CN111242989B - Platform adjusting method and device, computer equipment and storage medium - Google Patents
Platform adjusting method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The application relates to a platform adjusting method, a platform adjusting device, computer equipment and a storage medium, wherein the method comprises the following steps: controlling a suction head to suck the welding object and placing the welding object on a welding platform; detecting the state of the welding object to obtain a contrast picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object; and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position. According to the method, the position of the welding object is corrected before the chip is welded, so that the welding object is positioned at the optimal welding position right below the chip, and the influence of the poor welding position of the welding object on the quality of a welding product is avoided.
Description
Technical Field
The present application relates to the field of semiconductor welding technologies, and in particular, to a method and an apparatus for adjusting a platform, a computer device, and a storage medium.
Background
In the existing chip welding technology, when a chip is welded on a welding platform, whether the relative welding surface between the chip and a welding object on the welding platform is parallel or not can not be considered, and whether the welding object on the chip and the welding platform is aligned or not can not be considered, so that the thickness distribution of soldering tin between the chip and the welding object is uneven, the welding surface of the chip is not completely welded on the welding surface of the welding object, the welding is insufficient, and the quality of a welding product is influenced.
Disclosure of Invention
In order to solve the technical problem, the application provides a platform adjustment method, a platform adjustment device, a computer device and a storage medium.
In a first aspect, the present application provides a method of adjusting a welding platform, the method comprising:
controlling a suction head to suck a welding object to be placed on a welding platform;
detecting the state of the welding object to obtain a contrast picture;
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object;
and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position.
Optionally, the detecting a state of the weldment to obtain a contrast image includes:
detecting the state of the welding object according to a detection camera arranged right above the welding object to obtain the comparison picture;
the step of comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object comprises the following steps:
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance;
the adjusting the welding platform according to the deviation information to enable the welding object to be in the best welding position comprises:
rotating the welding platform according to the deviation angle to enable the angle direction of the welding object to be consistent with that of a standard welding position,
and adjusting the welding platform according to the deviation distance to enable the welding object to coincide with a standard welding position.
Optionally, the detecting the state of the welding object to obtain a contrast image includes:
detecting the inclination angle between the welding object and the horizontal plane to obtain the comparison picture;
the step of comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object comprises the following steps:
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle;
the adjusting the welding platform according to the deviation information to enable the welding object to be in the best welding position comprises:
and adjusting the welding platform according to the deviation inclination angle to enable the bottom surface of the welding object to be parallel to the horizontal plane.
Optionally, the bottom of welding platform is equipped with fixed slider, fixed slider sliding connection has cross slip table.
Optionally, a cardan shaft fixedly connected with the welding platform is arranged in the fixed sliding block.
In a second aspect, the present application provides a welding platform adjustment apparatus, the apparatus comprising:
the suction head module is used for controlling a suction head to suck a welding object to be placed on the welding platform;
the detection module is used for detecting the state of the welding object to obtain a comparison picture;
the calculation module is used for comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object;
and the adjusting module is used for adjusting the welding platform according to the deviation information so that the welding object is in the optimal welding position.
Optionally, the detection module includes:
the plane detection unit is used for detecting the state of the welding object according to a detection camera arranged right above the welding object to obtain the comparison picture;
the calculation module comprises:
the first comparison unit is used for comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance;
the adjustment module includes:
an angle adjusting unit for rotating the welding platform according to the deviation angle to make the angle direction of the welding object consistent with that of the standard welding position,
and the distance adjusting unit is used for adjusting the welding platform according to the deviation distance so as to enable the welding object to coincide with the standard welding position.
Optionally, the detection module includes:
the horizontal detection unit is used for detecting the inclination angle between the welding object and the horizontal plane to obtain the comparison picture;
the calculation module comprises:
the second comparison unit is used for comparing and calculating the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle;
the adjustment module includes:
and the horizontal adjusting unit is used for adjusting the welding platform according to the deviation inclination angle so that the bottom surface of the welding object is parallel to the horizontal plane.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
controlling a suction head to suck the welding object and placing the welding object on a welding platform;
detecting the state of the welding object to obtain a contrast picture;
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object;
and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
controlling a suction head to suck the welding object and placing the welding object on a welding platform;
detecting the state of the welding object to obtain a contrast picture;
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object;
and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position.
The platform adjusting method, the platform adjusting device, the computer equipment and the storage medium are provided, and the method comprises the following steps: controlling a suction head to suck the welding object and placing the welding object on a welding platform; detecting the state of the welding object to obtain a contrast picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object; and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position. According to the method, the position of the welding object is corrected before the chip is welded, so that the welding object is located at the optimal welding position right below the chip, and the problem that the quality of a welding product is influenced due to the fact that the welding position of the welding object is poor is avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for tuning a welding platform according to one embodiment;
FIG. 2 is a schematic diagram illustrating an internal structure of an exemplary embodiment of a welding platform adjustment apparatus;
FIG. 3 is a diagram of the internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a schematic flow chart of a welding platform adjustment method in an embodiment, and in the embodiment of the present invention, referring to fig. 1, the present application provides a welding platform adjustment method, which includes the following steps:
and step S110, controlling the suction head to suck the welding object and place the welding object on the welding platform.
