CN114741816A - Method, system, equipment and storage medium for placing magnetic head on magnetic carrier - Google Patents
Method, system, equipment and storage medium for placing magnetic head on magnetic carrier Download PDFInfo
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Abstract
The application discloses a method, a system, equipment and a storage medium for placing a magnetic head on a magnetic carrier, wherein the method for placing the magnetic head on the magnetic carrier comprises the following steps: acquiring a magnetic carrier drawing with a magnetic head hole site; analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes; determining a placing path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point location sequence based on the placing path of the magnetic head; and placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence. This application belongs to the magnetic head and places technical field, has the magnetic carrier drawing of magnetic head hole site through the analysis, confirms the position coordinate that the magnetic head was placed, places the magnetic head of magnetic carrier automatically, has improved the efficiency of placing the magnetic head.
Description
Technical Field
The present disclosure relates to the field of magnetic head placement technologies, and in particular, to a method, a system, a device, and a storage medium for placing a magnetic head on a magnetic carrier.
Background
The magnetic carrier in SMT workshop need set up according to the size pattern of different PCBs in the manufacturing process, and the position that the magnetic head was placed need avoid PCB's component, and in order to guarantee sufficient magnetism, the quantity that the magnetic head was placed must be intensive simultaneously, need be covered with whole carrier. The placement of the head on the carrier therefore has several features: firstly, the placement positions of the magnetic heads have randomness, and each placement position of the magnetic heads cannot be obtained through calculation of a position relation or a mathematical relation; secondly, the number of the magnetic heads is dense, for example, the number of the magnetic heads required to be placed on a carrier with the length of 1.2m is as much as 2000; thirdly, the difference between the diameter of the magnetic head and the diameter of the hole for placing the magnetic head is only 0.1mm, so that the placing precision is required to be high.
In the prior art, the magnetic heads are placed manually, but the order number is increased along with the increase of the size of the carrier. The problem of insufficient productivity obviously exists in manual placement: for a 2000-point carrier, it takes 1.5 seconds for a skilled person to place a single head, 50 minutes for placing a finished carrier, and it is difficult for a person to ensure that the head is placed for 8 hours at a continuous high speed. And CNC processing can be responsible for the equipment more than 4 simultaneously when carrier board and produce alone, so when output is high, need many workman to place the magnetic head work simultaneously, place the inefficiency of magnetic head, the cost of labor is high.
Disclosure of Invention
The present application provides a method, a system, a device and a storage medium for placing a magnetic head on a magnetic carrier, and aims to solve the technical problem of low efficiency of placing a magnetic head in the prior art.
To achieve the above object, the present application provides a method for placing a magnetic head on a magnetic carrier, the method comprising:
acquiring a magnetic carrier drawing with a magnetic head hole site;
analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes;
determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point location sequence based on the placement path of the magnetic head;
and placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence.
Optionally, the step of obtaining the drawing of the magnetic carrier with the magnetic head hole site includes:
acquiring an initial magnetic carrier drawing and an element position on the initial magnetic carrier drawing;
and marking positions except the element position on the initial magnetic carrier drawing to obtain the position of a magnetic head hole site, wherein the initial magnetic carrier drawing with the position of the magnetic head hole site is the magnetic carrier drawing with the magnetic head hole site.
Optionally, the step of analyzing the drawing of the magnetic carrier to obtain the coordinates of the hole position of the magnetic head includes:
analyzing the drawing of the magnetic carrier to obtain the magnetic head hole position and the diameter corresponding to the magnetic head hole position;
obtaining initial coordinates of the magnetic head hole positions based on the magnetic head hole positions and the diameters corresponding to the magnetic head hole positions;
and converting the initial coordinates of the magnetic head hole site and a positioning coordinate system to obtain the magnetic head hole site coordinates.
