CN103945653A - Automatic correction method of multi-degree-of-freedom platform for flexible printed circuit printing - Google Patents
Automatic correction method of multi-degree-of-freedom platform for flexible printed circuit printing Download PDFInfo
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Abstract
The invention discloses an automatic correction method of a multi-degree-of-freedom platform for flexible printed circuit printing. The method includes the following steps that firstly, the multi-degree-of-freedom platform for flexible printed circuit printing is built; secondly, in the calibration process, coordinates of circle centers of two mark circles on a flexible printed circuit to be calibrated are positioned and identified, the angle of inclination of the connecting line of the circle centers is worked out, and the obtained circle center coordinates and angle of inclination are set as reference objects; thirdly, in the correction process, a correction model is built, and the flexible printed circuit to be corrected is automatically corrected and detected; fourthly, in the aligning process, the flexible printed circuit to be corrected is aligned, and the range deviation is reduced. By means of the method, technical defects in prior printing processes are overcome, the defect of difficult precise positioning is overcome in the printing process, the printing requirement for high precision in the flexible printed circuit printing process is met, and the automation of the flexible printed circuit printing process is achieved.
Description
Technical field
The present invention relates to a kind of automatic calibration alignment schemes of material to be printed, particularly relate to a kind of auto-correction method of multiple degrees of freedom platform of flexible circuit board printing.
Background technology
Flexible circuit board (Flexible Printed Circuit) is the printed circuit made from flexible insulating substrate, has advantages of that many rigid printed circuit boards do not possess.Flexible, coiling, folding, can require to arrange arbitrarily according to space layout, and any mobile and flexible at three dimensions, thereby reach integrated that components and parts assembling is connected with wire.
Because flexible circuit board has yielding feature, in the process of processing, easily produce bending by the factor such as static and air pressure, reel or defect, cause flexible circuit board to be difficult for processing, many operation processes rely on manually and solve, and the automatization level of industry is on the low side.
Printing is the important step of flexible circuit board processing, often needs to print the coating of multiple layers of different materials.In printing process, the relative position relation of every layer material is extremely strict, and generally deviation a little, very easily causes whole flexible board to be scrapped, and therefore, the precise positioning of printing platform is of crucial importance.The fixing means of current main-stream is on platform, to erect 2 reference columns, location hole on flexible board is directly enclosed within on reference column, thus the location of realizing flexible circuit board.This method is simply efficient, but also has some serious deficiencies: printing dislocation probability is high, efficiency difficult quality guarantee, the difficult high accuracy printing demand that is applicable to.
Summary of the invention
The object of the invention is to overcome the technical deficiency that existing flexible circuit board printing process exists, make up and in printing process, be difficult to pinpoint defect, a kind of auto-correction method of multiple degrees of freedom platform of flexible circuit board printing is provided, meet the high-precision printing demand in flexible circuit board printing process, realize the automation of flexible circuit board printing process.
The technical solution adopted for the present invention to solve the technical problems comprises the steps:
Step 1. is built towards the multiple degrees of freedom platform of flexible circuit board printing;
Step 2. calibration phase, concrete specific bit is identified the central coordinate of circle of two mark circles in flexible circuit board to be calibrated, the inclination angle of calculating circle center line connecting, the central coordinate of circle and the inclination angle that obtain are set to reference position;
Step 3. calibration phase, specifically comprises and sets up calibration model and automatic calibration and detect flexible circuit board to be corrected;
Step 4. align stage, specifically refers to the flexible circuit board that alignment is to be corrected, reduces range deviation.
The multiple degrees of freedom platform towards flexible circuit board printing that step 1 is set up is mainly used in controlling the printing alignment of flexible circuit board, by the identification of mark circle and calibration model in flexible circuit board, calculate the correction pulse of each motor, realize alignment and the printing of material to be printed by controlling the motion of motor.
The multiple degrees of freedom platform towards flexible circuit board printing that step 1 is built, comprises base, rotary printing platform, movement executing mechanism, 2 industrial cameras;
On rotary printing platform, be provided with two camera peepholes, be respectively peephole 1# and peephole 2#; Movement executing mechanism comprises motor X, motor Y1 and motor Y2, and movement executing mechanism is fixed on base, is connected with rotary printing platform, for supporting rotary printing platform and controlling platform and do and rotate and translational motion simultaneously; Wherein motor X is for controlling the motion of X-direction; Motor Y1 and Y2 are synchronized with the movement, for controlling the motion of Y direction; If single motor motion, causes rotary printing platform to rotate and translation; 2 industrial cameras are fixed on base, take the image of two mark circles in flexible circuit board by the peephole 1# on rotary printing platform and peephole 2#.