In the embodiment, the pick-and-place of the object on the welding platform is completed by controlling the suction head in the welding process, the suction head is used for sucking the welding object, and the welding object is placed on the welding platform and then is sucked into the chip to wait for welding.
And step S120, detecting the state of the welding object to obtain a contrast picture.
In this embodiment, the state of the detected welding object is the position state of the detected welding object, and image acquisition is performed on each view angle to obtain a contrast image.
And S130, comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object.
In this embodiment, the comparison picture of each collected view angle of the welding object is compared with a preset standard picture, so that the deviation information between each view angle of the welding object and the optimal placement state can be obtained, wherein the deviation information comprises a deviation angle, a deviation distance and a deviation inclination angle.
And S140, adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position.
In the embodiment, the welding platform is adjusted according to the deviation angle, the deviation distance and the deviation inclination angle, so that the welding object is in the optimal welding position relative to the chip.
Specifically, the method comprises the steps that after a suction head sucks a welding object to be placed on a welding platform, the suction head removes a suction chip, the state of the welding object is detected in the process that the chip sucks the chip, the detected state of the welding object is the position state of the welding object, and image collection is carried out on each visual angle to obtain a comparison picture; comparing the collected comparison picture of each visual angle of the welding object with a preset standard picture to calculate deviation information between each visual angle of the welding object and the optimal placement state, wherein the deviation information comprises a deviation angle, a deviation distance and a deviation inclination angle; and adjusting the welding platform according to the deviation angle, the deviation distance and the deviation inclination angle to enable the welding object to be in the optimal welding position relative to the chip. According to the method, the position of the welding object is corrected before the chip is welded, so that the welding object is located at the optimal welding position right below the chip, and the problem that the quality of a welding product is influenced due to the fact that the welding position of the welding object is poor is avoided.
In one embodiment, the state of the welding object is detected according to a detection camera arranged right above the welding object, and the comparison picture is obtained; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance; and rotating the welding platform according to the deviation angle to enable the angle direction of the welding object to be consistent with that of a standard welding position, and adjusting the welding platform according to the deviation distance to enable the welding object to be superposed with the standard welding position.
Specifically, the method includes the steps that a detection camera arranged right above a welding object detects the state of the welding object to obtain a comparison picture, the content of the comparison picture is a top view of the welding object, the comparison picture is compared with a preset standard picture to be calculated, the top view of the welding object is compared with the preset standard picture to be calculated, deviation information of the welding object is obtained, the deviation information comprises a deviation angle and a deviation distance, the welding platform is rotated according to the deviation angle to enable the angle direction of the welding object to be consistent with that of a standard welding position, the welding platform is adjusted according to the deviation distance to enable the welding object to be superposed with the standard welding position, the welding object is enabled to be in the best welding position, the phenomenon that the welding object is not located at the best welding position right below a chip during welding, the chip and the welding object are staggered during welding, the quality of the welding product is affected, and waste of the chip is avoided.
In one embodiment, the inclination angle between the welding object and the horizontal plane is detected to obtain the comparison picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle; and adjusting the welding platform according to the deviation inclination angle to enable the bottom surface of the welding object to be parallel to the horizontal plane.
Specifically, the inclination angle between the welding object and the horizontal plane can be measured by detecting the state of each visual angle of the welding object, a comparison picture is obtained, the comparison picture is a side view of the welding object, the side view of the welding object is compared with a preset standard picture to obtain deviation information of the welding object, the deviation information comprises a deviation inclination angle, and the welding platform is adjusted according to the deviation inclination angle to enable the bottom surface of the welding object to be parallel to the horizontal plane, so that the welding object and the horizontal plane are prevented from generating a certain inclination angle, and the non-uniform distribution thickness of soldering tin between a chip and the welding object is caused during welding to influence the yield of the welding product.
In one embodiment, a fixed sliding block is arranged at the bottom of the welding platform, and the fixed sliding block is connected with a cross sliding table in a sliding mode.
Specifically, the slider arranged at the bottom of the welding platform slides in the cross sliding table, so that the welding platform is moved left and right in the front and back directions, the position of the welding platform is adjusted, the deviation distance of a welding object is corrected, the welding object on the welding platform is aligned to the position under the chip, and the welding object and the chip can be accurately welded conveniently.
In one embodiment, a cardan shaft fixedly connected with the welding platform is arranged in the fixed sliding block.