Optionally, determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point location sequence based on the placement path of the magnetic head, including:
the number of the magnetic head holes is at least two;
determining a starting point hole site and an end point hole site, wherein the starting point hole site and the end point hole site are two magnetic head hole sites with the farthest distance in the magnetic head hole sites;
calculating the shortest path from each magnetic head hole site to the terminal hole site by Dijkstra algorithm based on the magnetic head hole site coordinates;
and obtaining the execution point position sequence based on the shortest path from each magnetic head hole position to the end point hole position.
Optionally, the step of placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence includes:
acquiring the magnetic head;
and according to the execution point position sequence, placing each magnetic head at the position of the corresponding magnetic head hole position coordinate of the magnetic carrier.
Optionally, the step of placing each magnetic head at the position of the corresponding magnetic head hole position coordinate of the magnetic carrier includes:
blowing the magnetic head into a material placing position;
and moving the magnetic head at the emptying position by a magnetic head suction device and placing the magnetic head at the position of the corresponding magnetic head hole position coordinate of the magnetic carrier.
Optionally, after the step of placing the magnetic head at the position of the head hole position coordinate of the magnetic carrier based on the execution point position sequence, the method includes:
judging whether the placement of the magnetic head of the magnetic carrier needs compensation;
if so, acquiring the coordinates of the magnetic head hole site needing to be compensated;
and placing the magnetic head at the coordinate position of the magnetic head hole position needing to be compensated.
The present application further provides a magnetic head system is placed to magnetic carrier, magnetic head system is placed to magnetic carrier includes:
the acquisition module is used for acquiring a magnetic carrier drawing with a magnetic head hole site;
the analysis module is used for analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes;
the calculation module is used for determining a placement path of the magnetic head based on the magnetic head hole position coordinates and obtaining an execution point location sequence based on the placement path of the magnetic head;
and the placing module is used for placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence.
The present application further provides a magnetic head apparatus is placed to magnetic carrier, magnetic head apparatus is placed to magnetic carrier includes: a memory, a processor, and a program stored on the memory for implementing the magnetic head placement method for the magnetic carrier,
the memory is used for storing a program for realizing a method for placing a magnetic head on the magnetic carrier;
the processor is used for executing the program for implementing the method for placing the magnetic head by the magnetic carrier so as to implement the steps of the method for placing the magnetic head by the magnetic carrier.
The present application further provides a storage medium having a program stored thereon for implementing the method for placing a magnetic head by a magnetic carrier, where the program is executed by a processor to implement the steps of the method for placing a magnetic head by a magnetic carrier.
Compared with the prior art that manual placement is adopted, the efficiency of placing the magnetic head is low, and the labor cost is high, in the method, the magnetic carrier drawing with the magnetic head hole position is obtained; analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes; determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point location sequence based on the placement path of the magnetic head; and placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence. In the application, the position coordinates of the magnetic head are determined by analyzing the drawing of the magnetic carrier with the magnetic head hole positions, the magnetic head of the magnetic carrier is automatically placed, and the efficiency of placing the magnetic head is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be 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 to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flowchart illustrating a method for positioning a magnetic head on a magnetic carrier according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of the overall system structure of a second embodiment of a method for positioning a magnetic head on a magnetic carrier according to the present application;
FIG. 4 is a schematic view of a positioning process of a magnetic head placing method of a magnetic carrier according to a second embodiment of the present invention;
FIG. 5 is a flow chart illustrating a method for positioning a magnetic head on a magnetic carrier according to a third embodiment of the present invention.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As shown in fig. 1, fig. 1 is a schematic terminal structure diagram of a hardware operating environment according to an embodiment of the present application.
The terminal in the embodiment of the application may be a PC, or may be a mobile terminal device having a display function, such as a smart phone, a tablet computer, an e-book reader, an MP3(Moving Picture Experts Group Audio Layer III, motion video Experts compression standard Audio Layer 3) player, an MP4(Moving Picture Experts Group Audio Layer IV, motion video Experts compression standard Audio Layer 4) player, a portable computer, or the like.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display according to the brightness of ambient light, and a proximity sensor that turns off the display and/or the backlight when the mobile terminal moves to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating device, a network communication module, a user interface module, and a magnetic carrier placement head program.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting a background server and communicating data with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be used to invoke a magnetic vehicle placement head program stored in the memory 1005.
