plug-in machine equipment is used for automatically plugging pins into the jacks of the PCB, so that the efficiency is improved, the product consistency is improved, and the labor cost is saved.

The PCB is conveyed by the conventional plug-in equipment, a PCB positioner is added into a conveyor belt, the PCB is fixed to a certain fixed pose, and then the plug-in is executed. Therefore, the number of processes is increased, and the positioning accuracy is required to be high.

Disclosure of Invention

In view of the above, the present invention provides a mobile insertion method and an insertion device.

The invention provides a mobile plug-in method in a first aspect, which comprises the following steps:

acquiring feedback information of the PCB positioned on the conveying device moving to the first area;

acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired;

and generating a first instruction based on the current target jack pose, the displacement information related to the conveying device and the current pin pose, and controlling the manipulator to drive the current pin to be inserted into the corresponding current target jack in a second area through the first instruction.

Further, L is more than or equal to V T1; wherein, L is the maximum stroke of the manipulator, V is the moving speed of the conveying device, and T1 is the time required by the insertion machine for completing all target jacks on the PCB.

Further, the length of the second region in the direction of movement of the transmission corresponds to V x T1.

Further, the feedback information is:

receiving a feedback signal sent by a position sensor and used for sensing the PCB; or

Acquiring the proportion of the PCB part in the image information based on the received image information sent by the image sensor; judging whether the proportion is larger than a certain threshold value; and if so, generating the feedback information.

Further, the current target jack comprises a first target jack and other target jacks; the first target jack pose is acquired by the following method steps:

MARK point pose for obtaining MARK point of PCB

Acquiring the pose of the first target jack according to the pose of the MARK point and the layout diagram of the PCB; and

the other target jack pose is obtained by the following method steps:

and acquiring the next target jack pose of the next target jack by combining the moving speed of the conveying device, the pose of the first target jack or the MARK point and the layout chart of the PCB.

Further, the pose of the current target jack is obtained according to the preset poses of at least two position sensors corresponding to the PCB and by combining with the layout drawing of the PCB.

Further, the first instruction is generated based on the current target jack pose, the displacement information related to the conveying device and the current pin pose, and the first instruction is used for controlling the manipulator to drive the current pin to be inserted into the corresponding current target jack in the second area, so that the following steps are implemented:

generating a second instruction according to the pose of the current pin and the pose of the current target jack, and controlling a manipulator to drive the current pin to implement a motion amount which corresponds to a travel extension line of the current target jack and meets a down-insertion condition through the second instruction;

acquiring delay time of the manipulator executing the inserting action corresponding to the certain moment;

and controlling the manipulator to drive the current pin to execute the downward insertion action after the delay time.

Further, AllTime ═ Dis _ xy/currspeed _ mmPerS

DelayTime＝AllTime_s-RobotInsertTime_s-PassTime

Wherein dis _ mm is the distance between the current target jack and the current pin; CurSpeed _ mmPerS is the conveyor speed; RobotInsertTime _ s is the time required for the manipulator to perform the drop-in; AllTime _ s is the time required for the current target jack to move to the position below the current pin; DealTime _ s is the time delay before the manipulator executes the plug-in action after the current target jack is detected.

controlling the manipulator to synchronously move along with the transmission device according to the motion information of the transmission device sent by the encoder;

and controlling the manipulator to execute a plugging action according to the current target jack pose and the current pin pose.

The invention provides a machine inserting device for inserting electronic elements into a PCB board, which comprises a mechanical arm, an image sensor, a control device and a conveying device;

the conveying device is used for conveying the PCB;

the image sensor is fixed on the manipulator or at a certain fixed position;

the control device is respectively coupled with the manipulator and the image sensor;

the control device acquires feedback information of the PCB positioned on the conveying device moving to the first area when in work; acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired; and generating a first instruction based on the current target jack pose, the displacement information related to the conveying device and the current pin pose, and controlling the manipulator to drive the current pin to be inserted into the corresponding current target jack in the second area through the first instruction.