Calibration phase described in step 2, specific as follows:
On rotary printing platform, make two mark circles in flexible circuit board corresponding up and down with peephole 1# and peephole 2# respectively flexible circuit board fixed placement to be calibrated; 2 industrial cameras are taken the mark circle in flexible circuit board by peephole 1# and peephole 2#, thereby the central coordinate of circle of two mark circles in location Calculation flexible circuit board, and the inclination angle of calculating two mark circle lines of flexible circuit board and rotary printing platform formation according to central coordinate of circle, and this central coordinate of circle and inclination angle are set to reference position, be that central coordinate of circle is with reference to central coordinate of circle, inclination angle is with reference to inclination angle;
Home position and the inclination angle of described two mark circle lines of flexible circuit board, with reference to central coordinate of circle and as follows with reference to the computational process at inclination angle:
The central coordinate of circle (x, y) with respect to visual field datum mark (m, n) that 2-1. industrial camera 2# obtains by peephole 2# is:
x＝ccosα-dsinα
y＝dcosα+csinα
Wherein, α is the angle that image space 2# that the image space 1# that obtains by peephole 1# of industrial camera 1# and camera 2# obtain by peephole 2# forms, the central coordinate of circle that indicates circle 2# in image space 2# that (c, d) obtains by peephole 2# for industrial camera 2#;
The inclination angle theta that 2-2. calculates the x axle formation of two mark circle circle center line connectings and rotary printing platform is:
Wherein, the central coordinate of circle of mark circle 1# in the image space 1# that (a, b) obtains by peephole 1# for industrial camera 1#.
Calibration phase described in step 3, specific as follows:
On rotary printing platform, make two mark circles in flexible circuit board corresponding up and down with peephole 1# and peephole 2# respectively flexible circuit board fixed placement to be calibrated; Then compare current location and the reference positions of two mark circles in calibration phase;
If calibration phase is identical with target reference position with the current location of two mark circles in calibration phase, do not need to proofread and correct;
If two indicate that circle current location and reference position deviation are less than or equal to permissible error, enter step 4 in calibration phase and calibration phase;
If two indicate that circle current location and reference position deviation are greater than permissible error, proofread and correct in calibration phase and calibration phase;
Described trimming process completes by calibration model, and calibration model is set up as follows:
3-1. sets up correction target
Correction target is to realize two reference point locations in flexible circuit board substantially to overlap with reference position, and Deviation Control is within the scope of permissible error;
3-2. selects coordinate system
The coordinate system involving in correction calculation process comprises as platform coordinate system, camera coordinates system, motor coordinate system, using platform coordinate system as reference coordinate system;
The pulse of 3-3. calculation correction
Impulse correction process comprises following three small steps:
3-3-1. calculates translation pulse for the first time
Calculate the flexible circuit board to be corrected of obtaining from observation station 2# and among image space 2#, indicate that the center of circle of circle 2# moves to reference to home position required pulse from current location;
P1
x＝(Δx·YMoterK
y-YMoterK
x·Δy)/(XMoterK
x·YMoterK
y-YMoterK
x·XMoterK
y) (1)
P1
y＝(XMoterK
x·Δy-Δx·XMoterK
y)/(XMoterK
x·YMoterK
y-YMoterK
x·XMoterK
y) (2)
Wherein, P1
xfor the needed pulse of motor X; P1
yfor motor Y1 and the needed pulse of Y2; Δ x, Δ y is in camera coordinates system, the flexible circuit board to be corrected of obtaining from observation station 2# among image space 2#, indicate circle 2# center of circle current location and poor in the pixel of image space with reference to home position; (XMoterK
x, XMoterK
y) be the pulse of motor X and the ratio of pixel; (YMoterK
x, YMoterK
y) be the pulse of motor Y1 or Y2 and the ratio of pixel;
3-3-2. calculates rotary pulsed
Check and adjust and work as top rake by peephole 1# and peephole 2#, making to indicate in round heart line and demarcation flexible circuit board and indicate that round heart line is parallel in flexible circuit board to be corrected; The described top rake of working as is the inclination angle that indicates circle line and rotary printing platform in current flexible circuit board to be corrected;
When single y-axis motor Y1 or Y2 motion, while causing target-angle that skew occurs, there is skew and rotation in the reference position of the flexible circuit board to be corrected observing by peephole 1# and peephole 2#, makes when top rake is with basically identical with reference to inclination angle;
Pulse is calculated with the coordinate of the round heart of current mark of peephole 1# and the round heart of current mark of peephole 2# and the difference of the coordinate with reference to the center of circle and is weighed; Now motor Y1's is rotary pulsed as follows:
P2
y1＝(w/d)·ΔPluse
1-2 (3)
Wherein, w is the width of the rotation platform strong point, and d is the distance of the round heart of mark, Δ Pluse
