TWI827063B - Processing apparatus, detecting method and handler - Google Patents

Abstract

The present invention reveals a processing apparatus, including a processing mechanism and a detecting mechanism. The carrier of processing mechanism loaded with the first image capturing device and one processing member at least, transports the first image capturing device to the first checking position. The detecting mechanism is loaded with the second image capturing device and processing device. The second image capturing device is in the second checking position and capture the image to another between the first image capturing device in the first checking position and the second image capturing device in the second checking position. Let the first detecting data of capturing image transport to the processing member to detect the deviation value of the first and the second image capturing device. Adjusting the first deviation value in displacement of processing member and let the processing device displace precisely to the preset position and enhance the process precision.

Description

Working device, detection method and working machine

The present invention provides an operating device and a detection method that can accurately displace an operating device to improve operating accuracy.

Nowadays, the operating mechanism of electronic component working machines is equipped with a plurality of operators (such as transfer machines or carriers) to perform the transfer operation of picking up and placing electronic components or the feeding operation of transporting electronic components; as electronic components become increasingly sophisticated and tiny, Under the design, the accuracy requirements for the simultaneous movement of multiple operators to the preset operating positions are quite high. In terms of the material transfer device of the operating mechanism, the driver of the operating mechanism is driven by the motor , pulley set, screw screw seat set and other components are connected to drive a carrier to move in the X-Y-Z direction. The carrier is equipped with a plurality of feeders that are suction nozzles, and drives the plurality of feeders to synchronously move to the feed tray to take out multiple materials. electronic components.

However, if the carrier cannot drive the plurality of feeders to accurately move to the preset operating position due to factors such as deviations in the driver's components or assembly deviations, it will not be able to accurately align the plurality of feeders to pick up the materials on the supply tray. Multiple electronic components affect the accuracy of picking and placing operations.

Furthermore, when the carrier replaces a batch of multiple transfer devices, the multiple transfer devices may also be assembled in an abnormal position due to factors such as assembly position deviation or tilted assembly, resulting in abnormal spacing between the multiple transfer devices, making it impossible to accurately align and take them. Place multiple electronic components.

In addition, if the working height of multiple material transfer devices is abnormal due to factors such as assembly height deviation or inaccurate Z-direction displacement, problems such as damage to electronic components due to overvoltage or failure to pick and place electronic components may occur. This in turn affects the yield rate of electronic components and the smoothness of operations.

One object of the present invention is to provide an operating device, including an operating mechanism and a detecting mechanism. The operating mechanism is provided with a carrier that can move in at least one direction. The carrier is equipped with a first image pickup device and at least one operator, and can carry the first image pickup device to the first inspection position, and the at least one operator is used for alignment. The electronic component performs the preset operation. The detection mechanism is equipped with a second image pickup and a processor. The second image pickup is located at the second detection position. , whereby one of the first image pickup device located at the first detection position and the second image pickup device located at the second detection position can capture an image toward the other, and transmit the captured first detection data to the processor , for analyzing the first deviation value between the first image pickup device and the second image pickup device, and detecting the first deviation value of the displacement of the carrier carrying the first image pickup device and the operator, and then converting the first deviation value The compensation is adjusted to the displacement value of the operator, so that the operator can accurately move to the preset operating position, thereby improving the accuracy of the operation.

The second object of the present invention is to provide a working device, the detection mechanism of which is provided with a height shifter for assembling a second image pickup device, and the height shifter is used to adjust the detection height position of the second image pickup device, and the preset The second image pickup device captures the image sharpness of the operating devices, causing the processor to analyze whether the image sharpness of the second detection data of the plurality of operating devices is consistent, thereby detecting whether the actual height positions of the plurality of operating devices are the same, to achieve Practical benefits of improving detection efficiency.

The third object of the present invention is to provide a detection method, which includes a first actuation means, a first detection means and an adjustment means; the first actuation means uses the carrier of the operating mechanism to drive the first image pickup device to move to at least one first Detection position; the first detection means uses the first image pickup device located at the first detection position and the second image pickup device located at the second detection position of the detection mechanism, one of which can take an image toward the other, and will take the image The first detection data is transmitted to the processor of the detection mechanism; the adjustment method uses the processor to analyze the first deviation value of the first image pickup device and the second image pickup device, and compensates and adjusts the first deviation value to the operating mechanism The displacement value of the operator enables the operator to accurately move to the preset operating position, thereby improving the quality of the operation.