Referring to fig. 2, an embodiment of the present application provides a method for placing a magnetic head on a magnetic carrier, where the method for placing a magnetic head on a magnetic carrier includes:
step S100, obtaining a magnetic carrier drawing with a magnetic head hole site;
step S200, analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes;
step S300, determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point position sequence based on the placement path of the magnetic head;
and step S400, based on the execution point position sequence, placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier.
In this embodiment, the specific application scenarios may be:
in order to ensure that the magnetic carrier in the SMT shop has sufficient magnetism, the magnetic heads of the magnetic carrier must be densely placed, and the entire magnetic carrier needs to be covered. Adopt the manual work to place among the prior art, but along with the size of carrier is bigger and bigger, order quantity is more and more, need a lot of workman to place the magnetic head work simultaneously, the manual work is placed and is obviously had the not enough problem of productivity, places the inefficiency of magnetic head, and the cost of labor is high.
The method comprises the following specific steps:
step S100, obtaining a magnetic carrier drawing with a magnetic head hole site;
in this embodiment, the drawing of the magnetic carrier is used to describe the structure and function of the apparatus, which is a magnetic carrier, and the drawing of the magnetic carrier may be an electronic drawing or a paper drawing, where the electronic drawing includes a CAD drawing, a SolidWork drawing, a Unigraphics NX drawing, and the like, and is not limited herein. The magnetic head hole site is a hole site for marking a magnetic head to be placed on a drawing of the magnetic carrier, for example, the hole site for placing the magnetic head is marked on the drawing of the magnetic carrier describing the structure and the function of the magnetic carrier.
In this embodiment, a drawing of the magnetic carrier with the magnetic head hole position is first obtained, wherein the method for obtaining the drawing of the magnetic carrier with the magnetic head hole position may be:
the method I comprises the following steps: manually marking the magnetic head hole position on the initial magnetic carrier drawing, namely manually marking;
the second method comprises the following steps: and (4) scanning the initial magnetic carrier drawing by the system, and marking the magnetic head hole position, namely, marking the system.
The position where the magnetic head is placed is random, namely the position where the magnetic head is placed is limited by components, and the position where each magnetic head is placed cannot be obtained through calculation of a position relation or a mathematical relation, so that a drawing of the magnetic carrier with the magnetic head hole positions is obtained through a system, and the magnetic head hole positions of the magnetic carrier are determined.
Specifically, the step S100 includes the following steps S110 to S120:
step S110, obtaining an initial magnetic carrier drawing and an element position on the initial magnetic carrier drawing;
in this embodiment, the initial magnetic carrier drawing is a drawing that only includes the structure and function of the magnetic carrier, wherein the structure of the magnetic carrier includes electronic components such as resistors and capacitors, and the component position is the position of the electronic component on the magnetic carrier where the magnetic head cannot be placed.
Step S120, marking positions except the element position on the initial magnetic carrier drawing to obtain the position of a magnetic head hole position, wherein the initial magnetic carrier drawing with the position of the magnetic head hole position is the magnetic carrier drawing with the magnetic head hole position.
In this embodiment, since the element position cannot be used for placing the magnetic head, the system needs to mark the magnetic head hole position at a position other than the element position on the drawing of the initial magnetic carrier, which improves the efficiency of marking the magnetic head hole position compared with manually marking the magnetic head hole position on the drawing of the initial magnetic carrier.
Step S200, analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes;
in this embodiment, the system parses the magnetic carrier drawing, reads data of the magnetic carrier drawing, and determines the coordinates of the magnetic head hole position on the magnetic carrier drawing with the magnetic head hole position.
