CN112731866B - Multi-axis machining system, machining method and device thereof, and computer-readable storage medium - Google Patents
Multi-axis machining system, machining method and device thereof, and computer-readable storage medium Download PDFInfo
- Publication number
- CN112731866B CN112731866B CN202011550208.2A CN202011550208A CN112731866B CN 112731866 B CN112731866 B CN 112731866B CN 202011550208 A CN202011550208 A CN 202011550208A CN 112731866 B CN112731866 B CN 112731866B
- Authority
- CN
- China
- Prior art keywords
- machining
- processing
- compensation values
- positioning points
- acquiring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The invention discloses a multi-axis processing system, a processing method, a processing device and a computer readable storage medium thereof, wherein the multi-axis processing system comprises a plurality of processing axes, and each processing axis corresponds to a processing area, and the method comprises the following steps: acquiring actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to acquire actual coordinates of a plurality of positioning points; acquiring a coordinate difference value between an actual coordinate and a theoretical coordinate of each positioning point in a plurality of positioning points to obtain a plurality of processing compensation values; acquiring an average value of the plurality of machining compensation values as machining compensation values of the plurality of machining axes; and performing compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts. The method can not only improve the problem of low processing precision caused by too large difference between the expansion and contraction coefficient and the actual value, but also solve the problem of low processing precision caused by large installation error, and improve the processing precision and quality.
Description
Technical Field
The invention relates to the technical field of multi-axis machining, in particular to a multi-axis machining system, a machining method and device thereof, and a computer readable storage medium.
Background
With the advent of the 5G (5th-Generation, fifth Generation mobile communication technology) era, Printed Circuit Boards (PCBs) are gradually advancing toward high speed, high frequency, high precision, high density, and high reliability, which puts higher demands on the manufacturing process of PCBs. Along with the improvement of PCB wiring density, line width and line distance are continuously reduced, and the requirement on the machining precision of a machine tool is higher.
The conventional processing method is to classify the substrates according to their expansion and contraction coefficients, place the substrates with similar coefficients on the same multi-axis processing machine, and compensate the substrates by using the average expansion and contraction coefficient of a batch of substrates as a compensation value. However, this method ignores the difference between the substrates, and causes the difference between the expansion and contraction coefficient used for processing and the actual value to be too large, which affects the processing accuracy.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, a first object of the present invention is to provide a machining method for a multi-axis machining system, which can not only improve the problem of low machining precision caused by a large difference between the expansion and contraction coefficient and the actual value, but also solve the problem of low machining precision caused by a large installation error, thereby improving the machining precision and quality.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the present invention is to provide a machining apparatus for a multi-axis machining system.
A fourth object of the present invention is to provide a multi-axis machining system.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a processing method for a multi-axis processing system, where the multi-axis processing system includes a plurality of processing axes, and each processing axis corresponds to a processing region, the method includes the following steps: acquiring actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to acquire actual coordinates of a plurality of positioning points; acquiring a coordinate difference value between an actual coordinate and a theoretical coordinate of each positioning point in a plurality of positioning points to obtain a plurality of processing compensation values; acquiring an average value of the plurality of machining compensation values as machining compensation values of the plurality of machining axes; and performing compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts.
According to the processing method of the multi-axis processing system, the actual coordinates of the positioning points on the plate to be processed in the at least one processing area are obtained, the actual coordinates of the positioning points are obtained, the coordinate difference between the actual coordinates and the theoretical coordinates of each positioning point in the positioning points is obtained, the processing compensation values are obtained, the average value of the processing compensation values is obtained to serve as the processing compensation values of the processing axes, the plate to be processed is subjected to compensation processing according to the processing compensation values of the processing axes, the problem that the processing precision is low due to the fact that the difference between the expansion coefficient and the actual values is too large can be solved, the problem that the processing precision is low due to the fact that the installation error is large can be solved, and the processing precision and the processing quality are improved.
According to one embodiment of the present invention, acquiring actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to obtain actual coordinates of a plurality of positioning points includes: acquiring image information in the corresponding processing area through an image collector arranged at a processing shaft corresponding to each processing area in at least one processing area; and acquiring the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area according to the image information so as to acquire the actual coordinates of the plurality of positioning points.
According to an embodiment of the present invention, obtaining a coordinate difference between an actual coordinate and a theoretical coordinate of each of a plurality of positioning points to obtain a plurality of machining compensation values includes: acquiring a coordinate difference value between an actual coordinate and a theoretical coordinate of each positioning point in the plurality of positioning points in the X-axis direction to obtain a plurality of first processing compensation values; and acquiring a coordinate difference value between the actual coordinate and the theoretical coordinate of each positioning point in the plurality of positioning points in the Y-axis direction to obtain a plurality of second machining compensation values.
According to an embodiment of the present invention, acquiring an average value of a plurality of machining compensation values as a machining compensation value for a plurality of machining axes includes: acquiring an average value of the first machining compensation values as machining compensation values of the machining axes in the X-axis direction; and acquiring the average value of the plurality of second machining compensation values as the machining compensation values of the plurality of machining axes in the Y-axis direction.
According to one embodiment of the invention, the compensation processing is carried out on the plate to be processed according to the processing compensation values of a plurality of processing shafts, and the compensation processing comprises the following steps: compensating the preset processing path according to the processing compensation values of the plurality of processing shafts; and processing the plate to be processed according to the compensated processing path.