The fourth object of the present invention is to provide a detection method, which further includes a second actuating means and a second detecting means. The second actuating means uses the carrier of the operating mechanism to drive the operator to move by a preset distance value. , the second detection means uses the second image pickup device of the detection mechanism to capture the image of the operator, and transmits the captured second detection data to the processor, and the adjustment means uses the processor to analyze and obtain the actual position of the operator The second deviation value between the center and the center of the second image pickup device is compensated and adjusted to the displacement value of the operator, so that the operator can accurately move to the preset operating position, thereby improving detection performance.

The fifth object of the present invention is to provide a detection method, which includes a mounting means, a third actuation means, a third detection means and an adjustment means; the mounting means drives the second image pickup device with the height shifter of the detection mechanism. The displacement adjustment frame is placed at the required detection height; the third actuation means uses the second image pickup device and at least one operating device to be able to move toward the other; the third detection means uses the second pickup of the detection mechanism. The imager can capture the image of the operating device and transmit the captured third detection data to the processor of the detection mechanism; the adjustment method uses the processor to analyze whether the actual height position of the operating device is abnormal, thereby improving detection efficiency.

The sixth object of the present invention is to provide a detection method in which the third detection means can use the second image pickup device to capture a plurality of workers and transmit a plurality of third detection data to the processor. The adjustment means The processor can analyze whether the image sharpness of a plurality of third detection data is consistent to detect whether the actual height positions of a plurality of operating devices are the same, thereby improving detection efficiency.

The seventh object of the present invention is to provide a working machine, which includes a machine platform, a feeding device, a collecting device, an operating device of the present invention and a central control device. The feeding device is arranged on the machine platform and is provided with at least one feeder. It is used to accommodate the electronic components to be operated; the collecting device is arranged on the machine platform and is provided with at least one collecting device for accommodating the electronic components that have been operated; the operating device of the present invention is arranged on the machine platform and is provided with an operating mechanism and an inspection mechanism. The detection mechanism is provided with a carrier, a first image pickup device and at least one operator for performing preset operations on electronic components. The detection mechanism is provided with a second image pickup device and a processor for detection and compensation. The displacement value of the operator; the central control device is used to control and integrate the actions of each device to perform automated operations , to achieve practical benefits of improving operating efficiency.

In order to enable the review committee to have a further understanding of the present invention, a preferred embodiment is cited together with the drawings, and the details are as follows:

Please refer to Figures 1 to 3. The working machine includes a machine table 10, a feeding device 20, a collecting device 30, an operating device 40 and a central control device (not shown); the feeding device 20 is arranged on the machine table 10 and is provided with There is at least one feeder 21 for accommodating electronic components to be processed; a receiving device 30 is disposed on the machine 10 and is provided with at least one receiving device 31 for accommodating electronic components that have been processed; the central control device is used To control and integrate the actions of various devices to perform automated operations.

The operating device 40 is disposed on the machine platform 10 and includes an operating mechanism and a detecting mechanism. The operating mechanism includes a carrier, a first image pickup device, and at least one operating device.

The carrier can move in at least one direction. Furthermore, the carrier can be a moving arm or a moving platform. The operating mechanism is provided with a driver to drive the carrier to move. The driver can be a linear motor, a cylinder, or include a motor and at least one transmission. group; for example, the driver can drive a carrier that is a movable arm to move in the space above the machine 10 in the first, second, and third directions (such as the X-Y-Z direction); for example, the driver can drive a carrier that is a movable platform in the space above the machine 10 The top surface is displaced in the first direction; and the driver can drive a single or multiple carriers to move; therefore, the carrier is a movable device and is not limited to this embodiment. In this embodiment, the operating mechanism is provided with a plurality of drivers on the machine platform 10 to respectively drive a plurality of carriers to move in at least one direction. Taking the first carrier 411 as an example, the first carrier 411 is a moving arm, and the first carrier 411 is a moving arm. A driver 412 drives displacement in the first, second, and third directions (such as the X-Y-Z direction).