Specifically, the step S200 includes the following steps S210 to S230:
step S210, analyzing the drawing of the magnetic carrier to obtain the magnetic head hole position and the diameter corresponding to the magnetic head hole position;
in this embodiment, the system parses the magnetic carrier drawing, reads data of the magnetic carrier drawing, and obtains a mark of the magnetic head hole location on the magnetic carrier drawing with the magnetic head hole location, where the mark of the magnetic head hole location includes the magnetic head hole location and a diameter corresponding to the magnetic head hole location.
Step S220, obtaining initial coordinates of the magnetic head hole positions based on the magnetic head hole positions and the diameters corresponding to the magnetic head hole positions;
in this embodiment, the initial coordinates of the magnetic head hole position are determined according to the magnetic head hole position and the diameter corresponding to the magnetic head hole position, that is, the position and size of the magnetic head, where the initial coordinates are coordinates on the drawing of the magnetic carrier.
Step S230, converting the initial coordinates of the magnetic head hole position and a positioning coordinate system to obtain the magnetic head hole position coordinates.
In this embodiment, the positioning coordinate system is a coordinate system that can be recognized by the positioning module, wherein the positioning module is a module in the system for determining the placement position of the magnetic head, and the positioning coordinate system is determined according to the type of the drawing of the magnetic carrier, for example, the drawing of the magnetic carrier is a 2D plan view, and the positioning coordinate system is a coordinate system formed by XY axes on a plane, and as can be seen from the same principle, if the drawing of the magnetic carrier is a 3D plan view, the positioning coordinate system is a coordinate system formed by XYZ axes on a three-dimensional surface. And converting the two coordinate systems of the initial coordinate of the magnetic head hole position and the positioning coordinate of the positioning module to obtain the coordinate of the magnetic head hole relative to the positioning module, namely the magnetic head hole position coordinate is the magnetic head placing position which can be identified by the system.
The coordinate transformation is performed by the following formula:
x＝x′cos t-y′sin t+xo
y＝x′sin t+y′cos t+yo
wherein x 'and y' are coordinates in the drawing of the magnetic carrier, and x and y are transformed coordinates. x is the number ofoAnd yoAnd t is the coordinate position of the original point of the magnetic carrier drawing in the positioning module, and is the included angle of two coordinate systems. x is the number ofoAnd yoAnd the included angle t is obtained by manually calibrating a calibration plate.
Step S300, determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point position sequence based on the placement path of the magnetic head;
in this embodiment, a placement path of the magnetic head is determined based on the magnetic head hole position coordinates, an execution point location sequence is obtained based on the placement path of the magnetic head, the placement path of the magnetic head is optimized, positioning time for placing the magnetic head is saved, and magnetic head placement efficiency of the system is improved.
Specifically, the step S300 includes the following steps S310 to S340:
step S310, at least two magnetic head hole positions are included;
in this embodiment, the number of heads to be placed is usually dense, and is more than two, so the head hole locations include at least two heads, for example, up to 2000 heads to be placed on a carrier with a length of 1.2 m.
Step S320, determining a starting point hole position and an end point hole position, wherein the starting point hole position and the end point hole position are two magnetic head hole positions with the farthest distance in the magnetic head hole positions;
in this embodiment, on the drawing of the magnetic carrier with the magnetic head hole sites, the distance between every two hole sites in all the hole sites is calculated by enumerating the distance between every two hole sites based on the coordinates of the magnetic head hole sites, and the two hole sites with the farthest distance are determined by comparing the results of all the distances, and finally the two hole sites are the starting point hole site and the ending point hole site.
Step S330, calculating the shortest path from each magnetic head hole site to the end point hole site by Dijkstra algorithm of Dijkstra based on the magnetic head hole site coordinates;
in this embodiment, Dijkstra's algorithm is a shortest path routing algorithm for calculating the shortest path from one node to all other nodes. The method is mainly characterized in that the expansion is carried out layer by layer towards the outer part by taking the starting point as the center until the end point is reached. The Dijkstra algorithm can obtain the optimal solution of the shortest path. For example, count point K from start point a and target point B as 1 first, and initialize all points to destination zone your shortest distance DiA, when K is less than total N, find the point closest to K point and note j, and note the state of K point as visited. Then traversing all points with feasible distances to the point j from the points which are not visited and recording as i, and updating the shortest distance between the point i and the point A to be DiA-min [ DiA, DjA + Sij ]; and finally, updating K and adding one, and repeating the process, wherein when K is more than or equal to the total point number N, the shortest path set is output.
