CN116709764B - Position deviation compensation method for turret type MiniLED patch equipment - Google Patents
Position deviation compensation method for turret type MiniLED patch equipment Download PDFInfo
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Abstract
The invention relates to a position deviation compensation method of turret type MiniLED patch equipment, which comprises the following steps: step 1, establishing a PCB coordinate system O A Calculating an XY global coordinate system and O A An angular deviation θ between the coordinate systems; step 2, moving the PCB to a preset position, placing a first MiniLED on the PCB, and calculating the position deviation between the ideal placement position of the first MiniLED and the actual placement position of the first MiniLED on the PCB through vision, so as to calculate the position deviation of the PCB, and performing movement compensation on the PCB according to the position deviation of the PCB; step 3, calculating the discharging position of the current MiniLED according to the angle deviation theta; calculating the suction nozzle deviation of the MiniLED caused by the angle and the position deviation of the MiniLED in the suction nozzle; calculating the moving position of the PCB according to the current discharging position of the MiniLED and the suction nozzle deviation of the MiniLED; and 4, controlling a motion motor of the PCB by a motion control system, and compensating the corresponding position by the motion motor control PCB to place the current MiniLED.
Description
Technical Field
The invention relates to a MiniLED (light emitting diode) patch technology, in particular to a position deviation compensation method of turret type MiniLED patch equipment.
Background
The direct display MiniLED lamp bead with the overall dimension of 0.2-1.6 mm is widely applied to various high-definition display screens and various electronic equipment. Along with the wider application of the MiniLED, the requirements on the production process and production equipment of the MiniLED are higher, so that the turret type MiniLED patch equipment has wide application in the field of production and manufacturing of the MiniLED due to the advantages of high production efficiency and small occupied area.
For turret-type MiniLED patch equipment, as the mounting speed is high, a manipulator for grabbing the MiniLED needs to grab the MiniLED at high frequency, and is limited by the precision of the equipment, the actual position and angle of the grabbed MiniLED often deviate from the ideal position and angle required by the patch, and the position and angle of the MiniLED need to be correspondingly compensated.
The existing compensation method is based on LEDs with larger sizes, and with the increasing miniaturization production requirement of MiniLEDs, the existing production and error compensation method for LEDs with larger sizes cannot meet the requirement.
Disclosure of Invention
The invention aims to provide a position deviation compensation method of turret type MiniLED patch equipment, which is used for solving the patch error problem of the turret type MiniLED patch equipment in the prior art.
The invention discloses a position deviation compensation method of turret type MiniLED patch equipment, which comprises the following steps: step 1, establishing a PCB coordinate system O A Calculating an XY global coordinate system and O A An angular deviation θ between the coordinate systems; step 2, moving the PCB to a preset position, placing a first MiniLED on the PCB, and calculating the position deviation between the ideal placement position of the first MiniLED and the actual placement position of the first MiniLED on the PCB through vision, so as to calculate the position deviation of the PCB, and performing movement compensation on the PCB according to the position deviation of the PCB; step 3, calculating the discharging position of the current MiniLED according to the angle deviation theta; calculating the suction nozzle deviation of the current MiniLED caused by the angle and position deviation of the MiniLED in the suction nozzle; calculating the moving position of the PCB according to the discharging position of the current MiniLED and the suction nozzle deviation of the current MiniLED; and 4, controlling a motion motor of the PCB by a motion control system according to the moving position of the PCB, enabling the PCB to compensate the corresponding position, then carrying out the placement of the current MiniLED, judging whether the placement of the MiniLED is needed to be continued, if so, turning to the step 3, otherwise, ending.
An embodiment of a position deviation compensation method of a turret type MiniLED patch device according to the present invention, wherein a PCB coordinate system O is established A Comprising the following steps: selecting three Mark points, and connecting adjacent points in the three Mark points to form two lines Y perpendicular to each other A -O A X is as follows A -O A Establishing a PCB coordinate system O A The method comprises the steps of carrying out a first treatment on the surface of the Establishing XY global coordinatesThe system comprises: the motor shaft intersection point after the X-axis motor and the Y-axis motor return to zero is used as an origin of an XY global coordinate system, the axis of the Y-axis motor is parallel to the Y axis of the XY global coordinate system, and the axis of the X-axis motor is parallel to the X axis of the XY global coordinate system.
