CN102595800A - Visual positioning device for carrying out high-accuracy synchronous attaching on multiple substrates and method thereof - Google Patents
Visual positioning device for carrying out high-accuracy synchronous attaching on multiple substrates and method thereof Download PDFInfo
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- CN102595800A CN102595800A CN2011100042119A CN201110004211A CN102595800A CN 102595800 A CN102595800 A CN 102595800A CN 2011100042119 A CN2011100042119 A CN 2011100042119A CN 201110004211 A CN201110004211 A CN 201110004211A CN 102595800 A CN102595800 A CN 102595800A
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Abstract
The invention relates to a visual positioning device for carrying out high-accuracy synchronous attaching on a plurality of substrates and a method thereof. The method comprises the following steps of: providing a temporary storage area for storing the substrates; providing a positioning area and moving the substrates to the positioning area from the temporary storage area by utilizing a moving platform; capturing images of the substrates by utilizing a vision device and analyzing offset values of the substrates; after carrying out compensation according to the offset value of each substrate by utilizing a moving positioning device, sequentially sucking the substrates positioned in the positioning area to compensate the offset value of each substrate; and synchronously placing the positioned substrates on a support plate under the high accuracy by utilizing the moving positioning device, so that each two substrates fixed on the support plate have high-accuracy relative positions.
Description
Technical field
The present invention relates to a kind of vision positioning device and method thereof of synchronous pasting board, refer to a kind of with a plurality of substrate high accuracy, fit in the vision positioning device and the method thereof of the synchronous pasting board on the support plate at high speed especially.
Background technology
The technology of electronic product is fast-developing; Characteristics such as that the Related product characteristic requires mostly is in light weight, volume is little, high-quality, low price, low consumpting power and high-reliability; These characteristics has promoted the exploitation and the Market Growth of technology such as communication, multimedia; And more rapid with the development of the multimedia articles for use carried or information products, for the portability of electronic product, the volume of product and size are all with the small prerequisite that turns to.
Angle from production cost and efficient; In order to cooperate the part demand of putting of SMT factory; That traditionally a plurality of undersized circuit boards are merged into that an area is big, component number is more and plate, but with circuit board and become many connecting plates is bound to such an extent that bear two kinds of risks in addition; One can't in time revise in response to various boards harmomegathus size for the single steel plate of printing machine at any time, and causes the element of paste solder printing skew to set up a monument and empty weldering problem; Two for occurring circuit board in many connecting plates because of interior layer line is disconnected, the bad plate of short circuit mixes wherein, becomes the factor that another causes SMT production line mobility to descend, or because of SMT factory rejects these many connecting plates, and the problem that causes purchase cost significantly to increase.
Yet, traditional pasting board/and produce following problem during plate:
1,, utilize high temperature gummed tape that circuit board is fitted on the support plate with manual type.Yet; Precision the method made and plate is not good; The error of fitting except manual work more maybe be because the pliability (like soft board) of circuit board itself, makes circuit board generation warpage, kinking, crooked situation when attaching; Especially high temperature gummed tape only attaches around the soft board, so its middle position may form projection or kinking.So precision above-mentioned and plate can't effectively be controlled, and causes the SMT board can't element be seated in desired position; In addition, cost of labor also causes the burden of SMT factory.
2, utilize reusable high temperature viscose that circuit board is fitted on the support plate.This mode can solve the projection or the kinking of the middle position of circuit board, but the life-span of high temperature viscose can't quantize, only can manage, so make and the cost of plate significantly improves with the mode of estimating least life; In addition, the mode of above-mentioned tradition and plate all can't promote its speed, for example carries out the pasting board processing procedure piecewise, makes the pasting board processing procedure time bottleneck of output time (cycle time) occur.