Step S340, obtaining the execution point location sequence based on the shortest path from each head hole location to the end point hole location.
In this embodiment, the shortest path from each head hole to the end hole is sorted from large to small or from small to large to obtain the execution point location sequence.
Step S400, based on the execution point location sequence, placing the magnetic head at the position of the magnetic head hole location coordinate of the magnetic carrier.
In this embodiment, the magnetic head placing module in the system places the magnetic head at the position of the magnetic head hole site coordinates of the magnetic carrier according to the execution point location sequence, so as to complete the placement of the magnetic head, realize the automatic placement of the magnetic head, improve the production efficiency and reduce the production cost.
Specifically, the step S400 includes the following steps S410 to S420:
step S410, acquiring the magnetic head;
in this embodiment, the method for obtaining the magnetic head may be that the system captures the magnetic head in a container storing the magnetic head through a transportation module, the transportation module may be a mechanical arm, a vacuum generator, or other equipment capable of capturing/sucking, the magnetic head may be an entire magnetic head adsorbed together, or may be a single magnetic head, and if the magnetic head is an entire magnetic head adsorbed together, the entire magnetic head needs to be separated, so as to obtain the magnetic head.
Step S420, placing each magnetic head at the position of the corresponding magnetic head hole position coordinate of the magnetic carrier according to the execution point position sequence.
In this embodiment, in the magnetic head placing module in the system, each magnetic head is placed at the position of the magnetic head hole position coordinate of the magnetic carrier according to the execution point position sequence, so that the placement of the magnetic heads is completed, the automatic placement of the magnetic heads is realized, the production efficiency is improved, and the production cost is reduced.
Specifically, the step S420 includes the following steps S421 to S422:
step S421, blowing the magnetic head into a material placing position;
step S422, the magnetic head of the emptying position is moved by the magnetic head suction device and placed at the position of the corresponding magnetic head hole position coordinate of the magnetic carrier.
In the embodiment, the system blows the magnetic head into the placing position through air blowing of an air nozzle, the magnetic head is sucked by a vacuum generator, and a signal capable of taking materials is sent to a magnetic head placing module in the system; and after the magnetic head placing module receives the material taking signal, the magnetic head suction nozzle mechanism descends to a material taking position and sucks the magnetic head, and the magnetic head is placed at the position of the magnetic head hole position coordinate corresponding to the magnetic carrier.
In this application, after the step of placing the magnetic head at the position of the head hole site coordinates of the magnetic carrier based on the execution point location sequence in the step S400, the method includes the following steps a100 to a 300:
step A100, judging whether the placement of the magnetic head of the magnetic carrier needs compensation;
in this embodiment, whether the placement of the magnetic head of the magnetic carrier needs compensation is determined according to an actual placement condition of the magnetic head, and the determining method may be to set an image obtaining module to obtain an image of the actual placement condition of the magnetic head, and place the image based on the actual placement condition of the magnetic head into a preset compensation determining model to obtain a result of whether the placement of the magnetic head of the magnetic carrier needs compensation.
Step A200, if yes, obtaining the coordinates of the magnetic head hole site needing compensation;
in this embodiment, if the placement of the magnetic head of the magnetic carrier needs compensation, the magnetic head hole position in the image of the actual placement condition of the magnetic head is marked based on the size of the magnetic head, so as to obtain the coordinates of the magnetic head hole position needing compensation.
Step A300, the magnetic head is placed at the coordinate position of the magnetic head hole position needing to be compensated.
In this embodiment, the magnetic head is placed at the position of the magnetic head hole position coordinates of the magnetic carrier, that is, the magnetic head is placed at the position of the magnetic head hole position coordinates to be compensated. The placement path of the magnetic head is optimized, the positioning time for placing the magnetic head is saved, and the production beat of the system is improved.
