TWI802348B - 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. Light Therefore, 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-rear direction, and is configured as a first driving device that drives the first stage to move along the first slide rail, the second worktable includes a second stage, a second slide rail arranged along the front-to-back direction, and is configured to drive the second stage along the A second driving device moving along the second slide rail; a bridge frame, which is erected above the first slide rail and the second slide rail along the left and right direction, and the bridge frame is provided with a movable first optical detection device and a second slide rail. Two optical detection devices, the first optical detection device is 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; flip A mechanism, which is arranged between the first workbench and the second workbench, the turning mechanism includes a reference platform, a turntable platform and a third drive device, the base The quasi-platform is hinged to the reversible platform, and the third driving device is configured to drive the reversible platform to turn over relative to the reference platform; the loading container and the unloading container, wherein the loading container is arranged on the first On the outside of a workbench, the unloading container is arranged on the outside of the second workbench, the loading container is configured to place materials to be tested, and the unloading container is configured to place materials that have been tested, The material is a circuit board or an IC carrier board; 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 grabbing element arranged on the beam, and a second A conveying element and a second grabbing 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 It is configured to drive the second grabbing element to move left and right along the beam above the second workbench and the unloading container, and both the first grabbing element and the second grabbing element are 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 It is arranged at the rear of the second workbench; one outer end of the beam of the transmission mechanism is erected on the square base platform near the area of the feeding container, and the other outer end is erected on the square base platform near the lower 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 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, which can meet the requirements of high-precision detection on one side of the circuit board , and will not affect the detection efficiency of the front and back sides of the overall circuit board due to the smaller detection area of a single scan.

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, while grabbing from the first carrier in the second grabbing part After the first piece of circuit board is taken, the next piece of circuit board grabbed by the first grasping part can be placed on the first carrier, and then/simultaneously the second grasping part can place the first piece of circuit board grasped on the movable platform. Flip onto the 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 appearance inspection equipment, the first grabbing component grabs the material in the feeding container and transports the material to the first carrier of the first workbench; S2, in the first drive Driven by the 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 and detection is completed, the The first carrier moves forward along the first slide rail; S4, the first grabbing assembly grabs the material on the first carrier, and transports it to the reversible platform of the reversing mechanism; S5, in the third Under the driving action of the 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 up; S6, under the transmission action of the second transmission element, the second grab The fetching 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 carrier moves along the The second slide rail moves backward, so that the second optical detection device scans and detects the material on the second stage; S8, after the scanning and 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 first grabbing The grabbing part grabs the material, and in step S4, the second grabbing part grabs the material; in step S6, the third grabbing part grabs the material, and in step S9, the fourth grabbing part grabs the material.

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 step S1 is executed, while S2-S4 is executed, the The first grabbing part repeatedly executes step S1; after step S4 is executed, while executing S5-S6, the second grabbing part repeatedly executes step S4; After performing step S6, while performing steps S7-S9, the third grasping part repeatedly executes step S6; after performing step S9, 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 is material or spacer paper; step S1 further includes: if the recognition result of the sensing device is that the uppermost layer in the feeding container is spacer paper, the first grabbing component grabs the spacer paper and transports it to the spacer Paper collection area; 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-scanning 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; in step S1, the first grabbing component is given to the two second workbenches in turn The first carrier of a worktable transports materials; 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 1X2Z+2Y innovative style to realize highly integrated and highly centralized structural arrangement; b. Flow-through completes the detection of the front and back of the material on the two Y-direction workbenches to improve double-sided detection The degree of automation and the flexibility of configuring the optical detection accuracy of each.

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: The first grabbing 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 three-dimensional schematic 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 an optical appearance inspection device provided by an exemplary embodiment of the present disclosure Schematic diagram of the assembly structure of the workbench and bridge frame of the appearance inspection equipment; Figure 4 is a schematic top view of the assembly structure shown in Figure 3; Figure 5 is the separation of the assembly structure shown in Figure 3 from the optical appearance inspection equipment shown in Figure 1 Schematic diagram of the structure after going out; Fig. 6 is an enlarged schematic diagram of the 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 .

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. Prerequisites, Referring to FIGS. 1-7 , the optical appearance inspection device shown in FIG. 1 can be decomposed into the device shown in FIG. 3 and the device shown in FIG. 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-rear direction, the first drive device (not shown) configured to drive the first stage 101 to move along the first slide rail 102, the second workbench 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, second X-direction drag chain 312, first Z-direction drag chain 321 and second Z-direction drag chain 322, when the first optical detection device 301 left and right When moving, the first X-direction drag chain 311 moves with the first optical detection device 301, 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 second optical detection device 302 moves When an optical detection device 301 moves up and down, the first Z-direction drag chain 321 moves with the first optical detection device 301; 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 Device 302 moves. 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 As 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 being close to or equal to 180°, stop the suction vacuum, and the circuit board will break away from the reversible platform 402 and arrive at the reference platform 401; The auxiliary press plate can be used to press the circuit board on the reversible platform to replace the vacuum suction method; regarding the reversing mechanism, the utility model with the patent announcement number CN213209951U can be incorporated into the embodiment 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 The outer side of the material 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, see 5-7, the transmission 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. The first conveying assembly 611 and the first grasping element 612 on a crossbeam 61, the second conveying element 621 and the second grasping element 622 arranged on the second crossbeam 62; wherein, the first crossbeam 61 and the second crossbeam 62 The inner end of the inner end can be fixedly connected with the middle pillar 63 erected between the two, the first beam 61 is erected above the first workbench 1 and the feeding container 501, and the second beam 62 is erected on the second working platform. Above the table 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 beam 61, and the second conveying element 621 is configured to drive the second grabbing The element 622 moves along the second beam 62, and the first gripping element 612 and the second gripping element 622 are both configured to grip the electrical road 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 inspection equipment of the present invention adopts the innovative servo-driven platform style of 1X2Z+2Y, that is, the extension direction of the bridge frame 3 is the X-axis, and two driving carriers are suspended and each is equipped with a high-precision optical camera lens element (i.e. 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, the bottom of the bridge has two 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 outer side of the front part (the front part plus the middle part) on the first workbench 1 is narrowed relative to its rear part, and at least the front part is narrowed on the outer side of the second workbench 2 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 grasping assembly 612 takes material from the loading container 501 to the first workbench 1 on the Y axis, and is scanned by the first optical detection device 301 on the Z axis before grasping Go to the reversible platform 402 to change the face (the back side is up after the reversing), and then take it from the reference platform 401 of the reversing mechanism to the second workbench 2 of the Y axis by the second grasping element 622 The second optical detection device 302 scans the reverse side, and after the completion, it is taken away by the second grabbing element 622 and put into the blanking container, so as to complete the front and back double-sided appearance of a single piece of material (circuit board, which can be specifically an IC carrier board) The detection process. 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 board that has been detected on the first carrier 101 and place it on the reversible platform 402; The second grabbing element 622 is configured to move between the reference platform 401 and the second carrier 201 to grab the circuit board with the back side facing up on the reference platform 401 and place it on the second carrier 201; The second carrier 201 moves between the material-discharging container 502 to grab the circuit boards that have been tested on the second carrier 201 and place them into the material-discharging container 502 . See Figure 5 and Figure 6 for details: each group of grabbing elements has 2 grabbing parts, which can be reasonably allocated and used in the process, so as to achieve uninterrupted loop operations. The actual control process can be based on different customer requirements , Different material sizes, different use scenarios, etc. change the most rational flow-through operation cycle steps. 