According to an embodiment of the present invention, when acquiring actual coordinates of at least two positioning points on a plate to be processed in at least two processing areas to acquire actual coordinates of a plurality of positioning points, before acquiring an average value of a plurality of processing compensation values as processing compensation values of a plurality of processing axes, further includes: judging whether the difference values between the processing compensation values corresponding to the corresponding positioning points on the plate to be processed in different processing areas are all smaller than or equal to a preset threshold value; if the difference values between the machining compensation values are all smaller than or equal to a preset threshold value, acquiring an average value of the machining compensation values to serve as the machining compensation values of the machining shafts; and if the difference value between the machining compensation values is larger than a preset threshold value, carrying out error alarm reminding.
According to one embodiment of the invention, the at least two positioning points on the plate to be machined comprise: at least one pin point.
In order to achieve the above object, a second embodiment of the present invention provides a computer-readable storage medium, on which a machining program of a multi-axis machining system is stored, and the machining program, when executed by a processor, implements the steps of the machining method of the multi-axis machining system.
According to the computer-readable storage medium of the embodiment of the invention, by the machining method of the multi-axis machining system, the problem of low machining precision caused by too large difference between the expansion and contraction coefficient and the actual value can be solved, the problem of low machining precision caused by large installation error can be solved, and the machining precision and the quality are improved.
In order to achieve the above object, a third aspect of the present invention provides a machining apparatus for a multi-axis machining system, the multi-axis machining system including a plurality of machining axes, each of the machining axes corresponding to a machining region, the apparatus including: the first acquisition module is used for acquiring the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area so as to acquire the actual coordinates of a plurality of positioning points; the second acquisition module is used for acquiring a coordinate difference value between the actual coordinate and the theoretical coordinate of each positioning point in the plurality of positioning points so as to obtain a plurality of processing compensation values; the third acquisition module is used for acquiring the average value of the plurality of machining compensation values to serve as the machining compensation values of the plurality of machining shafts; and the processing module is used for performing compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts.
According to the processing device of the multi-axis processing system, the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area are obtained through the first obtaining module, so as to obtain the actual coordinates of a plurality of positioning points, and obtain the coordinate difference between the actual coordinates and the theoretical coordinates of each positioning point in the plurality of positioning points through a second obtaining module so as to obtain a plurality of processing compensation values, and acquiring an average value of the plurality of machining compensation values as machining compensation values of the plurality of machining axes by a third acquisition module, and the processing module carries out compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts, thereby not only improving the problem of low processing precision caused by too large difference between the expansion and contraction coefficient and the actual value, and the problem that the machining precision is low due to large installation errors can be solved, and the machining precision and the quality are improved.
In order to achieve the above object, a fourth aspect of the present invention provides a multi-axis machining system, including: a plurality of processing shafts; the machining device of the multi-axis machining system.
According to the multi-axis machining system provided by the embodiment of the invention, the machining device of the multi-axis machining system can be used for not only improving the problem of low machining precision caused by too large difference between the expansion and contraction coefficient and the actual value, but also solving the problem of low machining precision caused by large installation error, and improving the machining precision and quality.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIGS. 1-2 are schematic partial block diagrams of a 6-axis machining system according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of the location of an anchor point according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method of machining of a multi-axis machining system according to one embodiment of the present invention;
fig. 5 is a flow chart of a machining method of a multi-axis machining system according to one specific example of the present invention;
fig. 6 is a block schematic diagram of a processing device of a multi-axis processing system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A multi-axis machining system, a machining method thereof, an apparatus thereof, and a computer-readable storage medium according to embodiments of the present invention will be described below with reference to the accompanying drawings.
It should be noted that, in the present application, the multi-axis machining system is a machining system including at least two machining axes, and specifically, may be a 2-axis, 4-axis or 6-axis machining system, and is not limited herein.
Take a 6-axis machining system as an example. Referring to fig. 1-2, the system may include: the machine tool comprises a machine tool body 1, a Z-axis motion assembly 2, a Y-axis motion assembly 3, an X-axis motion assembly 4, an X-axis driving piece 5, a Y-axis driving piece 6, a Z-axis driving piece 8 and six processing axes (namely a first processing axis, a second processing axis, a third processing axis, a fourth processing axis, a fifth processing axis and a sixth processing axis respectively) which are arranged on the machine tool body 1. Wherein, every processing axle can include main shaft clamp system 9, main shaft 10 and processing cutter 11, and every processing axle sets up respectively on X axle motion subassembly 4 and Z axle motion subassembly 2 to move along X axle direction under the effect of X axle driving piece 5, move along Z axle direction under the effect of Z axle driving piece 8, have the processing mesa on Y axle motion subassembly 3, wait to process the board and fix on the processing mesa, and move along Y axle direction under the effect of Y axle driving piece 6. It can be understood that, according to the moving distance of each processing axis in the X-axis direction and the moving distance of the board to be processed in the Y-axis direction, a processing area corresponding to each processing axis can be determined, and when the board to be processed, such as a PCB, is located in the processing area, the board to be processed, such as drilling or milling, can be processed by the processing tool 11 according to the preset processing path.
Fig. 4 is a flowchart of a machining method of a multi-axis machining system according to an embodiment of the present invention, and referring to fig. 4, the machining method of the multi-axis machining system includes the steps of:
step S402, acquiring the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area to obtain the actual coordinates of a plurality of positioning points.
Wherein, treat that two at least setpoint on the processing board include: at least one pin point. That is to say, the positioning points obtained for each processing area on the board to be processed include at least two positioning points, and at least one of the at least two positioning points is a pin point, where the pin point is mainly used to fix the board to be processed, and usually the pin point includes two, and one of the pin points also serves as an origin of coordinates during processing.
According to one embodiment of the present invention, acquiring actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to obtain actual coordinates of a plurality of positioning points includes: acquiring image information in the corresponding processing area through an image collector arranged at a processing shaft corresponding to each processing area in at least one processing area; and acquiring the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area according to the image information so as to acquire the actual coordinates of the plurality of positioning points.
As an example, referring to fig. 1 to 3, an image collector 7 such as a CCD camera may be disposed on one side of the processing axis four (specifically, it may be one side of the main axis, and may be located at other positions, which is not limited herein). When the plate to be processed is processed, the plate to be processed can be placed on the processing table top, and the plate to be processed is fixed on the processing table top through pin points (pin holes) on the plate to be processed. Then, image information in a processing area corresponding to the processing axis four is obtained by an image collector, where the image information includes image information of a board to be processed, and then the image information is analyzed and processed to obtain at least two positioning points of the board to be processed in the image information, such as a front pin point 12 and a rear pin point 14, or the front pin point 12 and an optical detection hole point 13 (when the board to be processed is a PCB, an optical detection hole point is disposed on the PCB), or the rear pin point 14 and the optical detection hole point 13, or the front pin point 12, the optical detection hole point 13 and another optical detection hole point (not shown in the figure), or the rear pin point 14, the optical detection hole point 13 and another optical detection hole point (not shown in the figure).
As another example, referring to fig. 1 to 3, an image pickup device 7 such as a CCD camera may be provided on one side of the processing shaft three and one side of the processing shaft four, respectively. When a plate to be processed is processed, the plate to be processed can be placed on the processing table top, the plate to be processed is fixed on the processing table top through the pin point on the plate to be processed, then image information in a processing area corresponding to the processing shaft III is obtained through the image collector on one side of the processing shaft III, and the image information is analyzed and processed to obtain at least two positioning points of the plate to be processed in the image information; and meanwhile, acquiring image information in a processing area corresponding to the processing shaft four by using an image collector on one side of the processing shaft four, and analyzing and processing the image information to obtain at least two positioning points of the board to be processed in the image information.
Of course, the image collector may also be disposed at any one or more other processing shafts to obtain at least two positioning points of the board to be processed in the processing region corresponding to the corresponding processing shaft, that is, the number of the image collector is not limited, and may be one, two, three, etc., and is not limited to the shaft number of the processing shaft, and may be a first processing shaft, a second processing shaft, a third processing shaft, etc., and is not limited to the position of the image collector at the processing shaft, for example, the front side, the rear side, the left side, the right side, or the top of the main shaft.
Step S404, obtaining a coordinate difference value between the actual coordinate and the theoretical coordinate of each positioning point in the plurality of positioning points to obtain a plurality of processing compensation values.
It is to be understood that the actual coordinates of each positioning point include coordinates in the X-axis direction and coordinates in the Y-axis direction, and thus when a coordinate difference between the actual coordinates and theoretical coordinates of each positioning point in the plurality of positioning points is obtained, the coordinate difference in the X-axis direction and the coordinate difference in the Y-axis direction may be calculated, respectively, to obtain the plurality of machining compensation values.
According to an embodiment of the present invention, obtaining a coordinate difference between an actual coordinate and a theoretical coordinate of each of a plurality of positioning points to obtain a plurality of machining compensation values includes: acquiring a coordinate difference value between an actual coordinate and a theoretical coordinate of each positioning point in the plurality of positioning points in the X-axis direction to obtain a plurality of first processing compensation values; and acquiring a coordinate difference value between the actual coordinate and the theoretical coordinate of each positioning point in the plurality of positioning points in the Y-axis direction to obtain a plurality of second machining compensation values.
As an example, two positioning points of the plate to be processed in the processing area corresponding to the four processing axes, such as the front pin point 12 and the rear pin point 14, are obtained. The coordinate difference of the actual coordinate and the theoretical coordinate of the front pin point 12 (the theoretical coordinate of each positioning point on the board to be processed is pre-stored in the system) on the X axis and the coordinate difference of the actual coordinate and the theoretical coordinate of the rear pin point 14 on the X axis can be respectively calculated to obtain two first processing compensation values (the coordinate differences are processing compensation values) in the X axis direction, namely delta X1 1And Δ X1 2Simultaneously, the coordinate difference value of the actual coordinate of the front pin point 12 and the theoretical coordinate on the Y axis and the coordinate difference value of the actual coordinate of the rear pin point 14 and the theoretical coordinate on the Y axis are respectively calculated to obtain two second machining compensation values in the Y axis direction, wherein the two second machining compensation values are respectively delta Y1 1And Δ Y1 2。
As another example, three positioning points of the board to be processed in the processing region corresponding to the processing axis three, such as the front pin point 12, the rear pin point 14, and the optical detection hole point 13, and three positioning points of the board to be processed in the processing region corresponding to the processing axis four, such as the front pin point 12, the rear pin point 14, and the optical detection hole point 13, are obtained. The coordinate difference value of the actual coordinate and the theoretical coordinate of the front pin point 12, the coordinate difference value of the actual coordinate and the theoretical coordinate of the rear pin point 14, and the coordinate difference value of the actual coordinate and the theoretical coordinate of the optical detection hole site 13 on the X axis can be respectively calculated, so as to obtain six first machining compensation values in the X axis direction, namely delta X1 1、ΔX1 2、ΔX1 3、ΔX2 1、ΔX2 2And Δ X2 3Simultaneously calculating the coordinate difference value of the actual coordinate and the theoretical coordinate of the front pin point 12 corresponding to the third processing axis and the fourth processing axis on the Y axis, the coordinate difference value of the actual coordinate and the theoretical coordinate of the rear pin point 14 on the Y axis, and the coordinate difference value of the actual coordinate and the theoretical coordinate of the optical detection hole site 13 on the Y axis respectively to obtain six second processing compensation values in the Y axis direction, namely delta Y1 1、ΔY1 2、ΔY1 3、ΔY2 1、ΔY2 2And Δ Y2 3。
In step S406, an average value of the plurality of machining compensation values is acquired as the machining compensation values of the plurality of machining axes. That is, the average value of the plurality of machining compensation values is set as the machining compensation value for the plurality of machining axes.
According to an embodiment of the present invention, acquiring an average value of a plurality of machining compensation values as a machining compensation value for a plurality of machining axes includes: acquiring an average value of the first machining compensation values as machining compensation values of the machining axes in the X-axis direction; and acquiring the average value of the plurality of second machining compensation values as the machining compensation values of the plurality of machining axes in the Y-axis direction.
As an example, two positioning points of the plate to be processed in the processing area corresponding to the four processing axes, such as the front pin point 12 and the rear pin point 14, are obtained. When the two first machining compensation values DeltaX are obtained in the above manner1 1And Δ X1 2And two second machining compensation values DeltaY1 1And Δ Y1 2Thereafter, the two first machining compensation values may be averaged (Δ X)1 1+ΔX1 2) And/2, using the average value as the machining compensation value of the plurality of machining axes in the X-axis direction, and simultaneously averaging two second machining compensation values (delta Y)1 1+ΔY1 2) And/2, and taking the average value as a machining compensation value of the plurality of machining axes in the Y-axis direction.
As another example, to obtain the plate to be processed in the processing area corresponding to three processing axesThree positioning points such as a front pin point 12, a rear pin point 14 and an optical detection hole point 13, and three positioning points of a plate to be processed in a processing area corresponding to the processing shaft four such as the front pin point 12, the rear pin point 14 and the optical detection hole point 13 are taken as examples. Six first machining compensation values DeltaX are obtained through the method1 1、ΔX1 2、ΔX1 3、ΔX2 1、ΔX2 2And Δ X2 3And six second machining compensation values DeltaY1 1、ΔY1 2、ΔY1 3、ΔY2 1、ΔY2 2And Δ Y2 3Thereafter, the six first machining compensation values may be averaged (Δ X)1 1+ΔX1 2+ΔX1 3+ΔX2 1+ΔX2 2+ΔX2 3) And/6, using the average value as the machining compensation value of the plurality of machining axes in the X-axis direction, and simultaneously averaging (delta Y) the six second machining compensation values1 1+ΔY1 2+ΔY1 3+ΔY2 1+ΔY2 2+ΔY2 3) And/6, and taking the average value as a machining compensation value of the plurality of machining axes in the Y-axis direction.
Further, an average value of the plurality of machining compensation values may be obtained as the machining compensation values of the plurality of machining axes by the following formula:
wherein,
for the machining compensation values of the plurality of machining axes in the X-axis direction, i.e. the average value of the first machining compensation values, Δ Xi jFor the ith machining compensation value, namely in the X-axis direction, the real value of the jth positioning point on the plate to be machined in the machining area corresponding to the ith machining axisThe difference in coordinates between the actual coordinates and the theoretical coordinates,
for the machining compensation values of the plurality of machining axes in the Y-axis direction, i.e. the average value of the plurality of second machining compensation values, DeltaYi jAnd the position of the ith machining compensation value is the ith machining compensation value, namely the coordinate difference between the actual coordinate and the theoretical coordinate of the jth positioning point on the plate to be machined in the machining region corresponding to the ith machining shaft in the Y-axis direction.
And step S408, performing compensation machining on the plate to be machined according to the machining compensation values of the plurality of machining shafts.
And after the machining compensation values of the plurality of machining axes are obtained, the machining compensation values in the X-axis direction and the machining compensation values in the Y-axis direction are included, and the compensation machining of the plate to be machined can be carried out according to the machining compensation values.
According to one embodiment of the invention, the compensation processing is carried out on the plate to be processed according to the processing compensation values of a plurality of processing shafts, and the compensation processing comprises the following steps: compensating the preset processing path according to the processing compensation values of the plurality of processing shafts; and processing the plate to be processed according to the compensated processing path.
Specifically, the preset machining path may be obtained from a preset database, then the machining path compensation may be performed in the X-axis direction according to the machining compensation values of the plurality of machining axes in the X-axis direction, meanwhile, the machining path compensation may be performed in the Y-axis direction according to the machining compensation values of the plurality of machining axes in the Y-axis direction, and finally, the board to be machined may be machined according to the compensated machining path, for example, the machining tool may be controlled to perform drilling or milling.
In the above embodiment, one or more image collectors such as CCD cameras are disposed at the processing axes of the multi-axis processing system, the image collectors are used to obtain the actual coordinates of at least two positioning points of the board to be processed in the processing area corresponding to the processing axes, and obtain the coordinate difference between the actual coordinate and the theoretical coordinate of each positioning point in the X-axis direction and the Y-axis direction, and average the coordinate difference to obtain the processing compensation values of the processing axes in the X-axis direction and the processing compensation values in the Y-axis direction, so as to perform compensation processing according to the compensation values, which not only can improve the problem of low processing precision caused by large batch difference of expansion and contraction coefficients in the conventional technology, but also can effectively solve the problem of large installation error (i.e. there is a large error in positioning and fixing the board to be processed on the processing table, for example, when the board to be processed is fixed by the front pin point and the rear pin point, because the gas clamp of fixed pin itself has processing and assembly error, can't guarantee completely that the relative position of treating the processing board on the processing mesa is unanimous completely, and then leads to treating the processing board and appear the processing deviation) the low problem of machining precision that leads to has effectively promoted machining precision and quality.
According to an embodiment of the present invention, when acquiring actual coordinates of at least two positioning points on a plate to be processed in at least two processing areas to acquire actual coordinates of a plurality of positioning points, before acquiring an average value of a plurality of processing compensation values as processing compensation values of a plurality of processing axes, further includes: judging whether the difference values between the processing compensation values corresponding to the corresponding positioning points on the plate to be processed in different processing areas are all smaller than or equal to a preset threshold value; if the difference values between the machining compensation values are all smaller than or equal to a preset threshold value, acquiring an average value of the machining compensation values to serve as the machining compensation values of the machining shafts; and if the difference value between the machining compensation values is larger than a preset threshold value, carrying out error alarm reminding.
Specifically, the pin point may be used to fix the board to be processed, and may also be used as a coordinate origin for processing, when processing is performed, the main shaft of the processing shaft is aligned with the pin point to make the main shaft coaxial with the pin point, and then the board to be processed is processed according to the preset processing path based on the point, but due to the expansion and contraction coefficient batch difference and the installation error of the board to be processed, the inter-shaft difference is too large. Therefore, in the present application, after the plurality of processing compensation values are obtained in step S404, the plurality of processing compensation values may be determined first to determine whether the difference values between the processing compensation values corresponding to the corresponding positioning points on the board to be processed in different processing areas are all less than or equal to the preset threshold, and if the difference values between the processing compensation values are all less than or equal to the preset threshold, the average value of the plurality of processing compensation values is obtained as the processing compensation value of the plurality of processing axes in the foregoing manner; if the difference value between one or more processing compensation values is larger than the preset threshold value, the fact that the plate to be processed is not placed is indicated, at the moment, error alarm reminding is carried out, so that an operator is reminded of detecting the plate to be processed, the plate to be processed is adjusted, and the processing precision is ensured.
Taking three positioning points such as a front pin point 12, a rear pin point 14 and an optical detection hole point 13 of the board to be processed in the processing area corresponding to the processing shaft three and three positioning points such as a front pin point 12, a rear pin point 14 and an optical detection hole point 13 of the board to be processed in the processing area corresponding to the processing shaft four as an example. Six first machining compensation values DeltaX are obtained through the method1 1、ΔX1 2、ΔX1 3、ΔX2 1、ΔX2 2And Δ X2 3And six second machining compensation values DeltaY1 1、ΔY1 2、ΔY1 3、ΔY2 1、ΔY2 2And Δ Y2 3Then, respectively determine Δ X1 1And Δ X2 1Difference between, Δ X1 2And Δ X2 2Difference between, Δ X1 3And Δ X2 3Difference between, Δ Y1 1And Delta Y2 1Difference between, Δ Y1 2And Delta Y2 2Difference therebetween and Δ Y1 3And Delta Y2 3Whether the difference values are all smaller than a preset threshold value or not, if yes, the difference between the shafts is within an allowable range, and then the subsequent steps can be executed; otherwise, the difference between the shafts is too large, for example, the main shaft of the processing shaft three is coaxial with the pin point of the plate to be processed, but the main shaft of the processing shaft four is not coaxial with the pin point of the plate to be processed, at the moment, error alarm reminding is performed to remind an operator to detect the plate to be processed and adjust the plate to be processed, and therefore the processing precision is ensured.
Therefore, the problem that the difference between shafts of the plates to be processed is too large due to the batch difference of the expansion and contraction coefficients and the installation error can be timely found and given out to warn, the processing precision is ensured, and the problem that the plates to be processed are wasted due to too large difference is avoided.
Further, fig. 5 is a flowchart of a machining method of a multi-axis machining system according to a specific example of the present invention, and referring to fig. 5, the machining method of the multi-axis machining system may include the steps of:
step S502, the image collector is moved to the position above the positioning point.
And step S504, finishing image acquisition and acquiring coordinates of the positioning points.
And step S506, judging whether the grabbing point is finished. If yes, go to step S508; otherwise, return to step S502.
For example, the image collector is moved to the front pin point to obtain the image information of the board to be processed including the front pin point, the actual coordinates of the front pin point are obtained based on the image information, then the image collector is moved to the rear pin point to obtain the image information of the board to be processed including the rear pin point, the actual coordinates of the rear pin point are obtained based on the image information, then the image collector is moved to the optical detection hole point to obtain the image information of the board to be processed including the optical detection hole point, the actual coordinates of the optical detection hole point are obtained based on the image information, and so on until all the required positioning points are obtained.
It can be understood that, since the plurality of processing axes in the multi-axis processing system in the present application move synchronously in the X direction and the Y direction, the actual coordinates of the corresponding positioning points on the board to be processed in the processing region corresponding to each image collector can be obtained simultaneously by the plurality of image collectors.
And step S508, calculating the machining compensation value of each machining axis according to the coordinates of the positioning points.
For example, the machining compensation value of each machining axis (here, the machining axis with the image collector) may be calculated in the foregoing manner according to the difference between the acquired actual coordinates and theoretical coordinates of the positioning point.
Step S510, determining whether a difference between the machining compensation values of the machining axes is greater than a preset threshold. If yes, go to step S512; otherwise, step S514 is executed.
And step S512, sending out an error alarm.
And step S514, calculating the average value of the machining compensation values, and acquiring the machining path after compensation according to the average value.
For example, whether the difference value between the machining compensation values of different machining shafts is greater than a preset threshold value or not can be judged in the manner, and if yes, an error alarm is given; otherwise, calculating the average value of the machining compensation values, and acquiring the machining path after compensation according to the average value.
In step S516, the machining is performed according to the compensated machining route.
For example, drilling or milling is performed according to the compensated machining path.
In summary, according to the processing method of the multi-axis processing system in the embodiment of the present invention, by obtaining the actual coordinates of at least two positioning points on the board to be processed in at least one processing region to obtain the actual coordinates of a plurality of positioning points, obtaining the coordinate difference between the actual coordinates and the theoretical coordinates of each of the plurality of positioning points to obtain a plurality of processing compensation values, obtaining the average value of the plurality of processing compensation values to be used as the processing compensation values of the plurality of processing axes, and performing compensation processing on the board to be processed according to the processing compensation values of the plurality of processing axes, not only can the problem of low processing accuracy caused by too large difference between the expansion and contraction coefficient and the actual values be improved, but also the problem of low processing accuracy caused by large installation error can be solved, and the processing accuracy and the quality are improved. Meanwhile, the situation that the difference between the shafts is large due to the errors can be found in time through judging the machining compensation values and the preset threshold value, warning is given, and machining precision can be further improved.
In addition, an embodiment of the present invention also provides a computer-readable storage medium on which a machining program of a multi-axis machining system is stored, the machining program implementing the steps of the machining method of the multi-axis machining system described above when executed by a processor.
According to the computer-readable storage medium of the embodiment of the invention, by the machining method of the multi-axis machining system, the problem of low machining precision caused by too large difference between the expansion and contraction coefficient and the actual value can be solved, the problem of low machining precision caused by large installation error can be solved, and the machining precision and the quality are improved. Meanwhile, the situation that the difference between the shafts is large due to the errors can be found in time through judging the machining compensation values and the preset threshold value, warning is given, and machining precision can be further improved.
Fig. 6 is a block diagram schematically illustrating a machining apparatus of a multi-axis machining system according to an embodiment of the present invention, in which the multi-axis machining system includes a plurality of machining axes and each of the machining axes corresponds to a machining region, and referring to fig. 6, the machining apparatus of the multi-axis machining system includes: a first acquisition module 10, a second acquisition module 20, a third acquisition module 30 and a processing module 40.
The first obtaining module 10 is configured to obtain actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to obtain actual coordinates of a plurality of positioning points; the second obtaining module 20 is configured to obtain a coordinate difference between an actual coordinate and a theoretical coordinate of each of the plurality of positioning points to obtain a plurality of processing compensation values; the third obtaining module 30 is configured to obtain an average value of the plurality of machining compensation values as the machining compensation values of the plurality of machining axes; the processing module 40 is used for performing compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts.
According to an embodiment of the present invention, the first obtaining module 10 is specifically configured to: acquiring image information in the corresponding processing area through an image collector arranged at a processing shaft corresponding to each processing area in at least one processing area; and acquiring the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area according to the image information so as to acquire the actual coordinates of the plurality of positioning points.
According to an embodiment of the present invention, the second obtaining module 20 is specifically configured to: acquiring a coordinate difference value between an actual coordinate and a theoretical coordinate of each positioning point in the plurality of positioning points in the X-axis direction to obtain a plurality of first processing compensation values; and acquiring a coordinate difference value between the actual coordinate and the theoretical coordinate of each positioning point in the plurality of positioning points in the Y-axis direction to obtain a plurality of second machining compensation values.
According to an embodiment of the present invention, the third obtaining module 30 is specifically configured to: acquiring an average value of the first machining compensation values as machining compensation values of the machining axes in the X-axis direction; and acquiring the average value of the plurality of second machining compensation values as the machining compensation values of the plurality of machining axes in the Y-axis direction.
According to one embodiment of the invention, the processing module 40 is specifically configured to: compensating the preset processing path according to the processing compensation values of the plurality of processing shafts; and processing the plate to be processed according to the compensated processing path.
According to an embodiment of the present invention, when acquiring actual coordinates of at least two positioning points on a board to be processed in at least two processing areas to obtain actual coordinates of a plurality of positioning points, the present invention further includes a determining module (not specifically shown in the figure): judging whether the difference values between the processing compensation values corresponding to the corresponding positioning points on the plate to be processed in different processing areas are all smaller than or equal to a preset threshold value; if the difference values between the machining compensation values are all smaller than or equal to a preset threshold value, acquiring an average value of the machining compensation values to serve as the machining compensation values of the machining shafts; and if the difference value between the machining compensation values is larger than a preset threshold value, carrying out error alarm reminding.
According to one embodiment of the invention, the at least two positioning points on the plate to be machined comprise: at least one pin point.
It should be noted that, for the description of the machining device of the multi-axis machining system in the present application, please refer to the description of the machining method of the multi-axis machining system in the present application, and detailed description thereof is omitted here.
According to the processing device of the multi-axis processing system, the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area are obtained through the first obtaining module, so as to obtain the actual coordinates of a plurality of positioning points, and obtain the coordinate difference between the actual coordinates and the theoretical coordinates of each positioning point in the plurality of positioning points through a second obtaining module so as to obtain a plurality of processing compensation values, and acquiring an average value of the plurality of machining compensation values as machining compensation values of the plurality of machining axes by a third acquisition module, and the processing module carries out compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts, thereby not only improving the problem of low processing precision caused by too large difference between the expansion and contraction coefficient and the actual value, and the problem that the machining precision is low due to large installation errors can be solved, and the machining precision and the quality are improved. Meanwhile, the situation that the difference between the shafts is large due to the errors can be found in time through judging the machining compensation values and the preset threshold value, warning is given, and machining precision can be further improved.
In addition, an embodiment of the present invention also provides a multi-axis machining system, including: a plurality of processing shafts; the machining device of the multi-axis machining system.
According to the multi-axis machining system provided by the embodiment of the invention, the machining device of the multi-axis machining system can be used for not only improving the problem of low machining precision caused by too large difference between the expansion and contraction coefficient and the actual value, but also solving the problem of low machining precision caused by large installation error, and improving the machining precision and quality. Meanwhile, the situation that the difference between the shafts is large due to the errors can be found in time through judging the machining compensation values and the preset threshold value, warning is given, and machining precision can be further improved.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A machining method of a multi-axis machining system including a plurality of machining axes each corresponding to a machining region, the method comprising the steps of:
acquiring actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to acquire actual coordinates of a plurality of positioning points; the positioning points comprise one or two optical detection hole sites;
the acquiring actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to acquire actual coordinates of a plurality of positioning points comprises:
acquiring image information in the corresponding processing area through an image collector arranged at a processing shaft corresponding to each processing area in the at least one processing area;
acquiring actual coordinates of at least two positioning points on the plate to be processed in the at least one processing area according to the image information so as to acquire actual coordinates of a plurality of positioning points;
acquiring a coordinate difference value between an actual coordinate and a theoretical coordinate of each positioning point in the plurality of positioning points to obtain a plurality of processing compensation values;
acquiring an average value of the plurality of machining compensation values as machining compensation values of the plurality of machining axes;
performing compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts;
the at least two positioning points on the plate to be processed comprise: at least one pin point.
2. The machining method of the multi-axis machining system according to claim 1, wherein the obtaining of the coordinate difference between the actual coordinates and the theoretical coordinates of each of the plurality of positioning points to obtain a plurality of machining compensation values comprises:
acquiring a coordinate difference value between an actual coordinate and a theoretical coordinate of each positioning point in the plurality of positioning points in the X-axis direction to obtain a plurality of first machining compensation values;
and acquiring a coordinate difference value between the actual coordinate and the theoretical coordinate of each positioning point in the plurality of positioning points in the Y-axis direction to obtain a plurality of second machining compensation values.
3. The machining method of the multi-axis machining system according to claim 2, wherein the obtaining of the average value of the plurality of machining compensation values as the machining compensation values of the plurality of machining axes includes:
acquiring an average value of the first machining compensation values as a machining compensation value of the machining axes in the X-axis direction;
and acquiring the average value of the plurality of second machining compensation values as the machining compensation values of the plurality of machining axes in the Y-axis direction.
4. The machining method of the multi-axis machining system according to claim 1, wherein the compensation machining of the plate to be machined according to the machining compensation values of the plurality of machining axes includes:
compensating a preset machining path according to the machining compensation values of the plurality of machining shafts;
and processing the plate to be processed according to the compensated processing path.
5. The machining method of a multi-axis machining system according to claim 1, when acquiring actual coordinates of at least two positioning points on a plate to be machined in at least two machining areas to acquire actual coordinates of a plurality of positioning points, before acquiring an average value of the plurality of machining compensation values as the machining compensation values of the plurality of machining axes, further comprising:
judging whether the difference values between the processing compensation values corresponding to the corresponding positioning points on the plate to be processed in different processing areas are all smaller than or equal to a preset threshold value;
if the difference values between the machining compensation values are all smaller than or equal to the preset threshold value, acquiring an average value of the machining compensation values as the machining compensation values of the machining shafts;
and if the difference value between the machining compensation values is larger than the preset threshold value, carrying out error alarm reminding.
6. A computer-readable storage medium, on which a machining program of a multi-axis machining system is stored, which when executed by a processor implements the steps of the machining method of the multi-axis machining system according to any one of claims 1 to 5.
7. A machining apparatus of a multi-axis machining system including a plurality of machining axes each corresponding to a machining region, the apparatus comprising:
the first acquisition module is used for acquiring the actual coordinates of at least two positioning points on the plate to be processed in at least one processing area so as to acquire the actual coordinates of a plurality of positioning points;
the positioning points comprise one or two optical detection hole sites;
the acquiring actual coordinates of at least two positioning points on a plate to be processed in at least one processing area to acquire actual coordinates of a plurality of positioning points comprises:
acquiring image information in the corresponding processing area through an image collector arranged at a processing shaft corresponding to each processing area in the at least one processing area;
acquiring actual coordinates of at least two positioning points on the plate to be processed in the at least one processing area according to the image information so as to acquire actual coordinates of a plurality of positioning points;
the second acquisition module is used for acquiring a coordinate difference value between the actual coordinate and the theoretical coordinate of each positioning point in the plurality of positioning points so as to obtain a plurality of processing compensation values;
a third obtaining module, configured to obtain an average value of the plurality of machining compensation values as a machining compensation value of the plurality of machining axes;
the processing module is used for performing compensation processing on the plate to be processed according to the processing compensation values of the plurality of processing shafts;
the at least two positioning points on the plate to be processed comprise: at least one pin point.