The first image pickup device 42 is assembled on the carrier, and is driven by the carrier to move in at least one direction. , in order to perform the preset imaging operation; however, not every carrier is equipped with the first image pickup 42, which can be configured according to the operation requirements; in this embodiment, the operating mechanism configures the first image pickup 42 on the first carrier 411 , the first image pickup 42 is a CCD, and is driven by the first carrier 411 to move in the X-Y direction to capture the electronic components to be operated on the feeder 21 of the feeding device 20 .

According to the inspection operation requirements, the first image pickup 42 can be carried by the first carrier 411 to at least a first inspection position. Furthermore, the first inspection position can be any inspection position on the horizontal plane around the circumference of a reference piece. To know the position, that is, the first carrier 411 can drive the first image pickup 42 to move horizontally by a preset detection stroke (for example, 1 mm), and the actual position of the first image pickup 42 can be used as the first detection distance. position; for example, the first carrier 411 carries the first image pickup device 42 for a preset first detection stroke of 1 mm in the X-direction horizontal displacement, and uses the actual position of the first image pickup device 42 as the first detection position in the X direction. ; Similarly, the first carrier 411 carries the first image pickup 42 for a preset second detection stroke of 1 mm in the Y direction horizontal displacement, and uses the actual position of the first image pickup 42 as the first detection stroke in the Y direction. position; therefore, according to the detection operation requirements, the first carrier 411 can carry the first image pickup device 42 to one or a plurality of first detection positions.

At least one operating device is assembled on the carrier and is driven by the carrier to move in at least one direction. , to perform preset operations on electronic components; further, the operator can be carried by the carrier and displaced by a preset distance value; the operator can be a material transfer device, a pressure shifter, a carrier or a tester, etc., to perform Electronic components perform preset operations such as pick and place, crimping and pick and place, placement or testing.

In this embodiment, the operating mechanism is provided with a plurality of first operating devices 431A, 431B... which are suction nozzles on the first carrier 411, and are driven by the first driver 412 to move in the Z direction, and the feeding device 20 supplies The feeder 21 takes out the electronic components to be processed and transfers them to the second operator 432. The second operator 432 is a carrier with a receiving slot for a plurality of first operators 431A, 431B... to move in a plurality of The electronic components to be operated can be moved in the X direction and transported to the bottom of the third operator 433. A plurality of third operators 433, which are pressure shifters, can be displaced in the Y-Z direction, and a plurality of components can be taken out from the second operator 432. The electronic components to be operated are moved into and pressed into the fourth operator 434. The fourth operator 434 is a tester and is provided with an electrically connected circuit board and a test socket for performing testing operations on the electronic components. During the test After completion, the third operator 433 moves the processed electronic components into the fifth operator 435. The fifth operator 435 is a carrier with a receiving slot and can move in the X direction to load out the processed electronic components. The sixth operator 435 The operator 436 is a suction nozzle, and can move in the X-Y-Z direction to take out the processed electronic components at the fifth operator 435, and according to the operation results, transfer the processed electronic components to the collector 31 of the collecting device 30 for classification. Collection.

The detection mechanism is provided with a second image pickup 44 and a processor (not shown). The second image pickup 44 is located at the second detection position B. The second image pickup 44 located at the second detection position B and the second image pickup 44 at the first detection position One of the first image pickup devices 42 in the detection position can take an image toward the other, and transmit the first detection data captured to the processor for analysis of the first image pickup device 42 and the second image pickup device The first deviation value of 44 can detect the first deviation value of the displacement of the operator carried by the carrier, and compensate and adjust the first deviation value to the displacement value of the operator, so that the operator can accurately move to the preset operating position.

In this embodiment, the detection mechanism is provided with a second image pickup device 44 that is a CCD on the machine 10 and located in the moving area of the first image pickup device 42. The second image pickup device 44 is located between the first image pickup device 42. Below, the center position of the second image pickup device 44 is used to define the starting reference position for the horizontal displacement of the first image pickup device 42, that is, the first image pickup device 42 is horizontal in the X direction with the center position of the second image pickup device 44. Displace the preset first detection stroke of 1mm, and use the actual position of the first image pickup device 42 as the first detection position A1 in the The center position is horizontally displaced in the Y direction by the preset second detection stroke of 1mm, and the actual position of the first image pickup device 42 is used as the first detection position A2 in the Y direction; however, according to the operation requirements, the first image pickup device 42 can It is also acceptable to displace the preset detection stroke in the forward and reverse direction of the horizontal X direction and the forward and reverse direction of the horizontal Y direction, so that the first image pickup device 42 can be located in the first detection position at different positions.