An embodiment of the positional deviation compensation method of the turret type MiniLED chip mounting device according to the present invention, wherein the positional deviation compensation method is defined along O A X of coordinate system A Two patch points (x) 1 ,y 1 ) And (x) 2 ,y 2 ) Calculating an XY global coordinate system and O A The angular deviation θ between the coordinate systems includes: θ=arctan (abs (y 2 -y 1 )/abs(x 2 -x 1 ))。
According to one embodiment of the position deviation compensation method of the turret type MiniLED patch device, the preset position is near the ideal placement position of the first MiniLED on the PCB.
According to one embodiment of the position deviation compensation method of the turret type MiniLED patch device, the position deviation of the PCB is the position deviation under a PCB coordinate system or an XY global coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the Recording the position of the MiniLED position after the PCB board movement compensation in an XY global coordinate system, and taking the position as the MiniLED position (X work ,Y work ) And combining the angle deviation of the PCB of the front MiniLED to calculate the current discharging position of the MiniLED.
According to an embodiment of the position deviation compensation method of the turret type MiniLED patch device, the suction nozzle deviation of the MiniLED comprises the following steps: let the bottom visual coordinate system be O B Suction nozzle coordinate system O C The method comprises the steps of carrying out a first treatment on the surface of the Suction nozzle coordinate system O C Rotation θ B The coordinate system after the angle is O D Coordinate system, O D Coordinate system and O B The coordinate systems are parallel; current MiniLED at O D Coordinates in a coordinate system (PX D ,PY D ）：The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the MiniLED is at O C Coordinates in the coordinate system (X c ,Y c )；O D Origin of coordinate system at O B The coordinates in the coordinate system are: XO (Crystal oxygen) device CB = r*sin(θ B )；YO CB = r-r*cos(θ B ) The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the track radius of the suction nozzle is r; current MiniLED at O B In the coordinate system, the nozzle deviation (PX, PY) of the current MiniLED includes:
according to an embodiment of the position deviation compensation method of the turret type MiniLED patch device, the calculating the moving position of the PCB according to the discharging position of the current MiniLED and the suction nozzle deviation of the current MiniLED comprises: calculating the angle deviation of the PCB of the current MiniLED comprises the following steps:
the rowno is the row number of the MiniLED in the PCB, the width represents the row direction spacing, the colno is the column number of the MiniLED in the PCB, and the length represents the column direction spacing; calculating the ideal MiniLED position (X, Y), including: x=x work + X pcb +PX；Y = Y work + Y pcb +PY; and calculating the moving position of the PCB according to the ideal MiniLED position.
An embodiment of the position deviation compensation method of the turret type MiniLED patch device according to the invention, wherein the two patch points are along O A X of coordinate system A Two points whose axial mutual distance is greater than a certain threshold.
An embodiment of the position deviation compensation method of the turret type MiniLED patch device according to the invention, wherein the suction nozzle is arranged at the position O B Under the coordinate system, the position N1 of the MiniLED under the bottom visual coordinate system is obtained through template matching; after the suction nozzle rotates 180 degrees, calculating the position N2 of the MiniLED under the bottom visual coordinate system through template matching; the line connecting N1 and N2 is the diameter of the nozzle trajectory circle,further obtaining the track radius r of the suction nozzle; calculation of θ by template matching B And (5) corners.
According to one embodiment of the position deviation compensation method of the turret type MiniLED patch device, if the size and the structure of the PCB are the same, the deviation movement compensation of the PCB is performed from the step 3 after the PCB is replaced each time.
