WO2022062057A1 - Motion control device capable of automatically adjusting depth of field and automated optical inspection machine - Google Patents

Motion control device capable of automatically adjusting depth of field and automated optical inspection machine Download PDF

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Publication number
WO2022062057A1
WO2022062057A1 PCT/CN2020/124712 CN2020124712W WO2022062057A1 WO 2022062057 A1 WO2022062057 A1 WO 2022062057A1 CN 2020124712 W CN2020124712 W CN 2020124712W WO 2022062057 A1 WO2022062057 A1 WO 2022062057A1
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WIPO (PCT)
Prior art keywords
camera
motor
lens
head
grating ruler
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PCT/CN2020/124712
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French (fr)
Chinese (zh)
Inventor
杨红军
胡冰峰
陈朋飞
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苏州康代智能科技股份有限公司
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Publication of WO2022062057A1 publication Critical patent/WO2022062057A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/01—Arrangements or apparatus for facilitating the optical investigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/956—Inspecting patterns on the surface of objects

Definitions

  • the utility model relates to the technical field of automatic optical inspection machines, in particular to a motion control device for automatically adjusting the depth of field and an automatic optical inspection machine.
  • AOI Automated Optical Inspection
  • AOI Automated Optical Inspection
  • the machine automatically scans the PCB through a camera, collects images, and will The image is compared with the PCB design files in the database. After image processing, the defects on the PCB are checked, and the defects are displayed/marked through the display or automatic signs for maintenance personnel to repair.
  • the utility model provides a motion control device and an automatic optical detection machine for automatically adjusting the depth of field, which can overcome the difficulty of insufficient compensation of the existing optical depth of field, and use a servo motor to automatically compensate the optical depth of field,
  • the technical solution is as follows:
  • the utility model provides a motion control device for automatically adjusting the depth of field for AOI, comprising:
  • a table the table is used to carry the detection object, the table is translated under the drive of the table motor, the table is provided with a table grating ruler for reading the position of the table, and the table grating ruler has a table grating ruler reading head ;
  • the camera is used for capturing images, the camera is arranged above the table, the camera is translated under the drive of a camera motor, the camera motor is a servo motor, and a camera for reading is arranged on the camera a camera grating ruler at the position, the camera grating ruler has a camera grating ruler reading head;
  • the lens is used for focusing the camera, the lens is arranged between the table and the camera, the lens is translated under the drive of a lens motor, the lens motor is a servo motor, and the lens There is a lens grating ruler for reading the position of the lens, and the lens grating ruler has a lens grating ruler reading head;
  • the height data collector is used to measure the distance between the height data collector and the detection object, and the height data collector is arranged above the table;
  • a first controller the camera motor, the lens motor, the camera grating ruler reading head and the lens grating ruler reading head are electrically connected to the first controller;
  • the first controller, the tabletop motor and the tabletop grating ruler read head are electrically connected to the second controller;
  • a main controller, the altitude data collector and the second controller are electrically connected to the main controller.
  • the motion control device further includes an optical scan head, the optical scan head is loaded with the camera and the lens, the optical scan head is translated under the driving of the optical scan head motor, and the optical scan head is provided with There is an optical scanning head grating ruler for reading the position of the optical scanning head, the optical scanning head grating ruler has an optical scanning head reading head, the optical scanning head motor and the optical scanning head grating ruler and the second The controller is electrically connected.
  • the stage motor controls the stage to move horizontally in the front-rear direction
  • the optical detection head motor controls the optical detection head to move horizontally in the left-right direction
  • the camera motor controls the camera to move in the vertical direction
  • the lens motor controls the lens to move in a vertical direction.
  • the height data collector is translated under the drive of a collector motor, and the collector motor is electrically connected to the main controller.
  • the motion compensation device further includes a light source box, the light source box is used for providing a light source and illuminating the detection object, and the light source box is electrically connected with the main controller.
  • the height data collector is arranged on the light source box, and the light source box is translated under the driving of a collector motor, and the collector motor is electrically connected to the main controller.
  • the present invention provides an automatic optical inspection machine, which includes the above-mentioned motion control device.
  • Both the camera motor and the lens motor are servo motors with high movement accuracy and corresponding adjustment accuracy;
  • the table, optical scanning head, camera and lens move in one degree of freedom, the adjustment is stable, the error is small, and includes all the degrees of freedom of three-dimensional displacement, which can fully detect the PCB board;
  • the height data controller and the servo motor work together to compensate the depth of field with automatic focus and reduce the appearance of false detection points.
  • FIG. 1 is a circuit diagram of a motion control device provided by an embodiment of the present invention.
  • FIG. 2 is a partial circuit diagram of a motion control device provided by an embodiment of the present invention.
  • FIG. 3 is a partial circuit diagram of a motion control device provided by an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of an optical scanning head of a motion control device provided by an embodiment of the present invention.
