CN106998624B - 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
- CN106998624B CN106998624B CN201710274064.4A CN201710274064A CN106998624B CN 106998624 B CN106998624 B CN 106998624B CN 201710274064 A CN201710274064 A CN 201710274064A CN 106998624 B CN106998624 B CN 106998624B
- Authority
- CN
- China
- Prior art keywords
- suction nozzle
- concentricity
- placement head
- image
- chip mounter
- 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.)
- Active
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
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Supply And Installment Of Electrical Components (AREA)
- Manipulator (AREA)
Abstract
The invention discloses surface encapsulation chip mounter suction nozzle concentricity automatic compensating methods, the following steps are included: placement head is arranged in (1), linear hall sensor and neodymium iron boron magnetic bead are set in the placement head suction nozzle rotary shaft, 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；(2) NI Vision Builder for Automated Inspection is set, NI Vision Builder for Automated Inspection includes camera 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 model of image grayscale corresponding relationship are integrated in processing end, the placement head suction nozzle concentricity is detected automatically, and establishes suction nozzle rotational concentricity error model；(3) according to the suction nozzle rotational concentricity error model of acquisition, correction is compensated to brought Concentricity tolerance is rotated by suction nozzle during attachment.The invention also discloses a kind of surface encapsulation chip mounter suction nozzle concentricity self compensating systems.
Description
Technical field
The present invention relates to surface encapsulation chip mounter fields, and in particular to surface encapsulation chip mounter suction nozzle concentricity is automatic
Compensation method and system.
Background technique
In recent years, miniature tables face chip mounter is since its is small in size, cost performance is high, by numerous small-sized research and development institutions and wound visitor
Favor.This kind of chip mounter settings are flexibly, easy to operate, can research and develop in sample and the small lot production phase effectively solves to use
Family manual pasting low precision, time-consuming and laborious pain spot can paste most SMD chip component, 0603 generally by vacuum slot
The above component and 16mm or less SOIC.
The factor for influencing the placement accuracy of miniature tables face chip mounter generally comprises: the positioning accuracy of XY axis, 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 accuracy of XY axis is related with the mechanical precision of driving motor positioning accuracy and guide rail, current miniature desktop
Comparative maturity, positioning accuracy generally can achieve 0.02mm or so to the XY axis motion platform framework of chip mounter.By means of
For machine vision by hand after calibration, the calibration of mounted board and the stated accuracy of element feeding position can reach 0.01mm.It is these two types of
For precision after chip mounter works long hours, variation is little.
Since by cost control, the design of miniature tables face chip mounter placement head at present mostly uses straight on step motor shaft
The mode of fixed suction nozzle is connect to realize.In a kind of this design scheme, need to install buffer unit additional at suction nozzle, when reducing patch by
It is impacted in the difference of drawn component height to circuit board bring.The advantages of this design is at low cost, it is easy to accomplish.But
Be machine assembly after precision be easy by installation verticality and suction nozzle concentricity influenced, consistency is difficult to ensure.
In addition, since movement velocity is fast during the work time, frequency of use is high for mounting head suction nozzle, in addition drawing and patch
It inevitably will appear the impact of non-flat cunning in the process, therefore after prolonged work, the machinery positioning precision of placement head is very
It is easy to appear biggish variation, miniature tables face chip mounter at present on the market is caused to increase at any time in the prevalence of placement accuracy
The defect being gradually deteriorated, user need the frequent parameter replaced mounting head and adjust machine to carry out, the use of machine entirety
It experiences bad.
Therefore, it is necessary to research and develop a kind of suction nozzle concentricity automatic compensating method that can be suitable for miniature tables face chip mounter
And system, it can realize during each attachment, the concentricity of suction nozzle is measured and corrected automatically, and
Mounting head is frequently replaced without user and adjusts the parameter of machine, guarantees concentricity that it is processed every time all in the range of permission
It is interior, avoid machining precision by assembling, transport and Continuous maching bring is influenced.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of surface encapsulation chip mounter suction nozzle concentricity from
Dynamic compensation method, can realize during each attachment, measure automatically, immediately to the concentricity of suction nozzle
And correct, mounting head is frequently replaced without user and adjust the parameter of machine, the concentricity for guaranteeing that it is processed every time all exists
In the range of permission.
The present invention also aims to, a kind of surface encapsulation chip mounter suction nozzle concentricity self compensating system is provided,
The influence for avoiding the machining accuracy of machine from being assembled and transported, amendment immediately is continuous, rapid processing when the coordinate drift that generates.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of surface encapsulation chip mounter suction nozzle concentricity automatic compensating method, comprising 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 demarcates the zero point of the suction nozzle rotary shaft on placement head, 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 camera shooting collection terminal and processing end, is integrated in processing end
Gray analysis method based on image procossing analyzes software and based on graphic feature and the mathematical model of image grayscale corresponding relationship
Processing software detects the placement head suction nozzle concentricity automatically, and establishes suction nozzle rotational concentricity error model；
(3) according to the suction nozzle rotational concentricity error model of acquisition, to brought same by suction nozzle rotation during attachment
Heart degree deviation compensates correction.
As a further improvement of that present invention, the setting placement head in the step (1) specifically includes: stepper motor, stepping
Motor driving shaft, lower pallet, nozzle adapter, suction nozzle；Wherein, stepper motor drive shaft is hollow shaft, tight with nozzle adapter
Close connection, suction nozzle are to be detachably connected with nozzle adapter；Linear hall sensor is arranged in lower pallet close to rotary shaft position
On, neodymium iron boron magnetic bead is arranged in nozzle adapter on subiculum Board position.
As a further improvement of that present invention, the diameter of the magnetic neodymium iron boron magnetic bead is 3 to 6 millimeters.
As a further improvement of that present invention, the Zero calibration of the suction nozzle rotary shaft in the step (1), specifically include with
Under:
(1.1) pulse is exported, driving stepper motor rotates clockwise certain angle；
(1.2) reading of linear hall sensor is read, and this reading is passed with the maximum linear Hall in historical record
Sensor reading compares, if the former is greater than the latter, the record angle that driving motor has rotated at this time；
(1.3) judge whether driving motor has been rotated through 360 degree, if so, according to the linear hall sensor recorded
The angle of driving motor rotation, another mistake hour hands rotate respective angles when reading is maximum, and suction nozzle rotary shaft rezero operation is completed at this time；
Otherwise, step (1.1) are repeated.
As a further improvement of that present invention, the placement head suction nozzle concentricity in the step (2) detects and modeling, tool automatically
Body include the following:
(2.1) X, the Y-axis movement mechanism for driving chip mounter, make suction nozzle center to be detected be moved to the vision of detection camera
Center；
(2.2) Z axis motor is driven, placement head is moved down, until the workbench where suction nozzle top and circuit board to be mounted
Face is reduced or eliminated in sustained height since placement head installation error of perpendicularity bring influences；
(2.3) driving placement head stepper motor rotates clockwise certain angle, after motor stops rotating, detection trigger camera
M frame image is 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 be suction nozzle present rotation angel degree, it is specified that the position coordinates of starting be (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 so, being transferred in next step, otherwise go back to step (2.3)；
(2.5) using in the collected coordinate information of each rotation angle, solving model f (x, y, α) meets it following
Two conditions:
Condition 1: point set { (xk,yk) | k=0...n } to fitting circle apart from the sum of absolute value minimum, i.e.,(xc,yc) it is fitting circle centre coordinate, R is fitting radius of circle；
Condition 2:f (0,0,0)=0.
As a further improvement of that present invention, the step (2.3) specifically further includes following:
After (2.3.1) intercepts a frame image, image is cut out first, reduces target image to be processed as far as possible,
Guarantee target suction nozzle still wherein simultaneously；
(2.3.2) carries out grey scale change to image, it is made to be transformed into HSV space from the space BGR；
(2.3.3) carries out smooth operation to gray level image using suitable filter, and reducing picture noise influences；
(2.3.4) carries out corrosion and expansive working to smoothed out image, protrudes target from background and comes；
(2.3.5) is split image using Canny operator, 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；
(2.3.7) checks the ellipse after all fittings, judges whether it is target (suction nozzle hole): oval length from two conditions
The ratio between axis is less than a certain threshold value, and oval actual size is in a certain range.If there is the ellipse for the condition that meets in image, and
Only one, then will save the information (x of the ellipse in the picturei,yi, α), wherein α is suction nozzle present rotation angel degree.At this point, one
Frame image procossing finishes；
(2.3.8) checks whether the M frame image for having handled requirement, if not having, goes to step (2.3.1), otherwise turns
Enter in next step；
(2.3.9) utilizes formulaObtain the location information (x of the position suction nozzlek,
yk, α), wherein N is effective frame number, N < M.
As a further improvement of that present invention, the suction nozzle Concentricity tolerance compensation correction in the step (3), specifically include with
Under:
According to the mathematical model f (x, y, α) for obtaining suction nozzle Concentricity tolerance, wherein including the centre coordinate (x of fitting circlec,
yc) and radius R；It is as α=0, i.e., locating after suction nozzle rotates by a certain angle α when suction nozzle rotary shaft is in the zero point demarcated
Position be on circumference a bit (x, y), using geometrical relationship, (x, y) can be described with formula (1)
α in above formula0The angle of O ' O is arrived for vector O ' X ', it meets following condition
Formula (2) is updated in (1), available (x's, y) is described as
So far, when suction nozzle is after the course of work rotates by a certain angle α, in global coordinate system its deviation will for (x,
Y), this value is subtracted in the target positioning coordinate of suction nozzle, so that it may it eliminates due to its concentricity bring deviation, thus
Accurately it is located at specified coordinate.
A kind of surface encapsulation chip mounter suction nozzle concentricity self compensating system, comprising:
Placement head is provided with linear hall sensor and magnetic neodymium iron boron magnetic bead in the placement head suction nozzle rotary shaft, 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 include camera shooting collection terminal and processing end, are integrated in processing end based on figure
As the gray analysis method analysis software and soft based on graphic feature and the processing of the mathematical model of image grayscale corresponding relationship of processing
Part detects the placement head suction nozzle concentricity automatically, and establishes suction nozzle rotational concentricity error model；According to the suction of acquisition
Mouth rotational concentricity error model compensates correction to brought Concentricity tolerance is rotated by suction nozzle during attachment.
As a further improvement of that present invention, the setting placement head specifically includes: stepper motor, stepper motor drive shaft,
Lower pallet, nozzle adapter, suction nozzle；Wherein, stepper motor drive shaft is hollow shaft, is closely connect with nozzle adapter, suction nozzle
It is to be detachably connected with nozzle adapter；Linear hall sensor is arranged in lower pallet on rotary shaft position, by neodymium iron
Boron magnetic bead is arranged in nozzle adapter on subiculum Board position.
As a further improvement of that present invention, the diameter of the magnetic neodymium iron boron magnetic bead is 2 to 5 millimeters.
It has the advantage that compared with prior art: method and system provided by the invention, 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-sized, operation is surely
It is fixed, it is suitble to long-time, multiple, high speed suction operation；And detect the concentricity of placement head suction nozzle automatically using NI Vision Builder for Automated Inspection,
It is bad caused by machine system performance to eliminate the variation of placement head precision to carry out the mode of software compensation during attachment again
It influences, controls machining accuracy always in predetermined range.
Method and system provided by the invention solve because of the error in assembling process or after a period of use occur
Coordinate drift, machine error can not be measured immediately and be compensated, modified problem using existing method and system.Suction nozzle
Axis makes it difficult to guarantee and motor because of the error in assembling process or the machine error occurred after a period of use
Axis axis is overlapped, and leading to axis inswept track when its movement is in a cone；But suction nozzle axis is in the fortune on suction nozzle top
Dynamic rail mark is a regular circle；The present invention utilizes this characteristic, by acquiring and comparing suction nozzle axial-movement track and Qi Ding
The similarities and differences, the difference of the motion profile 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 be efficient, quick, stable guarantee that mounted precision is maintained at scheduled model
In enclosing.
In order to explain the structural features and functions of the invention more clearly, come with reference to the accompanying drawing with specific embodiment to its into
Row is described in detail.
Detailed description of the invention
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 schematic diagram of the present invention；
Fig. 7 is suction nozzle Zero positioning sensor scheme of installation of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Refering to attached drawing 1 to attached drawing 7, a kind of surface encapsulation chip mounter suction nozzle concentricity provided in this embodiment is mended automatically
Compensation method, comprising the following steps:
(1) placement head is set, in placement head suction nozzle rotary shaft position setting linear hall sensor 5 and magnetic neodymium iron boron
Magnetic bead 6 demarcates the zero point of the suction nozzle rotary shaft on placement head, it is ensured that the model reference point position in compensation process；
The step of placement head is arranged specifically includes stepper motor 1, stepper motor drive shaft, lower pallet 2, suction nozzle adaptation
Device 3, suction nozzle 4；Wherein, stepper motor drive shaft is hollow shaft, is closely connect with nozzle adapter 3, suction nozzle 4 and nozzle adapter
3 be to be detachably connected with；When stepper motor 1 rotates, the suction nozzle 4 of bottom end rotates synchronously equal angular；By linear hall sensor 5
It is arranged in lower pallet 2 on rotary shaft position, neodymium iron boron magnetic bead 6 is arranged in nozzle adapter 3 close to 2 position of lower pallet
On；The neodymium iron boron magnetic bead 6 has magnetism, and 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 the following steps:
(1.1) pulse is exported, driving stepper motor rotates clockwise certain angle, and such as 0.9 degree；
(1.2) reading of linear hall sensor is read, and this reading is passed with the maximum linear Hall in historical record
Sensor reading compares, if the former is greater than the latter, the record angle that driving motor has rotated at this time；
(1.3) judge whether driving motor has been rotated through 360 degree, if so, according to the linear hall sensor recorded
The angle of driving motor rotation, another mistake hour hands rotate respective angles when reading is maximum, and suction nozzle rotary shaft rezero operation is completed at this time；
Otherwise, step (1.1) are repeated；
(2) NI Vision Builder for Automated Inspection is set, and NI Vision Builder for Automated Inspection includes camera shooting collection terminal and processing end, is integrated in processing end
Gray analysis method based on image procossing analyzes software and based on graphic feature and the mathematical model of image grayscale corresponding relationship
Processing software detects the placement head suction nozzle concentricity automatically, and establishes suction nozzle rotational concentricity error model；
Specifically includes the following steps:
(2.1) X, the Y-axis movement mechanism for driving chip mounter, make suction nozzle center to be detected be moved to the vision of detection camera
Center；
(2.2) Z axis motor is driven, placement head is moved down, until the workbench where suction nozzle top and circuit board to be mounted
Face is reduced or eliminated in sustained height since placement head installation error of perpendicularity bring influences；
(2.3) driving placement head stepper motor rotates clockwise certain angle, and such as 18 degree, after motor stops rotating, triggering
It detects camera and intercepts M frame image, 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, it is specified that the position coordinates of starting are
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 so, being transferred in next step, otherwise go back to step (2.3)；
(2.5) using in the collected coordinate information of each rotation angle, solving model f (x, y, α) meets it following
Two conditions:
Condition 1: point set { (xk,yk) | k=0...n } to fitting circle apart from the sum of absolute value minimum, 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) specifically further includes following:
After (2.3.1) intercepts a frame image, image is cut out first, reduces target image to be processed as far as possible,
Guarantee target suction nozzle still wherein simultaneously；
(2.3.2) carries out grey scale change to image, it is made to be transformed into HSV space from the space BGR；
(2.3.3) carries out smooth operation to gray level image using suitable filter, and reducing picture noise influences；
(2.3.4) carries out corrosion and expansive working to smoothed out image, protrudes target from background and comes；
(2.3.5) is split image using Canny operator, 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；
(2.3.7) checks the ellipse after all fittings, judges whether it is target (suction nozzle hole): oval length from two conditions
The ratio between axis is less than a certain threshold value, and oval actual size is in a certain range.If there is the ellipse for the condition that meets in image, and
Only one, then will save the information (x of the ellipse in the picturei,yi, α), wherein α is suction nozzle present rotation angel degree.At this point, one
Frame image procossing finishes；
(2.3.8) checks whether the M frame image for having handled requirement, if not having, goes to step (2.3.1), otherwise turns
Enter in next step；
(2.3.9) utilizes formulaObtain the location 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, to brought same by suction nozzle rotation during attachment
Heart degree deviation compensates correction, specifically includes the following steps:
According to the mathematical model f (x, y, α) for obtaining suction nozzle Concentricity tolerance, wherein including the centre coordinate (x of fitting circlec,
yc) and radius R；It is as α=0, i.e., locating after suction nozzle rotates by a certain angle α when suction nozzle rotary shaft is in the zero point demarcated
Position be on circumference a bit (x, y), using geometrical relationship, (x, y) can be described with formula (1)
α in above formula0The angle of O ' O is arrived for vector O ' X ', it meets following condition
Formula (2) is updated in (1), available (x's, y) is described as
So far, when suction nozzle is after the course of work rotates by a certain angle α, in global coordinate system its deviation will for (x,
Y), this value is subtracted in the target positioning coordinate of suction nozzle, so that it may it eliminates due to its concentricity bring deviation, thus
Accurately it is located at specified coordinate.
A kind of surface encapsulation chip mounter suction nozzle concentricity self compensating system, comprising:
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 include camera shooting collection terminal and processing end, are integrated in processing end based on figure
As the gray analysis method analysis software and soft based on graphic feature and the processing of the mathematical model of image grayscale corresponding relationship of processing
Part detects the placement head suction nozzle concentricity automatically, and establishes suction nozzle rotational concentricity error model；According to the suction of acquisition
Mouth rotational concentricity error model compensates correction to brought Concentricity tolerance is rotated by suction nozzle during attachment.
As a further improvement of that present invention, the placement head specifically includes: 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 connect with nozzle adapter 3, suction nozzle 4
It is to be detachably connected with nozzle adapter 3；When stepper motor 1 rotates, the suction nozzle 4 of bottom end rotates synchronously equal angular.Linearly
Hall sensor 5 is arranged in lower pallet 2 on rotary shaft position, and neodymium iron boron magnetic bead 6 is arranged in nozzle adapter 3 close to subiculum
On 2 position of plate.
As a further improvement of that present invention, the diameter of the magnetic neodymium iron boron magnetic bead is 2 to 5 millimeters.
Method and system provided by the invention focus on, on the basis of original placement head, by inhaling 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
It is demarcated, it is ensured that the model reference point position in compensation process；And detect placement head suction nozzle automatically using NI Vision Builder for Automated Inspection
Concentricity, then during attachment carry out software compensation mode come eliminate placement head coordinate drift, precision change to machine
System performance causes adverse effect.
Suction nozzle axis makes it very because of the error in assembling process or the machine error occurred after a period of use
It is difficult to guarantee and is overlapped with motor shaft axis, leading to axis inswept track when its movement is in a cone；But suction nozzle axis exists
The motion profile on suction nozzle top is a regular circle；The present invention utilizes this characteristic, by acquiring and comparing suction nozzle axis fortune
The similarities and differences, the difference of dynamic rail mark and the motion profile on its top carry out the concentricity occurred in suction nozzle rotary course to realize
Immediately it is modeled and is compensated, the concentricity of amendment suction nozzle that can be efficient, quick, stable guarantees that mounted precision is protected
It holds in predetermined range.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.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 changes and modifications to technical solution of the present invention, or are revised as the equivalent reality of equivalent variations
Apply example.Therefore anything that does not depart from the technical scheme of the invention, equivalent change made by shape according to the present invention, construction and principle
Change, should all 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, which comprises 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 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；
(2) NI Vision Builder for Automated Inspection is set, and NI Vision Builder for Automated Inspection includes camera shooting collection terminal and processing end, is integrated with and is based in processing end
The gray analysis method analysis software of image procossing and the processing based on graphic feature Yu the mathematical model of image grayscale corresponding relationship
Software detects the placement head suction nozzle concentricity automatically, and establishes suction nozzle rotational concentricity error model；
(3) according to the suction nozzle rotational concentricity error model of acquisition, brought concentricity is rotated by suction nozzle to during attachment
Deviation compensates correction.
2. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 1, which is characterized in that institute
The step of stating setting placement head in step (1) comprising: stepper motor, stepper motor drive shaft, lower pallet, suction is respectively set
Mouth adapter, suction nozzle；Wherein, stepper motor drive shaft is hollow shaft, is closely connect with nozzle adapter, suction nozzle is adapted to suction nozzle
Device is to be detachably connected with；Linear hall sensor is arranged in lower pallet on rotary shaft position, neodymium iron boron magnetic bead is arranged
On position of the nozzle adapter close to lower pallet.
3. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 1 or claim 2, feature exist
There is magnetism in, the neodymium iron boron magnetic bead, a diameter of 2 to 5 millimeters.
4. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 2, which is characterized in that institute
The Zero calibration of the suction nozzle rotary shaft in step (1) is stated, specifically includes the following steps:
(1.1) pulse is exported, driving stepper motor rotates clockwise certain angle；
(1.2) reading of linear hall sensor is read, and this is read and the maximum linear Hall sensor in historical record
Reading compares, if the former is greater than the latter, the record angle that driving motor has rotated at this time；
(1.3) judge whether driving motor has been rotated through 360 degree, if so, reading according to the linear hall sensor recorded
The angle that driving motor rotates when maximum, another mistake hour hands rotate respective angles, and suction nozzle rotary shaft rezero operation is completed at this time；It is no
Then, step (1.1) are repeated.
5. surface encapsulation chip mounter suction nozzle concentricity automatic compensating method according to claim 1, which is characterized in that institute
It states the placement head suction nozzle concentricity in step (2) to detect and model automatically, specifically include following:
(2.1) X, the Y-axis movement mechanism for driving chip mounter, are moved to suction nozzle center to be detected in the vision of detection camera
The heart；
(2.2) Z axis motor is driven, placement head is moved down, until the work top where suction nozzle top and circuit board to be mounted exists
Sustained height is reduced or eliminated since placement head installation error of perpendicularity bring influences；
(2.3) driving placement head stepper motor rotates clockwise certain angle, after motor stops rotating, the interception of detection trigger camera
M frame image obtains the relative co-ordinate information (x at suction nozzle top center using vision algorithmk,yk, α), wherein (xk,yk) it is suction nozzle
The relative position of center in the picture, α are suction nozzle present rotation angel degree, it is specified that the position coordinates of starting are (0,0,0) and motor
It is (x that axis, 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 so, being transferred in next step, otherwise go back to step (2.3)；
(2.5) using in the collected coordinate information of each rotation angle, solving model f (x, y, α) makes it meet following two
Condition:
Condition 1: point set { (xk,yk) | k=0...n } to fitting circle apart from the sum of absolute value minimum, 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, which is characterized in that institute
It specifically further includes following for stating step (2.3):
After (2.3.1) intercepts a frame image, image is cut out first, reduces target image to be processed as far as possible, simultaneously
Guarantee target suction nozzle still wherein；
(2.3.2) carries out grey scale change to image, it is made to be transformed into HSV space from the space BGR；
(2.3.3) carries out smooth operation to gray level image using suitable filter, and reducing picture noise influences；
(2.3.4) carries out corrosion and expansive working to smoothed out image, protrudes target from background and comes；
(2.3.5) is split image using Canny operator, 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；
(2.3.7) checks the ellipse after all fittings, judges whether it is in target (suction nozzle hole) from two conditions: ellipse long and short shaft it
Than being less than a certain threshold value, and oval actual size is in a certain range, if there is the ellipse for the condition that meets in image, and only
One, then it will save the information (x of the ellipse in the picturei,yi, α), wherein α is suction nozzle present rotation angel degree；At this point, a frame figure
As being disposed；
(2.3.8) checks whether the M frame image for having handled requirement, if not having, goes to step (2.3.1), is otherwise transferred to down
One step；
(2.3.9) utilizes formulaObtain the location 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, which is characterized in that institute
The suction nozzle Concentricity tolerance compensation correction in step (3) is stated, is specifically included following:
According to the mathematical model f (x, y, α) for obtaining suction nozzle Concentricity tolerance, wherein including the centre coordinate (x of 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 by a certain angle α, locating position
A bit (x, y) being set on circumference, using geometrical relationship, (x, y) can be described with formula (1)
α in above formula0The angle of O ' O is arrived for vector O ' X ', it meets following condition
Formula (2) is updated in (1), available (x's, y) is described as
So far, when suction nozzle is after the course of work rotates by a certain angle α, its deviation will be (x, y) in global coordinate system,
This value is subtracted in the target positioning coordinate of suction nozzle, so that it may be eliminated due to its concentricity bring deviation, thus accurately
Be located at specified coordinate.
8. a kind of surface encapsulation chip mounter suction nozzle concentricity for implementing one of claim 1 to 7 the method compensates automatically
System, characterized in that it comprises:
One placement head is provided with linear hall sensor and magnetic neodymium iron boron magnetic bead in 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 include camera shooting collection terminal and processing end, are integrated in processing end based on image
The gray analysis method analysis software and soft based on graphic feature and the processing of the mathematical model of image grayscale corresponding relationship of processing
Part detects the placement head suction nozzle concentricity automatically, and establishes suction nozzle rotational concentricity error model；According to the suction of acquisition
Mouth rotational concentricity error model compensates correction to brought Concentricity tolerance is rotated by suction nozzle during attachment.
9. surface encapsulation chip mounter suction nozzle concentricity self compensating system according to claim 8, which is characterized in that institute
The placement head stated specifically includes: stepper motor, stepper motor drive shaft, lower pallet, nozzle adapter, suction nozzle；Wherein, stepping electricity
Machine drive shaft is hollow shaft, is closely connect with nozzle adapter, and suction nozzle is to be detachably connected with nozzle adapter；Linear Hall passes
Sensor is arranged in lower pallet on rotary shaft position, and neodymium iron boron magnetic bead is arranged in nozzle adapter on subiculum Board position.
10. surface encapsulation chip mounter suction nozzle concentricity self compensating system according to claim 8, which is characterized in that
The diameter of the magnetism neodymium iron boron magnetic bead is 2 to 5 millimeters.
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 CN106998624A (en) | 2017-08-01 |
| CN106998624B true 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) |
Families Citing this family (14)
| 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 |
| CN112468697B (en) * | 2020-11-18 | 2022-05-27 | 江汉大学 | Visual acquisition method and device with intelligent position adjustment function |
| CN112830240A (en) * | 2021-02-23 | 2021-05-25 | 马丁科瑞半导体技术(南京)有限公司 | Novel steering station of continuous machine and high-efficiency working method thereof |
| CN113329613B (en) * | 2021-06-16 | 2023-03-24 | 武汉纺织大学 | Chip mounter suction nozzle detection system and method |
| 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 |
| CN113706525B (en) * | 2021-10-20 | 2022-02-15 | 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 |
| CN114399538B (en) * | 2022-03-24 | 2022-06-03 | 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 |
| 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 |
| 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 |
| 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 |
| 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 |
| 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 |
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106998624A (en) | 2017-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106998624B (en) | Surface encapsulation chip mounter suction nozzle concentricity automatic compensating method and system | |
| CN105818132B (en) | A kind of industrial robot sucked type tool hand calibrating and positioning method | |
| CN113382555B (en) | Chip mounter suction nozzle coaxiality error automatic calibration method based on machine vision | |
| CN106610266B (en) | A kind of SCARA robot calibration method | |
| JP3634275B2 (en) | Position measuring device | |
| CN108465950B (en) | Method, device and system for detecting cutting precision of laser cutting machine | |
| WO2008115532A1 (en) | Method for measuring center of rotation of a nozzle of a pick and place machine using a collimated laser beam | |
| CN107816980A (en) | A kind of steel roller system position detecting device and method | |
| CN110695520B (en) | Vision-based full-automatic galvanometer field calibration system and calibration method thereof | |
| CN108637850A (en) | A kind of the milling robot system and control method of movement locus self study | |
| CN103676976A (en) | Correction method for three-dimensional worktable repositioning error | |
| CN116615020B (en) | Suction nozzle pose error calibration and compensation method and system based on machine vision | |
| CN108942927B (en) | Method for unifying pixel coordinates and mechanical arm coordinates based on machine vision | |
| KR100925647B1 (en) | Sensing device and its method for compensating tool position processing oil-groove inside of engine cylinder | |
| CN106092053B (en) | A kind of robot resetting system and its localization method | |
| EP2941113A1 (en) | Working machine and positional deviation data acquisition method | |
| CN110561400A (en) | Efficient and accurate positioning system and method for parts uniformly distributed on circumference | |
| CN102699483A (en) | Automatic laser deviation rectifying system of flame chamfering robot | |
| CN108562246A (en) | A method of measuring and adjust servo valve gas nozzle angle of assembling | |
| US20200245515A1 (en) | Component mounting machine | |
| CN109767890A (en) | Bearing calibration and device repair resistance method and repair resistance machine | |
| CN206483651U (en) | Point gum machine and its basic point automatic correction device | |
| JPH09222913A (en) | Teaching position correcting device for robot | |
| CN113845064B (en) | Positioning method and system for material bearing device with round support legs | |
| CN111443657A (en) | Method for correcting installation offset of machine encoder |
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 |