CN114741816B - Method, system, apparatus and storage medium for placing magnetic head on magnetic carrier - Google Patents
Method, system, apparatus and storage medium for placing magnetic head on magnetic carrier Download PDFInfo
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- CN114741816B CN114741816B CN202210490776.0A CN202210490776A CN114741816B CN 114741816 B CN114741816 B CN 114741816B CN 202210490776 A CN202210490776 A CN 202210490776A CN 114741816 B CN114741816 B CN 114741816B
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- 238000007599 discharging Methods 0.000 claims description 11
- 238000007664 blowing Methods 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 7
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2115/00—Details relating to the type of the circuit
- G06F2115/12—Printed circuit boards [PCB] or multi-chip modules [MCM]
Abstract
The application discloses a magnetic carrier head placement method, a system, equipment and a storage medium, wherein the magnetic carrier head placement method comprises the following steps: acquiring a magnetic carrier drawing with a magnetic head hole site; analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole; 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 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 application belongs to the technical field of magnetic head placement, and by analyzing a magnetic carrier drawing with a magnetic head hole site, the position coordinates of the magnetic head placement are determined, the magnetic head of the magnetic carrier is automatically placed, and the efficiency of placing the magnetic head is improved.
Description
Technical Field
The present disclosure relates to the field of magnetic head placement technologies, and in particular, to a method, a system, an apparatus, and a storage medium for placing a magnetic head on a magnetic carrier.
Background
The magnetic carrier in the SMT workshop needs to be arranged according to the size patterns of different PCBs in the manufacturing process, the positions where the magnetic heads are placed need to avoid elements of the PCBs, and meanwhile, in order to ensure enough magnetism, the number of the magnetic heads placed needs to be dense, and the whole carrier needs to be fully distributed. Therefore, the placement of the magnetic head on the carrier has the following characteristics: 1. the positions where the magnetic heads are placed are random, and each magnetic head placement position cannot be obtained through calculation of a position relation or a mathematical relation; 2. the number of the magnetic heads is dense, for example, the number of the magnetic heads which are required to be placed on a carrier with the length of 1.2m is up to 2000; 3. the difference between the diameter of the hole where the magnetic head is placed and the diameter of the magnetic head is only 0.1mm, so that high accuracy of placement is required.
In the prior art, the placement of the magnetic heads is performed manually, but as the size of the carrier is larger and larger, the number of orders is larger and larger. The problem of insufficient productivity obviously exists in manual placement: for a 2000-point carrier, a skilled person would take 1.5 seconds to place a single head, 50 minutes to place a complete piece of carrier, and it would be difficult for a person to ensure that the head is placed at a high speed in 8 hours continuously. And CNC processing carrier board can be responsible for the equipment production more than 4 simultaneously by one person, so when the 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 main objective of the present application is to provide a method, a system, a device and a storage medium for placing a magnetic head on a magnetic carrier, which aims to solve the technical problem of low efficiency of placing the magnetic head in the prior art.
To achieve the above object, the present application provides a magnetic carrier head placement method, including:
acquiring a magnetic carrier drawing with a magnetic head hole site;
analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole;
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 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 magnetic carrier drawing with the magnetic head hole site includes:
acquiring an initial magnetic carrier drawing and a component position on the initial magnetic carrier drawing;
and marking the positions except the element positions on the initial magnetic carrier drawing to obtain the positions of the magnetic head hole sites, wherein the initial magnetic carrier drawing with the positions of the magnetic head hole sites is the magnetic carrier drawing with the magnetic head hole sites.
Optionally, the step of analyzing the magnetic carrier drawing to obtain the coordinates of the hole of the magnetic head includes:
analyzing the magnetic carrier drawing to obtain the magnetic head hole sites and diameters corresponding to the magnetic head hole sites;
obtaining initial coordinates of the magnetic head hole sites based on the magnetic head hole sites and diameters corresponding to the magnetic head hole sites;
and converting the initial coordinates of the magnetic head hole positions and a positioning coordinate system to obtain the magnetic head hole position coordinates.
Optionally, determining a placement path of the magnetic head based on the coordinates of the hole sites of the magnetic head, and obtaining an execution point location sequence based on the placement path of the magnetic head, including:
the magnetic head hole sites at least comprise 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 end point hole site through 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 a position of the head hole position coordinate of the magnetic carrier based on the execution point position sequence includes:
acquiring the magnetic head;
and 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.