Specifically, the inclination angle and the rotation angle between the welding platform and the horizontal plane are adjusted through the universal shaft in the fixed sliding block, so that the correction processing of the deviation angle and the deviation inclination angle of the welding object is realized, and the welding object is positioned at the optimal welding position to wait for welding.
FIG. 1 is a flowchart illustrating a method for adjusting a welding platform according to one embodiment. It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, fig. 2 is a schematic diagram illustrating an internal structure of a welding platform adjusting device in one embodiment, and referring to fig. 2, there is provided a welding platform adjusting device, which includes:
a suction head module 210 for controlling a suction head to suck the welding object to be placed on the welding platform;
the detection module 220 is configured to detect a state of the welding object to obtain a comparison picture;
the calculation module 230 is configured to compare the comparison picture with a preset standard picture to obtain deviation information of the welding object;
and an adjusting module 240, configured to adjust the welding platform according to the deviation information, so that the welding object is located at an optimal welding position.
In one embodiment, the detection module 220 includes:
the plane detection unit is used for detecting the state of the welding object according to a detection camera arranged right above the welding object to obtain the comparison picture;
the calculating module 230 includes:
the first comparison unit is used for comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance;
the adjusting module 240 includes:
an angle adjusting unit for rotating the welding platform according to the deviation angle to make the angle direction of the welding object consistent with that of the standard welding position,
and the distance adjusting unit is used for adjusting the welding platform according to the deviation distance so as to enable the welding object to be superposed with the standard welding position.
In one embodiment, the detection module 220 includes:
the horizontal detection unit is used for detecting the inclination angle between the welding object and the horizontal plane to obtain the comparison picture;
the calculation module 230 includes:
the second comparison unit is used for comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle;
the adjusting module 240 includes:
and the horizontal adjusting unit is used for adjusting the welding platform according to the deviation inclination angle so that the bottom surface of the welding object is parallel to the horizontal plane.
FIG. 3 is a diagram of the internal structure of a computer device in one embodiment. As shown in fig. 3, the computer apparatus includes a processor, a memory, a network interface, an input device, and a display screen connected through a system bus. The memory comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement the welding platform adjustment method. The internal memory may also have a computer program stored thereon that, when executed by the processor, causes the processor to perform a welding platform tuning method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 3 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the welding platform adjustment apparatus provided herein may be implemented in the form of a computer program that is executable on a computer device such as that shown in fig. 3. The memory of the computer device may store various program modules that make up the weld platform adjustment apparatus, such as tip module 210, detection module 220, calculation module 230, and adjustment module 240 shown in fig. 2. The respective program modules constitute computer programs that cause the processor to execute the steps in the welding platform adjustment method of the respective embodiments of the present application described in the present specification.
For example, the computer device shown in fig. 3 may control the suction head to suck the solder to place on the soldering station by the suction head module 210 in the soldering station adjusting apparatus shown in fig. 2. The computer device can detect the state of the welding object through the detection module 220 to obtain a comparison picture. The computer device may perform a comparison calculation between the comparison picture and a preset standard picture through the calculation module 230, so as to obtain deviation information of the welding object. The computer device may perform the adjustment of the welding platform according to the deviation information through the adjustment module 240, so that the weldment is in the optimal welding position.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: controlling a suction head to suck the welding object and placing the welding object on a welding platform; detecting the state of the welding object to obtain a contrast picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object; and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position.
In one embodiment, the processor, when executing the computer program, further performs the steps of: detecting the state of the welding object according to a detection camera arranged right above the welding object to obtain the comparison picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance; and rotating the welding platform according to the deviation angle to enable the angle direction of the welding object to be consistent with that of a standard welding position, and adjusting the welding platform according to the deviation distance to enable the welding object to be superposed with the standard welding position.
In one embodiment, the processor, when executing the computer program, further performs the steps of: detecting the inclination angle between the welding object and the horizontal plane to obtain the comparison picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle; and adjusting the welding platform according to the deviation inclination angle to enable the bottom surface of the welding object to be parallel to the horizontal plane.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, performs the steps of: controlling a suction head to suck the welding object and placing the welding object on a welding platform; detecting the state of the welding object to obtain a contrast picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object; and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position.
In one embodiment, the computer program when executed by the processor further performs the steps of: detecting the state of the welding object according to a detection camera arranged right above the welding object to obtain the comparison picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance; and rotating the welding platform according to the deviation angle to enable the angle direction of the welding object to be consistent with that of a standard welding position, and adjusting the welding platform according to the deviation distance to enable the welding object to be superposed with the standard welding position.
In one embodiment, the computer program when executed by the processor further performs the steps of: detecting the inclination angle between the welding object and the horizontal plane to obtain the comparison picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle; and adjusting the welding platform according to the deviation inclination angle to enable the bottom surface of the welding object to be parallel to the horizontal plane.