Based on the above, the second image pickup device 44 of the detection mechanism can capture the image of the operating device and transmit the captured second detection data to the processor for analysis of the center of the operating device and the second image capturing device located at the actual position. The second deviation value of the center is compensated and adjusted to the displacement value of the operator, so that the operator can accurately move to the preset operating position, thereby achieving the use benefit of improving operating accuracy.

Based on the above, the detection mechanism is provided with a height shifter 45 for assembling the second image pickup device 44 to adjust the required detection height, so as to facilitate presetting the image sharpness of the imaging operation device of the second image pickup device 44 For example, it can be preset that the image sharpness of the plurality of first operators 431A, 431B... captured by the second image pickup device 44 is the same as clear or blurry; further, the height shifter 45 can be a linear motor, a pressure cylinder, or a motor and at least one transmission group; better still, the height shifter 45 can rotate along an axis to adjust the imaging angle of the second image pickup device; in this embodiment, the height shifter 45 is configured on the machine platform 10, and can be connected to drive the second image pickup device 44 to move in a third direction (such as the Z direction) to adjust the detection height.

According to the operation requirements, the detection mechanism is equipped with a horizontal shifter (not shown) for assembling the second image pickup device 44 to adjust the horizontal detection position.

Please refer to Figures 1, 4 to 8. A detection method includes a first actuation means, a first detection means and an adjustment means; it also includes a first alignment means.

Before executing the first operating means, the first alignment means aligns the center of the first image pickup device with the center of the second image pickup device; in this embodiment, the first driver 412 of the operating mechanism uses the first carrier 411 The first image pickup device 42 and the plurality of first operators 431A, 431B... are driven to synchronously move in the X direction, so that the center of the first image pickup device 42 is aligned with the center of the second image pickup device 44, so that the first image pickup device 42. Use this center position as the starting reference position for displacement in the horizontal X and Y directions.

The first actuation means uses the carrier of the operating mechanism to drive the first image pickup device to at least a first detection position; in this embodiment, the first image pickup device 42 uses the center position of the second image pickup device 44 as the starting reference. position, the first driver 412 drives the first image pickup 42 through the first carrier 411 to move the first detection stroke of 1 mm in the horizontal X direction, and the actual position of the first image pickup 42 is used as the first detection stroke. Bit A1.

However, in order to ensure that the first carrier 411 drives the plurality of first operators 431A, 431B... to accurately move to the preset operating positions, it is necessary to detect whether the actual operating positions of the plurality of first operators 431A, 431B... deviate. The first detection means uses the first image pickup 42 located in the first detection position and the second image pickup 44 of the detection mechanism located in the second detection position. One of them can take an image toward the other and take the image. The first detection data is transmitted to the processor (not shown). Furthermore, the first image pickup 42 located at the first detection position and the second image pickup 44 located at the second detection position are both within each other's imaging area, regardless of whether the first image pickup 42 faces the second imaging position. The first detection data can be obtained by taking an image with the second image pickup device 44, or by taking an image with the second image pickup device 44 facing the first image pickup device 42. In this embodiment, the first image pickup 42 is located at the first detection position A1, and takes an image downward from the second image pickup 44 located at the second detection position B, and transmits the first detection data obtained in the horizontal X direction to Processor ;Similarly, when the first carrier 411 drives the first image pickup 42 to move in the horizontal Y direction by the preset second detection stroke of 1mm, the actual position of the first image pickup 42 is used as another first detection position. A2, and moves downward to capture the second image pickup 44 located at the second detection position B, and acquires another first detection data in the horizontal Y direction and transmits it to the processor.