Optionally, the step of placing each magnetic head at a position of the corresponding magnetic head hole position coordinate of the magnetic carrier includes:
blowing the magnetic head into a discharging position;
and moving the magnetic head at the discharging position by a magnetic head suction device and placing the magnetic head at the position corresponding to the position of the magnetic head hole on the magnetic carrier.
Optionally, after the step of placing the magnetic head at the position of the head hole location coordinates of the magnetic carrier based on the execution point location order, the method includes:
judging whether the placement of the magnetic head of the magnetic carrier needs compensation or not;
if yes, acquiring coordinates of the magnetic head hole sites needing compensation;
and placing the magnetic head at the coordinate position of the magnetic head hole position to be compensated.
The present application also provides a magnetic carrier placement head system, the magnetic carrier placement head system comprising:
the acquisition module is used for acquiring a magnetic carrier drawing with a magnetic head hole site;
the analyzing module is used for analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole;
the calculation module is used for determining a placement path of the magnetic head based on the position coordinates of the magnetic head and obtaining an execution point position sequence based on the placement path of the magnetic head;
and the placement 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 also provides a magnetic carrier placement head apparatus, the magnetic carrier placement head apparatus comprising: a memory, a processor, and a program stored on the memory for implementing the magnetic carrier head placement method,
the memory is used for storing a program for realizing a method for placing the magnetic head on the magnetic carrier;
the processor is used for executing a program for realizing the magnetic carrier head placement method so as to realize the magnetic carrier head placement method.
The present application also provides a storage medium having stored thereon a program for implementing a magnetic carrier head placement method, the program for implementing a magnetic carrier head placement method being executed by a processor to implement the steps of the magnetic carrier head placement method.
Compared with the prior art that manual placement is adopted, the method, the system, the equipment and the storage medium for placing the magnetic heads of the magnetic carriers are low in efficiency and high in labor cost, and in the method, the drawing of the magnetic carriers with the magnetic head hole sites is obtained; analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole; 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 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 placement of the magnetic head are determined by analyzing the magnetic carrier drawing with the magnetic head hole position, so that 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 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 that are required to be used in the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a flow chart of a first embodiment of a method for positioning a magnetic head on a magnetic carrier according to the present application;
FIG. 3 is a schematic diagram of the overall structure of a system according to a second embodiment of the method for positioning a magnetic head on a magnetic carrier of the present application;
FIG. 4 is a schematic diagram of a positioning process in a second embodiment of a method for positioning a magnetic head on a magnetic carrier according to the present application;
FIG. 5 is a flowchart of a method for positioning a magnetic head on a magnetic carrier according to a third embodiment of the present invention.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
As shown in fig. 1, fig. 1 is a schematic diagram of a terminal structure of a hardware running 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 with a display function, such as a smart phone, a tablet computer, an electronic book reader, an MP3 (Moving Picture Experts Group Audio Layer III, dynamic image expert compression standard audio layer 3) player, an MP4 (Moving Picture Experts Group Audio Layer IV, dynamic image expert 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 the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further 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 stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and so on. Among other sensors, such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen 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 acceleration in all directions (generally three axes), and can detect the gravity and the direction when the mobile terminal is stationary, and the mobile terminal can be used for recognizing the gesture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and the like, which are not described herein.
It will be appreciated by those skilled in the art that the terminal structure shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating device, a network communication module, a user interface module, and a magnetic carrier placement head program may be included in a memory 1005 as one type of computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication 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 the magnetic carrier 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, the method for placing a magnetic head on a magnetic carrier includes:
step S100, a magnetic carrier drawing with a magnetic head hole site is obtained;
step S200, analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole;
step S300, determining a placement path of the magnetic head based on the position coordinates of the magnetic head, and obtaining an execution point position sequence based on the placement path of the magnetic head;
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, a specific application scenario may be:
in order to ensure that the magnetic carrier in the SMT workshop has enough magnetism, magnetic heads are placed on the magnetic carrier, the number of the magnetic heads placed is required to be dense, and the whole carrier needs to be fully distributed. In the prior art, manual placement is adopted, but as the size of the carrier is larger and the number of orders is larger, a plurality of workers are required to simultaneously place magnetic heads, the problem of insufficient productivity is obvious in manual placement, the efficiency of placing the magnetic heads is low, and the labor cost is high.