According to the position deviation compensation method of the turret type MiniLED patch equipment, the deviation of the MiniLED on the suction nozzle is compensated, and the position deviation caused by the angle difference of the PCB is compensated, so that the PCB is controlled to compensate a certain position through motion control, the patch of the MiniLED can be more accurate without complex motion control, and the error is smaller.
Drawings
FIG. 1 is a schematic diagram of a PCB substrate;
FIG. 2 is a schematic diagram of a motion mechanism of a PCB substrate;
FIG. 3 is a schematic diagram of a PCB coordinate system;
FIG. 4 is a diagram showing the angular deviation between the PCB coordinate system and the XY global coordinate system;
FIG. 5 is a schematic diagram showing the deviation of the ideal MiniLED position from the actual MiniLED position in the PCB coordinate system;
FIG. 6 is a schematic diagram of a nozzle coordinate system;
FIG. 7 is a schematic view of a nozzle trajectory;
FIG. 8 is a schematic view of a mounting structure of a suction nozzle;
FIG. 9 is a schematic diagram of the state of MiniLED in visual coordinate system;
FIG. 10 is a schematic diagram showing a calculation process of the position deviation;
fig. 11 is a schematic diagram of patch compensation of a MiniLED.
Detailed Description
For the purposes of clarity, content, and advantages of the present invention, a detailed description of the embodiments of the present invention will be described in detail below with reference to the drawings and examples.
The long-term practice of the inventor finds that the mounting process of the MiniLED on the PCB is limited by the accuracy of the device, and the existing LED mounting mode can meet the mounting of LEDs with certain size, but the mounting accuracy of the MiniLED mounting with higher mounting accuracy requirement is often not ideal.
Through the careful test of the inventor on the turret type MiniLED patch device, the factor influencing the MiniLED patch precision of the turret type MiniLED patch device is mainly two points, and one is that after the PCB is replaced, before the first MiniLED patch, the position precision of the PCB has deviation. In addition, since the turret type MiniLED generally adopts a suction nozzle to suck the MiniLED, the MiniLED on the suction nozzle has certain deviation due to the tiny action of the suction nozzle in the rotation process of the suction nozzle. Although the resulting deviations are not obvious from a single point of view, the superposition of the two deviations may have an unexpected effect on the accuracy of the MiniLED patch.
Therefore, the inventor designs a position deviation compensation method of the turret type MiniLED patch equipment through a large number of experiments and calculation, and the position deviation caused by the angle difference of the PCB is subjected to coordinated calculation and unified compensation through compensating the deviation of the MiniLED on the suction nozzle, and then the movement control is performed through the movement control PCB, so that the placement of the MiniLED is more accurate.
Fig. 1 is a schematic diagram of a PCB substrate, fig. 2 is a schematic diagram of a motion mechanism of the PCB substrate, and as shown in fig. 1 and 2, the present invention performs compensation calculation on a position deviation caused by an angle difference of the PCB substrate, including:
shooting a PCB substrate by a camera of a vision system, and randomly taking three Mark points from the four Mark points of the PCB substrate as shooting points;
as shown in fig. 2, a reference XY global coordinate system is established, the intersection point of two motor shafts after the X motor and the Y motor return to zero is used as the origin of the XY global coordinate system, the Y axis of the XY motor is parallel to the Y axis of the XY global coordinate system, and the X axis of the XY motor is parallel to the X axis of the XY global coordinate system;
fig. 3 is a schematic diagram of a PCB board coordinate system, the establishing of the PCB board coordinate system including: two adjacent points of the three Mark points are connected to form two lines Y perpendicular to each other A -O A X is as follows A -O A Establishing a PCB coordinate system O A ；
Computing an XY global coordinate System and O A An angular deviation θ between coordinate systems, comprising:
along O A X of coordinate system A Two MiniLED patch points P1 and P2 are selected in the direction, and the patch points are shown as O A The coordinates in the coordinate system are (x 1 ,y 1 ）,(x 2 ,y 2 ) Two patch points P1 and P2 are selected from two points with a long distance from each other, for example, a point on the boundary of the PCB board may be selected.