  • the reference signs are: 1-main controller, 2-height data collector, 3-second controller, 4-first controller, 51-tabletop motor, 52-tabletop grating ruler reading head, 6- Optical scanning head, 61-optical scanning head motor, 62-optical scanning head grating ruler reading head, 7-camera, 71-camera motor, 72-camera grating ruler reading head, 8-lens, 81-lens motor, 82-lens Grating ruler reading head, 9-light source box.
  • a motion control device for automatically adjusting the depth of field for AOI is provided, as shown in Figures 1-4, including
  • a table the table is used for the load detection object, the table is translated under the drive of the table motor 51, the table is provided with a table grating ruler for reading the position of the table, and the table grating ruler has a table grating ruler reading head 52;
  • the camera 7 is used to capture images, the camera 7 is arranged above the table, and the camera 7 is translated under the drive of a camera motor 71, the camera motor is a servo motor, and the camera is provided with There is a camera grating scale for reading the position of the camera, the camera grating scale has a camera grating scale reading head 72;
  • the lens 8 is used for focusing the camera 7, the lens 8 is arranged between the table 1 and the camera 7, the lens 8 is translated under the drive of the lens motor 81, the lens
  • the motor 81 is a servo motor, the lens 8 is provided with a lens scale for reading the position of the lens, and the lens scale has a lens scale reading head 82;
  • the height data collector 2 is arranged above the table, and before compensating the depth of field for the detection object placed on the table, the position calibration of the height data collector 2 is required first.
  • the height data collector 2 is used to measure the distance between the height data collector and the detection object;
  • the first controller 4 the camera motor 71, the lens motor 81, the camera grating ruler reading head 72 and the lens grating ruler reading head 82 are electrically connected to the first controller 4;
  • the second controller 3, the first controller 4, the tabletop motor 51 and the tabletop grating ruler reading head 52 are electrically connected to the second controller 3;
  • the main controller 1 , the altitude data collector 2 and the second controller 3 are electrically connected to the main controller 1 .
  • both the camera motor and the lens motor are servo motors, the movement accuracy is high, and the corresponding adjustment accuracy is also high, and the height data controller and the servo motor work together to have the function of auto-focusing to compensate the depth of field, effectively reducing the occurrence of false detection points.
  • the motion control device further includes an optical scan head 6, which carries the camera 7 and the lens 8, and the optical scan head 6 translates under the drive of the optical scan head motor 61.
  • the optical scan head 6 is provided with an optical scanning head grating ruler for reading the position of the optical scanning head, the optical scanning head grating ruler has an optical scanning head reading head 62, the optical scanning head motor 61 and the optical scanning head grating ruler
  • the read head 62 is electrically connected to the second controller 3 .
  • the power of the second controller should be greater than that of the first controller, because the table and the optical scanning head controlled by the second controller are heavy, and the second controller is biased towards the load-carrying function.
  • the functional requirements are lower, while the cameras and lenses controlled by the first controller are lighter, and the first controller focuses on fine-tuning functions.
  • the table motor 51 controls the table to move horizontally in the front-rear direction
  • the optical detection head motor 61 controls the optical detection head 6 to horizontally move in the left-right direction
  • the camera motor 71 Control the camera 7 to move in the vertical direction
  • the lens motor 81 controls the lens 8 to move in the vertical direction;
  • the table, the optical scanning head, the camera and the lens each move in one degree of freedom, the adjustment is stable, the error is small, and It contains all the degrees of freedom of three-dimensional displacement, and can fully detect the PCB board.
  • the movement directions of the table top and the optical detection head may not be vertical. In fact, any displacement of the horizontal plane can be completed as long as they are not parallel to each other. Therefore, the situation that the movement directions of the table top and the optical detection head are not perpendicular to each other is still within the protection scope of the present invention.
  • the height data collector 2 can also be translated under the drive of a collector motor, and the collector motor is electrically connected to the main controller to further adapt to different PCB boards.
  • the motion control device may further include a light source box 9 for providing a light source and illuminating a detection object, and the light source box is electrically connected to the main controller.
  • the height data collector 2 can be arranged on the light source box 9, and the light source box 9 is translated under the drive of a collector motor, and the collector motor is electrically connected to the main controller.
  • the height data collector can also be set on other parts of the motion control system that can move up and down.
  • an automatic optical inspection machine in another embodiment, includes the above-mentioned motion control device, and the sub-automatic optical inspection machine has better performance in detecting PCB boards. It can automatically compensate the depth of field in detection with high precision, and effectively reduce false points in the collected images.
  • the first controller is UDMsd
  • the second controller is SPIIPLUS CMnt-2
  • the main controller can be a computer
  • the circuit connections are shown in Figure 1- 3, but the protection scope of the present invention is not limited to this preferred and specific embodiment. In other words, other chips used by the first controller and the second controller are still within the protection scope of the present invention.
