阅读说明：本技术 贴装压力校准装置及其压力校准方法 (Surface-mount pressure calibration device and pressure calibration method thereof ) 是由 苗虎 曲东升 郜福亮 李长峰 史晔鑫 王国鑫 胡君君 陈文杰 杨军福 于 2021-10-11 设计创作，主要内容包括：本发明公开了一种贴装压力校准装置及其压力校准方法,压力校准方法,将末端贴装机构平移到压力传感器上方,再移动末端贴装机构的Z轴,使Z轴接近压力传感器,保存该力控开始位置P0,进行压力校准的单次执行流程；产品设计时,确定末端贴装机构支持的贴装压力范围校准压力跟电流的关系,需要确定贴装压力最小值Wmin对应的电流；生成电流与压力的对应关系表；生成不同速度对应的电流与压力的对应关系表；贴装作业时,设置贴装压力,选择力控速度,软件直接从电流与压力的对应关系表中获取相应电流值,执行贴装作业。该贴装压力校准装置及其压力校准方法具有参数设置直观、使用简单、使用过程中根据现场情况进行校正以保证贴装效果的优点。(The invention discloses a mounting pressure calibration device and a pressure calibration method thereof, wherein the pressure calibration method comprises the steps of translating a tail end mounting mechanism above a pressure sensor, moving a Z axis of the tail end mounting mechanism to enable the Z axis to be close to the pressure sensor, storing a force control starting position P0, and carrying out a single execution flow of pressure calibration; during product design, determining the relation between the pasting pressure range calibration pressure supported by the tail pasting mechanism and the current, and determining the current corresponding to the minimum value Wmin of the pasting pressure; generating a corresponding relation table of current and pressure; generating a corresponding relation table of current and pressure corresponding to different speeds; when mounting operation is carried out, mounting pressure is set, force control speed is selected, software directly obtains corresponding current values from the corresponding relation table of current and pressure, and mounting operation is executed. The mounting pressure calibration device and the mounting pressure calibration method have the advantages of visual parameter setting, simplicity in use and capability of performing correction according to field conditions in the use process to ensure the mounting effect.)

1. A method of pressure calibration, comprising the steps of:

step 1, translating the tail end attaching mechanism (4) to be above the pressure sensor (5), moving a Z axis of the tail end attaching mechanism (4) to enable the Z axis to be close to the pressure sensor (5), storing the force control starting position P0, and performing a single execution process of pressure calibration;

step 2, during product design, determining a mounting pressure range supported by the tail end mounting mechanism (4), wherein the minimum value of the mounting pressure is Wmin, the maximum value of the mounting pressure is Wmax, calibrating the relation between the pressure and the current, and determining the current corresponding to the minimum value of the mounting pressure Wmin;

step 3, generating a corresponding relation table of current and pressure;

step 4, generating a corresponding relation table of current and pressure corresponding to different speeds;

and 5, during mounting operation, mounting pressure is set, force control speed is selected, and software directly obtains a corresponding current value from a corresponding relation table of current and pressure to execute the mounting operation.

2. A pressure calibration method according to claim 1, characterized in that: in the step 1, the concrete steps are as follows:

step 1.1, the tail end mounting mechanism (4) moves to a force control starting position P0, a current value A is set, the Z axis of the tail end mounting mechanism (4) is switched to a force control mode, and force control operation is executed;

1.2, after the force control operation is finished, waiting for set stabilization time, and acquiring a current coordinate P of a Z axis and a current value W0 of a pressure sensor;

and 1.3, moving the tail end mounting mechanism (4) to a force control starting position P0, switching the Z axis to a normal mode, ending the single force control execution flow, and storing a force control completion Z axis coordinate P and a force control completion pressure sensor current value W0.

3. A pressure calibration method according to claim 2, characterized in that: in the step 2, the concrete steps are as follows:

step 2.1, knowing the maximum current supported by a Z-axis motor of the tail end mounting mechanism (4), taking the current value as the middle value of the maximum current, firstly executing a pressure calibration single flow in the step 1 by using the current value, and obtaining the current value S1 of the pressure sensor;

step 2.2, when the current value S1 of the pressure sensor is smaller than the minimum mounting pressure value, adding a current change interval to the current to obtain the current test current, executing a single pressure calibration flow in the step 1 by using the current test current to obtain the current value S2 of the pressure sensor until the current value S2 of the pressure sensor is basically the same as the minimum mounting pressure value, and determining a current value Amin corresponding to the minimum mounting pressure value; when the current value S2 of the pressure sensor is greater than the minimum mounting pressure value, subtracting the current change interval from the current to obtain the current test current, and performing the pressure calibration single flow in step 1 with the current test current to obtain the current value S3 of the pressure sensor until the current value S3 of the pressure sensor is substantially the same as the minimum mounting pressure value, and determining the current value Amin corresponding to the minimum mounting pressure value.

4. A pressure calibration method according to claim 3, characterized in that: in the step 3, the concrete steps are as follows:

3.1, taking a current value Amin corresponding to the minimum value of the mounting pressure to execute a pressure calibration single flow in the step 1, obtaining a Z-axis current coordinate P1 and a pressure sensor current value W1, when W1 is smaller than the maximum value of the mounting pressure, adding a current change interval to the current to obtain a current test current, executing the pressure calibration single flow in the step 1 with the current test current, obtaining a Z-axis current coordinate P2 and a pressure sensor current value W2, and so on until the pressure of the pressure sensor is larger than the maximum value of the mounting pressure, and generating a corresponding relation table of the current and the pressure at this moment;

step 3.2, sequentially generating a plurality of corresponding relation tables of current and pressure according to the flow of the step 3.1;

and 3.3, averaging the data in the corresponding relation tables to obtain a final corresponding relation table of the current and the pressure.

5. The pressure calibration method according to claim 4, wherein: in step 5, when the set mounting pressure W cannot be found in the final current-pressure correspondence table, the set mounting pressure W is substituted into a function by adopting a method that the default between two adjacent pressure nodes is a linear relationship, so as to obtain a current a corresponding to W.

6. The pressure calibration method according to claim 4, wherein: in step 5, when the set mounting pressure W cannot be found in the final current-pressure correspondence table, fitting all the current-pressure data in the final current-pressure correspondence table into a curve function by means of curve fitting, and calculating a corresponding current value using the curve function according to the input pressure value.

7. A mounting pressure calibration device that realizes the pressure calibration method according to any one of claims 1 to 6, characterized in that: support column (1) with interval distribution, X axle crossbeam (2) are installed to the last stride of support column (1), it pastes dress actuating mechanism (3) to slide to be provided with on X axle crossbeam (2), install terminal dress mechanism (4) on pasting dress actuating mechanism (3), this dress pressure calibrating device still has pressure sensor (5) that are located terminal dress mechanism (4) below, when carrying out pressure calibration, makes the linear motion along X axle direction on X axle crossbeam (2) through pasting dress actuating mechanism (3) to make the linear motion along Y axle direction and Z axle direction through pasting dress actuating mechanism (3) drive terminal dress mechanism (4), so that suction nozzle (41) on terminal dress mechanism (4) remove to the operating position department suitable relatively with pressure sensor (5).

8. The mounting pressure calibration device according to claim 7, wherein: the pressure sensor (5) is fixed on an equipment base body frame of the placement machine through a pressure sensor mounting seat (6).

9. The mounting pressure calibration device according to claim 7, wherein: the mounting surface of the support column (1) on the equipment base body frame of the mounter is set to be a first mounting surface, the mounting surface of the pressure sensor mounting seat (6) on the equipment base body frame of the mounter is set to be a second mounting surface, and the first mounting surface and the second mounting surface are located on the same plane.

10. The mounting pressure calibration device according to claim 7, wherein: the tail end pasting mechanism (4) also comprises a U-shaft mounting support (42) fixed in front of the pasting driving mechanism (3), a U-shaft motor upper cover (43) connected with the U-shaft mounting support (42), a rotary position sensor (44) fixed on the upper part of the U-shaft motor upper cover (43), a U-shaft motor (45) fixed below the U-shaft motor upper cover (43), a limiting block (46) fixed at the lower end of the outer wall of the U-shaft motor (45) through a fastening piece, a first limiting column (47) detachably assembled on the limiting block (46), a leveling mechanism (48) assembled at the front end of the U-shaft mounting support (42), a rotary motor shaft (52) assembled inside the U-shaft motor (45), a plurality of second limiting columns (49) radially and uniformly fixed at the lower part of the rotary motor shaft (52), a plurality of magnets (50) and a plurality of positioning steel balls (51) embedded in the lower end face of the rotary motor shaft (52), the upper end face of the suction nozzle (41) is correspondingly provided with a magnet (50) and a positioning hole.

Technical Field

The invention relates to the technical field of surface mounting pressure control of a surface mounting machine, in particular to a surface mounting pressure calibration device and a pressure calibration method thereof.

Background

When a mounter picks up and mounts a product, the mounting pressure (force) needs to be controlled according to the characteristics, the process and other conditions of the product to ensure that the product is qualified, and the mounting pressure is controlled by controlling the current of a mounting motor during mounting.

The existing placement machine mainly has two modes of controlling the placement pressure, one mode is to determine the pressure by directly inputting current or the coefficient of the current, the parameter setting of the mode is not intuitive, the pressure cannot be determined, the use is troublesome, and the pressure needs to be set through practical experience or instructions provided by manufacturers; the other method is to correct the relation between the pressure and the current before leaving the factory, and the pressure is directly set in this way, but in the using process of the equipment, the actual pressure is different from the set pressure due to factors such as speed, temperature and load, and the mounting effect is influenced.

Because current pressure parameter sets up not directly perceived, uses troublesome, and can't rectify according to the site conditions in the use, influences the subsides dress effect, consequently need a new mode that the subsides installation controlled to paste dress pressure urgently, aim at solving traditional parameter and set up not directly perceived, the inaccurate problem of pressure in the use.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art.

Therefore, the invention provides the mounting pressure calibration device and the pressure calibration method thereof, and the mounting pressure calibration device and the pressure calibration method thereof have the advantages of intuitive parameter setting, simplicity in use and capability of performing correction according to the field condition in the use process so as to ensure the mounting effect.

According to the mounting pressure calibration device and the pressure calibration method thereof provided by the embodiment of the invention, the pressure calibration method comprises the following steps: step 1, translating the tail end mounting mechanism above the pressure sensor, moving a Z axis of the tail end mounting mechanism to enable the Z axis to be close to the pressure sensor, storing the force control starting position P0, and performing a single execution flow of pressure calibration; step 2, during product design, determining a mounting pressure range supported by a tail end mounting mechanism, wherein the minimum value of the mounting pressure is Wmin, the maximum value of the mounting pressure is Wmax, calibrating the relation between the pressure and the current, and determining the current corresponding to the minimum value of the mounting pressure Wmin; step 3, generating a corresponding relation table of current and pressure; step 4, generating a corresponding relation table of current and pressure corresponding to different speeds; and 5, during mounting operation, mounting pressure is set, force control speed is selected, and software directly obtains a corresponding current value from a corresponding relation table of current and pressure to execute the mounting operation. Paste dress pressure calibrating device has interval distribution's support column, the X axle crossbeam is installed to the cross-over on the support column, it is provided with and pastes dress actuating mechanism to slide on the X axle crossbeam, paste and install terminal subsides dress mechanism on the dress actuating mechanism, this paste dress pressure calibrating device still has the pressure sensor who is located terminal subsides dress mechanism below, when carrying out pressure calibration, through pasting dress actuating mechanism and making the linear motion along X axle direction on X axle crossbeam to make the linear motion along Y axle direction and Z axle direction through pasting the terminal dress mechanism of dress actuating mechanism drive, so that the suction nozzle on the terminal dress mechanism removes to the operating position department suitable relatively with pressure sensor.

The invention has the advantages that the tail end mounting mechanism executes force control operation on the pressure sensor according to the set parameters to generate a relation table of the current and the pressure of the motor, so as to obtain the pressure corresponding to different current values of the motor, during actual operation, the pressure is set according to the process requirements, the current value of the motor corresponding to the pressure is found through the relation table of the current and the pressure of the motor, and the parameters are set visually and are simple to use.

Further specifically, in the above technical solution, in the step 1, the specific steps are as follows:

step 1.1, the tail end mounting mechanism moves to a force control starting position P0, a current value A is set, the Z axis of the tail end mounting mechanism is switched to a force control mode, and force control operation is executed;

1.2, after the force control operation is finished, waiting for set stabilization time, and acquiring a current coordinate P of a Z axis and a current value W0 of a pressure sensor;

and 1.3, moving the tail end mounting mechanism to a force control starting position P0, switching the Z axis to a normal mode, ending the single force control execution flow, and storing a force control completion Z axis coordinate P and a force control completion pressure sensor current value W0.

Further specifically, in the above technical solution, in the step 2, the specific steps are as follows:

step 2.1, knowing the maximum current supported by a Z-axis motor of the tail end mounting mechanism, taking the current value as the middle value of the maximum current, firstly executing a pressure calibration single flow in the step 1 by using the current value, and obtaining the current value S1 of the pressure sensor;

step 2.2, when the current value S1 of the pressure sensor is smaller than the minimum mounting pressure value, adding a current change interval to the current to obtain the current test current, executing a single pressure calibration flow in the step 1 by using the current test current to obtain the current value S2 of the pressure sensor until the current value S2 of the pressure sensor is basically the same as the minimum mounting pressure value, and determining a current value Amin corresponding to the minimum mounting pressure value; when the current value S2 of the pressure sensor is greater than the minimum mounting pressure value, subtracting the current change interval from the current to obtain the current test current, and performing the pressure calibration single flow in step 1 with the current test current to obtain the current value S3 of the pressure sensor until the current value S3 of the pressure sensor is substantially the same as the minimum mounting pressure value, and determining the current value Amin corresponding to the minimum mounting pressure value.

Further specifically, in the above technical solution, in the step 3, the specific steps are as follows:

3.1, taking a current value Amin corresponding to the minimum value of the mounting pressure to execute a pressure calibration single flow in the step 1, obtaining a Z-axis current coordinate P1 and a pressure sensor current value W1, when W1 is smaller than the maximum value of the mounting pressure, adding a current change interval to the current to obtain a current test current, executing the pressure calibration single flow in the step 1 with the current test current, obtaining a Z-axis current coordinate P2 and a pressure sensor current value W2, and so on until the pressure of the pressure sensor is larger than the maximum value of the mounting pressure, and generating a corresponding relation table of the current and the pressure at this moment;

step 3.2, sequentially generating a plurality of corresponding relation tables of current and pressure according to the flow of the step 3.1;

and 3.3, averaging the data in the corresponding relation tables to obtain a final corresponding relation table of the current and the pressure.

Further specifically, in the above technical solution, in the step 5, when the set mounting pressure W cannot be found in the final current-pressure correspondence table, the set mounting pressure W is substituted into the function by adopting a method that a default is a linear relationship between two adjacent pressure nodes, so as to obtain the current a corresponding to W.

Further specifically, in the above technical solution, in the step 5, when the set mounting pressure W cannot be found in the final current-pressure correspondence table, all the current-pressure data in the final current-pressure correspondence table are fitted into a curve function by means of curve fitting, and the corresponding current value is calculated by using the curve function according to the input pressure value.

Further specifically, in the above technical solution, the pressure sensor is fixed to an apparatus base frame of the mounter through a pressure sensor mounting seat.

Further specifically, in the above technical solution, a mounting surface of the support pillar on the device base frame of the mounter is set as a first mounting surface, a mounting surface of the pressure sensor mounting base on the device base frame of the mounter is set as a second mounting surface, and the first mounting surface and the second mounting surface are located on the same plane.

Further specifically, in the above technical scheme, the terminal mounting mechanism further includes a U-axis mounting support fixed in front of the mounting driving mechanism, a U-axis motor upper cover connected to the U-axis mounting support, a rotational position sensor fixed on an upper portion of the U-axis motor upper cover, a U-axis motor fixed below the U-axis motor upper cover, a limit block fixed on a lower end of an outer wall of the U-axis motor through a fastener, a first limit post detachably assembled on the limit block, a leveling mechanism assembled on a front end of the U-axis mounting support, a rotating motor shaft assembled inside the U-axis motor, a plurality of second limit posts radially and uniformly fixed on a lower portion of the rotating motor shaft, a plurality of magnets and a plurality of positioning steel balls embedded in a lower end face of the rotating motor shaft, and magnets and positioning holes are correspondingly configured on an upper end face of the suction nozzle.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic structural diagram of a mounting pressure calibration device according to the present invention;

FIG. 2 is a second schematic structural view of the mounting pressure calibration device of the present invention;

FIG. 3 is a first schematic structural view of the end attaching mechanism;

FIG. 4 is a second schematic structural view of the end attachment mechanism;

FIG. 5 is a general flow chart of the pressure calibration method of the present invention;

FIG. 6 is a detailed flowchart of step 1 of the general flowchart;

FIG. 7 is a detailed flowchart of step 2 of the general flowchart;

fig. 8 is a detailed flowchart of step 3 of the general flowchart.

The reference numbers in the drawings are: 1. a support pillar; 2. an X-axis beam; 3. a mounting drive mechanism; 4. a tail end mounting mechanism; 5. a pressure sensor; 6. a pressure sensor mount; 41. a suction nozzle; 42. a support is installed on the U shaft; 43. an upper cover of the U-axis motor; 44. a rotational position sensor; 45. a U-axis motor; 46. a limiting block; 47. a first limiting column; 48. a leveling mechanism; 49. a second limiting column; 50. a magnet; 51. positioning the steel balls; 52. rotating the motor shaft.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1 and 2, the mounting pressure calibration device of the present invention includes support columns 1 distributed at intervals, an X-axis beam 2 is mounted on the support columns 1 in a straddling manner, a mounting driving mechanism 3 is slidably disposed on the X-axis beam 2, a terminal mounting mechanism 4 is mounted on the mounting driving mechanism 3, and the mounting pressure calibration device further includes a pressure sensor 5 located below the terminal mounting mechanism 4, where it is to be noted that the pressure sensor 5 is a device for measuring pressure, and is similar to an electronic scale, and can measure the weight of an object pressed on a scale pan. When pressure calibration is performed, the mounting driving mechanism 3 makes a linear motion along the X-axis direction on the X-axis beam 2, and the mounting driving mechanism 3 drives the terminal mounting mechanism 4 to make a linear motion along the Y-axis direction and the Z-axis direction, so that the suction nozzle 41 on the terminal mounting mechanism 4 moves to a suitable working position relative to the pressure sensor 5. That is, during pressure calibration, the mounting driving mechanism 3 moves along the X axis to a position directly above the pressure sensor 5, the mounting driving mechanism 3 drives the terminal mounting mechanism 4 to move along the Y axis, so that the center of the suction nozzle 41 is aligned with the pressure sensor 5, the mounting driving mechanism 3 drives the terminal mounting mechanism 4 to move along the Z axis, so that the suction nozzle 41 approaches the pressure sensor 5, and the pressing force calibration method performs pressure calibration.

The number of the support columns 1 is two, the two support columns 1 are relatively fixed on an equipment base body frame, the X-axis cross beam 2 is fixed between the two support columns 1, the plurality of mounting driving mechanisms 3 are arranged at the front ends of the X-axis cross beams 2 in a sliding mode, the mounting driving mechanisms 3 can make linear motion along the X-axis direction in a reverse mode through related driving devices, the tail end mounting mechanisms 4 are fixed at the front ends of the mounting driving mechanisms 3, the mounting driving mechanisms 3 can drive the tail end mounting mechanisms 4 to make linear motion in the Y-axis direction and the Z-axis direction through the related driving devices, and the suction nozzles 41 are fixed at the lower ends of the tail end mounting mechanisms 4. The pressure sensor 5 is fixed on an equipment base body frame of the placement machine through a pressure sensor mounting seat 6, specifically, the pressure sensor mounting seat 6 is fixed on the equipment base body frame, the pressure sensor 5 is fixed on the top of the pressure sensor mounting seat 6, the pressure sensor 5 is located below the tail end placement mechanism 4, and one or more pressure sensors 5 are specifically required to be configured according to the number of the tail end placement mechanisms 4. The mounting surface of the support column 1 mounted on the equipment base body frame of the mounter is set to be a first mounting surface, the mounting surface of the pressure sensor mounting seat 6 mounted on the equipment base body frame of the mounter is set to be a second mounting surface, and the first mounting surface and the second mounting surface are located on the same plane.

Referring to fig. 3 and 4, the tail end attaching mechanism 4 further includes a U-axis mounting support 42 fixed in front of the attaching driving mechanism 3, a U-axis motor upper cover 43 connected to the U-axis mounting support 42, a rotational position sensor 44 fixed on the upper portion of the U-axis motor upper cover 43, a U-axis motor 45 fixed below the U-axis motor upper cover 43, a limit block 46 fixed on the lower end of the outer wall of the U-axis motor 45 through a fastener, a limit post 47 detachably assembled on the limit block 46, a leveling mechanism 48 assembled on the front end of the U-axis mounting support 42, a rotating motor shaft 52 assembled inside the U-axis motor 45, a plurality of limit posts 49 radially and uniformly fixed on the lower portion of the rotating motor shaft 52, a plurality of magnets 50 and a plurality of positioning steel balls 51 embedded in the lower end face of the rotating motor shaft 52, and a corresponding magnet 50 and positioning hole are disposed on the upper end face of the suction nozzle 41. The end attachment mechanism 4 can realize rotation of the U-axis for realizing angle change of the suction nozzle 41. The U-axis motor 45 can be finely adjusted in parallelism by the leveling mechanism 48. The rotational position sensor 44 monitors the rotational position of the rotating motor shaft 52. The rotary motor shaft 52 is driven by the U-axis motor 45 to rotate, and the rotary motor shaft 52 is hollow. The second limiting column 49, the limiting block 46 and the first limiting column 47 are combined to limit the rotating range of the rotating motor shaft 52. By utilizing the magnetic attraction and the cooperation between the positioning steel balls 51 and the positioning holes, the quick detachment and installation of the suction nozzle 41 can be realized.

The tail end attaching mechanism 4 executes force control operation on the pressure sensor 5 according to the set parameters to generate a relation table of motor current and pressure, and obtains the pressure (unit: gram) corresponding to different current values of the motor. The force control operation principle is that the Z axis of the tail end attaching mechanism 4 moves downwards at a certain speed, continues to move downwards after being pressed to an object, monitors the current of a Z axis motor of the tail end attaching mechanism 4 in real time (the larger the resistance is, the larger the current is), and stops moving immediately when the current of the Z axis motor exceeds a set value.

Referring to fig. 5, 6, 7 and 8, the pressure calibration method of the mounting pressure calibration apparatus includes the steps of:

step 1, translating the tail end attaching mechanism 4 to a position above the pressure sensor 5, moving a Z axis of the tail end attaching mechanism 4 to enable the Z axis to be close to the pressure sensor 5 (the height from the pressure sensor 5 can be freely set, and the height can affect the calibration efficiency), storing the force control starting position P0, and setting parameters such as force control speed, stabilization time, search height and the like. The single execution flow of the pressure calibration is shown in fig. 6, and the specific steps are as follows:

step 1.1, the tail end mounting mechanism 4 moves to a force control starting position P0, a current value A is set, the Z axis of the tail end mounting mechanism 4 is switched to a force control mode, and force control operation is executed;

step 1.2, after the force control operation is finished, waiting for set stabilization time (unit: ms), and acquiring a current coordinate P of a Z axis and a current value W0 of a pressure sensor;

and step 1.3, moving the tail end mounting mechanism 4 to a force control starting position P0, switching the Z axis to a normal mode, ending the single force control execution flow, and storing a force control completion Z axis coordinate P and a force control completion pressure sensor current value W0.

Step 2, during product design, determining a mounting pressure range (unit: gram) supported by the tail end mounting mechanism 4, wherein the minimum value of the mounting pressure is Wmin, the maximum value of the mounting pressure is Wmax, calibrating the relationship between the pressure and the current, and firstly determining the current corresponding to the minimum value of the mounting pressure Wmin, specifically including the following steps (as shown in fig. 7):

step 2.1, knowing that the maximum current supported by the Z-axis motor of the tail end mounting mechanism 4 is Amax (unit: ampere), taking the current value Acurrent as the middle value Amax/2.0 of the maximum current, firstly, executing a pressure calibration single flow in the step 1 by using the current Acurrent, and obtaining the current value S1 of the pressure sensor;

step 2.2, current value S1 of pressure sensor<When the minimum value Wmin of the mounting pressure is reached, adding the current Acurrent to the current change interval Ainterval to obtain the current test current Acurrent, and taking the current test current Acurrent as the current test current^’Executing a single pressure calibration process in the step 1, and obtaining a current value S2 of the pressure sensor until a current value S2 of the pressure sensor is substantially the same as the minimum mounting pressure Wmin, at which time a current value Amin corresponding to the minimum mounting pressure Wmin may be determined; when the pressure sensor is at the current value S2>When the minimum value Wmin of the mounting pressure is reached, the current Acurrent subtracts the current change interval Ainterval to obtain the current test current Acurrent, and the current test current Acurrent is used as the current test current^’The pressure calibration single flow in step 1 is executed to obtain the current value S3 of the pressure sensor until the current value S3 of the pressure sensor is substantially the same as the minimum value Wmin of the mounting pressure, at which time the current value Amin corresponding to the minimum value Wmin of the mounting pressure may be determined.

It should be noted that the current values S1 of the pressure sensors in the step 2.1 and the step 2.2, the current value S2 of the pressure sensor in the step 2.2, the current value S3 of the pressure sensor in the step 2.2, and the current value W0 of the pressure sensor in the step 1.2 are different currents for performing force control, and when the force control is completed, the pressure sensor 5 has a real-time reading value, which is called a current value or a real-time value, and the meanings are the same, but the corresponding currents for performing the force control are different.

And the Ainterval is a current change interval, and the pressure calibration single flow in the step 1 is executed every time the current is changed, so that the pressure corresponding to the current value is obtained.

Step 3, generating a corresponding relation table of the current and the pressure, as shown in fig. 8, specifically including the following steps:

step 3.1, a current value Amin corresponding to the minimum value of the mounting pressure is taken as the current value Acurrent to execute a pressure calibration single flow in the step 1, a current coordinate P1 of the Z axis and a current value W1 of the pressure sensor are obtained, and when W1<When the maximum value Wmax of the mounting pressure is reached, the current Acurrent is added to the current change interval Ainterval to obtain the current test current Acurrent^’And at the present test current Acurrent^’Executing a pressure calibration single flow in the step 1, obtaining a current coordinate P2 of a Z axis and a current value W2 of a pressure sensor, and so on until the pressure is greater than the maximum value Wmax of the mounting pressure, and generating a corresponding relation table of current and pressure; it should be noted that the current Z-axis coordinate P1 in step 3.1, the current Z-axis coordinate P2, and the current Z-axis coordinate P in step 1.2 are implemented with different currents, and when the force control is completed, the Z-axis has a real-time coordinate, and this value is called a current value or a real-time value, which means the same meaning, but the currents corresponding to the implemented force control are different. The current value W1 of the pressure sensor in step 3.1, the current value W2 of the pressure sensor, and the current value W0 of the pressure sensor in step 1.2 are different currents for performing force control, and when the force control is completed, the pressure sensor 5 has a real-time reading value, which is called a current value or a real-time value, and the meanings are the same, except that the currents corresponding to the force control are different.

Step 3.2, sequentially generating a plurality of corresponding relation tables of current and pressure according to the flow of the step 3.1;

and 3.3, averaging the data in the corresponding relation tables (such as the first corresponding relation table, the second corresponding relation table, the third corresponding relation table and the like) to obtain a final corresponding relation table of the current and the pressure.

It should be noted that, the mounting mechanism executes the force control operation, because of the influence of factors such as machinery, the pressure sensor 5, the motor and the like, the data obtained each time has a slight deviation, and the corresponding relation table of the current and the pressure can be ensured to be more accurate by calculating and averaging for many times.

The final current versus pressure table, generated at a rate of 1mm/s, is as follows:

current (A)	.......	0.428	0.448	0.459	0.467	......	0.614	0.63	0.652	0.675	......
												Pressure (g)	......	150	170	184.7	198.6	......	427.8	443.8	455.1	471.9	......

Step 4, generating a corresponding relation table of current and pressure corresponding to different speeds, wherein the generated speeds are 2mm/s, 3mm/s, 4mm/s and the like; the force control speed is different according to different mounting processes; different speeds, the same current value is used for executing force control, and the obtained pressure values are different (different speeds, different impact forces or different inertia); generating a corresponding relation table of current and pressure corresponding to different speeds according to the step 3;

and 5, during mounting operation, mounting pressure is set, force control speed is selected, and software directly obtains a corresponding current value from a corresponding relation table of current and pressure to execute the mounting operation. It should be noted that, the step 3 obtains a speed relationship table, the step 4 obtains other speed relationship tables, and according to the set force control speed, the relationship table corresponding to the speed is found first, and then the current corresponding to W is found in the table.

When the set mounting pressure W cannot be found in the final correspondence table between current and pressure, a method of default linear relationship between two adjacent pressure nodes may be adopted, specifically, the pressure node C1 and C2 closest to W are obtained from the relationship table, a straight line function is generated by C1, C2 and their corresponding currents a1 and a2, W is brought into the function, and the current a corresponding to W is obtained, the method defaults that the two adjacent pressure nodes are linear relationship, and the linear relationship calculation method is as follows: taking the data (0.448,170) and (0.459, 184.7) in table 1, k and b (k is 1336 and b is-429) are calculated according to the linear equation y = kx + b, the linear relationship y = kx + b (y =1336 x-429) is obtained, and the set mounting pressure W is substituted into the function, so that the current a corresponding to W is obtained.

When the set mounting pressure W cannot be found in the final current-pressure correspondence table, all the current-pressure data in the correspondence table may be fitted to a curve function by curve fitting, and the corresponding current value is calculated by using the curve function according to the input pressure value.

When the mounting task is executed, the mounting task execution frequency can be set according to the requirement of a manufacturer, and when the mounting task execution frequency reaches a set value, the equipment executes the 1 st to 5 th calibration steps, so that the influence of mechanical, temperature and other environmental factors on the mounting precision during mounting is avoided, and the mounting precision is improved.

The tail end attaching mechanism 4 executes force control operation on the pressure sensor 5 according to the set parameters to generate a relation table of motor current and pressure, and obtains the pressure (unit: gram) corresponding to different current values of the motor.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.