TWI403229B - A high speed positioning apparatus for pcb and method thereof - Google Patents

Description

High-speed visual positioning device suitable for substrate and method thereof

The invention relates to a high-speed visual positioning device and a method thereof suitable for a substrate, in particular to a high-speed, high-precision high-speed visual positioning device and a method thereof, which are suitable for a strip module of a light-emitting diode.

The advantages of the light-emitting diode are: (1) the energy conversion efficiency of the light emission is high, so the power is saved; (2) the reaction time is fast, and the high flicker frequency can be achieved; (3) the environmentally friendly, non-mercury harmful substance, And easy to recycle and so on. In addition, there are mechanical shocks such as shock resistance, small size, easy focus, and wide color gamut. Therefore, "light emitting diodes" are also widely used in various light source fields.

For example, the backlight module of the light source of the display panel can be roughly divided into a direct type light source or a side light type light source, wherein the direct type backlight module adopts a light emitting diode light bar structure as a light source generator.

However, for a manufacturer of a light-emitting diode strip structure, the strip-shaped strip structure produces the following problems during production:

1. Since there is currently no automated production equipment for strip-shaped strip structure or substrate, it is manually performed, for example, manually bonding the substrate to the carrier, and then performing barcode printing on the substrate; The board is manually removed; then, the tape is manually applied again, and then the printing/placement/reflow process is performed. Obviously, the accuracy of the above-mentioned artificially produced slab is not good. In addition to the error of manual fitting, the accuracy or the offset of the long strip substrate itself cannot be effectively controlled, for example, the slanting of the slab, If it is not positioned, etc., it may cause problems such as poor printing barcodes or poor printing and placement.

2, bearing 1, because the accuracy can not be effectively controlled, it is necessary to arrange a large number of personnel to carry out various testing operations, such as product appearance inspection, inspection of the presence or absence of offset of the light-emitting diode, etc., so the labor cost also causes the structure of the light-emitting diode light bar The burden of the production unit.

3. Furthermore, the efficiency of manual paneling varies greatly, and it is difficult to grasp regardless of quality or speed.

One of the main objects of the present invention is to provide a high-speed visual positioning device and a method thereof for a substrate, which are capable of accurately visually positioning a long-length substrate and then performing a pasting; on the other hand, the present invention can obtain The balance of board speed and accuracy to meet the needs of the industry.

In order to achieve the above object, the present invention provides a high-speed visual positioning device suitable for a substrate, comprising: a frame; a temporary storage area disposed on the frame, the substrates are temporarily stored in the temporary storage area; a positioning area disposed on the frame body, the substrates are moved one by one from the temporary storage area to the positioning area by a moving platform; and a moving positioning device is movably disposed on the frame body For absorbing and moving the substrates, wherein the moving positioning device comprises a work-shaped suction head for sequentially adsorbing the substrates; at least two visual devices disposed on the frame are corresponding to each other Forming a suction head, the mobile platform carries each substrate under the visual device, and the at least two vision devices are used to capture images of the ends of each substrate sucked by the moving positioning device to The substrate is positioned; and the carrier is placed on the frame, whereby the transfer positioning device places the substrates that have been positioned with high precision on the carrier.

The present invention further provides a high-speed visual positioning method suitable for a substrate, comprising the steps of: providing a temporary storage area for storing a substrate, and transferring a plurality of substrates to the temporary storage area; and providing a positioning area, the substrates Moving from the temporary storage area to the positioning area, wherein each substrate is moved from the temporary storage area to the positioning area one by one by a mobile platform and the substrate is located below (positive) of the two visual devices; The working shape suction head of the positioning device moves into the middle of the substrate and the two visual devices (sequentially) to suck the substrate located on the positioning area, and when the substrate is sucked back to the running height, the running height is the focusing height of the visual device. The utility model can simultaneously capture the images of the two ends of each substrate sucked by the moving positioning device by using at least two visual devices disposed on the frame body, and position each substrate to be sucked to achieve high-speed vision. The purpose of positioning; and using the moving positioning device to place each of the positioned substrates on a carrier plate with high precision to complete the bonding operation.

In one embodiment, the present invention can use the mobile platform to shorten the substrate transport distance, and suck the long-type substrate by the shape suction head, and further utilize the visual device to perform the positioning adjustment of the substrate while using the visual device while moving ( That is, the number of movements of the visual device is reduced, so that a high-speed plate can be formed; therefore, the above-mentioned plate can be achieved in a high-speed manner, so that the speed and accuracy of the plate can be simultaneously achieved.

The invention has the following beneficial effects: the invention replaces the manual with an automatic visual positioning device, so that the precision of the slab can be improved, and the subsequent printing bar code, printing/placement/reflow process and the like have high precision. Accordingly, the visual positioning apparatus/method of the present invention has a greatly improved effect regardless of the speed and accuracy of the production line, and the labor cost can be effectively reduced.

The invention provides a high-speed visual positioning device suitable for a substrate and a method thereof, which are mainly used for quickly moving a substrate, such as a strip module of a light-emitting diode, to solve the problem that the conventional machine can not be applied to a long strip of light. The strip module of the diode can be used to manufacture production units with the goal of improving production efficiency.

First, referring to the first to the first B, the visual positioning device of the present invention comprises: a frame 10, a temporary storage area 11A disposed on the frame 10, and a frame 10 disposed on the frame 10. a positioning area (also referred to as a reclaiming area) 11B, a moving positioning device 13, at least two visual devices 14 disposed on the frame, and a carrier 15 placed on the frame 10, and the visual positioning device The utility model relates to a plurality of substrates, for example, a strip module 2 of a light-emitting diode or various circuit boards, soft boards and the like, being moved at high speed on the carrier 15 (as shown in the second figure) to form high-precision illumination. The combination of the strip modules 2 of the diodes for the subsequent process; in the specific embodiment, the strip module 2 of the LEDs can be a long substrate 20, such as an aluminum alloy substrate. The strip substrate 20 can be used to carry a plurality of LEDs to form an LED strip structure (also referred to as LED LIGHT BAR), but not limited thereto, and the strip substrate 20 is provided with a plurality of The positioning marks 201 are used for identification and positioning, and the positioning marks 201 are disposed on the upper surfaces of both ends of the substrate 20.

The structure of the visual positioning device of the present invention will be described in detail below. Referring to the first figure, the frame 10 is the main body of the device. In other words, the device described later is substantially mounted on the frame 10. The frame body 10 may include a storage device (not shown) or the like for the strip module 2 for arranging the light-emitting diodes, and the storage device is equivalent to the feeding zone, and the function thereof is to place the strips of the above-mentioned light-emitting diodes. The module 2, and the pick-up head 111 can take the strip module 2 of the light-emitting diodes one by one (one at a time) from the storage device and place it on the mobile platform 110 on the temporary storage area 11A. The mobile platform 110 is preferably The strip module 2 having vacuum suction and capable of carrying the light-emitting diodes reciprocates between the temporary storage area 11A and the positioning area 11B.

In addition, the temporary storage area 11A is located between the feeding area and the positioning area 11B, and functions to temporarily store the strip module 2 of the light emitting diode to shorten the distance between the feeding area and the positioning area 11B to be described later. In other words, the location of the temporary storage area 11A is closer to the above-mentioned positioning area 11B, and the strip module 2 carrying the light-emitting diodes on the mobile platform 110 moves back and forth between the temporary storage area 11A and the positioning area 11B, thereby improving the work. The efficiency (short travel distance) allows the strip module 2 of the light-emitting diode to be transferred from the temporary storage area 11A to the positioning area 11B at high speed. In the specific embodiment, since the positioning device 13 can perform the positioning operation while sucking the strip module 2 of the light emitting diode located in the temporary storage area 11A, the temporary storage area 11A and the positioning area 11B can be the same. In the machine area, this description is only textually defined for ease of explanation.

The moving positioning device 13 of the present invention has a suction head, a suction cup or other moving device capable of being applied to the strip substrate 20 of the strip module 2 of the light emitting diode from the positioning area 11B quickly. Moving to the carrier 15 and moving the positioning device 13 can perform positioning of the elongated substrate 20 according to the detection signal of the visual device 14, so that the strip module 2 of the LED can be highly precise Placed on the carrier 15 . In this embodiment, the mobile platform 110 can move the strip module 2 of the light emitting diode one by one to the lower part (preferably directly below) of the moving positioning device 13/visual device 14 at a high speed, and move the positioning device. 13 can move up and down the strip module 2 of the light emitting diode on the mobile platform 110, and the moving positioning device 13 is movably disposed on the frame body 10, so that the moving positioning device 13 can be along the frame body 10. The X direction and the Y direction are moved to move the strip module 2 of the light emitting diode to a predetermined area. In other words, the positioning device 13 is designed such that the position of the elongated substrate 20 can be on the X axis and the Y axis. The Z axis and the azimuth angle are finely adjusted, and thus the structural changes made for this purpose are not beyond the scope of the present invention.

Please cooperate with the first A diagram and the first B diagram, the movement positioning device 13 includes a work shape suction head 130 for sequentially adsorbing the strip module of the light emitting diode located on the mobile platform 110. 2, specifically, the shaped suction head 130 includes a first lateral portion 131, a second lateral portion 132, and a longitudinal connecting portion 133 connecting the first lateral portion 131 and the second lateral portion 132. The longitudinal connection The portion 133 separates the space between the first lateral portion 131 and the second lateral portion 132 into the first space 130A and the second space 130B. The functions of the first space 130A and the second space 130B will be described later in detail. Therefore, the lower surface of the second lateral portion 132 can be equipped with the suction head, the suction cup and the like for sucking the strip module 2 of the light emitting diode, and the first horizontal portion 131 can be connected. a driving device such as a motor, such that the shape picking head 130 is displaced in the X-axis, the Y-axis, the Z-axis, and the azimuth direction to adjust the position of the strip module 2 of the absorbed LED; The second lateral portion 132 is further provided with a plurality of through holes 134, and the through holes 134 are substantially located at opposite ends of the second lateral portion 132 to correspond to some 2 positioned on the stripe diode module flag 201. Therefore, when the moving positioning device 13 picks up the strip module 2 of the light emitting diode on the mobile platform 110 and moves up to the running height, the height of the strip module 2 of the light emitting diode is located at the visual device 14. Focus position.

The visual device 14 can be a camera or a scanner, such as a Photo Coupled Device (CCD) camera, which is disposed in the positioning area 11B of the frame body 10, and corresponds to the shape pick-up head 130 and transmits through The hole 134 is used for capturing the image, so the vision device 14 can preferably focus on the strip module 2 of the adsorbed LED, for example, to analyze and capture the upper surface image of the elongated substrate 20, and The positioning mark 201/alignment mark or the like of the upper surface image is used to grasp and position the relative position between the elongated substrates 20, and the moving positioning device 13 can extend the elongated substrate according to the position analyzed by the visual device 14. 20 is placed on the carrier 15 in a highly precise manner. In other words, the visual device 14 can perform image capturing while the moving positioning device 13 absorbs the upward displacement of the strip module 2 of the light-emitting diode on the moving platform 110 without moving, so that the working time can be further saved.

On the other hand, the strip module 2 of the LED can have different lengths, such as the screen of a notebook computer or the length of the strip module 2 of the LED used in a general computer screen. About 212mm or 299mm; and the strip module 2 of the LED used in the large-size TV product has a length of about 685mm, so the visual device 14 preferably has adjustable characteristics for different lengths of the light-emitting diodes. The strip module 2 of the body performs the analysis of the positioning mark 201 of the upper surface image, in other words, the visual device 14 is movably mounted on the frame body 10, so the two visual devices disposed on the frame body 10 The relative distance between the 14 can be adjusted according to the length of the strip module 2 of the light-emitting diode that is drawn.

Specifically, the two vision devices 14 of the present invention are respectively disposed in the first space 130A and the second space 130B, so that when the moving positioning device 13 moves, it does not interfere with the visual device 14, and when moving, The positioning device 13 performs a suction/transfer step, and the visual device 14 passes through the through holes 134 to view/analyze the positioning marks 201 of the strip modules 2 of the light emitting diodes, and then evaluate the long substrate 20 Whether the position is offset or needs to be adjusted, and if so, the movement and positioning device 13 is controlled to move and adjust the position of the elongated substrate 20. In other words, while the moving and positioning device 13 performs the sucking/moving step, the position of the elongated substrate 20 can be synchronously adjusted according to the analysis result of the visual device 14, that is, the position and direction of the positioning and positioning device 13 can be determined according to the position and direction of the positioning mark 201. , fine-tuning the direction and position of the X-axis, the Y-axis, the Z-axis, and the azimuth of the elongated substrate 20, and moving and placing the substrate 20 to the carrier 15 to have high precision between the adjacent substrates 20 Relative distance.

In one embodiment, the at least two vision devices 14 can each be an upper vision detecting device, and the focusing distance thereof can satisfy the following conditions: the elongated substrate 20 can be simultaneously detected in the sucked state. The position of the positioning mark 201 on the upper surface of the elongated substrate 20 is such that the elongated substrate 20 can be adjusted according to the result of the detection/analysis so that the positional accuracy can be made standard.

The carrier 15 is used to carry the strip module 2 of the above-mentioned light-emitting diodes, so that the strip modules 2 of the light-emitting diodes can be arranged thereon with high precision, and the subsequent processes can be effectively performed. For example, in the embodiment, the carrier 15 after the completion of the splicing is subjected to a subsequent printing process to spray a bar code on the elongated substrate 20, such as a bar code. Therefore, the carrier 15 can be opened with a bare portion. The slot 151 of the elongated substrate 20 is used for subsequent bar code spraying operations. In addition, the carrier 15 may further have a fixing means, such as a magnet element, an adhesive layer, or the like, to stably fix the strip module 2 of the light emitting diode to the carrier 15 by using a fixing means, thereby maintaining the The relative positions of the strip modules 2 of the light-emitting diodes are used to achieve a high-precision patch. It should be noted that, in the second figure, only three strip-shaped substrates 20 are attached to the carrier 15 , but not limited thereto. For example, in the actual process, about 20 strip-shaped substrates 20 are attached to each other. Carrier board 15.

Accordingly, the present invention can apply the visual positioning device to perform the following visual positioning method for performing the splicing operation on the strip module 2 of the illuminating diode: Step 1: providing a strip for storing the LED The temporary storage area 11A of the module 2. In this step, the strip module 2 of the plurality of LEDs is moved from the feeding zone to the temporary storage area by the moving positioning device 13 or other moving device one by one. 11A, in order to increase the rate at which the strip module 2 of the light-emitting diode is moved to the positioning area 11B.

Step 2: Provide a positioning area 11B. In this step, the strip modules 2 of the LEDs are moved from the temporary storage area 11A to the positioning area 11B, for example, the strip module 2 of the LED is used by the fast reciprocating moving device. The temporary storage area 11A is moved to the positioning area 11B.

Step 3: The strip-shaped module 2 of the light-emitting diode on the positioning area 11B is sequentially attached to a carrier 15 with high precision by the shape-shaped suction head 130 of the moving and positioning device 13; in other words, in this step. The strip module 2 of the flat light-emitting diode on the positioning area 11B is moved to the carrier 15 by the transfer positioning device 13. In this step, the image of the strip module 2 of the light-emitting diodes picked up by the moving and positioning device 13 is captured by the at least two visual devices 14 to use the positioning marks 201 to form the light-emitting diodes. Since the strip module 2 of the body is positioned, since the workpiece suction head 130 and the vision device 14 do not interfere with the operation, the operations of sucking, moving, and positioning can be performed simultaneously to complete the illumination in a short time. The sticking operation of the strip module 2 of the diode.

Therefore, in step 4, the strip module 2 of the light-emitting diodes that have been inspected and inspected can be moved and attached to the carrier 15 by the moving and positioning device 13.

After the step 4, since the strip module 2 of the light emitting diode is fixed on the carrier 15 in a high precision manner, the strip module 2 of the plurality of precisely positioned LEDs can be followed. Process, such as spraying barcodes, etc.

Therefore, the present invention can effectively solve the problem of the production of the strip module 2 of the light-emitting diode, and the high-speed, high-precision visual positioning device can be used to form the high-precision board of the strip module 2 of the light-emitting diode. By ensuring the positioning quality and improving the quality of subsequent printing bar codes, printing and parts, the inspection procedure can be omitted, thereby saving the effect of the plant and the operator.

In summary, the present invention has the following advantages:

1. The present invention is to upgrade the operation of the long strip type substrate sticking to the mechanized automatic production by the manual method. Therefore, the LED LIGHT BAR manufacturer can save a lot of labor; in addition, the above visual positioning is performed. The high-precision plate after the operation can be sent to the printing bar code, printing/placement/reflow welding production line, so the product precision and phase position are controlled quite accurately.

2. The invention utilizes the design of the shape suction head to be suitable for the long type substrate; in addition, the work shape suction head can be misaligned with the vision device, so that when the shape suction head sucks the long type substrate, the simultaneous operation can be performed simultaneously The operation of visual positioning can greatly save the travel time. For example, the present invention can control the overall splicing time between about 1.5 and 2 seconds/piece, and the precision between the two slabs can reach ±20-50 um, so There is considerable improvement in the speed and precision of production.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and the equivalents of the present invention are intended to be included within the scope of the present invention.

10. . . Frame

11A. . . storage cache

110. . . mobile platform

111. . . Suction head

11B. . . Location area

13. . . Moving positioning device

130. . . Work shape suction head

130A. . . First space

130B. . . Second space

131. . . First transverse

132. . . Second transverse

133. . . Longitudinal connection

134. . . Through hole

14. . . Visual device

15. . . Carrier board

151. . . Slotting

2. . . Strip module of light emitting diode

20. . . Long strip substrate

201. . . Positioning mark

The first figure is a schematic perspective view of the present invention.

The first A diagram is an enlarged view of the portion A in the first figure.

The first B diagram is a schematic view of the shaped suction head of the present invention.

The second figure is a schematic view of the present invention in which a long substrate is attached to a carrier.

10. . . Frame

11A. . . storage cache

110. . . mobile platform

111. . . Suction head

11B. . . Location area

13. . . Moving positioning device

134. . . Through hole

14. . . Visual device

15. . . Carrier board

2. . . Strip module of light emitting diode

20. . . Long strip substrate

201. . . Positioning mark

Claims (9)

A high-speed visual positioning device suitable for a substrate for placing a plurality of substrates on a carrier, the visual positioning device comprising: a frame; a temporary storage area disposed on the frame, the substrate systems Temporarily stored in the temporary storage area; a positioning area disposed on the frame body, the substrates are moved one by one from the temporary storage area to the positioning area by a moving platform; and a moving positioning device is movable The substrate is disposed on the frame for sucking and moving the substrates, wherein the moving positioning device comprises a work-shaped suction head for sequentially adsorbing the substrates; at least two positions disposed on the frame a visual device of the zone, corresponding to the shaped suction head, the mobile platform carrying each substrate below the at least two visual devices, the at least two visual devices being used to capture the suction positioning device An image of each of the substrates to position the substrates; and the carrier placed on the frame, whereby the moving positioning device places the substrates that have been positioned with high precision On the carrier board. The high-speed visual positioning device for a substrate according to the first aspect of the invention, wherein the shape picking head comprises a first horizontal portion, a second horizontal portion, and the first horizontal portion and the second horizontal portion a longitudinal connecting portion, the space between the first horizontal portion and the second horizontal portion is separated into a first space and a second space, and the at least two visual devices are respectively disposed on the The first space and the second space. The high-speed visual positioning device for a substrate according to the second aspect of the invention, wherein the second lateral portion is further provided with a plurality of through holes corresponding to the positioning marks on the substrate, and the At least two visual devices are an upper visual detecting device that passes through the through holes to view the positioning marks of the substrates. The high-speed visual positioning device for a substrate according to claim 3, wherein the at least two visual devices are movably disposed on the frame. A high-speed visual positioning device suitable for a substrate as described in claim 1, wherein each of the substrates is a long-length substrate. A high-speed visual positioning method suitable for a substrate, comprising the steps of: providing a temporary storage area for storing a substrate, and transmitting a plurality of substrates to the temporary storage area; providing a positioning area, wherein the substrates are temporarily stored The area is moved to the positioning area, wherein each substrate is moved from the temporary storage area to the positioning area one by one by using a moving platform; and the substrate located on the positioning area is sequentially sucked by the shape picking head of a moving positioning device And simultaneously capturing, by using at least two visual devices disposed on a frame, an image of each substrate sucked by the moving positioning device to position each substrate to be sucked, wherein the mobile platform will each A substrate is carried under the visual device; and each of the positioned substrates is placed on a carrier with high precision by the moving positioning device. The high-speed visual positioning method for a substrate according to the sixth aspect of the invention, wherein the shape picking head comprises a first horizontal portion, a second horizontal portion, and the first horizontal portion and the second horizontal portion a longitudinal connecting portion, the space between the first horizontal portion and the second horizontal portion is separated into a first space and a second space, and the at least two visual devices are respectively disposed on the The first space and the second space are used to capture images of the two sides of each substrate that are sucked. The method of claim 7, wherein the second lateral portion is further provided with a plurality of through holes, the through holes corresponding to the positioning marks on the substrate, and the At least two visual devices are an upper visual detecting device, so in the step of sequentially sucking the substrate located on the positioning region by using a shape picking head of the moving positioning device, the upper visual detecting device transmits the through holes To view the positioning marks of the substrates. The high-speed visual positioning method for a substrate according to claim 8, wherein the relative distances of the at least two visual devices disposed on the frame are adjusted according to the length of the substrate to be sucked.