Summary of the invention
Embodiments of the invention provide a kind of vision positioning method of high precision synchronous pasting board of many substrates; It is in order to be positioned over a support plate with a plurality of substrates; The vision positioning method of this synchronous pasting board may further comprise the steps: provide one in order to depositing the working area of substrate, and a plurality of substrates are sent to this working area; One positioning area is provided, and said substrate is moved into this positioning area by this working area, wherein utilizes a mobile platform that said substrate is moved to this positioning area by this working area; Utilize a sighting device to capture the image of said substrate, and analyze the deviant of said substrate, wherein this mobile platform is with the below of said substrate delivery to this sighting device; Utilize one to move positioner and carry out drawing after the revisal according to the deviant of each substrate and be positioned at the said substrate on this positioning area; Wherein this sighting device is located at this and is moved on the positioner; This moves positioner deviant change its absorption angle and position according to each substrate, with the deviant of each substrate of revisal; And utilize this move positioner with above-mentioned through the location said substrate be positioned on this support plate accurately and synchronously, make between two two substrates that are fixed on this support plate to have high-precision relative position.
The embodiment of the invention also provides a kind of vision positioning device of high precision synchronous pasting board of many substrates, and it is in order to be positioned over a plurality of substrates on one support plate, and this vision positioning device comprises: a support body; One is located at the working area on this support body, and said substrate is temporary in this working area; One is located at the positioning area on this support body, and said substrate is moved into this positioning area through a mobile platform from this working area; One is located at the sighting device of moving positioner, and wherein this mobile platform is with the below of said substrate delivery to this sighting device; One moves positioner; It is arranged on this support body movably; Be positioned at the said substrate on this positioning area in order to absorption carry out revisal according to the deviant of each substrate after; Wherein this moves positioner deviant change its absorption angle and position according to each substrate, with the deviant of each substrate of revisal; And bear this support plate on this support body, by this, this is moved positioner said substrate is positioned on this support plate accurately and synchronously, makes between two two substrates that are fixed on this support plate to have high-precision relative position.
The present invention has following useful effect: the deviant of the present invention elder generation analytic substrate; In the time of the absorption substrate, carry out the revisal of substrate deviant again; Then carry out synchronous pasting board, thus the precision of pasting board can be promoted, in view of the above; With regard to the speed and accuracy of production line, the vision positioning device/method of synchronous pasting board of the present invention all has the effect of significantly improving.
Description of drawings
Fig. 1 is the flow chart of vision positioning method of the high precision synchronous pasting board of many substrates of the present invention.
Fig. 2 is the schematic perspective view of vision positioning device of the high precision synchronous pasting board of many substrates of the present invention.
Fig. 2 A is the enlarged drawing of the A part among Fig. 2.
Fig. 2 B is an end view of moving positioner.
Fig. 3 on the skew places the sketch map of mobile platform for substrate.
Fig. 4 fits in the sketch map of support plate accurately for substrate.
Wherein, description of reference numerals is following:
10 support bodys
The 11B positioning area
12 mobile platforms
13 move positioner 130 concave surfaces
14 sighting devices
15 support plates
2 substrates, 20 witness markers
θ 1, θ 2 angles
D relative distance
S101～S109 process step
Embodiment
The present invention proposes a kind of vision positioning device and method thereof of synchronous pasting board of many substrates; It mainly can be used for moving fast substrate; Utilize the technology of revisal skew that substrate is adjusted behind correct angle/tram; Fit synchronously and accurately and be fixed on the support plate, thus the output time of pasting board can be shortened, to reach the target that promotes prouctiveness.
