CN103945653B - 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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- CN103945653B CN103945653B CN201410116738.4A CN201410116738A CN103945653B CN 103945653 B CN103945653 B CN 103945653B CN 201410116738 A CN201410116738 A CN 201410116738A CN 103945653 B CN103945653 B CN 103945653B
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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 correct alignment method of brush material to be printed, more particularly to a kind of flexible circuit board print
The auto-correction method of the multi-DOF platform of brush.
Background technology
Flexible circuit board (Flexible Printed Circuit) is to use printed circuit made by flexible insulating substrate,
Have the advantages that many rigid printed circuit boards do not possess.Flexible, winding, folding, can require arbitrarily peace according to space layout
Row, and arbitrarily move and flexible in three dimensions, so as to reach the integration of components and parts assembling and wire connection.
Because flexible circuit board has yielding feature, easily by factors such as electrostatic and air pressures during processing
Produce bending, winding or defect, cause flexible circuit board not easy processing, many process by artificial solution, industry from
Dynamicization level is low.
Printing is the important step of flexible circuit board processing, often needs the coating for printing multiple layers of different materials.Printing
Cheng Zhong, the relative position relation per layer material is extremely strict, typically somewhat deviation, easily causes whole flexible board to be scrapped, therefore,
The precise positioning of printing platform is of crucial importance.The fixing meanss of current main-stream are 2 locating dowels of setting on platform, by flexible board
Upper Positioning holes are directly sleeved in locating dowel, so as to realize the positioning of flexible circuit board.This method is simply efficient, but there is also one
A little serious deficiencies：Printing dislocation probability is high, efficiency difficult quality guarantee, the suitable high accuracy prints demand of hardly possible.
The content of the invention
It is an object of the invention to the technical deficiency for overcoming existing flexible circuit board printing process to exist, makes up printing process
In be difficult to pinpoint defect, there is provided a kind of auto-correction method of the multi-DOF platform of flexible circuit board printing, meet
High-precision printing demand in flexible circuit board printing process, realizes the automatization of flexible circuit board printing process.
The technical solution adopted for the present invention to solve the technical problems comprises the steps：
Step 1. builds the multi-DOF platform towards flexible circuit board printing；
Step 2. calibration phase, refers specifically to the central coordinate of circle of two mark circles in fixation and recognition flexible circuit board to be calibrated,
The inclination angle of circle center line connecting is calculated, the central coordinate of circle for obtaining and inclination angle are set to into reference position；
Step 3. calibration phase, specifically includes and sets up calibration model and from dynamic(al) correction and detect flexible circuitry to be corrected
Plate；
Step 4. align stage, refers specifically to flexible circuit board to be corrected of aliging, and reduces range deviation.
The multi-DOF platform towards flexible circuit board printing that step 1 is set up is mainly used in controlling flexible circuit board
Printing alignment, by the mark circle identification in flexible circuit board and calibration model, calculating the correction pulse of each motor, passes through
The alignment and printing of brush material to be printed is realized in the motion of controlled motor.
Step 1 built towards flexible circuit board printing multi-DOF platform, including base, rotary printing platform,
Movement executing mechanism, 2 industrial cameras；
Two camera peepholes, respectively peephole 1# and peephole 2# are provided with rotary printing platform；Motor execution
Mechanism includes motor X, motor Y1 and motor Y2, and movement executing mechanism is fixed on base, while be connected with rotary printing platform,
For supporting rotary printing platform and control platform to do and rotate and translational motion；Wherein motor X is used to control the fortune of X-direction
It is dynamic；Motor Y1 and Y2 are synchronized with the movement, for controlling the motion of Y direction；If single motor is moved, cause rotary printing platform
Rotate and translate；2 industrial cameras are fixed on base, by peephole 1# and peephole 2# on rotary printing platform
Shoot the image of two mark circles in flexible circuit board.
Calibration phase described in step 2, it is specific as follows：
By flexible circuit board fixed placement to be calibrated on rotary printing platform so that two marks in flexible circuit board
Circle is corresponding up and down with peephole 1# and peephole 2# respectively；2 industrial cameras shoot flexible by peephole 1# and peephole 2#
Mark circle on wiring board, so as to the central coordinate of circle of two mark circles in location Calculation flexible circuit board, and according to central coordinate of circle
The inclination angle that two mark circle lines of flexible circuit board are constituted with rotary printing platform is calculated, and the central coordinate of circle and inclination angle are arranged
It is that, with reference to central coordinate of circle, inclination angle is with reference to inclination angle for reference position, i.e. central coordinate of circle；
The home position of described two mark circle lines of flexible circuit board and inclination angle, i.e., incline with reference to central coordinate of circle and reference
The calculating process at angle is as follows：
The central coordinate of circle (x, y) relative to visual field datum mark (m, n) that 2-1. industrial cameras 2# is obtained by peephole 2#
For：
X=ccos α-dsin α
Y=dcos α+csin α
Wherein, the image space 1# and camera 2# that α is obtained for industrial camera 1# by peephole 1# is obtained by peephole 2#
The angle that the image space 2# for taking is constituted, (c, d) is that industrial camera 2# is got the bid by what peephole 2# was obtained in image space 2#
Will justifies the central coordinate of circle of 2#；
2-2. calculates two mark circle circle center line connectings:
Wherein, (a, b) is the center of circle seat of mark circle 1# in the image space 1# that industrial camera 1# is obtained by peephole 1#
Mark.
Calibration phase described in step 3, it is specific as follows：
By flexible circuit board fixed placement to be calibrated on rotary printing platform so that two marks in flexible circuit board
Circle is corresponding up and down with peephole 1# and peephole 2# respectively；Then the current location of two mark circles and ginseng in calibration phase are compared
According to position；
If calibration phase is identical with target reference position with the current location of two mark circles in calibration phase, need not
Correction；
If calibration phase is less than or equal to allow to miss with two mark circle current locations in calibration phase with reference position deviation
Difference, then into step 4；
If calibration phase is more than allowable error with two mark circle current locations in calibration phase with reference position deviation,
It is corrected；
Described trimming process is completed by calibration model, and calibration model is set up as follows：
3-1. sets up correction target
Correction target is to realize that two reference point locations are essentially coincided with reference position in flexible circuit board, and deviation control exists
In the range of allowable error；
3-2. selects coordinate system
The coordinate system involved in correction calculation process is included such as platform coordinate system, camera coordinates system, motor coordinate system, with flat
Platform coordinate system is used as reference coordinate system；
3-3. calculates correction pulse
Impulse correction process includes three below small step：
3-3-1. calculates translation pulse for the first time
Calculate from observation station 2# obtain flexible circuit board to be corrected indicate in image space 2# circle 2# the center of circle from ought
Front position is moved to reference to home position required pulse；
P1x=(Δ xYMoterKy-YMoterKx·Δy)/(XMoterKx·YMoterKy-YMoterKx·
XMoterKy) (1)
P1y=(XMoterKx·Δy-Δx·XMoterKy)/(XMoterKx·YMoterKy-YMoterKx·
XMoterKy) (2)
Wherein, P1xPulse required for motor X；P1yPulse required for motor Y1 and Y2；Δ x, Δ y are camera
In coordinate system, the flexible circuit board to be corrected obtained from observation station 2# indicates the center of circle present bit of circle 2# in image space 2#
Put the pixel difference in image space with reference home position；(XMoterKx, XMoterKy) for motor X pulse and pixel ratio
Value；(YMoterKx, YMoterKy) for motor Y1 or Y2 pulse and pixel ratio；
3-3-2. calculates rotary pulsed
Current inclination is checked and adjusted by peephole 1# and peephole 2#, makes to indicate in flexible circuit board to be corrected round
Heart line indicates that round heart line is parallel with demarcating in flexible circuit board；The i.e. current flexible circuit board to be corrected of the current inclination
The inclination angle of upper mark circle line and rotary printing platform；
When single y-axis motor Y1 or Y2 is moved, when causing target-angle to shift, by peephole 1# and peephole 2#
The reference position of the flexible circuit board to be corrected for observing shifts and rotates so that current inclination and reference inclination angle basic
Cause；
Pulse calculate with the coordinate of the round heart of the current flag of peephole 1# and the round heart of current flag of peephole 2# with
With reference to the center of circle coordinate difference weighing；Now motor Y1's is rotary pulsed as follows：
P2y1=(w/d) Δ Pluse1-2 (3)
Wherein, w for the rotation platform strong point width, d is the distance for indicating the round heart, Δ Pluse1-2For peephole 1#
Acquisition image space 1# in mark circle 1# and peephole 2# acquisition image space 2# in mark circle 2# y-axis motor arteries and veins
The difference of distance is rushed, described pulse distance is the motor pulses that current target point is moved to needed for reference point, i.e. 3-3-1 middle arteries
The calculating of punching；
3-3-3. calculates second translation pulse
The grid deviation of the round heart of mark observed from observation station 2# caused by compensation process 3-3-2 rotations, by again
Secondary translation causes observation station 1# and observation station 2# to observe mark circle home position and with reference to center of circle position consistency；
Calculate the angle γ (R of rotationY1)：
γ(RY1)=- sin-1(RY1/(MoterYK·w)) (4)
Wherein, RY1For the pulse distance of motor Y1, MoterYK is motor Y1 and Y2 K values in the Y direction, and unit is：Arteries and veins
Punching/mm；
Computed range offsets：
In trimming process, its rotation platform fulcrum B and B ' are maintained on X-axis straight line, and rotation platform fulcrum C and C ' are also protected
Hold on same straight line in the Y direction；Described platform fulcrum B and C is symmetrical platform fulcrum；
Described B is a fulcrum before rotation platform rotation, and B ' is the postrotational fulcrum of rotation platform；C is rotation
Turn a fulcrum before platform rotation, C ' is the postrotational fulcrum of rotation platform；
Based on above-mentioned constraints and platform rigid motion rule, mark circular motion is decomposed into into rotation and is translated；Specifically
Rotate to be and rotate γ around platform fulcrum C, the central coordinate of circle deviation of mark circle 2# in the image space 2# that now peephole 2# is obtained
For：
Wherein,For the polar coordinate that observation station 2# observes reference point；Concrete translation is to translate τ along X-axis；
τ=wcos (γ)+hsin (γ)-w (7)
Therefore, the central coordinate of circle deviation of mark circle 2# is that Δ Pos is as follows in the image space 2# that observation station 2# is obtained：Δ
Pos=(Δ Posx+τ,ΔPosy)；
Then translating the pulse deviation f (γ) for causing is：
F (γ)=Δ P=Δ PosMoterK (8)
Wherein Δ Pos=(Δ Posx,ΔPosy), and MoterK=(MoterKx,MoterKy), represent motor X, motor
The united K values of Y1 and Y2；
Motor Y1 is equipped with certain pulse deviation (Org_P with ideal bit during due in trimming process initiallyy1), now, put down
Move compensated pulse P3 to be set to：
P3=f (γ (Org_Py1+RY1))-f(γ(Org_Py1)) (9)
Finally, drawn by formula (1), (2), (3) and (9)：
Motor X pulses are：P1x+P3x
Motor Y1 pulses are：P1y+P2y1+P3y
Motor Y2 pulses are：P1y+P3y
3-4. controlled motors are moved, and realize the alignment and printing of brush material to be printed
According to the correction pulse of 3 motors calculated in above-mentioned calibration model, controlled motor X, motor Y1 and motor Y2
Motion, the automatic correct alignment of flexible circuit board to band correction；
3-5. detection correction results
If two mark circle positions of the flexible circuit board after correction are less than allowable error with reference position deviation, enter
Step 4.；
If two mark circle positions of the flexible circuit board after correction are more than allowable error with reference position deviation, repeat
Step 3-1 to 3-3.
Described allowable error is specifically relevant with industrial actual demand, generally 0.1mm.
The ideal position represents that motor coordinate system is completely the same with platform coordinate system, and X-motor is consistent with X-direction.
Align stage described in step 4 is specific as follows：
Correction calculating and motor movement through step 3, the mark circle that observation station 1# and observation station 2# are observed is close to ginseng
During according to position, if there is a certain distance deviation, appropriate adjustment is done by alignment schemes, it is specific as follows：
Left-justify：In the image space 1# that peephole 1# is obtained on the basis of the reference position of mark circle 1#, align to be corrected
Flexible circuit board, make to indicate that round reference position deviation reduces in the image space 1# that peephole 1# obtains；
Align center：Adjustment rotary printing platform so that the figure that material to be aligned is obtained with peephole 1# and peephole 2#
Indicate that circle deviation is substantially average in image space；Right Aligns：The reference position of mark circle 1# in the image space 1# that peephole 2# is obtained
Benchmark is set to, flexible circuit board to be corrected of aliging indicates round reference position in the image space 2# for making peephole 2# acquisitions
Deviation reduces.
Beneficial effects of the present invention are as follows：
Instant invention overcomes the technical deficiency that existing printing process is present, makes up and be difficult in printing process pinpoint lacking
Fall into, meet the high-precision printing demand in flexible circuit board printing process, realize the automatization of flexible circuit board printing process.
Description of the drawings
Fig. 1 is the multi-DOF platform structural representation towards flexible circuit board printing；
Fig. 2 is the overall algorithm flow chart of the automatic trimming process of flexible circuit board control station；
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 that motor Y1 moves the rotation platform motion schematic diagram for producing.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail, so as to the technical characteristic to the present invention
It is interpretated more in-depth with advantage.
The auto-correction method of the multi-DOF platform of flexible circuit board printing, specifically includes following steps：
Step 1. builds the multi-DOF platform towards flexible circuit board printing；
Step 2. calibration phase, refers specifically to the central coordinate of circle of two mark circles in fixation and recognition flexible circuit board to be calibrated,
The inclination angle of circle center line connecting is calculated, the central coordinate of circle for obtaining and inclination angle are set to into reference position；
Step 3. calibration phase, specifically includes and sets up calibration model and from dynamic(al) correction and detect flexible circuitry to be corrected
Plate；
Step 4. align stage, refers specifically to flexible circuit board to be corrected of aliging, and reduces range deviation；
The multi-DOF platform towards flexible circuit board printing that step 1 is set up is mainly used in controlling flexible circuit board
Printing alignment, by the mark circle identification in flexible circuit board and calibration model, calculating the correction pulse of each motor, passes through
The alignment and printing of brush material to be printed is realized in the motion of controlled motor.
As shown in figure 1, the multi-DOF platform towards flexible circuit board printing that step 1 is built, including base, rotation
Printing platform, movement executing mechanism, 2 industrial cameras；
Two camera peepholes, respectively peephole 1# and peephole 2# are provided with rotary printing platform.Rotary printing
Platform has 3 degree of freedom, for supporting X, the translation of Y direction and rotation.
Movement executing mechanism includes motor X, motor Y1 and motor Y2, and three motors are motor or servomotor, are transported
Dynamic actuator is fixed on base, while be connected with rotary printing platform, for supporting rotary printing platform and control platform
Do and rotate and translational motion.Wherein motor X is used to control the motion of X-direction；Motor Y1 and Y2 are synchronized with the movement, for controlling Y
Axial motion；If single motor motion, cause rotary printing platform to rotate and translate (including X and Y-direction
Translation).
2 industrial cameras are fixed on base, shoot soft by the peephole 1# on rotary printing platform and peephole 2#
Property wiring board on two mark circle images.
As shown in Fig. 2 the calibration phase described in step 2, specific as follows：
By flexible circuit board fixed placement to be calibrated on rotary printing platform so that two marks in flexible circuit board
Circle is corresponding up and down with peephole 1# and peephole 2# respectively；2 industrial cameras shoot flexible by peephole 1# and peephole 2#
Mark circle on wiring board, so as to the central coordinate of circle of two mark circles in location Calculation flexible circuit board, and according to central coordinate of circle
The inclination angle that two mark circle lines of flexible circuit board are constituted with rotary printing platform is calculated, and the central coordinate of circle and inclination angle are arranged
It is that, with reference to central coordinate of circle, inclination angle is with reference to inclination angle for reference position, i.e. central coordinate of circle；
As shown in Fig. 3 (a) and 3 (b), the home position and inclination angle, i.e. reference circle of two mark circle lines of flexible circuit board
The calculating process at heart coordinate and reference inclination angle is as follows：
The central coordinate of circle (x, y) relative to visual field datum mark (m, n) that 2-1. industrial cameras 2# is obtained by peephole 2#
For：
X=ccos α-dsin α
Y=dcos α+csin α
Wherein, the image space 1# and camera 2# that α is obtained for industrial camera 1# by peephole 1# is obtained by peephole 2#
The angle that the image space 2# for taking is constituted, (c, d) is that industrial camera 2# is got the bid by what peephole 2# was obtained in image space 2#
Will justifies the central coordinate of circle of 2#；
2-2. calculates two mark circle circle center line connectings:
Wherein, (a, b) is the center of circle seat of mark circle 1# in the image space 1# that industrial camera 1# is obtained by peephole 1#
Mark；
Calibration phase described in step 3, it is specific as follows：
By flexible circuit board fixed placement to be calibrated on rotary printing platform so that two marks in flexible circuit board
Circle is corresponding up and down with peephole 1# and peephole 2# respectively；Then the current location of two mark circles and ginseng in calibration phase are compared
According to position；
If calibration phase is identical with target reference position with the current location of two mark circles in calibration phase, need not
Correction；
If calibration phase is less than or equal to allow to miss with two mark circle current locations in calibration phase with reference position deviation
Difference, then into step 4；
If calibration phase is more than allowable error with two mark circle current locations in calibration phase with reference position deviation,
It is corrected；
Described allowable error is specifically relevant with industrial actual demand, generally 0.1mm.
Described trimming process is completed by calibration model, and calibration model is set up as follows：
3-1. sets up correction target
Correction target is to realize that two reference point locations are essentially coincided with reference position in flexible circuit board, and deviation control exists
In the range of allowable error.
3-2. selects coordinate system
The coordinate system involved in correction calculation process includes that such as platform coordinate system, camera coordinates system (2 cameras), motor are sat
Mark system (3 motors), as shown in figure 4, using platform coordinate system as reference coordinate system；
In correction calculation process, involve multiple coordinate systems, such as platform coordinate system, camera coordinates system (2 cameras), motor
Coordinate system (3 motors), the complexity of coordinate system choice relation to calibration model, and each coordinate system is in addition to position deviation,
Unit and ratio are also different, and more complicated is to there may be angular deviation, even the deviation of Z-direction.For example, motor coordinate
System is not exclusively consistent with the X-axis of platform or Y-axis, and camera is installed has certain inclination angle, causes Z-direction to there are some deviations, increases
Plus the complex nature of the problem.For simplified model analysis, ignore the deviation of each coordinate system caused by mechanical erection in Z-direction, and with flat
Platform coordinate system is used as reference coordinate system.
3-3. calculates correction pulse
Impulse correction process includes three below small step：
3-3-1. calculates translation pulse for the first time
(a). calculate the center of circle that the flexible circuit board to be corrected obtained from observation station 2# indicates circle 2# in image space 2#
Move to reference to home position required pulse from current location；
P1x=(Δ xYMoterKy-YMoterKx·Δy)/(XMoterKx·YMoterKy-YMoterKx·
XMoterKy) (1)
P1y=(XMoterKx·Δy-Δx·XMoterKy)/(XMoterKx·YMoterKy-YMoterKx·
XMoterKy) (2)
Wherein, P1xPulse required for motor X；P1yPulse required for motor Y1 and Y2；Δ x, Δ y are camera
In coordinate system, the flexible circuit board to be corrected obtained from observation station 2# indicates the center of circle present bit of circle 2# in image space 2#
Put the pixel difference in image space with reference home position；(XMoterKx, XMoterKy) for motor X pulse and pixel ratio
Value；(YMoterKx, YMoterKy) for motor Y1 or Y2 pulse and pixel ratio；
3-3-2. calculates rotary pulsed
Current inclination is checked and adjusted by peephole 1# and peephole 2#, makes to indicate in flexible circuit board to be corrected round
Heart line indicates that round heart line is parallel with demarcating in flexible circuit board；The i.e. current flexible circuit board to be corrected of the current inclination
The inclination angle of upper mark circle line and rotary printing platform.
As shown in figure 5, due to being single y-axis motor Y1 or Y2 motions, causing in revolving process, i.e., target-angle occurs inclined
During shifting, the reference position of the flexible circuit board to be corrected observed by peephole 1# and peephole 2# is shifted and is rotated,
So that current inclination is 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 current flag of peephole 1#
The coordinate of the round heart of current flag of the round heart and peephole 2# is weighed with the difference of the coordinate with reference to the center of circle；Now rotate arteries and veins
Punching (motor Y1 pulses) is as follows：
P2y1=(w/d) Δ Pluse1-2 (3)
Wherein, w is the width of the rotation platform strong point, and d is the distance for indicating the round heart, it is contemplated that 2 indicate the round heart
It is distant, typically it is defined by two cameras center dot spacing of taking pictures.ΔPluse1-2For the image space 1 of the acquisition of peephole 1#
The difference of the y-axis motor pulse distance of mark circle 2#, described in the image space 2# of the acquisition of middle mark circle 1 and peephole 2#
Pulse distance is the calculating of pulse in the motor pulses that current target point is moved to needed for reference point, i.e. 3-3-1.
3-3-3. calculates second translation pulse
The grid deviation of the round heart of mark observed from observation station 2# caused by compensation process 3-3-2 rotations, by again
Secondary translation causes observation station 1# and observation station 2# to observe mark circle home position and with reference to center of circle position consistency；
As shown in fig. 6, when motor Y1 is moved, platform can not only produce rotation, and entirety can occur appropriate translation；This
When, there is deviation in the mark circle home position that observation station 2# that step 1 has overlapped is observed, it is necessary to suitably mended again
Repay.
Calculate the angle, θ (R of rotationY1)：
γ(RY1)=- sin-1(RY1/(MoterYK·w)) (4)
Wherein, RY1For the pulse distance of motor Y1, MoterYK is motor Y1 and Y2 K values in the Y direction, and unit is：Arteries and veins
Punching/mm；
Computed range offsets：
In trimming process, its rotation platform fulcrum B and B ' keep on the same line (X-axis), rotation platform fulcrum C and
On the same straight line that C ' also keeps in the Y direction (Y-axis)；
Described B is a fulcrum before rotation platform rotation, and B ' is the postrotational fulcrum of rotation platform；C is rotation
Turn a fulcrum before platform rotation, C ' is the postrotational fulcrum of rotation platform；
Based on above-mentioned constraints and platform rigid motion rule, mark circular motion is decomposed into into rotation and is translated, and not
Affect the accuracy for calculating, such as Fig. 6 shadow regions.
Specifically rotate to be and rotate γ around fulcrum C, the center of circle of mark circle 2# in the image space 2# that now peephole 2# is obtained
Grid deviation is：
Wherein,For the polar coordinate that observation station 2# observes reference point；
Concrete translation is to translate τ along X-axis
τ=wcos (γ)+hsin (γ)-w (7)
Therefore, the central coordinate of circle deviation of mark circle 2# is that Δ Pos is as follows in the image space 2# that observation station 2# is obtained：Δ
Pos=(Δ Posx+τ,ΔPosy)；
Then translating the pulse deviation f (γ) for causing is：
F (γ)=Δ P=Δ PosMoterK (8)
Wherein Δ Pos=(Δ Posx,ΔPosy), and MoterK=(MoterKx,MoterKy), represent motor X, motor
The united K values (units of Y1 and Y2：Pulse/mm).
Motor Y1 is equipped with certain pulse deviation (Org_P with ideal bit during due in dressing plate initiallyy1),
Now, translation compensation pulse P3 is set to：
P3=f (γ (Org_Py1+RY1))-f(γ(Org_Py1)) (9)
Finally, the pulse of 3 motors is given respectively by formula 1,2,3,9.
Motor X pulses are：P1x+P3x
Motor Y1 pulses are：P1y+P2y1+P3y
Motor Y2 pulses are：P1y+P3y
Ideal position described above thinks that motor coordinate system is completely the same with platform coordinate system, X-motor and X-direction one
Cause, such as Y1, y2 motors are consistent with Y direction.
3-4. controlled motors are moved, and realize the alignment and printing of brush material to be printed
According to the correction pulse of 3 motors calculated in above-mentioned calibration model, controlled motor X, motor Y1 and motor Y2
Motion, the automatic correct alignment of flexible circuit board to band correction.
3-5. detection correction results
If two mark circle positions of the flexible circuit board after correction are less than allowable error with reference position deviation, enter
Step 4.；
If two mark circle positions of the flexible circuit board after correction are more than allowable error with reference position deviation, then weigh
Multiple step 3-1 to 3-3；
Align stage described in step 4 is specific as follows：
Correction calculating and motor movement through step 3, the mark physa that observation station 1# and observation station 2# are observed originally connects
Nearly reference position, it sometimes appear that a certain distance deviation, irregular and flexible mainly due to flexible circuitry panel material itself
Difference, causes the distance between two mark circles to change, and now needs to detect the exception in time, and by alignment schemes
Appropriate adjustment is done, it is specific as follows：
Left-justify：In the image space 1# that peephole 1# is obtained on the basis of the reference position of mark circle 1#, align to be corrected
Flexible circuit board, as far as possible with peephole 1# obtain image space 1 in indicate that round reference position deviation is less；
Align center：Adjustment rotary printing platform so that the figure that material to be aligned is obtained with peephole 1# and peephole 2#
Indicate that circle deviation is substantially average in image space；Right Aligns：Indicate that round reference position is in the image space 2 that peephole 2# is obtained
Benchmark, flexible circuit board to be corrected of aliging, in the image space 2 for obtaining with peephole 2# as far as possible round reference position is indicated
Deviation is less.
Claims (6)
1. flexible circuit board printing multi-DOF platform auto-correction method, it is characterised in that comprise the steps：
Step 1. builds the multi-DOF platform towards flexible circuit board printing；
Step 2. calibration phase, refers specifically to the central coordinate of circle of two mark circles in fixation and recognition flexible circuit board to be calibrated, calculates
Circle center line connecting and the inclination angle of rotary printing platform X-axis, by the central coordinate of circle for obtaining and inclination angle reference position is set to；
Step 3. calibration phase, specifically includes and sets up calibration model and from dynamic(al) correction and detect flexible circuit board to be corrected；
Step 4. align stage, refers specifically to flexible circuit board to be corrected of aliging, and reduces range deviation；
The multi-DOF platform towards flexible circuit board printing that step 1 is set up is mainly used in controlling the printing of flexible circuit board
Alignment, by the mark circle identification in flexible circuit board and calibration model, the correction pulse of each motor being calculated, by control
The alignment and printing of brush material to be printed is realized in the motion of motor；
Calibration phase described in step 3, it is specific as follows：
By flexible circuit board fixed placement to be corrected on rotary printing platform so that two mark circles point in flexible circuit board
It is not corresponding up and down with peephole 1# and peephole 2#；Then the current location of two mark circles and reference position in calibration phase are compared
Put；
In calibration phase, if the current location of two mark circles is identical with reference position, need not correct；
In calibration phase, if there is deviation, but deviation in the error for allowing with reference position in the current location of two mark circles
In the range of, then into step 4；
In calibration phase, if the current location of two mark circles has deviation with reference position, and deviation is more than allowable error,
Then it is corrected；
Trimming process is completed by calibration model, and calibration model is set up as follows：
3-1. sets up correction target
Correction target is to realize that two mark circle positions essentially coincide with reference position in flexible circuit board, and deviation control is being allowed
In range of error；
3-2. selects coordinate system
The coordinate system involved in correction calculation process is included such as platform coordinate system, camera coordinates system, motor coordinate system, with platform seat
Mark system is used as reference coordinate system；
3-3. calculates correction pulse
Impulse correction process includes three below small step：
3-3-1. calculates translation pulse for the first time
Calculate the flexible circuit board to be corrected obtained from peephole 2# indicates the center of circle of circle 2# from present bit in image space 2#
Horizontalization is moved to reference to home position required pulse；
P1x=(Δ xYMoterKy-YMoterKx·Δy)/(XMoterKx·YMoterKy-YMoterKx·XMoterKy) (1)
P1y=(XMoterKx·Δy-Δx·XMoterKy)/(XMoterKx·YMoterKy-YMoterKx·XMoterKy) (2)
Wherein, P1xPulse required for motor X；P1yPulse required for motor Y1 and Y2；Δ x, Δ y are camera coordinates
In system, the flexible circuit board to be corrected obtained from peephole 2# indicates the center of circle current location of circle 2# and ginseng in image space 2#
According to home position image space pixel difference；(XMoterKx, XMoterKy) for motor X pulse and pixel ratio；
(YMoterKx, YMoterKy) for motor Y1 or Y2 pulse and pixel ratio；
3-3-2. calculates rotary pulsed
Current inclination is checked and adjusted by peephole 1# and peephole 2#, makes to indicate that the round heart connects in flexible circuit board to be corrected
Line indicates that round heart line is parallel with demarcating in flexible circuit board；The i.e. current flexible circuit board subscript to be corrected of the current inclination
Will justifies the inclination angle of line and rotary printing platform X-axis；
When single y-axis motor Y1 or Y2 is moved, when causing target-angle to shift, observed by peephole 1# and peephole 2#
To the reference position of flexible circuit board to be corrected shift and rotate so that current inclination is basically identical with reference to inclination angle；
Pulse is calculated with the coordinate and reference of the round heart of the current flag of peephole 1# and the round heart of current flag of peephole 2#
The difference of the coordinate in the center of circle is weighing；Now motor Y1's is rotary pulsed as follows：
P2y1=(w/d) Δ Pluse1-2 (3)
Wherein, w for the rotation platform strong point width, d is the distance for indicating the round heart, Δ Pluse1-2For obtaining for peephole 1#
In the image space 1# for taking indicate circle 1# and peephole 2# acquisition image space 2# in mark circle 2# y-axis motor pulse away from
From difference, described pulse distance is the motor pulses that current target point is moved to needed for reference point, i.e. pulse in 3-3-1
Calculate；
3-3-3. calculates second translation pulse
The grid deviation of the round heart of mark observed from peephole 2# caused by compensation process 3-3-2 rotations, by putting down again
Move and cause peephole 1# and peephole 2# to observe mark circle home position and with reference to center of circle position consistency；
Calculate the angle γ (R of rotationY1)：
γ(RY1)=- sin-1(RY1/(MoterYK·w)) (4)
Wherein, RY1For the pulse distance of motor Y1, MoterYK is motor Y1 and Y2 K values in the Y direction, and unit is：Pulse/mm；
Computed range offsets：
In trimming process, there are 2 constraintss in rotation platform：It is straight that constraint 1 is that rotation platform fulcrum B and B ' are maintained at X-axis
On line, constraint 2 is that rotation platform fulcrum C and C ' are also kept on same straight line in the Y direction；Described rotation platform fulcrum B and C
For symmetrical platform fulcrum；
Described rotation platform fulcrum B is a fulcrum before rotation platform rotation, and rotation platform fulcrum B ' is rotation platform rotation
A fulcrum after turning；Rotation platform fulcrum C is a fulcrum before rotation platform rotation, and rotation platform fulcrum C ' is rotary flat
The postrotational fulcrum of platform；Based on above-mentioned constraints and platform rigid motion rule, mark circular motion is decomposed into into rotation
And translation；Specifically rotate to be and rotate γ around rotation platform fulcrum B, mark circle 2# in the image space 2# that now peephole 2# is obtained
Central coordinate of circle deviation be：
Wherein,For the polar coordinate that peephole 2# observes reference point；
Concrete translation is to translate τ along X-axis
τ=wcos (γ)+hsin (γ)-w (7)
Wherein, h is rotation platform height；
Therefore, the central coordinate of circle deviation of mark circle 2# is that Δ Pos is as follows in the image space 2# that peephole 2# is obtained：Δ Pos=
(ΔPosx+τ,ΔPosy)；
Then translating the pulse deviation f (γ) for causing is：
F (γ)=Δ P=Δ PosMoterK (8)
Wherein Δ Pos=(Δ Posx+τ,ΔPosy), and MoterK=(MoterKx,MoterKy), represent motor X, motor Y1 and
The united K values of Y2；
If motor Y1 is completely consistent with the Y direction of dressing plate, Y1 is in ideal position, there is no pulse deviation；But
Motor Y1 is equipped with certain pulse deviation (Org_P with ideal bit during due in trimming process initiallyy1), now, translation compensation arteries and veins
Rush P3 to be set to：
P3=f (γ (Org_Py1+RY1))-f(γ(Org_Py1)) (9)
Finally, drawn by formula (1), (2), (3) and (9)：
Motor X pulses are：P1x+P3x
Motor Y1 pulses are：P1y+P2y1+P3y
Motor Y2 pulses are：P1y+P3y
Wherein, P3xIt is compensated pulse P3 in X-axis component, P3yIt is compensated pulse P3 in Y-axis component；
3-4. controlled motors are moved, and realize the correction of brush material to be printed
According to the correction pulse of 3 motors calculated in above-mentioned calibration model, controlled motor X, motor Y1 and motor Y2 are moved,
To the automatic correct alignment of flexible circuit board to be corrected；
3-5. detection correction results
If two mark circle positions of the flexible circuit board after correction are less than allowable error with reference position deviation, into step
4；
If two mark circle positions of the flexible circuit board after correction are more than allowable error, repeat step with reference position deviation
3-1 to 3-3.
2. the auto-correction method of the multi-DOF platform of flexible circuit board as claimed in claim 1 printing, it is characterised in that：
The multi-DOF platform towards flexible circuit board printing that step 1 is built, including base, rotary printing platform, motion
Actuator, 2 industrial cameras；
Two camera peepholes, respectively peephole 1# and peephole 2# are provided with rotary printing platform；Movement executing mechanism
Including motor X, motor Y1 and motor Y2, movement executing mechanism is fixed on base, while being connected with rotary printing platform, is used for
Support rotary printing platform and control platform is done and rotated and translational motion；Wherein motor X is used to control the motion of X-direction；Electricity
Machine Y1 and Y2 are synchronized with the movement, for controlling the motion of Y direction；If single motor is moved, rotary printing platform is caused to occur
Rotation and translation；2 industrial cameras are fixed on base, are shot by the peephole 1# on rotary printing platform and peephole 2#
The image of two mark circles in flexible circuit board.
3. the auto-correction method of the multi-DOF platform of flexible circuit board as claimed in claim 1 printing, it is characterised in that：
Calibration phase described in step 2, it is specific as follows：
By flexible circuit board fixed placement to be calibrated on rotary printing platform so that two mark circles point in flexible circuit board
It is not corresponding up and down with peephole 1# and peephole 2#；2 industrial cameras shoot flexible circuitry by peephole 1# and peephole 2#
Mark circle on plate, so as to the central coordinate of circle of two mark circles in location Calculation flexible circuit board, and calculates according to central coordinate of circle
The inclination angle that two mark circle lines of flexible circuit board are constituted with the X-axis of rotary printing platform, and the central coordinate of circle and inclination angle are set
It is that, with reference to central coordinate of circle, inclination angle is with reference to inclination angle to be set to reference position, i.e. central coordinate of circle；
The home position of described two mark circle lines of flexible circuit board and inclination angle, i.e., with reference to central coordinate of circle and with reference to inclination angle
Calculating process is as follows：
2-1. industrial cameras 2# is by the central coordinate of circle (x, y) relative to visual field datum mark (m, n) that peephole 2# is obtained：
X=c cos α-d sin α
Y=d cos α+c sin α
Wherein, the image space 1# and industrial camera 2# that α is obtained for industrial camera 1# by peephole 1# is obtained by peephole 2#
The angle that the image space 2# for taking is constituted, (c, d) is that industrial camera 2# is got the bid by what peephole 2# was obtained in image space 2#
Will justifies the central coordinate of circle of 2#；
2-2. calculates the inclination angle that two mark circle circle center line connectings are constituted with the X-axis of rotary printing platform.
4. the auto-correction method of the multi-DOF platform of flexible circuit board as claimed in claim 3 printing, it is characterised in that：
Described allowable error is specifically relevant with industrial actual demand, is 0.1mm.
5. the auto-correction method of the multi-DOF platform of flexible circuit board as claimed in claim 3 printing, it is characterised in that：
The ideal position represents that motor coordinate system is completely the same with platform coordinate system, and X-motor is consistent with X-direction.
6. the auto-correction method of the multi-DOF platform of flexible circuit board as claimed in claim 1 printing, it is characterised in that：
Align stage described in step 4 is specific as follows：
Correction calculating and motor movement through step 3, the mark circle that peephole 1# and peephole 2# are observed is close to reference to position
When putting, if there is a certain distance deviation, appropriate adjustment is done by alignment schemes, it is specific as follows：
Left-justify：In the image space 1# that peephole 1# is obtained on the basis of the reference position of mark circle 1#, align to be corrected soft
Property wiring board, make peephole 1# obtain image space 1# in mark circle with reference position deviation reduce；
Align center：Adjustment rotary printing platform so that the image that material to be aligned is obtained with peephole 1# and peephole 2# is empty
Between it is middle mark circle deviation it is substantially average；
Right Aligns：In the image space 2# that peephole 2# is obtained on the basis of the reference position of mark circle 2#, align to be corrected soft
Property wiring board, make peephole 2# obtain image space 2# in mark circle with reference position deviation reduce.
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| CN106132103A (en) * | 2016-08-17 | 2016-11-16 | 无锡市莱科自动化科技有限公司 | Flexible circuit board printer platform automatic correction device |
| CN106658971A (en) * | 2016-12-27 | 2017-05-10 | 广州市泰立机电设备有限公司 | Printed wiring board intelligent pick-and-place method |
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| CN110744920B (en) * | 2019-10-29 | 2022-03-29 | 苏州美盈森环保科技有限公司 | Method and system for positioning printed product |
| TWI727821B (en) * | 2020-06-05 | 2021-05-11 | 瑞統科技股份有限公司 | Positioning correction device and positioning method of printed circuit board |
| CN112009099B (en) * | 2020-08-18 | 2022-08-23 | 苏州科德软体电路板有限公司 | Single-camera printing correction table correction method |
| CN112558809B (en) * | 2020-12-07 | 2021-08-24 | 深圳市宏申工业智能有限公司 | Glue dispensing method for small-aperture playground-type hole of touch display screen |
| CN114283207A (en) * | 2021-12-27 | 2022-04-05 | 昆山福拉特自动化设备有限公司 | Calibration method for alignment crimping of Flexible Printed Circuit (FPC) and screen cell |
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