Automatic feeding device and method for fcbga package substrate

Abstract

The application provides an automatic feeding device and method for FCBGA packaging substrates. The automatic feeding device for FCBGA packaging substrates comprises a detection table provided with a detection station; a camera fixed to the detection table and used for acquiring a positioning image of the FCBGA packaging substrate relative to the detection station, the positioning image comprising a background area and a foreground area where the FCBGA packaging substrate is located; a calculation unit used for calculating position deviation data and orientation deviation data of the FCBGA packaging substrate relative to the detection station according to the positioning image; and a first mechanical arm comprising a movable arm and a gripper connected to the movable arm, the movable arm being used for adjusting the orientation of the gripper in a horizontal plane so that the position and orientation of the gripper are adapted to the position and orientation of the FCBGA packaging substrate, and the gripper being used for grabbing the FCBGA packaging substrate. The automatic feeding device and method for FCBGA packaging substrates of the application are not prone to damaging the substrate during the feeding process.

Description

Technical Field

[0001] This application relates to the field of semiconductor technology, and in particular to the processing technology of IC packaging FCBGA packaging substrate. Background Technology

[0002] Flip-chip ball grid array (FCBGA) is a high-density IC packaging substrate that combines flip-chip interconnect with advanced FCBGA packaging substrate technology. It has advantages such as high wiring density and small line width and spacing, and is mainly used in CPUs and GPUs with high-performance and high-density circuit connections.

[0003] To meet the demands of applications such as 5G and high-speed display chips, the specifications of FCBGA are becoming increasingly stringent, and the fabrication of circuits and patterns requires greater precision. Any factor that contaminates or damages the board surface may cause problems in subsequent FCBGA manufacturing processes. Therefore, the protection and cleanliness of the board surface are of paramount importance during the production of FCBGA packaging substrates. During production, it is crucial to avoid any actions that could cause scratches, abrasions, or contamination. These issues can pose risks to subsequent production, leading to defects in the FCBGA packaging substrate. These defects can range from reliability issues to the scrapping of the entire FCBGA packaging substrate, resulting in wasted resources.

[0004] In the loading process of FCBGA packaging substrate production, manual loading or automated loading machines are currently the main methods used. During manual loading, even with gloves on, it's unavoidable to touch the pattern area, easily contaminating the board surface. Excessive force can cause scratches and damage to fine lines. Furthermore, manual loading suffers from low efficiency and the risk of incorrect placement (positive or negative).

[0005] Traditional automatic board loading machines involve a tapping motion before loading the board to adjust its position. However, this tapping motion can easily scratch, abrade, or mark the board surface. Furthermore, insufficient tapping force will not effectively adjust the FCBGA packaging substrate, while excessive tapping force can compress the substrate, leading to board deformation. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the purpose of this application is to provide an automatic feeding device and method for FCBGA packaged substrates, so as to solve the problem that the feeding process in the prior art is prone to damaging the substrate.

[0007] In a first aspect, this application provides an automatic feeding device for an FCBGA packaged substrate, the automatic feeding device for the FCBGA packaged substrate comprising:

[0008] The testing station is equipped with testing workstations;

[0009] A camera, fixed to the inspection station, is used to acquire a positioning image of the FCBGA packaging substrate relative to the inspection station. The positioning image includes a background area and a foreground area where the FCBGA packaging substrate is located.

[0010] The calculation unit calculates the positional deviation data and orientation deviation data of the FCBGA packaging substrate relative to the detection station based on the positioning image;

[0011] The first robotic arm includes a movable arm and a gripper connected to the movable arm. The movable arm is used to adjust the position of the gripper in the horizontal plane according to the position deviation data. The movable arm is also used to adjust the orientation of the gripper in the horizontal plane according to the orientation deviation data, so that the position and orientation of the gripper are adapted to the position and orientation of the FCBGA package substrate. The gripper is used to grasp the FCBGA package substrate.

[0012] In one implementation of the first aspect, the gripper includes a mounting substrate and a plurality of suction cups fixed to the mounting substrate, the suction cups gripping the FCBGA package substrate by vacuum suction.

