CN111818790B - Method, system and device for positioning and monitoring electronic element of component inserter - Google Patents
Method, system and device for positioning and monitoring electronic element of component inserter Download PDFInfo
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- CN111818790B CN111818790B CN202010753193.3A CN202010753193A CN111818790B CN 111818790 B CN111818790 B CN 111818790B CN 202010753193 A CN202010753193 A CN 202010753193A CN 111818790 B CN111818790 B CN 111818790B
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
- H05K13/0812—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines the monitoring devices being integrated in the mounting machine, e.g. for monitoring components, leads, component placement
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Abstract
The invention provides a method, a system and a device for positioning and monitoring an electronic element of a plug-in machine, which are used for monitoring the plug-in process and feeding back processing state information; then, the state of the plug-in operation is judged in real time according to the processing state information fed back during plug-in, and the plug-in operation is adjusted, so that the real-time monitoring of the plug-in is realized, the detection efficiency is improved, the plug-in operation is safer, and the production benefit is improved. Meanwhile, in the process of plug-in, various precision compensations are carried out, the application range is wider, and the plug-in result is better.
Description
Technical Field
The invention belongs to the technical field of automatic control electronic element plug-in units, and particularly relates to a method, a system and a device for positioning and monitoring an electronic element of a plug-in unit.
Background
The component inserter is a common device in the field of electronic processing, and mainly has the function of accurately and stably inserting pins of electronic components into hole positions of a circuit board. The whole process is circuit board fixing and calibrating, taking, inserting and finished product detecting. The existing component inserter does not judge the state of the components and protect the electronic components during processing. In actual processing, due to the fine pin and small hole position of the electronic element, the requirements on hole opening and positioning accuracy are high. The positioning deviation of the device, the deformation of the device and other conditions can not be completely avoided, under these conditions, the pin holes of the electronic element and the hole holes of the circuit board are not completely aligned, and the pin of the element is often broken off when the electronic element and the circuit board are continuously processed. The products which fail to be processed can be found only in the subsequent detection link and cannot be corrected immediately. Therefore, the defects of safety, efficiency and benefit of the conventional component inserter still exist.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method, a system and a device for positioning and monitoring an electronic element of a plug-in machine, wherein the plug-in process is monitored and the processing state information is fed back; then, the state of the plug-in operation is judged in real time according to the processing state information fed back during plug-in, and the plug-in operation is adjusted, so that the real-time monitoring of the plug-in is realized, the detection efficiency is improved, the plug-in operation is safer, and the production benefit is improved.
The specific implementation content of the invention is as follows:
the invention provides a positioning and monitoring method for electronic elements of a component inserter, which comprises the steps of setting different material taking positions, placing corresponding electronic elements at the material taking positions, inserting the electronic elements at the different material taking positions into corresponding processing position coordinates on a circuit board to be inserted according to the corresponding relation between the preset electronic elements and the positions of components to be inserted on the circuit board to be inserted, monitoring the component inserting process and feeding back processing state information; then, judging the state of the plug-in operation in real time according to the processing state information fed back during the plug-in process, and adjusting the plug-in operation;
the processing state information includes: the current position of the electronic component when it is plugged in and the torque of the motor of the plug-in.
In order to better implement the present invention, further, the state of the plug-in operation is determined in real time according to the machining state information fed back when the plug-in is plugged in, and the following operations are required to be performed on the machining state information before the operation of adjusting the plug-in operation:
firstly, dividing the position condition of the electronic element plug-in operation into a position S1, a position S2, a position S3 and a position S4 in sequence;
the position S1 is a card approach position at the time of card operation;
the position S2 is a plane contact position of the pin of the electronic element and the circuit board to be plugged;
the position S3 is a plane contact position of the electronic element body and the circuit board to be plugged;
the position S4 is a virtual plug judgment position when a plug-in is made;
then setting a time point A, a time point B, a time point C, a time point D and a time point E when the plug-in is carried out according to the set positions S1, S2, S3 and S4;
the time point A is the starting time of the plug-in operation;
the time point B is a time point when the position S1 is reached;
the time point C is a time when the position S2 is reached;
the time point D is a time point when the position S3 is reached;
the time point E is a time when the position S4 is reached;
then setting a card processing speed V1 at the high speed stage and a card processing speed V2 at the low speed stage; setting the acceleration of the processing speed as ACC and the deceleration of the processing speed as DEC;
and finally, setting the motion Torque upper limit Torque _1 and the protection Torque upper limit Torque _2 of the plug-in motor.
In order to better implement the present invention, further, the determination of the machining position coordinates first needs to perform the following operations:
before the circuit board to be plugged is installed at a position to be processed, firstly, setting a positioning mark point on the circuit board to be plugged, then reading coordinate information of the plugging point and the positioning mark point on the circuit board to be plugged, and simultaneously reading coordinate information of a material taking position of each electronic element; finally, storing all the coordinate information in an initial coordinate information array as information units according to the reading sequence; the initial coordinate information array comprises a plurality of machining position coordinates.
In order to better realize the method, further, after the initial coordinate information array is obtained, the circuit board to be plugged is placed at the position to be processed for fixing, and the actual fixing position of the circuit board to be plugged is determined by using a visual calibration module; comparing the actual fixed position with a preset fixed position parameter to obtain a fixed position compensation value; the fixed position compensation value is used for compensating the machining position coordinates in the initial coordinate information array to obtain a final output coordinate array containing a plurality of compensated machining position coordinates; and simultaneously, according to the corresponding relation between the material taking position and the plug-in position, the machining position coordinates in the final output coordinate array and the electronic element coordinate points of the material taking position are taken out one by one, and the deflection angle of the current taken electronic element is compensated through the visual positioning module.
In order to better realize the invention, the material taking position and the coordinate position height of the electronic element are further compensated according to the thickness of the circuit board to be plugged and the thickness of the electronic element.
In order to better realize the invention, a deviation threshold value is further set, and after the fixed position compensation value is obtained through calculation, if the fixed position compensation value is greater than the deviation threshold value, the circuit board to be plugged is fixed again and prompted; and the deviation threshold is adjusted according to the actual process requirement.
In order to better realize the invention, index data is further established according to the storage sequence stored by the information unit, the index data is added by one after each processing position coordinate is taken out from the final output coordinate array, and the index data is compared with the total number of effective data in the final output coordinate array; and when the index data is smaller than the effective total number, reading the information pointed by the index data, and otherwise, finishing the processing of the plug-in motor on the circuit board to be plugged.
In order to better implement the present invention, further, after the plug-in operation is completed, different plug-in results are processed differently: setting a failure frequency threshold, when the failure frequency of the plug-in unit of the same machining position coordinate is smaller than the failure frequency threshold, discarding the used failed electronic element, using a new electronic element to plug in the plug-in unit, and when the failure frequency of the plug-in unit of the same machining position coordinate is larger than or equal to the failure frequency threshold, skipping the machining of the next machining position coordinate by the failed machining position coordinate or prompting manual treatment.
The invention also provides a positioning and monitoring system for the electronic element of the component inserter, which comprises a software system bus, an information storage module, a visual calibration module, a human-computer interaction module and a motion control module, wherein the information storage module, the visual calibration module, the human-computer interaction module and the motion control module are connected with the software system bus;
the vision calibration module is used for determining an actual fixed position compensation value and an electronic element rotation angle compensation value of a circuit board to be plugged;
the man-machine interaction module combines the fixed position compensation value obtained by the processing of the visual calibration module on the basis of the input initial coordinate information array of the circuit board to be plugged, generates a final output coordinate array after operation and displays the final output coordinate array;
the motion control module is used for taking out coordinate information of each group of material taking positions and plug-in positions in a final output coordinate array output by the human-computer interaction module, receiving a rotation angle compensation value of each electronic element, controlling a plug-in machine to take out the electronic element, plugging in and feeding back a plug-in state value;
the information storage module is used for storing input processing position coordinates of the circuit board to be plugged, the electronic element is a material taking position, and a final output coordinate array generated after the processing of the man-machine interaction module is stored;
the software system bus is used for information interaction among the information storage module, the vision calibration module, the human-computer interaction module and the motion control template.
The invention also provides an electronic element positioning and monitoring device of the plug-in machine, which is used for sucking the electronic element plug-in to a circuit board to be plugged, and comprises a supporting part, a camera, a plug-in motor, a transmission device, a header, an air cylinder and a rotating device;
the transmission device is arranged on the supporting part for fixing and comprises a first moving end and a second moving end;
the first moving end comprises three XYZ axes, can realize three-axis movement, and is sequentially connected with a rotating device and a plug-in motor at an output end, and the output end of the plug-in motor is connected with a header and an air cylinder for sucking the electronic element;
the second motion end also comprises three XYZ axes which can realize three-axis motion, and the output end of the second motion end is connected with the camera; the camera is also connected with the vision calibration module and provides a vision image for the vision calibration module;
the third moving end comprises two shafts and is used for inputting the circuit board to be plugged into a position for plugging operation and fixing and positioning the circuit board to be plugged;
the motion control module is respectively connected with the first motion end, the second motion end, the rotating device and the plug-in motor.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the plug-in state is fed back in real time in the plug-in process, different processing schemes are executed according to the plug-in state, the processing efficiency is increased, and meanwhile, the investment of a finished product detection link is reduced;
(2) compensation values calculated by device parameters through material taking height compensation and plug-in height compensation; the electronic component position deviation compensation and the circuit board position deviation compensation can be used for different plug-in tasks;
(3) when the electronic element is not correctly inserted into the circuit board, the electronic element can be effectively protected by controlling the speed and the torque, and the element is prevented from being damaged;
(4) for the element which is accurately inserted into the hole position, the insertion effect of the element can be ensured to be firm and reliable.
Drawings
FIG. 1 is a schematic diagram of the speed-time profile of a card motor under actual analysis;
FIG. 2 is a schematic diagram of a position-time curve of a card motor during actual analysis;
FIG. 3 is a schematic diagram of the torque upper limit-time curve of the card motor under actual analysis;
FIG. 4 is a schematic diagram of the system components of the present invention.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and therefore should not be considered as a limitation to the scope of protection. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
the invention provides a positioning and monitoring method for an electronic element of a component inserter, which comprises the following steps:
the method comprises the following steps: setting different material taking positions, placing corresponding electronic elements at the material taking positions, firstly setting positioning mark points on a circuit board to be plugged before the circuit board to be plugged is installed at the position to be processed, then reading coordinate information of the plug-in points and the positioning mark points on the circuit board to be plugged, and simultaneously reading coordinate information of the material taking positions of each type of electronic elements; finally, storing all the coordinate information in an initial coordinate information array as information units according to the reading sequence; the initial coordinate information array comprises a plurality of machining position coordinates;
meanwhile, the height of the material taking position and the height of the coordinate position of the electronic element are compensated according to the thickness of the circuit board to be plugged and the thickness of the electronic element.
Step two: after the initial coordinate information array is obtained, the circuit board to be plugged is placed at the position to be processed for fixing, and the actual fixing position of the circuit board to be plugged is determined by using the visual calibration module; comparing the actual fixed position with a preset fixed position parameter to obtain a fixed position compensation value; the fixed position compensation value is used for compensating the machining position coordinates in the initial coordinate information array to obtain a final output coordinate array containing a plurality of compensated machining position coordinates; simultaneously, according to the corresponding relation between the material taking position and the plug-in position, the machining position coordinates in the final output coordinate array and the electronic element coordinate points of the material taking position are taken out one by one, and the deflection angle of the current taken electronic element is compensated through the visual positioning module;
meanwhile, a deviation threshold value is required to be set, and after the fixed position compensation value is obtained through calculation, if the fixed position compensation value is larger than the deviation threshold value, the circuit board to be plugged is fixed again and prompted; and the deviation threshold is adjusted according to the actual process requirement.
Step three: after the final output coordinate array is obtained, index data are established according to the storage sequence stored in the information unit, the index data are added by one after each machining position coordinate is taken out from the final output coordinate array, and the index data are compared with the total number of effective data in the final output coordinate array; and when the index data is smaller than the effective total number, reading the information pointed by the index data, and otherwise, finishing the processing of the plug-in motor on the circuit board to be plugged.
Step four: inserting electronic elements at different material taking positions into corresponding machining position coordinates on a circuit board to be plugged, monitoring the plugging process and feeding back machining state information; and then, judging the state of the plug-in operation in real time according to the processing state information fed back during the plug-in process, and adjusting the plug-in operation.
Step five: after the plug-in operation is completed, different plug-in results are processed differently: setting a failure frequency threshold, when the failure frequency of the plug-in unit of the same machining position coordinate is smaller than the failure frequency threshold, discarding the used failed electronic element, using a new electronic element to plug in the plug-in unit, and when the failure frequency of the plug-in unit of the same machining position coordinate is larger than or equal to the failure frequency threshold, skipping the machining of the next machining position coordinate by the failed machining position coordinate or prompting manual treatment.
Example 2:
in this embodiment, on the basis of embodiment 1, as shown in fig. 1, 2 and 3, the processing state information includes: the current position of the electronic component when it is plugged in and the torque of the motor of the plug-in.
The method comprises the following steps of judging the operation state of the plug-in unit in real time according to the machining state information fed back during the plug-in unit insertion, and carrying out the following operations on the machining state information before the operation of adjusting the plug-in unit operation:
firstly, dividing the position condition of the electronic element plug-in operation into a position S1, a position S2, a position S3 and a position S4 in sequence;
the position S1 is a card approach position at the time of card operation;
the position S2 is a plane contact position of the pin of the electronic element and the circuit board to be plugged;
the position S3 is a plane contact position of the electronic element body and the circuit board to be plugged;
the position S4 is a virtual plug judgment position when a plug-in is made;
then setting a time point A, a time point B, a time point C, a time point D and a time point E when the plug-in is carried out according to the set positions S1, S2, S3 and S4;
the time point A is the starting time of the plug-in operation;
the time point B is a time point when the position S1 is reached;
the time point C is a time when the position S2 is reached;
the time point D is a time point when the position S3 is reached;
the time point E is a time when the position S4 is reached;
then setting a card processing speed V1 at the high speed stage and a card processing speed V2 at the low speed stage; setting the acceleration of the processing speed as ACC and the deceleration of the processing speed as DEC;
and finally, setting the motion Torque upper limit Torque _1 and the protection Torque upper limit Torque _2 of the plug-in motor.
The working principle is as follows: torque _1 is determined by the motor performance parameters actually used by the plug-in machine, and Torque _2 is limited by the maximum pressure that the pin of the electronic component to be processed can bear, and the parameter of the electronic component can be referred to in the maximum pressure acquisition. And the self weight of the equipment and the elements is considered. The maximum pressure is smaller than the sum of the output force of the motor and the gravity of the equipment, and the upper limit value of the protection Torque Torque _2 is finally obtained by a Torque formula, wherein M is L and F are forces, L is the distance from a rotating shaft to an acting point, and M is Torque.
As shown in fig. 1, 2 and 3, after the circuit board fixing and electronic component positioning operations are completed, the inserting operation is started. The card speed is increased from time a, the card speed is set to V1, the acceleration is ACC, the deceleration is DEC, the target position S4, and the card motor Torque upper limit value is set to Torque _ 1. The value of Torque _1 is larger, and larger Torque can ensure that the plug-in action obtains larger acceleration and deceleration.
From time a to time B, the electronic component reaches position S1 and the speed drops to V2. During this time period, the pins of the electronic component quickly reach the jack positions. Must satisfy
And reasonably setting each parameter value. At point in time B, the speed of the electronic component has dropped to V2. At the moment, even if the pins of the electronic element collide with the board because of no alignment hole, the inertia of the pins of the electronic element is not enough to break the pins of the electronic element, so that the electronic element can be effectively protected. At time point B, the card motor Torque upper limit is reset to Torque _2 and the speed is V2. And the plug-in motion is continued, the electronic element moves at a constant speed at a speed V2 from a time point B to a time point C, if the pins of the electronic element collide against the plate material due to the misalignment of the plug-in hole positions in the segment, the actual Torque of the plug-in motor is increased to Torque _2, and the actual position is always smaller than S2. At this point, the card motion may be immediately stopped while returning a card error signal and setting the card motor Torque upper limit to Torque _ 1.
If it is detected from the time point B to the time point C that the maximum Torque of the card motor does not reach the Torque upper limit Torque _2 and the actual position of the card is greater than S2, it indicates that the pins of the electronic component do not hit the board. The electronic component continues to move at a constant speed. When the actual position epsilon (S2, S3) and the actual Torque reaches the upper Torque limit, the plug-in is successful, the electronic component is accurately inserted into the hole position and is tightly inserted, at the moment, the plug-in action is immediately stopped, and simultaneously, a plug-in correct signal is returned and the upper Torque limit of the plug-in motor is reset to be Torque _ 1.
If neither of the two conditions occurs, the plug-in operation continues from time point D to time point E. When the actual position e is larger than the Torque upper limit Torque _2 (S3, S4), the plug-in virtual insertion signal is returned and the plug-in motor Torque upper limit Torque _1 is set.
Other parts of this embodiment are the same as those of embodiment 1, and thus are not described again.
Example 3:
the embodiment also provides a system for positioning and monitoring the electronic element of the component inserter, which comprises a software system bus, an information storage module, a visual calibration module, a human-computer interaction module and a motion control module, wherein the information storage module, the visual calibration module, the human-computer interaction module and the motion control module are connected with the software system bus;
the vision calibration module is used for determining an actual fixed position compensation value and an electronic element rotation angle compensation value of a circuit board to be plugged;
the man-machine interaction module combines the fixed position compensation value obtained by the processing of the visual calibration module on the basis of the input initial coordinate information array of the circuit board to be plugged, generates a final output coordinate array after operation and displays the final output coordinate array; in addition, the human-computer interaction module is also responsible for processing the processing torque, speed, acceleration and deceleration, control signals and the like set by a user;
the motion control module is used for taking out coordinate information of each group of material taking positions and plug-in positions in a final output coordinate array output by the human-computer interaction module, receiving a rotation angle compensation value of each electronic element and set motion parameters such as speed and torque, controlling the plug-in machine to take out the electronic elements according to the information, plugging in and feeding back a plug-in state value;
the information storage module is used for storing input processing position coordinates of the circuit board to be plugged, the electronic element is a material taking position, and a final output coordinate array generated after the processing of the man-machine interaction module is stored;
the software system bus is used for information interaction among the information storage module, the vision calibration module, the human-computer interaction module and the motion control template. The software system of the invention is implemented by depending on an intelligent controller which is connected with an HMI (human machine interface) and the HMI is used as a human-machine operation interface, and the intelligent controller is used as an information storage and analysis carrier of the invention.
Example 4:
the embodiment also provides an electronic element positioning and monitoring device of the plug-in machine, which is used for sucking the electronic element plug-in to a circuit board to be plugged, and comprises a supporting part, a camera, a plug-in motor, a transmission device, a header, an air cylinder and a rotating device;
the transmission device is arranged on the supporting part for fixing and comprises a first moving end and a second moving end;
the first moving end comprises three XYZ axes, can realize three-axis movement, and is sequentially connected with a rotating device and a plug-in motor at an output end, and the output end of the plug-in motor is connected with a header and an air cylinder for sucking the electronic element;
the second motion end also comprises three XYZ axes which can realize three-axis motion, and the output end of the second motion end is connected with the camera; the camera is also connected with the vision calibration module and provides a vision image for the vision calibration module;
the third moving end comprises two shafts and is used for inputting the circuit board to be plugged into a position for plugging operation and fixing and positioning the circuit board to be plugged;
the motion control module is respectively connected with the first motion end, the second motion end, the rotating device and the plug-in motor.
The working principle is as follows: the third moving end of the transmission device firstly conveys the circuit board to be plugged in place and fixes the circuit board, then the second moving end drives the camera to move and shoot, then the first moving end drives the header head to absorb the electronic element, then the camera shoots the circuit board, the circuit board goes to the plugging position, meanwhile, the rotating device adjusts the angle of the electronic element, and after the circuit board is in place, the plugging motor on the first moving end drives the electronic element to downwards plug in. The software system of the invention is implemented by depending on an intelligent controller which is connected with an HMI (human machine interface) which is used as a human-machine operation interface, and the intelligent controller is used as an information storage and analysis carrier of the invention and is used for controlling the actions of a motor and an air cylinder in a plug-in machine.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (9)
1. The method for positioning and monitoring the electronic element of the component inserter is characterized in that different material taking positions are set, the corresponding electronic element is placed at the material taking positions, the electronic element at the different material taking positions is inserted into the corresponding processing position coordinates on the circuit board to be inserted according to the preset corresponding relation between the electronic element and the position of the component inserter on the circuit board to be inserted, the component inserter process is monitored at the same time, and the processing state information is fed back; then, judging the state of the plug-in operation in real time according to the processing state information fed back during the plug-in process, and adjusting the plug-in operation;
the processing state information includes: the current position of the electronic element when the electronic element is plugged in and the torque of a plug-in motor;
judging the state of the plug-in operation in real time according to the processing state information fed back during plug-in, and performing the following operations on the processing state information before adjusting the plug-in operation:
firstly, dividing the position condition of the electronic element plug-in operation into a position S1, a position S2, a position S3 and a position S4 in sequence;
the position S1 is a card approach position at the time of card operation;
the position S2 is a plane contact position of the pin of the electronic element and the circuit board to be plugged;
the position S3 is a plane contact position of the electronic element body and the circuit board to be plugged;
the position S4 is a virtual plug judgment position when a plug-in is made;
then setting a time point A, a time point B, a time point C, a time point D and a time point E when the plug-in is carried out according to the set positions S1, S2, S3 and S4;
the time point A is the starting time of the plug-in operation;
the time point B is a time point when the position S1 is reached;
the time point C is a time when the position S2 is reached;
the time point D is a time point when the position S3 is reached;
the time point E is a time when the position S4 is reached;
then setting a card processing speed V1 at the high speed stage and a card processing speed V2 at the low speed stage; setting the acceleration of the processing speed as ACC and the deceleration of the processing speed as DEC;
and finally, setting the motion Torque upper limit Torque _1 and the protection Torque upper limit Torque _2 of the plug-in motor.
2. The method as claimed in claim 1, wherein the determination of the machining position coordinates first requires the following operations:
before the circuit board to be plugged is installed at a position to be processed, firstly, setting a positioning mark point on the circuit board to be plugged, then reading coordinate information of the plugging point and the positioning mark point on the circuit board to be plugged, and simultaneously reading coordinate information of a material taking position of each electronic element; finally, storing all the coordinate information in an initial coordinate information array as information units according to the reading sequence; the initial coordinate information array comprises a plurality of machining position coordinates.
3. The method for positioning and monitoring the electronic element of the component inserter according to claim 2, wherein after the initial coordinate information array is obtained, the circuit board to be inserted is placed at the position to be processed for fixing, and the actual fixing position of the circuit board to be inserted is determined by using the vision calibration module; comparing the actual fixed position with a preset fixed position parameter to obtain a fixed position compensation value; the fixed position compensation value is used for compensating the machining position coordinates in the initial coordinate information array to obtain a final output coordinate array containing a plurality of compensated machining position coordinates; and simultaneously, according to the corresponding relation between the material taking position and the plug-in position, the machining position coordinates in the final output coordinate array and the electronic element coordinate points of the material taking position are taken out one by one, and the deflection angle of the current taken electronic element is compensated through the visual positioning module.
4. The method as claimed in claim 2, wherein the height of the coordinate position of the electronic component and the material taking position is compensated according to the thickness of the circuit board to be plugged and the thickness of the electronic component.
5. The method according to claim 3, wherein a deviation threshold is set, and after the fixed position compensation value is calculated, if the fixed position compensation value is greater than the deviation threshold, the circuit board to be plugged is fixed again and prompted; and the deviation threshold is adjusted according to the actual process requirement.
6. The method according to claim 3, wherein index data is created according to a storage sequence stored in the information unit, the index data is incremented after each machining position coordinate is taken out from the final output coordinate array, and the index data is compared with a total number of valid data in the final output coordinate array; and when the index data is smaller than the effective total number, reading the information pointed by the index data, and otherwise, finishing the processing of the plug-in motor on the circuit board to be plugged.
7. The method for positioning and monitoring the electronic components of the component inserter according to claim 1, wherein after the component inserter operation is completed, different processing is performed on different component inserter results: setting a failure frequency threshold, when the failure frequency of the plug-in unit of the same machining position coordinate is smaller than the failure frequency threshold, discarding the used failed electronic element, using a new electronic element to plug in the plug-in unit, and when the failure frequency of the plug-in unit of the same machining position coordinate is larger than or equal to the failure frequency threshold, skipping the machining of the next machining position coordinate by the failed machining position coordinate or prompting manual treatment.
8. A positioning and monitoring system of an electronic component of a component inserter is used for the positioning and monitoring method of the electronic component of the component inserter according to claim 3, and is characterized by comprising a software system bus, an information storage module, a visual calibration module, a human-computer interaction module and a motion control module, wherein the information storage module, the visual calibration module, the human-computer interaction module and the motion control module are connected with the software system bus;
the vision calibration module is used for determining an actual fixed position compensation value and an electronic element rotation angle compensation value of a circuit board to be plugged;
the man-machine interaction module combines the fixed position compensation value obtained by the processing of the visual calibration module on the basis of the input initial coordinate information array of the circuit board to be plugged, generates a final output coordinate array after operation and displays the final output coordinate array;
the motion control module is used for taking out coordinate information of each group of material taking positions and plug-in positions in a final output coordinate array output by the human-computer interaction module, receiving a rotation angle compensation value of each electronic element, controlling a plug-in machine to take out the electronic element, plugging in and feeding back a plug-in state value;
the information storage module is used for storing input processing position coordinates of the circuit board to be plugged, the electronic element is a material taking position, and a final output coordinate array generated after the processing of the man-machine interaction module is stored;
the software system bus is used for information interaction among the information storage module, the vision calibration module, the human-computer interaction module and the motion control template.
9. An electronic component positioning and monitoring device of a component inserter, which is matched with the electronic component positioning and monitoring system of the component inserter according to claim 8 and used for sucking an electronic component to be inserted onto a circuit board to be inserted, and is characterized by comprising a supporting part, a camera, a component inserter motor, a transmission device, a header, an air cylinder and a rotating device;
the transmission device is arranged on the supporting part for fixing and comprises a first moving end, a second moving end and a third moving end;
the first moving end comprises three XYZ axes, can realize three-axis movement, and is sequentially connected with a rotating device and a plug-in motor at an output end, and the output end of the plug-in motor is connected with a header and an air cylinder for sucking the electronic element;
the second motion end also comprises three XYZ axes which can realize three-axis motion, and the output end of the second motion end is connected with the camera; the camera is also connected with the vision calibration module and provides a vision image for the vision calibration module;
the third moving end comprises two shafts and is used for inputting the circuit board to be plugged into a position for plugging operation and fixing and positioning the circuit board to be plugged;
the motion control module is respectively connected with the first motion end, the second motion end, the rotating device and the plug-in motor.
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