CN213658608U - Motion control device capable of automatically adjusting depth of field and automatic optical detector - Google Patents

Motion control device capable of automatically adjusting depth of field and automatic optical detector Download PDF

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Publication number
CN213658608U
CN213658608U CN202022159259.4U CN202022159259U CN213658608U CN 213658608 U CN213658608 U CN 213658608U CN 202022159259 U CN202022159259 U CN 202022159259U CN 213658608 U CN213658608 U CN 213658608U
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camera
motor
lens
controller
motion control
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杨红军
胡冰峰
陈朋飞
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Suzhou Kangdai Intelligent Technology Co ltd
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Suzhou Kangdai Intelligent Technology Co ltd
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Priority to PCT/CN2020/124712 priority patent/WO2022062057A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/956—Inspecting patterns on the surface of objects

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The utility model discloses a motion control device and automatic optical detection machine of automatically regulated depth of field, motion control device includes mesa, optical scanning head, camera lens and corresponding motor and grating chi, motion control device still includes height data collection station, main control unit, first controller and second controller, mesa, optical scanning head, camera and camera lens all can the translation, wherein camera and camera lens are controlled by servo motor respectively and are removed along upper and lower direction; the automatic optical detector is provided with the motion control device. The utility model provides a motion control device and have its automatic optical inspection machine adjustment accuracy height, the automatic focus compensation depth of field effectively reduces the appearance that detects the false point.

Description

Motion control device capable of automatically adjusting depth of field and automatic optical detector
Technical Field
The utility model relates to an automatic optical detection machine technical field, in particular to automatic motion control device and automatic optical detection machine of adjusting depth of field.
Background
An Automatic Optical Inspection (AOI) machine is an apparatus for inspecting common defects encountered in circuit board production based on Optical principles, and when performing automatic Inspection, the machine automatically scans a PCB through a camera, collects images, compares the collected images with PCB design files in a database, inspects defects on the PCB through image processing, and displays/marks the defects through a display or an automatic mark for repair by a maintenance person.
When AOI equipment detects a PCB, when the flatness of an AOI table top is not good or the PCB is wrinkled, the condition of missing scanning or mistaken scanning can occur. The existing AOI CCD camera and lens use a stepping motor and an open-loop control mode, and the precision is not high. Because the flatness of the table surface is poor or the PCB is wrinkled, the depth of field does not meet the CCD image capturing requirement, and the accuracy cannot meet the depth of field requirement due to the fact that the stepping motor adjusts the CCD camera and the lens, the problems that multiple false points exist and the like are often caused.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists among the prior art, the utility model provides a motion control device and automatic optical detection machine of automatically regulated degree of depth can overcome the not enough difficulty of current optics degree of depth compensation, use servo motor automatic compensation optics degree of depth, and technical scheme is as follows:
in one aspect, the utility model provides a motion control device of automatically regulated depth of field for AOI, include
The table top is used for supporting a detection object, the table top is driven by a table top motor to move horizontally, a table top grating ruler used for reading the position of the table top is arranged on the table top, and the table top grating ruler is provided with a table top grating ruler reading head;
the camera is used for collecting images, arranged above the table board and driven by a camera motor to translate, the camera motor is a servo motor, a camera grating scale used for reading the position of the camera is arranged on the camera, and the camera grating scale is provided with a camera grating scale reading head;
the lens is used for focusing the camera, arranged between the table board and the camera and driven by a lens motor to translate, the lens motor is a servo motor, a lens grating scale for reading the position of the lens is arranged on the lens, and the lens grating scale is provided with a lens grating scale reading head;
the height data collector is used for measuring the distance between the height data collector and a detection object, and the height data collector is arranged above the table board;
a first controller, the camera motor, the lens motor, the camera grating scale reading head and the lens grating scale reading head being electrically connected with the first controller;
a second controller, the first controller, the table motor, and the table grating scale reading head electrically connected with the second controller;
and the height data collector and the second controller are electrically connected with the main controller.
Furthermore, the motion control device further comprises an optical scanning head, the optical scanning head loads the camera and the lens, the optical scanning head translates under the driving of an optical scanning head motor, an optical scanning head grating ruler used for reading the position of the optical scanning head is arranged on the optical scanning head, the optical scanning head grating ruler is provided with an optical scanning head reading head, and the optical scanning head motor and the optical scanning head grating ruler are electrically connected with the second controller.
Preferably, the table top motor controls the table top to horizontally move along the front-back direction, the optical detection head motor controls the optical detection head to horizontally move along the left-right direction, the camera motor controls the camera to move along the vertical direction, and the lens motor controls the lens to move along the vertical direction.
Preferably, the height data collector translates under the driving of a collector motor, and the collector motor is electrically connected with the main controller.
Further, the motion compensation device also comprises a light source box, wherein the light source box is used for providing a light source and illuminating a detection object, and the light source box is electrically connected with the main controller.
Preferably, the height data collector is arranged on the light source box, the light source box is driven by the collector motor to move horizontally, and the collector motor is electrically connected with the main controller.
On the other hand, the utility model provides an automatic optical detection machine, automatic optical detection machine includes foretell motion control device.
The utility model provides a beneficial effect that technical scheme brought as follows:
a. the camera motor and the lens motor are both servo motors, so that the moving precision is high, and the corresponding adjusting precision is also high;
b. the table top, the optical scanning head, the camera and the lens move in one degree of freedom respectively, the adjustment is stable, the error is small, all degrees of freedom of three-dimensional displacement are included, and the PCB can be detected comprehensively;
c. the height data controller and the servo motor work cooperatively, so that the depth of field is compensated through automatic focusing, and the occurrence of detection false points is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a circuit diagram of a motion control device according to an embodiment of the present invention;
fig. 2 is a partial circuit diagram of a motion control device according to an embodiment of the present invention;
fig. 3 is a partial circuit diagram of a motion control device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an optical scanning head of a motion control apparatus according to an embodiment of the present invention.
Wherein the reference numerals are respectively: 1-main controller, 2-height data collector, 3-second controller, 4-first controller, 51-table motor, 52-table grating ruler reading head, 6-optical scanning head, 61-optical scanning head motor, 62-optical scanning head grating ruler reading head, 7-camera, 71-camera motor, 72-camera grating ruler reading head, 8-lens, 81-lens motor, 82-lens grating ruler reading head, 9-light source box.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
In one embodiment of the present invention, there is provided a motion control device for automatically adjusting depth of field for AOI, as shown in fig. 1-4, comprising
The table top is used for loading a detection object, the table top is driven by a table top motor 51 to translate, a table top grating ruler used for reading the position of the table top is arranged on the table top, and the table top grating ruler is provided with a table top grating ruler reading head 52;
the camera 7 is used for collecting images, the camera 7 is arranged above the table top, the camera 7 is driven by a camera motor 71 to translate, the camera motor is a servo motor, a camera grating scale used for reading the position of the camera is arranged on the camera, and the camera grating scale is provided with a camera grating scale reading head 72;
the lens 8 is used for focusing the camera 7, the lens 8 is arranged between the table board 1 and the camera 7, the lens 8 is driven by a lens motor 81 to translate, the lens motor 81 is a servo motor, a lens grating scale for reading the position of the lens is arranged on the lens 8, and the lens grating scale is provided with a lens grating scale reading head 82;
the height data collector 2 is arranged above the table board, before compensating the depth of field of a detection object placed on the table board, the height data collector 2 needs to be subjected to position calibration at first, and the height data collector 2 is used for measuring the distance between the height data collector and the detection object;
a first controller 4, the camera motor 71, the lens motor 81, the camera grating head 72, and the lens grating head 82 being electrically connected to the first controller 4;
a second controller 3, the first controller 4, the stage motor 51 and the stage grating scale reading head 52 being electrically connected with the second controller 3;
the height data collector 2 and the second controller 3 are electrically connected with the main controller 1.
Because the camera motor and the lens motor are both servo motors, the moving precision is high, the corresponding adjusting precision is also high, and the height data controller and the servo motors work cooperatively, so that the camera has the function of automatically focusing and compensating the depth of field, and the occurrence of detection false points is effectively reduced.
The motion control device further comprises an optical scanning head 6, the optical scanning head is used for loading the camera 7 and the lens 8, the optical scanning head 6 is driven by an optical scanning head motor 61 to move in a translation mode, an optical scanning head grating scale used for reading the position of the optical scanning head is arranged on the optical scanning head 6, the optical scanning head grating scale is provided with an optical scanning head reading head 62, and the optical scanning head motor 61 and the optical scanning head grating scale reading head 62 are electrically connected with the second controller 3. To achieve this, the second controller should have a power greater than that of the first controller because the table and the optical scanning head controlled by the second controller are heavy, the second controller is biased toward the load-bearing function, and the fine adjustment function is less required, while the camera and the lens controlled by the first controller are lighter, and the first controller is biased toward the fine adjustment function.
In the preferred embodiment of the present invention, the table motor 51 controls the table to move horizontally in the front-back direction, the optical inspection head motor 61 controls the optical inspection head 6 to move horizontally in the left-right direction, the camera motor 71 controls the camera 7 to move vertically, and the lens motor 81 controls the lens 8 to move vertically; the table top, the optical scanning head, the camera and the lens move in one degree of freedom respectively, the adjustment is stable, the error is small, all degrees of freedom of three-dimensional displacement are included, and the PCB can be comprehensively detected. The direction of motion of mesa and optical detection head also can not be perpendicular, in fact as long as the arbitrary displacement of horizontal plane can be accomplished to the nonparallel of each other, therefore the condition of the direction of motion of mesa and optical detection head out of plumb of each other is still within the scope of protection of the utility model.
The height data collector 2 can also be driven by a collector motor to move horizontally, and the collector motor is electrically connected with the main controller and further suitable for different PCB boards.
The motion control device can further comprise a light source box 9, wherein the light source box 9 is used for providing a light source and illuminating a detection object, and the light source box is electrically connected with the main controller.
Height data collector 2 can set up in light source box 9 is last, light source box 9 translation under the drive of collector motor, the collector motor with main control unit electricity is connected. The height data collector can also be arranged on other parts of the motion control system which can move up and down.
In another embodiment of the present invention, an automatic optical inspection machine is provided, which includes the above-mentioned motion control device, the sub-automatic optical inspection machine has better performance in the inspection of the PCB board, and can automatically compensate the depth of field and the precision is high in the inspection, thereby effectively reducing the false points in the collected image.
In a preferred and specific embodiment of the present invention, the first controller is UDMsd, the second controller is spiipplus CMnt-2, the main controller can be a computer, and the circuit connection is shown in fig. 1-3, but the protection scope of the present invention is not limited to this preferred and specific embodiment, in other words, the first controller and the second controller adopt other chips and still fall within the protection scope of the present invention.
And the motion control system carries out height measurement on the board surface through a HIGH Sensor height measurement device, and when the change of the board thickness is measured, the positions of the camera and the lens in the vertical direction are calculated through a software algorithm. And then the upper computer of the computer host communicates with the UDM to control the servo motors on the screw rods of the camera and the lens to work, adjust the positions of the camera and the lens in the vertical direction, and receive the reading feedback of the reading heads of each grating ruler to further correct and move, so that the depth of field required by the height measured by the HIGH Sensor is achieved, and the depth of field compensation of the optical system is realized.
The motion control apparatus may be assembled and commissioned by taking the following steps:
s1, installing ACS UDM on AOI scanning head
And S2, mounting a servo motor of a camera and a lens on the AOI optical component, and mounting a grating ruler.
S3, mounting a High sensor on the light source box (height data acquisition)
And S4, connecting the UDM to the ACS SPIIPLUS CMNT main controller through a network cable, connecting the High sensor to a computer through the network cable, configuring a network address and connecting hardware.
S5, debugging a camera and a lens servo controller UDM on the AOI, initializing the UDM through ACS debugging software SPiPLUS MMI Application Studio software, and adjusting PID control parameters. And debugging the software.
And S6, verifying the function of automatically compensating the depth of field in the AOI version scanning software.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims (7)

1. A motion control device for automatically adjusting the depth of field comprises
The table top is used for supporting a detection object, the table top is driven by a table top motor to move horizontally, a table top grating ruler used for reading the position of the table top is arranged on the table top, and the table top grating ruler is provided with a table top grating ruler reading head;
the camera is used for collecting images, arranged above the table board and driven by a camera motor to translate, the camera motor is a servo motor, a camera grating scale used for reading the position of the camera is arranged on the camera, and the camera grating scale is provided with a camera grating scale reading head;
the lens is used for focusing the camera, arranged between the table board and the camera and driven by a lens motor to translate, the lens motor is a servo motor, a lens grating scale for reading the position of the lens is arranged on the lens, and the lens grating scale is provided with a lens grating scale reading head;
the height data collector is used for measuring the distance between the height data collector and a detection object, and the height data collector is arranged above the table board;
a first controller, the camera motor, the lens motor, the camera grating scale reading head and the lens grating scale reading head being electrically connected with the first controller;
a second controller, the first controller, the table motor, and the table grating scale reading head electrically connected with the second controller;
and the height data collector and the second controller are electrically connected with the main controller.
2. The motion control apparatus as claimed in claim 1, further comprising an optical scanning head, the optical scanning head carrying the camera and the lens, the optical scanning head being driven by an optical scanning head motor to translate, the optical scanning head being provided with an optical scanning head grating scale for reading the position of the optical scanning head, the optical scanning head grating scale having an optical scanning head reading head, the optical scanning head motor and the optical scanning head grating scale being electrically connected to the second controller.
3. The motion control apparatus of claim 2, wherein the stage motor controls the stage to move horizontally in a front-to-back direction, the optical detection head motor controls the optical detection head to move horizontally in a left-to-right direction, the camera motor controls the camera to move in a vertical direction, and the lens motor controls the lens to move in a vertical direction.
4. The motion control apparatus of claim 1, wherein the height data collector translates under drive of a collector motor, the collector motor being electrically connected to the master controller.
5. The motion control apparatus of claim 1, wherein the motion compensation apparatus further comprises a light source box for providing a light source to illuminate a test object, the light source box being electrically connected to the master controller.
6. The motion control apparatus of claim 5, wherein the height data collector is disposed on the light source cartridge, the light source cartridge translates under drive of a collector motor, and the collector motor is electrically connected to the main controller.
7. An automated optical inspection machine comprising a motion control apparatus according to any one of claims 1 to 6.
CN202022159259.4U 2020-09-27 2020-09-27 Motion control device capable of automatically adjusting depth of field and automatic optical detector Active CN213658608U (en)

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Application Number Priority Date Filing Date Title
CN202022159259.4U CN213658608U (en) 2020-09-27 2020-09-27 Motion control device capable of automatically adjusting depth of field and automatic optical detector
PCT/CN2020/124712 WO2022062057A1 (en) 2020-09-27 2020-10-29 Motion control device capable of automatically adjusting depth of field and automated optical inspection machine

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CN202022159259.4U CN213658608U (en) 2020-09-27 2020-09-27 Motion control device capable of automatically adjusting depth of field and automatic optical detector

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CN101216591B (en) * 2008-01-16 2010-11-10 中国电子科技集团公司第四十五研究所 Image gray scale based automatic focusing method and its system
US8077307B2 (en) * 2008-04-09 2011-12-13 Orbotech Ltd. Illumination system for optical inspection
CN103134804A (en) * 2011-11-26 2013-06-05 西安中科麦特电子技术设备有限公司 Motion mechanism of automated optical inspection instrument
CN202494640U (en) * 2012-02-23 2012-10-17 东莞市盟拓光电科技有限公司 Automatic optical inspection device
CN104019331A (en) * 2014-04-28 2014-09-03 苏州倍辰莱电子科技有限公司 AOI lifting working platform
CN203907143U (en) * 2014-04-28 2014-10-29 苏州倍辰莱电子科技有限公司 Elevated AOI working platform
CN206593607U (en) * 2017-01-12 2017-10-27 广东龙天智能仪器股份有限公司 Automated optical white light scanning instrument
CN107860773B (en) * 2017-11-06 2021-08-03 凌云光技术股份有限公司 Automatic optical detection system for PCB and correction method thereof
CN108195292B (en) * 2018-02-02 2021-05-07 吴飞斌 Displacement measuring method
CN211292639U (en) * 2019-09-10 2020-08-18 珠海市元玉电子科技有限公司 Optical detector for PCB

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