CN106998624A - Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system - Google Patents
Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system Download PDFInfo
- Publication number
- CN106998624A CN106998624A CN201710274064.4A CN201710274064A CN106998624A CN 106998624 A CN106998624 A CN 106998624A CN 201710274064 A CN201710274064 A CN 201710274064A CN 106998624 A CN106998624 A CN 106998624A
- Authority
- CN
- China
- Prior art keywords
- suction nozzle
- concentricity
- placement head
- chip mounter
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/303—Surface mounted components, e.g. affixing before soldering, aligning means, spacing means
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/0008—Apparatus or processes for manufacturing printed circuits for aligning or positioning of tools relative to the circuit board
Abstract
The invention discloses surface encapsulation chip mounter suction nozzle concentricity automatic compensating method, comprise the following steps：(1) placement head is set, linear hall sensor and neodymium iron boron magnetic bead are set in the placement head suction nozzle rotary shaft, the zero point to the suction nozzle rotary shaft on placement head is demarcated, it is ensured that the model reference point position in compensation process；(2) NI Vision Builder for Automated Inspection is set, NI Vision Builder for Automated Inspection includes shooting collection terminal and processing end, the gray analysis method analysis software based on image procossing and the processing software based on graphic feature Yu the mathematical modeling of gradation of image corresponding relation are integrated with processing end, automatic detection is carried out to the placement head suction nozzle concentricity, and sets up suction nozzle rotational concentricity error model；(3) according to the suction nozzle rotational concentricity error model of acquisition, correction is compensated to rotating brought Concentricity tolerance by suction nozzle during attachment.The invention also discloses a kind of surface encapsulation chip mounter suction nozzle concentricity self compensating system.
Description
Technical field
The present invention relates to surface encapsulation chip mounter field, and in particular to surface encapsulation chip mounter suction nozzle concentricity is automatic
Compensation method and system.
Background technology
In recent years, miniature desktop chip mounter is due to its small volume, cost performance height, by numerous small-sized research and development institutions and wound visitor
Favor.This class chip mounter sets flexible, simple to operate, can effectively solve to use in sample research and development and small lot production phase
Family manual pasting low precision, the pain spot wasted time and energy, generally by vacuum slot, can paste most SMD chip components, 0603
Above component and below 16mm SOIC.
The factor of the placement accuracy of miniature desktop chip mounter is influenceed to generally comprise：The positioning precision of XY axles, circuit to be mounted
The vertical missing precision and rotating deviation of the calibrating and positioning precision of plate, the calibrating and positioning precision of element feeding position and placement head
Precision etc..Wherein the positioning precision of XY axles is relevant with the mechanical precision of motor positioning precision and guide rail, current miniature desktop
The XY axle motion platforms framework of chip mounter comparative maturity, positioning precision can typically reach 0.02mm or so.By means of
Machine vision is by hand after demarcation, and the demarcation of mounted board and the stated accuracy of element feeding position can reach 0.01mm.This two class
Precision is after chip mounter works long hours, and change is little.
Due to mostly being used straight on step motor shaft by the design of cost control, current miniature desktop chip mounter placement head
The mode of fixed suction nozzle is connect to realize.In a kind of this design, reload buffer device is needed at suction nozzle, with reduce during paster by
The impact brought in the difference of drawn component height to circuit board.The advantage of this design is that cost is low, it is easy to accomplish.But
It is that precision after machine assembling is easily influenceed by perpendicularity and suction nozzle concentricity is installed, uniformity is difficult to ensure that.
Further, since movement velocity is fast in the course of the work, frequency of use is high for mounting head suction nozzle, adds and draw and paster
During inevitably occur after the impact of non-flat cunning, therefore prolonged work, the machinery positioning precision of placement head is very
Easily there is larger change, cause current miniature desktop chip mounter generally existing on the market placement accuracy and increase with the time
The defect being gradually deteriorated, user needs frequently to change the parameter of mounting head and adjustment machine to carry out, the overall use of machine
Experience is not good.
Accordingly, it would be desirable to research and develop it is a kind of can be applied to miniature desktop chip mounter suction nozzle concentricity automatic compensating method
And system, it can realize that the concentricity to suction nozzle is measured and corrected automatically during each attachment, and
The parameter of mounting head and adjustment machine is frequently changed without user, it is ensured that its concentricity processed every time is all in the scope of permission
It is interior, it is to avoid machining precision by assembling, transport and Continuous maching brings and influenceed.
The content of the invention
In view of the above-mentioned problems, it is an object of the present invention to provide a kind of surface encapsulation chip mounter suction nozzle concentricity from
Dynamic compensation method, can realize during each attachment, concentricity automatic, immediately to suction nozzle is measured
And correct, the parameter of mounting head and adjustment machine is frequently changed without user, it is ensured that its concentricity processed every time all exists
In the range of permission.