The method comprises the following specific steps:
step S100, a magnetic carrier drawing with a magnetic head hole site is obtained;
in this embodiment, the magnetic carrier drawing is used to describe the structure and function of the device, i.e. the magnetic carrier, and the magnetic carrier drawing may be an electronic drawing or a paper drawing, where the electronic drawing includes CAD drawing, solidWork drawing, unigraphics NX drawing, and the like, and is not limited herein. The magnetic head hole sites are holes for marking the magnetic heads pre-placed on the magnetic carrier drawing, for example, the holes for marking the pre-placed magnetic heads on the magnetic carrier drawing describing the structure and the function of the magnetic carrier.
In this embodiment, firstly, a magnetic carrier drawing with a magnetic head hole site is obtained, wherein the method for obtaining the magnetic carrier drawing with the magnetic head hole site may be:
mode one: marking the magnetic head hole site on the initial magnetic carrier drawing by manpower, namely manually marking;
mode two: the system scans the initial magnetic carrier drawing and marks the magnetic head hole site, namely the system mark.
Because the positions of the magnetic heads are random, namely the positions of the magnetic heads are limited by components, the positions of the magnetic heads cannot be obtained through calculation according to the position relation or the mathematical relation, the drawing of the magnetic carrier with the magnetic head hole positions is obtained through the 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, acquiring an initial magnetic carrier drawing and the element position on the initial magnetic carrier drawing;
in this embodiment, the initial magnetic carrier drawing is a drawing only including a magnetic carrier structure and functions, wherein the magnetic carrier structure includes electronic components such as resistors and capacitors, and the magnetic head cannot be placed at the element position, i.e., the position of the electronic components on the magnetic carrier.
And step S120, marking the positions except the element positions on the initial magnetic carrier drawing to obtain the positions of the magnetic head hole sites, wherein the initial magnetic carrier drawing with the positions of the magnetic head hole sites is the magnetic carrier drawing with the magnetic head hole sites.
In this embodiment, since the element position is not capable of performing the head placement, the system needs to perform the marking of the head hole position at a position other than the element position on the original magnetic carrier drawing, and the efficiency of marking the head hole position is improved compared with manually marking the head hole position on the original magnetic carrier drawing.
Step S200, analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole;
in this embodiment, the system analyzes the magnetic carrier drawing, reads the data of the magnetic carrier drawing, and determines the coordinates of the magnetic head hole on the magnetic carrier drawing with the magnetic head hole.
Specifically, the step S200 includes the following steps S210 to S230:
step S210, analyzing the magnetic carrier drawing to obtain the magnetic head hole sites and diameters corresponding to the magnetic head hole sites;
in this embodiment, the system analyzes the magnetic carrier drawing, reads the data of the magnetic carrier drawing, and obtains the mark of the magnetic head hole on the magnetic carrier drawing with the magnetic head hole, where the mark of the magnetic head hole includes the magnetic head hole and the diameter corresponding to the magnetic head hole.
Step S220, obtaining initial coordinates of the magnetic head hole site based on the magnetic head hole site and the diameter corresponding to the magnetic head hole site;
in this embodiment, the initial coordinates of the magnetic head hole site are determined according to the magnetic head hole site and the diameter corresponding to the magnetic head hole site, that is, the position and the size of the magnetic head, where the initial coordinates are coordinates on the drawing of the magnetic carrier.
And step S230, converting the initial coordinates of the magnetic head hole sites and a positioning coordinate system to obtain the coordinates of the magnetic head hole sites.
In this embodiment, the positioning coordinate system is a coordinate system that can be identified by the positioning module, where 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 magnetic carrier drawing, for example, the magnetic carrier drawing is a 2D plan view, and the positioning coordinate system is a coordinate system formed by XY axes on a plane, and similarly, if the magnetic carrier drawing is a 3D plan view, the positioning coordinate system is a coordinate system formed by XYZ axes on a three-dimensional plane. And converting 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 placement position which can be identified by the system.
Coordinate transformation is performed by the following formula:
x＝x′cos t-y′sin t+x o
y＝x′sin t+y′cos t+y o
wherein x 'and y' are coordinates in the magnetic carrier drawing, and x and y are converted coordinates. X is x o And y o And t is the included angle of two coordinate systems for the coordinate position of the origin of the magnetic carrier drawing in the positioning module. X is x o And y o And the included angle t is obtained through manual calibration of a calibration plate.