1-2for the difference of the y-axis motor pulse distance of mark circle 2# in the image space 2# obtaining of mark circle 1# and peephole 2# in the image space 1# obtaining of peephole 1#, described pulse distance is that current goal point moves to the required motor pulses of reference point, i.e. the calculating of pulse in 3-3-1;
3-3-3. calculates translation pulse for the second time
Compensation process 3-3-2 rotates the grid deviation of the round heart of mark observing from observation station 2# causing, by translation again make observation station 1# and observation station 2# observe mark circle home position with reference to center of circle position consistency;
Calculate the angle γ (R of rotation
y1):
γ(R
Y1)＝-sin
-1(R
Y1/(MoterYK·w)) (4)
Wherein, R
y1for the pulse distance of motor Y1, MoterYK be motor Y1 and Y2 in the K of Y-direction value, unit is: pulse/mm;
Calculate ranging offset:
In trimming process, its rotation platform fulcrum B and B ' remain on X-axis straight line, and rotation platform fulcrum C and C ' also remain on the same straight line of Y-direction; Described platform fulcrum B and C are symmetrical platform fulcrum;
Described B is a fulcrum before rotation platform rotation, and B ' is the postrotational fulcrum of rotation platform; C is a fulcrum before rotation platform rotation, and C ' is the postrotational fulcrum of rotation platform;
Based on above-mentioned constraints and platform rigid motion rule, mark circular motion is decomposed into rotation and translation; Specifically rotate to be around platform fulcrum C rotation γ, in the image space 2# that now peephole 2# obtains, the central coordinate of circle deviation of mark circle 2# is:
Wherein,
for observation station 2# observes the polar coordinates of reference point; Concrete translation is along X-axis translation τ;
τ＝w·cos(γ)+h·sin(γ)-w (7)
Therefore in the image space 2# that, observation station 2# obtains, the central coordinate of circle deviation of mark circle 2# is that Δ Pos is as follows: Δ Pos=(Δ Pos
x+ τ, Δ Pos
y);
The pulse deviation f (γ) that translation causes is:
f(γ)＝ΔP＝ΔPos·MoterK (8)
Wherein Δ Pos=(Δ Pos
x, Δ Pos
y), and MoterK=(MoterK
x, MoterK
y), represent the K value that motor X, motor Y1 and Y2 combine;
Motor Y1 and ideal bit are equipped with certain pulse deviation (Org_P when initial in trimming process
y1), now, translation compensated pulse P3 is set to:
P3＝f(γ(Org_P
y1+R
Y1))-f(γ(Org_P
y1)) (9)
Finally, drawn by formula (1), (2), (3) and (9):
Motor X pulse is: P1
x+ P3
x
Motor Y1 pulse is: P1
y+ P2
y1+ P3
y
Motor Y2 pulse is: P1
y+ P3
y
3-4. controls motor movement, realizes alignment and the printing of material to be printed
According to the correction pulse of calculate in above-mentioned calibration model 3 motors, control motor X, motor Y1 and motor Y2 motion, the flexible circuit board automatic calibration that band is proofreaied and correct alignment;
3-5. detects and proofreaies and correct result
If the round position of two marks and the reference position deviation of the flexible circuit board after proofreading and correct are less than permissible error, enter step 4.;
If the round position of two marks and the reference position deviation of the flexible circuit board after proofreading and correct are greater than permissible error, repeating step 3-1 to 3-3.
Described permissible error is concrete relevant with industrial actual demand, is generally 0.1mm.
Described ideal position represent motor coordinate system and platform coordinate system in full accord, X motor is consistent with X-direction.
Align stage described in step 4 is specific as follows:
Through correction calculation and the motor movement of step 3, when the mark circle that observation station 1# and observation station 2# observe approaches reference position, if there is certain range deviation, do suitable adjustment by alignment schemes, specific as follows:
Left-justify: in the image space 1# that peephole 1# obtains, the reference position of mark circle 1# is benchmark, the flexible circuit board to be corrected of aliging, indicates in the image space 1# that peephole 1# is obtained that the reference position deviation of circle reduces;
Align center: adjust rotary printing platform, indicate in the image space that material to be alignd and peephole 1# and peephole 2# are obtained that circle deviation is substantially average; Right Aligns: in the image space 1# that peephole 2# obtains, the reference position of mark circle 1# is benchmark, the flexible circuit board to be corrected of aliging, indicates in the image space 2# that peephole 2# is obtained that the reference position deviation of circle reduces.
Beneficial effect of the present invention is as follows:
The present invention has overcome the technical deficiency that existing printing process exists, and makes up in printing process and is difficult to pinpoint defect, meets the high-precision printing demand in flexible circuit board printing process, realizes the automation of flexible circuit board printing process.
Brief description of the drawings
Fig. 1 is the multiple degrees of freedom platform structure schematic diagram towards flexible circuit board printing;
Fig. 2 is the overall algorithm flow chart of the automatic calibration process of flexible circuit board control desk;
Fig. 3 (a) is camera image locus schematic diagram;
Fig. 3 (b) is camera image locus schematic diagram;
Fig. 4 is platform coordinate system schematic diagram;
Fig. 5 is the correction analysis schematic diagram of impact point and reference point;
Fig. 6 is the rotation platform motion schematic diagram that motor Y1 motion produces.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail, to technical characterictic of the present invention and advantage are interpretated more in-depth.