  • the HIGH Sensor height measuring device is used to measure the height of the board surface.
  • the position of the camera and the lens in the vertical direction is calculated through a software algorithm.
  • the host computer communicates with the UDM, controls the servo motors on the lead screw of the camera and the lens to work, adjusts the vertical position of the camera and the lens, and receives the reading feedback of each grating ruler reading head to further correct the movement, so as to achieve the HIGH Sensor
  • the depth of field required by the measured height realizes the compensation of the depth of field of the optical system.
  • the motion control device can be assembled and debugged by taking the following steps:

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Abstract

A motion control device capable of automatically adjusting the depth of field and an automated optical inspection machine. The motion control device comprises a table top, an optical scanning head (6), a camera (7), and a lens (8) and a corresponding lens motor (81) and lens grating ruler (82), wherein the motion control device further comprises a height data collector (2), a main controller (1), a first controller (4) and a second controller (2); the table top, the optical scanning head (6), the camera (7) and the lens (8) are all capable of translational motion, and the camera (7) and the lens (8) are respectively controlled by a servo motor to move in a vertical direction; and the automated optical inspection machine is provided with the motion control device. The motion control device and the automated optical inspection machine having same have high adjustment precision, automatically focus and compensate for the depth of field, and effectively reduce the emergence of inspection false points.

Description

自动调节景深的运动控制装置及自动光学检测机Motion control device and automatic optical inspection machine for automatically adjusting depth of field
优先权声明claim of priority
本申请要求于2020年9月27日提交中国专利局、申请号为2020221592594的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese Patent Application No. 2020221592594 filed with the China Patent Office on September 27, 2020, the entire contents of which are incorporated herein by reference.
技术领域technical field
本实用新型涉及自动光学检测机技术领域，特别涉及一种自动调节景深的运动控制装置及自动光学检测机。The utility model relates to the technical field of automatic optical inspection machines, in particular to a motion control device for automatically adjusting the depth of field and an automatic optical inspection machine.
背景技术Background technique
自动光学检测机(AOI，Automated Optical Inspection)是基于光学原理来对电路板生产中遇到的常见缺陷进行检测的设备，当自动检测时，机器通过摄像头自动扫描PCB，采集图像，并将采集的图像与数据库中的PCB设计文件进行比较，经过图像处理，检查出PCB上缺陷，并通过显示器或自动标志把缺陷显示/标示出来，供维修人员修整。Automatic Optical Inspection (AOI, Automated Optical Inspection) is a device that detects common defects encountered in circuit board production based on optical principles. During automatic inspection, the machine automatically scans the PCB through a camera, collects images, and will The image is compared with the PCB design files in the database. After image processing, the defects on the PCB are checked, and the defects are displayed/marked through the display or automatic signs for maintenance personnel to repair.
AOI设备在检测PCB板时，当遇到AOI台面平面度不好，或者PCB板发生褶皱时，会出现漏扫或者误扫的情况。现有AOI CCD相机和镜头使用的是步进电机、开环控制模式，精度不高。由于台面平整度不好或者PCB板褶皱，景深不满足CCD取像要求，且步进电机调整CCD相机和镜头，精度不能满足景深的要求，往往造成假点多等问题。When the AOI equipment detects the PCB board, when the flatness of the AOI table is not good, or the PCB board is wrinkled, there will be missed scans or false scans. Existing AOI CCD cameras and lenses use stepper motors and open-loop control mode, and the accuracy is not high. Due to the poor flatness of the table or the wrinkled PCB board, the depth of field does not meet the requirements of CCD imaging, and the stepper motor adjusts the CCD camera and lens, the accuracy cannot meet the requirements of the depth of field, and often causes problems such as many false points.