Step S300, determining a placement path of the magnetic head based on the position coordinates of the magnetic head, and obtaining an execution point position sequence based on the placement path of the magnetic head;
in this embodiment, the placement path of the magnetic head is determined based on the coordinates of the hole sites of the magnetic head, and the execution point location sequence is obtained based on the placement path of the magnetic head, so that the placement path of the magnetic head is optimized, the positioning time for placement of the magnetic head is saved, and the placement efficiency of the magnetic head of the system is improved.
Specifically, the step S300 includes the following steps S310 to S340:
step S310, the magnetic head hole sites at least comprise two;
in this embodiment, the number of heads to be placed is usually dense, and more than two heads are needed, so the head hole sites include at least two heads, for example, up to 2000 heads needed to be placed by a carrier with a length of 1.2 m.
Step S320, 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;
in this embodiment, on the magnetic carrier drawing with the magnetic head hole sites, the distances between every two hole sites are calculated based on the coordinates of the magnetic head hole sites by enumerating the distances between every two hole sites, that is, the distances between every two hole sites in all hole sites are calculated, and the two hole sites with the farthest distances are determined by comparing the results of all the distances, and finally, the two hole sites are the starting point hole site and the end point hole site.
Step S330, calculating the shortest path from each magnetic head hole site to the end point hole site through Dijkstra' S algorithm based on the magnetic head hole site coordinates;
in this embodiment, the Dijkstra algorithm is a shortest path routing algorithm for calculating the shortest path from one node to all other nodes. The main characteristic is that the expansion is outward layer by layer with the starting point as the center until the expansion reaches the end point. The Dijkstra algorithm can obtain the optimal solution of the shortest path. For example, first, counting the points k=1 from the start point a and the target point B, initializing the shortest distance DiA from all the points to the destination band, when K is smaller than the total number N, searching the closest point record to K as j, and recording the state of K as accessed. Then traversing all points with feasible distances from the point j from the points which are not visited 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 repeating the process after one is added, and outputting the shortest path set when K is greater than or equal to the total point number N.
And step S340, obtaining the execution point position sequence based on the shortest path from each magnetic head hole position to the end point hole position.
In this embodiment, the shortest paths from the head hole position to the end hole position of each head hole are sorted from large to small or from small to large, so as to obtain the execution point position sequence.
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 magnetic head placement module in the system places the magnetic head at the position of the magnetic head hole position coordinate of the magnetic carrier according to the execution point position sequence, thereby completing the placement of the magnetic head, realizing automatic placement of the magnetic head, improving the production efficiency and reducing the production cost.
Specifically, the step S400 includes the following steps S410 to S420:
step S410, the magnetic head is acquired;
in this embodiment, the method for obtaining the magnetic head may be that the system grabs the magnetic head in the container storing the magnetic head through a transport module, where the transport module may be a device capable of grabbing/sucking, such as a mechanical arm, a vacuum generator, or the like, and the magnetic head may be an integral magnetic head that is adsorbed together, or may be a single magnetic head, and if the integral magnetic head is adsorbed together, the integral magnetic head needs to be separated to obtain the magnetic head.
And 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, the head placement module in the system places each of the heads at the positions of the coordinates of the head hole of the magnetic carrier according to the execution point sequence, so as to complete placement of the heads, realize automatic placement of the heads, improve production efficiency and reduce production cost.
Specifically, the step S420 includes the following steps S421 to S422:
step S421, blowing the magnetic head into a discharging position;
step S422, the magnetic head suction device moves the magnetic head at the discharging position and places the magnetic head at the position corresponding to the coordinates of the magnetic head hole on the magnetic carrier.
In the embodiment, the system blows the magnetic head into the discharging position through air blowing of the air nozzle, and the vacuum generator sucks the magnetic head and sends a material taking signal to the magnetic head placing module in the system; after receiving the material taking signal, the magnetic head placing module descends to a material taking position, absorbs the magnetic head and places the magnetic head at the position corresponding to the magnetic head hole position coordinate of the magnetic carrier.
