Method for correcting positions of camera and pressure head and angle of pressure head

Abstract

The invention discloses a method for correcting the positions of a camera and a pressure head and the angle of the pressure head, and the method comprises the steps: placing a jig at an initial position, and enabling the jig to be provided with a reference hole; the top camera moves to the position above the jig, the first distance deviation and the first angle deviation of the datum hole relative to the top camera on the horizontal plane are obtained, and then automatic compensation is carried out to eliminate the deviation; the pressing head sucks the jig and moves to the position above the bottom camera, the bottom camera obtains a second distance deviation and a second angle deviation of the datum hole on the horizontal plane relative to the bottom camera, the second distance deviation is the compensation distance needed by the pressing head, and the difference between the first angle deviation and the second angle deviation is the compensation angle needed by the pressing head; and the pressure head performs automatic compensation according to the compensation distance and the compensation angle, and then returns to place the jig at an initial position until the obtained compensation distance and the compensation angle are within a preset precision range. The method has the advantage of comprehensive correction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of camera module production, in particular to a method for correcting the position of a camera and a pressing head and the angle of the pressing head. BACKGROUND

[0002] In the correction of a camera module bonding device, the correction of the position of the top camera and the pressing head is the core link to ensure high-precision bonding. Since the mechanical installation of the pressing head and the top camera cannot be absolutely coaxial, there is usually a certain initial deviation (limited by machining / assembly precision), and if correction is not performed, the pressing head and the product (camera module) will be misaligned, causing poor bonding. However, in the prior art, only the distance deviation between the top camera and the pressing head is corrected (XY direction correction), the jig is photographed by the top camera to confirm the jig position, after the jig position is confirmed, the pressing head sucks the jig and moves to the bottom camera position, and then the jig information is obtained by the bottom camera, the distance compensation value of the pressing head is obtained by the jig information photographed by the bottom camera and the top camera, and then automatic compensation is performed, and the above steps are repeatedly performed until the distance compensation value obtained is within the preset precision range to complete the correction. This method still has disadvantages. Since only distance correction is performed, if the product has an angle tilt that cannot be detected by the naked eye, the device cannot automatically compensate, and the product is easily damaged during pressing, affecting the yield. SUMMARY

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application provides a method for correcting the position of a camera and a pressing head and the angle of the pressing head, which can correct the distance and angle deviation between the top camera and the pressing head, and the correction is comprehensive.

[0004] The method for correcting the position of a camera and a pressing head and the angle of the pressing head according to the embodiment of the present application comprises the following steps: placing a jig at an initial position, the center of the jig being provided with a vertical reference hole, the cross section of the reference hole having a plurality of straight sides; moving the top camera above the jig and photographing the jig to obtain a first distance deviation and a first angle deviation of the reference hole relative to the top camera in the horizontal plane, and then performing automatic compensation to eliminate the deviation; the pressing head sucks the jig and moves above the bottom camera, the bottom camera photographs the jig to obtain a second distance deviation and a second angle deviation of the reference hole relative to the bottom camera in the horizontal plane, the second distance deviation being the compensation distance required by the pressing head, and the first angle deviation minus the second angle deviation being the compensation angle required by the pressing head; The pressing head is automatically compensated according to the compensation distance and the compensation angle, and then returns to the initial position of the jig until the compensation distance and the compensation angle obtained are within the preset accuracy range, and the correction is completed. The top camera is connected with the pressing head and moves synchronously, and the bottom camera is fixed.

[0005] The method for correcting the position of the camera and the pressing head and the angle of the pressing head has at least the following beneficial effects: In the embodiment, a reference hole is arranged at the center of the jig, and the top camera and the bottom camera are used to take pictures of the reference hole of the jig to obtain information of the reference hole. Since the cross section of the reference hole has multiple straight sides, the distance and the angle of the jig relative to the camera can be obtained when the top camera and the bottom camera take pictures of the jig. Therefore, the information obtained by the top camera and the bottom camera can not only obtain the compensation distance required by the pressing head, but also obtain the compensation angle required by the pressing head. According to the compensation distance and the compensation angle obtained, the pressing head is automatically compensated to correct the distance and the angle, which is comprehensive and can effectively improve the product yield when the pressing head is used for subsequent bonding work.

[0006] According to some embodiments of the present application, the first distance deviation and the first angle deviation of the reference hole relative to the top camera in the horizontal plane are obtained by: The angles of at least two straight sides of the cross section of the reference hole relative to the top camera in the horizontal plane are obtained, and the average value is the first angle deviation. The second distance deviation and the second angle deviation of the reference hole relative to the bottom camera in the horizontal plane are obtained by: The angles of at least two straight sides of the cross section of the reference hole relative to the bottom camera in the horizontal plane are obtained, and the average value is the second angle deviation.

[0007] According to some embodiments of the present application, the cross section of the reference hole has a first side distributed along the X direction and a second side distributed along the Y direction. The angles of at least two straight sides of the cross section of the reference hole relative to the top camera in the horizontal plane are obtained by: The angle of the first side relative to the X direction of the top camera is obtained, and the angle of the second side relative to the Y direction of the top camera is obtained. The angles of at least two straight sides of the cross section of the reference hole relative to the bottom camera in the horizontal plane are obtained by: The angle of the first side relative to the X direction of the bottom camera is obtained, and the angle of the second side relative to the Y direction of the bottom camera is obtained.

[0008] According to some embodiments of the present application, the acquiring the first distance deviation and the first angle deviation of the reference hole relative to the top camera in the horizontal plane comprises: acquiring a first distance deviation of the center of the reference hole to the center of the top camera in the horizontal plane; The acquiring the second distance deviation and the second angle deviation of the reference hole relative to the bottom camera in the horizontal plane comprises: acquiring a second distance deviation of the center of the reference hole to the center of the bottom camera in the horizontal plane.

[0009] According to some embodiments of the present application, the reference hole is a rectangular hole, and the intersection of the line connecting the midpoints of two opposite sides of the cross section of the reference hole and the line connecting the midpoints of the other two opposite sides is the center of the reference hole.

[0010] According to some embodiments of the present application, the acquiring the second distance deviation of the center of the reference hole to the center of the bottom camera in the horizontal plane comprises: acquiring the distance of the center of the reference hole to the center of the bottom camera in the X direction of the bottom camera, and acquiring the distance of the center of the reference hole to the center of the bottom camera in the Y direction of the bottom camera.

[0011] According to some embodiments of the present application, the preset accuracy range of the compensation distance is -0.004mm to 0.004mm.

[0012] According to some embodiments of the present application, the preset accuracy range of the compensation angle is -0.005 degrees to 0.005 degrees.

[0013] According to some embodiments of the present application, the placing the jig in an initial position comprises: providing the initial position by a track platform, the initial position horizontally placing a carrier plate, and placing the jig in the initial position by placing the jig on the carrier plate.

[0014] Additional aspects and advantages of the present application will be given in part in the following description, become apparent from the following description, or be understood through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present application will be further described below in conjunction with the drawings and embodiments, wherein: Fig. 1 is a position schematic view of a top camera, a bottom camera, a pressure head and a jig of an embodiment of the present application; Fig. 2 is a structure schematic view of a jig of an embodiment of the present application; Fig. 3 is a schematic diagram of the relative position between the center of the bottom camera and the center of the reference hole when the bottom camera is taken by the jig.

[0016] Reference signs: Jig 100, reference hole 101, top camera 200, pressure head 300, bottom camera 400, carrier plate 500, collection plate 600, first center line a, second center line b, third center line c, fourth center line d. DETAILED DESCRIPTION

[0017] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application, and cannot be understood as a limitation of the present application.

[0018] In the description of the present application, it should be understood that the orientation description, such as the orientation or position relationship indicated by up, down, etc. is based on the orientation or position relationship shown in the drawings, which is only for the purpose of facilitating the description of the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0019] In the description of the present application, the plural refers to two or more. If there is a description of first, second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of indicated technical features.

[0020] In the description of the present application, unless otherwise explicitly limited, the words such as setting, mounting, connecting, etc. should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0021] In the correction of the camera module bonding equipment, the position correction of the top camera and the pressure head is the core link to ensure high-precision bonding. Because the mechanical installation of the pressure head and the top camera cannot be absolutely coaxial, there is usually a certain initial offset (limited by machining / assembly precision), and if not corrected, it will cause misalignment between the pressure head and the product (camera module), causing poor bonding. However, in the prior art, there is usually only distance correction. When the pressure head is bonding, if the product has an angle tilt and cannot be detected by the naked eye, the equipment cannot automatically compensate, and the product is easily damaged when the pressure head is bonded, affecting the yield.

[0022] To this end, the present application provides a method for correcting the positions of a camera and a press head and the angle of the press head, which can effectively improve the above problems.

[0023] The method for correcting the positions of a camera and a press head and the angle of the press head according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0024] Referring to Figs. 1 to 3 The method for correcting the positions of a camera and a press head and the angle of the press head according to the embodiments of the present application, as shown in the drawings, comprises the following steps: S1, placing a jig 100 at an initial position, the center of the jig 100 is provided with a vertical reference hole 101, the cross section of the reference hole 101 has a plurality of straight sides. Specifically, placing the jig 100 at an initial position comprises: providing an initial position by a track platform (not shown), the initial position is horizontally placed with a carrier plate 500, and the jig 100 is placed at the initial position by placing the jig 100 on the carrier plate 500. It should be noted that the cross section of the reference hole 101 remains the same in the vertical direction.

[0025] S2, the top camera 200 moves above the jig 100 and takes a picture of the jig 100, obtains the first distance deviation and the first angle deviation of the reference hole 101 relative to the top camera 200 in the horizontal plane, and then the top camera 200 automatically compensates to eliminate the above deviations, that is, to eliminate the first distance deviation and the first angle deviation, so that the top camera 200 is aligned with the reference hole 101; it can be understood that since the cross section of the reference hole 101 has a plurality of straight sides, that is, the reference hole 101 is a non-circular hole, therefore the top camera 200 can obtain the angle of the reference hole 101 relative to the top camera 200 in the horizontal plane when taking a picture of the jig 100.

[0026] S3, moving the press head 300 to suck the jig 100, after the press head 300 sucks the jig 100, moving to the top of the bottom camera 400, the bottom camera 400 takes a picture of the jig 100, and obtains the second distance deviation and the second angle deviation of the reference hole 101 relative to the bottom camera 400 in the horizontal plane, the second distance deviation is the required compensation distance of the press head 300, and the first angle deviation minus the second angle deviation is the required compensation angle of the press head 300; it should be noted that the top camera 200 is connected with the press head 300, and the two are synchronous motion, for example Fig. 1 As shown in the drawings, the top camera 200 and the press head 300 are installed on the collection plate 600 to move synchronously, in addition, the position of the bottom camera 400 is fixed, that is, the bottom camera 400 is fixed relative to the above-mentioned initial position, and the bottom camera 400 can be installed on the track platform.

[0027] S4, the pressing head 300 is automatically compensated according to the compensation distance and the compensation angle, and then returns to the step of placing the jig 100 at an initial position, and the cycle is repeated until the compensation distance and the compensation angle obtained are within a preset accuracy range, that is, the cycle is returned to the step S1 until the compensation distance and the compensation angle obtained are within a preset accuracy range. It can be understood that the correction cannot be completed at one time, and therefore the above steps need to be repeated for multiple automatic compensations until the accuracy requirement is met to complete the correction.

[0028] In the embodiment of the application, a reference hole 101 is arranged at the center of the jig 100, and the top camera 200 and the bottom camera 400 are used to take the reference hole 101 of the jig 100 to obtain the information of the reference hole 101. Since the cross section of the reference hole 101 has multiple straight sides, the reference hole 101 is not a circular hole, and therefore the top camera 200 and the bottom camera 400 can obtain the distance and the angle of the jig 100 relative to the cameras when taking the jig 100, so that the information taken by the top camera 200 and the bottom camera 400 can not only obtain the compensation distance required by the pressing head 300, but also obtain the compensation angle required by the pressing head 300. According to the compensation distance and the compensation angle obtained, the pressing head 300 is automatically compensated to realize the correction of the distance and the angle, the correction is comprehensive, and the product yield of the subsequent pressing head 300 can be effectively improved.

[0029] It can be understood that in some embodiments of the application, in the step S2, the first distance deviation and the first angle deviation of the reference hole 101 relative to the top camera 200 in the horizontal plane are obtained, including the steps of: obtaining the angles of at least two straight sides of the cross section of the reference hole 101 relative to the top camera 200 in the horizontal plane, and obtaining the average of the angles as the first angle deviation. It can be understood that when the reference hole 101 of the jig 100 is processed, due to the influence of the processing accuracy, the reference hole 101 will have a certain processing error. If only one side of the cross section of the reference hole 101 is compared with the top camera 200 to obtain the relative angle as the first angle deviation, the error will be large. However, by obtaining the angles of at least two straight sides of the cross section of the reference hole 101 relative to the top camera 200 in the horizontal plane and obtaining the average as the first angle deviation, the influence of the error in the processing of the reference hole 101 can be reduced, and the accuracy of the first angle deviation obtained can be improved.

[0030] In addition, in step S3, the second distance deviation and the second angle deviation of the reference hole 101 relative to the bottom camera 400 in the horizontal plane are obtained, including the steps of: obtaining the angles of at least two straight sides of the cross section of the reference hole 101 relative to the bottom camera 400 in the horizontal plane, and obtaining the average of the angles as the second angle deviation; similarly, this step is also to reduce the influence of the error in the processing of the reference hole 101, and improve the accuracy of the obtained second angle deviation.

[0031] In some specific embodiments of the present application, the cross section of the reference hole has a first side distributed along the X direction and a second side distributed along the Y direction, that is, the first side is perpendicular to the second side, and the step of obtaining the angles of at least two straight sides of the cross section of the reference hole 101 relative to the top camera 200 in the horizontal plane specifically includes: obtaining the angle of each first side relative to the X direction of the top camera 200, and obtaining the angle of each second side relative to the Y direction of the top camera 200; after obtaining the angles, the average is obtained as the first angle deviation.

[0032] Similarly, the step of obtaining the angles of at least two straight sides of the cross section of the reference hole 101 relative to the bottom camera 400 in the horizontal plane specifically includes: obtaining the angle of each first side relative to the X direction of the bottom camera 400, and obtaining the angle of each second side relative to the Y direction of the bottom camera 400; after obtaining the angles, the average is obtained as the second angle deviation.

[0033] In the present embodiment, by setting the first side and the second side perpendicular to each other, and comparing with the X direction and the Y direction of the camera respectively to obtain the corresponding angles, and then averaging, the accuracy of the information obtained by the camera is high.

[0034] It is conceivable that when correcting, accuracy is crucial, in order to ensure as high correction accuracy as possible, in some embodiments of the present application, the reference hole is a rectangular hole, and the cross section of the rectangular hole has four sides perpendicular to each other, that is, two first sides and two second sides, and the four sides can all participate in the correction of the angle, which can improve the correction accuracy; and the rectangular hole is easy to process, and can also reduce the influence of the processing error on the correction accuracy.

[0035] Further, as shown in Fig. 2 and Fig. 3 , the reference hole 101 is a square hole, and the square hole is a special rectangular hole, which is more convenient to process, and has uniform error distribution, small center offset, and small center position tolerance, and using the square hole as a correction reference can improve the correction accuracy.

[0036] It can be understood that, in some embodiments of the present application, the first distance deviation and the first angle deviation of the reference hole 101 relative to the top camera 200 in the horizontal plane are obtained by the steps of: obtaining the first distance deviation of the center of the reference hole 101 to the center of the top camera 200 in the horizontal plane; in addition, the second distance deviation and the second angle deviation of the reference hole 101 relative to the bottom camera 400 in the horizontal plane are obtained by the steps of: obtaining the second distance deviation of the center of the reference hole 101 to the center of the bottom camera 400 in the horizontal plane.

[0037] Based on the above embodiments, in some specific embodiments, the intersection of the line connecting the midpoints of two opposite sides of the cross section of the reference hole 101 and the line connecting the midpoints of the other two opposite sides is the center of the reference hole 101. For the convenience of understanding, the line connecting the midpoints of two opposite sides of the cross section of the reference hole 101 is defined as the first center line a, and the line connecting the midpoints of the other two opposite sides is defined as the second center line b. The intersection of the first center line a and the second center line b is the center of the reference hole 101. Fig. 3

[0038] It can be understood that, in some embodiments of the present application, the second distance deviation of the center of the reference hole 101 to the center of the bottom camera 400 in the horizontal plane is obtained by the steps of: obtaining the distance of the center of the reference hole 101 to the center of the bottom camera 400 in the X direction of the bottom camera 400, and obtaining the distance of the center of the reference hole 101 to the center of the bottom camera 400 in the Y direction of the bottom camera 400, that is, the second distance deviation (also referred to as the compensation distance) includes two values, one is the distance value of the center of the reference hole 101 to the center of the bottom camera 400 in the X direction of the bottom camera 400, and the other is the distance value of the center of the reference hole 101 to the center of the bottom camera 400 in the Y direction of the bottom camera 400. Further, in step S4, the compensation distance is within a preset accuracy range, which means that the distance value of the center of the reference hole 101 to the center of the bottom camera 400 in the X direction of the bottom camera 400 and the distance value of the center of the reference hole 101 to the center of the bottom camera 400 in the Y direction of the bottom camera 400 are both within the preset accuracy range. For the convenience of understanding, Fig. 3 In the bottom camera 400, the center of the bottom camera 400 and the center of the jig 100 are shown in the relative position diagram when the bottom camera 400 takes the jig 100, wherein the bottom camera 400 has a third center line c distributed along the X direction thereof and a fourth center line d distributed along the Y direction thereof, and the intersection of the two is the center of the bottom camera 400.

[0039] ​Similarly, the first distance deviation of the center of the reference hole 101 to the center of the top camera 200 on the horizontal plane is obtained, including the steps of: obtaining the distance of the center of the reference hole 101 to the center of the top camera 200 in the X direction of the top camera 200, and obtaining the distance of the center of the reference hole 101 to the center of the top camera 200 in the Y direction of the top camera 200, that is, the first distance deviation includes two values, one is the distance value of the center of the reference hole 101 to the center of the top camera 200 in the X direction of the top camera 200, and the other is the distance value of the center of the reference hole 101 to the center of the top camera 200 in the Y direction of the top camera 200.

[0040] It can be understood that in some embodiments of the present application, in step S4, the preset accuracy range of the compensated distance is -0.004mm to 0.004mm, and the preset accuracy range of the compensated angle is -0.005 degrees to 0.005 degrees.

[0041] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine different embodiments or examples described in the present specification.

[0042] The embodiments of the present application are described in detail above in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the present application.

Claims

1. A method for calibrating the position of a camera and a pressure head, and the angle of the pressure head, characterized in that, Includes the following steps: The fixture is placed in an initial position, and a vertical through-hole is provided in the center of the fixture. The cross-section of the through-hole has multiple straight sides. The top camera moves above the fixture and takes a picture of the fixture, obtaining the first distance deviation and the first angle deviation of the reference hole relative to the top camera on the horizontal plane, and then performs automatic compensation to eliminate the deviation; The pressure head picks up the fixture and moves it above the bottom camera. The bottom camera photographs the fixture and obtains the second distance deviation and the second angle deviation of the reference hole relative to the bottom camera on the horizontal plane. The second distance deviation is the compensation distance required by the pressure head, and the first angle deviation minus the second angle deviation is the compensation angle required by the pressure head. The pressure head automatically compensates according to the compensation distance and the compensation angle, and then returns to the initial position of placing the fixture until the obtained compensation distance and the compensation angle are within the preset accuracy range to complete the correction. The top camera is connected to the pressure head and moves synchronously, while the bottom camera is fixed in position.

2. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 1, characterized in that: The process of obtaining the first distance deviation and the first angle deviation of the reference aperture relative to the top camera on the horizontal plane includes: Obtain the angles of at least two straight sides of the cross-section of the reference hole relative to the top camera on the horizontal plane, and calculate the average value as the first angle deviation; The process of obtaining the second distance deviation and the second angle deviation of the reference hole relative to the bottom camera on the horizontal plane includes: Obtain the angles of at least two straight sides of the cross-section of the reference hole relative to the bottom camera on the horizontal plane, and calculate the average value as the second angle deviation.

3. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 2, characterized in that: The cross-section of the reference hole has a first side distributed along the X direction and a second side distributed along the Y direction. Obtaining the angles of at least two straight sides of the cross-section of the reference hole relative to the top camera on the horizontal plane includes: Obtain the angle of the first side relative to the top camera in the X direction, and obtain the angle of the second side relative to the top camera in the Y direction; The angles of at least two straight sides of the cross-section of the reference hole relative to the bottom camera on the horizontal plane include: Obtain the angle of the first side relative to the bottom camera in the X direction, and obtain the angle of the second side relative to the bottom camera in the Y direction.

4. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 1, characterized in that: The process of obtaining the first distance deviation and the first angle deviation of the reference aperture relative to the top camera on the horizontal plane includes: Obtain the first distance deviation on the horizontal plane between the center of the reference hole and the center of the top camera; The process of obtaining the second distance deviation and the second angle deviation of the reference hole relative to the bottom camera on the horizontal plane includes: Obtain the second distance deviation on the horizontal plane from the center of the reference hole to the center of the bottom camera.

5. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 4, characterized in that: The reference hole is a rectangular hole, and the center of the reference hole is the intersection of the line connecting the midpoints of two opposite sides of the cross-section of the reference hole and the line connecting the midpoints of the other two opposite sides.

6. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 4, characterized in that: The acquisition of the second distance deviation on the horizontal plane from the center of the reference hole to the center of the bottom camera includes: Obtain the distance from the center of the reference hole to the center of the bottom camera in the X direction of the bottom camera, and obtain the distance from the center of the reference hole to the center of the bottom camera in the Y direction of the bottom camera.

7. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 1, characterized in that: The preset accuracy range of the compensation distance is -0.004mm to 0.004mm.

8. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 1, characterized in that: The preset accuracy range of the compensation angle is -0.005 degrees to 0.005 degrees.

9. The method for correcting the position of the camera and the pressure head and the angle of the pressure head according to claim 1, characterized in that: Placing the fixture in an initial position includes: The initial position is provided by a track platform, on which a carrier plate is placed horizontally. The fixture is placed in the initial position by placing it on the carrier plate.

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