CN118578429B

CN118578429B - Automatic handling device, method, equipment, storage medium and program product

Info

Publication number: CN118578429B
Application number: CN202411036895.4A
Authority: CN
Inventors: 林向盈; 赵中万
Original assignee: Suzhou Metabrain Intelligent Technology Co Ltd
Current assignee: Suzhou Metabrain Intelligent Technology Co Ltd
Priority date: 2024-07-31
Filing date: 2024-07-31
Publication date: 2024-12-06
Anticipated expiration: 2044-07-31
Also published as: CN118578429A

Abstract

The invention discloses an automatic carrying device, a method, equipment, a storage medium and a program product, wherein the device comprises a fixed plate, a clamping assembly, a vision module and a distance measuring module are arranged on the fixed plate, the clamping assembly comprises a clamping module and a detection module, the clamping module comprises a plurality of clamping parts arranged outside the circumference of the detection module, the clamping parts are concentrically arranged in a surrounding mode and driven to be relatively centripetally polymerized or centrifugally spread, the clamping parts are enclosed to form a cavity for accommodating the detection module, the end parts of the clamping parts are provided with supporting parts, the supporting parts are enclosed to form clamping openings penetrating through the cavity, a first clamping space which is regulated in the radial direction is formed among the clamping parts, and a second clamping space which is regulated in the axial direction is formed between the detection module and the supporting parts. According to the invention, the mounting piece is accurately positioned by adjusting the first clamping space and the second clamping space, so that the damage of the main board is prevented.

Description

Automatic handling device, method, equipment, storage medium and program product

Technical Field

The invention belongs to the technical field of manipulators, and particularly relates to an automatic carrying device, an automatic carrying method, an automatic carrying device, an automatic carrying equipment, a storage medium and a program product.

Background

The server main board is one of the most important components in the server system, is a main board specially designed for bearing the hardware components of the server, and has higher performance and reliability so as to meet the high-load, continuous operation and data processing requirements of the server.

In the production and assembly process of the server, the main board needs to be positioned to a designated position in the chassis, the main board is assembled manually in the prior art, the risk of damaging components on the main board is caused, and meanwhile, the defect of reduced safety and reliability is caused.

In the prior art, the main board is clamped and positioned by the manipulator and is carried, and as a plurality of components are integrated on the main board, the main board body of the main board cannot be directly clamped, and the condition of damaging the components by clamping exists. Therefore, there is a need to design a handling device that can avoid clamping damage to the motherboard and also to accurately position and automatically handle the motherboard.

Disclosure of Invention

The invention aims to solve the technical problems and provide an automatic conveying device, an automatic conveying method, automatic conveying equipment, an automatic conveying storage medium and a program product, so that accurate positioning of an installation piece is realized, and damage to a main board is prevented. In order to achieve the above purpose, the technical scheme of the invention is as follows:

On the one hand, the automatic carrying device comprises a fixed plate, wherein a clamping assembly, a visual module and a ranging module are arranged on the fixed plate, the clamping assembly comprises a clamping module and a detection module, the clamping module comprises a plurality of clamping parts which are arranged outside the circumference of the detection module, the clamping parts are concentrically arranged in a surrounding mode and driven to be relatively centripetally polymerized or centrifugally spread, the clamping parts are enclosed to form a cavity for accommodating the detection module, the end parts of the clamping parts are provided with supporting parts, the supporting parts are enclosed to form clamping openings which penetrate through the cavity, a first clamping space which is adjusted along the radial direction is formed between the clamping parts, and a second clamping space which is adjusted along the axial direction is formed between the detection module and the supporting parts.

On the other hand, an automatic handling method is provided, which is applied to the automatic handling device, the automatic handling device is used for positioning installation pieces, and a plurality of installation pieces are arranged on a main board, and the method comprises the following steps:

Acquiring real image information of the main board, identifying the real image information and extracting the position information of each installation piece;

determining a first target mounting piece and a second target mounting piece according to the regional division information of the main board and the position information of each mounting piece, wherein the first target mounting piece and the second target mounting piece are positioned at a mechanical balance point of the main board;

Acquiring characteristic information of the first target installation piece, and determining a target environment model from a plurality of environment models according to the characteristic information of the first target installation piece;

determining position offset information of the first target mounting piece according to the position information of the first target mounting piece in the target environment model and the real image information;

And controlling the automatic carrying device to adjust the postures to position the first target mounting piece and the second target mounting piece and carry the main board according to the position information of the first target mounting piece, the position offset information and the position information of the second target mounting piece.

In yet another aspect, a computer apparatus is provided comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method when the computer program is executed.

In yet another aspect, a computer readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, implements the steps of the method.

In a further aspect, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method.

According to the automatic carrying device, the clamping module is matched with the visual module for positioning, the detection module in the clamping module can accurately contact the mounting piece and detect the change condition of the pressure value in the process of contacting the mounting piece, the clamping module is matched with the ranging module for positioning, the displacement distance of the mounting piece can be accurately controlled by the detection module, the range of the second clamping space is accurately limited, the condition that the detection module moves in place is ensured, the main board is not damaged, the circumferential outer wall of the mounting piece is acted on when the mounting piece is positioned through the clamping opening, the interference influence on the detection module and the influence on the axial pressure of the main board are avoided, the range of the first clamping space is controlled on the basis of determining the range of the second clamping space, the clamping opening forms a stable clamping relation on the circumferential side wall of the mounting piece, and/or a plurality of clamping parts form a stable clamping relation on the circumference of the mounting piece, and the stability of the positioning mounting piece is ensured.

The automatic conveying device comprises a main board, a first target mounting part, a second target mounting part, a plurality of environment models, a target environment model, a position offset information, an automatic conveying device and a main board, wherein the main board is lifted to achieve the purpose of balanced conveying through the first target mounting part and the second target mounting part, the stability of conveying the main board is ensured, the characteristic information of the first target mounting part is acquired, the target environment model is determined from the plurality of environment models according to the characteristic information of the first target mounting part, the determining efficiency of the target environment model is improved, the position offset information of the first target mounting part is determined according to the target environment model and the position information of the first target mounting part in the real image information, the gesture can be accurately adjusted and the first target mounting part is positioned according to the position information and the position offset information of the first target mounting part, the first target mounting part is accurately positioned, and the main board is conveyed through the positioning of the first target mounting part, and the main board is ensured to be free from damage.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an automated handling device according to an embodiment of the present application;

FIG. 3 is a second schematic diagram of an automated handling device according to an embodiment of the present application;

FIG. 4 is a schematic side view of an automated handling device according to an embodiment of the present application;

FIG. 5 is a schematic cross-sectional view of A-A of FIG. 4;

Fig. 6 is a schematic structural diagram of a vision module according to an embodiment of the present disclosure;

Fig. 7 is a schematic structural diagram of a first clamping module according to an embodiment of the present application;

FIG. 8 is a schematic side view of a first clamping module according to an embodiment of the present application;

fig. 9 is a schematic front view of a first clamping module according to an embodiment of the present application;

FIG. 10 is a schematic cross-sectional view of a first clamping module according to an embodiment of the application;

Fig. 11 is a schematic structural diagram of a second clamping module according to an embodiment of the present application;

Fig. 12 is a schematic structural diagram of a second quick-change seat according to an embodiment of the present application;

fig. 13 is a schematic top view of a motherboard according to an embodiment of the present application;

fig. 14 is an application environment diagram of an automated handling method according to an embodiment of the present application;

fig. 15 is a flow chart of an automated handling method according to an embodiment of the present application;

Fig. 16 is an internal structure diagram of a computer device according to an embodiment of the present application.