In this application, the step S400, after 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, includes the following steps a100-a300:
step A100, judging whether the placement of the magnetic head of the magnetic carrier needs compensation or not;
in this embodiment, whether the placement of the magnetic head of the magnetic carrier needs compensation is determined according to an actual placement situation of the magnetic head, and the determining method may be to set an image acquisition module to acquire an image of the actual placement situation of the magnetic head, and place the image based on the actual placement situation of the magnetic head into a preset compensation determination model to obtain a result of whether the placement of the magnetic head of the magnetic carrier needs compensation.
Step A200, if yes, acquiring coordinates of the magnetic head hole site to be compensated;
in this embodiment, if the placement of the magnetic head of the magnetic carrier needs to be compensated, based on the size of the magnetic head, the magnetic head hole site in the image of the actual placement of the magnetic head is marked, so as to obtain the coordinates of the magnetic head hole site that needs to be compensated.
And step A300, placing the magnetic head at the coordinate position of the magnetic head hole position to be compensated.
In this embodiment, the magnetic head is placed at the position of the coordinates of the head hole of the magnetic carrier, i.e. the position of the coordinates of the head hole to be compensated, in the same manner as described above. The placement path of the magnetic head is optimized, so that the positioning time of the placement of 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 site; analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole; 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;
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 may adopt a current network communication mode, may be a TLS (Transport Layer Security, secure transport layer protocol) mode, may be a UDP (User Datagram Protocol, user data packet protocol) mode, and may be a TCP (Transmission Control Protocol ) mode, where the TCP includes a Modbus-TCP protocol, etc., and is not specifically limited herein, and high-speed magnetic head placement is implemented according to the acquired positioning data through data interaction and mutual cooperation between the units.
Compared with the prior art that manual placement is adopted, the method, the system, the equipment and the storage medium for placing the magnetic heads of the magnetic carriers are low in efficiency and high in labor cost, and in the method, the drawing of the magnetic carriers with the magnetic head hole sites is obtained; analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole; 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 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 placement of the magnetic head are determined by analyzing the magnetic carrier drawing with the magnetic head hole position, so that 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 in the application, another embodiment in the application is provided, in this embodiment, referring to fig. 3, a system acquires a CAD drawing of a magnetic carrier with a magnetic head hole site, the system is built with a PyQt5 frame, uses a dxfgrabler packet under the PyQt5 to read CAD data and analyze the center coordinates of the magnetic head hole site, and then converts the center coordinates of the hole site of the CAD into positioning coordinates of a positioning module according to a coordinate relation calculated according to the conversion relation of the calibration plate and the planar coordinate system. After the coordinates are obtained, referring to fig. 4, counting points k=1 from the starting point a and the target point B, initializing the shortest distance DiA from all points to the target zone, searching the point closest to the K point as j when K is smaller than the total number N, and recording the state of the K point as accessed. Then traversing all points with feasible distances from the point j from the points which are not visited 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 repeating the process after one step, and outputting a shortest path set when K is greater than or equal to the total point number N to obtain final point location coordinate data, and then transmitting the point location data to a controller of an execution module through a wireless network by combining a modbus_tk packet and a modbus_tcp protocol; the magnetic head placing unit is divided into three modules, the positioning module, the feeding module and the magnetic head discharging device act simultaneously when the system is started, the positioning module starts to position according to the received positioning coordinates, the synchronous transportation module starts to feed, the magnetic head is blown into a magnetic head discharging hole of the transportation module through air tap 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 material taking signal is received by the magnetic head placing module, the magnetic head suction nozzle mechanism descends to a material taking position, and absorbs the magnetic head, and the magnetic head is placed at the position corresponding to the magnetic head hole position coordinates of the magnetic carrier. And resetting the feeding mechanism to start a new round of material taking, and completing the placement of the magnetic head after the positioning is completed and the material taking is successful.