At first; See also Fig. 2 to Fig. 2 A; The vision positioning device of the high precision synchronous pasting board of many substrates proposed by the invention comprises at least: a support body 10, is located at working area 11A, on the support body 10 and is located at the positioner 13, of moving that positioning area (taking by weighing the material district again) 11B on the support body 10, is arranged on this support body 10 in the mobile platform that moves back and forth between working area 11A and the positioning area 11B 12, movably and is located at this sighting device 14 and one of moving on the positioner 13 and bears the support plate 15 on support body 10; And the function of the vision positioning device of this synchronous pasting board is the deviant of revisal (or claiming compensation) substrate 2; Like various circuit boards, soft board etc.; To fit in a plurality of substrates 2 on the support plate 15 synchronously, accurately; Wherein " high accuracy " is meant and has high-precision relative position d (as shown in Figure 4) between the adjacent in twos substrate 2; The present invention can reach the effect of revisal according to the relative position d of 2 of the adjacent in twos substrates of program declaration, and because the vision positioning device of the synchronous pasting board of many substrates of the present invention can be fitted a plurality of substrates 2 synchronously on support plate 15, so can save the output time of pasting board processing procedure; In addition, this substrate 2 is provided with a plurality of witness markers 20, and with the usefulness as identification, location, and above-mentioned witness marker 20 preferably is arranged at the upper surface of this substrate 2.For example Fig. 2, Fig. 2 A move positioner 13 and can once two plate bases 2 be carried out synchronous pasting board, and be fixed with four plate bases 2 on the support plate 15, i.e. expression is moved positioner 13 and accomplished twice pasting board operation.
In view of the above; The vision positioning device that the present invention can use the synchronous pasting board of above-mentioned many substrates carries out the vision positioning method of following synchronous pasting board; To carry out the pasting board operation to a plurality of substrates 2 synchronously, the vision positioning method of synchronous pasting board of the present invention will be described below with two substrates 2:
Step S101: provide one in order to deposit the working area 11A of substrate 2.In the present embodiment, two substrates 2 utilize absorption heads 111 or other Filtting devices that substrate 2 is moved the mobile platform 12 that is placed among the 11A of working area by feed zone, to improve substrate 2 are moved to the speed of positioning area 11B.Because in 12 last times of mobile platform, moved, be positioned over to absorption heads 111 with substrate 2; Error possibly appear in the position between the substrate 2; As shown in Figure 3; Crooked situation possibly appear in the substrate 2 of the left and right sides, and the present invention can solve above-mentioned crooked situation, and synchronously crooked substrate 2 is fitted in (as shown in Figure 4) on the support plate 15 with high-precision mode.
In addition, support body 10 is this device main body, and aforesaid device is set up in support body 10 substantially.Can include in order to the storage device (figure does not show) of placing substrate 2 on the support body 10 etc.; Storage device is equivalent to feed zone; Its function is to place aforesaid substrate 2; And absorption heads 111 can pick and place and place the mobile platform 12 on the 11A of working area by the storage device of feed zone with substrate 2 with vacuum mode, and mobile platform 12 preferably can have pull of vacuum, but and bearing substrate 2 between working area 11A and positioning area 11B, come and go and move.
Step S103: a positioning area 11B is provided.In this step; Said substrate 2 is moved into this positioning area 11B by this working area 11A; For example utilize the mobile platform 12 that comes and goes fast that substrate 2 is moved to this positioning area 11B by this working area 11A; This mobile platform 12 can provide pull of vacuum (as being connected to a vacuum pump) or other fixed forms that substrate 2 stably is placed on the mobile platform 12, and can not produce the problem that substrate 2 drops.
And aforesaid working area 11A is between feed zone and positioning area 11B, and its function is temporary substrate 2, with shorten feed zone with after the distance of the positioning area 11B that states.In other words; The position of working area 11A is near above-mentioned positioning area 11B; And utilize mobile platform 12 bearing substrates 2 between working area 11A and positioning area 11B, to come and go and move; So can improve the efficient (the shift motion distance is shorter) of work, make substrate 2 be sent to positioning area 11B by working area 11A at high speed.In specific embodiment, working area 11A and positioning area 11B can be same board zone, and this explanation only is on literal, to define with convenient explanation.
Step S105: the image that utilizes the said substrate 2 of a sighting device 14 acquisitions; And analyze the deviant of said substrate 2, in this specific embodiment, sighting device 14 is installed in to be moved on the positioner 13; To avoid sighting device 14 and the relative error of moving positioner 13; Wherein in this step, this mobile platform 12 delivers said substrate 2 to the below of sighting device 14, is beneficial to the image of sighting device 14 acquisition substrates 2 and carries out image analysing computer.In one embodiment; Sighting device 14 can be a kind of vision inspection apparatus of going up; To be used to inspect the upper surface image of substrate 2, for example inspect the position of the witness marker 20 of substrate 2 in regular turn, judge the deviant of substrate 2 to utilize image analysing computer; And will detect the result and pass to control unit etc. (figure does not show), to control follow-up absorption step.
Step S107: utilize and to move positioner 13 and carry out drawing after the revisal according to the deviant of each substrate 2 and be positioned at the said substrate 2 on this positioning area 11B; Wherein this moves positioner 13 deviant change its absorption angle and position according to each substrate 2, with the deviant of each substrate 2 of revisal; In other words; In this step; This is moved positioner 13 and preferably has an adjustable absorption heads (having the device of the ability of moving like vacuum cups, sucker or other), and it can be according to the offset compensation of being analyzed in the last step that the result carries out substrate 2 that detects, and substrate 2 is drawn.Particularly, step 4 can be divided into following substep:
(1) this absorption heads earlier according to said substrate 2 one of them the deviant adjustment its draw angle and position;
(2) this absorption heads is downwards to draw the substrate 2 of accomplishing this deviant of revisal;
(3) this absorption heads makes progress with this substrate 2 of being drawn and moves to correct angle and tram;
(4) again according to above-mentioned steps; Draw other substrates 2 in the said substrate 2 one by one; And when drawing other substrates 2, control the spacing of 2 of two adjacent substrates and carry out revisal, for example can declare the spacing of 2 of two adjacent substrate and carry out revisal according to system program; After making follow-up pasting board, has high-precision relative distance d (as shown in Figure 4) between the adjacent in twos substrate 2.
Please combine Fig. 3; Above-mentioned step can specify as follows; At first absorption heads elder generation is according to deviant adjustment its absorption angle and position of the substrate 2 in left side, and for example according to the analysis result of step S 105, the substrate 2 in left side is skew one angle θ 1 counterclockwise; So control unit is earlier according to analysis result, with the counterclockwise deviation angle θ 1 of absorption heads; Then, absorption heads is to bottom offset, to draw the substrate 2 (i.e. the substrate 2 in left side) of accomplishing this deviant of revisal; Then, this absorption heads moves up with this substrate 2 of being drawn, and turns clockwise, to adjust substrate 2 to correct angle and tram.
Next, to the substrate 2 on right side, control unit is again according to analysis result, with the clockwise deviation angle θ 2 of absorption heads; Then, absorption heads is to bottom offset, drawing the substrate 2 (being the substrate 2 on right side) of accomplishing this deviant of revisal, and when drawing the substrate 2 on right side, can declare the spacing of 2 of two adjacent substrate and carry out sucking action according to program; Then, this absorption heads moves up with this substrate 2 of being drawn, and is rotated counterclockwise, to adjust substrate 2 to correct angle and tram.
By this, the present invention can make follow-up pasting board have high accuracy with two crooked substrate 2 revisals about present embodiment to correct angle and tram, has high-precision relative distance d to reach between the adjacent in twos substrate 2.What be worth explanation is, present embodiment describes with deviation angle, but is not to exceed with above-mentioned, other for example skew aforesaid way also capable of using such as distance carry out revisal and adjustment.In addition; Shown in Fig. 2 B; The absorption face of moving positioner 13 is preferably male and fomale(M&F); Convex surface is mainly used in draws substrate 2, and concave surface 130 then is in order not have influence on completed substrate 2 in the previous pasting board operation when the pasting board, and the width of concave surface 130 can be adjusted according to the relative distance d of pasting board.