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 to move between, the The second grabbing part 6122 is configured to move between the first stage 101 and the reversible platform 402; the second grabbing element 622 includes a third grabbing part 6221 and a fourth grabbing part 6222, the The third grabbing 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 unloading container 502 Move between; 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 down to grab the circuit board, in this embodiment, the grabbing part There is a suction cup 6001 on the gripper, referring to Fig. 6 and Fig. 1, the circuit board 7 can be picked up by the suction cup 6001, in this embodiment, a single grabbing part includes two parallel linear shafts and a plurality of slidable sleeves arranged on a straight line The suction cup 6001 on the shaft, but the present invention is not limited to the gripping method of the sucker 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 device in the above embodiment, it has a main control module for controlling each driving mechanism, and the specific working process is as follows: S1. Under the transmission action of the first transmission element 611 of the optical appearance inspection device, the first The grabbing element 612 grabs the circuit board in the feeding container 501, and transports the circuit board to the first carrier 101 of the first workbench 1; S2, under the driving action of the first driving device, the first A stage 101 moves backward along the first slide 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 stage 101, and It is transported 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 reverse to the reference platform 401, so that the circuit board is placed on the on the reference platform 401; S6, under the transmission 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 stage of the second workbench 2. On the stage 201; 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 is on the second stage 201 The circuit board is scanned and detected; S8. After the scanning and detection is completed, the second carrier 201 moves forward along the second slide rail 202; S9. The second grabbing element 622 grabs the second carrier 201 circuit boards, and transport them 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 elements, and grabbing elements are respectively arranged on the left and right, it can improve the efficiency of appearance inspection, which is reflected in: after step S5 is executed, while executing S6-S9, the first pass The sending element 611, the first grabbing element 612, the first driving device, the first optical detection device 301, and the third driving device repeatedly execute steps S1-S5; after performing step S9, the second conveying element 621, the second The 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, and the circuit board is grasped by the second grasping part 6122 in step S4; the circuit board is grasped by the third grasping part 6221 in step S6, and the circuit board is grasped by the fourth grasping part 6221 in step S9. Part 6222 grabs 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. Each grabbing element is provided with two grabbing parts in order to improve the efficiency of appearance inspection, specifically 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 grabbing part 6121 can return to the feeding container 501 to take off a piece Circuit board; in S4, after the second grasping part 6122 grasps the circuit board, the first grasping part 6121 places the next piece of circuit board grasped on the first stage 101; especially, the loading container 501 is set When the X-axis distance between the first carrier 101 and the X-axis distance between the first carrier 101 and the reversible platform 402 is approximately the same, the next piece of circuit that the first grasping part 6121 will grasp While the board is placed on the first carrier 101 , the circuit board 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; In the process of sending the other side 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 Place the next flipped circuit board grabbed on the second stage 201; especially, set the X-axis distance between the reference platform 401 and the second stage 201 and the distance between the second stage 201 and the blanking stage. When the X-axis distances between the containers 502 are approximately the same, the third grasping part 6221 places the next reversed circuit board grasped on the second carrier 201 while the fourth grasping part 6222 grasps The taken circuit boards 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 to return Going back to the loading container 501, the first grasping part 6121 grabs the time for the next circuit board to reach the first stage 101; The time from the circuit board to the unloading container 502 to returning to the reference platform 401 , and the third grasping part 6221 grasping 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 Picking part 6221, another subassembly drives the fourth grabbing part 6222, so that the independent action of the four grabbing parts does not interfere with each other, which can further improve the efficiency of appearance inspection. Specifically, after executing step S1, execute S2 - At the same time of S4, the first grabbing unit 6121 repeatedly executes step S1; after executing step S4, while executing S5-S6, the second grabbing unit 6122 repeatedly executes step S4; after executing step S6 , while executing S7-S9, the third grabbing unit 6221 repeatedly executes step S6; after executing step S9, the fourth grabbing 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 to 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 identification result of the sensing device is the feeding container 501 If the uppermost layer is spacer paper, the first grasping assembly 612 grabs the spacer paper and transports it to the spacer paper recovery box; if the identification result of the sensor device is that the uppermost layer in the feeding container 501 is circuit board, 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, one of which is used for placing circuit board, and another 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 recycling box. This design well reflects the intelligence of equipment control change.

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 lens 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 match different optical lenses respectively. 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 needs high-resolution detection, the optical lens used to detect the front can provide corresponding optical magnification according to the demand. On the contrary, if the reverse side of the product does not require high-precision detection, the optical lens corresponding to the reverse side of the detection can be automatically adjusted to the corresponding magnification distance. Different optical magnification distances also mean that the area that can be scanned and detected in a single time is different. The optical magnification distance is higher. The larger the area, 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, so that the device can 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 more than one between the first workbench 1 and the turning mechanism shown in Fig. 3 Add a first workbench 1, which is also provided with a first carrier 101, a first slide rail 102, and a first driving device on the first workbench 1, but the newly added first workbench 1 can be nearly rectangular shape without having to be set to a narrow front and wide rear structure.

Operation steps S1 and S4 are correspondingly adjusted as follows: the first grabbing assembly 612 in step S1 transports circuit boards to the first carrier 101 of the two first workbenches 1 in turn; the first grabbing assembly 612 in step S4 Circuit boards are picked from the two first carriers 101 in turn and transported 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 The guide rail acts as the driving body, It 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

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 (15)

An optical appearance inspection device, which includes: 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-rear direction, and a A first driving device configured to drive the first stage to move along the first slide rail, the second worktable includes a second stage, a second slide rail arranged along the front-to-back direction, and configured to drive the second stage The second driving device for moving the table along the second slide rail; the bridge frame, which is erected above the first slide rail and the second slide rail along the left and right directions, and the movable first optical detection device is arranged on the bridge frame and a second optical detection device, the first optical detection device is 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 The driving device is configured to drive the reversible platform to overturn relative to the reference platform; the loading container and the unloading container, wherein the loading container is arranged on the outside of the first workbench, and the unloading container is arranged On the outside of the second workbench, the feeding container is configured to place materials to be tested, and the unloading container is configured to place materials that have been tested; the conveying mechanism is configured to convey the materials , which includes a beam arranged in the left-right direction, a first conveying element and a first grabbing element arranged on the beam, The second conveying element and the second grabbing 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 The element is configured to drive the second grabbing element to move left and right along the beam above the second workbench and the unloading container, and the first grabbing element and the second grabbing element are both configured to grab the material; The first workbench, the second workbench, the turning mechanism, the loading container and the unloading container are set on the square abutment, and the square abutment is made of cast iron; the bridge has two bridge piles and a frame The horizontal bridge pole on the two bridge piles, the bridge pile at the left end of the horizontal bridge pole is arranged at the rear of the first workbench, and the bridge pile at the right end of the horizontal bridge pole 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 area of the feeding container, and the other outer end is erected on the square base platform near the area of the unloading container. 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 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 3, wherein the optical magnification of the optical lens of the first optical inspection device is greater than that of the second optical inspection device. The optical magnification of the optical lens of the measuring device, the single-scan detection area of the first optical detection device is smaller than the single-scan detection area of the second optical detection device; the number of the second workbench is one, and the first There are two workbenches 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 and the first carrier, the second gripper is configured to move between the first carrier and the reversible platform; the second gripper includes a third gripper and a fourth gripper A grabbing part, the third grabbing part is configured to move between the reference platform and the second carrier, and the fourth grabbing part is configured to move between the second carrier and the unloading container to move between. 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 7, wherein, the loading container is configured to be able to move forward along the drawer rail, and there are multiple unloading containers. The optical appearance inspection equipment according to any one of claims 1 to 8, 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 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 9, 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 equipment, 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 material on the first stage; S3, to be scanned After detection, the first carrier moves forward along the first slide rail; S4, the first grabbing assembly 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 up; S6. The conveying action of the second conveying element Next, the second grabbing element grabs the The materials on the reference platform are transported to the second stage of the second workbench; S7, driven by the second driving device, the second stage moves backward along the second slide rail to Make the second optical detection device scan and detect the material on the second stage; S8, after the scanning and detection is completed, the second stage moves forward along the second slide rail; S9, the second grasping The component grabs the material on the second carrier and transports it to the unloading container. The appearance inspection method according to claim 10, 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 executing step S9, the second conveying element, the second grabbing element, the second driving device, and the second optical detection device repeatedly execute steps S6-S9. The appearance inspection method according to claim 10, 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 grabbing part; in step S1, the first grabbing part grabs the material, in step S4, the second grabbing part grabs the material; in step S6, the third grabbing part grabs the material, and in step S9, the fourth grabbing Grab the material. The appearance inspection method according to claim 12, wherein 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 executing S2-S4, the first grabbing part repeatedly executes step S1; after executing step S4, while executing S5-S6, the second grabbing part repeatedly executes step S4; After S6, while executing S7-S9, the third grabbing part repeatedly executes step S6; after executing step S9, the fourth grabbing part repeatedly executes steps S7-S9. The appearance inspection method according to claim 10, 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 It is configured to identify that the uppermost layer in the feeding container is 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, the first grasping component grasps Take the spacer paper and transport it to the spacer paper collection area; 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 stage. The appearance inspection method according to claim 10, 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 single The scanning detection area is smaller than the single scanning 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 workbench in step S1 The grabbing assembly alternately transports materials to the first carriers of the two first workbenches; in step S4, the first grabbing assembly grabs materials from the two first carriers in turn and transports them to the reversible platform.

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