Ceramic sheet chamfer polishing visual guidance method and device

Abstract

The application discloses a kind of ceramic sheet chamfer polishing visual guidance method and device, it is related to ceramic substrate processing equipment technical field, including clamping module, visual guidance module and polishing module, clamping module is provided for clamping ceramic sheet ceramic sheet stage, ceramic sheet stage has multiple degrees of freedom, and automatically ceramic sheet is transferred to the photographing position of visual guidance module, visual guidance module is provided with multidimensional vision camera, when ceramic sheet is transferred to photographing position, vision camera is photographed simultaneously to the right-angle profile of ceramic sheet, obtains the profile information of the ceramic sheet to be polished, while visual guidance module sends right-angle profile information to external control device, external control device simulates a polishing path according to profile information, then according to the polishing path and angle fitted out, realize accurate polishing by data transmission to polishing module, to avoid artificial polishing exception completely, ensure to the product state OK of later process, reduce scrap rate, and improve yield and benefit.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ceramic substrate processing equipment, in particular to a visual guiding method and device for chamfering and polishing of ceramic sheets. BACKGROUND

[0002] A special ceramic substrate can be formed by directly bonding a copper foil to the surface of an alumina (Al2O3) or aluminum nitride (AlN) ceramic substrate at high temperature, which has excellent electrical insulation performance, high thermal conductivity, excellent solderability and high adhesion strength, and can be etched into various patterns like a PCB board, and has great current-carrying capacity. Therefore, the ceramic substrate has become a basic material for high-power power electronic circuit structure technology and interconnection technology. The existing polishing of ceramic substrates is performed by manually holding a polishing tool to polish the edges of the ceramic substrate, which is slow and inefficient, and the flying dust during polishing can affect the health of the operator and pose a great safety hazard to the operator. However, if mechanical polishing is used, the ceramic substrate can be damaged or moved during polishing, thereby affecting the mass application of mechanical polishing, so visual guiding polishing is used to improve polishing precision and product yield. SUMMARY

[0003] The present application aims to provide a visual guiding method and device for chamfering and polishing of ceramic sheets, which obtains the profile information of the ceramic sheet to be polished, simulates a polishing path according to the profile information, and then transmits the polishing path and angle to the polishing module to achieve precise polishing, thereby completely avoiding abnormal manual polishing, ensuring that the product state is OK after the subsequent process, reducing the scrap rate, and improving the yield and efficiency.

[0004] The present application is achieved by the following technical solutions:

[0005] A chamfering and polishing device for ceramic sheets, comprising a clamping module, a visual guiding module and a polishing module.

[0006] The clamping module is provided with a ceramic sheet stage for clamping the ceramic sheet, and the ceramic sheet stage has multiple degrees of freedom to move the ceramic sheet to a photographing position of the visual guiding module.

[0007] The visual guiding module is provided with a multi-dimensional visual camera, which simultaneously photographs the right-angle profile of the ceramic sheet when the ceramic sheet is moved to the photographing position, to obtain the right-angle profile information of the ceramic sheet to be polished. The visual guiding module sends the right-angle profile information to an external control device, which simulates a polishing path according to the obtained right-angle profile information.

[0008] The grinding module performs chamfering grinding on the ceramic sheet to be ground according to the simulated grinding path.

[0009] In this solution, the ceramic plate stage has degrees of freedom in the X, Y, and Z directions, as well as rotation around the Z-axis, enabling the ceramic plate to be automatically moved to the imaging position of the vision guidance module. When the ceramic plate is moved to the imaging position, the vision camera simultaneously captures an image of the right-angled contour of the ceramic plate to obtain the contour information of the ceramic plate to be polished. At the same time, the vision guidance module sends the right-angled contour information to the external control device. The external control device simulates a polishing path based on the contour information, and then transmits the fitted polishing path and angle to the polishing module through data transmission to achieve precise polishing.