And after step S107; Step S109 is that the positioner 13 of moving capable of using is positioned over (as shown in Figure 5) on the support plate 15 accurately with above-mentioned substrate 2 through revisal, location, makes between two two substrates 2 that are fixed on the support plate 15 to have high-precision relative position.Therefore, the present invention can synchronously fit in a plurality of substrates 2 on the support plate 15 accurately, so can effectively save the activity duration of pasting board.
So; According to above-mentioned explanation, the present invention can adjust the deviation post/angle of substrate 2 according to the result that sighting device 14 is analyzed, and promptly moving positioner 13 can be according to the position and the direction of said witness marker 20; Compensation, the direction such as X axle, Y axle, Z axle and azimuth of adjusting this substrate 2 and position etc.; Synchronously a plurality of substrates 2 are fitted on the support plate 15 accurately again, make to have high-precision relative distance d between the adjacent in twos substrate 2, and can effectively save the activity duration of pasting board.
In sum, the present invention has following all advantage:
1, the present invention utilizes the mode of synchronous pasting board to fit in a plurality of substrates on the support plate synchronously; So can solve the low problem of speed that conventional one-piece is carried out pasting board, in other words, the present invention can significantly save the processing procedure time of pasting board; For example in this specific embodiment, its output time is about 4.5 seconds/and 2.
2, in addition; The arrange in pairs or groups step of image analysing computer of the present invention is analyzed with regard to the deviant of each substrate earlier, in the absorption substrate, carries out the revisal of substrate deviant; Make in twos that the precision between the pasting board can reach pact ± 30 μ m, therefore on speed of producing and precision, all can reach the requirement on the processing procedure.
The above is merely preferable possible embodiments of the present invention, does not limit to claim of the present invention, so the equivalence techniques that all utilizations specification of the present invention and accompanying drawing content are done changes, all is contained in the scope of the present invention.
Claims (10)
1. the vision positioning method of the high precision synchronous pasting board of substrate more than a kind is characterized in that, in order to a plurality of substrates are positioned over a support plate, the vision positioning method of this synchronous pasting board may further comprise the steps:
Provide one in order to depositing the working area of substrate, and a plurality of substrates are sent to this working area;
One positioning area is provided, and said substrate is moved into this positioning area by this working area, wherein utilizes a mobile platform that said substrate is moved to this positioning area by this working area;
Utilize a sighting device to capture the image of said substrate, and analyze the deviant of said substrate, wherein this mobile platform is with the below of said substrate delivery to this sighting device;
Utilize one to move positioner and carry out drawing after the revisal according to the deviant of each substrate and be positioned at the said substrate on this positioning area; Wherein this sighting device is located at this and is moved on the positioner; This moves positioner deviant change its absorption angle and position according to each substrate, with the deviant of each substrate of revisal; And
Utilize this to move positioner above-mentioned said substrate through the location is positioned on this support plate accurately and synchronously, make between two two substrates that are fixed on this support plate to have high-precision relative position.
2. the vision positioning method of the high precision synchronous pasting board of many substrates as claimed in claim 1; It is characterized in that; This is moved positioner and has an adjustable absorption heads, draws in the step of said substrate utilizing this to move positioner, and this absorption heads is carried out following steps:
Step 1: it draws angle and position the deviant adjustment of one of them of the said substrate of this absorption heads elder generation foundation;
Step 2: this absorption heads is downwards to draw the substrate of accomplishing this deviant of revisal;
Step 3: this absorption heads makes progress with this substrate of being drawn and moves to correct angle and tram;
Step 4: again according to above-mentioned steps one to step 3, draw other substrates in the said substrate one by one.