The adjustment means uses the processor to analyze the first deviation value of the first image pickup device and the second image pickup device, and compensates and adjusts the first deviation value to the displacement value of the operating device of the operating mechanism, so that the operating device accurately moves to the preset Job location. According to the operation requirements, the first reference data captured by the first image pickup device at the preset first detection position facing the second image pickup device at the second detection position can be set in the database of the processor (not shown in the figure). Or set the second image pickup device at the preset second detection position to capture the first reference data toward the first image pickup device at the first detection position, so that the processor can compare the first detection data with the first reference data. A comparative analysis. In this embodiment, the processor performs a comparative analysis on the first detection data of the first image pickup device 42 and the first reference data in the database, and can detect the center of the first image pickup device 42 and the second image pickup point. The first deviation value of the center of the device 44 is because the first image pickup device 42 and the plurality of first operating devices 431A, 431B... are all driven by the first carrier 411 to move synchronously. In other words, the first image pickup device 42 operates The first deviation value of the horizontal X-direction displacement is the first deviation value of the horizontal X-direction displacement of the plurality of first operators 431A, 431B..., and the first deviation value can be compensated and adjusted to the plurality of first operators 431A. , the X-direction displacement value of 431B..., and by analogy, the first deviation value of the horizontal Y-direction displacement of the first image pickup device 42 can be compensated and adjusted to the Y-direction displacement values of the plurality of first operators 431A, 431B..., The plurality of first operating devices 431A, 431B... are accurately moved to the preset operating positions.

Based on the above, the detection method further includes a second actuation means and a second detection means. The second actuation means uses the carrier of the operating mechanism to drive at least one operator to displace a preset distance value. The second detection means uses the detection mechanism to The second image capturer can capture the image of the operator and transmit the captured second detection data to the processor. The adjustment means uses the processor to analyze the second deviation value of the actual position of the operator and calculate the second deviation value. The compensation is adjusted to the displacement value of the operator.

In this embodiment, since the first alignment means can align the center of the first image pickup 42 with the center of the second image pickup 44 as the starting reference position for the X-direction displacement; the second actuating means uses the first The carrier 411 drives the first image pickup 42 and a plurality of first operators 431A, 431B... to synchronously move a preset distance value in the X direction; since the first operator 431A is located above the second image pickup 42, the second The detection means uses the second image pickup device 44 to face upward to capture the first operator 431A at the actual position, and transmits the captured second detection data to the processor; however, the processor's database can be configured with a plurality of third One working machine 431A , the second reference data of 431B..., the adjustment method is for the processor to compare and analyze the second detection data and the second reference data to obtain the center of the first operating device 431A at the actual position and the default position. The second deviation value of the center of the first operator 431A is compensated and adjusted to the displacement value of the first operator 431A, and so on, so that the plurality of first operators 431A, 431B... are accurately displaced to the preset Job location.

A detection method includes a mounting means, a third action means, a third detection means and an adjustment means.

The mounting means is that the detection mechanism uses a height shifter to drive the second image pickup device to adjust the displacement to the required detection height; in this embodiment, the detection mechanism uses a height shifter 45 to drive the second image pickup device. The second image pickup device 44 moves in the Z direction to adjust the second image pickup device 44 to the required detection height, so that the second image pickup device 44 can capture multiple first operators 431A, 431B... under the same imaging position condition. Moreover, according to the operation requirements, the second image capture device 44 can preset the reference image sharpness of the plurality of first operating devices 431A, 431B... to be clear or blurred or image pixel value and other comparison conditions, which is conducive to expansion. Add comparison conditions to improve detection efficiency.

The third actuation means is that one of the second image pickup device 44 and the operating device of the operating mechanism can move toward the other; for example, the operating device can move horizontally toward the second image pickup device 44 and be located at the second image pickup device. 44 above, or the second image pickup device 44 moves horizontally toward the operating device and is located below the operating device, so that the operating device can be relative to the second image capturing device 44; in this embodiment, the first carrier 411 drives The plurality of first operators 431A, 431B... move horizontally toward the second image pickup 44, so that the plurality of first operators 431A, 431B... pass above the second image pickup 44 one by one.

The third detection means is that the second image pickup device of the detection mechanism can capture the image of the operating device and transmit the captured third detection data to the processor of the detection mechanism; in this embodiment, due to the plurality of third detection means, A working device 431A, 431B... is located above the second image pickup device 44. The second image capturing device 44 can take images of the plurality of first working devices 431A, 431B... passing above one by one, or take images of multiple first working devices 431A, 431B... at one time. Each of the workers 431A, 431B... can obtain the third detection data and transmit the third detection data to the processor of the detection institution.