The auto-correction method of the multiple degrees of freedom platform of flexible circuit board printing, specifically comprises the steps:
Step 1. is built towards the multiple degrees of freedom platform of flexible circuit board printing;
Step 2. calibration phase, concrete specific bit is identified the central coordinate of circle of two mark circles in flexible circuit board to be calibrated, the inclination angle of calculating circle center line connecting, the central coordinate of circle and the inclination angle that obtain are set to reference position;
Step 3. calibration phase, specifically comprises and sets up calibration model and automatic calibration and detect flexible circuit board to be corrected;
Step 4. align stage, specifically refers to the flexible circuit board that alignment is to be corrected, reduces range deviation;
The multiple degrees of freedom platform towards flexible circuit board printing that step 1 is set up is mainly used in controlling the printing alignment of flexible circuit board, by the identification of mark circle and calibration model in flexible circuit board, calculate the correction pulse of each motor, realize alignment and the printing of material to be printed by controlling the motion of motor.
As shown in Figure 1, the multiple degrees of freedom platform towards flexible circuit board printing that step 1 is built, comprises base, rotary printing platform, movement executing mechanism, 2 industrial cameras;
On rotary printing platform, be provided with two camera peepholes, be respectively peephole 1# and peephole 2#.Rotary printing platform has 3 degrees of freedom, for supporting translation and the rotation of X, Y direction.
Movement executing mechanism comprises motor X, motor Y1 and motor Y2, three motors are stepping motor or servomotor, movement executing mechanism is fixed on base, is connected with rotary printing platform, for supporting rotary printing platform and controlling platform and do and rotate and translational motion simultaneously.Wherein motor X is for controlling the motion of X-direction; Motor Y1 and Y2 are synchronized with the movement, for controlling the motion of Y direction; If single motor motion, causes rotary printing platform to rotate and translation (comprising the translation of X and Y-direction).
2 industrial cameras are fixed on base, take the image of two mark circles in flexible circuit board by the peephole 1# on rotary printing platform and peephole 2#.
As shown in Figure 2, the calibration phase described in step 2, specific as follows:
On rotary printing platform, make two mark circles in flexible circuit board corresponding up and down with peephole 1# and peephole 2# respectively flexible circuit board fixed placement to be calibrated; 2 industrial cameras are taken the mark circle in flexible circuit board by peephole 1# and peephole 2#, thereby the central coordinate of circle of two mark circles in location Calculation flexible circuit board, and the inclination angle of calculating two mark circle lines of flexible circuit board and rotary printing platform formation according to central coordinate of circle, and this central coordinate of circle and inclination angle are set to reference position, be that central coordinate of circle is with reference to central coordinate of circle, inclination angle is with reference to inclination angle;
As shown in Figure 3, home position and the inclination angle of two mark circle lines of flexible circuit board, with reference to central coordinate of circle and as follows with reference to the computational process at inclination angle:
The central coordinate of circle (x, y) with respect to visual field datum mark (m, n) that 2-1. industrial camera 2# obtains by peephole 2# is:
x＝ccosα-dsinα
y＝dcosα+csinα
Wherein, α is the angle that image space 2# that the image space 1# that obtains by peephole 1# of industrial camera 1# and camera 2# obtain by peephole 2# forms, the central coordinate of circle that indicates circle 2# in image space 2# that (c, d) obtains by peephole 2# for industrial camera 2#;
The inclination angle theta that 2-2. calculates the x axle formation of two mark circle circle center line connectings and rotary printing platform is:
Wherein, the central coordinate of circle of mark circle 1# in the image space 1# that (a, b) obtains by peephole 1# for industrial camera 1#;
Calibration phase described in step 3, specific as follows:
On rotary printing platform, make two mark circles in flexible circuit board corresponding up and down with peephole 1# and peephole 2# respectively flexible circuit board fixed placement to be calibrated; Then compare current location and the reference positions of two mark circles in calibration phase;
If calibration phase is identical with target reference position with the current location of two mark circles in calibration phase, do not need to proofread and correct;
If two indicate that circle current location and reference position deviation are less than or equal to permissible error, enter step 4 in calibration phase and calibration phase;
If two indicate that circle current location and reference position deviation are greater than permissible error, proofread and correct in calibration phase and calibration phase;
Described permissible error is concrete relevant with industrial actual demand, is generally 0.1mm.
Described trimming process completes by calibration model, and calibration model is set up as follows:
3-1. sets up correction target
Correction target is to realize two reference point locations in flexible circuit board substantially to overlap with reference position, and Deviation Control is within the scope of permissible error.
3-2. selects coordinate system
The coordinate system involving in correction calculation process comprises (2 cameras), motor coordinate system (3 motors) as platform coordinate system, camera coordinates system, as shown in Figure 4, and using platform coordinate system as reference coordinate system;
In correction calculation process, involve multiple coordinate systems, as platform coordinate system, camera coordinates system (2 cameras), motor coordinate system (3 motors), coordinate system choice relation is to the complexity of calibration model, and each coordinate system is except position deviation, unit and ratio are also different, and more complicated be possible have angular deviation, or even the deviation of Z direction.For example, motor coordinate system is not exclusively consistent with X-axis or the Y-axis of platform, and camera is installed and had certain inclination angle, causes Z direction to have some deviations, increases the complex nature of the problem.For simplified model analysis, ignore each coordinate system that mechanical erection causes deviation in Z direction, and using platform coordinate system as reference coordinate system.
The pulse of 3-3. calculation correction
Impulse correction process comprises following three small steps:
3-3-1. calculates translation pulse for the first time
(a). calculate the flexible circuit board to be corrected of obtaining from observation station 2# and among image space 2#, indicate that the center of circle of circle 2# moves to reference to home position required pulse from current location;
P1
x＝(Δx·YMoterK
y-YMoterK
x·Δy)/(XMoterK
x·YMoterK
y-YMoterK
x·XMoterK
y) (1)
P1
y＝(XMoterK
x·Δy-Δx·XMoterK
y)/(XMoterK
x·YMoterK
y-YMoterK
x·XMoterK
y) (2)
Wherein, P1
xfor the needed pulse of motor X; P1
yfor motor Y1 and the needed pulse of Y2; Δ x, Δ y is in camera coordinates system, the flexible circuit board to be corrected of obtaining from observation station 2# among image space 2#, indicate circle 2# center of circle current location and poor in the pixel of image space with reference to home position; (XMoterK
x, XMoterK
y) be the pulse of motor X and the ratio of pixel; (YMoterK
x, YMoterK
y) be the pulse of motor Y1 or Y2 and the ratio of pixel;
3-3-2. calculates rotary pulsed
Check and adjust and work as top rake by peephole 1# and peephole 2#, making to indicate in round heart line and demarcation flexible circuit board and indicate that round heart line is parallel in flexible circuit board to be corrected; The described top rake of working as is the inclination angle that indicates circle line and rotary printing platform in current flexible circuit board to be corrected.
As shown in Figure 5, owing to being single y-axis motor Y1 or Y2 motion, cause at revolving process, when skew occurs target-angle, there is skew and rotation in the reference position of the flexible circuit board to be corrected observing by peephole 1# and peephole 2#, makes when top rake is with basically identical with reference to inclination angle.
Now, because the deflection angle of flexible circuit board to be corrected is less, pulse is calculated with the coordinate of the round heart of current mark of peephole 1# and the round heart of current mark of peephole 2# and the difference of the coordinate with reference to the center of circle and is weighed; Now rotary pulsed (motor Y1 pulse) is as follows:
P2
y1＝(w/d)·ΔPluse
1-2 (3)
Wherein, w is the width of the rotation platform strong point, and d is the distance of the round heart of mark, considers that 2 round hearts of mark are distant, is generally as the criterion with the two cameras central point spacing of taking pictures.Δ Pluse
1-2for the difference of the y-axis motor pulse distance of mark circle 2# in the image space 2# obtaining of mark circle 1 and peephole 2# in the image space obtaining 1 of peephole 1#, described pulse distance is that current goal point moves to the required motor pulses of reference point, i.e. the calculating of pulse in 3-3-1.
3-3-3. calculates translation pulse for the second time
Compensation process 3-3-2 rotates the grid deviation of the round heart of mark observing from observation station 2# causing, by translation again make observation station 1# and observation station 2# observe mark circle home position with reference to center of circle position consistency;
As shown in Figure 6, in the time that motor Y1 moves, platform not only can produce rotation, and suitable translation can occur entirety; Now, there is again deviation in the mark circle home position that the observation station 2# that step 1 has overlapped observes, must suitably compensate.
Calculate the angle θ (R of rotation
y1):
γ(R
Y1)＝-sin
-1(R
Y1/(MoterYK·w)) (4)
Wherein, R
y1for the pulse distance of motor Y1, MoterYK be motor Y1 and Y2 in the K of Y-direction value, unit is: pulse/mm;
Calculate ranging offset:
In trimming process, its rotation platform fulcrum B and B ' remain on (X-axis) on same straight line, and rotation platform fulcrum C and C ' also remain on the same straight line of Y-direction (Y-axis);
Described B is a fulcrum before rotation platform rotation, and B ' is the postrotational fulcrum of rotation platform; C is a fulcrum before rotation platform rotation, and C ' is the postrotational fulcrum of rotation platform;
Based on above-mentioned constraints and platform rigid motion rule, mark circular motion is decomposed into rotation and translation, and does not affect the accuracy of calculating, as Fig. 6 shadow region.
Specifically rotate to be around fulcrum C rotation γ, in the image space 2# that now peephole 2# obtains, the central coordinate of circle deviation of mark circle 2# is:
Wherein,
for observation station 2# observes the polar coordinates of reference point;
Concrete translation is along X-axis translation τ
τ＝w·cos(γ)+h·sin(γ)-w (7)
Therefore in the image space 2# that, observation station 2# obtains, the central coordinate of circle deviation of mark circle 2# is that Δ Pos is as follows: Δ Pos=(Δ Pos
x+ τ, Δ Pos
y);
The pulse deviation f (γ) that translation causes is:
f(γ)＝ΔP＝ΔPos·MoterK (8)
Wherein Δ Pos=(Δ Pos
x, Δ Pos
y), and MoterK=(MoterK
x, MoterK
y), represent the K value (unit: pulse/mm) that motor X, motor Y1 and Y2 combine.
Motor Y1 and ideal bit are equipped with certain pulse deviation (Org_P when initial in dressing plate
y1),
Now, translation compensated pulse P3 is set to:
P3＝f(γ(Org_P
y1+R
Y1))-f(γ(Org_P
y1)) (9)
Finally, the pulse of 3 motors is respectively by formula 1,2, and 3,9 provide.
Motor X pulse is: P1
x+ P3
x
Motor Y1 pulse is: P1
y+ P2
y1+ P3
y
Motor Y2 pulse is: P1
y+ P3
y
Ideal position described above think motor coordinate system and platform coordinate system in full accord, X motor is consistent with X-direction, as Y1, y2 motor is consistent with Y direction.
3-4. controls motor movement, realizes alignment and the printing of material to be printed
According to the correction pulse of calculate in above-mentioned calibration model 3 motors, control motor X, motor Y1 and motor Y2 motion, the flexible circuit board automatic calibration that band is proofreaied and correct alignment.
3-5. detects and proofreaies and correct result
If the round position of two marks and the reference position deviation of the flexible circuit board after proofreading and correct are less than permissible error, enter step 4.;
If the round position of two marks and the reference position deviation of the flexible circuit board after proofreading and correct are greater than permissible error, repeating step 3-1 to 3-3;
Align stage described in step 4 is specific as follows:
Through correction calculation and the motor movement of step 3, the mark physa that observation station 1# and observation station 2# observe originally approaches reference position, there is sometimes certain range deviation, mainly because flexible circuitry plate material itself is irregular and flexible different, cause two distances between mark circle to change, now need to detect in time that this is abnormal, and do suitable adjustment by alignment schemes, specific as follows:
Left-justify: in the image space 1# that peephole 1# obtains, the reference position of mark circle 1# is benchmark, the flexible circuit board to be corrected of aliging, in the image space 1 obtaining with peephole 1# as far as possible, the reference position deviation of mark circle is less;
Align center: adjust rotary printing platform, indicate in the image space that material to be alignd and peephole 1# and peephole 2# are obtained that circle deviation is substantially average; Right Aligns: in the image space 2 that peephole 2# obtains, the reference position of mark circle is benchmark, the flexible circuit board to be corrected of aliging, in the image space 2 obtaining with peephole 2# as far as possible, the reference position deviation of mark circle is less.
Claims (7)
1. the auto-correction method of the multiple degrees of freedom platform of flexible circuit board printing, is characterized in that comprising the steps:
Step 1. is built towards the multiple degrees of freedom platform of flexible circuit board printing;
Step 2. calibration phase, concrete specific bit is identified the central coordinate of circle of two mark circles in flexible circuit board to be calibrated, the inclination angle of calculating circle center line connecting, the central coordinate of circle and the inclination angle that obtain are set to reference position;
Step 3. calibration phase, specifically comprises and sets up calibration model and automatic calibration and detect flexible circuit board to be corrected;
Step 4. align stage, specifically refers to the flexible circuit board that alignment is to be corrected, reduces range deviation;
The multiple degrees of freedom platform towards flexible circuit board printing that step 1 is set up is mainly used in controlling the printing alignment of flexible circuit board, by the identification of mark circle and calibration model in flexible circuit board, calculate the correction pulse of each motor, realize alignment and the printing of material to be printed by controlling the motion of motor.
2. the auto-correction method of the multiple degrees of freedom platform of flexible circuit board printing as claimed in claim 1, is characterized in that:
The multiple degrees of freedom platform towards flexible circuit board printing that step 1 is built, comprises base, rotary printing platform, movement executing mechanism, 2 industrial cameras;
On rotary printing platform, be provided with two camera peepholes, be respectively peephole 1# and peephole 2#; Movement executing mechanism comprises motor X, motor Y1 and motor Y2, and movement executing mechanism is fixed on base, is connected with rotary printing platform, for supporting rotary printing platform and controlling platform and do and rotate and translational motion simultaneously; Wherein motor X is for controlling the motion of X-direction; Motor Y1 and Y2 are synchronized with the movement, for controlling the motion of Y direction; If single motor motion, causes rotary printing platform to rotate and translation; 2 industrial cameras are fixed on base, take the image of two mark circles in flexible circuit board by the peephole 1# on rotary printing platform and peephole 2#.