3. the vision positioning method of the high precision synchronous pasting board of many substrates as claimed in claim 2; It is characterized in that; This sighting device is a kind of vision inspection apparatus of going up; Utilizing a sighting device of being located at this positioning area to capture in the step of image of said substrate, this sighting device is in order to inspect the image of the witness marker on the said substrate.
4. the vision positioning method of the high precision synchronous pasting board of many substrates as claimed in claim 3; It is characterized in that; Utilizing a mobile platform to move to said substrate in the step of this positioning area by this working area; Said mobile platform provides pull of vacuum, so that substrate stably is placed on this mobile platform.
5. the vision positioning method of the high precision synchronous pasting board of many substrates as claimed in claim 3 is characterized in that, in said step 4, controls the spacing between two adjacent substrates and carries out revisal.
6. the vision positioning method of the high precision synchronous pasting board of many substrates as claimed in claim 5 is characterized in that, this absorption face of moving positioner is a male and fomale(M&F).
7. the vision positioning device of the high precision synchronous pasting board of substrate more than a kind is characterized in that, in order to a plurality of substrates are positioned over a support plate, this vision positioning device comprises:
One support body;
One is located at the working area on this support body, and said substrate is temporary in this working area;
One is located at the positioning area on this support body, and said substrate is moved into this positioning area through a mobile platform from this working area;
One moves positioner; It is arranged on this support body movably; Be positioned at the said substrate on this positioning area in order to absorption carry out revisal according to the deviant of each substrate after; Wherein this moves positioner deviant change its absorption angle and position according to each substrate, with the deviant of each substrate of revisal;
One is located at the sighting device that this moves positioner, and wherein this mobile platform is with the below of said substrate delivery to this sighting device; And
Bear this support plate on this support body, by this, this is moved positioner said substrate is positioned on this support plate accurately and synchronously, makes between two two substrates that are fixed on this support plate to have high-precision relative position.
8. the vision positioning device of the high precision synchronous pasting board of many substrates as claimed in claim 7; It is characterized in that; This is moved positioner and has an adjustable absorption heads, and this sighting device is a kind of vision inspection apparatus of going up, and this sighting device is in order to inspect the image of the witness marker on the said substrate.
9. the vision positioning device of the high precision synchronous pasting board of many substrates as claimed in claim 8 is characterized in that, this mobile platform provides pull of vacuum.
10. the vision positioning device of the high precision synchronous pasting board of many substrates as claimed in claim 7 is characterized in that, this absorption face of moving positioner is a male and fomale(M&F).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011100042119A CN102595800A (en) | 2011-01-04 | 2011-01-04 | Visual positioning device for carrying out high-accuracy synchronous attaching on multiple substrates and method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100042119A CN102595800A (en) | 2011-01-04 | 2011-01-04 | Visual positioning device for carrying out high-accuracy synchronous attaching on multiple substrates and method thereof |
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| CN107703649A (en) * | 2016-08-08 | 2018-02-16 | 由田新技股份有限公司 | Transfer equipment for simultaneously detecting multiple material sheets to be detected and detection system thereof |
| CN108311765A (en) * | 2017-01-18 | 2018-07-24 | 鸿骐新技股份有限公司 | Dual chip module takes the assemble method for setting welding system and dual chip module |
| CN109551871A (en) * | 2019-01-14 | 2019-04-02 | 东莞市凯格精密机械有限公司 | A kind of more substrates contraposition printing process and para-position printing machine |
| CN113696595A (en) * | 2020-05-21 | 2021-11-26 | 鸿骐新技股份有限公司 | Substrate laminating machine table with double operation lines and processing system thereof |
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| CN108311765A (en) * | 2017-01-18 | 2018-07-24 | 鸿骐新技股份有限公司 | Dual chip module takes the assemble method for setting welding system and dual chip module |
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| CN113696595A (en) * | 2020-05-21 | 2021-11-26 | 鸿骐新技股份有限公司 | Substrate laminating machine table with double operation lines and processing system thereof |
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Application publication date: 20120718 |