实用新型内容Utility model content
为了解决现有技术中存在的问题，本实用新型提供了一种自动调节景深的运动控制装置及自动光学检测机，可以克服现有的光学景深补偿不足的困难、使用伺服电机自动补偿光学景深，技术方案如下：In order to solve the problems existing in the prior art, the utility model provides a motion control device and an automatic optical detection machine for automatically adjusting the depth of field, which can overcome the difficulty of insufficient compensation of the existing optical depth of field, and use a servo motor to automatically compensate the optical depth of field, The technical solution is as follows:
一方面，本实用新型提供了一种AOI用自动调节景深的运动控制装置，包 括On the one hand, the utility model provides a motion control device for automatically adjusting the depth of field for AOI, comprising:
台面，所述台面用于托载检测对象，所述台面在台面马达的驱动下平移，所述台面上设置有用于读取台面位置的台面光栅尺，所述台面光栅尺具有台面光栅尺读头；A table, the table is used to carry the detection object, the table is translated under the drive of the table motor, the table is provided with a table grating ruler for reading the position of the table, and the table grating ruler has a table grating ruler reading head ;
相机，所述相机用于采集图像，所述相机设置于所述台面的上方，所述相机在相机马达的驱动下平移，所述相机马达为伺服电机，所述相机上设置有用于读取相机位置的相机光栅尺，所述相机光栅尺具有相机光栅尺读头；a camera, the camera is used for capturing images, the camera is arranged above the table, the camera is translated under the drive of a camera motor, the camera motor is a servo motor, and a camera for reading is arranged on the camera a camera grating ruler at the position, the camera grating ruler has a camera grating ruler reading head;
镜头，所述镜头用于为所述相机对焦，所述镜头设置于所述台面和所述相机之间，所述镜头在镜头马达的驱动下平移，所述镜头马达为伺服电机，所述镜头上设置有用于读取镜头位置的镜头光栅尺，所述镜头光栅尺具有镜头光栅尺读头；The lens is used for focusing the camera, the lens is arranged between the table and the camera, the lens is translated under the drive of a lens motor, the lens motor is a servo motor, and the lens There is a lens grating ruler for reading the position of the lens, and the lens grating ruler has a lens grating ruler reading head;
高度数据采集器，所述高度数据采集器用于测量所述高度数据采集器与检测对象之间的距离，所述高度数据采集器设置于所述台面的上方；a height data collector, the height data collector is used to measure the distance between the height data collector and the detection object, and the height data collector is arranged above the table;
第一控制器，所述相机马达、所述镜头马达、所述相机光栅尺读头和所述镜头光栅尺读头与所述第一控制器电连接；a first controller, the camera motor, the lens motor, the camera grating ruler reading head and the lens grating ruler reading head are electrically connected to the first controller;
第二控制器，所述第一控制器、所述台面马达和所述台面光栅尺读头与所述第二控制器电连接；a second controller, the first controller, the tabletop motor and the tabletop grating ruler read head are electrically connected to the second controller;
主控制器，所述高度数据采集器和所述第二控制器与所述主控制器电连接。A main controller, the altitude data collector and the second controller are electrically connected to the main controller.
进一步地，所述运动控制装置还包括光学扫描头，所述光学扫描头装载所述相机和所述镜头，所述光学扫描头在光学扫描头马达的驱动下平移，所述光学扫描头上设置有用于读取所述光学扫描头位置的光学扫描头光栅尺，所述光学扫描头光栅尺具有光学扫描头读头，所述光学扫描头马达和所述光学扫描头光栅尺与所述第二控制器电连接。Further, the motion control device further includes an optical scan head, the optical scan head is loaded with the camera and the lens, the optical scan head is translated under the driving of the optical scan head motor, and the optical scan head is provided with There is an optical scanning head grating ruler for reading the position of the optical scanning head, the optical scanning head grating ruler has an optical scanning head reading head, the optical scanning head motor and the optical scanning head grating ruler and the second The controller is electrically connected.
优选地，所述台面马达控制所述台面沿前后方向水平移动，所述光学检测头马达控制所述光学检测头沿左右方向水平移动，所述相机马达控制所述相机沿竖直方向移动，所述镜头马达控制所述镜头沿竖直方向移动。Preferably, the stage motor controls the stage to move horizontally in the front-rear direction, the optical detection head motor controls the optical detection head to move horizontally in the left-right direction, and the camera motor controls the camera to move in the vertical direction, so The lens motor controls the lens to move in a vertical direction.
优选地，所述高度数据采集器在采集器马达的驱动下平移，所述采集器马达与所述主控制器电连接。Preferably, the height data collector is translated under the drive of a collector motor, and the collector motor is electrically connected to the main controller.
进一步地，所述运动补偿装置还包括光源盒，所述光源盒用于提供光源、 照亮检测对象，所述光源盒与所述主控制器电连接。Further, the motion compensation device further includes a light source box, the light source box is used for providing a light source and illuminating the detection object, and the light source box is electrically connected with the main controller.
优选地，所述高度数据采集器设置于所述光源盒上，所述光源盒在采集器马达的驱动下平移，所述采集器马达与所述主控制器电连接。Preferably, the height data collector is arranged on the light source box, and the light source box is translated under the driving of a collector motor, and the collector motor is electrically connected to the main controller.
另一方面，本实用新型提供了一种自动光学检测机，所述自动光学检测机包括上述的运动控制装置。In another aspect, the present invention provides an automatic optical inspection machine, which includes the above-mentioned motion control device.