The present invention also aims to there is provided a kind of surface encapsulation chip mounter suction nozzle concentricity self compensating system,
The machining accuracy of machine is avoided by assembling and transport is influenceed, amendment immediately is continuous, rapid processing when the coordinate drift that produces.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of surface encapsulation chip mounter suction nozzle concentricity automatic compensating method, comprises the following steps：
(1) placement head is set, linear hall sensor and magnetic neodymium-iron-boron are set in the placement head suction nozzle rotary shaft
Pearl, the zero point to the suction nozzle rotary shaft on placement head is demarcated, it is ensured that the model reference point position in compensation process；
(2) NI Vision Builder for Automated Inspection is set, and NI Vision Builder for Automated Inspection includes being integrated with shooting collection terminal and processing end, processing end
Gray analysis method analysis software based on image procossing and the mathematical modeling based on graphic feature and gradation of image corresponding relation
Software is handled, automatic detection is carried out to the placement head suction nozzle concentricity, and set up suction nozzle rotational concentricity error model；
(3) according to the suction nozzle rotational concentricity error model of acquisition, that is brought to being rotated during attachment by suction nozzle is same
Heart degree deviation compensates correction.
Further improved as of the invention, the setting placement head in the step (1) is specifically included：Stepper motor, stepping
Motor driving shaft, bottom plate, nozzle adapter, suction nozzle；Wherein, stepper motor drive shaft is hollow shaft, tight with nozzle adapter
Close connection, suction nozzle is to be detachably connected with nozzle adapter；Linear hall sensor is arranged on bottom plate close to rotary shaft position
On, neodymium iron boron magnetic bead is arranged on nozzle adapter on subiculum Board position.
Further improved as of the invention, a diameter of 3 to 6 millimeters of the magnetic neodymium iron boron magnetic bead.
Further improved as of the invention, the Zero calibration of the suction nozzle rotary shaft in the step (1), specifically include with
Under：
(1.1) pulse is exported, Driving Stepping Motor turns clockwise certain angle；
(1.2) reading of linear hall sensor is read, and the maximum linear Hall in this reading and historical record is passed
Sensor read-around ratio is compared with if the former is more than the latter, the record angle that now motor has rotated；
(1.3) judge whether motor has been rotated through 360 degree, if so, according to the linear hall sensor recorded
The angle of motor rotation when reading is maximum, then rotate counterclockwise respective angles, now suction nozzle rotary shaft rezero operation completion；
Otherwise, repeat step (1.1).
Further improved as of the invention, the placement head suction nozzle concentricity automatic detection in the step (2) and modeling, tool
Body includes following：
(2.1) X, the Y-axis motion of chip mounter are driven, suction nozzle center to be detected is moved to the vision of detection camera
Center；
(2.2) Z axis motor is driven, placement head is moved down, until suction nozzle top and the workbench where circuit board to be mounted
Face is reduced or eliminated because placement head installs the influence that the error of perpendicularity is brought in sustained height；
(2.3) driving placement head stepper motor turns clockwise certain angle, after motor stops the rotation, detection trigger camera
M two field pictures are intercepted, the relative co-ordinate information (x at suction nozzle top center is obtained using vision algorithmk,yk, α), wherein (xk,yk) be
The relative position of suction nozzle center in the picture, α is suction nozzle present rotation angel degree, the position coordinates of regulation starting for (0,0,0) and
It is (x that motor shaft, which is in Zero calibration position,k,yk, α)=(0,0,0)；
(2.4) judge whether suction nozzle has been rotated through 360 degree, if it is, being transferred to next step, otherwise go back to step (2.3)；
(2.5) using the coordinate information collected in each anglec of rotation, solving model f (x, y, α) meets it following
Two conditions：
Condition 1：Point set { (xk,yk) | k=0...n } it is minimum apart from absolute value sum to fitting circle, i.e.,(xc,yc) it is fitting circle centre coordinate, R is fitting radius of circle；
Condition 2：F (0,0,0)=0.
Further improved as of the invention, the step (2.3) is specific also including following：
(2.3.1) is intercepted after a two field picture, and image is cut out first, reduces target image to be processed as far as possible,
Ensure target suction nozzle still wherein simultaneously；
(2.3.2) carries out grey scale change to image, it is transformed into HSV space from BGR spaces；
(2.3.3) carries out smooth operation using suitable wave filter to gray level image, reduces picture noise influence；
(2.3.4) is corroded and expansive working to the image after smooth, target is protruded from background；
(2.3.5) is split using Canny operators to image, obtains comprising the binary map including object edge information
Picture；
(2.3.6) finds out the profile of object in bianry image, and carries out ellipse fitting to all profiles；
Whether (2.3.7) checks the ellipse after all fittings, be target (suction nozzle hole) from two condition judgments：Oval length
The ratio between axle is less than a certain threshold value, and oval actual size is within the specific limits.If there is the ellipse for the condition that meets in image, and
Only one of which, then will preserve the information (x of the ellipse in the picturei,yi, α), wherein α is suction nozzle present rotation angel degree.Now, one
Two field picture is disposed；
(2.3.8) checks whether the M two field pictures for having handled requirement, if not having, and goes to step (2.3.1), otherwise turns
Enter next step；
(2.3.9) utilizes formulaObtain the positional information (x of the position suction nozzlek,
yk, α), wherein N is effective frame number, N ＜ M.
Further improved as of the invention, the suction nozzle Concentricity tolerance compensation correction in the step (3), specifically include with
Under：
According to the mathematical modeling f (x, y, α) for obtaining suction nozzle Concentricity tolerance, wherein the centre coordinate (x comprising fitting circlec,
yc) and radius R；It is as α=0, i.e., residing after suction nozzle rotates to an angle α when suction nozzle rotary shaft is in the zero point demarcated
Position on circumference a bit (x, y), using geometrical relationship, (x, y) can be described with formula (1)
α in above formula0O ' O angle is arrived for vectorial O ' X ', it meets following condition
Formula (2) is updated in (1), being described as (x, y) can be obtained
So far, after suction nozzle rotates to an angle α in the course of work, in global coordinate system its deviation will for (x,
Y), this value is subtracted in the target elements of a fix of suction nozzle, it is possible to eliminate due to the deviation that its concentricity is brought, so that
Accurately it is located at the coordinate specified.