The invention provides a machine inserting device for inserting electronic elements into a PCB, which comprises a mechanical arm, an image sensor, at least two position sensors, a control device and a conveying device, wherein the mechanical arm is connected with the image sensor;

the conveying device is used for conveying the PCB;

the image sensor is fixed on the manipulator or at a certain fixed position;

the at least two position sensors are arranged in a first area, the distance between the at least two position sensors along the conveying direction of the transmission device corresponds to the PCB, and the at least two position sensors are positioned in the first area;

the control device is respectively coupled with the manipulator, the image sensor and the position sensor;

the control device is used for acquiring feedback information of the PCB positioned on the conveying device moving to the first area when in work; acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired; and generating a first instruction based on the current target jack pose, the displacement information related to the conveying device and the current pin pose, and controlling the mechanical arm to drive the current pin to be inserted into the corresponding current target jack in a second area through the first instruction.

The fourth aspect of the invention provides a plug-in device, which comprises a first acquisition module, a second acquisition module and a control module;

the first acquisition module is used for acquiring feedback information of the PCB positioned on the conveying device moving to the first area;

the second obtaining module is used for obtaining the current target jack pose of the current target jack on the PCB when the feedback information is obtained;

and the control module is used for generating a first instruction based on the current target jack pose, the displacement information related to the conveying device and the current pin pose, and controlling the manipulator to drive the current pin to be inserted into the corresponding current target jack in a second area through the first instruction.

A fifth aspect of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the mobile plug-in method described in one of the above items when executing the computer program.

A sixth aspect of the invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the mobile plug-in method of any one of the above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the embodiments and the drawings used in the description of the prior art, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a first structural block diagram of an embodiment of a plug-in device provided by the invention.

Fig. 2 is a second structural block diagram of an embodiment of a plug-in device provided by the invention.

Fig. 3 is a third structural block diagram of an embodiment of a plug-in device provided by the invention.

Fig. 4 is a flowchart illustrating a mobile plug-in method according to an embodiment of the present invention.

FIG. 5 is a first flowchart of an embodiment of generating a first instruction based on the current target jack pose, displacement information associated with the transport, and a current pin pose.

Fig. 6 is a flowchart of an embodiment of a first target jack pose acquisition method.

Fig. 7 is a flowchart illustrating an embodiment of a method for determining whether a PCB moves to a first area according to the present invention.

FIG. 8 is a second flow chart of an embodiment of the present invention for generating a first instruction based on the current target jack pose, the conveyor related displacement information, and the current pin pose.

Fig. 9 is a block diagram of an embodiment of a control device provided in the present invention.

Fig. 10 is a block diagram of an embodiment of an electronic device provided in the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Fig. 1 is a first structural block diagram of an embodiment of a plug-in device provided by the invention. Fig. 2 is a second structural block diagram of an embodiment of a plug-in device provided by the invention. Fig. 3 is a third structural block diagram of an embodiment of a plug-in device provided by the invention.

As shown in fig. 1, the insertion device 10 includes: a robot 11, a sensor, a control device 13 and a transfer device 14.

The robot may be various types of robots, such as: four-axis manipulators, six-axis manipulators or parallel manipulators. The manipulator includes a plurality of driving shafts and an end effector located at an end of the plurality of driving shafts, and grabs the electronic component through the end effector and inserts pins of the electronic component into target insertion holes of a Printed Circuit Board (PCB) under the control of the control device. The end effector may be a suction cup or a jaw, etc.

The sensors may be image sensors 12 (as shown in fig. 1 and 2) and/or position sensors 121 (as shown in fig. 3), as will be described in more detail below with respect to the various sensors.

The image sensor may include: cameras, video cameras, scanners or other devices with associated functions (cell phones, computers, etc.), and the like. The image sensor may be any number of 1 or more, and the image sensor may obtain a 2D image, a 3D image, or a video.

And a transfer device 14 for transferring the PCB panel and placing the PCB panel on the transfer device. The conveyor 14 may be a belt 14 or any other device capable of conveying PCB boards, and for convenience of understanding, the belt 14 will be described as an example.

The image sensor can be fixed on the manipulator or fixed at a required position on the periphery of the conveyor belt. Specifically, when the image sensor is fixed to the robot, the image sensor may be fixed to an arbitrary position on the robot, and in this embodiment, it is preferable that the image sensor 12 is fixed to the distal end shaft 111 of the robot 11.

The control device 13 is coupled to the manipulator 11 and the sensor, respectively.