Reference numerals:

the main board 1, the hand screw 11, the stud 12, the mounting post 121, the mounting head 122, the connector 123 and the mounting part 124;

a fixed plate 2, a positioning rod 21, and a solenoid valve controller assembly 22;

the clamping assembly 3, the first clamping module 31, the second clamping module 32, the clamping part 33, the first clamping body 331, the second clamping body 332, the avoidance groove 333, the supporting part 34, the clamping opening 35, the carrier plate 36, the loading groove 361, the positioning pin 362, the driving piece 37 and the adapter plate 38;

the camera comprises a vision module 4, a first fixing seat 41, a camera 42, a second fixing seat 43, a light source piece 44 and a fixing block 45;

a ranging module 5, a ranging seat 51 and a ranging sensor 52;

The quick-change module 6, the first quick-change seat 61, the knob piece 62, the second quick-change seat 63, the quick-change hole 64, the limit groove 65, the arc-shaped surface 651, the transition surface 652 and the sphere 66;

The detection module 7, the guide sleeve 71, the first opening 711, the second opening 712, the pressure sensor 72, the detection seat 73, the detection member 74, the connection hole 741, the guide rod 75, the hanging table 751 and the elastic member 76;

buffer module 8, limiting plate 81, limiting piece 82, buffer piece 83.

Detailed Description

In order to make the technical solutions and advantages of the embodiments of the present application more apparent, the following detailed description of exemplary embodiments of the present application is provided in conjunction with the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present application and not exhaustive of all embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

Example 1

The embodiment provides an automatic conveying device, which is applied to a robot and can realize conveying operation of a main board 1 of a server. Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present application, and fig. 13 is a schematic plan view of a motherboard according to an embodiment of the present application. Referring to fig. 1 and 13, the main board 1 is provided with a plurality of hole sites, the hole sites are internally provided with mounting pieces, the mounting pieces can be manual screws 11 and studs 12, different mounting pieces can be assembled in the hole sites of the main board 1, the main board 1 is integrated with more components, in order to avoid damage to the components in the designated area, the mounting pieces in the designated area in the main board 1 need to keep a stable connection relation with the hole sites, the matching depth and the stress effect of the mounting pieces and the hole sites are strictly limited, for example, the studs 12 are correspondingly in threaded connection with the hole sites of the main board 1, and the studs 12 are in a stable state in the hole sites.

According to the geometric structure characteristics and the appearance area structure of the main board 1, the mounting piece at the proper position on the main board 1 is selected as the position point for positioning and carrying the main board 1 by a robot, and an automatic carrying device is reasonably designed, when the mounting piece arranged in a designated area is the stud 12, the matching structure of the stud 12 and the main board 1 is fully considered, so that the mounting piece can be accurately positioned and clamped by the automatic carrying device, and the effect of carrying the main board 1 efficiently and without damage is achieved.

Fig. 1 is a schematic structural view of a robot according to an embodiment of the present application, fig. 2 is one of schematic structural views of an automated handling device according to an embodiment of the present application, fig. 3 is a second schematic structural view of an automated handling device according to an embodiment of the present application, fig. 7 is a schematic structural view of a first clamping module according to an embodiment of the present application, fig. 9 is a schematic front view of a first clamping module according to an embodiment of the present application, and fig. 11 is a schematic structural view of a second clamping module according to an embodiment of the present application.

As shown in fig. 1-3, 7, 9 and 11, the present embodiment provides an automatic handling device, which includes a fixing plate 2, a clamping assembly 3, a vision module 4 and a ranging module 5;

The clamping component 3, the vision module 4 and the ranging module 5 are all installed on the fixed plate 2. A plurality of quick-change modules 6 are arranged between the fixing plate 2 and the clamping assembly 3.

The clamping assembly 3 comprises a plurality of clamping modules, including a first clamping module 31 and a second clamping module 32. According to the distribution distance of the mounting parts on the main board 1, the first clamping module 31 and the second clamping module 32 perform adaptive positioning of the relative distance, in another embodiment, the first clamping module 31 and the second clamping module 32 can implement relative distance adjustment, or the first clamping module 31 and the second clamping module 32 can work independently without being limited by the fixing board 2. The first clamping module 31 and the second clamping module 32 are respectively in butt joint with the corresponding quick-change module 6 on the fixed plate 2, so that the first clamping module 31 and the second clamping module 32 can be respectively and quickly connected on the fixed plate 2, and the first clamping module 31 and the second clamping module 32 are both used for clamping and positioning the installation piece.

The vision module 4 is used for positioning and identifying the position of the mounting piece and feeding back to an automatic conveying system, and the automatic conveying system drives the clamping assembly 3 to the corresponding position coordinates of the mounting piece according to the position information of the mounting piece.

The distance measuring module 5 is used for measuring the moving distance of the fixed plate 2 relative to the main plate 1 and the height data of the mounting piece relative to the main plate 1, and also measuring the moving distance of the clamping module relative to the mounting piece.

The structures of the first clamping module 31 and the second clamping module 32 can be the same or different, different mounting pieces can be mounted in different hole sites in the main board 1, when the same mounting pieces are mounted in the hole sites in the main board 1, the structures of the first clamping module 31 and the second clamping module 32 can be the same, when different mounting pieces are mounted in the hole sites in the main board 1, the structures of the first clamping module 31 and the second clamping module 32 can be different, for example, the first clamping module 31 can be used for clamping and positioning the stud 12, the second clamping module 32 can be used for clamping and positioning the hand screw 11, the stud 12 in the designated area on the main board 1 has higher connection relation definition, when the stud 12 is used as a location point of carrying, the first clamping module 31 is required to have higher positioning accuracy and positioning stability, and the hand screw 11 in the non-designated area on the main board 1 is simpler than the stud 12 in the designated area on the main board 1, so that the mounting pieces in the designated area on the main board 1 need to be adapted to the mounting pieces meeting the carrying requirements.