本实用新型提供的技术方案带来的有益效果如下：The beneficial effects brought by the technical scheme provided by the utility model are as follows:
a.相机马达和镜头马达均为伺服电机，移动精度高，相应的调节精度也高；a. Both the camera motor and the lens motor are servo motors with high movement accuracy and corresponding adjustment accuracy;
b.台面、光学扫描头、相机和镜头各在一个自由度移动，调节稳定，误差小，且包含了三维位移的全部自由度，可以全面检测PCB板；b. The table, optical scanning head, camera and lens move in one degree of freedom, the adjustment is stable, the error is small, and includes all the degrees of freedom of three-dimensional displacement, which can fully detect the PCB board;
c.高度数据控制器与伺服电机协同工作，自动对焦补偿景深，减少检测假点的出现。c. The height data controller and the servo motor work together to compensate the depth of field with automatic focus and reduce the appearance of false detection points.
附图说明Description of drawings
为了更清楚地说明本实用新型实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are only some implementations of the present invention. For example, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1是本实用新型实施例提供的运动控制装置的电路图；1 is a circuit diagram of a motion control device provided by an embodiment of the present invention;
图2是本实用新型实施例提供的运动控制装置的局部电路图；2 is a partial circuit diagram of a motion control device provided by an embodiment of the present invention;
图3是本实用新型实施例提供的运动控制装置的局部电路图；3 is a partial circuit diagram of a motion control device provided by an embodiment of the present invention;
图4是本实用新型实施例提供的运动控制装置的光学扫描头的示意图。4 is a schematic diagram of an optical scanning head of a motion control device provided by an embodiment of the present invention.
其中，附图标记分别为：1-主控制器，2-高度数据采集器，3-第二控制器，4-第一控制器，51-台面马达，52-台面光栅尺读头，6-光学扫描头，61-光学扫描头马达，62-光学扫描头光栅尺读头，7-相机，71-相机马达，72-相机光栅尺读头，8-镜头，81-镜头马达，82-镜头光栅尺读头，9-光源盒。Wherein, the reference signs are: 1-main controller, 2-height data collector, 3-second controller, 4-first controller, 51-tabletop motor, 52-tabletop grating ruler reading head, 6- Optical scanning head, 61-optical scanning head motor, 62-optical scanning head grating ruler reading head, 7-camera, 71-camera motor, 72-camera grating ruler reading head, 8-lens, 81-lens motor, 82-lens Grating ruler reading head, 9-light source box.
具体实施方式detailed description
为了使本技术领域的人员更好地理解本实用新型方案，下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描 述，显然，所描述的实施例仅仅是本实用新型一部分的实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本实用新型保护的范围。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 described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
需要说明的是，本实用新型的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本实用新型的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、装置、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其他步骤或单元。It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. . It is to be understood that the data so used may be interchanged under appropriate circumstances so 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", and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, apparatus, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.
在本实用新型的一个实施例中，提供了一种AOI用自动调节景深的运动控制装置，如图1-4所示，包括In one embodiment of the present invention, a motion control device for automatically adjusting the depth of field for AOI is provided, as shown in Figures 1-4, including
台面，所述台面用于负载检测对象，所述台面在台面马达51的驱动下平移，所述台面上设置有用于读取台面位置的台面光栅尺，所述台面光栅尺具有台面光栅尺读头52；A table, the table is used for the load detection object, the table is translated under the drive of the table motor 51, the table is provided with a table grating ruler for reading the position of the table, and the table grating ruler has a table grating ruler reading head 52;
相机7，所述相机7用于采集图像，所述相机7设置于所述台面的上方，所述相机7在相机马达71的驱动下平移，所述相机马达为伺服电机，所述相机上设置有用于读取相机位置的相机光栅尺，所述相机光栅尺具有相机光栅尺读头72；The camera 7 is used to capture images, the camera 7 is arranged above the table, and the camera 7 is translated under the drive of a camera motor 71, the camera motor is a servo motor, and the camera is provided with There is a camera grating scale for reading the position of the camera, the camera grating scale has a camera grating scale reading head 72;
镜头8，所述镜头8用于为所述相机7对焦，所述镜头8设置于所述台面1和所述相机7之间，所述镜头8在镜头马达81的驱动下平移，所述镜头马达81为伺服电机，所述镜头8上设置有用于读取镜头位置的镜头光栅尺，所述镜头光栅尺具有镜头光栅尺读头82；The lens 8 is used for focusing the camera 7, the lens 8 is arranged between the table 1 and the camera 7, the lens 8 is translated under the drive of the lens motor 81, the lens The motor 81 is a servo motor, the lens 8 is provided with a lens scale for reading the position of the lens, and the lens scale has a lens scale reading head 82;
高度数据采集器2，所述高度数据采集器2设置于所述台面的上方，在对放置在台面上的检测对象进行补偿景深之前，首先需要对所述高度数据采集器2进行位置校准，所述高度数据采集器2用于测量所述高度数据采集器与检测对象之间的距离；The height data collector 2 is arranged above the table, and before compensating the depth of field for the detection object placed on the table, the position calibration of the height data collector 2 is required first. The height data collector 2 is used to measure the distance between the height data collector and the detection object;
第一控制器4，所述相机马达71、所述镜头马达81、所述相机光栅尺读头 72和所述镜头光栅尺读头82与所述第一控制器4电连接；The first controller 4, the camera motor 71, the lens motor 81, the camera grating ruler reading head 72 and the lens grating ruler reading head 82 are electrically connected to the first controller 4;
第二控制器3，所述第一控制器4、所述台面马达51和所述台面光栅尺读头52与所述第二控制器3电连接；The second controller 3, the first controller 4, the tabletop motor 51 and the tabletop grating ruler reading head 52 are electrically connected to the second controller 3;
主控制器1，所述高度数据采集器2和所述第二控制器3与所述主控制器1电连接。The main controller 1 , the altitude data collector 2 and the second controller 3 are electrically connected to the main controller 1 .
