A point gluing motion control system for an automatic die bonder

Abstract

The present application relates to point glue motion control, in particular to a kind of point glue motion control system for automatic die bonder, man-machine interaction unit is realized by the combination of point glue software and hardware circuit, the operation of visual system, create and edit point glue procedure, real-time monitoring each system module operating state and data feedback and analysis, the image after processing by visual system with template is carried out feature matching, according to the matching result automatically set point glue parameter and send to motion control unit, while collecting point glue process image and carrying out analysis, to improve the setting of point glue parameter and point glue process;Motion control unit, with STM32 as main controller, FPGA is auxiliary controller to build hardware platform and external circuit, based on point glue parameter combination point glue starting condition detection result drives stepper motor to drive point glue ware to move to preset point glue position and carry out point glue operation;The technical scheme provided by the present application can effectively overcome the defects that the adaptability, flexibility and precision of point glue are poor.

Description

Technical Field

[0001] This invention relates to dispensing motion control, and more specifically to a dispensing motion control system for an automatic die bonder. Background Technology

[0002] Die bonding typically involves using a die bonding arm to pick up a wafer from the die supply position and move it to the die bonding position on the substrate. The wafer is then precisely placed on the substrate, and a dispensing machine is used to apply adhesive to achieve die bonding.

[0003] Traditional dispensing motion control systems lack the application of vision technology and improvements in sensor technology. This means that they cannot obtain accurate information about the workpiece and dispensing position in real time, cannot automatically judge the dispensing process and perform real-time quality inspection, and cannot detect problems such as glue leakage or over-dispensing in a timely manner. This leads to deviations in the dispensing position, seriously affects the dispensing quality, and increases the risk of product defects.

[0004] The lack of multi-axis linkage in traditional dispensing motion control systems limits the system's precision in dispensing onto complex, curved, and irregularly shaped workpieces. Furthermore, it cannot flexibly adjust dispensing parameters such as path, speed, and pressure according to process requirements, affecting the adaptability and flexibility of the dispensing process. Due to these limitations, frequent manual intervention and adjustments may be required, leading to low production efficiency and a high risk of operational errors. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a dispensing motion control system for an automatic die bonder, which can effectively overcome the defects of poor adaptability, flexibility and accuracy of dispensing in the prior art.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] A dispensing motion control system for an automated die bonder includes a human-machine interface unit and a motion control unit;

[0010] The human-computer interaction unit combines dispensing software and hardware circuitry to realize the operation of the vision system, create and edit dispensing programs, monitor the operating status of each system module in real time, and provide data feedback and analysis. It performs feature matching between the image processed by the vision system and the template, automatically sets the dispensing parameters based on the matching results, and sends them to the motion control unit. At the same time, it collects and analyzes images of the dispensing process to improve the setting of dispensing parameters and the dispensing process.

[0011] The motion control unit uses an STM32 as the main controller and an FPGA as the auxiliary controller to build a hardware platform and external circuit. Based on the dispensing parameters and the detection results of dispensing start conditions, it drives a stepper motor to move the dispensing device to the preset dispensing position to perform the dispensing operation.

[0012] Preferably, the human-computer interaction unit runs on a PC, and the vision system uses a camera and image processing technology to acquire, process and analyze visual information. The vision system includes a camera, an image acquisition and processing module, a feature extraction and analysis module, a target detection and tracking module, and a visual feedback and control module.

[0013] A camera, mounted on one side of the dispensing machine, is used to capture images of the workpiece;

[0014] The image acquisition and processing module transmits the workpiece images captured by the camera directly through a high-speed communication interface, and performs image processing on the workpiece images after acquisition, including noise reduction, enhancement, and edge detection.

[0015] The feature extraction and analysis module extracts features of the target region, including edges, corners, and textures, through specific image processing algorithms, and locates and identifies the target, as well as analyzes the characteristics and attributes of the target.

[0016] The target detection and tracking module detects targets using a target detection algorithm and tracks the position and motion trajectory of the target in consecutive image frames using a target tracking algorithm.

[0017] The visual feedback and control module provides real-time feedback signals to the motion control unit based on visual information obtained from the workpiece image to control the dispensing device's actions.

[0018] Preferably, the main controller and the auxiliary controller communicate through a communication interface. The main controller is connected to a PC, an external storage module, and a power supply module, while the auxiliary controller is connected to an analog-to-digital / digital-to-analog converter module, a stepper motor module, a flow control module, and a drive module.

[0019] The external storage module acts as a bidirectional channel for sending and receiving data.

[0020] The main controller receives the dispensing parameters sent by the human-machine interface unit and sends them to the auxiliary controller;

[0021] The analog-to-digital / digital-to-analog conversion circuit module converts the detection signals from the sensors in the flow control module into analog signals and sends them to the auxiliary controller, while simultaneously converting digital signals into analog signals.

[0022] The stepper motor module drives the stepper motor to rotate according to the required step angle based on the control signal of the auxiliary controller, thereby moving the dispensing device to the preset dispensing position. It also drives the solenoid valve drive circuit in the flow control module to perform the dispensing operation based on the control signal of the auxiliary controller.

[0023] The auxiliary controller obtains the dispensing start condition detection result based on the sensor detection signal. Based on the dispensing parameters and the dispensing start condition detection result, it drives the dispensing device to move to the preset dispensing position through the stepper motor module and performs the dispensing operation.

[0024] Preferably, the external storage module includes a storage chip U4, whose serial data input / output pin is connected to the PB7 pin of the main controller to serve as a bidirectional channel for sending and receiving data.

[0025] The serial clock input pin of the memory chip U4 is connected to the PB6 pin of the main controller. The main controller determines the data transmission rate and timing by controlling the PB6 pin.

[0026] A capacitor C19 is connected between the VCC and GND pins of the memory chip U4 to smooth power fluctuations, filter interference, and reduce signal reflection, thereby improving the reliability of the memory chip U4 and ensuring that the memory chip U4 works normally and stores data accurately.

[0027] Preferably, the power module includes a voltage regulator U3, and a capacitor C9 is connected between the GND pin and the IN pin of the voltage regulator U3 to provide stable power filtering and remove high-frequency noise, reduce noise on the power line, and provide stable voltage output.

[0028] The voltage regulator U3 has two capacitors C10 and C11 connected in parallel between its OUT pin and TAB pin, which serve to stabilize the voltage and filter the signal.

[0029] The OUT pin of the voltage regulator U3 is connected to the indicator light D10 through the current-limiting resistor R13.

[0030] Preferably, the analog-to-digital / digital-to-analog conversion circuit module includes an analog-to-digital conversion circuit and a digital-to-analog conversion circuit. The analog-to-digital conversion circuit performs analog-to-digital conversion on the detection signal from the sensor in the flow control module and sends it to the auxiliary controller. The analog-to-digital conversion circuit includes an AD chip, an attenuation circuit, and a signal input interface that are sequentially connected to a standard interface.

[0031] The digital-to-analog converter circuit converts digital signals into analog signals. The digital-to-analog converter circuit includes a DA chip, a low-pass filter, an amplitude adjustment circuit, and a signal output interface that are connected in sequence to a standard interface.

[0032] The low-pass filter removes high-frequency noise from the differential output of the DA chip, retains low-frequency components in the analog signal, and improves the accuracy and stability of the conversion.

[0033] The amplitude adjustment circuit adjusts the amplitude of the analog signal to avoid signal distortion or exceeding the device's operating range, thus obtaining reliable and accurate output results.

[0034] Preferably, the stepper motor module includes a stepper motor and a driver chip for driving the stepper motor. The driver chip adjusts the output current and voltage waveforms based on the control signal of the auxiliary controller, drives the stepper motor to rotate according to the required step angle, and moves the dispensing device to the preset dispensing position.

[0035] The input terminal of the driver chip is connected to the auxiliary controller, and the output terminal of the driver chip is connected to the stepper motor with a current-limiting resistor to balance the current between each phase of the stepper motor and ensure that the stepper motor and the driver chip are not overloaded.

[0036] All unused output pins of the driver chip are grounded to improve circuit stability, suppress interference, prevent electrostatic discharge, and protect circuit safety.

[0037] The stepper motors include an X-axis stepper motor B1, a Y-axis stepper motor B2, and a Z-axis stepper motor B3. The drive chips include drive chips U10, U11, and U12 that drive the X-axis stepper motor B1, the Y-axis stepper motor B2, and the Z-axis stepper motor B3, respectively. The OUT5 pin of the drive chip U10 is connected to the solenoid valve drive circuit in the flow control module.

[0038] Preferably, the flow control module includes a temperature sensor, a pressure sensor, a laser sensor, a flow sensor, and a solenoid valve drive circuit. The temperature sensor is used to detect the temperature of the adhesive in the dispensing syringe, the pressure sensor is used to detect the pressure of the gas in the dispensing syringe, the laser sensor is used to detect the height distance between the dispensing device and the preset dispensing position, and the flow sensor is used to detect the dispensing flow rate of the dispensing device.

[0039] The solenoid valve drive circuit includes a relay control circuit, an optocoupler control circuit, and a drive circuit connected in sequence. The relay control circuit includes a relay K2, a rectifier diode D13, and a transistor Q2. The base of the transistor Q2 is connected to the drive chip U10 through a resistor R67. A rectifier diode D13 is connected in reverse parallel between pins 3 and 4 of the relay K2. The collector of the transistor Q2 is connected to pin 3 of the relay K2. The output of the relay K2 is connected to the optocoupler control circuit.

[0040] The optocoupler control circuit includes an optocoupler U6, a current-limiting resistor R61, and a current-limiting resistor R62. The input terminal of the optocoupler U6 is connected to the output terminal of the relay K2. One output terminal of the optocoupler U6 is connected to the power supply through the current-limiting resistor R62, and the other output terminal of the optocoupler U6 is connected to the drive circuit through the current-limiting resistor R61.

[0041] The driving circuit includes a transistor Q13, a solenoid valve interface J4, and an indicator LED2. The base of the transistor Q13 is connected to a current-limiting resistor R61, and the collector of the transistor Q13 is connected to the solenoid valve interface J4 through a potentiometer R65. The collector of the transistor Q13 is connected to the solenoid valve interface J4 and the power supply through the indicator LED2. A rectifier diode D11 is connected in parallel with the indicator LED2.

[0042] Preferably, the auxiliary controller obtains the dispensing start condition detection result based on the detection signals of the temperature sensor and the pressure sensor. When the detection values ​​of the temperature sensor and the pressure sensor are both within the corresponding threshold range, the auxiliary controller determines that the dispensing start condition is met, and drives the dispensing device to move to the preset dispensing position through the stepper motor module based on the dispensing parameters.

[0043] The auxiliary controller detects the height distance between the dispensing device and the preset dispensing position based on the detection value of the laser sensor. When the height distance is within the corresponding threshold range, the auxiliary controller controls the OUT5 pin of the driver chip U10 to output a high level, which turns on the transistor Q2, closes the relay K2, and controls the transistor Q13 to turn on through the optocoupler U6, thereby opening the solenoid valve, delivering high-pressure gas to the dispensing syringe, and pushing the piston to make the glue flow out.

[0044] The auxiliary controller detects the dispensing flow rate of the dispensing device based on the detection value of the flow sensor, and controls the dispensing amount by controlling the gas pressure and the opening time of the solenoid valve.

[0045] Preferably, the drive module includes a power supply circuit and a protection circuit. The power supply circuit includes voltage regulators U22, U23, and U24. Capacitors C43, C34, and C31 are connected between the GND pin and IN pin of the voltage regulators U22, U23, and U24, respectively, to filter high-frequency noise and electromagnetic interference in the power supply, improve the stability of the output voltage, and control and protect the output voltage to avoid damage to electrical appliances or improper operation caused by abnormal voltage.

[0046] The voltage regulator U22 has capacitors C44 and C45 connected in parallel between its OUT and TAB pins; the voltage regulator U23 has capacitors C35 and C36 connected in parallel between its OUT and TAB pins; and the voltage regulator U24 has capacitors C32 and C33 connected in parallel between its OUT and TAB pins, which serve to stabilize voltage and filter it.

[0047] The OUT pin of the voltage regulator U22 is connected to the indicator light D8 through the current-limiting resistor R43;

[0048] In the protection circuit, the lightning protection device is a ceramic gas discharge tube, the overvoltage device is a transient suppression diode, the overcurrent device is a self-resetting fuse, and the electrostatic component is an ESD electrostatic discharge diode.

[0049] (III) Beneficial Effects

[0050] Compared with the prior art, the dispensing motion control system for an automatic die bonder provided by the present invention has the following advantages:

[0051] 1) The human-machine interaction module is combined with the motion control unit to achieve an effective combination of vision system and sensor. The vision system can capture workpiece images and obtain workpiece position information in real time. The laser sensor can detect the height distance between the dispensing device and the preset dispensing position, enabling the dispensing motion control system to achieve micron-level precise positioning. It has advantages such as high precision, strong adaptability, real-time feedback control and automatic correction. These advantages enable the dispensing motion control system to achieve high-quality and high-efficiency dispensing operations in various industrial applications.

[0052] 2) Using three stepper motors corresponding to the X, Y, and Z axes respectively means that each axis can move independently, enabling more flexible and precise dispensing motion; through the independent control of the three stepper motors, multi-axis synchronous motion can be achieved, allowing precise control of the movement speed and position of multiple axes, ensuring the synchronicity and consistency of dispensing motion; by precisely controlling the movement of the X, Y, and Z axes, the position of the dispensing head can be positioned at the micrometer level, thereby achieving precise dispensing operation. These advantages enable the dispensing motion control system to achieve more flexible and precise dispensing operation;

[0053] 3) By combining the data reports generated by the motion control unit during the dispensing process with the real-time monitoring data from the vision system, the causes of problems or anomalies during the dispensing process can be traced back and analyzed. This helps to identify errors, defects, or malfunctions that occur during the dispensing process and to take corresponding corrective measures, thereby improving the performance of the dispensing motion control system. The real-time monitoring data from the vision system can be used to evaluate and optimize the system design. Through data analysis, bottlenecks, improvement points, and optimization directions of the dispensing motion control system can be identified, thereby improving the performance, accuracy, and efficiency of the dispensing motion control system. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0055] Figure 1 This is a schematic diagram of the motion control unit in this invention;

[0056] Figure 2 This is a system schematic diagram of the human-computer interaction unit in this invention;

[0057] Figure 3 This is a circuit diagram of the external storage module in this invention;

[0058] Figure 4 This is a circuit diagram of the power supply module in this invention;

[0059] Figure 5 This is a circuit diagram of the analog-to-digital / digital-to-analog converter module in this invention;

[0060] Figure 6 This is a circuit diagram of the stepper motor module in this invention;

[0061] Figure 7 This is a circuit diagram of the flow control module in this invention;

[0062] Figure 8 This is a circuit diagram of the power supply circuit in the driving module of the present invention;

[0063] Figure 9 This is a schematic diagram of the process of the present invention;

[0064] Figure 10 This is a schematic diagram of the process in this invention where a stepper motor module drives the dispensing device to move to a preset dispensing position. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0066] A dispensing motion control system for an automated die bonder, such as Figure 1 and Figure 2 As shown, it includes a human-computer interaction unit and a motion control unit;

[0067] The human-computer interaction unit combines dispensing software and hardware circuitry to realize the operation of the vision system, create and edit dispensing programs, monitor the operating status of each system module in real time, and provide data feedback and analysis. It performs feature matching between the image processed by the vision system and the template, automatically sets the dispensing parameters based on the matching results, and sends them to the motion control unit. At the same time, it collects and analyzes images of the dispensing process to improve the setting of dispensing parameters and the dispensing process.

[0068] The motion control unit uses an STM32 as the main controller and an FPGA as the auxiliary controller to build a hardware platform and external circuit. Based on the dispensing parameters and the detection results of dispensing start conditions, it drives a stepper motor to move the dispensing device to the preset dispensing position to perform the dispensing operation.

[0069] ①For example Figure 2 As shown, the human-computer interaction unit runs on the PC. The vision system uses a camera and image processing technology to acquire, process and analyze visual information. The vision system includes a camera, an image acquisition and processing module, a feature extraction and analysis module, a target detection and tracking module, and a visual feedback and control module.

[0070] A camera, mounted on one side of the dispensing machine, is used to capture images of the workpiece;

[0071] The image acquisition and processing module transmits the workpiece images captured by the camera directly through a high-speed communication interface, and performs image processing on the workpiece images after acquisition, including noise reduction, enhancement, and edge detection.

[0072] The feature extraction and analysis module extracts features of the target region, including edges, corners, and textures, through specific image processing algorithms, and locates and identifies the target, as well as analyzes the characteristics and attributes of the target.

[0073] The target detection and tracking module detects targets using a target detection algorithm and tracks the position and motion trajectory of the target in consecutive image frames using a target tracking algorithm.

[0074] The visual feedback and control module provides real-time feedback signals to the motion control unit based on visual information obtained from the workpiece image to control the dispensing device's actions.

[0075] ②For example Figure 1 As shown, the main controller and the auxiliary controller communicate through a communication interface. The main controller is connected to the PC, external storage module and power supply module, while the auxiliary controller is connected to the analog-to-digital / digital-to-analog converter circuit module, stepper motor module, flow control module and drive module.

[0076] The external storage module acts as a bidirectional channel for sending and receiving data.

[0077] The main controller receives the dispensing parameters sent by the human-machine interface unit and sends them to the auxiliary controller;

[0078] The analog-to-digital / digital-to-analog conversion circuit module converts the detection signals from the sensors in the flow control module into analog signals and sends them to the auxiliary controller, while simultaneously converting digital signals into analog signals.

[0079] The stepper motor module drives the stepper motor to rotate according to the required step angle based on the control signal of the auxiliary controller, thereby moving the dispensing device to the preset dispensing position. It also drives the solenoid valve drive circuit in the flow control module to perform the dispensing operation based on the control signal of the auxiliary controller.

[0080] The auxiliary controller obtains the dispensing start condition detection result based on the sensor detection signal. Based on the dispensing parameters and the dispensing start condition detection result, it drives the dispensing device to move to the preset dispensing position through the stepper motor module and performs the dispensing operation.

[0081] Using an STM32 as the main controller, data generated during system operation is stored in an external storage module. A PC communicates with the main controller via a serial port, enabling system debugging and human-machine interaction. An FPGA serves as the auxiliary controller. Communication between the main and auxiliary controllers occurs through a communication interface. The main controller's address and data lines are set to 16 bits, and the chip select function chooses the auxiliary controller for data reading and writing. The auxiliary controller provides feedback on data processing status via a terminal.

[0082] The PC transmits the data file (containing dispensing parameters) generated by the dispensing program to the main controller via a serial port. The main controller performs comprehensive analysis and transmits the data to the auxiliary controller via a communication interface. Upon receiving the control command, the auxiliary controller sends the signal to the driver chip through an isolation circuit, which drives the stepper motor to move the dispensing device to the preset dispensing position.

[0083] ①For example Figure 3As shown, the external storage module includes a storage chip U4 (AT24C02). The serial data input / output pins of the storage chip U4 are connected to the PB7 pin of the main controller to act as a bidirectional channel for sending and receiving data.

[0084] The serial clock input pin of the memory chip U4 is connected to the PB6 pin of the main controller. The main controller determines the data transmission rate and timing by controlling the PB6 pin.

[0085] A capacitor C19 is connected between the VCC and GND pins of memory chip U4 to smooth power fluctuations, filter interference, and reduce signal reflection, thereby improving the reliability of memory chip U4 and ensuring that memory chip U4 works normally and stores data accurately.

[0086] By grounding the A1, A2, and A0 pins of the memory chip U4, its potential can be fixed to 0, and the corresponding address bits can be set to 0, thereby setting the device's I2C address to 0x50.

[0087] ②For example Figure 4 As shown, the power module includes a voltage regulator U3 (LM1117). A capacitor C9 is connected between the GND pin and the IN pin of the voltage regulator U3 to provide stable power filtering and remove high-frequency noise, reduce noise on the power line, and provide a stable voltage output.

[0088] Capacitors C10 and C11 are connected in parallel between the OUT pin and TAB pin of voltage regulator U3 to serve as voltage regulator and filter.

[0089] The OUT pin of voltage regulator U3 is connected to indicator light D10 through current-limiting resistor R13.

[0090] The current-limiting resistor R13 limits the current flowing through indicator light D10, ensuring that indicator light D10 operates within a safe range. When current flows through the circuit, indicator light D10 will light up to indicate whether the circuit is working properly.

[0091] ①For example Figure 5 As shown, the analog-to-digital / digital-to-analog conversion circuit module includes an analog-to-digital conversion circuit and a digital-to-analog conversion circuit. The analog-to-digital conversion circuit performs analog-to-digital conversion on the detection signal from the sensor in the flow control module and sends it to the auxiliary controller. The analog-to-digital conversion circuit includes an AD chip (AD9280), an attenuation circuit, and a signal input interface that are connected in sequence to the standard interface.

[0092] The digital-to-analog converter circuit converts digital signals into analog signals. The digital-to-analog converter circuit includes a DA chip (AD9708), a low-pass filter, an amplitude adjustment circuit, and a signal output interface, which are connected in sequence to the standard interface.

[0093] The low-pass filter removes high-frequency noise from the differential output of the DA chip, retains low-frequency components in the analog signal, and improves the accuracy and stability of the conversion.

[0094] The amplitude adjustment circuit adjusts the amplitude of the analog signal to avoid signal distortion or exceeding the device's operating range, thus obtaining reliable and accurate output results.

[0095] ②For example Figure 6 As shown, the stepper motor module includes a stepper motor and a driver chip for driving the stepper motor. The driver chip adjusts the output current and voltage waveforms based on the control signal of the auxiliary controller, drives the stepper motor to rotate according to the required step angle, and moves the dispensing device to the preset dispensing position.

[0096] The input terminal of the driver chip is connected to the auxiliary controller, and the output terminal of the driver chip is connected to the stepper motor with a current-limiting resistor to balance the current between each phase of the stepper motor and ensure that the stepper motor and the driver chip are not overloaded.

[0097] Unused output pins of the driver chip are grounded to improve circuit stability, suppress interference, prevent electrostatic discharge, and protect circuit safety.

[0098] The stepper motors include an X-axis stepper motor B1, a Y-axis stepper motor B2, and a Z-axis stepper motor B3. The driver chips include U10, U11, and U12 (all driver chips are ULN2003A) which drive the X-axis stepper motor B1, the Y-axis stepper motor B2, and the Z-axis stepper motor B3, respectively. The OUT5 pin of the driver chip U10 is connected to the solenoid valve drive circuit in the flow control module.

[0099] ③ For example Figure 7 As shown, the flow control module includes a temperature sensor, a pressure sensor, a laser sensor, a flow sensor, and a solenoid valve drive circuit. The temperature sensor is used to detect the temperature of the colloid in the dispensing syringe, the pressure sensor is used to detect the pressure of the gas in the dispensing syringe, the laser sensor is used to detect the height distance between the dispensing device and the preset dispensing position, and the flow sensor is used to detect the dispensing flow rate of the dispensing device.

[0100] The solenoid valve drive circuit includes a relay control circuit, an optocoupler control circuit, and a drive circuit connected in sequence. The relay control circuit includes a relay K2 (HK4100F), a rectifier diode D13, and a transistor Q2. The base of the transistor Q2 is connected to the drive chip U10 through a resistor R67. A rectifier diode D13 is connected in reverse parallel between pins 3 and 4 of the relay K2. The collector of the transistor Q2 is connected to pin 3 of the relay K2. The output of the relay K2 is connected to the optocoupler control circuit.

[0101] The optocoupler control circuit includes optocoupler U6 (CYTLP127(TP)), current-limiting resistor R61 and current-limiting resistor R62. The input terminal of optocoupler U6 is connected to the output terminal of relay K2. One output terminal of optocoupler U6 is connected to the power supply through current-limiting resistor R62. The other output terminal of optocoupler U6 is connected to the drive circuit through current-limiting resistor R61.

[0102] The driving circuit includes a transistor Q13, a solenoid valve interface J4, and an indicator LED2. The base of transistor Q13 is connected to a current-limiting resistor R61, and the collector of transistor Q13 is connected to the solenoid valve interface J4 through a potentiometer R65. The collector of transistor Q13 is connected to the solenoid valve interface J4 and the power supply through the indicator LED2. A rectifier diode D11 is connected in parallel on the indicator LED2.

[0103] In the above technical solution, the auxiliary controller obtains the dispensing start condition detection result based on the detection signals of the temperature sensor and the pressure sensor. When the detection values ​​of the temperature sensor and the pressure sensor are both within the corresponding threshold range, the auxiliary controller determines that the dispensing start condition is met, and drives the dispenser to move to the preset dispensing position through the stepper motor module based on the dispensing parameters.

[0104] The auxiliary controller detects the height distance between the dispensing device and the preset dispensing position based on the detection value of the laser sensor. When the height distance is within the corresponding threshold range, the auxiliary controller controls the OUT5 pin of the driver chip U10 to output a high level, which turns on the transistor Q2, closes the relay K2, and controls the optocoupler U6 to turn on the transistor Q13, thereby opening the solenoid valve, delivering high-pressure gas to the dispensing syringe, and pushing the piston to make the glue flow out.

[0105] The auxiliary controller detects the dispensing flow rate of the dispensing device based on the detection value of the flow sensor, and controls the dispensing amount by controlling the gas pressure and the opening time of the solenoid valve.

[0106] ④ The drive module includes a power supply circuit (such as...) Figure 8 As shown in the diagram, the power supply circuit includes voltage regulators U22, U23, and U24 (all voltage regulators are LM1117). Capacitors C43, C34, and C31 are connected between the GND and IN pins of voltage regulators U22, U23, and U24, respectively, to filter high-frequency noise and electromagnetic interference in the power supply, improve the stability of the output voltage, and control and protect the output voltage to avoid damage to electrical appliances or improper operation caused by abnormal voltage.

[0107] Capacitors C44 and C45 are connected in parallel between the OUT and TAB pins of voltage regulator U22; capacitors C35 and C36 are connected in parallel between the OUT and TAB pins of voltage regulator U23; and capacitors C32 and C33 are connected in parallel between the OUT and TAB pins of voltage regulator U24, which serve to stabilize voltage and filter.

[0108] The OUT pin of voltage regulator U22 is connected to indicator light D8 through current-limiting resistor R43;

[0109] In the protection circuit, the surge protection device is a ceramic gas discharge tube, the overvoltage device is a transient suppression diode, the overcurrent device is a resettable fuse, and the electrostatic component is an ESD electrostatic discharge diode.

[0110] The current-limiting resistor R43 limits the current flowing through indicator light D8, ensuring that indicator light D8 operates within a safe range. When current flows through the circuit, indicator light D8 will light up to indicate whether the circuit is working properly.

[0111] The LM1117 is a low-dropout linear regulator chip. By using three chips, different parts of an FPGA can be powered separately, achieving power supply isolation. This avoids mutual interference between circuits and improves circuit stability and reliability. By using three chips operating in parallel, the load can be shared and a higher current output capability can be provided. The load can be evenly distributed across different chips to meet the FPGA's power requirements and reduce the power consumption and temperature impact on individual chips, thereby improving the stability and reliability of the entire power supply circuit.

[0112] Protection circuits can provide a variety of protection characteristics such as fast response, high energy absorption, low response voltage, low resistance, and self-recovery, thereby effectively protecting circuits from damage caused by lightning strikes, overvoltages, overcurrents, and electrostatic discharges.

[0113] like Figure 9 and Figure 10 As shown, the specific process involved in the technical solution of this application includes:

[0114] S1. The vision system preprocesses the acquired workpiece images, performs target detection through a target detection algorithm, tracks the position and motion trajectory of the target in consecutive image frames through a target tracking algorithm, and extracts features of the target region, including edges, corners, and textures, through a specific image processing algorithm.

[0115] S2. The human-computer interaction unit performs feature matching between the image processed by the vision system and the template, and automatically sets the dispensing parameters (including dispensing position, dispensing speed and dispensing amount) according to the matching results and sends them to the motion control unit.

[0116] S3. The auxiliary controller obtains the dispensing start condition detection result based on the detection signals of the temperature sensor and the pressure sensor. When the detection values ​​of the temperature sensor and the pressure sensor are both within the corresponding threshold range, the auxiliary controller determines that the dispensing start condition is met. If the dispensing start condition is not met, the auxiliary controller controls the corresponding adjustment device to perform adjustment operation until the dispensing start condition is met.

[0117] S4. The main controller obtains the desired speed according to the user's instructions, the auxiliary controller obtains the subdivision data based on the desired speed, and generates a sine signal with an adjustment coefficient according to the subdivision data and speed data, which drives the stepper motor to move the dispensing device to the preset dispensing position.

[0118] S5. Perform pre-dispensing to prevent the dispensing syringe from clogging and ensure dispensing quality;

[0119] S6. The auxiliary controller detects the height distance between the dispensing device and the preset dispensing position based on the detection value of the laser sensor. When the height distance is within the corresponding threshold range, the auxiliary controller drives the dispensing device to perform dispensing operation through the stepper motor module.

[0120] S7. During the dispensing process, the sensor's detection values ​​are fed back to the dispensing software interface on the PC. The vision system acquires and analyzes images of the dispensing process to improve the setting of dispensing parameters and the dispensing process.

[0121] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dispensing motion control system for an automatic die bonder, characterized in that: The human-computer interaction unit and the motion control unit are comprised; The human-computer interaction unit realizes the operation of the visual system, creates and edits the dispensing program, monitors the running state of each system module in real time, and feeds back and analyzes the data, matches the image processed by the visual system with the template, automatically sets the dispensing parameters according to the matching result and sends them to the motion control unit, collects the dispensing process image and analyzes it, so as to improve the setting of the dispensing parameters and the dispensing process; The motion control unit builds a hardware platform and external circuit with STM32 as the main controller and FPGA as the auxiliary controller, drives the stepping motor to move the dispenser to the preset dispensing position to perform the dispensing operation based on the dispensing parameters and the detection result of the dispensing start condition; The main controller and the auxiliary controller communicate through the communication interface, the main controller is connected with the PC, the external storage module and the power module, and the auxiliary controller is connected with the analog / digital conversion circuit module, the stepping motor module, the flow control module and the driving module; The external storage module serves as a bidirectional channel for sending and receiving data; The main controller receives the dispensing parameters sent by the human-computer interaction unit and sends them to the auxiliary controller; The analog / digital conversion circuit module converts the detection signal of the sensor in the flow control module into an analog signal and sends it to the auxiliary controller, and converts the digital signal into an analog signal; The stepping motor module drives the stepping motor to rotate according to the required stepping angle based on the control signal of the auxiliary controller, drives the dispenser to move to the preset dispensing position, and drives the electromagnetic valve driving circuit in the flow control module to drive the dispenser to perform the dispensing operation based on the control signal of the auxiliary controller; The auxiliary controller obtains the detection result of the dispensing start condition according to the detection signal of the sensor, drives the dispenser to move to the preset dispensing position and performs the dispensing operation based on the dispensing parameters and the detection result of the dispensing start condition through the stepping motor module; The flow control module includes a temperature sensor, a pressure sensor, a laser sensor, a flow sensor and an electromagnetic valve driving circuit, the temperature sensor is used to detect the temperature of the glue in the dispensing needle cylinder, the pressure sensor is used to detect the pressure of the gas in the dispensing needle cylinder, the laser sensor is used to detect the height distance between the dispenser and the preset dispensing position, and the flow sensor is used to detect the glue flow of the dispenser; The electromagnetic valve driving circuit includes a relay control circuit, a photoelectric coupler control circuit and a driving circuit connected in sequence, the relay control circuit includes a relay K2, a rectifier diode D13 and a triode Q2, the base of the triode Q2 is connected to the driving chip U10 through the resistor R67, the rectifier diode D13 is reversely connected in parallel between the 3 and 4 pins of the relay K2, the collector of the triode Q2 is connected to the 3 pin of the relay K2, and the output end of the relay K2 is connected to the photoelectric coupler control circuit. The photoelectric coupler control circuit comprises a photoelectric coupler U6, a current-limiting resistor R61 and a current-limiting resistor R62, an input end of the photoelectric coupler U6 is connected to an output end of a relay K2, one output end of the photoelectric coupler U6 is connected to a power supply through the current-limiting resistor R62, and the other output end of the photoelectric coupler U6 is connected to a driving circuit through the current-limiting resistor R61; The driving circuit comprises a triode Q13, a solenoid valve interface J4 and an indicator lamp LED2, a base of the triode Q13 is connected to the current-limiting resistor R61, a collector of the triode Q13 is connected to the solenoid valve interface J4 through a potentiometer R65, and the collector of the triode Q13 is connected to the solenoid valve interface J4, the power supply and the indicator lamp LED2 in parallel, and a rectifier diode D11 is connected in parallel to the indicator lamp LED2; The auxiliary controller obtains a point glue starting condition detection result according to detection signals of the temperature sensor and the pressure sensor, judges that the point glue starting condition is met when detection values of the temperature sensor and the pressure sensor are all within corresponding threshold ranges, and drives the point glue device to move to a preset point glue position based on point glue parameters through the stepping motor module; The auxiliary controller detects a height distance between the point glue device and the preset point glue position according to a detection value of the laser sensor, controls an OUT5 pin of the driving chip U10 to output a high level when the height distance is within a corresponding threshold range, so that the triode Q2 is turned on, the relay K2 is closed, the photoelectric coupler U6 controls the triode Q13 to be turned on, and then the solenoid valve is opened, high-pressure gas is delivered to the point glue syringe, and the piston is driven to make the glue flow out. The auxiliary controller detects glue discharge flow of the point glue device according to a detection value of the flow sensor, and controls the glue discharge amount by controlling the gas pressure and the opening time of the solenoid valve.

2. The glue dispensing motion control system for automatic die bonder of claim 1, wherein: The human-computer interaction unit runs on a PC end, the vision system uses a camera and an image processing technology to acquire, process and analyze visual information, and the vision system comprises a camera, an image acquisition and processing module, a feature extraction and analysis module, a target detection and tracking module and a visual feedback and control module; The camera is installed on one side of the point glue device and is used for capturing workpiece images; The image acquisition and processing module directly transmits data of the workpiece images captured by the camera through a high-speed communication interface, and performs image processing on the workpiece images after the workpiece images are acquired, including denoising, enhancement and edge detection; The feature extraction and analysis module extracts features of a target region including edges, corner points and textures through specific image processing algorithms, and performs positioning and identification on the target, and analyzes characteristics and attributes of the target; The target detection and tracking module performs target detection through a target detection algorithm, and tracks positions and motion trajectories of the target in continuous image frames through a target tracking algorithm; The visual feedback and control module provides real-time feedback signals for controlling actions of the point glue device to a motion control unit based on visual information acquired from the workpiece images. 3.The glue dispensing motion control system for automatic die bonder of claim 1, wherein: The external storage module includes a storage chip U4, a serial data input / output pin of the storage chip U4 is connected with a PB7 pin of the main controller, to serve as a bidirectional channel for sending and receiving data; A serial clock input pin of the storage chip U4 is connected with a PB6 pin of the main controller, and the main controller determines the rate and timing of data transmission by controlling the PB6 pin; A capacitor C19 is connected between a VCC pin and a GND pin of the storage chip U4, to play a role of smoothing power fluctuation, filtering interference and reducing signal reflection, improve the working reliability of the storage chip U4, and ensure the normal working of the storage chip U4 and accurate data storage.

4. The glue dispensing motion control system for automatic die bonder of claim 3, wherein: The power module includes a voltage regulator U3, a capacitor C9 is connected between a GND pin and an IN pin of the voltage regulator U3, to provide stable power filtering and remove high-frequency noise, reduce noise on the power line, and provide stable voltage output; Capacitors C10 and C11 are connected in parallel between an OUT pin and a TAB pin of the voltage regulator U3, to play a role of voltage stabilization and filtering; The OUT pin of the voltage regulator U3 is connected with an indicator lamp D10 through a current-limiting resistor R13.

5. The glue dispensing motion control system for automatic die bonder of claim 1, wherein: The analog / digital conversion circuit module includes an analog / digital conversion circuit and a digital / analog conversion circuit, the analog / digital conversion circuit converts the detection signal of the sensor in the flow control module into an analog signal and sends it to the auxiliary controller, and the analog / digital conversion circuit includes an AD chip, an attenuation circuit and a signal input interface connected in sequence with a standard interface; The digital / analog conversion circuit converts a digital signal into an analog signal, and the digital / analog conversion circuit includes a DA chip, a low-pass filter, an amplitude adjustment circuit and a signal output interface connected in sequence with a standard interface; The low-pass filter filters high-frequency noise in the differential output of the DA chip, retains low-frequency components in the analog signal, and improves the accuracy and stability of conversion; The amplitude adjustment circuit adjusts the amplitude of the analog signal, avoids signal distortion or exceeding the working range of the device, and obtains reliable and accurate output results.

6. The glue dispensing motion control system for automatic die bonder of claim 5, wherein: The stepping motor module includes a stepping motor and a driving chip for driving the stepping motor, the driving chip adjusts the output current and voltage waveform based on the control signal of the auxiliary controller, drives the stepping motor to rotate by the required stepping angle, and drives the dispenser to move to the preset dispensing position; The input end of the driving chip is connected with the auxiliary controller, and a current-limiting resistor is connected between the output end of the driving chip and the stepping motor, so that the current between each phase of the stepping motor is balanced, and the overloading of the stepping motor and the driving chip is ensured; The unused output pins of the driving chip are grounded, to improve the circuit stability, suppress interference, prevent electrostatic discharge and protect the circuit safety; The stepping motor includes an X-axis stepping motor B1, a Y-axis stepping motor B2 and a Z-axis stepping motor B3, the driving chip includes driving chips U10, U11 and U12 for driving the X-axis stepping motor B1, the Y-axis stepping motor B2 and the Z-axis stepping motor B3 respectively, and an OUT5 pin of the driving chip U10 is connected with the electromagnetic valve driving circuit in the flow control module.

7. The glue dispensing motion control system for automatic die bonder of claim 1 or 5 or 6, wherein: The driving module comprises a power supply circuit and a protection circuit, the power supply circuit comprises voltage regulators U22, U23 and U24, capacitors C43, C34 and C31 are connected between the GND pin and the IN pin of the voltage regulators U22, U23 and U24 respectively, high-frequency noise and electromagnetic interference in the power supply are filtered, the stability of the output voltage is improved, the output voltage is controlled and protected, and damage to the electrical appliance or improper operation caused by abnormal voltage is avoided; capacitors C44 and C45 connected in parallel are connected between the OUT pin and the TAB pin of the voltage regulator U22, capacitors C35 and C36 connected in parallel are connected between the OUT pin and the TAB pin of the voltage regulator U23, and capacitors C32 and C33 connected in parallel are connected between the OUT pin and the TAB pin of the voltage regulator U24, so as to play a role in voltage stabilization and filtering; the OUT pin of the voltage regulator U22 is connected with the indicator lamp D8 through the current limiting resistor R43; in the protection circuit, the lightning protection device is a ceramic gas discharge tube, the overvoltage device is a transient suppression diode, the overcurrent device is a self-resetting fuse, and the static element is an ESD static discharge diode.

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