Based on the first and second embodiments of the present application, another embodiment of the present application is provided in which, after the system is started up, the transport module and the head mechanism nozzle are first reset to the safe position and then synchronously start feeding and positioning, as shown in fig. 5. After the transport module is started, the feeding tray firstly reaches an initial position, then the feeding tray is blown up through a blowing-up device of a feeding port, meanwhile, a vacuum generator of the material taking mechanism acts to absorb a magnetic head, after the magnetic head absorbs the vacuum value, when the vacuum value reaches a set value, and after the suction nozzle of the executing mechanism is determined to be at a safe position, the transport module stretches out and sends a feeding permission signal, and after receiving a material taking success signal, a reset program of the 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 if the material taking failure times do not reach the set value, returning to the material taking position by the program, and re-executing the material taking step; and if the number of material taking failures reaches a set value, resetting the material taking failure count, preparing to rotate the feeding disc, firstly judging the number of the current rotating disc before the feeding disc rotates, and if the number of the current rotating disc reaches the maximum number of the current rotating disc, resetting the material taking disc, sending a material shortage alarm signal and closing automatic operation. And if the feeding disc does not reach the maximum number of grids, returning the procedure to the material taking position after rotating the feeding disc for one grid, and continuing to take materials. When the positioning is started, firstly judging the current point position state, if the current point is at the last point, resetting the XY positioning mechanism to a safe position, sending a processing completion signal, and simultaneously closing the automatic operation of the system; if the current point position information is not at the last point, the positioning and the material taking are started at the same time, when the positioning is performed, whether the suction nozzle reaches a safe position is firstly judged, when the suction nozzle is at the safe position, the positioning mechanism acquires the current point position coordinates to start the positioning, and after the positioning position is reached, a positioning completion signal is sent. And simultaneously, after receiving a material taking permission signal of the feeding mechanism, the suction nozzle of the executing mechanism positions the suction nozzle to a material taking position, then starts material taking, rises to a material taking completion safety position after material taking is completed, and sends the material taking completion to the feeding mechanism. When the suction nozzle is used for taking materials and the positioning mechanism is used for positioning, the suction nozzle is positioned at the position of the placement position to finish the placement of the magnetic head, at the moment, the suction nozzle starts to return to the safe position, and when the suction nozzle is separated from the surface program of the processed workpiece, the suction nozzle immediately returns to the positioning point position and the placement of the magnetic head at the next point is judged.
The present application also provides a magnetic carrier placement head system, the magnetic carrier placement head system comprising:
the acquisition module is used for acquiring a magnetic carrier drawing with a magnetic head hole site;
the analyzing module is used for analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole;
the calculation module is used for determining a placement path of the magnetic head based on the position coordinates of the magnetic head and obtaining an execution point position sequence based on the placement path of the magnetic head;
and the placement 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 specific embodiments of the magnetic carrier head placement system are substantially the same as the embodiments of the magnetic carrier head placement method described above, and are not described herein.
The present application also provides a magnetic carrier placement head apparatus, the magnetic carrier placement head apparatus comprising: a memory, a processor, and a program stored on the memory for implementing the magnetic carrier head placement method,
the memory is used for storing a program for realizing a method for placing the magnetic head on the magnetic carrier;
the processor is used for executing a program for realizing the magnetic carrier head placement method so as to realize the magnetic carrier head placement method.
The specific implementation manner of the magnetic carrier placement magnetic head device is basically the same as that of each embodiment of the magnetic carrier placement magnetic head method, and is not repeated here.
The present application also provides a storage medium having stored thereon a program for implementing a magnetic carrier head placement method, the program for implementing a magnetic carrier head placement method being executed by a processor to implement the steps of the magnetic carrier head placement method.
The specific embodiments of the storage medium are basically the same as the embodiments of the method for placing the magnetic head by using the magnetic carrier, and are not repeated herein.
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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method described in the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (10)
1. A method for positioning a magnetic head on a magnetic carrier, the method comprising:
acquiring a magnetic carrier drawing with a magnetic head hole site;
analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole;
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;
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;
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 includes:
sucking the magnetic head through a vacuum generator of the material taking mechanism, judging whether the current vacuum value reaches a preset value, sending a material taking signal to a material discharging head module when the vacuum value reaches the preset value, and resetting the material taking mechanism; when the vacuum value does not reach the preset value, determining the material taking failure times, and judging whether the material taking failure times reach the preset times or not; if the material taking failure times reach the preset times, rotating a feeding disc, determining the number of the current feeding disc, and if the number of the current feeding disc reaches the maximum number of the current feeding disc, resetting the material taking mechanism, sending a material shortage alarm signal, and closing automatic operation;
and responding to the material taking signal, placing the magnetic head at a position of the magnetic carrier corresponding to the position coordinates of the magnetic head hole by the magnetic head discharging module based on the execution point position sequence, and repeating the steps of material taking and material feeding until the magnetic head is completely placed at the position of the position coordinates of the magnetic head hole of the magnetic carrier.