由于相机马达和镜头马达均为伺服电机，移动精度高，相应的调节精度也高，且高度数据控制器与伺服电机协同工作，具有自动对焦补偿景深的功能，有效减少检测假点的出现。Since both the camera motor and the lens motor are servo motors, the movement accuracy is high, and the corresponding adjustment accuracy is also high, and the height data controller and the servo motor work together to have the function of auto-focusing to compensate the depth of field, effectively reducing the occurrence of false detection points.
所述运动控制装置还包括光学扫描头6，所述光学扫描头装载所述相机7和所述镜头8，所述光学扫描头6在光学扫描头马达61的驱动下平移，所述光学扫描头6上设置有用于读取所述光学扫描头位置的光学扫描头光栅尺，所述光学扫描头光栅尺具有光学扫描头读头62，所述光学扫描头马达61和所述光学扫描头光栅尺读头62与所述第二控制器3电连接。为达成此目的，所述第二控制器功率应大于所述第一控制器的功率，原因是第二控制器控制的台面和光学扫描头较重，第二控制器偏向于载重功能，精调功能要求较低，而第一控制器控制的相机和镜头较轻，第一控制器偏重于精调功能。The motion control device further includes an optical scan head 6, which carries the camera 7 and the lens 8, and the optical scan head 6 translates under the drive of the optical scan head motor 61. The optical scan head 6 is provided with an optical scanning head grating ruler for reading the position of the optical scanning head, the optical scanning head grating ruler has an optical scanning head reading head 62, the optical scanning head motor 61 and the optical scanning head grating ruler The read head 62 is electrically connected to the second controller 3 . In order to achieve this purpose, the power of the second controller should be greater than that of the first controller, because the table and the optical scanning head controlled by the second controller are heavy, and the second controller is biased towards the load-carrying function. The functional requirements are lower, while the cameras and lenses controlled by the first controller are lighter, and the first controller focuses on fine-tuning functions.
在本实用新型的优选实施例中，所述台面马达51控制所述台面沿前后方向水平移动，所述光学检测头马达61控制所述光学检测头6沿左右方向水平移动，所述相机马达71控制所述相机7沿竖直方向移动，所述镜头马达81控制所述镜头8沿竖直方向移动；台面、光学扫描头、相机和镜头各在一个自由度移动，调节稳定，误差小，且包含了三维位移的全部自由度，可以全面检测PCB板。台面和光学检测头的运动方向也可以不垂直，实际上只要互相不平行即可完成水平面的任意位移，因此台面和光学检测头的运动方向互相不垂直的情况仍然在本实用新型的保护范围之内。In a preferred embodiment of the present invention, the table motor 51 controls the table to move horizontally in the front-rear direction, the optical detection head motor 61 controls the optical detection head 6 to horizontally move in the left-right direction, and the camera motor 71 Control the camera 7 to move in the vertical direction, the lens motor 81 controls the lens 8 to move in the vertical direction; the table, the optical scanning head, the camera and the lens each move in one degree of freedom, the adjustment is stable, the error is small, and It contains all the degrees of freedom of three-dimensional displacement, and can fully detect the PCB board. The movement directions of the table top and the optical detection head may not be vertical. In fact, any displacement of the horizontal plane can be completed as long as they are not parallel to each other. Therefore, the situation that the movement directions of the table top and the optical detection head are not perpendicular to each other is still within the protection scope of the present invention. Inside.
所述高度数据采集器2也可以在采集器马达的驱动下平移，所述采集器马达与所述主控制器电连接，进一步适应不同的PCB板。The height data collector 2 can also be translated under the drive of a collector motor, and the collector motor is electrically connected to the main controller to further adapt to different PCB boards.
所述运动控制装置还可以包括光源盒9，所述光源盒9用于提供光源、照亮检测对象，所述光源盒与所述主控制器电连接。The motion control device may further include a light source box 9 for providing a light source and illuminating a detection object, and the light source box is electrically connected to the main controller.