Computing an XY global coordinate System and O A The angular deviation between the coordinate systems includes:
θ = arctan(abs(y 2 -y 1 )/abs(x 2 -x 1 ))；
the PCB flat plate is moved to a preset position (x set ,y set ) The preset position can be selected to be near the position of the first MiniLED on the PCB.
Fig. 4 is a schematic diagram showing an angle deviation between a PCB coordinate system and an XY global coordinate system, fig. 5 is a schematic diagram showing a deviation between an ideal MiniLED position and an actual MiniLED position in the PCB coordinate system, and as shown in fig. 4 and fig. 5, the method for visually calculating a deviation between an ideal position of a first MiniLED and a MiniLED placed at a preset position may specifically include:
shooting a first MiniLED position, calculating the deviation between the ideal MiniLED position and the actual MiniLED position under the PCB coordinate system or the XY global coordinate system, and preferably selecting the XY global coordinate system；
PCB substrate is processed according to the deviation valuePerforming motion compensation to enable the first MiniLED position of the PCB substrate to correspond to the ideal MiniLED position of the suction nozzle;
recording the position of the current ideal MiniLED position in an XY global coordinate system as the position of the first MiniLEDPosition (X) in XY global coordinate system work ,Y work )。
After the PCB is replaced each time, if the size or the structure of the PCB is unchanged, when the MiniLED is placed at the ideal position of the PCB each time, the previous calculation result can be directly adopted, and the position of the first MiniLED of the PCB substrate corresponds to the ideal MiniLED position of the suction nozzle.
Fig. 6 is a schematic view of a coordinate system of a suction nozzle, fig. 7 is a schematic view of a track of the suction nozzle, fig. 8 is a schematic view of a mounting structure of the suction nozzle, fig. 9 is a state of a MiniLED in a visual coordinate system, as shown in fig. 6 to 9, compensation calculation is performed on deviation caused by the suction nozzle, a picture of the current MiniLED on the suction nozzle is taken, an angle and a position deviation of the MiniLED on the suction nozzle are calculated, and angle correction is performed by rotating an arm. Due to the influence of the mounting error and the machining precision, the suction nozzle is eccentric when rotating, and the angle theta in fig. 6 is the angle deviation of the MiniLED caused by the suction nozzle. The inventors have found that the trajectory of the nozzle is a circle due to the eccentricity, and that the rotation causes a variation in the positional deviation. Wherein, assuming that the radius of the track of the suction nozzle is r, a specific value can be calculated visually, as shown in fig. 9, the LED has a deviation of rotation angle, and can be rotated by θ through the arm motor of the suction nozzle B To compensate for the angle. The calculation process of r comprises the following steps:
the suction nozzle is arranged on the bottom visual coordinate system O B Under the condition, a visual coordinate system O with the MiniLED central point at the bottom is obtained through template matching B After the suction nozzle rotates 180 degrees at the lower position N1, calculating the visual coordinate system O of the MiniLED center point at the bottom through template matching B Position N2 below. The connecting line of the front and rear MiniLED central points N1 and N2 is the diameter of a rotary circle, and the track radius r of the suction nozzle is calculated based on the diameter.
FIG. 10 is a schematic diagram showing the calculation of the positional deviation, as shown in FIG. 10, in which the MiniLED is rotating the nozzle at θ B The calculation process of the position deviation after the angle comprises the following steps:
bottom visual coordinate system O B The coordinate system of the suction nozzle is O C . Coordinate system O B And the suction nozzle coordinate system O C Coinciding before the nozzle starts to rotate. Build O D Coordinate system, O D Coordinate system and bottom visual coordinate system O B Parallel, O D Origin of coordinate system and suction nozzle coordinate system O C Is coincident with the origin of (a).