3. the auto-correction method of the multiple degrees of freedom platform of flexible circuit board printing as claimed in claim 1, is characterized in that:
Calibration phase described in step 2, specific as follows:
On rotary printing platform, make two mark circles in flexible circuit board corresponding up and down with peephole 1# and peephole 2# respectively flexible circuit board fixed placement to be calibrated; 2 industrial cameras are taken the mark circle in flexible circuit board by peephole 1# and peephole 2#, thereby the central coordinate of circle of two mark circles in location Calculation flexible circuit board, and the inclination angle of calculating two mark circle lines of flexible circuit board and rotary printing platform formation according to central coordinate of circle, and this central coordinate of circle and inclination angle are set to reference position, be that central coordinate of circle is with reference to central coordinate of circle, inclination angle is with reference to inclination angle;
Home position and the inclination angle of described two mark circle lines of flexible circuit board, with reference to central coordinate of circle and as follows with reference to the computational process at inclination angle:
The central coordinate of circle (x, y) with respect to visual field datum mark (m, n) that 2-1. industrial camera 2# obtains by peephole 2# is:
x＝ccosα-dsinα
y＝dcosα+csinα
Wherein, α is the angle that image space 2# that the image space 1# that obtains by peephole 1# of industrial camera 1# and camera 2# obtain by peephole 2# forms, the central coordinate of circle that indicates circle 2# in image space 2# that (c, d) obtains by peephole 2# for industrial camera 2#;
The inclination angle theta that 2-2. calculates the x axle formation of two mark circle circle center line connectings and rotary printing platform is:
Wherein, the central coordinate of circle of mark circle 1# in the image space 1# that (a, b) obtains by peephole 1# for industrial camera 1#.
4. the auto-correction method of the multiple degrees of freedom platform of flexible circuit board printing as claimed in claim 1, is characterized in that:
Calibration phase described in step 3, specific as follows:
On rotary printing platform, make two mark circles in flexible circuit board corresponding up and down with peephole 1# and peephole 2# respectively flexible circuit board fixed placement to be calibrated; Then compare current location and the reference positions of two mark circles in calibration phase;
If calibration phase is identical with target reference position with the current location of two mark circles in calibration phase, do not need to proofread and correct;
If two indicate that circle current location and reference position deviation are less than or equal to permissible error, enter step 4 in calibration phase and calibration phase;
If two indicate that circle current location and reference position deviation are greater than permissible error, proofread and correct in calibration phase and calibration phase;
Described trimming process completes by calibration model, and calibration model is set up as follows:
3-1. sets up correction target
Correction target is to realize two reference point locations in flexible circuit board substantially to overlap with reference position, and Deviation Control is within the scope of permissible error;
3-2. selects coordinate system
The coordinate system involving in correction calculation process comprises as platform coordinate system, camera coordinates system, motor coordinate system, using platform coordinate system as reference coordinate system;
The pulse of 3-3. calculation correction
Impulse correction process comprises following three small steps:
3-3-1. calculates translation pulse for the first time
Calculate the flexible circuit board to be corrected of obtaining from observation station 2# and among image space 2#, indicate that the center of circle of circle 2# moves to reference to home position required pulse from current location;
P1
x＝(Δx·YMoterK
y-YMoterK
x·Δy)/(XMoterK
x·YMoterK
y-YMoterK
x·XMoterK
y) (1)
P1
y＝(XMoterK
x·Δy-Δx·XMoterK
y)/(XMoterK
x·YMoterK
y-YMoterK
x·XMoterK
y) (2)
Wherein, P1
xfor the needed pulse of motor X; P1
yfor motor Y1 and the needed pulse of Y2; Δ x, Δ y is in camera coordinates system, the flexible circuit board to be corrected of obtaining from observation station 2# among image space 2#, indicate circle 2# center of circle current location and poor in the pixel of image space with reference to home position; (XMoterK
x, XMoterK
y) be the pulse of motor X and the ratio of pixel; (YMoterK
x, YMoterK
y) be the pulse of motor Y1 or Y2 and the ratio of pixel;
3-3-2. calculates rotary pulsed
Check and adjust and work as top rake by peephole 1# and peephole 2#, making to indicate in round heart line and demarcation flexible circuit board and indicate that round heart line is parallel in flexible circuit board to be corrected; The described top rake of working as is the inclination angle that indicates circle line and rotary printing platform in current flexible circuit board to be corrected;
When single y-axis motor Y1 or Y2 motion, while causing target-angle that skew occurs, there is skew and rotation in the reference position of the flexible circuit board to be corrected observing by peephole 1# and peephole 2#, makes when top rake is with basically identical with reference to inclination angle;