2. The method for positioning a magnetic head on a magnetic carrier of claim 1, wherein the step of obtaining a drawing of the magnetic carrier with a head hole site comprises:
acquiring an initial magnetic carrier drawing and a component position on the initial magnetic carrier drawing;
and marking the positions except the element positions on the initial magnetic carrier drawing to obtain the positions of the magnetic head hole sites, wherein the initial magnetic carrier drawing with the positions of the magnetic head hole sites is the magnetic carrier drawing with the magnetic head hole sites.
3. The method of claim 1, wherein the step of resolving the magnetic carrier drawing to obtain the coordinates of the hole sites of the magnetic head comprises:
analyzing the magnetic carrier drawing to obtain the magnetic head hole sites and diameters corresponding to the magnetic head hole sites;
obtaining initial coordinates of the magnetic head hole sites based on the magnetic head hole sites and diameters corresponding to the magnetic head hole sites;
and converting the initial coordinates of the magnetic head hole positions and a positioning coordinate system to obtain the magnetic head hole position coordinates.
4. The method of positioning a head on a magnetic carrier of claim 1, wherein the step of determining a positioning path of the head based on the head hole position coordinates and obtaining an execution point position order based on the positioning path of the head comprises:
the magnetic head hole sites at least comprise 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 end point hole site through 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 positioning a head on a magnetic carrier of claim 1, wherein the positioning the head at the position of the head hole location coordinates of the magnetic carrier based on the execution point bit sequence comprises:
acquiring the magnetic head;
and 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.
6. The method of positioning a magnetic head on a magnetic carrier of claim 5, wherein positioning each of the magnetic heads at a location corresponding to the head hole location coordinates of the magnetic carrier comprises:
blowing the magnetic head into a discharging position;
and moving the magnetic head at the discharging position by a magnetic head suction device and placing the magnetic head at the position corresponding to the position of the magnetic head hole on the magnetic carrier.
7. The method of positioning a head on a magnetic carrier of claim 1, wherein after the step of positioning the head on the magnetic carrier at the head hole location coordinates based on the execution point bit sequence, the method comprises:
judging whether the placement of the magnetic head of the magnetic carrier needs compensation or not;
if yes, acquiring coordinates of the magnetic head hole sites needing compensation;
and placing the magnetic head at the coordinate position of the magnetic head hole position to be compensated.
8. A magnetic carrier placement head system, the magnetic carrier placement head system comprising:
the acquisition module is used for acquiring a magnetic carrier drawing with a magnetic head hole site;
the analyzing module is used for analyzing the magnetic carrier drawing to obtain the position coordinates of the magnetic head hole;
the calculation module is used for determining a placement path of the magnetic head based on the position coordinates of the magnetic head and obtaining an execution point position sequence based on the placement path of the magnetic head;
the material taking module is used for sucking the magnetic head through a vacuum generator of the material taking mechanism, judging whether the current vacuum value reaches a preset value, sending a material taking signal to the magnetic head releasing module when the vacuum value reaches the preset value, and resetting the material taking mechanism; when the vacuum value does not reach the preset value, determining the material taking failure times, and judging whether the material taking failure times reach the preset times or not; if the material taking failure times reach the preset times, rotating a feeding disc, determining the number of the current feeding disc, and if the number of the current feeding disc reaches the maximum number of the current feeding disc, resetting the material taking mechanism, sending a material shortage alarm signal, and closing automatic operation;
and the placement module is used for responding to the material taking signal, placing the magnetic head at the position of the magnetic carrier corresponding to the position of the magnetic head hole site coordinate based on the execution point position sequence through the magnetic head placement module, and repeating the steps of material taking and material loading until the magnetic head is completely placed at the position of the magnetic head hole site coordinate of the magnetic carrier.
9. A magnetic carrier placement head apparatus, characterized in that the magnetic carrier placement head apparatus comprises: a memory, a processor, and a program stored on the memory for implementing the magnetic carrier head placement method,
the memory is used for storing a program for realizing a method for placing the magnetic head on the magnetic carrier;
the processor is configured to execute a program for implementing the magnetic carrier head placement method to implement the magnetic carrier head placement method steps of any one of claims 1 to 7.
10. A storage medium having stored thereon a program for implementing a magnetic carrier head placement method, the program for implementing a magnetic carrier head placement method being executed by a processor to implement the steps of the magnetic carrier head placement method according to any one of claims 1 to 7.
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