Suction nozzle rotation θ B Angle, theta B The angle is the angle deviation of MiniLED under the bottom coordinate system, wherein, theta B The angle may be calculated by a template matching algorithm. Coordinate system O C Can rotate theta B The angle to correct the angle deviation of the MiniLED can be calculated as follows:
overall offset of MiniLED center point = MiniLED at O D Lower coordinate +O D Origin of coordinate system at O B Coordinates in a coordinate system;
MiniLED at O D The coordinates in the coordinate system are calculated as:
y C and x C For MiniLED center point at O C Coordinate values in the coordinate system;
O D origin of coordinate system at O B The coordinates in the coordinate system are calculated as:
finally, the MiniLED is obtained in a visual coordinate system O B Below, relative to the bottom visual coordinate system O B The integral offset (PX, PY) of the origin, i.e. the deviation of the MiniLED on the nozzle, is calculated by the formula:
according to the angle deviation theta between the XY global coordinate system and the OA coordinate system, calculating the discharging position of the current MiniLED on the suction nozzle under the XY global coordinate system, wherein the discharging position of the MiniLED under the XY global coordinate system is the position of the first MiniLED under the XY global coordinate system plus the deviation value of the current MiniLED on the PCB;
according to the MiniLED discharging position and the deviation of the MiniLED on the suction nozzle under the XY global coordinate system, the moving position of the PCB is calculated, so that the MiniLED can be placed at an ideal position after the PCB moves.
Fig. 11 is a schematic diagram of patch compensation of a MiniLED, and as shown in fig. 11, taking a P point as a discharging position of the MiniLED on a PCB board as an example, the calculating of the deviation of the P point in the PCB board includes:
rowo represents the number of rows of positions where MiniLEDs are placed in the PCB, width represents the row direction spacing, colno represents the number of columns of positions where MiniLEDs are placed in the PCB, and length represents the column direction spacing.
The MiniLED ideal placement position calculation includes:
X = X work +X pcb +PX；
Y = Y work +Y pcb +PY；
after the ideal discharging position of the MiniLED is obtained, the ideal discharging position of the MiniLED is sent to a motion control system, a control instruction is sent to a transverse motor and a longitudinal motor of the PCB by the motion control system, and the transverse motor and the longitudinal motor control the PCB to compensate corresponding distances so as to complete position deviation compensation, so that the MiniLED is placed at the ideal discharging position of the MiniLED of the PCB.
And repeatedly determining and placing the MiniLED ideal discharging position of each MiniLED on the PCB until the PCB is fully attached to the MiniLED.
According to the position deviation compensation method of the turret type MiniLED patch equipment, the angle and the position deviation of the MiniLED on the suction nozzle are obtained through bottom vision, the angle is corrected through the rotating motor, the angle rotation can cause the position change of the MiniLED due to the existence of the eccentricity, the position deviation caused by the angle correction is calculated, and the compensation is carried out through moving the PCB. The deviation of the PCB is mainly caused by the whole inclination of the PCB, the position after the deviation can be obtained through two-dimensional coordinate transformation, and the correct MiniLED patch position can be obtained through the compensation of the deviation of the two positions. Therefore, the patch of the MiniLED is more accurate, and the error is smaller.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (10)
1. The position deviation compensation method of the turret type MiniLED patch device is characterized by comprising the following steps of:
step 1, establishing a PCB coordinate system O A Calculating an XY global coordinate system and O A An angular deviation θ between the coordinate systems;
step 2, moving the PCB to a preset position, placing a first MiniLED on the PCB, and calculating the position deviation between the ideal placement position of the first MiniLED and the actual placement position of the first MiniLED on the PCB through vision, so as to calculate the position deviation of the PCB, and performing movement compensation on the PCB according to the position deviation of the PCB;
step 3, calculating the discharging position of the current MiniLED according to the angle deviation theta;
calculating the suction nozzle deviation of the current MiniLED caused by the angle and position deviation of the MiniLED in the suction nozzle;
calculating the moving position of the PCB according to the discharging position of the current MiniLED and the suction nozzle deviation of the current MiniLED;
step 4, controlling a motion motor of the PCB by a motion control system according to the moving position of the PCB, so that the PCB compensates the corresponding position, then carrying out the placement of the current MiniLED, judging whether the placement of the MiniLED is needed to be continued, if so, turning to step 3, otherwise, ending;
the calculating the current position to be placed of the MiniLED according to the angle deviation theta comprises the following steps:
recording the position of the MiniLED after the PCB board movement compensation in an XY global coordinate system to serve as the XY global coordinate of the first MiniLEDTethered MiniLED position (X work ,Y work ) And combining the angle deviation of the PCB of the current MiniLED to calculate the position of the current MiniLED to be discharged.