Pulse is calculated with the coordinate of the round heart of current mark of peephole 1# and the round heart of current mark of peephole 2# and the difference of the coordinate with reference to the center of circle and is weighed; Now motor Y1's is rotary pulsed as follows:
P2
y1＝(w/d)·ΔPluse
1-2 (3)
Wherein, w is the width of the rotation platform strong point, and d is the distance of the round heart of mark, Δ Pluse
1-2for the difference of the y-axis motor pulse distance of mark circle 2# in the image space 2# obtaining of mark circle 1# and peephole 2# in the image space 1# obtaining of peephole 1#, described pulse distance is that current goal point moves to the required motor pulses of reference point, i.e. the calculating of pulse in 3-3-1;
3-3-3. calculates translation pulse for the second time
Compensation process 3-3-2 rotates the grid deviation of the round heart of mark observing from observation station 2# causing, by translation again make observation station 1# and observation station 2# observe mark circle home position with reference to center of circle position consistency;
Calculate the angle γ (R of rotation
y1):
γ(R
Y1)＝-sin
-1(R
Y1/(MoterYK·w)) (4)
Wherein, R
y1for the pulse distance of motor Y1, MoterYK be motor Y1 and Y2 in the K of Y-direction value, unit is: pulse/mm;
Calculate ranging offset:
In trimming process, its rotation platform fulcrum B and B ' remain on X-axis straight line, and rotation platform fulcrum C and C ' also remain on the same straight line of Y-direction; Described platform fulcrum B and C are symmetrical platform fulcrum;
Described B is a fulcrum before rotation platform rotation, and B ' is the postrotational fulcrum of rotation platform; C is a fulcrum before rotation platform rotation, and C ' is the postrotational fulcrum of rotation platform;
Based on above-mentioned constraints and platform rigid motion rule, mark circular motion is decomposed into rotation and translation; Specifically rotate to be around platform fulcrum C rotation γ, in the image space 2# that now peephole 2# obtains, the central coordinate of circle deviation of mark circle 2# is:
Wherein,
for observation station 2# observes the polar coordinates of reference point;
Concrete translation is along X-axis translation τ
τ＝w·cos(γ)+h·sin(γ)-w (7)
Therefore in the image space 2# that, observation station 2# obtains, the central coordinate of circle deviation of mark circle 2# is that Δ Pos is as follows: Δ Pos=(Δ Pos
x+ τ, Δ Pos
y);
The pulse deviation f (γ) that translation causes is:
f(γ)＝ΔP＝ΔPos·MoterK (8)
Wherein Δ Pos=(Δ Pos
x, Δ Pos
y), and MoterK=(MoterK
x, MoterK
y), represent the K value that motor X, motor Y1 and Y2 combine;
Motor Y1 and ideal bit are equipped with certain pulse deviation (Org_P when initial in trimming process
y1), now, translation compensated pulse P3 is set to:
P3＝f(γ(Org_P
y1+R
Y1))-f(γ(Org_P
y1)) (9)
Finally, drawn by formula (1), (2), (3) and (9):
Motor X pulse is: P1
x+ P3
x
Motor Y1 pulse is: P1
y+ P2
y1+ P3
y
Motor Y2 pulse is: P1
y+ P3
y
3-4. controls motor movement, realizes alignment and the printing of material to be printed
According to the correction pulse of calculate in above-mentioned calibration model 3 motors, control motor X, motor Y1 and motor Y2 motion, the flexible circuit board automatic calibration that band is proofreaied and correct alignment;
3-5. detects and proofreaies and correct result
If the round position of two marks and the reference position deviation of the flexible circuit board after proofreading and correct are less than permissible error, enter step 4.;
If the round position of two marks and the reference position deviation of the flexible circuit board after proofreading and correct are greater than permissible error, repeating step 3-1 to 3-3.
5. the auto-correction method of the multiple degrees of freedom platform of flexible circuit board printing as claimed in claim 4, is characterized in that: described permissible error is concrete relevant with industrial actual demand, is generally 0.1mm.
6. the auto-correction method of the multiple degrees of freedom platform of flexible circuit board as claimed in claim 4 printing, is characterized in that: described ideal position represent motor coordinate system and platform coordinate system in full accord, X motor is consistent with X-direction.
7. the auto-correction method of the multiple degrees of freedom platform of flexible circuit board printing as claimed in claim 1, is characterized in that:
Align stage described in step 4 is specific as follows:
Through correction calculation and the motor movement of step 3, when the mark circle that observation station 1# and observation station 2# observe approaches reference position, if there is certain range deviation, do suitable adjustment by alignment schemes, specific as follows:
Left-justify: in the image space 1# that peephole 1# obtains, the reference position of mark circle 1# is benchmark, the flexible circuit board to be corrected of aliging, indicates in the image space 1# that peephole 1# is obtained that the reference position deviation of circle reduces;
Align center: adjust rotary printing platform, indicate in the image space that material to be alignd and peephole 1# and peephole 2# are obtained that circle deviation is substantially average;
Right Aligns: in the image space 2# that peephole 2# obtains, the reference position of mark circle 2# is benchmark, the flexible circuit board to be corrected of aliging, indicates in the image space 2# that peephole 2# is obtained that the reference position deviation of circle reduces.
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