The clamping assembly 3 further comprises a detection module 7, the clamping module comprises a plurality of clamping portions 33 arranged outside the circumference of the detection module 7, the clamping portions 33 are concentrically arranged in a surrounding mode and driven to be relatively centripetally polymerized or centrifugally spread, and the detection module 7 comprises a guide sleeve 71 which is elastically telescopic along the central axis direction of the clamping portions 33 and a pressure sensor 72 for detecting pressure data of the guide sleeve 71. The clamping parts 33 are enclosed to form a cavity for accommodating the detection module 7, and the inner wall of the cavity is kept away from the detection module 7. The end of the clamping part 33 is provided with a supporting part 34, and a plurality of supporting parts 34 enclose a clamping opening 35 which penetrates through the cavity, and the clamping opening 35 and the detection module 7 are kept away from each other. A first clamping space which is adjusted along the radial direction is formed among the clamping parts 33, and a second clamping space which is adjusted along the axial direction is formed between the guide sleeve 71 and the supporting part 34.

Wherein, the clamp 35 that a plurality of supporting parts 34 polymerization concatenation formed is used for the circumference lateral wall of centre gripping location installed part, and detection module 7 is used for the top position of crimping location installed part, and detection module 7 cooperates with a plurality of clamping parts 33, accurately acquires the pressure data of detection module 7 contact installed part through pressure sensor 72, effectively controls the scope in second centre gripping space, can pinpoint the installed part. Because the mounting piece in the appointed area in the main board 1 has the requirement of connection, the depth of the mounting piece in the hole site of the main board 1 is limited, and when the mounting piece is stressed, the accurate control pressure value is required, so that the mounting piece is prevented from damaging the main board 1 or damaging components. The setting detection module 7 in time acquires the pressure data of centre gripping module on the installed part when contacting the top of installed part, and a plurality of clamping parts 33 pass through the circumference lateral wall of clamp 35 location installed part, and a plurality of clamping parts 33 produce radial effort to the installed part, effectively avoid a plurality of clamping parts 33 to take place axial effort to the installed part when the centre gripping action, avoid producing direct pressure to mainboard 1 and act on, and then make the installed part keep stable in the hole site of mainboard 1, reach the stability requirement of installed part and the hole site relation of connection of mainboard 1.

In this embodiment, the second clamping module 32 has the same structure as the first clamping module 31, and the first clamping module 31 is matched with the detecting module 7. Correspondingly, the requirements of the second clamping module 32 on the clamping object applicable to the first clamping module 31 are lower, that is, the mounting piece in the main board 1 is in a non-designated area, and the second clamping module 32 can clamp the corresponding mounting piece in the main board 1. For example, for the mounting member to be a hand screw 11.

The specific operation mode of the automatic carrying device in the embodiment is that the fixing plate 2 is driven by a mechanical arm of a robot to realize multi-axis steering and moving, the vision module 4 photographs and detects the main board 1, identifies the position of an installation piece in the main board 1, feeds back the position information of the installation piece to the automatic carrying system, the first clamping module 31 adaptively adjusts to make position compensation according to the position information of the installation piece, the detection module 7 in the first clamping module 31 contacts the top of the installation piece, the detection module 7 feeds back pressure data to the automatic carrying system, the distance measuring module 5 feeds back the moving distance of the detection module 7 to the automatic carrying system, the automatic carrying system controls the clamping actions of a plurality of clamping parts 33, the clamping parts 33 centripetally aggregate to clamp the circumferential side wall of the positioning installation piece, the first clamping module 31 positions one installation piece, the second clamping module 32 synchronously moves and positions the other installation piece, and the first clamping module 31 and the second clamping module 32 move together to carry the main board 1.

The clamping assembly comprises a clamping module 3 and a detection module 7, wherein the clamping module 3 comprises a plurality of clamping parts 33 arranged outside the circumference of the detection module 7, the clamping module is matched with the vision module 4 for positioning, the detection module 7 in the clamping module can accurately contact with the mounting piece and detect the change condition of pressure values in the process of contacting the mounting piece, the clamping module is matched with the ranging module 5 for positioning, the displacement distance of the crimping mounting piece can be accurately controlled by the detection module 7, the range of a second clamping space is accurately limited, the situation that the main board 1 is not damaged under the condition that the detection module 7 moves in place is ensured, the plurality of clamping parts 33 effectively avoid cavities formed during polymerization and splice, the detection module 7 is effectively avoided, the influence of axial acting force on the mounting piece on the circumference outer wall of the mounting piece is avoided, the range of the first clamping space is controlled on the basis of the range determination of the second clamping space, the clamping opening 35 forms a stable clamping relation on the circumference side wall of the mounting piece, and/or the plurality of clamping parts 33 form a stable clamping relation on the circumference of the mounting piece, the stability of the positioning mounting piece is ensured, the guide sleeve 71 in the detection module 7 has the function of supporting the guide sleeve 71, and the guide sleeve 71 can be arranged along the axial direction of the guide sleeve 71 and can be matched with the positioning sleeve, and the positioning precision of the guide sleeve 71 can be improved.

Example two

The embodiment optimizes an automatic handling device based on the above embodiment, and particularly provides a specific implementation manner of a fixing plate:

Above-mentioned fixed plate 2 possesses the arm function of bearing function and transfer robot, and the top of fixed plate 2 is provided with the ring flange adaptor, and the bottom of fixed plate 2 sets up clamping assembly 3 and range finding module 5. The top of the fixed plate 2 is also provided with a solenoid valve controller assembly 22 for connecting to a driver 37 in the control clamp assembly 3.

Fig. 2 is a schematic structural diagram of an automated handling device according to an embodiment of the present application, fig. 3 is a schematic structural diagram of a second automated handling device according to an embodiment of the present application, and fig. 6 is a schematic structural diagram of a vision module according to an embodiment of the present application.

Referring to fig. 2, 3 and 6, the fixing plate 2 may be a rectangular plate, a circular plate, a T-shaped plate or a shaped plate, and in this embodiment, the fixing plate 2 is a T-shaped plate. A plurality of lightening holes are formed in the fixing plate 2, so that the weight of the fixing plate 2 is effectively reduced, and meanwhile, the positions of the lightening holes can be used for installing the vision module 4.

The vision module 4 comprises a first fixing seat 41, a camera 42 arranged on the side surface of the first fixing seat 41, a second fixing seat 43 arranged below the first fixing seat 41 and a light source piece 44 connected with the bottom of the second fixing seat 43, wherein the first fixing seat 41 is arranged on the top of the fixing plate 2 and positioned on the side edge of a lightening hole, the camera 42 is arranged corresponding to the lightening hole, the side surface of the first fixing seat 41 is detachably connected with a camera 42 side plate, the camera 42 side plate is connected with the camera 42, and the camera 42 of different types is conveniently replaced and connected with the first fixing seat 41. The second fixing seat 43 is arranged at the bottom of the fixing plate 2, two sides of the top of the second fixing seat 43 are respectively connected with the fixing plate 2 through fixing blocks 45, and the mounting height of the light source is set through the fixing blocks 45, so that the position height of the second fixing seat 43 connected to the fixing plate 2 can be conveniently adjusted. The light source member 44 is disposed around the lightening hole so as to facilitate photographing and shining of the camera 42.