The manipulator 11 and the sensor are coupled to the control device in a wired or wireless manner. Wireless means may include, but are not limited to: 3G/4G, WIFI, bluetooth, WiMAX, Zigbee, UWB (ultra wideband), and other wireless connection means now known or developed in the future.

Specifically, the manipulator is coupled with the control device, and the end effector of the manipulator is controlled to grab the electronic element according to a specific motion or a position instruction required to be reached sent by the control device; and controlling the manipulator to drive the pins of the electronic component to move to the target jack, and the like.

Each PCB usually comprises a plurality of target jacks, the control device controls the manipulator to sequentially grab corresponding electronic elements from the material taking position, and then controls the manipulator to drive pins of the electronic elements to be inserted into the corresponding target jacks moving along with the PCB.

For specific limitations of the control device, see the following definitions of the mobile plug-in method.

The control device may be a Programmable Logic Controller (PLC), a Field-Programmable Gate Array (FPGA), a Computer (Personal Computer, PC), an Industrial Personal Computer (IPC), a server, or the like. The control device generates a program first instruction according to a preset program and by combining information and parameters input manually or data collected by an external sensor (such as a first sensor or a position sensor).

It should be noted that, in some embodiments, in order to ensure that all target jacks on the PCB can be inserted during the moving process of the PCB, L ≧ V × T1 is ensured, L is the maximum stroke of the manipulator, V is the moving speed of the conveyor belt, and T1 is the time required for completing the insertion of all target jacks.

As shown in fig. 4, fig. 4 is a schematic flow chart of an embodiment of a mobile plug-in method provided by the present invention. The mobile plug-in method comprises the following steps:

s11, acquiring feedback information of the PCB positioned on the conveyer moving to the first area;

s12, acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired;

and S13, generating a first instruction based on the current target jack pose, the displacement information related to the conveying device and the current pin pose, and controlling the manipulator to drive the current pin to be inserted into the corresponding current target jack in the second area through the first instruction.

By adopting the mobile plug-in method of the embodiment of the invention, the procedure of positioning the PCB in the plug-in process is reduced, so that the plug-in does not depend on the requirement of high-precision positioning of the PCB, the cost of the whole equipment is reduced, and the applicable flexibility of the device is improved.

To facilitate an understanding of the embodiments of the plugging method of the present invention, the steps of the mobile plugging method described in the above embodiments are described in further detail below.

S11 obtains feedback information that the PCB positioned on the conveyor moves to the first area.

The feedback information can be feedback information which judges whether the PCB moves to the first area according to the received image information sent by the image sensor; or acquiring pose feedback information sent by a position sensor, for example: as shown in fig. 3, at least two position sensors 121 are preset in the first area to ensure that the distance between the at least two position sensors 121 along the conveying direction of the conveyor 14 corresponds to the PCB, and when the PCB moves to the first area F along with the conveyor 14, the PCB is considered to move to the first area F when the position sensors 121 at both ends receive a signal that the PCB is detected to be present.

Fig. 7 is a schematic flow chart of a method for determining whether a PCB moves to a first area according to an embodiment of the present invention. In some embodiments, when the image sensor is used, it may be judged that the PCB board moves to the first region F by the following method.

S1111, acquiring an image at a certain moment;

according to the foregoing embodiments, the image sensor may be disposed at a fixed position, or may be fixed to the manipulator, and the calibration between the manipulator and the image sensor is performed in advance.

In some embodiments, as shown in fig. 1, for example, the image sensor 12 is fixed on the robot 11, when the robot is controlled to pick up the electronic component, and the robot 11 is controlled to move the pins to a position above the conveyor 14, a certain area directly in front of the conveyor through at least a partial view of the image sensor is a first area F. The first area can be preset to the angle of the image sensor, and the first area is adjusted to a proper position on the transmission device through the angle setting, and the first area is usually considered in combination with the second area, such as: in order to ensure that the plugging machine can be completed for the target jack on the PCB, the first area is usually positioned outside the second area; but in some cases the first area may also partly coincide with the second area or be located within the first area.

Specifically, the image sensor may acquire images within the visual field at a certain interval or continuously and send the images to the control device, and the control device may acquire the images sent by the image sensor.

Placing the PCB on a transmission device, wherein the PCB moves along with the transmission device; when the PCB moves to the range of the first area F, the acquired image comprises the part of the PCB.

S1112, identifying the PCB in the image;

the control device identifies an outline of the PCB board, which may be the entire PCB board or a portion of the PCB board, in the received image. Or acquiring a plurality of partial images, splicing the partial images into an integral image, and then identifying the integral image.

S1113, acquiring the proportion of the PCB in the image;

and calculating the proportion of the PCB in the image to the whole image.

S1114, judging whether the ratio is larger than a certain threshold value; if so, S1115 acquires the image as an image including the PCB; if so, S1116 acquiring an image at the next moment; s1117 repeats the steps of S1112-S1116. A proportional threshold may be preset, such as: 1/2, when the proportion of the PCB board occupying the whole image is equal to or more than 1/2, the image including the PCB board is considered to be acquired.

S12 obtaining a current target jack pose of a current target jack on the PCB board when the feedback information is obtained.

The current target jack may be a first target jack and a next target jack; the first target jack is a target jack for completing the insertion of pins of the electronic element on the whole PCB; the other target jack refers to any target jack on the PCB board except the first target jack.

According to the description in S11, as shown in fig. 3, when the sensor is the position sensor 121, according to the poses of the position sensors 121 corresponding to the two ends of the PCB in advance, since the two position sensors just correspond to the two ends of the PCB, the pose of the whole PCB outline can be obtained by the pose of the position sensor 121, and thus the pose of the current target jack can be calculated by combining the layout diagram of the PCB.

As shown in fig. 6, fig. 6 is a flowchart of an embodiment of a first target jack pose acquisition method. In some embodiments, the first target jack pose may be implemented by the method steps of:

s121, acquiring MARK point pose of MARK points of the PCB;

and acquiring the pose of a MARK (MARK) point of the PCB in the image including the PCB at the moment (the MARK point is a pose identification point of the PCB, and each PCB can comprise a plurality of MARK points which are solid circular points and form a certain open area at the periphery of the solid circular points).

In some embodiments, as shown in fig. 3, when the step of S11 above is to acquire the feedback information through the position sensor 121, it is necessary to acquire an image including the PCB board through another image sensor 122 when acquiring the feedback information.

S122, acquiring the pose of the first target jack according to the pose of the MARK point and the layout diagram of the PCB.

And acquiring the pose of the target jack according to the pose of the MARK point and the layout of the PCB (the layout of the PCB can be stored in a memory in advance or sent to the control device in real time through the outside).

In other embodiments, when the current target jack is the next target jack, the obtaining of the current target jack pose of the current target jack at a certain time may obtain the next target jack pose of the next target jack by combining the moving speed of the conveying device, the first target jack pose (or the pose of the MARK point), and the PCB layout.

Different from the first target jack pose acquisition method, the next target jack is acquired according to the pose (or the pose of the MARK point) of the previous target jack and the displacement of the conveyor belt in combination with the PCB layout.

The following is further detailed by taking the position and the conveyor belt displacement according to the previous target jack and combining a layout diagram of a PCB board as an example, and specifically, the following formula can be adopted:

New_hoel_pts＝old_hole_pts+delta_old_hole_to_new_hole_pts+ conveyor_dis。

wherein, new _ hole _ pts refers to the pose of the current target jack; old _ hole _ pts refers to the pose of the previous target jack, delta _ old _ hole _ to _ new _ hold _ pts refers to the fixed displacement from the previous target jack to the current target jack, and provider _ dis refers to the displacement of the conveyor belt during the period from the completion of inserting the previous target jack to the preparation of estimating the pose of the current target jack.

Wherein, the new _ hole _ pts is determined according to the pose of the last target jack and the PCB layout.

Wherein, constant _ dis ═ T × V; and V is the moving speed of the conveyor belt, and T is the time from the completion of inserting the previous target jack to the preparation of estimating the pose of the current target jack.

It should be noted that the length of the second region in the direction of movement of the transmission corresponds to V × T1.

In some embodiments, as shown in fig. 2, the method for acquiring the current pin pose may include: after the manipulator has grasped the electronic component, it can be moved to a second image sensor 15, which is fixedly arranged, and an image including the current pin is acquired by the image sensor, acquiring the pose of the current pin under the coordinate system of the second image sensor according to the image, calibrating the second image sensor and the end effector in advance, the pose of the current pin relative to the end effector in the end effector coordinate system (the coordinate system can be other coordinate systems as well, only the pin and the end effector are unified in the same coordinate system, and the calibration of each coordinate system is established in advance) can be obtained, because the pose of the electronic element relative to the end effector of the manipulator is always unchanged, the pose of the current pin can be acquired according to the pose of the end effector of the manipulator acquired based on the manipulator kinematics forward solution formula.

As shown in fig. 5, fig. 5 is a first flowchart of an embodiment of a method for generating a first instruction based on the current target jack pose, the displacement information related to the transport device, and the current pin pose, and controlling the manipulator to drive the current pin to be inserted into the corresponding current target jack in the second area through the first instruction. In some embodiments, the step of S13 includes the method steps of:

s131, generating a second instruction according to the current pin pose of the current pin and the current target jack pose, and controlling the manipulator to drive the current pin to implement the motion amount which corresponds to the advancing extension line of the current target jack and meets the inserting condition through the second instruction.

As shown in fig. 1 and 2, the pose of the current target jack described in the above embodiment also needs to be converted into the coordinate system of the end effector of the manipulator, that is, the image sensor 12 and the manipulator are calibrated in advance, and the pose of the current target jack in the coordinate system of the image sensor 12 is converted into the pose of the current target jack in the coordinate system of the end effector. Similarly, the coordinate system is not limited to the end effector coordinate system, as long as the current target jack pose and pin pose are converted into the lower pose of the same coordinate system, for example; and the manipulator coordinate system is used for establishing calibration relation of each coordinate system in advance.

And generating a second instruction pointing to the manipulator according to the acquired pose of the current target jack and the pose of the current pin, controlling the manipulator to implement corresponding motion amount through the second instruction, and controlling the manipulator to execute a downward inserting action after waiting for the delay time in the subsequent embodiment, so that the current pin is just inserted into the current target jack.

In some embodiments, the amount of motion described in the above embodiments includes the amount of motion of the robot moving the current pin to the current target jack position and satisfying the condition of the pin being inserted into the target jack (in some embodiments, generally, the pin is considered to satisfy the condition of the pin being inserted into the target jack when the pin corresponds to and approaches the pose perpendicular to the target jack); specifically, the amount of motion to be implemented by the manipulator is further obtained according to the amount of motion to be implemented by the pins, second instruction information related to the motion to be implemented by each joint of the manipulator can be obtained through a manipulator kinematics inverse solution formula based on the calculated amount of motion of the manipulator, and then the second instruction is sent to the motor controller of each joint, so that the manipulator is controlled to drive the current pins to move to the current target jack position and meet the down-plugging condition, and then the plugging is waited.

In some embodiments, after controlling the manipulator to bring the first electronic component to a short stop at the preset fixed pose while inserting the first electronic component, the manipulator is controlled to continue moving to a fixed position above the conveyor belt, so as to obtain the first target jack pose by acquiring an image sent by an image sensor arranged at a fixed position on the manipulator, and then the manipulator is controlled to perform the amount of movement described in the above embodiments to wait for insertion. Later, when other electronic components are inserted, the manipulator is controlled to drive the other electronic components to stay at the preset fixed positions for a short time, and then the manipulator is controlled to directly drive the pins to implement the motion amount described in the above embodiment and wait for inserting the electronic components.

S132, acquiring delay time corresponding to a certain moment when the manipulator executes the inserting action;

the delay time may be obtained by the following formula:

AllTime＝Dis_xy/CurSpeed_mmPerS

DelayTime＝AllTime_s-RobotInsertTime_s-PassTime

And S133, controlling the manipulator to execute the inserting action after the delay time.

And the control device generates a third instruction, and controls the manipulator to drive the pins to execute the downward insertion action after the delay time passes through the third instruction so as to just insert the current pins into the current target jacks.

Fig. 8 is a second flow chart of an embodiment of the present invention for generating a first instruction based on the current target jack pose, the displacement information associated with the transport, and the current pin pose, as shown in fig. 8.

In other embodiments, an encoder may be disposed on the conveyor, the encoder being coupled to the control device, and the method step S13 may include:

s134, controlling the manipulator to synchronously move along with the transmission device according to the motion information of the transmission device sent by the encoder;

and S135, controlling the manipulator to execute a plug-in action according to the current target jack pose and the current pin pose.

Therefore, after the current target jack pose, the current pin pose and the end effector pose are obtained, the manipulator can be controlled to execute the plugging action without waiting for a certain delay time as described in the above embodiment.

As shown in fig. 9, fig. 9 is a block diagram of an embodiment of a control device provided in the present invention. Corresponding to the embodiment of the method, the embodiment of the invention also provides a control device, and a control device described below and the mobile plug-in method described above can be correspondingly referred to each other.

The control device 300 comprises the following modules: a first acquisition module 301, a second acquisition module 302, and a control module 303.

A first obtaining module 301, configured to obtain feedback information that a PCB located on the conveyor moves to the first area;

a second obtaining module 302, configured to obtain a current target jack pose of a current target jack on the PCB when the feedback information is obtained;

and the control module 303 is configured to generate a first instruction based on the current target jack pose, the displacement information related to the transport device, and the current pin pose, and control the manipulator to drive the current pin to be inserted into the corresponding current target jack in the second area through the first instruction.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the control device is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In further embodiments, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of the mobile plug-in method described in the above embodiments.

For the description of the mobile plug-in method, reference is made to the above embodiments, and the description is not repeated here.

As shown in fig. 10, fig. 10 is a block diagram of an embodiment of an electronic device provided in the present invention. In other embodiments, an electronic device 23 is further provided, where the electronic device 23 includes a memory 231, a processor 230, and a computer program 232 stored in the memory 231 and executable on the processor 230, and the processor 230 executes the computer program 232 to implement the steps of the mobile plugin method described in the above embodiments. For the description of the mobile plug-in method, reference is made to the above embodiments, and the description is not repeated here.

The electronic device 23 may be a Programmable Logic Controller (PLC), a Field-Programmable Gate Array (FPGA), a Computer (PC), an Industrial Personal Computer (IPC), a server, or the like. The control device generates a program first instruction according to a preset program and by combining information and parameters which are manually input or data collected by an external sensor (such as an image sensor or a position sensor).

Taking a computer and an industrial control computer as examples, the industrial control computer has important computer attributes and features, and therefore, they all have internal memories such as a Central Processing Unit (CPU), a hard disk, a memory, etc., and also have external memories such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc., and have an operating system, a control network and a protocol, computing power, and a friendly man-machine interface, which are reliable, embedded, and intelligent computers and industrial control computers for other structures/devices/systems.

Illustratively, the computer program 232 may be partitioned into one or more modules/units that are stored in the memory 231 and executed by the processor 230 to implement the present invention. The one or more modules/units may be a series of first instruction segments of a computer program capable of performing a specific function, the first instruction segments being used for describing the execution process of the computer program 232 in the terminal 3.

The Processor 230 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 231 may be a storage device built in the terminal, such as a hard disk or a memory. The memory 231 may also be an external storage device of the electronic device 23, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the electronic device 23. Further, the memory 231 may also include both an internal storage unit and an external storage device of the electronic device 23. The memory 231 is used to store the computer program and other programs and data required by the terminal. The memory 231 may also be used to temporarily store data that has been output or is to be output.

Those skilled in the art will appreciate that fig. 10 is merely an example of the electronic device 23, and does not constitute a limitation of the electronic device 23, and may include more or less components than those shown, or combine some of the components, or different components, for example, the control device may further include an input-output device, a network access device, a bus, etc.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed devices and methods may be implemented in other ways. For example, the above-described embodiments of the respective apparatuses are merely illustrative, and for example, the division of the modules or units is only one logical function division, and there may be another division in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the above embodiments may be implemented by hardware related to the first instruction of a computer program, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

When an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present, pre-formed integrally with the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

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

The terms "first," "second," "third," "S11," "S12," "S12," and the like in the claims and the description and drawings above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or robot that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not explicitly listed or inherent to such process, method, system, article, or robot.

It should be noted that the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention, as will be understood by those skilled in the art.

The mobile insertion method and the insertion device provided by the embodiment of the invention are described in detail above, but the above description of the embodiment is only for assisting understanding of the method and the core idea of the invention, and should not be construed as limiting the invention. Those skilled in the art should also appreciate that various modifications and substitutions can be made without departing from the scope of the present invention.

Claims

1. A mobile plug-in method is characterized by comprising the following steps:

generating a second instruction according to the position and the position of the current target jack and the position of the current pin, so that the second instruction controls a mechanical hand to drive the current pin to implement the motion amount which corresponds to the advancing extension line of the current target jack and meets the inserting condition;

acquiring delay time of the manipulator for executing the inserting action;

and generating a third instruction so as to control the manipulator to drive the current pin to be inserted into the current target jack after the delay time passes through the third instruction.

2. The mobile plugging method of claim 1, wherein L ≧ V × T1; wherein L is the maximum stroke of the manipulator, V is the moving speed of the conveyer, and T1 is the time required for completing all the current pins to be inserted into the current target socket.

3. The mobile plug-in method according to claim 1 or 2, wherein the feedback information is:

4. The mobile plug-in method of claim 1 or 2, wherein the current target jack comprises a first target jack and other target jacks; the first target jack pose is acquired by the following method steps:

acquiring MARK point pose of MARK points of the PCB; the MARK point is a solid dot, and a certain open area is formed at the periphery of the solid dot;

the other target jack pose is obtained by the following method steps:

5. The mobile plug-in method according to claim 1 or 2, characterized in that the current target jack pose is obtained according to the poses of at least two position sensors of a corresponding preset PCB board, in combination with a PCB board layout diagram.

6. A machine inserting device is used for inserting electronic elements into a PCB and is characterized by comprising a manipulator, an image sensor, a control device and a conveying device;

the conveying device is used for conveying the PCB;

the image sensor is fixed on the manipulator or at a certain fixed position;

the control device acquires feedback information of the PCB positioned on the conveying device moving to the first area when in work; acquiring feedback information of the PCB positioned on the conveying device moving to the first area; acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired; generating a second instruction according to the position and the position of the current target jack and the position of the current pin, so that the second instruction controls a mechanical hand to drive the current pin to implement the motion amount which corresponds to the advancing extension line of the current target jack and meets the inserting condition; acquiring delay time of the manipulator for executing the inserting action; and generating a third instruction so as to control the manipulator to drive the current pin to be inserted into the current target jack after the delay time passes through the third instruction.

7. A machine inserting device is used for inserting electronic elements into a PCB and is characterized by comprising a manipulator, an image sensor, at least two position sensors, a control device and a conveying device;

the conveying device is used for conveying the PCB;

the image sensor is fixed on the manipulator or at a certain fixed position;

the at least two position sensors are arranged in a first area, the distance between the at least two position sensors along the conveying direction of the conveying device corresponds to the PCB, and the at least two position sensors are positioned in the first area;

the control device is used for acquiring feedback information of the PCB positioned on the conveying device moving to the first area when in work; acquiring feedback information of the PCB positioned on the conveying device moving to the first area; acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired; generating a second instruction according to the position and the position of the current target jack and the position of the current pin, so that the second instruction controls a mechanical hand to drive the current pin to implement the motion amount which corresponds to the advancing extension line of the current target jack and meets the inserting condition; acquiring delay time of the manipulator for executing the inserting action; and generating a third instruction so as to control the manipulator to drive the current pin to be inserted into the current target jack after the delay time passes through the third instruction.

8. The plug-in device is characterized by comprising a first acquisition module, a second acquisition module and a control module;

the control module is used for acquiring feedback information of the PCB positioned on the conveying device moving to the first area; acquiring the current target jack pose of the current target jack on the PCB when the feedback information is acquired; generating a second instruction according to the position and the position of the current target jack and the position of the current pin, so that the second instruction controls a mechanical hand to drive the current pin to implement the motion amount which corresponds to the advancing extension line of the current target jack and meets the inserting condition; acquiring delay time of the manipulator for executing the inserting action; and generating a third instruction so as to control the manipulator to drive the current pin to be inserted into the current target jack after the delay time passes through the third instruction.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the mobile plug-in method of any one of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the mobile plug-in method according to any one of claims 1 to 5.