In this embodiment, the system comprises two units: the positioning analysis unit is used for acquiring a magnetic carrier drawing with a magnetic head hole position; analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes; determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point location sequence based on the placement path of the magnetic head;
the magnetic head placing unit is used for placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence.
The communication interface can adopt the current network communication mode, the communication Protocol can be a TLS (Transport Layer Security, User data Protocol) mode, a UDP (User Datagram Protocol) mode, or a TCP (Transmission Control Protocol) mode, wherein the TCP includes Modbus-TCP Protocol and the like, which are not specifically limited herein, and high-speed head placement is realized according to the obtained positioning data through data interaction and mutual cooperation among all units.
Compared with the prior art that manual placement is adopted, the efficiency of placing the magnetic head is low, and the labor cost is high, in the method, the magnetic carrier drawing with the magnetic head hole position is obtained; analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes; determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point location sequence based on the placement path of the magnetic head; and placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence. In other words, in the application, the position coordinates of the magnetic head are determined by analyzing the drawing of the magnetic carrier with the magnetic head hole site, the magnetic head of the magnetic carrier is automatically placed, and the efficiency of placing the magnetic head is improved.
Based on the first embodiment of the present application, another embodiment of the present application is provided, in this embodiment, referring to fig. 3, a system obtains a CAD drawing of a magnetic carrier with a magnetic head hole site, the system is built with a PyQt5 frame, reads CAD data by using a dxfgrabber package under PyQt5 and analyzes a center coordinate of the magnetic head hole site, and then converts the center coordinate of the hole site of the CAD into a positioning coordinate of a positioning module according to a coordinate relation formula calculated by a conversion relation between a calibration plate and a planar coordinate system. After the coordinates are obtained, according to the Dijkstra algorithm, referring to fig. 4, counting a point K from a starting point a and a target point B to 1, initializing the shortest distance DiA from all points to a target tape, when K is less than the total number N, finding a point closest to the point K as j, and recording the state of the point K as visited. Then traversing all points with feasible distances to the point j from the points which are not visited and recording as i, and updating the shortest distance between the point i and the point A to be DiA-min [ DiA, DjA + Sij ]; finally, updating K and repeating the process, outputting the shortest path set when K is larger than or equal to the total number of points N to obtain final point location coordinate data, and then sending the point location data to a controller of the execution module through a wireless network and a modbus _ tk packet by combining a modbus _ tcp protocol; the magnetic head placing unit is divided into three modules, when the system is started, the positioning module, the feeding module and the magnetic head placing module act simultaneously, the positioning module starts positioning according to received positioning coordinates, the synchronous transportation module starts feeding, the magnetic head is blown into a magnetic head placing hole of the transportation module through air nozzle blowing, the magnetic head is sucked by the vacuum generator, then a material taking signal is sent to the magnetic head placing module, after the magnetic head placing module receives the material taking signal, the magnetic head suction nozzle mechanism descends to a material taking position, sucks the magnetic head, and the magnetic head is placed at the position, corresponding to the magnetic head hole position coordinates, of the magnetic carrier. The feeding mechanism is reset to start to take materials in a new round, and when the positioning is completed and the materials are taken successfully, the placement of the magnetic head is completed.