The ranging module 5 comprises a ranging seat 51 and a ranging sensor 52 arranged on the ranging seat 51, wherein the ranging seat 51 is detachably arranged at the bottom of the fixed plate 2, and the ranging seat 51 is reasonably arranged according to the size of the ranging sensor 52, so that the ranging sensor 52 is stably arranged on the ranging seat 51, and the ranging seat 51 is of an L-shaped structure. The distance measuring sensor 52 is used for measuring the distance, and can accurately detect the displacement distance of the detection module 7 in the clamping assembly 3 and the position height of the mounting piece relative to the main board 1.

The bottom of the fixed plate 2 is also provided with a plurality of positioning rods 21, and the positioning rods 21 are inserted and positioned with corresponding hole sites in the main plate 1 to realize the guiding positioning of the fixed plate 2.

The solenoid valve controller assembly 22 comprises a solenoid valve seat and a solenoid valve controller arranged on the solenoid valve seat, and the solenoid valve seat is detachably arranged on the top of the fixed plate 2.

The fixed plate 2 can integrate multiple modules according to the use requirement, and the clamping positioning accuracy of the clamp assembly and the convenience of assembly are effectively improved.

Example III

The embodiment optimizes an automatic handling device based on the above embodiment, and particularly provides a specific implementation manner of a quick-change module:

A plurality of quick-change modules 6 are arranged between the fixing plate 2 and the clamping assembly 3, the clamping assembly further comprises a carrier plate 36, and the carrier plate 36 and the fixing plate 2 are matched and positioned through the quick-change modules 6.

Fig. 2 is a schematic structural diagram of an automatic handling device according to an embodiment of the present application, fig. 4 is a schematic side view of an automatic handling device according to an embodiment of the present application, fig. 5 is a schematic sectional view of A-A in fig. 4, fig. 7 is a schematic structural diagram of a first clamping module according to an embodiment of the present application, and fig. 12 is a schematic structural diagram of a second quick-change seat according to an embodiment of the present application.

Referring to fig. 2,4, 5, 7 and 12, the quick-change module 6 comprises a first quick-change seat 61, a knob member 62 penetrating through the first quick-change seat 61 and rotationally connected with the first quick-change seat, and a second quick-change seat 63 inserted and positioned with the knob member 62, wherein a quick-change hole 64 is arranged in the second quick-change seat 63, the quick-change hole 64 is inserted and assembled with the knob member 62, a plurality of limit grooves 65 are formed in the circumference of the quick-change hole 64, a plurality of balls 66 elastically and telescopically arranged in the radial direction are formed in the circumference of the knob member 62, a part of the balls 66 is embedded into the knob member 62, and a part of the balls 66 protrudes out of the side wall of the knob member 62. The sphere 66 is correspondingly clamped and matched with the limit groove 65.

The limit groove 65 comprises an arc face 651 which is matched with the outer wall of the knob member 62 exposed out of the ball 66, a transition face 652 which is connected with the arc face 651 and extends along the inner wall of the quick-change hole 64, the transition face 652 extends towards the port along the inner wall of the quick-change hole 64, the transition face 652 is spirally extended on the inner wall of the quick-change hole 64, the space range of the transition face 652 is gradually reduced from the position of the connection arc face 651 to the port of the quick-change hole 64, the center distance between the transition face 652 and the quick-change hole 64 is gradually reduced from the position of the connection arc face 651 to the port of the quick-change hole 64, the ball 66 can smoothly slide into the arc face 651 from the transition face 652, when the ball 66 is positioned on the arc face 651, the ball 66 is positioned at the elastic release position which is the largest in the radial direction relative to the knob member 62, the ball 66 and the arc face 651 are stably positioned, the ball 66 is not easily loosened by directly and axially pulling the knob member 62, the ball 66 is gradually compressed relative to the center of the knob member 62 by rotating the knob member 62, the ball 66 is gradually compressed from the position of the arc face 651 into the port of the quick-change hole 64, and the quick-change seat 62 is quickly separated from the second knob member 64.

In this embodiment, four balls 66 are circumferentially disposed on the knob member 62, and the four balls 66 are equiangularly distributed on the side wall of the knob member 62. Correspondingly, the quick-change holes 64 are provided with limit grooves 65 the same in number as the balls 66. When the knob piece 62 is in plug-in fit with the quick-change hole 64, the effect of rotating the knob piece 62 to be positioned to the second quick-change seat 63 is achieved, the stability of connection between the knob piece 62 and the quick-change hole 64 is maintained, and the function of replacing the second quick-change seat 63 can be quickly completed by operating the knob piece 62.

Be provided with a plurality of fixed slots in the fixed plate 2, first quick change seat 61 sets up in the fixed slot and rather than dismantling and be connected, and knob piece 62 runs through first quick change seat 61 and fixed slot, and knob piece 62 and first quick change seat 61 swivelling joint cooperation, the one end of knob piece 62 is provided with knob portion, and knob portion conveniently rotates the operation, and the other end of knob piece 62 sets up towards the centre gripping module.

The clamping module comprises a carrier plate 36, and the second quick-change seat 63 is disposed in the carrier plate 36. Specifically, loading grooves 361 for positioning the second quick-change seat 63 are respectively provided on two sides of the carrier plate 36, the second quick-change seat 63 is detachably connected with the loading grooves 361, the surface of the second quick-change seat 63 is flush with the surface of the carrier plate 36, and when the knob piece 62 is matched with the second quick-change seat 63 in a positioning manner, the carrier plate 36 can be abutted against the fixed plate 2 for positioning.

The quick-change modules 6 are arranged at intervals along the length directions of the two sides of the fixed plate 2, wherein the two quick-change modules 6 are correspondingly positioned to form a clamping module, and the clamping modules can be connected at a plurality of positions of the fixed plate 2, so that the clamping modules can be adaptively replaced according to different types of the main plate 1 and different setting positions of mounting pieces on the main plate 1, the relative distance between the clamping modules is changed, and the suitability of the fixed plate 2 and the clamping modules is further maintained.

Example IV

The embodiment optimizes an automatic handling device based on the above embodiment, and particularly provides a specific implementation manner of a clamping module:

Fig. 3 is a second schematic structural diagram of an automated handling device according to an embodiment of the present application, fig. 7 is a schematic structural diagram of a first clamping module according to an embodiment of the present application, fig. 8 is a schematic side view of the first clamping module according to an embodiment of the present application, fig. 9 is a schematic front view of the first clamping module according to an embodiment of the present application, fig. 10 is a schematic cross-sectional view of the first clamping module according to an embodiment of the present application, and fig. 11 is a schematic structural diagram of a second clamping module according to an embodiment of the present application.

Referring to fig. 3 and fig. 7-11, the clamping module comprises a detection module 7, a plurality of clamping parts 33 arranged outside the circumference of the detection module 7, a carrier plate 36, a driving piece 37 connected with the carrier plate 36, and an adapter plate 38 arranged outside the driving piece 37, the clamping assembly 3 further comprises a buffer module 8 connected with the carrier plate 36, the detection module 7 is connected with the adapter plate 38, and the clamping parts 33 are connected with the driving piece 37.

A plurality of positioning pins 362 are arranged on the carrier plate 36, pin holes corresponding to the positioning pins 362 are arranged in the fixed plate 2, specifically, two positioning pins 362 are arranged at the top of the carrier plate 36 at intervals, and the carrier plate 36 is accurately positioned to the fixed plate 2 through the positioning pins 362.

In this embodiment, the driving member 37 is an air cylinder, and the number of the clamping portions 33 is two, specifically including a first clamping portion 33 and a second clamping portion 33, where the first clamping portion 33 and the second clamping portion 33 are driven to open and close relatively. The first clamping part 33 and the second clamping part 33 are located on two sides of the detection module 7, the adapter plate 38 is arranged outside the cylinder shell, and clamping actions of the first clamping part 33 and the second clamping part 33 are not blocked.

The clamping part 33 comprises a first clamping body 331 and a second clamping body 332 connected with the first clamping body 331, wherein the first clamping body 331 can be of a T-shaped structure, an L-shaped structure, an arc-shaped structure or a special-shaped structure, and the first clamping body 331 can avoid the detection module 7 in the process of relatively moving the two clamping parts 33. In this embodiment, the first clamping body 331 has an L-shaped structure. One end of the first clamping body 331 is connected to the driving end of the driving member 37, the other end of the first clamping body 331 is connected to the second clamping body 332, the two clamping portions 33 are synchronously and symmetrically opened and closed to move with the same center axis, the two second clamping bodies 332 are centripetally polymerized, and the two clamping bodies can be spliced to form an integral structure or a relative interval structure.

The side wall of the second clamping body 332 is provided with an avoidance groove 333, the avoidance groove 333 extends along the axial direction of the second clamping body 332, the avoidance groove 333 can be a rectangular groove or a semicircular groove, the plurality of clamping parts 33 are centripetally polymerized to enable the avoidance groove 333 to form a cavity, and the avoidance groove 333 and the detection module 7 are separated from each other to avoid. In this embodiment, when the two clamping portions 33 perform opposite clamping, the opposite avoiding grooves 333 are spliced to form a cylindrical cavity, and the two clamping portions 33 are polymerized to form a cylindrical barrel structure. The detection module 7 can be accommodated in the cavity in an adaptive manner, and the clamping part 33 does not interfere with the operation of the detection module 7.

The end of the second clamping body 332 is provided with a supporting part 34, the supporting part 34 is positioned at the end of the avoidance groove 333, the supporting part 34 is provided with notches, and the notches of the clamping parts 33 are centripetally polymerized to form a clamping opening 35. In this embodiment, the supporting portion 34 is a semi-ring structure, and the supporting portions 34 of the two clamping portions 33 are centripetally polymerized and spliced to form a ring structure. The clamping opening 35 can adaptively clamp and position the mounting piece, the clamping opening 35 applies radial acting force to the mounting piece, the supporting part 34 and the detection module 7 apply axial acting force to the mounting piece, and the precision of clamping the positioning mounting piece of the module is improved.

The detection module 7 comprises a guide sleeve 71 which is elastically telescopic along the direction of the center axis of the plurality of clamping parts 33, and a pressure sensor 72 for detecting pressure data of the guide sleeve 71. The detection module 7 further comprises a detection seat 73, a detection piece 74 connected with the detection seat 73 and a guide rod 75 detachably connected with the detection piece 74, wherein the detection seat 73 is connected with the adapter plate 38, specifically the detection seat 73 is arranged at the bottom of the adapter plate 38, the pressure sensor 72 is arranged on the detection seat 73, the detection piece 74 is connected with the pressure sensor 72, the detection piece 74 is used for switching pressure into the pressure sensor 72, and then the pressure sensor 72 can detect pressure data. The detecting piece 74 is internally provided with a connecting hole 741, the guide rod 75 is correspondingly inserted into the connecting hole 741, the connecting hole 741 can be a threaded hole, the guide rod 75 is a bolt, the end part of the guide rod 75 is in threaded fit with the connecting hole 741, and the axis of the guide rod 75 is kept collinear with the axis of the detecting piece 74.

The guide sleeve 71 is arranged in a circumferential hooking manner on the guide rod 75, a hanging table 751 is arranged at the end part of the guide rod 75, the hanging table 751 is understood to be a screw head part of a bolt, in the embodiment, the guide sleeve 71 is of a hollow cylinder structure, one end of the guide sleeve 71 is provided with a first opening 711, the other end of the guide sleeve 71 is provided with a second opening 712, a rod body of the guide rod 75 penetrates through the first opening 711, the first opening 711 is matched with the rod body of the guide rod 75 in size, the hanging table 751 is limited in an inner cavity of the guide sleeve 71, the top wall of the inner cavity of the guide sleeve 71 is movably abutted against the hanging table 751, the screw head of the bolt is limited in the guide sleeve 71, the size of the hanging table 751 is larger than the size of the first opening 711, specifically, the diameter of the hanging table 751 is larger than the diameter of the first opening 711, the diameter of the hanging table 751 is smaller than the inner cavity diameter of the guide sleeve 71, the rod body of the guide rod 75 extends from the first opening 711 to the outside of the guide sleeve 71, and the end part of the guide rod 75, which is far away from the hanging table 751, is connected with the detecting piece 74.

An elastic piece 76 is arranged between the guide sleeve 71 and the detection piece 74, the elastic piece 76 is sleeved on the circumference of the rod body of the guide rod 75, specifically, one end of the elastic piece 76 abuts against the bottom of the detection piece 74, and the other end of the elastic piece 76 abuts against the top of the guide sleeve 71. The resilient member 76 in this embodiment is a spring.

The second opening 712 of the guide sleeve 71 is adapted to a mounting member, taking the mounting member as a stud 12 as an example, the mounting member includes a mounting post 121, a mounting head 122 connected to one end of the mounting post 121, a connecting head 123 connected to the other end of the mounting post 121, and a mounting portion 124 disposed at an end of the mounting head 122, and a pattern groove is disposed in the mounting portion 124 and used for adapting to different tools for performing twisting operations, the connecting head 123 is a threaded head, and the mounting member can be mounted by threads. The diameter of the mounting head 122 is larger than that of the mounting post 121, the diameter of the mounting portion 124 is smaller than that of the mounting head 122, and the mounting post 121, the mounting head 122, the connecting head 123 and the mounting portion 124 are all coaxially arranged. The end of the guide sleeve 71 corresponds to and abuts against the top of the mounting head 122, the second opening 712 of the guide sleeve 71 corresponds to the mounting portion 124, and the mounting portion 124 extends into the interior cavity of the guide sleeve 71.

The guide sleeve 71 and the supporting parts 34 elastically clamp the mounting head 122, in this embodiment, the diameter of the mounting head 122 is larger than the diameter of the clamping opening 35, the diameter of the clamping opening 35 is matched with the diameter of the mounting column 121, the diameter of the clamping opening 35 can be the same as the diameter of the mounting column 121 or larger than the diameter of the mounting column 121, the radius of the mounting head 122 is matched with the radius of the avoidance groove 333, and the radius of the mounting head 122 can be the same as the radius of the avoidance groove 333 or smaller than the radius of the avoidance groove 333.

When the diameter of the clamping opening 35 is the same as that of the mounting column 121, the supporting parts 34 on two sides clamp the mounting column 121 in the radial direction, the supporting parts 34 and the guide sleeve 71 position the mounting head 122 in the axial direction, when the diameter of the clamping opening 35 is larger than that of the mounting column 121, the second clamping bodies 332 on two sides clamp the mounting head 122 in the radial direction, the supporting parts 34 and the guide sleeve 71 position the mounting head 122 in the axial direction, the second clamping bodies 332 and the guide sleeve 71 keep away from the air, and the diameter of the guide sleeve 71 can be smaller than that of the mounting head 122. In order to further improve the clamping stability of the mounting member, the second clamping bodies 332 on both sides can clamp and position the mounting head 122, the clamping openings 35 of the supporting parts 34 on both sides can clamp and position the mounting column 121, and meanwhile, the mounting head 122 is clamped and positioned between the supporting parts 34 and the guide sleeve 71, and the mounting head 122 is stably positioned in the clamping space formed by the guide sleeve 71, the second clamping bodies 332 and the supporting parts 34.

The buffer module 8 comprises a limiting plate 81, a limiting piece 82 and a buffer piece 83, wherein the limiting piece 82 and the buffer piece 83 are arranged on the limiting plate 81, the limiting plate 81 is connected with the side edge of the carrier plate 36, specifically, the limiting plate 81 is detachably connected with the carrier plate 36, and the limiting plate 81 is perpendicular to the carrier plate 36. The limiting piece 82 penetrates through the limiting plate 81, the end part of the limiting piece 82 movably abuts against one clamping part 33 for limiting the moving distance of the clamping part 33, the buffer piece 83 penetrates through the limiting plate 81, the end part of the buffer piece 83 movably abuts against one clamping part 33 for buffering the abutting clamping part 33, and damage caused by rigid contact between the clamping part 33 and the limiting piece 82 is prevented. The buffer member 83 may be an elastic structure or a rubber structure, and in this embodiment, a rubber member is disposed at an end of the buffer member 83. The limiting piece 82 and the buffer piece 83 are used for limiting the moving stroke of the clamping portion 33 and limiting the moving distance of the clamping portion 33, so that the damage to components in the main board 1 caused by overlarge opening stroke of the clamping portion 33 is avoided.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed, mechanically connected, electrically connected, or in communication with each other, directly connected, indirectly connected via an intervening medium, or in communication between two elements or in an interactive relationship between the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

Example five

The embodiment provides an automatic carrying method, which can be applied to an application environment as shown in fig. 14, and an automatic carrying device comprises a vision module, a detection module, a clamping module and a ranging module, and is used for positioning an installation piece in a main board 1.

In one embodiment, as shown in fig. 15, an automated handling method is provided, and an example of the method applied to an automated handling apparatus in fig. 14 is described.

An automated handling method comprising:

Step 20, constructing a plurality of environment models of the main board 1, and setting characteristic information of each installation piece in the environment models;

The environment model comprises wiring characteristics of an integrated circuit on the main board 1, arrangement characteristics of components, size characteristics of the components, position characteristics of mounting holes and position characteristics of mounting pieces in correct states in the mounting holes.

The characteristic information comprises a center point characteristic of the mounting piece and an edge characteristic of the mounting piece. By setting the characteristic information of the installation piece in the environment model, combining the characteristic information of the installation piece with other surrounding characteristics in the real image information, and associating the characteristic information of the installation piece with the surrounding environment characteristics, the efficiency of identifying the target environment model matched with the characteristic information in the environment model is improved.

Step 30, acquiring the real image information of the main board 1, identifying the real image information and extracting the position information of each mounting piece.

The real image information of the main board 1 is identified and obtained through the vision module 4, the vision module 4 adopts the camera 42 of the CCD/CMOS sensor, high-definition images can be collected, an image processing chip (DSP) is arranged in the camera 42, the images can be independently operated, and the automatic carrying system receives the image processing result information of the camera 42.

The visual range of the camera 42 comprises a search frame and an identification frame in the search frame, wherein the search frame is used for determining a region containing characteristic elements, the identification frame is used for extracting the characteristic elements, and a matching algorithm based on the region can accurately acquire the coordinate parameters of the mounting piece corresponding to the characteristic information, and the main board 1 under the visual module 4 is used for determining the range of the search frame, so that the position information and the characteristic information of the mounting piece in the real image information can be extracted from the identification frame.

Step 40, determining a first target mounting piece and a second target mounting piece according to the region division information of the main board 1 and the position information of each mounting piece, wherein the first target mounting piece and the second target mounting piece are positioned at the mechanical balance point of the main board 1;

Specifically, the main board 1 is preset with area division information, and the mounting pieces are defined as different target mounting pieces in different areas. And the first target installation piece and the second target installation piece which are positioned at the mechanical balance point position on the main board are determined by taking the regional division information as a basis, the mechanical balance point is a balance point for carrying and hoisting the whole main board 1, and when the main board 1 is carried through the stress action of the first target installation piece and the second target installation piece, the main board 1 keeps a balance state, so that the carrying stability of the main board 1 is improved.

Step 50, obtaining characteristic information of a first target installation piece, and determining a target environment model from a plurality of environment models according to the characteristic information of the first target installation piece;

The real image information comprises wiring characteristics of an integrated circuit on the main board 1, arrangement characteristics of components, size characteristics of the components, characteristic information of the installation parts and position information of the installation parts, the characteristic information of the first target installation part is set, and the characteristic information of the first target installation part is combined with surrounding environment characteristics by identifying the characteristic information of the first target installation part from the real image information, so that a target environment model matched with the characteristic information can be quickly screened from the environment model, and the accuracy of matching to the target environment model can be improved.

Step 60, determining position offset information of the first target mounting piece according to the target environment model and the position information of the first target mounting piece in the real image information;

The position information of the corresponding first target installation piece in the target environment model is compared with the position information of the first target installation piece in the real image information, and further the position deviation information of the first target installation piece is determined. The position information is understood as position coordinates, and whether the first target mounting piece is assembled on the main board or not can be determined through the position offset information, and if the position offset information is present, the first target mounting piece is assembled on the main board, and the inclination angle or the coordinate deviation exists.

And step 70, controlling the automatic conveying device to adjust the postures to position the first target mounting piece and the second target mounting piece and convey the main board according to the position information of the first target mounting piece, the position offset information and the position information of the second target mounting piece.

The automatic carrying device can realize multi-axial displacement adjustment, compensation parameters of each shaft of the automatic carrying device are obtained according to inverse calculation of kinematics, and the posture of the automatic carrying device is adaptively adjusted according to the position information of the first target mounting piece, the position offset information and the position information of the second target mounting piece, and the clamping assembly clamps and positions the first target mounting piece and the second target mounting piece.

The automatic conveying method comprises the steps of determining position information of each mounting piece through real image information of a main board 1, determining a first target mounting piece and a second target mounting piece which are positioned at a mechanical balance point of the main board 1 according to region division information of the main board 1, enabling the main board 1 to be lifted to achieve the purpose of balanced conveying through the first target mounting piece and the second target mounting piece, guaranteeing conveying stability of the main board 1, obtaining characteristic information of the first target mounting piece, determining a target environment model from a plurality of environment models according to the characteristic information of the first target mounting piece, determining position offset information of the first target mounting piece according to the position information of the first target mounting piece in the target environment model and the real image information, and enabling an automatic conveying device to accurately adjust the gesture and position the first target mounting piece according to the position information and the position offset information of the first target mounting piece, so as to accurately position the first target mounting piece, and guaranteeing conveying of the main board 1 through positioning the first target mounting piece without damaging the main board 1. Correspondingly, the second target mount is also positioned synchronously.

In one embodiment, step 40, determining the first target mount and the second target mount according to the area division information of the motherboard 1 and the position information of each mount, includes:

step 401, obtaining dividing information of a position area on a main board in real image information;

step 402, determining the position area of each mounting piece on the main board according to the position information of each mounting piece, wherein the position area comprises a designated area and a non-designated area;

Step 403, taking the installation piece in the appointed area as a first installation piece, and taking the installation piece in the non-appointed area as a second installation piece;

The dividing information of the position area on the main board 1 can be obtained from the real image information, and the designated area is understood as an area with designated component characteristics or routing arrangement characteristics on the main board, and the first target installation piece in the designated area has higher assembly and positioning requirements. Accordingly, the second target mount in the unspecified area serves as an auxiliary positioning point.

Step 404, taking the first mounting piece and the second mounting piece which meet the preset linear distance as a first candidate mounting piece and a second candidate mounting piece;

According to the area of the main board 1, a first mounting piece and a second mounting piece which meet the preset linear distance are determined to be a first candidate mounting piece and a second candidate mounting piece, the linear distance of the first candidate mounting piece and the second candidate mounting piece is in a reasonable range, on one hand, the first candidate mounting piece and the second candidate mounting piece meet the range of the distance which can be adaptively adjusted by the clamping module, and on the other hand, the effect of balancing and lifting the main board 1 is achieved.

In step 405, the first candidate mount and the second candidate mount located at the mechanical balance point of the motherboard 1 are determined as the first target mount and the second target mount.

The main board 1 may be a rectangular board, a T-shaped board or a deformed board, the central area is calculated through the area, the weight, the size and the geometric features of the main board 1, the distance between the first candidate mounting piece and the central point can be determined, the difference value between the second candidate mounting piece and the central point meets the set range as a condition, the distance between the first candidate mounting piece and the central point in the set range is further the same as the optimal choice, and the positions of the first candidate mounting piece and the second candidate mounting piece at the mechanical balance point of the main board are further determined, so that the main board 1 can achieve the purpose of balanced carrying through the selected first target mounting piece and the second target mounting piece, and the inclined damage of the main board 1 caused by unbalanced carrying is effectively avoided.

In one embodiment, step 70, controlling the automated handling device to adjust the attitude to position the first target mount and the second target mount and handle the motherboard includes:

In step 701, the control detection module 7 is coaxially guided and abutted with the first target mounting member.

Specifically, the detection module 7 is moved to butt-joint the top end of the first target mounting piece, so that the detection module 7 and the first target mounting piece are kept coaxially oriented and positioned;

the position offset information includes an angle offset and a coordinate offset. The automatic carrying device performs automatic compensation positioning according to the position deviation information and the position parameter of the first target mounting piece, so that the first clamping module 31 and the detection module 7 are ensured to move in place.

Step 702, acquiring pressure data of the first target mounting piece contacted by the detection module 7 and displacement distance of the detection module 7 relative to the first target mounting piece in real time, and controlling the displacement distance under a set pressure threshold after the detection module 7 contacts the first target mounting piece until the first clamping module 31 reaches a position parameter for positioning the first target mounting piece;

Specifically, along with the fact that the detection module 7 gradually approaches the first target mounting piece, the distance measuring module 5 can detect the displacement of the detection module 7 relative to the first target mounting piece, meanwhile, the detection module 7 can detect pressure data of the first target mounting piece in a crimping mode, the pressure data meet the set range, when the displacement reaches an axial length set value of the first target mounting piece, the position of the clamping part of the clamping module is matched with the parameter for clamping the position of the first target mounting piece, the detection module 7 moves in place, the axial displacement distance after the detection module 7 contacts the mounting piece is used for adjusting the range of the second clamping space, namely, the mounting head of the stud is located in the second clamping space and can be positioned by the supporting part and the detection module 7, the detection module 7 is kept in the set pressure range, the problem of crimping damage to the first target mounting piece is avoided, and the first target mounting piece in a designated area on the main board 1 is protected well.

In step 703, the first clamping module 31 and the detecting module 7 are controlled to clamp and position the first target mounting member, and the second clamping module 32 is controlled to clamp and position the second target mounting member, so as to convey the motherboard 1 according to the planned path.

Illustratively, a first target mount, such as a stud 12, is selected to accommodate a first clamping module, a second target mount, such as a hand screw 11, is selected to accommodate a second clamping module, and the positioning accuracy requirements of the first target mount in a designated area are emphasized.

Wherein, when the first clamping module 31 has adjusted the gesture and positioned the first target installation piece, the second clamping module 32 simultaneously positions the second target installation piece, and the second clamping module 32 and the second target installation piece can be clamped and matched.

It should be understood that, although the steps in the flowchart of fig. 15 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 15 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, or the order in which the sub-steps or stages are performed is not necessarily sequential, but may be performed in rotation or alternatively with at least a portion of the sub-steps or stages of other steps or steps.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure thereof may be as shown in fig. 16. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by the processor to implement an automated handling method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in FIG. 16 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer readable storage medium is provided, on which a computer program is stored which, when executed by a processor, implements the steps corresponding to the automated handling method described above.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps corresponding to the automated handling method described above.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, or other media used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims

1. An automated handling method, characterized in that it is applied to an automated handling device, the automated handling device is used to position mounting parts, and a plurality of the mounting parts are arranged on a mainboard, the method comprising:

Acquire real image information of the mainboard, identify the real image information and extract position information of each mounting part;

Determine a first target mounting component and a second target mounting component according to the area division information of the mainboard and the position information of each mounting component, wherein the first target mounting component and the second target mounting component are located at a mechanical balance point of the mainboard;

Acquire characteristic information of the first target installation component, and determine a target environment model from a plurality of environment models according to the characteristic information of the first target installation component;

Determine position offset information of the first target mounting component according to the target environment model and position information of the first target mounting component in the real image information;

According to the position information, position offset information of the first target mounting part and the position information of the second target mounting part, the automated handling device is controlled to adjust the posture to position the first target mounting part and the second target mounting part and to carry the motherboard,

Wherein, determining the first target mounting component and the second target mounting component according to the area division information of the mainboard and the position information of each mounting component includes:

Acquire division information of the position area on the main board in the real image information;

Determine the location area of each mounting component on the mainboard according to the location information of each mounting component, wherein the location area includes a designated area and a non-designated area;

The mounting parts in the designated area are used as first mounting parts, and the mounting parts in the non-designated area are used as second mounting parts;

The first mounting part and the second mounting part that meet the preset straight-line distance are used as the first candidate mounting part and the second candidate mounting part;

The first candidate mounting part and the second candidate mounting part located at the mechanical balance point of the mainboard are determined as a first target mounting part and a second target mounting part.

2. The automated handling method according to claim 1, characterized in that the method further comprises:

Constructing multiple environmental models of the mainboard, and setting characteristic information of each installation component in the environmental model;

The environmental model includes the routing characteristics of the integrated circuit on the mainboard, the arrangement characteristics of the components, the size characteristics of the components, the position characteristics of the mounting holes, and the position characteristics of the mounting parts in the correct state in the mounting holes.

The feature information includes the center point feature of the mounting part and the edge feature of the mounting part.

3. The automated handling method according to claim 1, characterized in that: the automated handling device comprises a fixed plate, on which a clamping assembly, a visual module and a distance measurement module are arranged;

The clamping assembly includes a clamping module and a detection module. The clamping module includes a plurality of clamping parts arranged on the circumferential outside of the detection module. The plurality of clamping parts are concentrically arranged and driven to relatively centripetally converge or centrifugally diffuse. The plurality of clamping parts enclose a cavity for accommodating the detection module. Support parts are provided at the ends of the clamping parts. The plurality of support parts enclose a clamping opening that passes through the cavity. A first clamping space that is adjusted radially is formed between the plurality of clamping parts, and a second clamping space that is adjusted axially is formed between the detection module and the support parts.

4. An automated handling method according to claim 3, characterized in that: the clamping module also includes a carrier plate, a driving member connected to the carrier plate, and an adapter plate arranged outside the driving member; a plurality of the clamping parts are connected to the driving end of the driving member, and the detection module is connected to the adapter plate.

5. An automated handling method according to claim 3, characterized in that: the clamping part includes a first clamping body and a second clamping body connected to the first clamping body; a plurality of the second clamping bodies are centripetally aggregated and spliced to form an integral structure or a mutually spaced structure, the side wall of the second clamping body is provided with an avoidance groove, the avoidance groove is arranged along the axial extension of the second clamping body, a supporting part is provided at the end of the second clamping body, the supporting part is located at the end of the avoidance groove, a notch is provided on the supporting part, and the notches of the plurality of the clamping parts are centripetally aggregated to form the clamping opening.

6. The automated handling method according to claim 3, characterized in that: a plurality of quick-change modules are provided between the fixing plate and the clamping assembly,

The quick-change module comprises a first quick-change seat, a knob member penetrating the first quick-change seat and rotatably connected thereto, and a second quick-change seat plugged and positioned with the knob member; a quick-change hole is arranged in the second quick-change seat, the quick-change hole is plugged and matched with the knob member, a plurality of limiting grooves are arranged in the circumference of the quick-change hole, a plurality of spheres are arranged in the circumference of the knob member and are elastically telescopically arranged in the radial direction, a portion of the spheres is embedded in the knob member, a portion of the spheres protrudes out of the side wall of the knob member, and the spheres are correspondingly snap-fitted with the limiting grooves;

The limiting groove includes an arc surface matched with the outer wall of the knob member exposed outside the sphere, and a transition surface connecting the arc surface; the transition surface extends along the inner wall of the quick-change hole toward the end thereof, and the spatial range of the transition surface gradually decreases from the position connecting the arc surface to the end of the quick-change hole;

A plurality of fixing grooves are arranged in the fixing plate, the first quick-change seat is detachably connected to the fixing grooves, the knob member passes through the first quick-change seat and the fixing grooves, a knob portion is arranged at one end of the knob member, the clamping module comprises a carrier plate, loading grooves for positioning the second quick-change seat are arranged on both sides of the carrier plate, the second quick-change seat is detachably connected to the loading grooves, the surface of the second quick-change seat is flush with the surface of the carrier plate, and the carrier plate is positioned against the fixing plate.

7. An automated handling method according to claim 4, characterized in that: the clamping assembly also includes a buffer module, the buffer module includes a limit plate connected to the carrier plate, a limit member and a buffer member arranged on the limit plate, the limit member and the buffer member are both arranged through the limit plate, and the limit member and the buffer member are both used to limit the moving stroke of the clamping part.

8. An automated handling method according to claim 4, characterized in that: the detection module comprises a guide sleeve elastically telescopically arranged along the central axis direction of the plurality of clamping parts and a pressure sensor for detecting pressure data of the guide sleeve.

9. An automated handling method according to claim 8, characterized in that: the detection module also includes a detection seat, a detection part connected to the detection seat, and a guide rod detachably connected to the detection part; the detection seat is connected to the adapter plate, the detection part is connected to the pressure sensor, the guide sleeve is circumferentially hung on the guide rod, and an elastic part is provided between the guide sleeve and the detection part.

10. An automated handling method according to claim 9, characterized in that: a hanging platform is provided at the end of the guide rod, one end of the guide sleeve has a first opening, the other end of the guide sleeve has a second opening, the rod body of the guide rod passes through the first opening, the hanging platform is limited to the inner cavity of the guide sleeve, the top wall of the inner cavity of the guide sleeve movably abuts against the hanging platform, the elastic member sleeve is arranged on the circumference of the rod body of the guide rod, one end of the elastic member abuts against the bottom of the detection member, and the other end of the elastic member abuts against the top of the guide sleeve.

11. The automated handling method according to claim 3, wherein controlling the automated handling device to adjust the posture to position the first target mounting component and the second target mounting component and to handle the mainboard comprises:

Controlling the detection module and the first target mounting member to be coaxially guided and docked;

Acquire in real time the pressure data of the detection module contacting the first target mounting part and the displacement distance of the detection module relative to the first target mounting part, and control the displacement distance under a set pressure threshold after the detection module contacts the first target mounting part until the first clamping module reaches the position parameter for positioning the first target mounting part;

The first clamping module and the detection module are controlled to clamp and position the first target mounting component, and the second clamping module is controlled to clamp and position the second target mounting component, and the mainboard is transported according to the planned path.

12. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 11 when executing the computer program.

13. A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of the method according to any one of claims 1 to 11 when executed by a processor.

14. A computer program product, comprising a computer program, characterized in that when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 11 are implemented.