2. The method of claim 1, wherein a PCB coordinate system O is established A Comprising the following steps: selecting three Mark points, and connecting adjacent points in the three Mark points to form two lines Y perpendicular to each other A -O A X is as follows A -O A Establishing a PCB coordinate system O A ；
Establishing the XY global coordinate system comprises: the motor shaft intersection point after the X-axis motor and the Y-axis motor return to zero is used as an origin of an XY global coordinate system, the axis of the Y-axis motor is parallel to the Y axis of the XY global coordinate system, and the axis of the X-axis motor is parallel to the X axis of the XY global coordinate system.
3. The method of claim 1, wherein along O A X of coordinate system A Two patch points (x) 1 ,y 1 ) And (x) 2 ,y 2 ) Calculating an XY global coordinate system and O A The angular deviation θ between the coordinate systems includes:
θ = arctan(abs(y 2 -y 1 )/abs(x 2 -x 1 ))。
4. the method of claim 1, wherein the predetermined location is near an ideal placement location for the first MiniLED on the PCB.
5. The method of claim 4, wherein the positional deviation of the PCB is a positional deviation in a PCB coordinate system or an XY global coordinate system。
6. The method of claim 3, wherein the nozzle bias of the MiniLED comprises:
bottom is establishedThe visual coordinate system of the part is O B Suction nozzle coordinate system O C The method comprises the steps of carrying out a first treatment on the surface of the Suction nozzle coordinate system O C Rotation θ B The coordinate system after the angle is O D Coordinate system, O D Coordinate system and O B The coordinate systems are parallel;
current MiniLED at O D Coordinates in a coordinate system (PX D ,PY D ) The method comprises the following steps:
wherein, the MiniLED is at O C Coordinates in the coordinate system (X c ,Y c )；
O D Origin of coordinate system at O B The coordinates in the coordinate system are:
wherein, the track radius of the suction nozzle is r;
current MiniLED at O B In the coordinate system, the nozzle deviation (PX, PY) of the current MiniLED includes:
。
7. the method of claim 6, wherein calculating the movement position of the PCB based on the current minimum led's position to be discharged and the current minimum led's nozzle bias comprises:
calculating the angle deviation of the PCB of the current MiniLED comprises the following steps:
the rowno is the row number of the MiniLED in the PCB, the width represents the row direction spacing, the colno is the column number of the MiniLED in the PCB, and the length represents the column direction spacing;
calculating the ideal MiniLED position (X, Y), including:
X = X work + X pcb +PX；
Y = Y work + Y pcb +PY；
and calculating the moving position of the PCB according to the ideal MiniLED position.
8. The method of claim 3, wherein the two patch points are along O A X of coordinate system A Two points whose axial mutual distance is greater than a threshold value.
9. The method of claim 6, wherein,
suction nozzle at O B Under the coordinate system, the position N1 of the MiniLED under the bottom visual coordinate system is obtained through template matching; after the suction nozzle rotates 180 degrees, calculating the position N2 of the MiniLED under the bottom visual coordinate system through template matching; the connecting line of N1 and N2 is the diameter of a suction nozzle track circle, so that the track radius of the suction nozzle is r;
calculation of θ by template matching B And (5) corners.
10. The method of claim 1, wherein the deviation movement compensation of the PCB is performed from step 3 after each replacement of the PCB if the size and structure of the PCB are the same.
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