Based on the first and second embodiments of the present application, another embodiment of the present application is provided, in which, as shown in fig. 5, after the system is started up and operated, the transport module and the head mechanism suction nozzle are first reset to the safe position, and then the feeding and positioning are started up simultaneously. After the transportation module is started, the material feeding disc firstly reaches an initial position, then the material feeding disc is blown up through a blowing device of the material feeding port, meanwhile, a vacuum generator of the material taking mechanism acts to suck a magnetic head, after the magnetic head sucks the magnetic head, the vacuum value is detected, when the vacuum value reaches a set value, and after a suction nozzle of the execution mechanism is determined to be at a safe position, the transportation module stretches out and sends a material feeding allowing signal, and after a material taking success signal is received, a resetting program of the material feeding mechanism returns to the material taking position to be repeatedly executed; if the vacuum detection value does not reach the set value, judging the material taking failure times, and returning to the material taking position to re-execute the material taking step when the material taking failure times do not reach the set value; and if the number of times of material taking failure reaches a set value, resetting the counting of the material taking failure, preparing to rotate the feeding disc, judging the number of the current rotating disc before the feeding disc rotates, resetting the feeding disc and sending a material shortage alarm signal if the number of times of the material taking failure reaches the maximum number, and simultaneously closing the automatic operation. And if the feeding plate does not reach the maximum grid number, the program returns to the material taking position to continue taking the material after the feeding plate rotates for one grid. When the positioning is started, the current point position state is judged firstly, if the current point is at the last point, the XY positioning mechanism is reset to the safe position and sends a machining completion signal, and meanwhile, the system is closed to automatically run; and if the current point location information is not at the last point, starting positioning and material taking at the same time, firstly judging whether the suction nozzle reaches the safe position or not during positioning, when the suction nozzle is at the safe position, acquiring the coordinates of the current point location by a positioning mechanism to start positioning, and sending a positioning completion signal after the suction nozzle reaches the positioning position. And simultaneously, after the suction nozzle of the actuating mechanism receives a material taking permission signal of the feeding mechanism, the suction nozzle is positioned to a material taking position, then material taking is started, after the material taking is finished, the suction nozzle rises to a material taking completion safety position, and the material taking is finished and is sent to the feeding mechanism. When the suction nozzle finishes taking materials and the positioning of the positioning mechanism is finished, the suction nozzle finishes placing the magnetic head to the material placing position, the suction nozzle starts to return to the safe position at the moment, and when the suction nozzle is separated from the surface program of the machined workpiece, the suction nozzle immediately returns to the positioning point position and judges the placement of the magnetic head at the next point.
The present application further provides a magnetic head system is placed to magnetic carrier, magnetic head system is placed to magnetic carrier includes:
the acquisition module is used for acquiring a magnetic carrier drawing with a magnetic head hole site;
the analysis module is used for analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes;
the calculation module is used for determining a placement path of the magnetic head based on the magnetic head hole position coordinates and obtaining an execution point location sequence based on the placement path of the magnetic head;
and the placing module is used for placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence.
The embodiments of the magnetic head placing system for a magnetic carrier of the present application are substantially the same as the embodiments of the magnetic head placing method for a magnetic carrier described above, and are not described herein again.
The present application further provides a magnetic head apparatus is placed to magnetic carrier, magnetic head apparatus is placed to magnetic carrier includes: a memory, a processor, and a program stored on the memory for implementing the magnetic head placement method for the magnetic carrier,
the memory is used for storing a program for realizing a method for placing a magnetic head on the magnetic carrier;
the processor is used for executing the program for implementing the method for placing the magnetic head by the magnetic carrier so as to implement the steps of the method for placing the magnetic head by the magnetic carrier.
The embodiments of the magnetic head placing apparatus for a magnetic carrier of the present application are substantially the same as the embodiments of the magnetic head placing method for a magnetic carrier described above, and are not described herein again.
The application also provides a storage medium, wherein the storage medium is stored with a program for realizing the method for placing the magnetic head by the magnetic carrier, and the program for realizing the method for placing the magnetic head by the magnetic carrier is executed by a processor to realize the steps of the method for placing the magnetic head by the magnetic carrier.
The embodiment of the storage medium of the present application is substantially the same as the embodiments of the method for placing a magnetic head on a magnetic carrier, and is not described herein again.
It should be noted that, in this document, 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 an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes several instructions for enabling a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method described in the embodiments of the present application.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A method for placing a magnetic head on a magnetic carrier is characterized by comprising the following steps:
acquiring a magnetic carrier drawing with a magnetic head hole site;
analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes;
determining a placement path of the magnetic head based on the magnetic head hole position coordinates, and obtaining an execution point location sequence based on the placement path of the magnetic head;
and placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence.