The adjustment method is for the processor to analyze whether the actual height position of the operator is abnormal; further, the processor's database contains the reference height image data of the operator, and the processor can compare the images of the third detection data and the reference height image data Whether the sharpness is consistent.

Depending on the operation requirements, the third actuation means can also be a second image pickup device and one of the plurality of operating devices can be displaced toward the other; the third detection means can be a second image pickup device of the detection mechanism that can capture a plurality of images. The operator, and transmits the plurality of third detection data captured to the processor; the adjustment method uses the processor to analyze whether the plurality of third detection data are the same, so as to detect whether the actual height positions of the plurality of operators are equal. It's okay to be high.

In this embodiment, the calibration means uses the processor to receive the plurality of third detection data of the plurality of first operators 431A, 431B... transmitted by the second image pickup device 44, and can directly convert the plurality of third detection data. The data is compared to analyze whether the image sharpness is the same. For example, if a plurality of third detection data are all the same and are clear images, it can be detected that the actual height positions of a plurality of first operating devices 431A, 431B... are at the same height. On the contrary, if If one of the third detection data is ambiguous, it can be detected that the actual height position of this first operating device 431B is different from that of the other first operating devices 431A..., and the abnormality must be eliminated to improve the detection efficiency.

Machine 10 Feeding device 20 Feeder 21 Material receiving device 30 Receiver 31 Working device 40 First carrier 411 first drive 412 First viewfinder 42 First operating devices 431A, 431B Second worker 432 Third worker 433 Fourth worker 434 Fifth working machine 435 Sixth operating machine 436 Second viewfinder 44 Height shifter 45 First check position A1, A2 Second Check B

Figure 1: Schematic diagram of the working device of the present invention applied to a working machine. Figure 2: Configuration diagram of the operating mechanism and detection mechanism of the present invention. Figure 3: A partial schematic diagram of the detection mechanism of the present invention. Figure 4 to Figure 8: Schematic diagram of the use of the detection method of the present invention.

First carrier 411 First viewfinder 42 First operating devices 431A, 431B Second viewfinder 44 First check A1 Second Check B

Claims (4)

A detection method, including: a first alignment means: the carrier of the operating mechanism drives the displacement of the first image pickup device, and aligns the center of the first image pickup device with the center of the second image pickup device; a first actuating means : The first image pickup device of the operating mechanism uses the center position of the second image pickup device as the starting reference position, and the carrier drives the first image pickup device to move to at least a first detection position; first detection Means: One of the first image pickup device located at the first detection position and the second image pickup device with the detection mechanism located at the second detection position can take an image toward the other, and the first image pickup device that takes the image will be The detection data is transmitted to the processor of the detection mechanism; adjustment means: the processor analyzes the first deviation value between the first image pickup device and the second image pickup device, and compensates and adjusts the first deviation value to The displacement value of the operating device of the operating mechanism enables the operating device to accurately move to the preset operating position. The detection method as described in claim 1 further includes a second actuating means and a second detecting means. The second actuating means uses the carrier of the operating mechanism to drive the operating device to displace a preset distance value. The second detection means uses the second image pickup device of the detection mechanism to capture the image of the operator, and transmits the captured second detection data to the processor. The adjustment means uses the processor to analyze and obtain the image located at The second deviation value of the actual position of the operator is compensated and adjusted to the displacement value of the operator. A detection method, including: mounting means: the detection mechanism uses a height shifter to drive the displacement of the second image pickup device and adjust the mounting to the required detection height; third actuation means: the second image pickup device and One of the working tools of the working mechanism can face the other Move; third detection means: the second image pickup device of the detection mechanism can capture the image of the operator, and transmit the captured third detection data to the processor; adjustment means: the processor analyzes the Whether the actual height position of the operating device is abnormal; wherein, the third actuating means is based on the second image pickup device and one of the plurality of operating devices can be displaced toward the other, and the third detecting means is based on the detecting device. The second image pickup device of the known organization can capture a plurality of the operations and transmit the captured images of a plurality of the third detection data to the processor. The adjustment method uses the processor to analyze a plurality of the operations. Whether the device is of equal height. The detection method as described in claim 3, wherein the processor's database contains the base height image data of the operator for the processor to compare the third detection data with the base height image data. Whether the sharpness is consistent.

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