CN106501282A - The automatic inspection machine people of FPC and its intelligent detecting method - Google Patents
The automatic inspection machine people of FPC and its intelligent detecting method Download PDFInfo
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- CN106501282A CN106501282A CN201610947941.5A CN201610947941A CN106501282A CN 106501282 A CN106501282 A CN 106501282A CN 201610947941 A CN201610947941 A CN 201610947941A CN 106501282 A CN106501282 A CN 106501282A
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- 238000007689 inspection Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 230000007547 defect Effects 0.000 claims description 28
- 238000011897 real-time detection Methods 0.000 claims description 6
- 238000007619 statistical method Methods 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 4
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000010224 classification analysis Methods 0.000 claims description 2
- 230000002950 deficient Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
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- 239000008358 core component Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/046—Revolute coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/302—Contactless testing
- G01R31/304—Contactless testing of printed or hybrid circuits
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
- G01N2021/95638—Inspecting patterns on the surface of objects for PCB's
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
- G01N2021/95638—Inspecting patterns on the surface of objects for PCB's
- G01N2021/95646—Soldering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
- G01N2021/95638—Inspecting patterns on the surface of objects for PCB's
- G01N2021/95653—Through-holes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
- G01N2021/95638—Inspecting patterns on the surface of objects for PCB's
- G01N2021/95661—Inspecting patterns on the surface of objects for PCB's for leads, e.g. position, curvature
Abstract
The invention discloses a kind of automatic inspection machine people of FPC, including base, outside mask, cover plate, high-speed industrial camera, the zone line side of the base upper panel is provided with the detection seat for detecting FPC for placement, opposite side is provided with mechanical hand, and the left and right sides of the detection seat is respectively arranged with pallet to be detected；Outside mask is set above the base, cover plate is set at the top of the outside mask, the bottom surface setting high-speed industrial camera and the high-speed industrial camera of the cover plate is above detection seat；The base bottom is provided with electric control box, and the electric control box is connected with high-speed industrial camera, mechanical hand respectively；A kind of intelligent detecting method of the automatic inspection machine people of FPC is also disclosed, ten number of drawbacks contents of FPC wiring boards can be checked automatically and recognize by the present invention item by item；Also achieve simultaneously and pick and place fast and accurately workpiece, it is ensured that the efficient state of detection.
Description
Technical field
The invention belongs to industrial robot field and vision Automatic Measurement Technique field, and in particular to a kind of FPC is examined automatically
Look into robot and its intelligent detecting method.
Background technology
Current electronic device develops towards lightening, miniaturization, causes to explode flexible print circuit board demand.At present
Flexible print circuit board has been widely applied (flat in Wearable device (intelligent watch, bracelet, ring, glasses), computer product
Plate computer, notebook computer, printer, Winchester disk drive, CD-ROM drive), display (LCD, PDP, OLED), consumption electronic products
(digital camera, camera, sound equipment, MP3), vehicle-mounted Denso spare part (instrument board, sound equipment, antenna, function control), electronic machine
(Medical Instruments, industrial electronic instrument), communication product (smart phone, facsimile machine) and Aero-Space, network energy electric power, new energy
The fields such as source photovoltaic generation, wind-power electricity generation, semi-conductor LED illuminating.
Flexible print circuit board quality directly determines Quality of electronic products.But existing detection meanss do not adapt to work as
The development trend of front flexible print circuit board, high-performance, high complexity, the production of high-quality flexible print circuit board, except answering
Ensure that excellent raw material, advanced technique, equipment, management mode are outer, it is necessary to complete quality certification system and
Advanced testing equipment.
But as the domestic at present automatic optical detecting system research for defect of printed circuit board also stays at initial stage water
Flat, domestic overwhelming majority board production producer is still detected using the method that is manually checked with magnifier or projector,
High labor intensive, loss are high, and as electronic product is towards miniaturization, digital development, printed circuit board is also towards height
Density, high accuracy develop, and using the method for desk checking, cannot be met to more high density and precision circuits plate (0.12- substantially
Examination requirements 0.10mm)；Therefore market is in the urgent need to flexible print circuit board automatic detection machine people.
It is estimated that flexible print circuit board automatic detection machine labor market field scale is hundred million yuan or so of 2-5 every year.Market capacity
Greatly, the present invention has the larger market space.
Content of the invention
In view of this, present invention is primarily targeted at providing a kind of automatic inspection machine people of FPC and its Intelligent Measurement side
Method.
For reaching above-mentioned purpose, the technical scheme is that and be achieved in that：
The embodiment of the present invention provides a kind of automatic inspection machine people of FPC, and the robot includes base, outside mask, cover plate, height
Fast industrial camera, the zone line side of the base upper panel are provided with for placing the detection seat for detecting FPC, separately
Side is provided with mechanical hand, and the left and right sides of the detection seat is respectively arranged with pallet to be detected；Arrange above the base outer
Side cover, arranges cover plate at the top of the outside mask, the bottom surface of the cover plate arranges high-speed industrial camera and the high-speed industrial phase
Machine is located above detection seat；The base bottom is provided with electric control box, the electric control box respectively with high-speed industrial phase
Machine, mechanical hand connection.
In such scheme, the side of the outside mask is provided with LCDs, the LCDs and electrical control
Case connects.
In such scheme, in the outside mask, safe grating is provided with.
In such scheme, the mechanical hand is adopted can be in coordinate system x, y, z, the free-moving 4 axle machine of u four directions
People；The mechanical hand is connected with for opening or control the motion switch whether robot arm works.
In such scheme, the bottom of the base is provided with foot cup, and the rear portion of the base is provided with for protecting
The base cover of line security in electric control box.
In such scheme, colour and black-white CCD camera and supporting mirror of the high-speed industrial camera for parallel combinations
Head, light source are the special light source of large scale, brightness is adjustable antireflection.
In such scheme, between the high-speed industrial camera and mechanical hand, industrial computer is connected with.
In such scheme, on the high-speed industrial camera, camera light source is additionally provided with.
The embodiment of the present invention also provides a kind of FPC intelligent detecting methods of automatic inspection machine people, and the method is by following
Step is realized：
Step one：Golden finger, circuit, pad Fen Sange areas difference Criterion feature database are pressed according to multiple qualified FPC, and
Statistical analysiss, extract the parameter index suitable for judging the whether qualified validity feature of detection zone；
Step 2：Identical provincial characteristicss are compared with standard feature storehouse during real-time detection, set up conjunction as requested
Suitable parameter index threshold value, if actually detected provincial characteristicss are less than threshold value with standard feature storehouse deviation, then it is assumed that workpiece is qualified, if partially
Difference is more than threshold value, then it is assumed that workpiece is unqualified.
In such scheme, the method also includes collecting FPC defect representative samples, presses golden finger, circuit, pad according to FPC
Fen Sange areas set up defect word bank, and extract the feature of various defects, carry out statistical analysiss, according to the classification of different defect characteristics
Analysis draws the identification basis for estimation of various defects；Defect classification is further carried out to underproof workpiece, real-time detection is special
The characteristic index that index is levied with defect word bank is contrasted, if characteristic index is closer to the corresponding defect of the characteristic index for being close to.
Compared with prior art, beneficial effects of the present invention：
The present invention is by robot motion's system control machine tool handss by suction type automatic Picking flexible print to be detected
Brush wiring board is automatically placed on the detection station that specifies, by the flexible circuit board in high-speed industrial collected by camera current station
The view data of FPC the real-time ten number of drawbacks contents for checking automatically item by item and recognizing FPC wiring boards；Also achieve simultaneously fast
Speed and accurately pick and place workpiece, it is ensured that the efficient state of detection.
Description of the drawings
Fig. 1 provides a kind of FPC structural representations of automatic inspection machine people for the embodiment of the present invention.
Fig. 2 closes schematic diagram for the system function module that the embodiment of the present invention provides a kind of automatic inspection machine people of FPC.
Fig. 3 provides a kind of FPC system job schematic flow sheets of automatic inspection machine people for the embodiment of the present invention.
Specific embodiment
In order that the objects, technical solutions and advantages of the present invention become more apparent, below in conjunction with drawings and Examples, right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only in order to explain the present invention, and
It is not used in the restriction present invention.
The embodiment of the present invention provides a kind of automatic inspection machine people of FPC, as shown in figure 1, the robot includes base 1, outer
Side cover 7, cover plate 8, high-speed industrial camera 2, the zone line side of 1 upper panel of the base is provided with to be examined for placing
The detection seat 4 of FPC is surveyed, opposite side is provided with mechanical hand 3, and the left and right sides of the detection seat 4 is respectively arranged with pallet to be detected
6；Outside mask 7 is set above the base 1, cover plate 8 is set at the top of the outside mask 7, the bottom surface of the cover plate 8 arranges high speed work
Industry camera 2 and the high-speed industrial camera 2 are located above detection seat 4；1 bottom of the base is provided with electric control box 10,
The electric control box 10 is connected with high-speed industrial camera 2, mechanical hand 3 respectively.
The cover plate 8 and outside mask 7 play a part of dust-proof and anti-interference of stray light, also function to 3 core component of mechanical hand
Effect.
The electric control box 10 is using electrical control cabinets such as wiring, servomotors.
The rear portion of the base 1 is provided with for protecting the base cover 12 of line security in electric control box 10.
The side of the outside mask 7 is provided with LCDs 9, and the LCDs 9 are connected with electric control box 10.
Safe grating 5 is provided with the outside mask 7, artificial for preventing staff and other relevant peoples etc. to be strayed into machine
Make scope, play a part of security protection warning.
The mechanical hand 3 is adopted can be in coordinate system x, y, z, the free-moving 4 axle robot of u four directions, in realization
Under, left and right, in front and back rotate freely motion；The mechanical hand 3 is connected with to be opened for the motion that opens or whether mechanical hand 3 works
Close 13.
The bottom of the base 1 is provided with foot cup 11, plays the purpose of mechanical hand 3.
The high-speed industrial camera 2 is big for the colour and black-white CCD camera and supporting camera lens, light source of parallel combinations
Size, the special light source of brightness is adjustable antireflection.
Camera light source 14 is additionally provided with the high-speed industrial camera 2.
Industrial computer is connected between the high-speed industrial camera 2 and mechanical hand 3.
The defect that can detect of the present invention includes short circuit, open circuit, minimum feature/line-spacing violation, breach, protrusion, depression, residual
The defects such as copper, pin hole, oxidation, characteristic point difference, motherboard data size and positional fault, hole, pad, punching press off normal, hole off normal,
Ten multinomial bad and inspection result reliabilities of flexible print circuit board are realized up to 99%, replacement hand inspection FPC is reached, real
The function of existing automation inspection FPC defect.
As shown in Fig. 2 the embodiment of the present invention provides a kind of automatic inspection machine people of FPC, including industrial computer, high-speed industrial phase
Machine, input block, display unit, industrial robot, the high-speed industrial camera, input block, display unit, industrial robot
It is connected with industrial computer respectively；The input block adopts display, industrial robot using keyboard and/or mouse, display unit
As mechanical hand.
The embodiment of the present invention provides a kind of FPC intelligent detecting methods of automatic inspection machine people, as shown in Figure 2,3, the party
Method is realized by following steps：
Step one：Golden finger, circuit, pad Fen Sange areas difference Criterion feature database are pressed according to multiple qualified FPC, and
Statistical analysiss, extract the parameter index suitable for judging the whether qualified validity feature of detection zone；
Step 2：Identical provincial characteristicss are compared with standard feature storehouse during real-time detection, set up conjunction as requested
Suitable parameter index threshold value, if actually detected provincial characteristicss are less than threshold value with standard feature storehouse deviation, then it is assumed that workpiece is qualified, if partially
Difference is more than threshold value, then it is assumed that workpiece is unqualified.
The method also includes collecting FPC defect representative samples, presses golden finger, circuit, the foundation of pad Fen Sange areas according to FPC
Defect word bank, and the feature of various defects is extracted, statistical analysiss are carried out, the classification analysis according to different defect characteristics draw various
The identification basis for estimation of defect；Defect classification is further carried out to underproof workpiece, by real-time detection characteristic index and defect
The characteristic index contrast of word bank, if characteristic index is closer to the corresponding defect of the characteristic index for being close to.
The defective products that detection finds is marked, qualified is positioned by image again with underproof workpiece, by machinery
Non-defective unit and defective products are placed on handss the pallet in non-defective unit region and defective products region, complete one-time detection.So circulation is examined
Survey.Instruction operation of the motion of mechanical hand according to analysis result；Data interaction using robot motion's system and visual system
With control technology, supporting precision machined device structure part, mechanical hand can pick and place workpiece fast and accurately, it is ensured that software
Effectively can run like clockwork with mechanical hand.
The above, only presently preferred embodiments of the present invention is not intended to limit protection scope of the present invention.
Claims (10)
1. automatic inspection machine people of a kind of FPC, it is characterised in that the robot includes base, outside mask, cover plate, high-speed industrial
Camera, the zone line side of the base upper panel are provided with for placing the detection seat for detecting FPC, and opposite side sets
Mechanical hand is equipped with, the left and right sides of the detection seat is respectively arranged with pallet to be detected；Outside mask, institute are set above the base
State at the top of outside mask setting cover plate, the bottom surface of the cover plate arranges high-speed industrial camera and the high-speed industrial camera is located at inspection
Survey above seat；The base bottom is provided with electric control box, the electric control box respectively with high-speed industrial camera, mechanical hand
Connection.
2. automatic inspection machine people of FPC according to claim 1, it is characterised in that：The side of the outside mask is provided with
LCDs, the LCDs are connected with electric control box.
3. automatic inspection machine people of FPC according to claim 1 and 2, it is characterised in that：Peace is provided with the outside mask
Full raster.
4. automatic inspection machine people of FPC according to claim 3, it is characterised in that：The mechanical hand is adopted can sat
The free-moving 4 axle robot of mark system x, y, z, u four directions；The mechanical hand is connected with for opening or controlling robot arm is
The motion switch of no work.
5. automatic inspection machine people of FPC according to claim 4, it is characterised in that：The bottom of the base is provided with bottom
Seat leg cup, the rear portion of the base are provided with for protecting the base cover of line security in electric control box.
6. according to the automatic inspection machine people of FPC described in claim 5, it is characterised in that：The high-speed industrial camera is arranged side by side group
The special light source of the colour of conjunction and black-white CCD camera and supporting camera lens, light source are large scale, brightness is adjustable antireflection.
7. according to the automatic inspection machine people of FPC described in claim 1, it is characterised in that：The high-speed industrial camera and mechanical hand
Between be connected with industrial computer.
8. according to the automatic inspection machine people of FPC described in claim 1, it is characterised in that：Also set up on the high-speed industrial camera
There is camera light source.
9. the intelligent detecting method of the automatic inspection machine people of a kind of FPC, it is characterised in that the method is realized by following steps：
Step one：Golden finger, circuit, pad Fen Sange areas difference Criterion feature database are pressed according to multiple qualified FPC, and is counted
Analysis, extracts the parameter index suitable for judging the whether qualified validity feature of detection zone；Step 2：Will during real-time detection
Identical provincial characteristicss are compared with standard feature storehouse, set up suitable parameters metrics-thresholds as requested, if actually detected area
Characteristic of field is less than threshold value with standard feature storehouse deviation, then it is assumed that workpiece is qualified, if deviation is more than threshold value, then it is assumed that workpiece does not conform to
Lattice.
10. a kind of intelligent detecting method of the automatic inspection machine people of FPC according to claim 9, it is characterised in that the party
Method also includes collecting FPC defect representative samples, sets up defect word bank according to FPC by golden finger, circuit, pad Fen Sange areas, and
The feature of various defects is extracted, statistical analysiss are carried out, the classification analysis according to different defect characteristics draw the identification of various defects
Basis for estimation；Defect classification is further carried out to underproof workpiece, by real-time detection characteristic index and the feature of defect word bank
Index is contrasted, if characteristic index is closer to the corresponding defect of the characteristic index for being close to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610947941.5A CN106501282A (en) | 2016-10-26 | 2016-10-26 | The automatic inspection machine people of FPC and its intelligent detecting method |
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| CN201610947941.5A CN106501282A (en) | 2016-10-26 | 2016-10-26 | The automatic inspection machine people of FPC and its intelligent detecting method |
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| CN106501282A true CN106501282A (en) | 2017-03-15 |
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| CN108344752A (en) * | 2018-02-08 | 2018-07-31 | 江西景旺精密电路有限公司 | A kind of PCB appearances automatic detection device and detection method |
| CN108427070A (en) * | 2018-05-22 | 2018-08-21 | 淮安杰鼎唐科技有限公司 | Circuit board detecting equipment and test system |
| CN108896904A (en) * | 2018-07-09 | 2018-11-27 | 武汉瑞莱保能源技术有限公司 | A kind of micro-circuit board fault detection machine people |
| CN109239102A (en) * | 2018-08-21 | 2019-01-18 | 南京理工大学 | A kind of flexible circuit board open defect detection method based on CNN |
| CN109297988A (en) * | 2018-10-30 | 2019-02-01 | 东莞睿影智能科技有限公司 | A kind of FPC inspection of line machine for collecting optical check and reprocessing function integration |
| CN109752395A (en) * | 2017-11-01 | 2019-05-14 | 深圳市迪姆自动化有限公司 | A kind of glass surface Defect Detection equipment |
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| CN111912859A (en) * | 2020-06-01 | 2020-11-10 | 湖南福瑞印刷有限公司 | Visual detection system for printed matter image |
| CN112730249A (en) * | 2020-12-29 | 2021-04-30 | 苏州天准科技股份有限公司 | Optical system and automatic visual detection device for flexible circuit board |
| CN113567455A (en) * | 2021-08-27 | 2021-10-29 | 惠州市特创电子科技股份有限公司 | Printed circuit board front end golden finger detection device and detection method |
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