TW202328668A - Equipment for optical appearance inspection and method for appearance inspection - Google Patents

Abstract

The present disclosure provides an equipment for optical appearance inspection and method for appearance inspection, wherein the equipment adopts two Z-direction high-precision optical camera lens components suspended on an X-axis bridge, and two workbenches parallel along the Y-axis are arranged under the bridge; a flip mechanism is provided between the two workbenches, and a loading container and an unloading container are respectively arranged on the outsides of the two workbenches; and two sets of X-axis transmission components are set up, and the grabbing assemblies thereof hang vertically above the workbenches, the flip mechanism, the loading container and the unloading container, and the structural arrangement is highly integrated and centralized thereby; the detection of the front and back of the materials on the two Y-axis workbenches is completed in a streamlined manner, and the closely arranged main body of the equipment adopts linear motor and high-precision linear guide as a driving body on the driving direction of the X-axis and Y-axis, which meets the high-precision requirements of the movement of the main body, and also ensures the stability of the platform, so it provides a basic guarantee for highly sophisticated optical components.

Description

Optical appearance inspection equipment and appearance inspection method

The invention relates to the field of optical inspection of circuit boards, in particular to an optical appearance inspection device and an appearance inspection method.

With the rapid development of optoelectronics, communication electronics, computers, machinery, materials and other industries, IC substrates have also developed rapidly. In modern electronics and communication products, IC substrates and PCB circuit boards can be seen almost everywhere, as small as one Chips, large to ultra-large integrated PCBs, IC substrates and PCB boards are the pillar industries in the current and future electronics industry. Due to the rapid development of the IC substrate industry, the product technology of IC circuit boards has also been greatly improved. Most of the products are highly integrated and ultra-fine lines, so customers have also put forward higher requirements for product quality. The entire production process of the board, whether it is the inner layer layout, the lamination of the outer layer circuit and the surface treatment molding, the use of automatic optical inspection is an essential and important step.

However, the automatic optical appearance inspection equipment currently on the market generally has problems such as low detection accuracy and low efficiency, and has been unable to meet the inspection needs of high-end IC substrate manufacturers. Optical appearance inspection equipment, so the development of a high-performance and high-efficiency automatic optical appearance inspection equipment has constituted an imminent demand.

The object of the present invention is to provide a kind of optical appearance inspection equipment and appearance inspection method which are mainly applied to the appearance inspection after the surface treatment and molding process of IC carrier board/circuit board. The mechanical stability of the equipment is high, the detection accuracy is improved, and the detection efficiency is improved. The requirements of high-end PCB-IC carrier board manufacturers.

In order to achieve the above object, the technical scheme adopted in the present invention is as follows:

An optical appearance inspection device, comprising:

A first workbench and a second workbench arranged side by side and at intervals, the first workbench includes a first carrier, a first slide rail arranged along the front-to-back direction, and is configured to drive the first carrier along the first A first driving device for sliding rail movement, the second worktable includes a second carrier, a second sliding rail arranged along the front-to-back direction, and a first driving device configured to drive the second carrier to move along the second sliding rail Two driving devices;

A bridge, which is erected above the first slide rail and the second slide rail along the left and right direction, the bridge is provided with a movable first optical detection device and a second optical detection device, and the first optical detection device configured to reciprocate left and right above the rear of the first slide rail, and the second optical detection device is configured to reciprocate left and right above the rear of the second slide rail;

Turnover mechanism, which is arranged between the first workbench and the second workbench, the turnover mechanism includes a reference platform, a turntable platform and a third driving device, the benchmark platform is hinged to the turntable platform, and the third drive The device is configured to drive the invertible platform to invert relative to the reference platform;

A feeding container and a feeding container, wherein the feeding container is arranged outside the first workbench, the unloading container is arranged outside the second workbench, and the feeding container is configured as Place the material to be tested, and the unloading container is configured to place the material that has been tested, and the material is a circuit board or an IC carrier;

The conveying mechanism is configured to convey the material, which includes a beam arranged along the left and right directions, a first conveying element and a first grasping element arranged on the crossbeam, a second conveying element and a second grasping element; wherein , the first conveying element is configured to drive the first grabbing component to move left and right along the beam above the first workbench and the feeding container, and the second conveying element is configured to drive the second grabbing element along the The beam moves left and right above the second workbench and the unloading container, and the first grabbing element and the second grabbing element are both configured to grab materials.

Further, at least the outside of the front part of the first workbench has a narrowed structure relative to its rear part, and at least the outside of the front part of the second workbench has a narrow structure relative to its rear part, and the feeding container is close to the The outer front part of the first workbench, and the unloading container is close to the outer front part of the second workbench. The narrow front provides the required location for the automation module located at the front of the equipment body, and the wide rear meets the needs of two optical detection devices for the long-span bridge.

Further, the first workbench, the second workbench, the turning mechanism, the loading container and the unloading container are arranged on a square base platform, and the square base platform is made of cast iron, which improves the stability of the main platform of the equipment. mechanical stability;

The bridge frame has two bridge piles and a horizontal bridge rod mounted on the two bridge piles. The bridge pile at the left end of the horizontal bridge rod is arranged at the rear of the first workbench, and the bridge pile at the right end of the horizontal bridge rod is arranged at the rear of the second workbench;

One outer end of the beam of the conveying mechanism is erected on the square base platform near the loading container, and the other outer end is erected on the square base platform near the unloading container area.

Further, the first optical detection device and the second optical detection device are configured to be equipped with different optical lenses, so as to meet the requirement that a specific circuit board has different detection accuracy on the front and back sides.

Further, the optical magnification of the optical lens of the first optical detection device is greater than the optical magnification of the optical lens of the second optical detection device, and the detection area of a single scan of the first optical detection device is smaller than that of the second optical detection device. The detection area of a single scan of the device;

The number of the second workbench is one, and the number of the first workbench is two and arranged adjacent to each other, so that the requirement for high-precision detection on one side of the circuit board can be met, and it will not be caused by a single scan. The detection area becomes smaller and affects the detection efficiency of the front and back sides of the overall circuit board.

Further, the first grabbing element includes a first grabbing part and a second grabbing part, the first grabbing part is configured to move between the loading container and the first carrier, the The second grabbing part is configured to move between the first carrier and the reversible platform; after the first grabbing part places the circuit board on the first carrier, it can return to the loading container to grab the next piece circuit board, and after the second grabbing part grabs the first circuit board from the first carrier, the next circuit board grabbed by the first grabbing part can be placed on the first carrier, and then/simultaneously The second grasping part places the grasped first circuit board on the reversible platform.

The second grasping element includes a third grasping part and a fourth grasping part, the third grasping part is configured to move between the reference platform and the second stage, and the fourth grasping part The part is configured to move between the second carrier and the blanking container; as above, after the third grabbing part places the circuit board on the second carrier, it can return to the reference platform to grab the next circuit board, And after the fourth grabbing part grabs the first circuit board from the second carrier, the next circuit board grabbed by the third grabbing part can be placed on the second carrier, and then/simultaneously the fourth grabbing The picking part places the first picked circuit board on the reversible platform.

Further, the gripper of the first grabbing component is provided with a suction cup, and the left-right position and/or front-back position of the suction cup on the gripper is adjustable.

Further, the optical appearance detection device also includes a sensing device, which is arranged above the feeding container, and is configured to identify that the uppermost layer in the feeding container is material or spacer paper; and/or, the upper The quantity of material container is two and mutually arranged side by side.

Further, the loading container is configured to be able to move forward along the drawer rail, and there are multiple unloading containers.

Further, the first driving device, the second driving device, the first conveying element and the second conveying element all adopt linear motors matched with an open encoder grating scale;

The first workbench, the second workbench and the bridge frame are all made of cast iron.

In another aspect, the present invention provides an appearance inspection method based on the above-mentioned optical appearance inspection equipment, under the control of the main control module of the optical appearance inspection equipment, the optical appearance inspection equipment performs the following steps:

S1. Under the transmission action of the first transmission element of the optical appearance inspection device, the first grabbing component grabs the material in the feeding container, and transports the material to the first carrier of the first workbench;

S2. Under the driving action of the first driving device, the first stage moves backward along the first slide rail, so that the first optical detection device scans and detects the materials on the first stage;

S3. After the scanning detection is completed, the first carrier moves forward along the first slide rail;

S4. The first grabbing component grabs the material on the first carrier, and transports it to the reversible platform of the reversing mechanism;

S5. Under the driving action of the third driving device, the reversible platform drives the material to turn over to the reference platform, so that the material is placed on the reference platform with its back facing upward;

S6. Under the transmission action of the second transmission element, the second grabbing element grabs the material on the reference platform and transports it to the second carrier of the second workbench;

S7. Under the driving action of the second driving device, the second stage moves backward along the second slide rail, so that the second optical detection device scans and detects the materials on the second stage;

S8. After the scanning detection is completed, the second stage moves forward along the second slide rail;

S9. The second grabbing element grabs the material on the second carrier and transports it to the unloading container.

Further, after executing step S5, while executing steps S6-S9, the first conveying element, the first grasping element, the first driving device, the first optical detection device, and the third driving device repeatedly execute steps S1- S5;

After step S9 is executed, the second conveying element, the second grasping element, the second driving device, and the second optical detection device repeatedly execute steps S6-S9.

Further, the first grabbing element includes a first grabbing part and a second grabbing part, and the second grabbing element includes a third grabbing part and a fourth grabbing part;

In step S1, the material is grasped by the first grasping part, in step S4, the material is grasped by the second grasping part; in step S6, the material is grasped by the third grasping part, and in step S9, the material is grasped by the fourth grasping part materials.

Further, the first grasping part and the second grasping part act independently, and the third grasping part and the fourth grasping part act independently;

After performing step S1, while performing S2-S4, the first grasping part repeatedly performs step S1;

After performing step S4, while performing steps S5-S6, the second grasping part repeatedly performs step S4;

After performing step S6, while performing steps S7-S9, the third grasping part repeatedly performs step S6;

After step S9 is executed, the fourth grasping part repeatedly executes steps S7-S9.

Further, a sensing device is provided above the feeding container, the sensing device is electrically connected to the input end of the main control module, and the sensing device is configured to identify the uppermost layer in the feeding container For material or spacer paper;

Step S1 further includes: if the identification result of the sensing device is that the uppermost layer in the feeding container is spacer paper, then the first grabbing component grabs the spacer paper and transports it to the spacer paper collection area; if the If the recognition result of the sensing device is that the uppermost layer in the feeding container is material, the first grabbing component grabs the material and transports it to the first carrier.

Further, the optical magnification of the optical lens of the first optical detection device is greater than the optical magnification of the optical lens of the second optical detection device, and the detection area of a single scan of the first optical detection device is smaller than that of the second optical detection device. The single-scan detection area of the device; the number of the second workbench is one, and the number of the first workbench is two and arranged adjacently;

The first grabbing assembly described in step S1 transports materials to the first carrier of the two first workbenches in turn;

In step S4, the first grabbing assembly grabs materials from the two first carriers in turn and transports them to the reversible platform.

The beneficial effects brought by the technical solution provided by the invention are as follows:

a. The platform of the main body of the equipment adopts the 1X2Z+2Y innovative style to achieve a highly integrated and highly centralized structural arrangement;

b. The detection of the front and back of the material on the two Y-direction worktables is completed in a flow-through manner, which improves the automation of double-sided detection and the flexibility of configuring optical detection accuracy.

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terms "first" and "second" in the specification and scope of claims of the present invention and the above drawings are used to distinguish similar items, but not necessarily used to describe a specific order or sequence. It is to be understood that the materials so used are interchangeable under appropriate circumstances such that the embodiments of the invention described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, means, product or equipment comprising a series of steps or elements need not be limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

In one embodiment of the present invention, an optical appearance inspection device is provided. The main body of the device is integrated with an automatic intelligent control module, which can realize intelligent flow-type operations such as loading, turning, unloading, and classification. For prerequisites, see Figures 1-7, wherein the optical appearance inspection equipment shown in Figure 1 can be decomposed into the equipment shown in Figure 3 and the equipment shown in Figure 5.

Specifically, the shown optical appearance inspection equipment includes: as shown in FIG. 3 and FIG. 4 , a first workbench 1 and a second workbench 2 arranged side by side and spaced apart, the first workbench 1 includes a first carrier 101. The first slide rail 102 arranged along the front-to-back direction, the first driving device (not shown) configured to drive the first stage 101 to move along the first slide rail 102, the second worktable 2 includes The second stage 201, the second slide rail 202 arranged along the front-rear direction, and the second driving device (not shown) configured to drive the second stage 201 to move along the second slide rail 202; wherein, the first The workbench 1 is also equipped with a first drag chain 103 for wiring. When the first driving device drives the first carrier 101 to slide, the first drag chain 103 moves with the first carrier 101; similarly, the second work The platform 2 is also equipped with a second drag chain 203 for wiring. When the second driving device drives the second carrier 201 to slide, the second drag chain 203 moves with the second carrier 201 .

Bridge 3, which is erected above the first slide rail 102 and the second slide rail 202 along the left and right direction, as shown in Figure 3, the bridge 3 is provided with a movable first optical detection device 301 and a second Optical detection device 302, the first optical detection device 301 is configured to reciprocate left and right above the rear portion of the first slide rail 102, and the second optical detection device 302 is configured to move left and right above the rear portion of the second slide rail 202 Moving back and forth, the first optical detection device 301 and the second optical detection device 302 also need to move up and down to adjust the distance between the circuit board to be detected; chain 311, the second X-direction drag chain 312, the first Z-direction drag chain 321 and the second Z-direction drag chain 322, when the first optical detection device 301 moves left and right, the first X-direction drag chain 311 follows the first optical The detection device 301 moves. When the second optical detection device 302 moves left and right, the second X-direction drag chain 312 moves with the second optical detection device 302. When the first optical detection device 301 moves up and down, the first Z-direction drag chain 321 moves with the first optical detection device 301 , and when the second optical detection device 302 moves up and down, the second Z-direction drag chain 322 moves with the second optical detection device 302 . Obviously, the travel ranges of the first optical detection device 301 and the second optical detection device 302 moving left and right should cover the length of the circuit board to be tested in the X-axis direction. When the circuit board to be tested is placed on the first stage 101 , it enters the stroke range of the first optical detection device 301 along the Y axis direction, and after the first optical detection device 301 completes the detection scan, it returns to the initial loading position; when the circuit board to be detected is placed on When the second stage 201 is on, it enters the travel range of the second optical detection device 302 along the Y-axis direction, and returns to the initial loading position after the second optical detection device 302 completes the detection scan.

Turning mechanism, it is arranged between the first workbench 1 and the second workbench 2, as shown in Figure 3 and Figure 4, described turning mechanism comprises reference platform 401, reversible platform 402 and the 3rd driving device (not shown shown), the reference platform 401 is hinged to the reversible platform 402, and the third driving device is configured to drive the reversible platform 402 to flip relative to the reference platform 401. In this embodiment, the reversible platform 402 There is also a vacuum hole. When the circuit board is placed on the reversible platform 402, the vacuum is sucked so that the circuit board will always stick to the reversible platform 402 during the next overturning process without falling. After close to or equal to 180°, stop vacuuming, and the circuit board will break away from the reversible platform 402 and reach the reference platform 401; of course, the auxiliary pressure plate can also be used to press the circuit board on the reversible platform to replace the vacuum suction method ; Regarding the overturning mechanism, the utility model whose patent announcement number is CN213209951U can be incorporated into the embodiments of the present invention in its entirety by way of reference. Taking the circuit board placed on the first carrier 101 as an example with its front facing up, it is obvious that the circuit board placed on the second carrier 201 after being turned over by the turning mechanism is its back facing up.

The loading container 501 and the unloading container 502, referring to Fig. 1 and Fig. 2, the described loading container 501 is arranged on the outside of the first workbench 1, and the described unloading container 502 is arranged on the second workbench 2 outside, the loading container 501 is configured to place the circuit board to be tested, and the unloading container 502 is configured to place the circuit board that has been tested;

The conveying mechanism is configured to convey the circuit board. Referring to FIGS. 5-7 , the conveying mechanism includes a crossbeam that spans the front end of the base of the main equipment and forms a parallel structure with the bridge frame 3. In this embodiment, the conveying mechanism includes left and right The butted first crossbeam 61 and the second crossbeam 62, the first conveying component 611 and the first grasping element 612 arranged on the first crossbeam 61, the second conveying element 621 and the second grasping element arranged on the second crossbeam 62 Take the element 622; wherein, the inner ends of the first crossbeam 61 and the second crossbeam 62 can be fixedly connected with the middle pillar 63 standing between the two, and the first crossbeam 61 is erected on the first workbench 1 and the feeding container 501, the second crossbeam 62 is erected above the second workbench 2 and the unloading container 502; the first conveying element 611 is configured to drive the first grabbing element 612 to move along the first crossbeam 61, The second conveying element 621 is configured to drive the second grabbing element 622 to move along the second beam 62 , and both the first grabbing element 612 and the second grabbing element 622 are configured to grab a circuit board. Due to the segmented design of the crossbeam, the first conveying element 611 and the first grasping element 612 on the first crossbeam 61 do not interfere with the second conveying element 621 and the second grasping element 622 on the second crossbeam 62, In order to improve the movement accuracy of the first grasping element 612 and the second grasping element 622 and the reliability of grasping the circuit board, in particular, the interference to the precision of the optical element during the automatic conveying movement can be avoided.

The platform of the optical appearance testing equipment of the present invention adopts an innovative servo-driven platform style of 1X2Z+2Y, that is, the extension direction of the bridge 3 is the X axis, and two driving carriers are suspended and each is equipped with a high-precision optical camera lens element (ie The first optical detection device and the second optical detection device), with the extension direction of the first workbench 1 and the second workbench 2 as the Y axis, on the bridge 3 in the X axis, there are two bridges at the bottom of the bridge with the Y axis The parallel workbenches can complete the optical appearance inspection of the front and back of the materials on the two Y-direction workbenches in a flow-by-flow manner.

Referring to Fig. 4, at least the outside of the front part (the front plus the middle part) on the first workbench 1 is narrowed relative to its rear part, and at least the outside of the front part on the second workbench 2 is narrowed relative to its rear part The structure allows the narrowed outside to be closely arranged with other components. In the design of the workbench with narrow front and wide rear, the rear width meets the requirements of the large-span X-axis bridge frame 3. The main structure of the X-axis bridge frame is also made of cast iron. The embodiment of the present invention adopts a long-stroke X bridge design, the purpose is to allow two sets of independent optical elements to be suspended on the bridge 3, and the front narrow is the automatic module located at the front of the main body of the equipment, as well as the loading container 501 and the unloading Container 502 provides the required location. Specifically as shown in Figure 1, the loading container 501 is close to the front outside of the first workbench 1, the unloading container 502 is close to the front outside of the second workbench 2, and the first The outer end of the beam 61 is erected on the square base platform near the loading container 501 , and the outer end of the second beam 62 is erected on the square base platform near the unloading container 502 . Referring to Fig. 2, based on the front narrowing structure of the first workbench 1 and the second workbench 2, and the rear unnarrowed structure, the two bridge piles of the bridge frame 3 are respectively arranged at the rear of the first workbench 1 and the second workbench. The rear part of the second workbench 2, the layout of the first workbench 1, the second workbench 2, the turning mechanism, the feeding container 501 and the unloading container 502, and the conveying mechanism is close to a rectangle or a square, and the bridge frame 3 will not be additionally increased. Covering an area, compact structure, and highly integrated structural arrangement are one of the advantages of this equipment, which can be set on a square abutment, the square abutment, the first workbench 1, the second workbench 2, the bridge 3 can be made of cast iron; the X and Y axial drives use linear motors with high-precision linear guides as the main drive, so that they are superior to common servo motors in the market in terms of motion accuracy and speed. The unique XY motion platform meets the high-precision requirements of the platform movement and guarantees the stability of the platform. Similarly, the stable and reliable main body of the motion platform also provides a basic guarantee for highly sophisticated optical components.

In terms of layout, two sets of automatic grabbing modules are set up on the equipment body, parallel to the X-axis bridge, and vertically set up on the two Y-axis workbenches respectively. Two sets of intelligent material feeding containers and three sets of material The unloading containers are respectively distributed on the left and right sides of the two Y-axis worktables, parallel to the Y-axis, and the automatic turning platform is located in the middle of the two Y-axis worktables, which are also parallel to the two Y-axis, so as to achieve the most rational layout design , specifically: the first grabbing assembly 612 picks up material from the loading container 501 to the first workbench 1 on the Y axis, and after scanning by the first optical detection device 301 on the Z axis, grabs to the reversible platform 402 In order to change the side (the back side is up after turning over), the second grabbing element 622 is taken from the reference platform 401 of the turning mechanism to the second workbench 2 of the Y-axis, and the second optical detection device 302 of the Z-axis Carry out reverse side scanning, and after completion, take it away by the second grasping element 622 and put it into the unloading container, so as to complete the process of front and back double-sided appearance inspection of a single piece of material (circuit board, which can be specifically an IC carrier board). The high integration of automated intelligent modules is a necessary condition for the stability of appearance inspection equipment.

In one embodiment of the present invention, the first grasping element 612 is configured to move between the loading container and the first stage 101, so as to grab the circuit board to be detected in the loading container 501 and remove it. Placed on the first carrier 101; then move between the first carrier 101 and the reversible platform 402 to grab the circuit boards that have been detected on the first carrier 101 and place them on the reversible platform 402;

The second grabbing element 622 is configured to move between the reference platform 401 and the second carrier 201, so as to grab the circuit board with the back side facing up on the reference platform 401 and place it on the second carrier 201; Move between the second carrier 201 and the unloading container 502 to grab the circuit boards that have been tested on the second carrier 201 and place them into the unloading container 502 . See Figure 5 and Figure 6 for details:

Each group of grabbing components has 2 grabbing parts, which can be reasonably allocated and used in the process, so as to achieve uninterrupted loop operation. The actual control process can be based on different customer requirements, different material sizes, different The most rational flow-through operation cycle steps are obtained by changing the usage scenarios. Specifically, the first grabbing element 612 includes a first grabbing part 6121 and a second grabbing part 6122, and the first grabbing part 6121 is configured to connect between the loading container 501 and the first stage 101 The second gripping part 6122 is configured to move between the first stage 101 and the reversible platform 402; the second gripping element 622 includes a third gripping part 6221 and a fourth gripping part 6221 Grabbing part 6222, the third gripping part 6221 is configured to move between the reference platform 401 and the second carrier 201, and the fourth grabbing part 6222 is configured to move between the second carrier 201 and the blanking container 502 to move;

The first grabbing part 6121 and the second grabbing part 6122, the third grabbing part 6221 and the fourth grabbing part 6222 can also move downwards to grab the circuit board. In this embodiment, the gripper of the grabbing part There is a suction cup 6001 on it, see Figure 6 and Figure 1, the circuit board 7 can be picked up by the suction cup 6001, in this embodiment, a single grasping part includes two parallel linear shafts and a plurality of slidably sleeved on the linear shafts Suction cup 6001, but the present invention is not limited to the grasping method of the suction cup grabbing the circuit board, and other methods such as clamping methods also fall within the protection scope of the present invention. In this embodiment, the left and right positions and/or front and rear positions of the suction cup 6001 on the gripper of the gripping part can be adjusted to meet the size requirements of different products at the user end.

Corresponding to the optical appearance inspection equipment in the above embodiments, it has a main control module for controlling each driving mechanism, and the specific working process is as follows:

S1. Under the action of the first conveying element 611 of the optical appearance inspection equipment, the first grabbing element 612 grabs the circuit board in the feeding container 501, and transports the circuit board to the first stage of the first workbench 1. On the stage 101;

S2. Under the driving action of the first driving device, the first stage 101 moves backward along the first sliding rail 102, so that the first optical detection device 301 scans and detects the circuit board on the first stage 101 ;

S3. After the scanning detection is completed, the first stage 101 moves forward along the first slide rail 102;

S4. The first grabbing element 612 grabs the circuit board on the first carrier 101, and transports it to the reversible platform 402 of the reversing mechanism;

S5. Under the driving action of the third driving device, the reversible platform 402 drives the circuit board to turn over to the reference platform 401, so that the circuit board is placed on the reference platform 401 with its back facing upward;

S6. Under the action of the second conveying element 621, the second grabbing element 622 grabs the circuit board on the reference platform 401, and transports it to the second carrier 201 of the second workbench 2;

S7. Under the driving action of the second driving device, the second stage 201 moves backward along the second slide rail 202, so that the second optical detection device 302 scans and detects the circuit board on the second stage 201 ;

S8. After the scanning detection is completed, the second stage 201 moves forward along the second sliding rail 202;

S9. The second grabbing element 622 grabs the circuit board on the second carrier 201 and transports it to the unloading container 502 .

The above is the flow of the single-chip circuit board from being stored in the loading container 501 to completing the front and back appearance inspection, and finally being collected into the unloading container.

Since two sets of workbenches, optical detection devices, conveying components and grabbing components are respectively set up on the left and right, it can improve the efficiency of appearance detection, which is reflected in:

After executing step S5, while executing S6-S9, the first conveying element 611, the first gripping element 612, the first driving device, the first optical detection device 301, and the third driving device repeatedly execute steps S1- S5;

After step S9 is executed, the second conveying element 621 , the second grabbing element 622 , the second driving device, and the second optical detection device 302 repeatedly execute steps S6-S9.

Furthermore, after the first grabbing component 612 transports the circuit board to the reversible platform, on the one hand, the turning mechanism executes step S5, and on the other hand, the first grabbing component 612 returns to execute S1-S4. The second grabbing element repeatedly transports the circuit board from the reference platform to the second carrier 201 and the unloading container 502 in sequence.

Specifically, the first grasping element 612 includes a first grasping portion 6121 and a second grasping portion 6122, and the second grasping element 622 includes a third grasping portion 6221 and a fourth grasping portion 6222;

In step S1, the circuit board is grasped by the first grasping part 6121, in step S4, the circuit board is grasped by the second grasping part 6122; in step S6, the circuit board is grasped by the third grasping part 6221, and in step S9, the circuit board is grasped by the second grasping part 6122. The four grasping parts 6222 grasp the circuit board.

In one embodiment, the first grasping part 6121 and the second grasping part 6122 are left-right linkage, that is, under the transmission action of the first transmission component 611, the first grasping part 6121 and the second grasping part 6122 Moving to the right or jointly moving to the left, the third grasping part 6221 and the fourth grasping part 6222 are also linked left and right. The purpose of setting up two grasping parts for each grasping element is to improve the efficiency of appearance inspection, as follows:

After step S1 is executed, that is, in the process of sending one side of the circuit board to the first stage 101 for inspection, the first grasping part 6121 can return to the loading container 501 to remove a piece of circuit board; in S4, the second grasping After the part 6122 grabs the circuit board, the first grabbing part 6121 places the next piece of circuit board grabbed on the first stage 101; especially, the X-axis between the feeding container 501 and the first stage 101 is set In the case where the distance in the X direction is approximately the same as the X-axis distance between the first stage 101 and the reversible platform 402, the first grasping part 6121 places the next piece of circuit board grasped on the first stage 101 at the same time , the circuit boards grabbed by the second grabbing part 6122 can be placed on the reversible platform at the same time.

After step S4 is executed, the first grasping part 6121 and the second grasping part 6122 return to the feeding container 501 together, and the above steps are repeated;

After step S6 is executed, that is, during the second stage 201 sending the other side of the circuit board for inspection, the third grabbing part 6221 returns to the reference platform to grab the next flipped circuit board; in S9, After the fourth grabbing part 6222 grabs the circuit board, the third grabbing part 6221 places the next flipped circuit board grabbed on the second stage 201; especially, the reference platform 401 and the second stage are set When the X-axis distance between 201 and the X-axis distance between the second stage 201 and the blanking container 502 is approximately the same, the third grasping part 6221 places the next flipped circuit board grasped While on the second carrier 201 , the circuit boards grabbed by the fourth grabbing part 6222 can be placed in the unloading container 502 at the same time.

In short, each grabbing element is provided with two grabbing parts, which can enable the first carrier 101 and the second carrier 201 to continuously and uninterruptedly transport the circuit board to the corresponding optical inspection device for appearance inspection, provided that , the inspection time of the first stage 101 is less than or equal to that from the second grasping part 6122 to grab the circuit board to the reversible platform 402 and return to the loading container 501, and the first grasping part 6121 grabs the next circuit board to The time at the first stage 101; the inspection time of the second stage 201 is less than or equal to grabbing the circuit board from the fourth grasping part 6222 to the blanking container 502 to returning to the reference platform 401, the third grasping part 6221 The time for grabbing the next circuit board to the second carrier 201 .

In another embodiment, the first grasping part 6121 and the second grasping part 6122 act independently, and the third grasping part 6221 and the fourth grasping part 6222 act independently, for example, the first conveying element 611 Divided into two sub-elements, the first sub-element drives the first gripper 6121, and the other sub-element drives the second gripper 6122; similarly, the first sub-element of the second conveying element 621 drives the third gripper The grabbing part 6221, another sub-assembly drives the fourth grabbing part 6222, so that the independent actions of the four grabbing parts do not interfere with each other, which can further improve the efficiency of appearance inspection, specifically reflected in:

After performing step S1, while performing steps S2-S4, the first grabbing unit 6121 repeatedly performs step S1;

After performing step S4, while performing steps S5-S6, the second grabbing unit 6122 repeatedly performs step S4;

After performing step S6, while performing steps S7-S9, the third grabbing unit 6221 repeatedly performs step S6;

After step S9 is executed, the fourth grasping unit 6222 repeatedly executes steps S7-S9.

That is to say, the first grasping part 6121 does not need to wait for the front side of the circuit board to be detected and then transport it to the reversible platform and then return to the loading container, but each time after transporting the circuit board to the first carrier 101, immediately Can return to feeding container 501 immediately;

Similarly, the second grasping part 6122 can immediately return to the first stage 101 after transporting the circuit board to the reversible platform 402 each time; the third grasping part 6221 transports the circuit board to the second After loading the stage 201 , it can return to the reference platform 401 immediately; after the fourth gripping part 6222 transports the circuit board to the unloading container 502 every time, it can immediately return to the second loading platform 201 .

In the above embodiments, no matter whether it is linkage or independent action, the power output of the first drive mechanism, the second drive mechanism, the first transmission element and the second transmission element can be adjusted respectively, so that each grasping part grasps the circuit board and The time of transportation matches the time when the stage sends the circuit board for inspection.

For some special high-precision IC carrier boards, a spacer is placed between the boards for protection when the incoming materials are received, and a spacer is also required between every two boards after the inspection is completed to protect the circuit board. In an embodiment of the present invention, a sensing device (for example, a color sensor or an image sensor can be used) is provided above the feeding container 501, and the sensing device is connected with the main control The input end of the module is electrically connected, and the sensing device is configured to identify that the uppermost layer in the feeding container 501 is a circuit board or spacer paper;

Step S1 further includes: if the recognition result of the sensing device is that the uppermost layer in the feeding container 501 is spacer paper, the first grabbing component 612 grabs the spacer paper and transports it to the spacer paper recovery box ; if the recognition result of the sensing device is that the uppermost layer in the loading container 501 is a circuit board, then the first grabbing element 612 grabs the circuit board and transports it to the first carrier 101 . As an implementable manner, there are two feeding containers 501 arranged side by side with each other, one of which is used to place circuit boards, and the other is used as the spacer paper collection area.

A plurality of side-by-side feeding containers 501 can also be used to provide uninterrupted feeding. The feeding containers 501 are configured to be able to move forward along the drawer track, and at least two feeding containers 501 are placed to be detected. Circuit board, when the circuit board in one of them feeding container 501 is taken empty, can get the circuit board in another feeding container 501, and empty feeding container 501 is extracted forward to supplement circuit board to it, because The forwardly drawn loading container 501 is staggered with the movement track of the first grasping assembly 612 grabbing the circuit boards in the forwardly drawn loading container 501 , so the circuit boards are replenished in the forwardly drawn forward loading container 501 The action will not collide or conflict with the action of the first grabbing element 612 grabbing the circuit board from another feeding container 501, so as to make a circle, so as to realize non-stop and uninterrupted feeding, so as to ensure that the equipment Efficiently inspect the appearance of the carrier board. Regarding the design of the drawer mechanism of the feeding container, the full text of the Chinese patent with the publication number CN209023756U is incorporated into this embodiment by reference.

In summary, the purpose of designing and installing two sets of feeding containers 501 is as described above. First, it can realize uninterrupted feeding. Second, when the usage scenario is that there is a material spacer between two circuit boards, one of them The feeding container 501 can be set as a paper-separated recycling box. The specific implementation is that before the grabbing part goes to another feeding container 501 to grab the material, it needs to obtain the color sensor installed on the rear and upper side of the feeding container 501. Judgment signal, if it is determined that the material floating on the top in the feeding container 501 is a circuit board (IC carrier board), the grabbing part will transport the IC carrier board to the first stage 101 of the first workbench 1 on the Y axis On the contrary, if it is judged to be spacer paper, the gripping part will transfer the spacer paper to the feeding container 501 as the spacer paper recovery box. This design well reflects the intelligence of equipment control.

For the three sets of blanking containers 502 located on the left side of the equipment, that is, outside the second workbench 2, their function is mainly to facilitate the classification of the materials that have been tested. In the industry, they are usually set into three categories: good products, products that need to be reconfirmed , Scrap products, designed with three sets of material sorting boxes can well meet this requirement.

In one embodiment of the present invention, the optical lenses of the first optical detection device 301 and the second optical detection device 302 are the same;

In another embodiment, the first optical detection device 301 and the second optical detection device 302 are configured to be equipped with different optical lenses. The purpose of this is to provide different optical resolutions according to different characteristics of the product. For example, when the customer’s product is more precise and requires high-resolution detection, the optical lens used to detect the front can be provided according to the demand. Optical magnification distance. On the contrary, if the reverse side of the product does not require high-precision detection, the optical lens corresponding to the detection reverse side can be automatically adjusted to the corresponding magnification distance. Different optical magnification distances also represent different areas that can be scanned and detected in a single time. The larger the distance, the smaller the area that can be detected by a single scan. For example, the circuit board placed in the feeding container 501 is facing up, and the detection accuracy of the front side of the circuit board is usually higher than that of the reverse side of the circuit board. Under such requirements, the optical detection device of the first optical detection device 301 The optical magnification of the lens is greater than that of the optical lens of the second optical detection device 302 , and the single-scan detection area of the first optical detection device 301 is smaller than the single-scan detection area of the second optical detection device 302 .

Correspondingly, this embodiment proposes an improved structure to enable the device to achieve high detection efficiency: the number of the second workbench 2 is one, and the number of the first workbench 1 is two and arranged adjacently, that is, it can be regarded as One more first workbench 1 is added between the first workbench 1 shown in Figure 3 and the turning mechanism, and the first workbench 1 is also provided with a first carrier 101, a first slide rail 102, a first The driving device, but the newly added first workbench 1 can be approximately rectangular, without being set as a structure with a narrow front and a wide rear.

Operation steps S1 and S4 are correspondingly adjusted as follows:

In step S1, the first grabbing assembly 612 transports the circuit boards to the first carrier 101 of the two first workbenches 1 in turn;

In step S4 , the first grabbing assembly 612 grabs the circuit boards from the two first carriers 101 in turn and transports them to the reversible platform 402 .

Setting up one more first stage 101, first slide rail 102 and first driving device can not only ensure more precise inspection requirements on one side of the circuit board, but also not reduce the appearance inspection due to the reduction of the inspection area of a single scan Efficiency, and the delivery procedure of the circuit board is simple and clear, and no major changes are required.

The optical appearance inspection equipment of the present invention adopts two Z-direction high-precision optical camera lens assemblies suspended on the X-axis bridge, and two parallel workbenches along the Y-axis are arranged under the bridge, and a turning mechanism is arranged between the two workbenches 1. Set the loading container and the unloading container on the outside of the two workbenches respectively, and set up two sets of X-axis transmission components and make the grabbing components hang vertically above the workbench, the turning mechanism, the feeding container and the unloading container , the structural arrangement is highly integrated and centralized; the detection of the front and back sides of the materials on the two Y-axis workbenches is completed in a streamlined manner, and the compact layout of the main body of the equipment is driven by a linear motor in the X-axis and Y-axis with a high-precision linear As the driving body, the guide rail meets the high-precision movement requirements of the main body of the equipment and also guarantees the stability of the platform, thus providing a basic guarantee for highly sophisticated optical components.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above description is only the specific implementation of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present application, some improvements and modifications can also be made. It should be regarded as the protection scope of this application.

1: The first workbench 101: The first platform 102: The first slide rail 103: The first drag chain 2: The second workbench 201:Second platform 202: Second slide rail 203: Second drag chain 3: Bridge 301: the first optical detection device 302: the second optical detection device 311: The first X-direction drag chain 312: The second X-direction drag chain 321: The first Z-direction drag chain 322: The second Z-direction drag chain 401: Benchmark Platform 402: Reversible platform 501: Feeding container 502: Feed container 61: First beam 611: The first transmission component 612;First grab component 6121: The first grasping department 6122: The second grasping department 62: Second beam 621: Second transmission element 622: Second grabbing element 6221: The third grasping department 6222: The fourth grasping department 6001: suction cup 63: middle pillar 7: Circuit board

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only the present invention For some embodiments described in the application, those skilled in the art can also obtain other drawings based on these drawings without creative work. FIG. 1 is a schematic perspective view of an optical appearance inspection device provided by an exemplary embodiment of the present disclosure; Fig. 2 is a schematic top view of the optical appearance inspection device shown in Fig. 1; Fig. 3 is a schematic diagram of the assembly structure of the workbench and the bridge frame of the optical appearance inspection equipment provided by an exemplary embodiment of the present disclosure; Fig. 4 is a schematic top view of the assembled structure shown in Fig. 3; Fig. 5 is a structural schematic diagram after separating the assembly structure shown in Fig. 3 from the optical appearance inspection device shown in Fig. 1; FIG. 6 is an enlarged schematic diagram of a bit in the right half of the structure shown in FIG. 5; FIG. 7 is a schematic top view of the structure shown in FIG. 5 .

1: The first workbench

102: The first slide rail

2: The second workbench

202: Second slide rail

3: Bridge

301: the first optical detection device

302: the second optical detection device

401: Benchmark Platform

402: Reversible platform

501: Feeding container

502: Feed container

61: First beam

611: The first transmission component

62: Second beam

621: Second transmission element

7: Circuit board

Claims (16)

An optical appearance inspection device, including: A first workbench and a second workbench arranged side by side and at intervals, the first workbench includes a first carrier, a first slide rail arranged along the front-to-back direction, and is configured to drive the first carrier along the first A first driving device for sliding rail movement, the second worktable includes a second carrier, a second sliding rail arranged along the front-to-back direction, and a first driving device configured to drive the second carrier to move along the second sliding rail Two driving devices; A bridge, which is erected above the first slide rail and the second slide rail along the left and right direction, the bridge is provided with a movable first optical detection device and a second optical detection device, and the first optical detection device configured to reciprocate left and right above the rear of the first slide rail, and the second optical detection device is configured to reciprocate left and right above the rear of the second slide rail; An overturning mechanism, which is arranged between the first workbench and the second workbench, the overturning mechanism includes a reference platform, a reversible platform and a third drive device, the reference platform is hinged to the reversible platform, and the third drive The device is configured to drive the invertible platform to invert relative to the reference platform; A feeding container and a feeding container, wherein the feeding container is arranged outside the first workbench, the unloading container is arranged outside the second workbench, and the feeding container is configured as placing the material to be tested, and the unloading container is configured to place the tested material; The conveying mechanism is configured to convey the material, which includes a beam arranged along the left and right directions, a first conveying element and a first grasping element arranged on the crossbeam, a second conveying element and a second grasping element; wherein , the first conveying element is configured to drive the first grabbing assembly to move left and right along the beam above the first workbench and the feeding container, and the second conveying element is configured to drive the second grabbing element along the The beam moves left and right above the second workbench and the unloading container, and the first grabbing element and the second grabbing element are both configured to grab materials. The optical appearance inspection equipment according to claim 1, wherein, at least the outer side of the front part of the first workbench has a narrowed structure relative to the rear part thereof, and at least the outer side of the front part of the second workbench has a narrowed structure relative to the rear part thereof. In a narrow structure, the loading container is close to the front outside of the first workbench, and the unloading container is close to the front outside of the second workbench. The optical appearance inspection equipment according to claim 2, wherein, the first workbench, the second workbench, the turning mechanism, the loading container and the unloading container are arranged on a square base, and the square base is made of cast iron made of pieces; The bridge frame has two bridge piles and a horizontal bridge rod mounted on the two bridge piles. The bridge pile at the left end of the horizontal bridge rod is arranged at the rear of the first workbench, and the bridge pile at the right end of the horizontal bridge rod is arranged at the rear of the second workbench; One outer end of the beam of the conveying mechanism is erected on the square base platform near the loading container, and the other outer end is erected on the square base platform near the unloading container area. The optical appearance inspection device according to claim 1, wherein the first optical inspection device and the second optical inspection device are configured to be equipped with different optical lenses. The optical appearance inspection device according to claim 4, wherein the optical magnification of the optical lens of the first optical detection device is greater than the optical magnification of the optical lens of the second optical detection device, and the first optical detection device The single-scan detection area of the second optical detection device is smaller than the single-scan detection area; The number of the second workbench is one, and the number of the first workbench is two and arranged adjacently. The optical appearance inspection device according to claim 1, wherein the first grasping element includes a first grasping part and a second grasping part, and the first grasping part is configured to moving between the first carrier, the second gripper is configured to move between the first carrier and the reversible platform; The second grasping element includes a third grasping part and a fourth grasping part, the third grasping part is configured to move between the reference platform and the second stage, and the fourth grasping part The part is configured to move between the second carrier and the unloading container. The optical appearance inspection device according to claim 1, wherein a suction cup is provided on the handle of the first grasping element, and the left-right position and/or front-rear position of the suction cup on the handle is adjustable. The optical appearance inspection device according to claim 1, further comprising a sensing device disposed above the feeding container, which is configured to identify that the uppermost layer in the feeding container is material or spacer paper; and/ Or, the number of the feeding containers is two and arranged side by side. The optical appearance inspection device according to claim 8, wherein, the feeding container is configured to be able to move forward along the drawer rail, and the number of the feeding container is multiple. The optical appearance inspection equipment according to any one of claims 1 to 9, wherein, the first driving device, the second driving device, the first transmission element and the second transmission element all adopt an open encoder grating scale the linear motor; The first workbench, the second workbench and the bridge frame are all made of cast iron. An appearance inspection method based on the optical appearance inspection device described in any one of claims 1 to 10, wherein, under the control of the main control module of the optical appearance inspection device, the optical appearance inspection device performs the following steps : S1. Under the transmission action of the first transmission element of the optical appearance inspection device, the first grabbing component grabs the material in the feeding container, and transports the material to the first carrier of the first workbench; S2. Under the driving action of the first driving device, the first stage moves backward along the first slide rail, so that the first optical detection device scans and detects the materials on the first stage; S3. After the scanning detection is completed, the first carrier moves forward along the first slide rail; S4. The first grabbing component grabs the material on the first carrier, and transports it to the reversible platform of the reversing mechanism; S5. Under the driving action of the third driving device, the reversible platform drives the material to turn over to the reference platform, so that the material is placed on the reference platform with its back facing upward; S6. Under the transmission action of the second transmission element, the second grabbing element grabs the material on the reference platform and transports it to the second carrier of the second workbench; S7. Under the driving action of the second driving device, the second stage moves backward along the second slide rail, so that the second optical detection device scans and detects the materials on the second stage; S8. After the scanning detection is completed, the second stage moves forward along the second slide rail; S9. The second grabbing element grabs the material on the second carrier and transports it to the unloading container. The appearance inspection method according to claim 11, wherein, after step S5 is executed, while S6-S9 is executed, the first conveying element, the first grasping element, the first driving device, and the first optical detection device , The third driving device repeatedly executes steps S1-S5; After step S9 is executed, the second conveying element, the second grasping element, the second driving device, and the second optical detection device repeatedly execute steps S6-S9. The appearance inspection method according to claim 11, wherein the first grasping element includes a first grasping part and a second grasping part, and the second grasping element includes a third grasping part and a fourth grasping part Take part; In step S1, the material is grasped by the first grasping part, in step S4, the material is grasped by the second grasping part; in step S6, the material is grasped by the third grasping part, and in step S9, the material is grasped by the fourth grasping part materials. The appearance inspection method according to claim 13, wherein the first grasping part and the second grasping part operate independently, and the third grasping part and the fourth grasping part operate independently; After performing step S1, while performing S2-S4, the first grasping part repeatedly performs step S1; After performing step S4, while performing steps S5-S6, the second grasping part repeatedly performs step S4; After performing step S6, while performing steps S7-S9, the third grasping part repeatedly performs step S6; After step S9 is executed, the fourth grasping part repeatedly executes steps S7-S9. The appearance inspection method according to claim 11, wherein a sensing device is further provided above the feeding container, and the sensing device is electrically connected to the input end of the main control module, and the sensing device configured to identify the uppermost layer in the feeding container as material or spacer paper; Step S1 further includes: if the identification result of the sensing device is that the uppermost layer in the feeding container is spacer paper, then the first grabbing component grabs the spacer paper and transports it to the spacer paper collection area; if the If the recognition result of the sensing device is that the uppermost layer in the feeding container is material, the first grabbing component grabs the material and transports it to the first carrier. The appearance inspection method according to claim 11, wherein the optical magnification of the optical lens of the first optical detection device is greater than the optical magnification of the optical lens of the second optical detection device, and the optical magnification of the optical lens of the first optical detection device is The single-scan detection area is smaller than the single-scan detection area of the second optical detection device; the number of the second workbench is one, and the number of the first workbench is two and arranged adjacently; The first grabbing assembly described in step S1 transports materials to the first carrier of the two first workbenches in turn; In step S4, the first grabbing assembly grabs materials from the two first carriers in turn and transports them to the reversible platform.