[0013] In one implementation of the first aspect, the plurality of suction cups includes a first column of suction cups and a second column of suction cups fixed to the mounting substrate, the first column of suction cups and the second column of suction cups being parallel to each other so as to engage with opposite sides of the FCBGA packaging substrate.

[0014] In one implementation of the first aspect, the mounting substrate is a rectangular plate having two long sides and two wide sides, the first column of suction cups and the second column of suction cups are arranged along the two long sides respectively, and the gripper further includes a first column of claws and a second column of claws arranged along the two wide sides respectively.

[0015] In one implementation of the first aspect, the movable arm includes:

[0016] A rotating mechanism, connected to the gripper, is used to adjust the orientation of the gripper in the horizontal plane;

[0017] A horizontal translation mechanism, connected to the rotating mechanism, is used to adjust the position of the rotating mechanism and the gripper in the horizontal plane.

[0018] In one implementation of the first aspect, the detection station includes:

[0019] A support panel, the support panel including a transparent portion for supporting the FCBGA package substrate;

[0020] The lighting lamp projects light through the transparent portion onto the FCBGA package substrate and the camera, so that the background area appears white.

[0021] In one implementation of the first aspect, the transparent portion includes:

[0022] A first transparent panel is located at one corner of the testing station and is used to support the first corner of the FCBGA packaging substrate.

[0023] The second transparent panel is located at the other corner of the testing station and is used to support the second corner of the FCBGA packaging substrate.

[0024] The lighting fixture includes:

[0025] A first lighting lamp is located directly below the first transparent panel and is used to project light onto the first transparent panel;

[0026] The second light source is located directly below the second transparent panel and is used to project light onto the second transparent panel;

[0027] The camera includes:

[0028] The first camera is located directly above the first transparent panel;

[0029] The second camera is located directly above the second transparent panel.

[0030] In one implementation of the first aspect, the detection station further includes:

[0031] A first lifting device is connected to the first lighting lamp and is used to adjust the distance between the first lighting lamp and the first transparent panel;

[0032] The second lifting device, connected to the second light, is used to adjust the distance between the second light and the second transparent panel.

[0033] In one implementation of the first aspect, the automatic feeding device for the FCBGA package substrate further includes:

[0034] The conveying platform has an input end and an output end, with the output end close to the detection station;

[0035] The second robotic arm is used to transfer the FCBGA packaged substrate from the output end to the detection station;

[0036] The first transport trolley is used to store FCBGA packaging substrates and corresponding trays;

[0037] The second transport trolley is used to store the pallets;

[0038] The third robotic arm is used to transfer the FCBGA package substrate from the first transport trolley to the input end, and to transfer the tray from the first transport trolley to the second transport trolley.

[0039] Secondly, this application provides an automatic feeding method for FCBGA packaged substrates, wherein the automatic feeding method for FCBGA packaged substrates is applied to the automatic feeding device for the FCBGA packaged substrates, and the automatic feeding method for FCBGA packaged substrates includes:

[0040] Obtain a positioning image of the FCBGA packaging substrate relative to the detection station;

[0041] The positional deviation data and orientation deviation data of the FCBGA packaging substrate relative to the detection station are calculated based on the positioning image.

[0042] The orientation of the gripper in the horizontal plane is adjusted according to the orientation deviation data so that the position and orientation of the gripper are adapted to the position and orientation of the FCBGA package substrate;

[0043] The FCBGA package substrate is picked up and transferred to the next work station.

[0044] As described above, the automatic feeding device and method for FCBGA packaged substrates described in this application can reduce damage to FCBGA packaged substrates during the feeding process. Attached Figure Description

[0045] Figure 1 The diagram shows a structural schematic of an FCBGA package substrate positioning device in the prior art.

[0046] Figure 2 The image shown is a top view of an automatic feeding device for an FCBGA package substrate according to an embodiment of this application.

[0047] Figure 3 This is a front view of the position of the testing stage when the FCBGA packaged substrate is delivered to the testing stage in one embodiment of this application.

[0048] Figure 4 The image shown is a top view of the position of the testing stage after the FCBGA packaged substrate is delivered to the testing stage in one embodiment of this application.

[0049] Figure 5 The image shown is a top view of one embodiment of this application after the gripper has been adjusted to adapt to the orientation of the FCBGA package substrate.

[0050] Figure 6 The image shown is a positioning image of a corner of an FCBGA package substrate obtained by a camera in one embodiment of this application.

[0051] Figure 7 The image shown is a positioning image of another corner of the FCBGA package substrate obtained by a camera in one embodiment of this application.

[0052] Figure 8 The flowchart shown is an automatic feeding method for FCBGA packaging substrate in one embodiment of this application.

[0053] Component designation explanation

[0054] 1. Clapper; 2. FCBGA packaging substrate; 3. Conveying platform; 4. Inspection table; 41. Inspection station; 42. Support panel; 421. Transparent part; 4211. First transparent panel; 4212. Second transparent panel; 43. Lighting lamp; 431. First lighting lamp; 432. Second lighting lamp; 44. First lifting device; 45. Second lifting device; 5. Camera; 51. Background area; 52. Foreground area; 53. Feature line; 54. Feature point; 6. First robotic arm; 61. Movable arm; 611. Rotation mechanism; 612. Horizontal translation mechanism; 62. Gripper; 621. Mounting substrate; 622. Suction cup; 623. First row of grippers; 624. Second row of grippers; 7. Second robotic arm; 71. Lateral movement mechanism; 72. Second gripper; 81. First transport trolley; 82. Second transport trolley; 9. Third robotic arm. Detailed Implementation

[0055] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0056] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0057] like Figure 1As shown, the existing technology uses a pressure plate 1 to adjust the position of the FCBGA package substrate 2. The FCBGA package substrate 2 is transported via a conveyor platform 3, and the pressure plate 1 is mounted on the side of the conveyor platform 3. Initially, the position of the FCBGA package substrate 2 on the conveyor platform 3 is not fixed; for example, the FCBGA package substrate 2 may be placed at an angle relative to the conveyor platform 3. By applying force to the edge of the FCBGA package substrate 2 with the pressure plate 1, the FCBGA package substrate 2 is adjusted to a position parallel to and centered with the conveyor platform 3, thus completing the positioning. This process can easily damage the FCBGA package substrate, reducing the yield rate.

[0058] Traditional purely mechanical positioning methods have the following shortcomings: First, the positioning accuracy requirements of FCBGA packaging substrates are becoming increasingly higher, and the positioning accuracy of traditional mechanical methods is difficult to guarantee; second, traditional mechanical positioning methods mostly rely on external force to push the workpiece to the correct processing position, which is prone to collisions or wear.

[0059] like Figure 2 As shown, in order to reduce damage to the FCBGA package substrate 2 during the loading process, this embodiment provides an automatic loading device for the FCBGA package substrate. The automatic loading device for the FCBGA package substrate includes a detection stage 4, a camera 5, a computing unit (not shown), and a first robotic arm 6.

[0060] Inspection station 4 is equipped with inspection station 41. Camera 5 is fixed to inspection station 4 to acquire positioning images of the FCBGA package substrate relative to the inspection station. Camera 5 can be directly connected to inspection station 4 or indirectly connected to inspection station 4, as long as the position of camera 5 relative to inspection station 4 remains fixed. (Reference) Figure 6 , Figure 7 The positioning image includes the background area 51 and the foreground area 52 where the FCBGA package substrate is located. Figure 6 , Figure 7 (Use squares in the middle).

[0061] The calculation unit calculates the positional deviation and orientation deviation data of the FCBGA package substrate relative to the inspection station based on the positioning image. Since the pixel size of the positioning image is fixed, and the position of the camera 5 relative to the inspection station 4 is fixed, the position of a specific point on the FCBGA package substrate relative to the inspection station can be calculated based on the position of a specific pixel in the foreground region 52 within the positioning image, for example, by converting pixel distance into a proportional spatial distance. Ideally, the position of the FCBGA package substrate completely coincides with the inspection station 41. When the FCBGA package substrate is mechanically or manually placed on the inspection station 4, it is placed horizontally. The positioning error of the FCBGA package substrate relative to the inspection station 41 can be represented by translational error and rotational error. Translational error represents the horizontal distance between the center point of the FCBGA package substrate and the center point of the inspection station. Rotational error represents the rotation angle of the FCBGA package substrate around its own center point normal. By performing reverse translation and rotation operations on the FCBGA package substrate based on translation and rotation errors, the FCBGA package substrate 2 can be adjusted to completely coincide with the detection station 41. In this embodiment, the position deviation data corresponds to the aforementioned translation error, and the orientation deviation data corresponds to the aforementioned rotation error. In this embodiment, the specific algorithm used by the calculation unit to obtain the position deviation data and orientation deviation data can employ existing image processing algorithms and is not considered a key improvement in this embodiment. For example, the boundary line between the foreground and background regions can be captured using an edge detection algorithm in existing image processing algorithms. This boundary line is the edge line of the FCBGA package substrate 2. The angle between the edge line and the horizontal axis of the positioning image is obtained based on the slope of this edge line in the positioning image. The size of this angle represents the rotation angle error of the FCBGA package substrate relative to the detection station. Another example is that the surface of the FCBGA package substrate 2 has markings such as patterns or positioning holes. A feature point is selected from these markings, and the position deviation data is obtained based on the pixel distance of the feature point relative to the pixel origin of the positioning image. Specifically, the feature point can be selected from the center of the positioning hole, the intersection of the extension lines of the two edge lines of the FCBGA package substrate 2, etc.

[0062] The first robotic arm 6 includes a movable arm 61 and a gripper 62 connected to the movable arm 61. The movable arm 61 is used to adjust the position of the gripper in the horizontal plane according to position deviation data. The movable arm is also used to adjust the orientation of the gripper in the horizontal plane according to orientation deviation data, so that the position and orientation of the gripper are adapted to the position and orientation of the FCBGA package substrate. The gripper 62 is used to grasp the FCBGA package substrate.

[0063] like Figure 2 As shown, the FCBGA package substrate 2 has not yet been delivered to the inspection station 4. At this time, the first robotic arm 6 is in a ready state, and the gripper 62 is located on the horizontal side of the inspection station 4 and facing the inspection station 4. Figure 5As shown, when the FCBGA package substrate 2 is first delivered to the inspection station 4, there is a deviation between the position of the FCBGA package substrate 2 and the inspection station 41. This deviation is... Figure 5 The main manifestation is the rotation angle deviation of FCBGA package substrate 2. Figure 5 The center position of the FCBGA packaging substrate 2 is basically consistent with the center position of the inspection station 41.

[0064] When faced with positional or orientation deviations of the FCBGA package substrate 2, the traditional positioning method is to use an ejection mechanism or clamping mechanism to reposition the FCBGA package substrate 2 to the inspection station 41. This method is prone to causing damage.

[0065] The positioning method in this embodiment does not change the position of the FCBGA package substrate 2. Instead, it obtains the positioning error data of the FCBGA package substrate 2 through a fixedly mounted camera 5 and a computing unit. This positioning error data includes position deviation data and orientation deviation data. The position and orientation of the gripper 62 are then adjusted according to this positioning error data to match the actual position and orientation of the FCBGA package substrate 2. After the gripper 62 picks up the FCBGA package substrate 2 and leaves the inspection station 4, the FCBGA package substrate 2 can be adjusted in a suspended state to be vertically aligned with the inspection station 41. This achieves precise positioning of the FCBGA package substrate 2 while minimizing damage to it during the positioning process. Alternatively, after picking up the FCBGA package substrate 2, the gripper 62 can also return to its initial position without aligning with the inspection station 41, by performing the opposite action to adjusting its position and orientation.