所述高度数据采集器2可以设置于所述光源盒9上，所述光源盒9在采集 器马达的驱动下平移，所述采集器马达与所述主控制器电连接。高度数据采集器也可以设置于运动控制系统的其它可上下移动的部件上。The height data collector 2 can be arranged on the light source box 9, and the light source box 9 is translated under the drive of a collector motor, and the collector motor is electrically connected to the main controller. The height data collector can also be set on other parts of the motion control system that can move up and down.
在本实用新型的另一个实施例中，提供了一种自动光学检测机，所述自动光学检测机包括上述的运动控制装置，所述子自动光学检测机在对PCB板的检测中具有更优良的性能，检测中可以自动补偿景深且精度高，有效减少采集图像中的假点。In another embodiment of the present invention, an automatic optical inspection machine is provided, the automatic optical inspection machine includes the above-mentioned motion control device, and the sub-automatic optical inspection machine has better performance in detecting PCB boards. It can automatically compensate the depth of field in detection with high precision, and effectively reduce false points in the collected images.
在本实用新型的一个优选、具体的实施例中，所述第一控制器为UDMsd，所述第二控制器为SPIIPLUS CMnt-2，所述主控制器可以为计算机，线路连接如图1-3所示，但本实用新型的保护范围不仅限于本优选、具体的实施例，换言之，第一控制器、第二控制器采取其它芯片也仍然在本实用新型的保护范围之内。In a preferred and specific embodiment of the present utility model, the first controller is UDMsd, the second controller is SPIIPLUS CMnt-2, the main controller can be a computer, and the circuit connections are shown in Figure 1- 3, but the protection scope of the present invention is not limited to this preferred and specific embodiment. In other words, other chips used by the first controller and the second controller are still within the protection scope of the present invention.
所述运动控制系统上通过HIGH Sensor测高装置对板面进行测高，当测出板厚度发生变化时，通过软件算法算出相机和镜头在垂直方向的位置。然后电脑主机上位机和UDM通讯，控制相机和镜头的丝杆上的伺服电机工作，调节相机和镜头在垂直方向的位置，并接收各个光栅尺读头的读数反馈进一步校正移动，从而达到HIGH Sensor所测定的高度需要的景深，实现光学系统景深的补偿。On the motion control system, the HIGH Sensor height measuring device is used to measure the height of the board surface. When the measured board thickness changes, the position of the camera and the lens in the vertical direction is calculated through a software algorithm. Then the host computer communicates with the UDM, controls the servo motors on the lead screw of the camera and the lens to work, adjusts the vertical position of the camera and the lens, and receives the reading feedback of each grating ruler reading head to further correct the movement, so as to achieve the HIGH Sensor The depth of field required by the measured height realizes the compensation of the depth of field of the optical system.
所述运动控制装置可以采取以下步骤装配和调试：The motion control device can be assembled and debugged by taking the following steps:
S1.在AOI扫描头上安装ACS UDMS1. Install ACS UDM on the AOI scan head
S2.在AOI光学组件上安装相机和镜头的伺服电机，安装光栅尺。S2. Install the servo motors of the camera and the lens on the AOI optical assembly, and install the grating ruler.
S3.在光源盒上安装High sensor(高度数据采集)S3. Install High sensor on the light source box (high data acquisition)
S4.通过网线把UDM连接到ACS SPIIPLUS CMNT主控制器上，通过网线把High sensor连接到电脑上，配置网络地址，连接硬件。S4. Connect the UDM to the ACS SPIIPLUS CMNT main controller through the network cable, connect the High sensor to the computer through the network cable, configure the network address, and connect the hardware.
S5.在AOI上调试相机和镜头伺服控制器UDM，通过ACS调试软件SPiiPlus MMI Application Studio软件初始化UDM，调整PID控制参数。调试软件。S5. Debug the camera and lens servo controller UDM on the AOI, initialize the UDM through the ACS debugging software SPiiPlus MMI Application Studio software, and adjust the PID control parameters. Debug software.
S6.在AOI的扫版软件里面验证自动补偿景深的功能。S6. Verify the function of automatically compensating for depth of field in the AOI scanning software.
以上所述仅为本实用新型的较佳实施例，并不用以限制本实用新型，凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection of the utility model.

Claims (7)

  1. 一种AOI用自动调节景深的运动控制装置，其特征在于，包括A motion control device for automatically adjusting the depth of field for AOI, comprising:
    台面，所述台面用于托载检测对象，所述台面在台面马达的驱动下平移，所述台面上设置有用于读取台面位置的台面光栅尺，所述台面光栅尺具有台面光栅尺读头；A table, the table is used to carry the detection object, the table is translated under the drive of the table motor, the table is provided with a table grating ruler for reading the position of the table, and the table grating ruler has a table grating ruler reading head ;
    相机，所述相机用于采集图像，所述相机设置于所述台面的上方，所述相机在相机马达的驱动下平移，所述相机马达为伺服电机，所述相机上设置有用于读取相机位置的相机光栅尺，所述相机光栅尺具有相机光栅尺读头；a camera, the camera is used for capturing images, the camera is arranged above the table, the camera is translated under the drive of a camera motor, the camera motor is a servo motor, and a camera for reading is arranged on the camera a camera grating ruler at the position, the camera grating ruler has a camera grating ruler reading head;
    镜头，所述镜头用于为所述相机对焦，所述镜头设置于所述台面和所述相机之间，所述镜头在镜头马达的驱动下平移，所述镜头马达为伺服电机，所述镜头上设置有用于读取镜头位置的镜头光栅尺，所述镜头光栅尺具有镜头光栅尺读头；The lens is used for focusing the camera, the lens is arranged between the table and the camera, the lens is translated under the drive of a lens motor, the lens motor is a servo motor, and the lens There is a lens grating ruler for reading the position of the lens, and the lens grating ruler has a lens grating ruler reading head;
    高度数据采集器，所述高度数据采集器用于测量所述高度数据采集器与检测对象之间的距离，所述高度数据采集器设置于所述台面的上方；a height data collector, the height data collector is used to measure the distance between the height data collector and the detection object, and the height data collector is arranged above the table;
    第一控制器，所述相机马达、所述镜头马达、所述相机光栅尺读头和所述镜头光栅尺读头与所述第一控制器电连接；a first controller, the camera motor, the lens motor, the camera grating ruler reading head and the lens grating ruler reading head are electrically connected to the first controller;
    第二控制器，所述第一控制器、所述台面马达和所述台面光栅尺读头与所述第二控制器电连接；a second controller, the first controller, the tabletop motor and the tabletop grating ruler read head are electrically connected to the second controller;
    主控制器，所述高度数据采集器和所述第二控制器与所述主控制器电连接。A main controller, the altitude data collector and the second controller are electrically connected to the main controller.
  2. 如权利要求1所述的运动控制装置，其特征在于，所述运动控制装置还包括光学扫描头，所述光学扫描头装载所述相机和所述镜头，所述光学扫描头在光学扫描头马达的驱动下平移，所述光学扫描头上设置有用于读取所述光学扫描头位置的光学扫描头光栅尺，所述光学扫描头光栅尺具有光学扫描头读头，所述光学扫描头马达和所述光学扫描头光栅尺与所述第二控制器电连接。The motion control device according to claim 1, wherein the motion control device further comprises an optical scan head, the optical scan head is loaded with the camera and the lens, and the optical scan head is connected to the optical scan head motor. The optical scanning head is provided with an optical scanning head grating ruler for reading the position of the optical scanning head, the optical scanning head grating ruler has an optical scanning head reading head, the optical scanning head motor and The optical scanning head grating scale is electrically connected to the second controller.
  3. 如权利要求2所述的运动控制装置，其特征在于，所述台面马达控制所述台面沿前后方向水平移动，所述光学检测头马达控制所述光学检测头沿左右 方向水平移动，所述相机马达控制所述相机沿竖直方向移动，所述镜头马达控制所述镜头沿竖直方向移动。The motion control device according to claim 2, wherein the stage motor controls the stage to move horizontally in the front-rear direction, the optical detection head motor controls the optical detection head to move horizontally in the left-right direction, and the camera The motor controls the camera to move in the vertical direction, and the lens motor controls the lens to move in the vertical direction.
  4. 如权利要求1所述的运动控制装置，其特征在于，所述高度数据采集器在采集器马达的驱动下平移，所述采集器马达与所述主控制器电连接。The motion control device according to claim 1, wherein the height data collector is translated under the driving of a collector motor, and the collector motor is electrically connected to the main controller.
  5. 如权利要求1所述的运动控制装置，其特征在于，所述运动补偿装置还包括光源盒，所述光源盒用于提供光源、照亮检测对象，所述光源盒与所述主控制器电连接。The motion control device according to claim 1, wherein the motion compensation device further comprises a light source box, the light source box is used to provide a light source and illuminate the detection object, and the light source box is electrically connected to the main controller. connect.
  6. 如权利要求5所述的运动控制装置，其特征在于，所述高度数据采集器设置于所述光源盒上，所述光源盒在采集器马达的驱动下平移，所述采集器马达与所述主控制器电连接。The motion control device according to claim 5, wherein the height data collector is arranged on the light source box, the light source box is translated under the driving of a collector motor, and the collector motor is connected to the The main controller is electrically connected.
  7. 一种自动光学检测机，其特征在于，包括如权利要求1-6中任一项所述的运动控制装置。An automatic optical inspection machine, characterized by comprising the motion control device according to any one of claims 1-6.
PCT/CN2020/124712 2020-09-27 2020-10-29 Motion control device capable of automatically adjusting depth of field and automated optical inspection machine WO2022062057A1 (en)

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