CN115038328A

CN115038328A - Calibration method of component inserter

Info

Publication number: CN115038328A
Application number: CN202210722534.XA
Authority: CN
Inventors: 魏道学
Original assignee: Dongguan Nanbu Jiayong Electronic Co ltd
Current assignee: Dongguan Nanbu Jiayong Electronic Co ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2022-09-09
Anticipated expiration: 2042-06-24
Also published as: CN115038328B

Abstract

The invention discloses a calibration method of a component inserter, which comprises the following steps of setting a reference jig, wherein the top of the reference jig is provided with a mechanical original point; preparing a calibration suction nozzle, a calibration head, a calibration block, a calibration plate and a material taking track jig; when the calibration is carried out, the method comprises the following steps: firstly, calibrating the offset of a Z-axis origin of a plug-in head; secondly, calibrating a PCB camera and an element camera; thirdly, calibrating the offset of the origin of the machine; fourthly, calibrating the flying shooting offset of the element camera; fifthly, calibrating the PCB origin and the track width, and calibrating the R-axis offset and the center; sixthly, correcting and calibrating an XY surface; step seven, calibrating the offset of the Z-axis head; and step eight, carrying out material taking position calibration. Through the calibration of the flying shooting offset of the element camera, the plug-in machine can take the flying shooting of materials, directly moves to a corresponding plug-in position through the element camera after the materials are taken, does not need to stay above the element camera, and improves the plug-in efficiency of the plug-in machine.

Description

Calibration method of component inserter

Technical Field

The invention relates to the technical field of calibration methods, in particular to a calibration method of a component inserter.

Background

At present, a PCB is an important component of an electronic product, and a component inserter is an automatic component inserter for inserting various electronic components to a designated position of the PCB. When the plug-in components are actually machined and used, after a set time period, the machine table is vibrated for a long time and the control precision of the offset position has certain deviation, so that the relative reference of part of the components of the plug-in components may be slightly changed, and the machining precision and the quality of the plug-in components are correspondingly negatively affected. Therefore, frequent recalibration of the plug-in is required to ensure accuracy. Especially, if the plug-in machine has the situations of moving, dismounting or maintenance and replacement, the calibration needs to be carried out again.

Calibration of a plug-in machine generally requires calibration of a PCB camera, an element camera, XYZ three axes of a plug-in head and a PCB loading track on the plug-in machine; after the existing calibration method is used for calibrating, although the accuracy of the plug-in machine is improved, when the method is actually used, the plug-in machine needs to stay above an element camera to take pictures after taking materials, and then plug-in operation is carried out after the pictures are taken, so that the plug-in efficiency of the plug-in machine is reduced, and the processing efficiency of products is influenced.

Therefore, a new technical solution is needed to solve the above problems.

Disclosure of Invention

In view of the above, the present invention is directed to the defects in the prior art, and the main object of the present invention is to provide a calibration method for a component inserter, which has simple steps and is easy to implement, and is beneficial to improving the component insertion efficiency of the component inserter.

In order to achieve the purpose, the invention adopts the following technical scheme:

a calibration method of a component inserter is characterized in that a reference jig is set, and the top of the reference jig is provided with a mechanical origin; preparing a calibration suction nozzle, a calibration head, a calibration block, a calibration plate and a material taking track jig; when the calibration is carried out, the method comprises the following steps: firstly, calibrating the offset of a Z-axis origin of a plug-in head; secondly, calibrating a PCB camera and an element camera; thirdly, calibrating the offset of the origin of the machine; fourthly, calibrating the flying shooting offset of the element camera; fifthly, calibrating the PCB origin and the track width, and calibrating the R-axis offset and the center; sixthly, correcting and calibrating an XY surface; step seven, calibrating the offset of the Z-axis head; eighthly, calibrating the material taking position; through the flying shooting offset calibration of the component camera, the component inserter can perform flying shooting of material taking, the material taking is directly carried out through the component camera to move to a corresponding plug-in position, stopping is not needed above the component camera, the plug-in efficiency of the component inserter is improved, and further the processing efficiency of products is improved.

Preferably, in the first step, the calibration nozzle is first installed at the bottom of the Z axis a, then the center of the Z axis a is aligned with the mechanical origin, then the Z axis a returns to zero, then the Z axis a is moved downwards until the calibration nozzle contacts the center of the mechanical origin jig, the reference is obtained, the distance between the zero point of the Z axis a and the reference is obtained, the distance between the zero point of the Z axis B and the reference is obtained according to the method, the offset between the zero point of the Z axis a and the zero point of the Z axis B is obtained, and the offset is calibrated so that the bottom is flush when the Z axis a and the Z axis B descend.

As a preferable scheme, the bottom of the calibration head is provided with a first calibration column and a second calibration column, the first calibration column is positioned at the center of the calibration head, and the second calibration column is positioned beside the first calibration column; in the second step, firstly, calibrating the PCB camera, firstly moving the PCB camera to the mechanical origin, and then automatically calibrating the PCB camera so as to align the center of the PCB camera to the center of the mechanical origin;

then, calibration of the component camera a is performed, a calibration head is installed at the bottom of the Z-axis a, the calibration head is moved to above the component camera a, then a calibration light source is turned on, and then the component camera a performs initial automatic calibration to capture a first calibration column position, and calibration of the component camera B is performed according to a secondary method.

As a preferable scheme, in the third step, firstly, the plug-in head performs X-axis and Y-axis zero point return, then the PCB camera moves to the mechanical origin, obtains the mechanical origin coordinate, obtains the offset of the mechanical origin coordinate and the zero point coordinate, and automatically calibrates the offset.

As a preferable scheme, in the fourth step, firstly, a calibration head is installed at the bottom of the Z axis a, then the calibration head is moved to above the component camera a, the center of the first calibration column is aligned with the center of the component camera a for photographing and calibration, then the Z axis a repeatedly passes through the component camera a along the Y axis for flying photographing operation, the flying photographing operation speed is sequentially performed from low to middle to high, in the process, the component camera a photographs the calibration head when the Z axis a is located above the component camera a, as the component camera a photographs the calibration head in the moving state, the position of the photographed calibration head has an offset with the position of the center of the component camera a, and the offset is calibrated, so that the position of the calibration head coincides with the center of the component camera a in the flying photographing process.

As a preferable scheme, in the fifth step, the calibration of the R-axis offset to the center: firstly, mounting a calibration head at the bottom of a Z-axis A, moving the calibration head to the position above an element camera A, driving the Z-axis A to rotate back to a zero point, taking a connecting line between the center of a first calibration column and the center of a second calibration column, driving the Z-axis A to rotate for a circle, obtaining an offset angle between a starting point connecting line and an end point connecting line, automatically calibrating the offset angle, and calibrating a Z-axis B according to a secondary method;

calibration of PCB origin and track width: firstly, calibrating the track width, taking a PCB for a plug-in unit, measuring the actual numerical value of the front and back width of the PCB, then returning the PCB track to zero, moving the PCB track by the actual numerical value, measuring the front and back width of the PCB track, measuring the measured numerical value of the PCB track width, and calibrating the offset of the measured numerical value and the actual numerical value; then, calibrating the original point of the PCB, putting the PCB into a track, driving the PCB to move to a plug-in position by the track, then moving a PCB camera to the position that the center of the PCB camera is aligned with the lower left corner or the lower right corner of the PCB to obtain the reference coordinates of the X axis and the Y axis of the PCB, then installing a calibration suction nozzle at the bottom of the Z axis A, moving the calibration suction nozzle to the position above the PCB, driving the calibration suction nozzle to descend until the bottom of the calibration suction nozzle contacts the top of the PCB, and obtaining the plug-in height reference of the PCB.

As a preferred scheme, a plurality of circle features for calibration are uniformly distributed on the top of the calibration plate; in the sixth step, a calibration plate is placed on a carrier, the carrier and the calibration plate are moved to a plug-in position, then the PCB camera is moved to a circle feature position at the lower left in the calibration plate to obtain the central coordinates of the circle feature, then the PCB camera is moved to a circle feature position at the lower right in the calibration plate to observe whether the circle feature is located at the center of the PCB camera, the calibration plate is moved to perform repeated measurement until the central coordinates of the two circle features are located on the same X axis, then the plug-in machine obtains the coordinates of all the circle features on the calibration plate according to the distance between the circle features to complete the calibration of the XY plane, and the carrier and the calibration plate are taken down.

As a preferable scheme, the upper surface and the lower surface of the calibration block are provided with circular points, and the two circular points are concentric and have equal radius; in the seventh step, firstly, a calibration suction nozzle is installed at the bottom of the Z-axis A, a calibration block is placed at the position of the plug-in, then the PCB camera is moved to photograph the center of the circular point, then the calibration suction nozzle is moved to take materials of the calibration block, then the calibration suction nozzle drives the calibration block to move to the position of the component camera A to take a picture, X, Y-axis offset between the center of the component camera A and the center of the circular point is obtained, the calibration is carried out on the offset until the center of the circular point taken by the component camera A is aligned with the center of the circular point taken by the PCB camera, and therefore accurate material taking and material placing of the plug-in are achieved; calibration of the Z axis B was performed according to the sub-method.

As an optimal scheme, when the calibration suction nozzle drives the calibration block to move to the position of the component camera A for taking a picture, the calibration suction nozzle rotates for a circle, the component camera A selects a plurality of rotation angles for taking a picture to obtain an angle offset, and the angle offset is calibrated, so that accurate blanking can be achieved during rotary material taking.

As a preferred scheme, the material taking rail jig is provided with material taking reference points, in the eighth step, a calibration suction nozzle is installed at the bottom of the Z axis a, the material taking rail jig is installed to the right side of the material taking position of the component inserter, the center of the PCB camera is moved to the center of the material taking reference points, X, Y-axis reference is obtained, then the Z axis a is moved to the upper side of the material taking reference points, the bottom of the calibration suction nozzle is contacted with the surface of the material taking reference points, the Z-axis reference is obtained, and the material taking reference points on the left side of the material taking position are calibrated by the Z axis B according to the method, so that coordinates of discharge ports of a plurality of material taking rails are obtained.

Compared with the prior art, the invention has obvious advantages and beneficial effects, and specifically, the technical scheme includes that:

the calibration method is simple in steps and easy to implement, and after the calibration method is adopted to calibrate the plug-in machine, the accuracy of the plug-in on the PCB is improved, so that the processing quality of the plug-in machine is improved; and the flying shooting offset of the element camera is calibrated, so that the inserter can perform flying shooting for taking materials, the materials are directly moved to corresponding inserter positions through the element camera after being taken, the materials do not need to be stopped above the element camera, the inserter efficiency of the inserter is improved, and the product processing efficiency is further improved.

To more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Drawings

FIG. 1 is a schematic diagram of a calibration process according to a preferred embodiment of the present invention;

FIG. 2 is a schematic diagram of a component inserter according to a preferred embodiment of the invention;

FIG. 3 is a schematic illustration of a plug-in machine from another perspective in accordance with a preferred embodiment of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is a top view of a preferred embodiment of the present invention;

FIG. 6 is a schematic view of a plug-in head according to a preferred embodiment of the present invention;

FIG. 7 is a schematic view of a calibration nozzle in accordance with a preferred embodiment of the present invention;

FIG. 8 is an assembled view of the calibration plate according to the preferred embodiment of the present invention;

FIG. 9 is a diagram of a calibration block in accordance with a preferred embodiment of the present invention;

FIG. 10 is a schematic view of a reference fixture according to a preferred embodiment of the present invention;

fig. 11 is a schematic view illustrating the installation of the reclaiming track fixture according to the preferred embodiment of the invention.

Description of the figures:

10. plug-in component head 11 and Z axis A

12. Z-axis B13 and Z-axis C

14. Z-axis D20 and PCB camera

31. Element camera A32 and element camera B

33. Component camera C34 and component camera D

40. Card insertion position 50, material taking position

51. Get material track installation position 52, get material track

60. Reference jig

61. Mechanical origin 70 and carrier

81. Calibration suction nozzle 82 and calibration head

821. A first calibration column 822 and a second calibration column

83. Calibration block 831, round dot

84. Calibration plate 841, circular feature

85. Get material track tool 851, get material datum point.

Detailed Description

Referring to fig. 1 to 11, which illustrate the method of the preferred embodiment of the present invention, generally, the number of the plug-in heads 10 of the plug-in machine can be two or more; in the present embodiment, a four-head inserter is taken as an example, but not limited thereto, and includes a preparation step and a calibration step.

The preparation method comprises the following steps: setting a reference jig 60, wherein the top of the reference jig 60 is provided with a mechanical origin 61; preparing a calibration suction nozzle 81, a calibration head 82, a calibration block 83, a calibration plate 84 and a material taking track jig 85; the bottom of the calibration head 82 is provided with a first calibration column 821 and a second calibration column 822, the first calibration column 821 is located at the center of the calibration head 82, and the second calibration column 822 is located beside the first calibration column 821; a plurality of circular features 841 for calibration are uniformly distributed at the top of the calibration plate 84; the upper surface and the lower surface of the calibration block 83 are provided with circular points 831, and the two circular points 831 are concentric and have equal radiuses; the material taking rail jig 85 is provided with material taking datum points 851; in actual use, the calibration plate 84 is a glass plate.

The inserter head 10 of the inserter comprises a Z-axis A11, a Z-axis B12, a Z-axis C13 and a Z-axis D14 which are arranged in a side-by-side spaced manner, wherein the Z-axis C13 and the Z-axis D14 are positioned between a Z-axis A11 and a Z-axis B12, correspondingly, the element cameras of the inserter are provided with four elements which are arranged in a side-by-side spaced manner and are respectively defined as an element camera A31, an element camera B32, an element camera C33 and an element camera D34, and the element camera C33 and the element camera D34 are positioned between an element camera A31 and an element camera B32.

A calibration step: firstly, calibrating the offset of the Z-axis origin of the plug-in head 10, namely, mounting a calibration suction nozzle 81 at the bottom of a Z-axis A11, aligning the center of the Z-axis A11 with the mechanical origin 61, returning the zero point of the Z-axis A11, namely touching a zero point switch, moving the Z-axis A11 downwards until the calibration suction nozzle 81 contacts with the center of a jig of the mechanical origin 61, acquiring a reference to obtain the distance between the zero point of the Z-axis A11 and the reference, acquiring the distances between the zero point of the Z-axis B12, the zero point of the Z-axis C13 and the zero point of the Z-axis D14 and the reference according to the method, thereby acquiring the offset among the zero points of the Z-axis A11, the Z-axis B12, the Z-axis C13 and the Z-axis D14, and calibrating the offset to enable the bottoms of the Z-axis A11, the Z-axis B12, the Z-axis C13 and the Z-axis D14 to be flush when descending; when the zero switch is installed, the zero switch is difficult to be installed at the same height, so that a certain deviation exists between zero points of the Z axis, and the zero point and the reference of each plug-in head 10 are respectively carried out according to the number of the plug-in heads 10 of the plug-in machine, so as to obtain the offset between the zero points of the plug-in heads 10, and the alignment is carried out for calibration.

Secondly, calibrating the PCB camera 20 and the component camera; firstly, calibrating the PCB camera 20, namely moving the PCB camera 20 to a mechanical origin 61, and then automatically calibrating the PCB camera 20 to enable the center of the PCB camera 20 to be aligned with the center of the mechanical origin 61;

then, calibration of component camera a31 is performed, calibration head 82 is mounted at the bottom of Z-axis a11, calibration head 82 is moved above component camera a31, then the calibration light source is turned on, then component camera a31 performs a first automatic calibration to capture a first calibration post position, and calibration of component camera B32, component camera C33, and component camera D34 is performed according to a secondary method; this step initially calibrates the component cameras such that component camera a31, component camera B32, component camera C33, and component camera D34 are associated with Z-axis a11, Z-axis B12, Z-axis C13, and Z-axis D14, respectively, to facilitate the performance of subsequent steps.

Thirdly, calibrating the offset of the origin of the machine; firstly, the plug-in head 10 returns to zero points of the X axis and the Y axis, then the PCB camera 20 moves to the mechanical origin 61, the coordinates of the mechanical origin 61 are obtained, the offset between the coordinates of the mechanical origin 61 and the zero point coordinates is obtained, and the offset is automatically calibrated.

Fourthly, calibrating the flying shooting offset of the element camera; firstly, a calibration head 82 is installed at the bottom of a Z axis A11, then the calibration head 82 is moved to the position above a component camera A31, the center of a first calibration column 821 is aligned with the center of a component camera A31 for shooting calibration, then the Z axis A11 repeatedly passes through the component camera A31 along the Y axis to perform flying shooting operation, the flying shooting operation speed is sequentially performed from low to medium to high, in the process, the component camera A31 shoots the calibration head 82 when the Z axis A11 is positioned above the component camera A31, and due to the fact that the component camera A31 shoots the calibration head 82 in the moving state, the position of the calibration head 82 is shot to have an offset from the position of the center of the component camera A31, and the offset is calibrated, so that the position of the calibration head 82 coincides with the center of the component camera A31 in the flying shooting process.

Fifthly, calibrating the PCB origin and the track width, and calibrating the R-axis offset and the center; the PCB origin and track width calibration, R axis offset and center calibration are all positioned after the fourth step, and the PCB origin and track width calibration, the R axis offset and the center calibration can be carried out successively without sequentially limiting; calibration of R-axis offset to center: firstly, a calibration head 82 is installed at the bottom of a Z axis A11, then the calibration head 82 is moved to the position above an element camera A31, the Z axis A11 is driven to rotate back to the zero point, a connecting line of the center of a first calibration column and the center of a second calibration column is taken, the Z axis A11 is driven to rotate for a circle, the offset angle between a starting point connecting line and an end point connecting line is obtained, automatic calibration is carried out on the offset angle, and calibration of a Z axis B12, a Z axis C13 and a Z axis D14 is carried out according to the method;

calibration of PCB origin and track width: firstly, calibrating the track width, taking a PCB for a plug-in unit, measuring the actual numerical value of the front and back width of the PCB, then returning the PCB track to zero, moving the PCB track by the actual numerical value, measuring the front and back width of the PCB track, measuring the measured numerical value of the PCB track width, and calibrating the offset of the measured numerical value and the actual numerical value; then, calibrating the original point of the PCB, putting the PCB into a track, driving the PCB to move to a plug-in position 40 by the track, then moving the PCB camera 20 to align the center of the PCB camera 20 to the lower left corner or the lower right corner of the PCB to obtain the reference coordinates of the X axis and the Y axis of the PCB, then installing a calibration suction nozzle 81 at the bottom of the Z axis A11, moving the calibration suction nozzle 81 to the upper side of the PCB, and driving the calibration suction nozzle 81 to descend until the bottom of the calibration suction nozzle 81 contacts the top of the PCB to obtain the plug-in height reference of the PCB.

Sixthly, correcting and calibrating XY surfaces; in the sixth step, the calibration plate 84 is placed on a carrier 70, the carrier 70 and the calibration plate 84 are moved to the card inserting position 40, then the PCB camera 20 is moved to the circular feature 841 at the lower left of the calibration plate 84 to obtain the central coordinates of the circular feature 841, then the PCB camera 20 is moved to the circular feature 841 at the lower right of the calibration plate 84 to observe whether the circular feature 841 is located at the center of the PCB camera 20, the calibration plate 84 is moved to perform repeated measurement until the central coordinates of the two circular features 841 are located on the same X-axis, then the card inserter obtains the coordinates of all the circular features 841 on the calibration plate 84 according to the distance between the circular features 841 to complete the calibration of the XY plane, and the carrier 70 and the calibration plate 84 are removed; wherein the top of the reference fixture 60 is flush with the tool carrier 70.

Step seven, calibrating the offset of the Z-axis head; firstly, a calibration suction nozzle 81 is installed at the bottom of a Z-axis A11, a calibration block 83 is placed at a plug-in position 40, then a PCB camera 20 is moved to photograph the center of a circular point 831, then the calibration suction nozzle 81 is moved to take materials from the calibration block 83, then the calibration suction nozzle 81 drives the calibration block 83 to move to a component camera A31 to take a picture, the axis offset of X, Y between the center of the component camera A31 and the center of the circular point 831 is obtained, the calibration is carried out until the center of the circular point 831 photographed by the component camera A31 is aligned with the center of the circular point 831 photographed by the PCB camera 20, and therefore accurate material taking and material placing of the plug-in are achieved; calibrating the Z axis B12, the Z axis C13 and the Z axis D14 according to the secondary method;

particularly, when the calibration nozzle 81 drives the calibration block 83 to move to the position of the component camera a31 for photographing, the calibration nozzle 81 rotates for a circle, the component camera a31 selects a plurality of rotation angles for photographing to obtain an angle offset, and the angle offset is calibrated, so that accurate blanking can be performed during rotary material taking.

Eighthly, calibrating the material taking position 50; firstly, a calibration suction nozzle 81 is installed at the bottom of a Z axis A11, a material taking rail jig 85 is installed at the right side of a material taking position 50 of a component inserter, the center of a PCB camera 20 is moved to the center of a material taking datum point 851 to obtain a datum of a X, Y axis, then a Z axis A11 is moved to the position above the material taking datum point, the bottom of the calibration suction nozzle 81 is contacted with the surface of the material taking datum point 851 to obtain a datum of the Z axis, the material taking datum point 851 at the left side of the material taking position 50 is calibrated by using a Z axis B12 according to the method, namely the Z axis of a component inserter head 10 at the left side of the component inserter and the Z axis of a component inserter head 10 at the right side of the component inserter are calibrated, and therefore the maximum moving amount of the component inserter head 10 at the material taking position 50 is obtained; the material taking position 50 is provided with a plurality of material taking rail mounting positions 51 which are arranged in parallel at equal intervals, the material taking rail mounting positions 51 can be used for mounting the material taking rail jig 85 and the material taking rails 52, the coordinates of the material taking reference points 851 are the coordinates of the material outlet of the material taking rails 52, and after the coordinates of the material taking reference points 851 on the left side and the right side of the material taking position 50 are obtained, the equipment automatically divides the material taking positions equally to obtain the coordinates of the material outlets of the material taking rails 52.

The design of the invention is characterized in that:

The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.

Claims

1. A calibration method of a component inserter is characterized by comprising the following steps: setting a reference jig, wherein the top of the reference jig is provided with a mechanical original point; preparing a calibration suction nozzle, a calibration head, a calibration block, a calibration plate and a material taking track jig; when the calibration is carried out, the method comprises the following steps: firstly, calibrating the offset of a Z-axis origin of a plug-in head; secondly, calibrating a PCB camera and an element camera; thirdly, calibrating the offset of the origin of the machine; fourthly, calibrating the flying shooting offset of the element camera; fifthly, calibrating the PCB origin and the track width, and calibrating the R-axis offset and the center; sixthly, correcting and calibrating an XY surface; step seven, calibrating the offset of the Z-axis head; and step eight, carrying out material taking position calibration.

2. The calibration method of the component inserter according to claim 1, wherein: firstly, a calibration suction nozzle is installed at the bottom of a Z axis A, then the center of the Z axis A is aligned to a mechanical original point, then the Z axis A returns to a zero point, then the Z axis A moves downwards until the calibration suction nozzle contacts the center of a mechanical original point jig, a reference is obtained, the distance between the zero point of the Z axis A and the reference is obtained, the distance between the zero point of the Z axis B and the reference is obtained according to the method, therefore, the offset between the zero point of the Z axis A and the zero point of the Z axis B is obtained, and the offset is calibrated so that the bottoms of the Z axis A and the Z axis B are flush when the Z axis A and the Z axis B descend.

3. The calibration method of the component inserter according to claim 1, wherein: the bottom of the calibration head is provided with a first calibration column and a second calibration column, the first calibration column is positioned in the center of the calibration head, and the second calibration column is positioned beside the first calibration column; in the second step, firstly, calibrating the PCB camera, firstly moving the PCB camera to the mechanical origin, and then automatically calibrating the PCB camera so as to align the center of the PCB camera to the center of the mechanical origin;

4. The calibration method of the component inserter according to claim 1, wherein: in the third step, firstly, the plug-in head performs X-axis and Y-axis zero returning, then the PCB camera moves to the mechanical origin, the mechanical origin coordinate is obtained, the offset of the mechanical origin coordinate and the zero coordinate is obtained, and the offset is automatically calibrated.

5. The calibration method of the component inserter according to claim 3, wherein: in the fourth step, firstly, a calibration head is installed at the bottom of a Z-axis A, then the calibration head is moved to the position above an element camera A, the center of a first calibration column is aligned with the center of the element camera A to carry out photographing calibration, then the Z-axis A repeatedly passes through the element camera A along the Y-axis direction to carry out flying photographing operation, the flying photographing operation speed is sequentially carried out from low to medium to high, in the process, the element camera A photographs the calibration head when the Z-axis A is positioned above the element camera A, and due to the fact that the element camera A photographs the calibration head in the moving state, the position where the calibration head is photographed has an offset with the position of the center of the element camera A, the offset is calibrated, and the position of the calibration head in the flying photographing process is coincided with the center of the element camera A.

6. The calibration method of the component inserter according to claim 5, wherein: in a fifth step, calibration of the R-axis offset to the center: firstly, mounting a calibration head at the bottom of a Z-axis A, moving the calibration head to the position above an element camera A, driving the Z-axis A to rotate back to a zero point, taking a connecting line between the center of a first calibration column and the center of a second calibration column, driving the Z-axis A to rotate for a circle, obtaining an offset angle between a starting point connecting line and an end point connecting line, automatically calibrating the offset angle, and calibrating a Z-axis B according to a secondary method;

7. The calibration method of the component inserter according to claim 1, wherein: a plurality of circle features for calibration are uniformly distributed on the top of the calibration plate; in the sixth step, a calibration plate is placed on a carrier, the carrier and the calibration plate are moved to a plug-in position, then the PCB camera is moved to a circle feature position at the lower left in the calibration plate to obtain the central coordinates of the circle feature, then the PCB camera is moved to a circle feature position at the lower right in the calibration plate to observe whether the circle feature is located at the center of the PCB camera, the calibration plate is moved to perform repeated measurement until the central coordinates of the two circle features are located on the same X axis, then the plug-in machine obtains the coordinates of all the circle features on the calibration plate according to the distance between the circle features to complete the calibration of the XY plane, and the carrier and the calibration plate are taken down.

8. The calibration method of the component inserter according to claim 1, wherein: the upper surface and the lower surface of the calibration block are provided with circular points, and the two circular points are concentric and have the same radius; in the seventh step, firstly, a calibration suction nozzle is installed at the bottom of the Z-axis A, a calibration block is placed at the position of the plug-in, then the PCB camera is moved to photograph the center of the circular point, then the calibration suction nozzle is moved to take materials of the calibration block, then the calibration suction nozzle drives the calibration block to move to the position of the component camera A to take a picture, X, Y-axis offset between the center of the component camera A and the center of the circular point is obtained, the calibration is carried out on the offset until the center of the circular point taken by the component camera A is aligned with the center of the circular point taken by the PCB camera, and therefore accurate material taking and material placing of the plug-in are achieved; calibration of the Z axis B was performed according to the sub-method.

9. The calibration method of the component inserter according to claim 8, wherein: when the calibration suction nozzle drives the calibration block to move to the position of the component camera A for photographing, the calibration suction nozzle rotates for a circle, the component camera A selects a plurality of rotation angles for photographing to obtain angle offset, and the angle offset is calibrated, so that accurate blanking can be realized during rotary material taking.

10. The calibration method of the component inserter according to claim 1, wherein: the material taking rail jig is provided with material taking reference points, in the eighth step, a calibration suction nozzle is installed at the bottom of a Z axis A, the material taking rail jig is installed on the right side of the material taking position of the component inserter, the center of a PCB camera is moved to the center of the material taking reference points, X, Y-axis reference is obtained, then the Z axis A is moved to the position above the material taking reference points, the bottom of the calibration suction nozzle is contacted with the surface of the material taking reference points, the Z-axis reference is obtained, and the material taking reference points on the left side of the material taking position are calibrated by using the Z axis B according to the method, so that the coordinates of a plurality of material taking rail discharge ports are obtained.