2. The method of claim 1, wherein the step of obtaining the drawing of the magnetic carrier with the holes for the magnetic heads comprises:
acquiring an initial magnetic carrier drawing and an element position on the initial magnetic carrier drawing;
and marking positions except the element position on the initial magnetic carrier drawing to obtain the position of a magnetic head hole site, wherein the initial magnetic carrier drawing with the position of the magnetic head hole site is the magnetic carrier drawing with the magnetic head hole site.
3. The method of claim 1, wherein the step of analyzing the drawing of the magnetic carrier to obtain the coordinates of the hole site of the magnetic head comprises:
analyzing the drawing of the magnetic carrier to obtain the magnetic head hole position and the diameter corresponding to the magnetic head hole position;
obtaining initial coordinates of the magnetic head hole positions based on the magnetic head hole positions and the diameters corresponding to the magnetic head hole positions;
and converting the initial coordinates of the magnetic head hole site and a positioning coordinate system to obtain the magnetic head hole site coordinates.
4. The method for positioning a magnetic head on a magnetic carrier as claimed in claim 1, wherein the step of determining a positioning path of the magnetic head based on the position coordinates of the magnetic head and obtaining an execution point location sequence based on the positioning path of the magnetic head comprises:
the number of the magnetic head holes is at least two;
determining a starting point hole site and an end point hole site, wherein the starting point hole site and the end point hole site are two magnetic head hole sites with the farthest distance in the magnetic head hole sites;
calculating the shortest path from each magnetic head hole site to the terminal hole site by Dijkstra algorithm based on the magnetic head hole site coordinates;
and obtaining the execution point position sequence based on the shortest path from each magnetic head hole position to the end point hole position.
5. The method of claim 1, wherein the step of placing the magnetic head at the position of the head hole position coordinates of the magnetic carrier based on the execution point position sequence comprises:
acquiring the magnetic head;
and according to the execution point position sequence, placing each magnetic head at the position of the corresponding magnetic head hole position coordinate of the magnetic carrier.
6. The method of claim 5, wherein the step of placing each of the heads at the corresponding head hole position coordinates of the magnetic carrier comprises:
blowing the magnetic head into a material placing position;
and moving the magnetic head at the emptying position by a magnetic head suction device and placing the magnetic head at the position of the corresponding magnetic head hole position coordinate of the magnetic carrier.
7. The method of claim 1, wherein after the step of placing the head on the position of the head hole site coordinates of the magnetic carrier based on the execution point location order, the method comprises:
judging whether the placement of the magnetic head of the magnetic carrier needs compensation;
if yes, obtaining the coordinates of the magnetic head hole position needing to be compensated;
and placing the magnetic head at the coordinate position of the magnetic head hole position needing to be compensated.
8. A magnetic carrier head placement system, comprising:
the acquisition module is used for acquiring a magnetic carrier drawing with a magnetic head hole site;
the analysis module is used for analyzing the drawing of the magnetic carrier to obtain the position coordinates of the magnetic head holes;
the calculation module is used for determining a placement path of the magnetic head based on the magnetic head hole position coordinates and obtaining an execution point location sequence based on the placement path of the magnetic head;
and the placing module is used for placing the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier based on the execution point position sequence.
9. A magnetic carrier head placement apparatus, comprising: a memory, a processor, and a program stored on the memory for implementing the magnetic head placement method for the magnetic carrier,
the memory is used for storing a program for realizing the method for placing the magnetic head on the magnetic carrier;
the processor is used for executing the program for implementing the magnetic head placing method for the magnetic carrier so as to implement the steps of the magnetic head placing method for the magnetic carrier according to any one of claims 1 to 7.
10. A storage medium having a program for implementing a method for placing a magnetic head on a magnetic carrier stored thereon, wherein the program is executed by a processor to implement the method for placing a magnetic head on a magnetic carrier according to any one of claims 1 to 7.
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