8. A multi-axis machining system, comprising:
a plurality of processing shafts;
the machining device of the multi-axis machining system according to claim 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011550208.2A CN112731866B (en) | 2020-12-24 | 2020-12-24 | Multi-axis machining system, machining method and device thereof, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011550208.2A CN112731866B (en) | 2020-12-24 | 2020-12-24 | Multi-axis machining system, machining method and device thereof, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112731866A CN112731866A (en) | 2021-04-30 |
| CN112731866B true CN112731866B (en) | 2022-03-22 |
Family
ID=75605537
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011550208.2A Active CN112731866B (en) | 2020-12-24 | 2020-12-24 | Multi-axis machining system, machining method and device thereof, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112731866B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113365047B (en) * | 2021-08-10 | 2021-11-02 | 苏州维嘉科技股份有限公司 | Method and device for detecting repeated target-grabbing precision of camera and camera system |
| CN114298098A (en) * | 2021-12-27 | 2022-04-08 | 全准数控设备(苏州)有限公司 | Data processing method and device for error correction |
| CN114937343B (en) * | 2022-05-30 | 2024-02-09 | 歌尔股份有限公司 | Workpiece coordinate coefficient value alarm method and device, electronic equipment and storage medium |
| CN115041780B (en) * | 2022-08-11 | 2022-12-30 | 中船黄埔文冲船舶有限公司 | Multi-region control point measurement compensation method and device for middle assembly structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102840839A (en) * | 2012-09-18 | 2012-12-26 | 重庆大学 | Accurate grinding wheel section measurement and error compensation method |
| CN104423319A (en) * | 2013-08-26 | 2015-03-18 | 鸿富锦精密工业（深圳）有限公司 | Processing program compensation system and method |
| CN104570940A (en) * | 2013-10-24 | 2015-04-29 | 鸿富锦精密工业（深圳）有限公司 | CNC machining and machine-adjusting system and method |
| CN106736847A (en) * | 2017-01-04 | 2017-05-31 | 昆山工研院新型平板显示技术中心有限公司 | To the error compensating method of bit platform |
| CN110418505A (en) * | 2019-07-24 | 2019-11-05 | 信丰迅捷兴电路科技有限公司 | A kind of precision PCB blank plate and its processing molding method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5277692B2 (en) * | 2008-03-31 | 2013-08-28 | 株式会社ジェイテクト | Post-process sizing controller |
| CN104570941A (en) * | 2013-10-28 | 2015-04-29 | 鸿富锦精密工业（深圳）有限公司 | Precision compensating system and method of positioning device |
-
2020
- 2020-12-24 CN CN202011550208.2A patent/CN112731866B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102840839A (en) * | 2012-09-18 | 2012-12-26 | 重庆大学 | Accurate grinding wheel section measurement and error compensation method |
| CN104423319A (en) * | 2013-08-26 | 2015-03-18 | 鸿富锦精密工业（深圳）有限公司 | Processing program compensation system and method |
| CN104570940A (en) * | 2013-10-24 | 2015-04-29 | 鸿富锦精密工业（深圳）有限公司 | CNC machining and machine-adjusting system and method |
| CN106736847A (en) * | 2017-01-04 | 2017-05-31 | 昆山工研院新型平板显示技术中心有限公司 | To the error compensating method of bit platform |
| CN110418505A (en) * | 2019-07-24 | 2019-11-05 | 信丰迅捷兴电路科技有限公司 | A kind of precision PCB blank plate and its processing molding method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112731866A (en) | 2021-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112731866B (en) | Multi-axis machining system, machining method and device thereof, and computer-readable storage medium | |
| JP3092809B2 (en) | Inspection method and inspection apparatus having automatic creation function of inspection program data | |
| KR101058160B1 (en) | Solder Print Inspection Device and Component Mounting System | |
| EP0669792B1 (en) | Drill coordinate optimization for multi-layer printed circuit board | |
| JP3026981B2 (en) | Compensation system for inspection of potentially distorted printed circuit boards | |
| JPH08193816A (en) | Automatic focusing method and apparatus, three-dimensional shape detection method and apparatus | |
| CN114012724B (en) | Automatic calibration method for industrial robot coordinate system based on probe | |
| CN112729112B (en) | Engine cylinder bore diameter and hole site detection method based on robot vision | |
| JP3988588B2 (en) | 3D measuring device | |
| CN115666125B (en) | Machine vision-based method for detecting and compensating positioning error of XY platform of chip mounter | |
| JPH10301052A (en) | Method of correcting machining position deviation of laser beam machine | |
| CN117635607B (en) | Recognition method for welding quality of circuit board | |
| CN112862867A (en) | Method and device for acquiring PCB back drilling detection file and optical detection equipment | |
| CN111583222A (en) | Test point automatic positioning method, copper thickness automatic detection method and system | |
| CN115052422B (en) | Method for establishing circuit board impedance line compensation model, compensation method and device | |
| CN112959323B (en) | Robot motion error on-line detection and compensation method and equipment | |
| JP3643104B2 (en) | Processing position correction method in laser processing apparatus | |
| JP2002098513A (en) | Measurement method and measurement apparatus by image recognition using laser light | |
| JP4757595B2 (en) | Mounting component inspection equipment | |
| JPH1151613A (en) | Position detection device | |
| JPH038400A (en) | Positional correction of printed substrate | |
| JP7575360B2 (en) | Method for processing multi-layer printed wiring board | |
| JP4008722B2 (en) | Method and apparatus for detecting floating electrode of electronic component | |
| JP2001343214A (en) | Method and apparatus for inspecting position of mounted component, method and apparatus for mounting component | |
| JPH0372203A (en) | Checking method of outer appearance of soldering part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |