CN115297711A - Fitting circle center based high-precision compensation method - Google Patents
Fitting circle center based high-precision compensation method Download PDFInfo
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- CN115297711A CN115297711A CN202210945415.0A CN202210945415A CN115297711A CN 115297711 A CN115297711 A CN 115297711A CN 202210945415 A CN202210945415 A CN 202210945415A CN 115297711 A CN115297711 A CN 115297711A
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 11
- 238000006073 displacement reaction Methods 0.000 claims abstract description 4
- 239000011159 matrix material Substances 0.000 claims description 13
- 230000009466 transformation Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims 1
- 210000004209 hair Anatomy 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
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- 238000012986 modification Methods 0.000 description 1
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- 238000004806 packaging method and process Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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- 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
- H05K13/0408—Incorporating a pick-up tool
- H05K13/0409—Sucking devices
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- 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
- H05K13/046—Surface mounting
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- 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
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Abstract
The invention particularly relates to a fitting circle center based high-precision compensation method, which comprises the following steps: step S1, calibrating, namely calibrating the pickup module and the bottom camera to obtain a conversion formula: qi = T × Pi + Δ L; s2, the motion module drives the suction nozzle to move to the upper side of the bottom camera, and the bottom camera shoots the suction nozzle and records the coordinate of the central point of the suction nozzle under a camera coordinate system; s3, fitting a circle on the central point, rotating the suction nozzle, and recording the coordinate of the central point of the suction nozzle by the bottom camera; s4, calculating to obtain the coordinate of the circle center of the fitting circle in a camera coordinate system; s5, subtracting the coordinate of the center of the circle of the fitting circle under the camera coordinate system from the coordinate of the camera reticle to obtain a coordinate difference value delta Pi under the camera coordinate system, and substituting the delta Pi into the conversion formula in the step S1 to obtain: Δ Qi = T × Δ Pi + Δ L, Δ Qi is a coordinate difference in the robot coordinate system, and the motion module compensates for the displacement based on Δ Qi.
Description
Technical Field
The invention relates to the technical field of semiconductor sealing measurement, in particular to a fitting circle center based high-precision compensation method.
Background
In the semiconductor packaging and testing industry, a suction nozzle and a bottom camera are often required to be calibrated, the bottom camera is used for shooting the suction nozzle, judging whether the center of the suction nozzle is consistent with the centroid of a chip to be picked up or not, and calculating a difference value to feed back the difference value to a pickup module for compensation.
However, due to the error of mechanical assembly, the suction nozzle and the shaft for mounting the suction nozzle are not strictly coaxial, and the axis of the suction nozzle and the shaft for mounting the suction nozzle have an offset value along with the mechanical movement, so that the error is increased by using the traditional compensation method, and finally the accuracy of chip mounting is reduced.
Disclosure of Invention
The invention aims to provide a fitting circle center based high-precision compensation method to solve the problems in the prior art.
The technical purpose of the invention is realized by the following technical scheme:
a high-precision compensation method based on a fitted circle center is applied to a chip mounter system, the chip mounter system comprises a pickup module, a transportation platform, a bottom camera and a control module, the pickup module comprises a motion module and a suction nozzle, the pickup module is installed above the transportation platform and used for picking up chip products on the transportation platform, the bottom camera is fixedly installed below the transportation platform and used for shooting the position of the suction nozzle, and the pickup module, the transportation platform and the bottom camera are all in communication connection with the control module, and the compensation method comprises the following steps:
s1, calibrating, namely calibrating the pickup module and the bottom camera to obtain a conversion formula of a camera coordinate system and a robot coordinate system: qi = T × Pi + Δ L, where Qi is a coordinate in a robot coordinate system, pi is a coordinate in a camera coordinate system, T is a transformation matrix, and Δ L is an offset;
s2, the motion module drives the suction nozzle to move to the upper side of the bottom camera, and the bottom camera shoots the suction nozzle and records the coordinate of the central point of the suction nozzle under a camera coordinate system;
s3, fitting a circle on the central point, rotating the suction nozzle by a rotation angle theta every time, and after each rotation, shooting the suction nozzle by a bottom camera and recording the coordinate of the central point of the suction nozzle in a camera coordinate system until the sum of the rotation angles of the suction nozzle reaches 360 degrees;
s4, acquiring the center of a fitting circle, acquiring the coordinate of the central point of each suction nozzle in the step S3 in a camera coordinate system by a control module, and calculating to obtain the coordinate of the center of the fitting circle in the camera coordinate system;
and S5, compensating, namely subtracting the coordinate of the center of the fitting circle in the camera coordinate system from the coordinate of the camera reticle to obtain a coordinate difference value delta Pi in the camera coordinate system, and substituting the delta Pi into the conversion formula in the step S1 to obtain: Δ Qi = T × Δ Pi + Δ L, Δ Qi is a coordinate difference in the robot coordinate system, and the motion module compensates for the displacement based on Δ Qi.
By adopting the technical scheme, the error caused by the eccentricity of the suction nozzle can be eliminated by utilizing a circle center fitting method, the compensated center point of the suction nozzle can be aligned to the chip to be picked up, and the condition that the suction nozzle cannot pick up the chip is effectively avoided.
In a further embodiment, in the step S1, the calibration method includes: selecting two different calibration points, obtaining coordinate values of the two calibration points under a camera coordinate system and a robot coordinate system, substituting the coordinate values into a conversion formula, and then obtaining a transformation matrix T and an offset delta L.
In a further embodiment, the control module stores a fast iteration algorithm for finding the transformation matrix T and the offset Δ L.
By adopting the technical scheme, the transformation matrix T and the offset delta L can be accurately and quickly solved by the quick iteration algorithm, the precision values of the transformation matrix T and the offset delta L depend on the iteration time and the iteration times, and the precision is controllable.
In a further embodiment, in step S1, the origin of the camera coordinate system is set as the intersection of the cross lines of the bottom camera, and the coordinate axes of the camera coordinate system are coincident with the cross lines of the bottom camera.
By adopting the technical scheme, the operation steps can be simplified, the operation difficulty is reduced, and the operation speed is improved.
In a further embodiment, in the step S3, the rotation angle θ is set to 45 °.
Through adopting above-mentioned technical scheme, the rotatory a week of suction nozzle just need rotate eight times, when can guaranteeing the precision, easily machine realization.
In a further embodiment, in step S4, the center of the fitting circle is calculated by: and calculating the difference value between the coordinates of the central point of the suction nozzle at different rotation angles and the coordinates of the intersection point of the camera reticle, and calculating the average value of the difference values, wherein the average value of the difference values plus the coordinates of the intersection point of the camera reticle is the coordinates of the center of the fitting circle.
By adopting the technical scheme, the operation complexity can be reduced, and the operation and compensation speed can be improved.
In conclusion, the invention has the following beneficial effects:
1. according to the fitting circle center based high-precision compensation method, the fitting circle of the center point of the suction nozzle is obtained through the rotary suction nozzle, and the fitting circle is fed back to the pickup module for compensation according to the coordinate difference value of the circle center of the fitting circle and the cross line of the bottom camera, so that the eccentricity error of the suction nozzle can be effectively reduced, and the mounting precision is improved; .
Drawings
Fig. 1 is a system block diagram of a chip mounter system to which the method of the present invention is applied;
FIG. 2 is a flow chart of a fitting circle center based high precision compensation method of the present invention;
FIG. 3 is a schematic view of a nozzle center point circle fit in the method of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
It should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present specification, "plurality" means two or more unless the direction of the center is specifically defined otherwise.
Example 1:
the embodiment provides a fitting circle center based high-precision compensation method, which is applied to a chip mounter system. As shown in fig. 1, the chip mounter system comprises a pickup module, a transportation platform, a bottom camera and a control module, wherein the pickup module comprises a motion module and a suction nozzle, the pickup module is installed above the transportation platform and used for picking up chip products on the transportation platform, the bottom camera is fixedly installed below the transportation platform and used for shooting the position of the suction nozzle, and the pickup module, the transportation platform and the bottom camera are all in communication connection with the control module. The working process of the chip mounter system is as follows: the chip product is conveyed to the transportation platform, the picking module obtains the coordinate point of the chip product in the robot coordinate system, the suction nozzle is moved to the chip product, the bottom camera shoots the position of the suction nozzle, the distance deviation between the suction nozzle and the chip product is obtained, and the distance deviation is fed back to the picking module for compensation. In the working process, the chip product is generally placed above the camera cross line at the bottom, so that the difference between the suction nozzle and the camera cross line can be directly calculated when the compensation difference is calculated.
The suction nozzle is not strictly coaxial with the shaft on which the suction nozzle is mounted due to mechanical assembly errors, and the suction nozzle has an offset value with respect to the axis of the shaft on which the suction nozzle is mounted along with mechanical movement, so that the pickup module needs to take the eccentric error of the suction nozzle into consideration when compensating. As shown in fig. 2, the compensation method of the present embodiment includes the following steps:
s1, calibrating, namely calibrating the pickup module and the bottom camera to obtain a conversion formula of a camera coordinate system and a robot coordinate system: qi = T × Pi + Δ L, where Qi is a coordinate in a robot coordinate system, pi is a coordinate in a camera coordinate system, T is a transformation matrix, and Δ L is an offset;
s2, the motion module drives the suction nozzle to move to the upper side of the bottom camera, and the bottom camera shoots the suction nozzle and records the coordinate of the central point of the suction nozzle under a camera coordinate system;
s3, fitting a circle on the central point, rotating the suction nozzle by a rotation angle theta, and after each rotation, shooting the suction nozzle by a bottom camera and recording the coordinate of the central point of the suction nozzle in a camera coordinate system until the sum of the rotation angles of the suction nozzle reaches 360 degrees;
s4, acquiring the center of a fitting circle, acquiring the coordinates of the center point of each suction nozzle in the step S3 in a camera coordinate system by a control module, and calculating to obtain the coordinates of the center of the fitting circle in the camera coordinate system;
and S5, compensation, namely subtracting the coordinate of the circle center of the fitting circle in the camera coordinate system from the coordinate of the camera cross line to obtain a coordinate difference value delta Pi in the camera coordinate system, and substituting the delta Pi into the conversion formula in the step S1 to obtain: Δ Qi = T × Δ Pi + Δ L, Δ Qi is a coordinate difference in the robot coordinate system, and the motion module compensates for the displacement based on Δ Qi.
The compensation method of the embodiment can eliminate the error caused by the eccentricity of the suction nozzle by using a circle center fitting method, and the compensated center point of the suction nozzle can be aligned with the chip to be picked up, thereby effectively avoiding the situation that the suction nozzle cannot pick up the chip.
In a further embodiment, in step S1, the calibration method includes: selecting two different calibration points, obtaining coordinate values of the two calibration points under a camera coordinate system and a robot coordinate system, substituting the coordinate values into a conversion formula, and then obtaining a transformation matrix T and an offset delta L.
In a further embodiment, the control module stores a fast iteration algorithm, which is used to find the transformation matrix T and the offset Δ L. The fast iterative algorithm can accurately and fast obtain the transformation matrix T and the offset delta L, the accuracy values of the transformation matrix T and the offset delta L depend on the iteration time and the iteration times, and the accuracy is controllable.
In a further embodiment, in step S1, the origin of the camera coordinate system is set to the intersection of the cross hairs of the bottom camera, and the coordinate axes of the camera coordinate system coincide with the cross hairs of the bottom camera.
By adopting the technical scheme, the operation steps can be simplified, the operation difficulty is reduced, and the operation speed is increased.
In the present embodiment, in step S3, the rotation angle θ is set to 45 °. Referring to fig. 3, the purpose of this arrangement is that the suction nozzle just needs to rotate eight times in one rotation, which can ensure the precision and is easy to implement by the machine.
In a further embodiment, in step S4, the center of the fitting circle is calculated by: and calculating the difference value between the coordinates of the central point of the suction nozzle at different rotation angles and the coordinates of the intersection point of the camera reticle, calculating the average value of the difference values, and adding the average value of the difference values to the coordinates of the intersection point of the camera reticle to obtain the coordinates of the center of the fitting circle.
By adopting the technical scheme, the operation complexity can be reduced, and the operation and compensation speed can be improved.
In the embodiments of the present disclosure, the terms "mounting," "connecting," "fixing," and the like are used in a broad sense, for example, "connecting" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meanings of the above terms in the disclosed embodiments of the invention can be understood by those of ordinary skill in the art as appropriate.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (6)
1. A high-precision compensation method based on a fitted circle center is applied to a chip mounter system, the chip mounter system comprises a pickup module, a transportation platform, a bottom camera and a control module, the pickup module comprises a motion module and a suction nozzle, the pickup module is installed above the transportation platform and used for picking up chip products on the transportation platform, the bottom camera is fixedly installed below the transportation platform and used for shooting the position of the suction nozzle, and the pickup module, the transportation platform and the bottom camera are all in communication connection with the control module, and the compensation method is characterized by comprising the following steps:
s1, calibrating, namely calibrating the pickup module and the bottom camera to obtain a conversion formula of a camera coordinate system and a robot coordinate system: qi = T × Pi + Δ L, where Qi is a coordinate in a robot coordinate system, pi is a coordinate in a camera coordinate system, T is a transformation matrix, and Δ L is an offset;
s2, the motion module drives the suction nozzle to move to the upper side of the bottom camera, and the bottom camera shoots the suction nozzle and records the coordinate of the central point of the suction nozzle under a camera coordinate system;
s3, fitting a circle on the central point, rotating the suction nozzle by a rotation angle theta every time, and after each rotation, shooting the suction nozzle by a bottom camera and recording the coordinate of the central point of the suction nozzle in a camera coordinate system until the sum of the rotation angles of the suction nozzle reaches 360 degrees;
s4, acquiring the center of a fitting circle, acquiring the coordinate of the central point of each suction nozzle in the step S3 in a camera coordinate system by a control module, and calculating to obtain the coordinate of the center of the fitting circle in the camera coordinate system;
and S5, compensating, namely subtracting the coordinate of the center of the fitting circle in the camera coordinate system from the coordinate of the camera reticle to obtain a coordinate difference value delta Pi in the camera coordinate system, and substituting the delta Pi into the conversion formula in the step S1 to obtain: Δ Qi = T × Δ Pi + Δ L, Δ Qi is a coordinate difference in the robot coordinate system, and the motion module compensates the displacement according to Δ Qi.
2. The fitting circle center-based high-precision compensation method according to claim 1, characterized in that: in step S1, the calibration method includes: selecting two different calibration points, obtaining coordinate values of the two calibration points under a camera coordinate system and a robot coordinate system, substituting the coordinate values into a conversion formula, and then obtaining a transformation matrix T and an offset delta L.
3. The fitting circle center-based high-precision compensation method according to claim 2, characterized in that: the control module stores a fast iteration algorithm which is used for solving a transformation matrix T and an offset delta L.
4. The fitting circle center-based high-precision compensation method according to claim 1, characterized in that: in the step S1, the origin of the camera coordinate system is set as the intersection of the cross lines of the bottom camera, and the coordinate axes of the camera coordinate system are consistent with the cross lines of the bottom camera.
5. The fitting circle center-based high-precision compensation method according to claim 1, characterized in that: in step S3, the rotation angle θ is set to 45 °.
6. The fitting circle center-based high-precision compensation method according to claim 1, characterized in that: in step S4, the calculation method of the center of the fitting circle is as follows: and calculating the difference value between the coordinates of the central point of the suction nozzle at different rotation angles and the coordinates of the intersection point of the camera reticle, and calculating the average value of the difference values, wherein the average value of the difference values plus the coordinates of the intersection point of the camera reticle is the coordinates of the center of the fitting circle.
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