The platform adjusting method, the platform adjusting device, the computer equipment and the storage medium comprise the following steps: controlling a suction head to suck the welding object and placing the welding object on a welding platform; detecting the state of the welding object to obtain a contrast picture; comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object; and adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position. According to the method, the position of the welding object is corrected before the chip is welded, so that the welding object is located at the optimal welding position right below the chip, and the problem that the quality of a welding product is influenced due to the fact that the welding position of the welding object is poor is avoided.
Embodiments of the present application provide a computer-readable storage medium storing a computer program, the computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method according to any one of the preceding claims.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A method of adjusting a welding platform, the method comprising:
controlling a suction head to suck the welding object and placing the welding object on a welding platform;
detecting the state of the welding object to obtain a contrast picture;
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object;
adjusting the welding platform according to the deviation information to enable the welding object to be in the optimal welding position relative to the chip;
the detecting the state of the welding object to obtain a contrast picture comprises the following steps:
detecting the inclination angle between the welding object and the horizontal plane to obtain the comparison picture;
the step of comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object comprises the following steps:
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle;
the adjusting the welding platform according to the deviation information to enable the welding object to be in the best welding position comprises the following steps:
and adjusting the welding platform according to the deviation inclination angle to enable the bottom surface of the welding object to be parallel to the horizontal plane.
2. The method of claim 1, wherein the detecting the state of the weldment to obtain a comparison picture comprises:
detecting the state of the welding object according to a detection camera arranged right above the welding object to obtain the comparison picture;
the step of comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object comprises the following steps:
comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance;
the adjusting the welding platform according to the deviation information to enable the welding object to be in the best welding position comprises the following steps:
rotating the welding platform according to the deviation angle to make the angle direction of the welding object consistent with that of a standard welding position,
and adjusting the welding platform according to the deviation distance to enable the welding object to be superposed with a standard welding position.
3. The method according to claim 2, characterized in that a fixed sliding block is arranged at the bottom of the welding platform, and a cross sliding table is connected with the fixed sliding block in a sliding manner.
4. A method according to any of the claims 3, characterized in that a cardan shaft is arranged in the fixed slide, which is fixedly connected to the welding platform.
5. A welding platform adjustment apparatus, the apparatus comprising:
the suction head module is used for controlling a suction head to suck a welding object to be placed on the welding platform;
the detection module is used for detecting the state of the welding object to obtain a contrast picture;
the calculation module is used for comparing the comparison picture with a preset standard picture to obtain deviation information of the welding object;
the adjusting module is used for adjusting the welding platform according to the deviation information so that the welding object is in the optimal welding position relative to the chip;
the detection module comprises:
the horizontal detection unit is used for detecting the inclination angle between the welding object and the horizontal plane to obtain the comparison picture;
the calculation module comprises:
the second comparison unit is used for comparing and calculating the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation inclination angle;
the adjustment module includes:
and the horizontal adjusting unit is used for adjusting the welding platform according to the deviation inclination angle so that the bottom surface of the welding object is parallel to the horizontal plane.
6. The apparatus of claim 5, wherein the detection module comprises:
the plane detection unit is used for detecting the state of the welding object according to a detection camera arranged right above the welding object to obtain the comparison picture;
the calculation module comprises:
the first comparison unit is used for comparing and calculating the comparison picture with a preset standard picture to obtain deviation information of the welding object, wherein the deviation information comprises a deviation angle and a deviation distance;
the adjustment module includes:
an angle adjusting unit for rotating the welding platform according to the deviation angle to make the angle direction of the welding object consistent with that of the standard welding position,
and the distance adjusting unit is used for adjusting the welding platform according to the deviation distance so as to enable the welding object to coincide with the standard welding position.
7. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 4 when executing the computer program.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101474736A (en) * | 2009-01-07 | 2009-07-08 | 深圳市因沃客科技有限公司 | Spun gold ball welding machine, and device and method for adjusting welding spot position thereof |
| CN108155124A (en) * | 2017-12-25 | 2018-06-12 | 北京中电科电子装备有限公司 | A kind of chip attachment device and method |
| CN110026717A (en) * | 2019-05-17 | 2019-07-19 | 南京禹智智能科技有限公司 | A kind of High Precision Automatic welding robot and its welding method |
-
2019
- 2019-12-31 CN CN201911413953.XA patent/CN111242989B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101474736A (en) * | 2009-01-07 | 2009-07-08 | 深圳市因沃客科技有限公司 | Spun gold ball welding machine, and device and method for adjusting welding spot position thereof |
| CN108155124A (en) * | 2017-12-25 | 2018-06-12 | 北京中电科电子装备有限公司 | A kind of chip attachment device and method |
| CN110026717A (en) * | 2019-05-17 | 2019-07-19 | 南京禹智智能科技有限公司 | A kind of High Precision Automatic welding robot and its welding method |
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