[0010] In summary, this invention uses an automated system for information extraction, which can completely avoid human error during polishing, ensure that the product is in OK condition in the later processes, reduce scrap rate, and improve yield and efficiency.

[0011] As a further technical solution of the ceramic sheet chamfering and grinding device, after the vision camera takes a picture of the right-angled contour of the ceramic sheet, the ceramic sheet platform moves out of the picture position, rotates the ceramic sheet 180 degrees, and then moves the ceramic sheet to the picture position of the vision guidance module for taking a picture. Taking pictures in two directions can more accurately determine the position and angle information of the ceramic sheet.

[0012] As a further technical solution of the ceramic sheet chamfering and grinding device, in order to initially position and shape the ceramic sheet, the ceramic sheet platform is provided with positioning cylinders in the X and Y directions for clamping the ceramic sheet. When the ceramic sheet is transferred to the ceramic sheet platform, the X-direction positioning cylinder clamps the ceramic sheet once and then releases it to initially position the ceramic sheet. Then, the X-direction and Y-direction positioning cylinders are clamped in sequence to avoid tilting when the ceramic sheet is loaded.

[0013] As a further technical solution of the ceramic sheet chamfering and polishing device, the visual guidance module includes a top visual camera, a front visual camera and a bottom visual camera. The top visual camera, the front visual camera and the bottom visual camera are respectively set on the top, front and bottom surfaces of the shooting position, and are used to simultaneously capture images of the front, top and bottom surfaces of the ceramic sheet, thereby obtaining a clear 3D right-angle contour image of the ceramic sheet.

[0014] As a further technical solution of the ceramic sheet chamfering and polishing device, light sources are provided on the shooting paths of the top surface vision camera, the front surface vision camera, and the bottom surface vision camera. Applying light sources of the same intensity to the front, top, and bottom surfaces of the ceramic sheet can further improve the clarity of the ceramic sheet outline image.

[0015] A visually guided method for chamfering and polishing ceramic discs, wherein the method is applied to the ceramic disc chamfering and polishing apparatus described in any one of the above technical solutions, and includes the following steps:

[0016] S1. Product arrival: The ceramic plate carrier moves the ceramic plate to be polished to the photo-taking position of the visual guidance module;

[0017] S2. Image Acquisition: The vision camera simultaneously captures multi-dimensional images of the right-angled contour of the ceramic piece to obtain a multi-dimensional right-angled contour image of the ceramic piece to be polished. The vision guidance module processes the right-angled contour image and sends the processed right-angled contour image to an external control device.

[0018] S3. Image contour extraction: The external control device analyzes the connected components of the same pixels in the right-angle contour image through Blob analysis to obtain the contour information of the ceramic sheet to be polished;

[0019] S4. Generate a polishing path: The external control device obtains the vertices of the ceramic sheet to be polished based on the contour information, and simulates a polishing path based on the vertex information and polishing amount parameters;

[0020] S5. Ceramic disc polishing: The polishing module polishes the ceramic disc to be polished according to the polishing path.

[0021] Furthermore, the specific steps of step S1 are as follows:

[0022] S11. When the ceramic plate stage senses the ceramic plate to be polished, the X-direction positioning cylinder first clamps the ceramic plate to be polished once and then releases it, and then clamps the X-direction positioning cylinder and the Y-direction positioning cylinder in sequence.

[0023] S12. The ceramic plate carrier moves the clamped ceramic plate to be polished to the photo-taking position of the visual guidance module.

[0024] Furthermore, in step S2, after the vision camera takes a picture of the right-angled contour of the ceramic sheet to be polished, the ceramic sheet platform exits the picture position, rotates the ceramic sheet 180 degrees, and then moves the ceramic sheet back to the picture position of the vision guidance module to take a picture.

[0025] Furthermore, the visual guidance module merges the acquired right-angle contour images of different dimensions to generate a 3D right-angle contour image of the ceramic sheet to be polished.

[0026] Furthermore, the specific steps of step S4 are as follows:

[0027] S41. The external control device determines the position and angle information of the ceramic sheet to be polished based on the acquired contour information;

[0028] S42. Obtain the grinding angle based on the acquired position and angle information;

[0029] S43. The external control device simultaneously obtains the vertices of the ceramic sheet based on the acquired contour information, and simulates a grinding path based on the acquired vertices and grinding amount.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] This invention provides a ceramic sheet chamfering and grinding device, comprising a clamping module, a vision guidance module, and a grinding module. The clamping module is equipped with a ceramic sheet platform for clamping the ceramic sheet. The ceramic sheet platform has multiple degrees of freedom and automatically moves the ceramic sheet to the imaging position of the vision guidance module. The vision guidance module is equipped with a multi-dimensional vision camera. When the ceramic sheet is moved to the imaging position, the vision camera simultaneously captures an image of the right-angled contour of the ceramic sheet to obtain the contour information of the ceramic sheet to be ground. At the same time, the vision guidance module sends the right-angled contour information to an external control device. The external control device simulates a grinding path based on the contour information, and then transmits the fitted grinding path and angle to the grinding module through data transmission to achieve precise grinding.

[0032] The present invention provides a visual guidance method for chamfering and polishing ceramic sheets. By automatically acquiring a 3D right-angle contour image of the ceramic sheet to be polished, and simulating a polishing path based on the 3D right-angle contour image information, the method achieves precise polishing of the chamfer of the ceramic sheet. This completely avoids abnormalities caused by human polishing, ensures that the product is in OK condition in the later process, reduces scrap rate, and improves yield and efficiency. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0034] Figure 1 This is a front view structural diagram of a ceramic sheet chamfering and grinding device provided by the present invention;

[0035] Figure 2 This is a top view of a ceramic sheet chamfering and grinding device provided by the present invention;

[0036] Figure 3 for Figure 2 A magnified schematic diagram of the structure marked A in the middle;

[0037] Figure 4 for Figure 1A schematic diagram of the structure of the clamping module (1) and the vision guidance module (2) in the working state;

[0038] Figure 5 for Figure 1 Schematic diagram of the three-dimensional structure of the clamping module (marked 1 in the middle);

[0039] Figure 6 for Figure 1 Top view of the clamping module (marked 1)

[0040] Figure 7 for Figure 1 Schematic diagram of the structure of the visual guidance module (marked in middle 2);

[0041] Figure 8 for Figure 1 Schematic diagram of the grinding module (marked 3 in the middle);

[0042] Figure 9 A schematic diagram of the grinding process of a ceramic disc chamfering and grinding device provided by the present invention;

[0043] Figure 10 A schematic diagram showing the state of the ceramic sheet before polishing;

[0044] Figure 11 This is a schematic diagram showing the state of the ceramic sheet after polishing.

[0045] The attached diagram shows the markings and corresponding component names:

[0046] 1-Clamping module, 11-Ceramic sheet stage, 12-Z-axis adjustment assembly, 13-Rotation assembly, 14-Y-axis adjustment assembly, 15-X-axis motor assembly;

[0047] 2-Visual guidance module, 21-Top visual camera, 22-Top light source, 23-Front visual camera, 24-Front light source, 25-Bottom visual camera, 26-Bottom light source;

[0048] 3-Grinding module, 31-First servo motor, 32-Second servo motor, 33-Grinding head, 34-Third servo motor;

[0049] 4-Workbench. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0051] Example 1

[0052] This embodiment 1 provides a ceramic sheet chamfering and grinding device, such asFigures 1-3 As shown, the system includes a clamping module 1, a vision guidance module 2, and a polishing module 3. All three modules are mounted on a worktable 4, which is used to transport the ceramic sheet to be processed to the clamping module 1. (See reference...) Figures 4-6 As shown, the clamping module 1 is equipped with a ceramic plate stage 11 for clamping ceramic plates. The ceramic plate stage 11 has four degrees of freedom: X-axis, Y-axis, Z-axis, and rotation around the Z-axis. It can automatically transfer the ceramic plate to be processed to the imaging position of the vision guidance module 2. The vision guidance module 2 is equipped with a multi-dimensional vision camera. When the ceramic plate is transferred to the imaging position, the vision camera simultaneously captures an image of the right-angled contour of the ceramic plate to obtain the contour information of the ceramic plate to be polished. At the same time, the vision guidance module 2 sends the right-angled contour information to an external control device. The external control device simulates a polishing path based on the contour information, and then transmits the fitted polishing path and angle to the polishing module 3 through data transmission to achieve precise polishing.

[0053] Among them, see Figure 5 As shown, the clamping module 1 includes a Z-axis adjustment component 12, a rotation component 13, a Y-axis adjustment component 14, and an X-axis motor assembly 15. The ceramic plate stage 11 is located at the output end of the rotation component 13, the rotation component 13 is located at the output end of the Z-axis adjustment component 12, the Z-axis adjustment component 12 is located at the output end of the Y-axis adjustment component 14, and the Y-axis adjustment component 14 is located at the output end of the X-axis motor assembly 15. The X-axis motor assembly 15, the Y-axis adjustment component 14, the Z-axis adjustment component 12, and the rotation component 13 respectively adjust the degrees of freedom of the ceramic plate stage 11 in the X, Y, and Z directions and the rotation direction around the Z-axis.

[0054] Meanwhile, in order to initially position and shape the ceramic slab, refer to Figures 4-5 As shown, the ceramic sheet carrier 11 is equipped with positioning cylinders in the X and Y directions for clamping ceramic sheets. When the ceramic sheet is transferred to the ceramic sheet carrier, the X-direction positioning cylinder clamps the ceramic sheet once and then releases it to perform initial positioning of the ceramic sheet. Then, the X-direction and Y-direction positioning cylinders are clamped in sequence to prevent the ceramic sheet from tilting during loading. Moreover, after the above-mentioned vision camera takes a picture of the right-angle contour of the ceramic sheet, the ceramic sheet carrier 11 exits the picture position. At this time, the ceramic sheet carrier 11 rotates the ceramic sheet 180 degrees and then transfers the ceramic sheet to the picture position of the vision guidance module 2 for taking a picture. Taking pictures in two directions can more accurately determine the position and angle information of the ceramic sheet.

[0055] Among them, see Figure 4 and Figure 7As shown, the aforementioned visual guidance module 2 includes a top-side visual camera 21, a front-side visual camera 23, and a bottom-side visual camera 25. These cameras are respectively positioned on the top, front, and bottom surfaces of the imaging position, and are used to simultaneously capture images of the front, top, and bottom surfaces of the ceramic tile, thereby obtaining a clear 3D right-angled outline image of the ceramic tile. Figure 10 As shown.

[0056] Meanwhile, the top surface vision camera 21, the front surface vision camera 23 and the bottom surface vision camera 25 are respectively equipped with a top surface light source 22, a front surface light source 24 and a bottom surface light source 26 on their shooting paths, so that the same intensity of light source is applied to the front, top and bottom surfaces of the ceramic sheet, so that the brightness of the ceramic sheet outline is consistent at different angles, which helps to improve the clarity of the ceramic sheet outline image.

[0057] In this embodiment, see Figure 8 As shown, the above-mentioned polishing module 3 includes a first servo motor 31, a second servo motor 32, and a third servo motor 34. The output end of the first servo motor 31 is connected to the third servo motor 34, the output end of the third servo motor 34 is connected to the second servo motor 32, and the output end of the second servo motor 32 is connected to the polishing head 33. Through the coordinated movement of the first servo motor 31, the second servo motor 32, and the third servo motor 34, the polishing head 33 achieves precise polishing of the ceramic sheet according to the polishing path and angle, resulting in the desired polishing effect. Figure 11 The ceramic sheet shown has a chamfered edge.

[0058] Example 2

[0059] This embodiment 2 is a visual guidance method for chamfering and polishing ceramic sheets applied to embodiment 1, and specifically includes the following steps:

[0060] S1. Product arrival: The ceramic plate stage 11 transfers the ceramic plate to be polished to the photo-taking position of the visual guidance module 2;

[0061] The specific steps are as follows:

[0062] S11. When the ceramic plate stage 11 senses the ceramic plate to be polished, the X-direction positioning cylinder first clamps the ceramic plate to be polished once and then releases it, and then clamps the X-direction positioning cylinder and the Y-direction positioning cylinder in sequence.

[0063] S12. The ceramic plate stage 11 transfers the clamped ceramic plate to be polished to the photo-taking position of the visual guidance module 2.

[0064] S2. Image Acquisition: The top vision camera 21, the front vision camera 23, and the bottom vision camera 25 simultaneously take multi-dimensional photos of the right-angle contour of the ceramic piece to obtain a multi-dimensional right-angle contour image of the ceramic piece to be polished. The vision guidance module merges the acquired right-angle contour images of different dimensions to generate a 3D right-angle contour image of the ceramic piece to be polished, and sends the processed 3D right-angle contour image to the external control device.

[0065] In this step, after the vision camera takes a picture of the right-angled outline of the ceramic piece to be polished, the ceramic piece stage 11 first exits the picture position, and then rotates the ceramic piece 180 degrees and moves the ceramic piece to the same picture position of the vision guidance module to take a picture.

[0066] S3. Image Contour Extraction: The external control device analyzes the connected components of the same pixels in the 3D right-angle contour image through Blob analysis. After binarization, the color spots in the image can be considered as blobs. The Blob analysis tool can separate the target from the background and calculate the number, position, shape, direction and size of the target. It can also provide the topological structure between related blobs. In the processing, instead of analyzing individual pixels one by one, it operates on the rows of the image. Each row of the image is encoded with run length to represent the adjacent target range, thereby quickly and efficiently obtaining the contour information of the ceramic sheet to be polished.

[0067] S4. Generate grinding path: The external control device obtains the vertices of the ceramic sheet to be ground based on the contour information, and simulates a grinding path based on the vertex information and grinding amount parameters.

[0068] The specific steps are as follows:

[0069] S41. The external control equipment determines the position and angle information of the ceramic sheet to be polished based on the acquired contour information;

[0070] S42. Obtain the grinding angle based on the acquired position and angle information;

[0071] S43. The external control device simultaneously obtains the vertices of the ceramic sheet based on the acquired contour information, and simulates a grinding path based on the acquired vertices and grinding amount.

[0072] S5. Ceramic disc polishing: Polishing module 3 polishes the ceramic disc to be polished according to the polishing path.

[0073] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A ceramic sheet chamfering and grinding device, characterized in that, It includes a clamping module (1), a visual guidance module (2), and a polishing module (3); The clamping module (1) is provided with a ceramic plate stage (11) for clamping ceramic plates. The ceramic plate stage (11) has four degrees of freedom: X-direction, Y-direction, Z-direction and rotation around the Z-axis. The ceramic plate is transferred to the imaging position of the visual guidance module (2) by the X-axis motor assembly (15), Y-axis adjustment assembly (14), Z-axis adjustment assembly (12) and rotation assembly (13). The visual guidance module (2) is equipped with a top visual camera (21), a front visual camera (23) and a bottom visual camera (25), which are located on the top, front and bottom surfaces of the shooting position, respectively. When the ceramic piece is moved to the shooting position, the three visual cameras simultaneously take pictures of the right-angle contour of the ceramic piece to obtain the three-dimensional right-angle contour information of the ceramic piece to be polished. The visual guidance module (2) sends the three-dimensional right-angle contour information to the external control device. The external control device extracts the vertex coordinates of the ceramic piece through Blob analysis based on the obtained three-dimensional right-angle contour information and simulates a polishing path that fits the right-angle contour of the ceramic piece. The grinding module (3) includes a first servo motor (31), a second servo motor (32) and a third servo motor (34). The output end of the second servo motor (32) is connected to the grinding head (33). The grinding head (33) is driven by the three servo motors in coordination to perform chamfering grinding on the ceramic sheet to be ground according to the simulated grinding path.

2. The ceramic sheet chamfering and grinding device according to claim 1, characterized in that, After the visual camera takes a picture of the right-angled outline of the ceramic piece, the ceramic piece platform (11) exits the picture position, rotates the ceramic piece by 180 degrees, and then moves the ceramic piece to the picture position of the visual guidance module (2) to take a picture.

3. The ceramic sheet chamfering and grinding device according to claim 1, characterized in that, The ceramic plate stage (11) is provided with positioning cylinders for clamping the ceramic plate in the X and Y directions. When the ceramic plate is transferred to the ceramic plate stage (11), the positioning cylinder in the X direction clamps the ceramic plate once and then releases it, and then clamps the positioning cylinders in the X and Y directions in sequence.

4. The ceramic sheet chamfering and grinding device according to claim 1, characterized in that, Light sources are provided along the shooting paths of the top vision camera (21), the front vision camera (23), and the bottom vision camera (25).

5. A visually guided method for chamfering and polishing ceramic sheets, wherein the method is applied to a ceramic sheet chamfering and polishing apparatus according to any one of claims 1-4, characterized in that, Includes the following steps: S1. Product arrival: After the ceramic plate carrier (11) senses the ceramic plate to be polished, the X-direction positioning cylinder clamps the ceramic plate to be polished once and then releases it. Then, the X-direction positioning cylinder and the Y-direction positioning cylinder are clamped in sequence. The clamped ceramic plate to be polished is moved to the photo position of the visual guidance module (2) through the X-axis motor assembly (15), the Y-axis adjustment assembly (14), the Z-axis adjustment assembly (12) and the rotation assembly (13). S2. Image acquisition: The top vision camera (21), the front vision camera (23) and the bottom vision camera (25) simultaneously take pictures of the right-angle contour of the ceramic piece. The ceramic piece platform (11) exits the shooting position and rotates the ceramic piece 180 degrees before moving it back to the shooting position for a second image acquisition. The vision guidance module (2) merges the two acquired multi-dimensional right-angle contour images to generate a 3D right-angle contour image of the ceramic piece to be polished and sends it to the external control device. S3. Image contour extraction: The external control device analyzes the connected components of the same pixels in the 3D right-angle contour image through Blob analysis, separates the target from the background after binarization, calculates the target vertex coordinates, and obtains the contour information of the ceramic sheet to be polished. S4. Generate grinding path: The external control device determines the position and angle information of the ceramic piece based on the contour information, and combines the preset grinding amount parameters to simulate a grinding path that fits the right-angle contour with the vertex of the ceramic piece as the reference point. S5. Ceramic sheet grinding: The first servo motor (31), the second servo motor (32) and the third servo motor (34) of the grinding module (3) jointly drive the grinding head (33) to perform chamfer grinding on the ceramic sheet to be ground according to the grinding path.

6. The method for visually guiding the chamfering and polishing of ceramic sheets according to claim 5, characterized in that, The specific steps of step S4 are as follows: S41. The external control device determines the position and angle information of the ceramic sheet to be polished based on the acquired contour information; S42. Obtain the grinding angle based on the acquired position and angle information; S43. The external control device simultaneously obtains the vertices of the ceramic sheet based on the acquired contour information, and simulates a grinding path based on the acquired vertices and grinding amount.

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