[0066] To further reduce damage to the FCBGA package substrate 2 during the gripping process, in this embodiment, the gripper 62 includes a mounting substrate 621 and multiple suction cups 622 fixed to the mounting substrate. The suction cups 622 grip the FCBGA package substrate 2 using vacuum suction. In this embodiment, by using the suction cups 622 to grip the FCBGA package substrate 2, the direction of the force applied to the FCBGA package substrate 2 during the gripping process is perpendicular to the surface of the FCBGA package substrate 2. This gripping force has no horizontal component, thereby minimizing horizontal slippage or wear of the FCBGA package substrate 2 relative to the detection stage 4 during the gripping process.

[0067] Specifically, the plurality of suction cups 622 includes a first row of suction cups and a second row of suction cups fixed to the mounting substrate. The first row of suction cups and the second row of suction cups are parallel to each other so as to engage with the opposite two sides of the FCBGA package substrate 2. The edges of the FCBGA package substrate have blank areas not covered by the solder ball array. In this embodiment, the suction cups 622 are arranged in two rows to ensure that the FCBGA package substrate is subjected to uniform force during gripping, prevent the substrate from tilting, and avoid the suction cups 622 from contacting the solder balls.

[0068] After the first robotic arm 6 precisely aligns with and grips the FCBGA package substrate 2, the FCBGA package substrate 2 needs to be transferred to the next processing or inspection station. To minimize positional shift of the FCBGA package substrate 2 relative to the gripper 62 during the transfer process, such as... Figure 5 As shown, in this embodiment, the mounting substrate 621 is a rectangular plate with two long sides and two wide sides. The first and second rows of suction cups are arranged along the two long sides, respectively. The gripper 62 also includes a first row of claws 623 and a second row of claws 624 arranged along the two wide sides. The first row of claws 623 and the second row of claws 624 cooperate with each other to clamp the FCBGA package substrate 2, preventing the FCBGA package substrate 2 from slipping relative to the suction cups 622, thereby maintaining the positioning accuracy obtained based on the camera and image recognition.

[0069] Specifically, such as Figure 2 As shown, in this embodiment, the movable arm 61 includes a rotation mechanism 611 and a horizontal translation mechanism 612. The rotation mechanism 611 is connected to the gripper 62 and is used to adjust the orientation of the gripper 62 in the horizontal plane. The horizontal translation mechanism 612 is connected to the rotation mechanism 611 and is used to adjust the positions of the rotation mechanism 611 and the gripper 62 in the horizontal plane. The horizontal translation mechanism 612 may further include an X-axis translation mechanism and a Y-axis translation mechanism, wherein the X-axis and Y-axis are both in the horizontal plane and perpendicular to each other. When gripping the FCBGA package substrate 2, the first robotic arm 6 moves the gripper 62 from... Figure 2 The upright, ready position shown beside the testing platform 4 is adjusted to be above the testing platform 4, so that the mounting substrate 621 is in a horizontal state. The horizontal translation mechanism 612 adjusts the center position of the mounting substrate 621 to be consistent with the center position of the FCBGA package substrate 2 based on the position deviation data. The rotation mechanism 611 then adjusts the orientation of the mounting substrate 621 in the horizontal plane to be consistent with the orientation of the FCBGA package substrate 2 based on the orientation deviation data, further gripping the FCBGA package substrate 2. Obviously, this embodiment does not limit the order of operation of the rotation mechanism 611 and the horizontal translation mechanism 612; they can operate sequentially or simultaneously.

[0070] To facilitate the calculation unit from Figure 6 , Figure 7 The positioning image shown correctly segments the foreground and background regions, ensuring that the boundary of the foreground region precisely coincides with the boundary of the FCBGA package substrate 2, thereby improving the accuracy of positional and orientation deviation data. Figure 3 , Figure 4As shown, in this embodiment, the detection stage 4 includes a support panel 42 and an illumination lamp 43. The support panel 42 includes a transparent portion 421 for supporting the FCBGA package substrate. The illumination lamp 43 projects light through the transparent portion 421 onto the FCBGA package substrate and the camera 5, making the background area appear white. In this embodiment, the illumination lamp 43 projects light directly onto the camera 5, rather than the usual light entering the camera 5 after reflection. This setting makes the positioning image exhibit a backlighting effect, increasing the brightness difference between the background area and the foreground area, that is, increasing the grayscale gradient at the boundary of the FCBGA package substrate 2, so that the calculation unit can identify the boundary line of the FCBGA package substrate 2 from the positioning image, and further derive position deviation data and orientation deviation data based on the boundary line position.

[0071] Specifically, such as Figure 2 As shown, in this embodiment, the transparent portion 421 includes a first transparent panel 4211 and a second transparent panel 4212. The first transparent panel 4211 is located at one corner of the inspection station 41 and is used to support the first corner of the FCBGA packaging substrate. The second transparent panel 4212 is located at the other corner of the inspection station 41 and is used to support the second corner of the FCBGA packaging substrate. Figure 4 As shown, the illumination lamp 43 includes a first illumination lamp 431 and a second illumination lamp 432. The first illumination lamp 431 is located directly below the first transparent panel 4211 and is used to project light onto the first transparent panel 4211. The second illumination lamp 432 is located directly below the second transparent panel 4212 and is used to project light onto the second transparent panel 4212. The camera includes a first camera and a second camera. The first camera is located directly above the first transparent panel, and the second camera is located directly above the second transparent panel. In this embodiment, the position of the illumination lamp 43 is aligned with the top corner of the FCBGA package substrate 2, which can make two intersecting boundary lines appear in the positioning image. Since the two boundary lines intersect, the unique position of the FCBGA package substrate 2 can be determined based on the position of these two boundary lines. To further increase the reliability of positioning, this embodiment sets up two imaging systems. The first imaging system includes the first transparent panel 4211, the first illumination lamp 431, and the first camera. The second imaging system includes the second transparent panel 4212, the second illumination lamp 432, and the second camera. Obviously, in other embodiments, three, four, or more second imaging systems can be set up, each imaging system obtaining one positioning image, and the calculation unit obtaining position deviation data and orientation deviation data based on multiple positioning images. Specifically, in this embodiment, camera 5 is a CCD camera.

[0072] To obtain pattern information on the surface of the FCBGA package substrate 2 while ensuring clear substrate boundary lines in the positioning image, the detection stage 4 in this embodiment further includes a first lifting device 44 and a second lifting device 45. The first lifting device 44 is connected to the first illumination lamp 431 and is used to adjust the distance between the first illumination lamp 431 and the first transparent panel 4211. The second lifting device 45 is connected to the second illumination lamp 432 and is used to adjust the distance between the second illumination lamp 432 and the second transparent panel 4212. The first lifting device 44 and the second lifting device 45 can balance the ratio of backlight brightness to ambient light brightness, thereby obtaining pattern information on the surface of the FCBGA package substrate 2. In addition to obtaining position and orientation information using the edge lines of the FCBGA package substrate 2, the calculation unit can also obtain position and orientation information using the pattern information, further improving the accuracy of position deviation data and orientation deviation data.

[0073] The automated loading device for FCBGA packaged substrates also includes a conveyor platform 3, a second robotic arm 7, a first transport trolley 81, a second transport trolley 82, and a third robotic arm 9. The conveyor platform 3 has an input end and an output end, with the output end close to the inspection station. The second robotic arm 7 is used to transfer the FCBGA packaged substrate from the output end to the inspection station 41. The first transport trolley 81 is used to store the FCBGA packaged substrate and its corresponding tray (not shown). The second transport trolley 82 is used to store the tray. The third robotic arm 9 is used to transfer the FCBGA packaged substrate 2 from the first transport trolley 81 to the input end and to move the tray from the first transport trolley 81 to the second transport trolley 82.

[0074] Before loading, the FCBGA packaged substrate 2 is placed on the first transport trolley 81 manually or mechanically. On the first transport trolley 81, each FCBGA packaged substrate 2 is placed in a corresponding tray. The trays containing each FCBGA packaged substrate 2 are stacked vertically, and adjacent FCBGA packaged substrates 2 are separated by the trays to prevent them from rubbing against each other.

[0075] The first transport trolley 81, carrying the FCBGA package substrate 2 and the corresponding tray, is transferred to the material storage station near the input end of the conveyor platform 3. The third robotic arm 9 then... Figure 2 The prepared state is then transferred above the first transport trolley 81. The third robotic arm 9 first transfers the topmost FCBGA packaged substrate 2 to the input end of the conveyor platform 3. The third robotic arm 9 then transfers the topmost first tray to the second transport trolley 82, and then transfers the topmost second FCBGA packaged substrate, and so on. After the FCBGA packaged substrates 2 on the first transport trolley 81 are emptied, the second first transport trolley 81, fully loaded with FCBGA packaged substrates 2, is transferred to the material storage station, thereby continuously transferring the FCBGA packaged substrates 2 to the input end of the conveyor platform 3.

[0076] The second robotic arm 7 includes a traversing mechanism 71 and a second gripper 72 mounted on the traversing mechanism 71. The traversing mechanism 71 moves the second gripper 72 back and forth between the output end of the conveyor platform 3 and the inspection station 41, so that the second gripper 72 continuously transfers the FCBGA packaged substrate 2 from the conveyor platform 3 to the inspection station 41. Specifically, a photoelectric sensor can be installed at the output end of the conveyor platform 3. When the photoelectric sensor detects that the FCBGA packaged substrate 2 has arrived at the output end of the conveyor platform 3 by means of obstruction or reflection, the conveyor platform 3 stops running and waits for the second robotic arm 7 to pick up the FCBGA packaged substrate 2. This process does not use a mechanical stop structure to avoid damage to the FCBGA packaged substrate 2. Specifically, the conveyor platform 3 adopts a conveyor belt or a conveyor roller.

[0077] like Figure 8 As shown, the present invention also provides an automatic feeding method for FCBGA packaged substrates. This automatic feeding method for FCBGA packaged substrates is applied to the automatic feeding device for FCBGA packaged substrates in any of the above embodiments. The automatic feeding method for FCBGA packaged substrates includes:

[0078] Step S100: Obtain the positioning image of the FCBGA packaging substrate relative to the inspection station;

[0079] Step S200: Calculate the positional deviation data and orientation deviation data of the FCBGA packaging substrate relative to the detection station based on the positioning image;

[0080] Step S300: Adjust the orientation of the gripper in the horizontal plane according to the orientation deviation data so that the position and orientation of the gripper are adapted to the position and orientation of the FCBGA package substrate;

[0081] Step S400: Pick up the FCBGA package substrate and transfer it to the next station.

[0082] Specifically, in this embodiment, before step S100, the automatic loading method for FCBGA packaged substrates further includes: using a third robotic arm to transfer the FCBGA packaged substrate from the first transport trolley to the input end, and transferring the tray from the first transport trolley to the second transport trolley. When the output end of the conveying platform 3 detects the FCBGA packaged substrate, the conveying platform 3 stops conveying and waits for the second robotic arm 7 to transfer the FCBGA packaged substrate from the conveying platform 3 to the detection table 4.

[0083] Specifically, such as Figure 6 , Figure 7As shown, in this embodiment, in step S200, edge detection and line detection algorithms are used to extract the edge lines of the FCBGA package substrate from the positioning image as feature lines 53. The intersection points of the extended sections of two intersecting edge lines are taken as feature points 54. Orientation deviation data is obtained based on the angle between the feature lines and the horizontal axis X or vertical axis Y of the positioning image. Position deviation data is obtained based on the pixel coordinates of the feature points and the proportional relationship between pixel distance and actual object distance.

[0084] Specifically, in this embodiment, after grasping the FCBGA packaging substrate in step S400, the first robotic arm returns to the state before step S300, and then transfers the FCBGA packaging substrate to the next station. The next station is a processing station or an inspection station.

[0085] The scope of protection of the automatic feeding method for FCBGA packaging substrates described in this application is not limited to the execution order of the steps listed in this embodiment. Any solution implemented by adding, subtracting, or replacing steps in the prior art based on the principles of this application is included within the scope of protection of this application.

[0086] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. An automatic feeding device for FCBGA packaged substrates, characterized in that, The automatic feeding device for the FCBGA packaged substrate includes: The testing station is equipped with testing workstations; A camera, fixed to the inspection station, is used to acquire a positioning image of the FCBGA packaging substrate relative to the inspection station. The positioning image includes a background area and a foreground area where the FCBGA packaging substrate is located. The testing station includes: a support panel, the support panel including a transparent portion for supporting the FCBGA package substrate; and an illumination lamp that projects light through the transparent portion onto the FCBGA package substrate and the camera to make the background area appear white. The transparent portion includes: a first transparent panel located at one corner of the testing station for supporting a first corner of the FCBGA package substrate; and a second transparent panel located at the other corner of the testing station for supporting a second corner of the FCBGA package substrate. The illumination lamp includes: a first illumination lamp located directly below the first transparent panel for projecting light onto the first transparent panel; and a second illumination lamp located directly below the second transparent panel for projecting light onto the second transparent panel. The camera includes: a first camera located directly above the first transparent panel; and a second camera located directly above the second transparent panel. The testing station also includes: a first lifting device connected to the first illumination lamp for adjusting the distance between the first illumination lamp and the first transparent panel; and a second lifting device connected to the second illumination lamp for adjusting the distance between the second illumination lamp and the second transparent panel. The calculation unit calculates the position deviation data and orientation deviation data of the FCBGA packaging substrate relative to the detection station based on the positioning image; wherein, the positioning error of the FCBGA packaging substrate relative to the detection station is represented by translation error and rotation error. A first robotic arm includes a movable arm and a gripper connected to the movable arm. The movable arm is used to adjust the position of the gripper in the horizontal plane according to the position deviation data. The movable arm is also used to adjust the orientation of the gripper in the horizontal plane according to the orientation deviation data, so that the position and orientation of the gripper are adapted to the position and orientation of the FCBGA packaging substrate. The movable arm includes: a rotation mechanism connected to the gripper for adjusting the orientation of the gripper in the horizontal plane; and a horizontal translation mechanism connected to the rotation mechanism for adjusting the position of the rotation mechanism and the gripper in the horizontal plane. The gripper is used to grasp the FCBGA packaging substrate. The gripper includes a mounting substrate and a plurality of suction cups fixed to the mounting substrate. The suction cups grasp the FCBGA packaging substrate by vacuum suction. The plurality of suction cups includes a first row of suction cups and a second row of suction cups fixed to the mounting substrate. The first row of suction cups and the second row of suction cups are parallel to each other so as to engage with the opposite sides of the FCBGA packaging substrate.

2. The automatic feeding device for FCBGA packaged substrates according to claim 1, characterized in that, The mounting base plate is a rectangular plate with two long sides and two wide sides. The first column of suction cups and the second column of suction cups are arranged along the two long sides respectively. The gripper also includes a first column of claws and a second column of claws arranged along the two wide sides respectively.

3. The automatic feeding device for FCBGA packaged substrates according to claim 1, characterized in that, The automatic feeding device for the FCBGA packaged substrate also includes: The conveying platform has an input end and an output end, with the output end close to the detection station; The second robotic arm is used to transfer the FCBGA packaged substrate from the output end to the detection station; The first transport trolley is used to store FCBGA packaging substrates and corresponding trays; The second transport trolley is used to store the pallets; The third robotic arm is used to transfer the FCBGA package substrate from the first transport trolley to the input end, and to transfer the tray from the first transport trolley to the second transport trolley.

4. An automatic feeding method for FCBGA packaging substrates, characterized in that, The automatic feeding method for FCBGA packaged substrates is applied to the automatic feeding device for FCBGA packaged substrates according to any one of claims 1 to 3, and the automatic feeding method for FCBGA packaged substrates includes: Obtain a positioning image of the FCBGA packaging substrate relative to the detection station; The positional deviation data and orientation deviation data of the FCBGA packaging substrate relative to the detection station are calculated based on the positioning image. The orientation of the gripper in the horizontal plane is adjusted according to the orientation deviation data so that the position and orientation of the gripper are adapted to the position and orientation of the FCBGA package substrate; The FCBGA package substrate is picked up and transferred to the next work station.

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