A kind of surface encapsulation chip mounter suction nozzle concentricity self compensating system, including：
Linear hall sensor and magnetic neodymium iron boron magnetic bead are provided with placement head, the placement head suction nozzle rotary shaft, it is right
The zero point of suction nozzle rotary shaft on placement head is demarcated, it is ensured that the model reference point position in compensation process；
NI Vision Builder for Automated Inspection, NI Vision Builder for Automated Inspection includes being integrated with shooting collection terminal and processing end, processing end based on figure
As the gray analysis method analysis software and soft based on graphic feature and the processing of the mathematical modeling of gradation of image corresponding relation of processing
Part, carries out automatic detection, and set up suction nozzle rotational concentricity error model to the placement head suction nozzle concentricity；According to the suction of acquisition
Mouth rotational concentricity error model, correction is compensated to rotating brought Concentricity tolerance by suction nozzle during attachment.
Further improved as of the invention, the setting placement head is specifically included：Stepper motor, stepper motor drive shaft,
Bottom plate, nozzle adapter, suction nozzle；Wherein, stepper motor drive shaft is hollow shaft, is closely connected with nozzle adapter, suction nozzle
It is to be detachably connected with nozzle adapter；Linear hall sensor is arranged on bottom plate on rotary shaft position, by neodymium iron
Boron magnetic bead is arranged on nozzle adapter on subiculum Board position.
Further improved as of the invention, a diameter of 2 to 5 millimeters of the magnetic neodymium iron boron magnetic bead.
Have the advantage that compared with prior art：The method and system that the present invention is provided, on the basis of original placement head,
By installing linear hall sensor and neodymium iron boron magnetic bead additional in placement head suction nozzle rotary shaft position, using it to the suction on placement head
The zero point of mouth rotary shaft is demarcated, it is ensured that the model reference point position in compensation process does not drift about, and compact conformation, operation are steady
It is fixed, it is adapted to long-time, multiple, high speed suction operation；And using the concentricity of NI Vision Builder for Automated Inspection automatic detection placement head suction nozzle,
Again during attachment carry out software compensation mode come eliminate placement head precision change machine system performance is caused it is bad
Influence, makes machining accuracy control all the time in predetermined scope.
The method and system that the present invention is provided, are solved because of the error in assembling process or using occurring after a period of time
Coordinate drift, machine error, using existing method and system, it is impossible to the problem for measuring and compensating, correct immediately.Suction nozzle
Axis makes it difficult to ensure and motor because of the error in assembling process or using the machine error occurred after a period of time
Axle axis is overlapped, and the inswept track of axis is in a cone when causing it to move；But, fortune of the suction nozzle axis on suction nozzle top
Dynamic rail mark is a regular circle；The present invention utilizes this characteristic, by gathering and comparing suction nozzle axial-movement track and Qi Ding
The similarities and differences, the difference of the movement locus at end, are modeled immediately to realize to the concentricity occurred in suction nozzle rotary course
And compensation, the concentricity of amendment suction nozzle that can efficiently, quickly, stably, it is ensured that the precision of attachment is maintained at predetermined model
In enclosing.
More clearly to illustrate the architectural feature and effect of the present invention, it is entered with specific embodiment below in conjunction with the accompanying drawings
Row is described in detail.
Brief description of the drawings
Fig. 1 is placement head suction nozzle concentricity compensation flow chart of the present invention；
Fig. 2 is suction nozzle rotary shaft Zero calibration flow chart of the present invention；
Fig. 3 is placement head suction nozzle concentricity detection of the present invention and modeling procedure figure；
Fig. 4 is that suction nozzle visual identity of the present invention and coordinate position obtain flow chart；
Fig. 5 is that suction nozzle of the present invention is rotated by 360 ° track schematic diagram；
Fig. 6 is chip mounter placement head structural representation of the present invention；
Fig. 7 is suction nozzle Zero positioning sensor scheme of installation of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refering to accompanying drawing 1 to accompanying drawing 7, a kind of surface encapsulation chip mounter suction nozzle concentricity that the present embodiment is provided is mended automatically
Compensation method, comprises the following steps：
(1) placement head is set, linear hall sensor 5 and magnetic neodymium iron boron are set in the placement head suction nozzle rotary shaft position
Magnetic bead 6, the zero point to the suction nozzle rotary shaft on placement head is demarcated, it is ensured that the model reference point position in compensation process；
The step of setting placement head, specifically includes stepper motor 1, stepper motor drive shaft, bottom plate 2, suction nozzle adaptation
Device 3, suction nozzle 4；Wherein, stepper motor drive shaft is hollow shaft, is closely connected with nozzle adapter 3, suction nozzle 4 and nozzle adapter
3 be to be detachably connected with；When stepper motor 1 rotates, the synchronous axial system equal angular of suction nozzle 4 of bottom；By linear hall sensor 5
Bottom plate 2 is arranged on rotary shaft position, neodymium iron boron magnetic bead 6 is arranged on nozzle adapter 3 close to the position of bottom plate 2
On；The neodymium iron boron magnetic bead 6 has magnetic, and its a diameter of 2 to 5 millimeters, specific size can be selected according to the size of suction nozzle；
The Zero calibration of suction nozzle rotary shaft therein, specifically includes following steps：
(1.1) pulse is exported, Driving Stepping Motor turns clockwise certain angle, such as 0.9 degree；
(1.2) reading of linear hall sensor is read, and the maximum linear Hall in this reading and historical record is passed
Sensor read-around ratio is compared with if the former is more than the latter, the record angle that now motor has rotated；
(1.3) judge whether motor has been rotated through 360 degree, if so, according to the linear hall sensor recorded
The angle of motor rotation when reading is maximum, then rotate counterclockwise respective angles, now suction nozzle rotary shaft rezero operation completion；
Otherwise, repeat step (1.1)；
(2) NI Vision Builder for Automated Inspection is set, and NI Vision Builder for Automated Inspection includes being integrated with shooting collection terminal and processing end, processing end
Gray analysis method analysis software based on image procossing and the mathematical modeling based on graphic feature and gradation of image corresponding relation
Software is handled, automatic detection is carried out to the placement head suction nozzle concentricity, and set up suction nozzle rotational concentricity error model；
Specifically include following steps：
(2.1) X, the Y-axis motion of chip mounter are driven, suction nozzle center to be detected is moved to the vision of detection camera
Center；
(2.2) Z axis motor is driven, placement head is moved down, until suction nozzle top and the workbench where circuit board to be mounted
Face is reduced or eliminated because placement head installs the influence that the error of perpendicularity is brought in sustained height；
(2.3) driving placement head stepper motor turns clockwise certain angle, such as 18 degree, after motor stops the rotation, and triggers
Camera interception M two field pictures are detected, the relative co-ordinate information (x at suction nozzle top center is obtained using vision algorithmk,yk, α), wherein
(xk,yk) it is the relative position of suction nozzle center in the picture, α is suction nozzle present rotation angel degree, and the position coordinates of regulation starting is
It is (x that (0,0,0) and motor shaft, which are in Zero calibration position,k,yk, α)=(0,0,0)；
(2.4) judge whether suction nozzle has been rotated through 360 degree, if it is, being transferred to next step, otherwise go back to step (2.3)；
(2.5) using the coordinate information collected in each anglec of rotation, solving model f (x, y, α) meets it following
Two conditions：
Condition 1：Point set { (xk,yk) | k=0...n } it is minimum apart from absolute value sum to fitting circle, i.e.,(xc,yc) it is fitting circle centre coordinate, R is fitting radius of circle；
Condition 2：F (0,0,0)=0；
The step (2.3) is specific also including following：
(2.3.1) is intercepted after a two field picture, and image is cut out first, reduces target image to be processed as far as possible,
Ensure target suction nozzle still wherein simultaneously；
(2.3.2) carries out grey scale change to image, it is transformed into HSV space from BGR spaces；
(2.3.3) carries out smooth operation using suitable wave filter to gray level image, reduces picture noise influence；
(2.3.4) is corroded and expansive working to the image after smooth, target is protruded from background；
(2.3.5) is split using Canny operators to image, obtains comprising the binary map including object edge information
Picture；
(2.3.6) finds out the profile of object in bianry image, and carries out ellipse fitting to all profiles；
Whether (2.3.7) checks the ellipse after all fittings, be target (suction nozzle hole) from two condition judgments：Oval length
The ratio between axle is less than a certain threshold value, and oval actual size is within the specific limits.If there is the ellipse for the condition that meets in image, and
Only one of which, then will preserve the information (x of the ellipse in the picturei,yi, α), wherein α is suction nozzle present rotation angel degree.Now, one
Two field picture is disposed；
(2.3.8) checks whether the M two field pictures for having handled requirement, if not having, and goes to step (2.3.1), otherwise turns
Enter next step；
(2.3.9) utilizes formulaObtain the positional information (x of the position suction nozzlek,
yk, α), wherein N is effective frame number, N ＜ M.
(3) according to the suction nozzle rotational concentricity error model of acquisition, that is brought to being rotated during attachment by suction nozzle is same
Heart degree deviation compensates correction, specifically includes following steps：
According to the mathematical modeling f (x, y, α) for obtaining suction nozzle Concentricity tolerance, wherein the centre coordinate (x comprising fitting circlec,
yc) and radius R；It is as α=0, i.e., residing after suction nozzle rotates to an angle α when suction nozzle rotary shaft is in the zero point demarcated
Position on circumference a bit (x, y), using geometrical relationship, (x, y) can be described with formula (1)
α in above formula0O ' O angle is arrived for vectorial O ' X ', it meets following condition
Formula (2) is updated in (1), being described as (x, y) can be obtained
So far, after suction nozzle rotates to an angle α in the course of work, in global coordinate system its deviation will for (x,
Y), this value is subtracted in the target elements of a fix of suction nozzle, it is possible to eliminate due to the deviation that its concentricity is brought, so that
Accurately it is located at the coordinate specified.
A kind of surface encapsulation chip mounter suction nozzle concentricity self compensating system, including：
Placement head, the placement head suction nozzle rotary shaft position is provided with linear hall sensor and neodymium iron boron magnetic bead, to patch
The zero point of suction nozzle rotary shaft on head is demarcated, it is ensured that the model reference point position in compensation process；
NI Vision Builder for Automated Inspection, NI Vision Builder for Automated Inspection includes being integrated with shooting collection terminal and processing end, processing end based on figure
As the gray analysis method analysis software and soft based on graphic feature and the processing of the mathematical modeling of gradation of image corresponding relation of processing
Part, carries out automatic detection, and set up suction nozzle rotational concentricity error model to the placement head suction nozzle concentricity；According to the suction of acquisition
Mouth rotational concentricity error model, correction is compensated to rotating brought Concentricity tolerance by suction nozzle during attachment.
Further improved as of the invention, the placement head is specifically included：Stepper motor 1, stepper motor drive shaft, subiculum
Plate 2, nozzle adapter 3, suction nozzle 4；Wherein, stepper motor drive shaft is hollow shaft, is closely connected with nozzle adapter 3, suction nozzle 4
It is to be detachably connected with nozzle adapter 3；When stepper motor 1 rotates, the synchronous axial system equal angular of suction nozzle 4 of bottom.Linearly
Hall sensor 5 is arranged on bottom plate 2 on rotary shaft position, and neodymium iron boron magnetic bead 6 is arranged on nozzle adapter 3 close to subiculum
On the position of plate 2.
Further improved as of the invention, a diameter of 2 to 5 millimeters of the magnetic neodymium iron boron magnetic bead.
The method and system that the present invention is provided focus on, on the basis of original placement head, by being inhaled in placement head
Mouth rotary shaft position installs linear hall sensor and neodymium iron boron magnetic bead additional, utilizes its zero point to the suction nozzle rotary shaft on placement head
Demarcated, it is ensured that the model reference point position in compensation process；And utilize NI Vision Builder for Automated Inspection automatic detection placement head suction nozzle
Concentricity, then during attachment carry out software compensation mode come eliminate placement head coordinate drift, precision change to machine
Systematic function has undesirable effect.
Suction nozzle axis makes it very because of the error in assembling process or using the machine error occurred after a period of time
It is difficult to ensure that card is overlapped with motor shaft axis, the inswept track of axis is in a cone when causing it to move；But, suction nozzle axis exists
The movement locus on suction nozzle top is a regular circle；The present invention utilizes this characteristic, is transported by gathering and comparing suction nozzle axis
The similarities and differences, the difference of dynamic rail mark and the movement locus on its top, come to realize to the concentricity occurred in suction nozzle rotary course
Immediately model and compensate, can efficiently, the concentricity of quick, stable amendment suction nozzle, it is ensured that the precision guarantor of attachment
Hold in predetermined scope.
The above described is only a preferred embodiment of the present invention, not making any formal limitation to the present invention.Appoint
What those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the side of the disclosure above
Method and technology contents make many possible variations and modification to technical solution of the present invention, or are revised as the equivalent reality of equivalent variations
Apply example.Therefore every content without departing from technical solution of the present invention, the equivalent change that shape, construction and principle according to the present invention are made
Change, all should be covered by protection scope of the present invention.
Claims (10)
1. a kind of surface encapsulation chip mounter suction nozzle concentricity automatic compensating method, it is characterised in that comprise the following steps：
(1) placement head is set, linear hall sensor and neodymium iron boron magnetic bead are set in the placement head suction nozzle rotary shaft, to paster
The zero point of suction nozzle rotary shaft on head is demarcated, it is ensured that the model reference point position in compensation process；
(2) NI Vision Builder for Automated Inspection is set, and NI Vision Builder for Automated Inspection, which includes being integrated with shooting collection terminal and processing end, processing end, to be based on
The gray analysis method analysis software of image procossing and the processing based on graphic feature Yu the mathematical modeling of gradation of image corresponding relation
Software, carries out automatic detection, and set up suction nozzle rotational concentricity error model to the placement head suction nozzle concentricity；
(3) according to the suction nozzle rotational concentricity error model of acquisition, to brought concentricity is rotated during attachment by suction nozzle
Deviation compensates correction.
2. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 1, it is characterised in that institute
The step of placement head is set in step (1) is stated, it includes：Stepper motor, stepper motor drive shaft, bottom plate, suction are set respectively
Mouth adapter, suction nozzle；Wherein, stepper motor drive shaft is hollow shaft, is closely connected with nozzle adapter, suction nozzle is adapted to suction nozzle
Device is to be detachably connected with；Linear hall sensor is arranged on bottom plate on rotary shaft position, neodymium iron boron magnetic bead is set
In nozzle adapter on the position of bottom plate.
3. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 1 or claim 2, its feature exists
In the neodymium iron boron magnetic bead has magnetic, its a diameter of 2 to 5 millimeters.
4. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 2, it is characterised in that institute
The Zero calibration of the suction nozzle rotary shaft in step (1) is stated, following steps are specifically included：
(1.1) pulse is exported, Driving Stepping Motor turns clockwise certain angle；
(1.2) reading of linear hall sensor is read, and by the maximum linear Hall sensor in this reading and historical record
Read-around ratio is compared with if the former is more than the latter, the record angle that now motor has rotated；
(1.3) judge whether motor has been rotated through 360 degree, if so, according to the linear hall sensor reading recorded
The angle that motor rotates when maximum, then rotate counterclockwise respective angles, now suction nozzle rotary shaft rezero operation completion；It is no
Then, repeat step (1.1).
5. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 1, it is characterised in that institute
The placement head suction nozzle concentricity automatic detection in step (2) and modeling are stated, is specifically included following：
(2.1) X, the Y-axis motion of chip mounter are driven, suction nozzle center to be detected is moved in the vision of detection camera
The heart；
(2.2) Z axis motor is driven, placement head is moved down, until suction nozzle top exists with the work top where circuit board to be mounted
Sustained height, is reduced or eliminated because placement head installs the influence that the error of perpendicularity is brought；
(2.3) driving placement head stepper motor turns clockwise certain angle, after motor stops the rotation, the interception of detection trigger camera
M two field pictures, the relative co-ordinate information (x at suction nozzle top center is obtained using vision algorithmk,yk, α), wherein (xk,yk) it is suction nozzle
The relative position of center in the picture, α is suction nozzle present rotation angel degree, and the position coordinates of regulation starting is (0,0,0) and motor
It is (x that axle, which is in Zero calibration position,k,yk, α)=(0,0,0)；
(2.4) judge whether suction nozzle has been rotated through 360 degree, if it is, being transferred to next step, otherwise go back to step (2.3)；
(2.5) using the coordinate information collected in each anglec of rotation, solving model f (x, y, α) makes it meet following two
Condition：
Condition 1：Point set { (xk,yk) | k=0...n } it is minimum apart from absolute value sum to fitting circle, i.e.,(xc,yc) it is fitting circle centre coordinate, R is fitting radius of circle；
Condition 2：F (0,0,0)=0.
6. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 4, it is characterised in that institute
State step (2.3) specific also including following：
(2.3.1) is intercepted after a two field picture, and image is cut out first, reduces target image to be processed as far as possible, simultaneously
Ensure target suction nozzle still wherein；
(2.3.2) carries out grey scale change to image, it is transformed into HSV space from BGR spaces；
(2.3.3) carries out smooth operation using suitable wave filter to gray level image, reduces picture noise influence；
(2.3.4) is corroded and expansive working to the image after smooth, target is protruded from background；
(2.3.5) is split using Canny operators to image, obtains comprising the bianry image including object edge information；
(2.3.6) finds out the profile of object in bianry image, and carries out ellipse fitting to all profiles；
Whether (2.3.7) checks the ellipse after all fittings, be target (suction nozzle hole) from two condition judgments：Ellipse long and short shaft it
Than less than a certain threshold value, and oval actual size is within the specific limits.If there is the ellipse for the condition that meets in image, and only
One, then it will preserve the information (x of the ellipse in the picturei,yi, α), wherein α is suction nozzle present rotation angel degree；Now, a frame figure
As being disposed；
(2.3.8) checks whether the M two field pictures for having handled requirement, if not having, and goes to step (2.3.1), is otherwise transferred to down
One step；
(2.3.9) utilizes formulaObtain the positional information (x of the position suction nozzlek,yk,
α), wherein N is effective frame number, N ＜ M.
7. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 1, it is characterised in that institute
The suction nozzle Concentricity tolerance compensation correction in step (3) is stated, is specifically included following：
According to the mathematical modeling f (x, y, α) for obtaining suction nozzle Concentricity tolerance, wherein the centre coordinate (x comprising fitting circlec,yc) and
Radius R；As α=0, suction nozzle rotary shaft is in the zero point (0,0) demarcated, after suction nozzle rotates to an angle α, residing position
A bit (x, y) on circumference is set to, using geometrical relationship, (x, y) can be described with formula (1)
α in above formula0O ' O angle is arrived for vectorial O ' X ', it meets following condition
Formula (2) is updated in (1), being described as (x, y) can be obtained
So far, after suction nozzle rotates to an angle α in the course of work, its deviation will be (x, y) in global coordinate system,
This value is subtracted in the target elements of a fix of suction nozzle, it is possible to eliminated due to the deviation that its concentricity is brought, so that accurately
Be located at the coordinate specified.
8. a kind of surface encapsulation chip mounter suction nozzle concentricity for implementing one of claim 1 to 7 methods described is compensated automatically
System, it is characterised in that it includes：
Linear hall sensor and magnetic neodymium iron boron magnetic bead are provided with one placement head, the placement head suction nozzle rotary shaft, to patch
The zero point of suction nozzle rotary shaft on head is demarcated, it is ensured that the model reference point position in compensation process；
One NI Vision Builder for Automated Inspection, NI Vision Builder for Automated Inspection includes being integrated with based on image in shooting collection terminal and processing end, processing end
The gray analysis method analysis software of processing and soft based on graphic feature and the processing of the mathematical modeling of gradation of image corresponding relation
Part, carries out automatic detection, and set up suction nozzle rotational concentricity error model to the placement head suction nozzle concentricity；According to the suction of acquisition
Mouth rotational concentricity error model, correction is compensated to rotating brought Concentricity tolerance by suction nozzle during attachment.
9. surface encapsulation chip mounter suction nozzle concentricity self compensating system according to claim 8, it is characterised in that institute
The placement head stated is specifically included：Stepper motor, stepper motor drive shaft, bottom plate, nozzle adapter, suction nozzle；Wherein, stepping electricity
Machine drive shaft is hollow shaft, is closely connected with nozzle adapter, and suction nozzle is to be detachably connected with nozzle adapter；Linear Hall is passed
Sensor is arranged on bottom plate on rotary shaft position, and neodymium iron boron magnetic bead is arranged on nozzle adapter on subiculum Board position.
10. surface encapsulation chip mounter suction nozzle concentricity self compensating system according to claim 8, it is characterised in that
A diameter of 2 to 5 millimeters of the magnetic neodymium iron boron magnetic bead.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710274064.4A CN106998624B (en) | 2017-04-25 | 2017-04-25 | Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710274064.4A CN106998624B (en) | 2017-04-25 | 2017-04-25 | Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106998624A true CN106998624A (en) | 2017-08-01 |
| CN106998624B CN106998624B (en) | 2019-04-16 |
Family
ID=59434372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710274064.4A Active CN106998624B (en) | 2017-04-25 | 2017-04-25 | Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106998624B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111601466A (en) * | 2020-06-08 | 2020-08-28 | 宿州高科智能科技有限公司 | PCB (printed circuit board) chip mounting equipment and chip mounting method |
| CN112468697A (en) * | 2020-11-18 | 2021-03-09 | 江汉大学 | Visual acquisition method and device with intelligent position adjustment function |
| CN113329613A (en) * | 2021-06-16 | 2021-08-31 | 武汉纺织大学 | Chip mounter suction nozzle detection system and method |
| CN113382555A (en) * | 2021-08-09 | 2021-09-10 | 常州铭赛机器人科技股份有限公司 | Chip mounter suction nozzle coaxiality error automatic calibration method based on machine vision |
| CN113706525A (en) * | 2021-10-20 | 2021-11-26 | 武汉飞恩微电子有限公司 | Intelligent printed circuit board patch defect identification method based on image processing |
| CN114399538A (en) * | 2022-03-24 | 2022-04-26 | 常州铭赛机器人科技股份有限公司 | Method for calibrating motion relation between two shafts under same-direction double-shaft structure |
| CN114442249A (en) * | 2022-01-07 | 2022-05-06 | 昂纳信息技术（深圳）有限公司 | Method and system for adjusting angle of surface-mounted workpiece |
| CN115205379A (en) * | 2022-05-17 | 2022-10-18 | 深圳市腾盛精密装备股份有限公司 | Multi-point calibration method of cutting and sorting machine and related equipment |
| CN115297711A (en) * | 2022-08-08 | 2022-11-04 | 恩纳基智能科技无锡有限公司 | Fitting circle center based high-precision compensation method |
| CN115903695A (en) * | 2022-11-07 | 2023-04-04 | 哈尔滨工业大学 | Multifunctional chip mounter production flow control method based on layered finite state machine |
| CN116615020A (en) * | 2023-07-19 | 2023-08-18 | 合肥安迅精密技术有限公司 | Suction nozzle pose error calibration and compensation method and system based on machine vision |
| CN116677686A (en) * | 2023-07-31 | 2023-09-01 | 常州铭赛机器人科技股份有限公司 | Mounting method for multiple photographing of chip mounter based on machine vision |
| CN117641882A (en) * | 2024-01-25 | 2024-03-01 | 合肥安迅精密技术有限公司 | Real-time mounting error correction method and system based on machine vision |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1309528A (en) * | 2000-02-15 | 2001-08-22 | 三星Techwin业株式会社 | Device and method for installing component |
| JP2008091856A (en) * | 2006-03-22 | 2008-04-17 | Juki Corp | Electronic component mounting apparatus |
| CN104848784A (en) * | 2014-02-19 | 2015-08-19 | 江苏腾世机电有限公司 | Position offset correction method and system of chip mounter suction nozzle units |
| CN106376230A (en) * | 2016-09-30 | 2017-02-01 | 哈尔滨工业大学 | Correction method for offset quantity of surface-mounted head |
-
2017
- 2017-04-25 CN CN201710274064.4A patent/CN106998624B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1309528A (en) * | 2000-02-15 | 2001-08-22 | 三星Techwin业株式会社 | Device and method for installing component |
| JP2001230595A (en) * | 2000-02-15 | 2001-08-24 | Samsung Techwin Co Ltd | Method and device for mounting component |
| JP2008091856A (en) * | 2006-03-22 | 2008-04-17 | Juki Corp | Electronic component mounting apparatus |
| CN104848784A (en) * | 2014-02-19 | 2015-08-19 | 江苏腾世机电有限公司 | Position offset correction method and system of chip mounter suction nozzle units |
| CN106376230A (en) * | 2016-09-30 | 2017-02-01 | 哈尔滨工业大学 | Correction method for offset quantity of surface-mounted head |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111601466B (en) * | 2020-06-08 | 2021-05-14 | 宿州高科智能科技有限公司 | PCB (printed circuit board) chip mounting equipment and chip mounting method |
| CN111601466A (en) * | 2020-06-08 | 2020-08-28 | 宿州高科智能科技有限公司 | PCB (printed circuit board) chip mounting equipment and chip mounting method |
| CN112468697A (en) * | 2020-11-18 | 2021-03-09 | 江汉大学 | Visual acquisition method and device with intelligent position adjustment function |
| CN112468697B (en) * | 2020-11-18 | 2022-05-27 | 江汉大学 | Visual acquisition method and device with intelligent position adjustment function |
| CN113329613A (en) * | 2021-06-16 | 2021-08-31 | 武汉纺织大学 | Chip mounter suction nozzle detection system and method |
| CN113382555A (en) * | 2021-08-09 | 2021-09-10 | 常州铭赛机器人科技股份有限公司 | Chip mounter suction nozzle coaxiality error automatic calibration method based on machine vision |
| CN113382555B (en) * | 2021-08-09 | 2021-10-29 | 常州铭赛机器人科技股份有限公司 | Chip mounter suction nozzle coaxiality error automatic calibration method based on machine vision |
| CN113706525A (en) * | 2021-10-20 | 2021-11-26 | 武汉飞恩微电子有限公司 | Intelligent printed circuit board patch defect identification method based on image processing |
| CN114442249B (en) * | 2022-01-07 | 2024-02-27 | 昂纳科技(深圳)集团股份有限公司 | Method and system for adjusting angle of mounting workpiece |
| CN114442249A (en) * | 2022-01-07 | 2022-05-06 | 昂纳信息技术（深圳）有限公司 | Method and system for adjusting angle of surface-mounted workpiece |
| CN114399538A (en) * | 2022-03-24 | 2022-04-26 | 常州铭赛机器人科技股份有限公司 | Method for calibrating motion relation between two shafts under same-direction double-shaft structure |
| CN115205379A (en) * | 2022-05-17 | 2022-10-18 | 深圳市腾盛精密装备股份有限公司 | Multi-point calibration method of cutting and sorting machine and related equipment |
| CN115205379B (en) * | 2022-05-17 | 2023-09-12 | 深圳市腾盛精密装备股份有限公司 | Multi-point calibration method of cutting separator and related equipment |
| CN115297711B (en) * | 2022-08-08 | 2023-11-28 | 恩纳基智能科技无锡有限公司 | High-precision compensation method based on fitting circle center |
| CN115297711A (en) * | 2022-08-08 | 2022-11-04 | 恩纳基智能科技无锡有限公司 | Fitting circle center based high-precision compensation method |
| CN115903695A (en) * | 2022-11-07 | 2023-04-04 | 哈尔滨工业大学 | Multifunctional chip mounter production flow control method based on layered finite state machine |
| CN115903695B (en) * | 2022-11-07 | 2023-10-10 | 哈尔滨工业大学 | Multifunctional chip mounter production flow control method based on layered finite state machine |
| CN116615020A (en) * | 2023-07-19 | 2023-08-18 | 合肥安迅精密技术有限公司 | Suction nozzle pose error calibration and compensation method and system based on machine vision |
| CN116615020B (en) * | 2023-07-19 | 2023-10-20 | 合肥安迅精密技术有限公司 | Suction nozzle pose error calibration and compensation method and system based on machine vision |
| CN116677686A (en) * | 2023-07-31 | 2023-09-01 | 常州铭赛机器人科技股份有限公司 | Mounting method for multiple photographing of chip mounter based on machine vision |
| CN116677686B (en) * | 2023-07-31 | 2023-10-20 | 常州铭赛机器人科技股份有限公司 | Mounting method for multiple photographing of chip mounter based on machine vision |
| CN117641882A (en) * | 2024-01-25 | 2024-03-01 | 合肥安迅精密技术有限公司 | Real-time mounting error correction method and system based on machine vision |
| CN117641882B (en) * | 2024-01-25 | 2024-04-02 | 合肥安迅精密技术有限公司 | Real-time mounting error correction method and system based on machine vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106998624B (en) | 2019-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106998624A (en) | Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system | |
| CN105345194B (en) | A kind of PCB pad localization methods based on machine vision | |
| CN113382555B (en) | Chip mounter suction nozzle coaxiality error automatic calibration method based on machine vision | |
| CN106569512A (en) | Holder calibration method | |
| CN106610266B (en) | A kind of SCARA robot calibration method | |
| CN103945653A (en) | Automatic correction method of multi-degree-of-freedom platform for flexible printed circuit printing | |
| CN104602872A (en) | Work device | |
| CN107816980A (en) | A kind of steel roller system position detecting device and method | |
| CN111097660B (en) | Visual positioning deviation rectifying method based on rotary dispensing device | |
| CN107804708A (en) | A kind of pivot localization method of placement equipment feeding rotary shaft | |
| CN109000127A (en) | A kind of instrument and equipment self-level(l)ing device and its method | |
| CN103808285B (en) | Prealignment machine and the scaling method of mechanical hand relative coordinate system | |
| CN114770517B (en) | Method for calibrating robot through point cloud acquisition device and calibration system | |
| KR20160100013A (en) | System and method for error measurement and compensation using laser tracer | |
| TWI557522B (en) | Calibration method and calibration apparatus | |
| CN108942927A (en) | A method of pixel coordinate and mechanical arm coordinate unification based on machine vision | |
| CN107655416A (en) | The apparatus for detecting diameter and detection method of a kind of axle | |
| CN103192399A (en) | Micro-vision hand-eye calibration method based on target motion | |
| CN108562246A (en) | A method of measuring and adjust servo valve gas nozzle angle of assembling | |
| CN110561400A (en) | Efficient and accurate positioning system and method for parts uniformly distributed on circumference | |
| CN219266127U (en) | Calibration block for multi-axis linkage visual detection equipment | |
| CN116734774B (en) | Method and system for testing and compensating rotation precision of R axis to Z axis of mounting head | |
| CN109540195A (en) | A kind of position marker is with being co-axially mounted Split rotary transformer precision calibration fixture system | |
| CN116061438B (en) | Detection system and method for 3D printing repair of blade | |
| CN109520416A (en) | A kind of method of view-based access control model compensation correction, applying system and control equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |