An automatic probe production device

Abstract

The embodiment of the application provides a kind of probe automatic production equipment, including rack, workbench, controller and power supply, workbench is equipped with multi-axis mechanical arm, its end is integrated with riveting mechanism and visual positioning mechanism, three are electrically connected with controller.Visual positioning mechanism is synchronous linkage with mechanical arm, in whole process, probe component image is collected in real time and is transmitted to controller;Controller built-in image recognition processing unit and motion control unit, based on the pose information and assembly state of image recognition probe, judge whether it meets riveting front requirement, and real-time correction mechanical arm operating pose.The equipment is integrated and controlled by vision and actuator, realize dynamic pose correction of assembly whole process and automatic discrimination of needle tube, spring, needle shaft and other multiple states, significantly improve riveting precision and consistency, avoid the defect caused by position deviation or state anomaly, effectively improve the automation level and yield of probe production.

Description

Technical Field

[0001] This application belongs to the field of semiconductor probe manufacturing, and in particular relates to an automated probe manufacturing equipment. Background Technology

[0002] Pogo pins, as core precision connectors, are widely used in consumer electronics, semiconductor testing, communication equipment, new energy, and other fields. They are key components for stable signal and power transmission in various electronic devices. In the production of Pogo pins, the riveting process is the core step in achieving precise assembly of components such as the pin tube, spring, and pin shaft, requiring extremely high precision and consistency in assembly position. Traditional probe production often uses manual operation or semi-automated equipment for riveting. Manual operation suffers from high labor intensity, low efficiency, and poor assembly consistency, and it is difficult to meet the micron-level assembly precision requirements. While semi-automated equipment improves production efficiency to some extent, it still requires manual assistance for position calibration and cannot achieve fully automated production.

[0003] With the rapid development of machine vision technology, some probe production equipment has begun to incorporate vision inspection modules. However, existing technologies typically separate vision positioning from the execution mechanism, with the vision system only used for single positioning before assembly or offline sampling inspection after assembly. This makes it impossible to monitor and dynamically correct the entire assembly process in real time. Furthermore, probe components are prone to slight positional shifts during transport and positioning. If these shifts are not identified and corrected in time, they can lead to riveting deviations, component damage, or even product scrap. Simultaneously, existing equipment lacks the comprehensive judgment capability for various pre-requisites such as the needle tube's positioning status, spring assembly status, and needle shaft assembly status. Abnormal situations are difficult to detect and handle in a timely manner, impacting production yield and quality control levels.

[0004] Therefore, how to achieve high-precision and high-reliability automated production of the probe riveting process has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This application provides an automated probe production equipment. This equipment integrates a vision positioning mechanism and a riveting mechanism at the end of a multi-axis robotic arm and links them synchronously. This enables real-time image acquisition and dynamic posture correction throughout the entire probe assembly process. After automatically determining that the assembly states of various components such as the needle tube, spring, and needle shaft meet the requirements, the riveting operation is performed. This significantly improves the riveting accuracy and assembly consistency, avoids defects caused by positional deviation or abnormal state, and enables real-time traceability of production quality. This effectively improves the automation level and yield rate of probe production.

[0006] In a first aspect, an automated probe production device is provided. The device includes a frame, a workbench, a controller, and a power supply. A multi-axis robotic arm is provided on the workbench. An actuator is provided at the end of the multi-axis robotic arm. The actuator includes a riveting mechanism and a vision positioning mechanism. The multi-axis robotic arm, the riveting mechanism, and the vision positioning mechanism are all electrically connected to the controller. The visual positioning mechanism works synchronously with the multi-axis robotic arm to acquire images of the working probe components during the multi-axis robotic arm's action process and transmits the acquired probe component images to the controller in real time. The controller has a built-in image recognition processing unit and a motion control unit. The image recognition processing unit determines whether the probe component meets the riveting pre-requisite requirements based on the received probe component image, the probe component's pose information and assembly status. The motion control unit corrects the working pose of the multi-axis robotic arm in real time based on the pose information and controls the riveting mechanism to perform the riveting operation of the corresponding probe when the probe component meets the riveting pre-requisite requirements.

[0007] In conjunction with the first aspect, in some implementations of the first aspect, the riveting mechanism includes a riveting head and a main body; the riveting head is disposed at one end of the main body facing the probe; The visual positioning mechanism includes a CCD camera; the CCD camera is arranged parallel to the riveting head. The riveting mechanism and the vision positioning mechanism are connected to the multi-axis robotic arm via connectors.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the visual positioning mechanism acquires a first pose image of the probe component before the riveting mechanism performs the riveting action, and acquires a second pose image of the probe component when the riveting head moves above the work station; The controller is configured to: calculate the pose deviation based on the first pose image and the second pose image; and the motion control unit corrects the working coordinates and feed path of the multi-axis robotic arm in real time based on the pose deviation to achieve online closed-loop correction control of the riveting position.

[0009] It should be understood that the visual positioning mechanism of this device does not perform a single shot, but rather acquires the first pose image (i.e., the initial pose image) of the probe component before the riveting action. When the riveting head moves above the work station, it acquires the second pose image again. The controller calculates the pose deviation based on the comparative analysis of the two images. The motion control unit corrects the working coordinates and feed path of the multi-axis robotic arm in real time based on this deviation, thereby realizing online closed-loop correction control of the riveting position. This effectively avoids riveting offset caused by cumulative errors in workpiece transportation and positioning or deviations in robotic arm movement, and improves the repeatability and stability of probe assembly.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the image recognition processing unit has a built-in assembly state recognition model. The assembly state recognition model identifies three types of riveting pre-requirements based on the probe component image: needle tube in place state, spring assembly state, and needle shaft assembly state. The controller only controls the riveting head to perform riveting operation when all three states meet the preset standards. If any one of the states does not meet the preset standards, the controller triggers the corresponding abnormal prompt and terminates the riveting action of the current station.

[0011] It should be understood that a Pogo Pin probe typically consists of three parts: a needle tube, a spring, and a needle shaft. The spring is located inside the needle tube, and the needle shaft extends into the needle tube and abuts against the spring, forming a retractable elastic contact structure. In the automated production process of the probe, the riveting process is a crucial step in closing the needle tube end to confine and encapsulate the spring and needle shaft within the needle tube. Therefore, before riveting, it must be ensured that the needle tube is accurately positioned, the spring is installed inside the needle tube, and the needle shaft is in the predetermined assembly position. Based on the aforementioned probe structure characteristics, the assembly status recognition model built into the image recognition processing unit in the controller analyzes the probe component images acquired in real time by the visual positioning mechanism. It identifies three types of pre-riveting requirements layer by layer according to the logical sequence of needle tube positioning, spring assembly, and needle shaft assembly. The controller only allows the riveting head to perform riveting operations when the needle tube is accurately positioned, the spring is correctly installed, and the needle shaft is placed in the predetermined position, and all three meet the preset standards. If any of these states does not meet the standards, the controller immediately triggers the corresponding abnormal state prompt information and terminates the riveting action at the current station. This avoids riveting defects and equipment damage caused by missing components, misaligned assembly, or abnormal states, achieving consistency in the probe assembly process.

[0012] In conjunction with the first aspect, in some implementations of the first aspect, the visual positioning mechanism immediately acquires the probe image of the riveted finished product after the riveting operation is completed. The image recognition and processing unit determines whether the finished product meets the quality standards based on the finished product image, classifies the finished product as qualified / unqualified, and simultaneously generates production quality traceability data for the corresponding batch.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, the controller has a built-in constant force riveting control module and a pressure-displacement monitoring module. The constant force riveting control module controls the riveting head to feed at a constant force throughout the riveting process through a servo electric cylinder drive component. The pressure-displacement monitoring module collects pressure and displacement data of the riveting process in real time, generates a real-time pressure-displacement curve, and compares it with a preset standard sample curve. When the deviation exceeds a preset threshold, the controller immediately triggers a shutdown alarm.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the worktable is provided with a loading fixture and a positioning fixture; the loading fixture is used to place the probe; and the positioning fixture is used to fix the loading fixture.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the device further includes a display for displaying control parameters of the controller and device operating status parameters.

[0016] The beneficial effects of the technical solution in this application include: 1) Improve probe assembly accuracy: Through closed-loop correction control that synchronizes vision at the end of the robotic arm with the riveting mechanism, the cumulative error of multi-process transfer is eliminated, achieving micron-level coaxiality control and significantly reducing the riveting eccentricity defect rate.

[0017] 2) Strictly control product yield: Establish a pre-riveting access mechanism through visual assembly status verification to prevent semi-finished products with assembly defects from entering the riveting process, reduce material loss, and ensure product consistency.

[0018] 3) Improve automation: Achieve full-process automated control from positioning and detection to riveting, reduce manual intervention, and improve production efficiency. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a Pogo Pin probe.

[0020] Figure 2 and Figure 3 This is a schematic diagram of an automated probe production equipment provided in an embodiment of this application.

[0021] Figure 4 This is a schematic diagram of an actuator provided for an embodiment of this application. Detailed Implementation

[0022] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships can exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0023] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0024] Pogo pins, as core precision connectors, are widely used in consumer electronics, semiconductor testing, communication equipment, and new energy fields. They are key components ensuring stable signal and power transmission in various electronic devices. (Reference) Figure 1 A typical Pogo Pin probe generally consists of three parts: a probe tube, a spring, and a pin shaft. The spring is located inside the probe tube, and the pin shaft extends into the probe tube and abuts against the spring, forming a retractable elastic contact structure. Traditional probe riveting production relies heavily on manual labor or semi-automatic equipment. Manual labor is labor-intensive, inefficient, and produces inconsistent products, failing to meet micron-level assembly precision requirements. Semi-automatic equipment still requires manual calibration, making it difficult to achieve fully automated production. Existing equipment incorporating machine vision often separates the vision system from the actuator, enabling only single-stage positioning before assembly or offline sampling inspection of finished products. It lacks real-time monitoring and dynamic correction throughout the entire process and lacks comprehensive verification capabilities for pre-assembly status, making it difficult to promptly address anomalies such as positional deviations and assembly defects. This can easily lead to product scrap, hindering production yield and quality control.

[0025] Therefore, there is an urgent need for an automated probe production equipment with high precision and high reliability to overcome the above problems.

[0026] This application provides an automated probe production device that effectively overcomes the aforementioned problems. The technical solution of this application embodiment will be described below with reference to the accompanying drawings.

[0027] Figure 2 and Figure 3 This is a schematic diagram of an automated probe production equipment provided in an embodiment of this application.

[0028] refer to Figure 2 and Figure 3In some examples, the device includes a frame 1, a workbench 2, a controller 4, and a power supply 5. A multi-axis robotic arm 3 is mounted on the workbench 2. An execution mechanism is provided at the end of the multi-axis robotic arm 3. The execution mechanism includes a riveting mechanism 31 and a vision positioning mechanism 32. The multi-axis robotic arm 3, the riveting mechanism 31, and the vision positioning mechanism 32 are all electrically connected to the controller 4. The visual positioning mechanism 32 is synchronously linked with the multi-axis robotic arm 3 and is used to collect images of the working probe component during the execution process of the multi-axis robotic arm 3, and transmit the collected probe component images to the controller 4 in real time. The controller 4 has a built-in image recognition processing unit and a motion control unit. The image recognition processing unit recognizes the position and assembly status of the probe component based on the received image of the probe component and determines whether the probe component meets the pre-riveting requirements. The motion control unit corrects the working posture of the multi-axis robotic arm 3 in real time based on the position information, and controls the riveting mechanism 31 to perform the riveting operation of the corresponding probe when the probe component meets the pre-riveting requirements.

[0029] Figure 4 This is a schematic diagram of an actuator provided for an embodiment of this application.

[0030] refer to Figure 4 In some examples, the riveting mechanism 31 includes a riveting head 311 and a main body 312; the riveting head 311 is disposed at one end of the main body 312 facing the probe; The visual positioning mechanism 32 includes a CCD camera 321; the CCD camera 321 is arranged parallel to the riveting head 311. The riveting mechanism 31 and the visual positioning mechanism 32 are connected to the multi-axis robotic arm 3 via a connector 33.

[0031] Optionally, the visual positioning mechanism 32 also includes an auxiliary fixture 322, which can be used to adjust the CCD camera 321 to achieve flexible configuration of different focal lengths and fields of view; the CCD camera 321 generates heat when it is working, and the auxiliary fixture 322 helps to dissipate heat and ensure stable operation for a long time; the auxiliary fixture 322 is also provided with an interface, which can be used to transmit image data in different formats.

[0032] Continue to refer to Figure 3 In some examples, the workbench 2 is provided with a loading fixture 6 and a positioning fixture 7; the loading fixture 6 is used to place the probe; and the positioning fixture 7 is used to fix the loading fixture 6.

[0033] Continue to refer to Figure 1In some examples, the device also includes a display 8 for displaying the control parameters of the controller 4 and the device operating status parameters.

[0034] In some examples, the visual positioning mechanism 32 acquires a first pose image of the probe component before the riveting mechanism 31 performs the riveting action, and acquires a second pose image of the probe component when the riveting head 311 moves above the work station. The controller 4 is configured to calculate the pose deviation based on the first pose image and the second pose image, and the motion control unit corrects the working coordinates and feed path of the multi-axis robotic arm 3 in real time based on the pose deviation to achieve online closed-loop correction control of the riveting position.

[0035] In some examples, the image recognition processing unit has a built-in assembly state recognition model. The assembly state recognition model is based on the probe component image and sequentially identifies three types of riveting pre-requirements: needle tube in place, spring assembly, and needle shaft assembly. The controller 4 only controls the riveting head 311 to perform the riveting operation when all three types of states meet the preset standards. If any type of state does not meet the preset standards, the controller 4 triggers the corresponding abnormal prompt and terminates the riveting action of the current station.

[0036] In one possible implementation, the vision positioning mechanism 32 performs two image acquisitions: the first is to acquire the first pose image of the probe component before the riveting action, and the second is to acquire the second pose image when the riveting head 311 moves above the work station. The controller 4 registers and compares the two images, extracts the feature point coordinates of the probe through a sub-pixel edge detection algorithm, and calculates the pose deviation caused by workpiece conveying or positioning deviation, including the X / Y axis translation and the rotation around the Z axis. The motion control unit corrects the working coordinates and feed path of the multi-axis robotic arm 3 in real time based on this deviation, so that the riveting head 311 is always aligned with the target riveting position of the probe, thereby realizing online closed-loop correction control from coarse positioning to fine positioning. The image recognition processing unit incorporates an assembly state recognition model built on a deep convolutional neural network. This model takes the probe component image as input and identifies three types of pre-riveting requirements layer by layer according to a preset logical sequence: First, it determines whether the needle tube is completely within the positioning fixture and in the correct posture through edge detection and region analysis; second, it identifies whether the spring is installed and structurally complete in the internal region of the needle tube through texture feature analysis; finally, it determines whether the needle shaft extends into place and meets the coaxiality requirements in the needle tube opening region through template matching and size measurement. Only when all three states—needle tube in place, spring assembled, and needle shaft assembled—output high-confidence qualified judgments will the controller 4 allow the riveting mechanism 31 to perform the riveting operation, thereby ensuring from the source that only probes with qualified assembly states enter the riveting process.

[0037] In some examples, after the riveting operation is completed, the visual positioning mechanism 32 immediately acquires the probe image of the riveted finished product. The image recognition and processing unit determines whether the finished product meets the quality standards based on the finished product image, classifies the finished product as qualified / unqualified, and simultaneously generates production quality traceability data for the corresponding batch.

[0038] In some examples, the controller 4 has a built-in constant force riveting control module and a pressure-displacement monitoring module. The constant force riveting control module controls the riveting head 311 to feed at a constant force throughout the riveting process through a servo electric cylinder drive component. The pressure-displacement monitoring module collects pressure and displacement data of the riveting process in real time, generates a real-time pressure-displacement curve and compares it with a preset standard sample curve. When the comparison deviation exceeds a preset threshold, the controller immediately triggers a shutdown alarm.

[0039] The above are merely preferred embodiments of this application. The scope of protection of this application is not limited to the above embodiments. Any equivalent modifications or changes made by those skilled in the art based on the content disclosed in this application should be included within the scope of protection recorded in the claims.

Claims

1. An automated probe production device, comprising a frame (1), a worktable (2), a controller (4), and a power supply (5), characterized in that, The workbench (2) is equipped with a multi-axis robotic arm (3), and the end of the multi-axis robotic arm (3) is equipped with an execution mechanism. The execution mechanism includes a riveting mechanism (31) and a vision positioning mechanism (32). The multi-axis robotic arm (3), the riveting mechanism (31) and the vision positioning mechanism (32) are all electrically connected to the controller (4). The visual positioning mechanism (32) is synchronously linked with the multi-axis robotic arm (3) and is used to collect images of the working probe component during the execution process of the multi-axis robotic arm (3) and transmit the collected probe component images to the controller (4) in real time. The controller (4) has a built-in image recognition processing unit and a motion control unit. The image recognition processing unit recognizes the position and assembly status of the probe component based on the received image of the probe component and determines whether the probe component meets the riveting pre-requisite requirements. The motion control unit corrects the working posture of the multi-axis robotic arm (3) in real time based on the position information, and controls the riveting mechanism (31) to perform the riveting operation of the corresponding probe when the probe component meets the riveting pre-requisite requirements.

2. The device according to claim 1, characterized in that, The riveting mechanism (31) includes a riveting head (311) and a main body (312); the riveting head (311) is disposed at one end of the main body (312) facing the probe; The visual positioning mechanism (32) includes a CCD camera (321); the CCD camera (321) is arranged parallel to the riveting head (311); The riveting mechanism (31) and the visual positioning mechanism (32) are connected to the multi-axis robotic arm (3) via a connector (33).

3. The device according to claim 1, characterized in that, Before the riveting mechanism (31) performs the riveting action, the visual positioning mechanism (32) acquires the first pose image of the probe component, and when the riveting head (311) moves above the work station, it acquires the second pose image of the probe component. The controller (4) is configured to calculate the pose deviation based on the first pose image and the second pose image, and the motion control unit corrects the working coordinates and feed path of the multi-axis robotic arm (3) in real time based on the pose deviation to realize online closed-loop correction control of the riveting position.

4. The device according to claim 3, characterized in that, The image recognition processing unit has a built-in assembly status recognition model. The assembly status recognition model is based on the probe component image and sequentially identifies three types of riveting pre-requirements: needle tube in place, spring assembly, and needle shaft assembly. The controller (4) controls the riveting head (311) to perform riveting operation only when all three types of states meet the preset standards. If any type of state does not meet the preset standards, the controller (4) triggers the corresponding abnormal prompt and terminates the riveting action of the current station.

5. The device according to claim 1, characterized in that, After the riveting operation is completed, the visual positioning mechanism (32) immediately acquires the probe image of the riveted finished product. The image recognition and processing unit judges whether the finished product meets the quality standard based on the finished product image, classifies the finished product as qualified / unqualified, and generates the corresponding batch of production quality traceability data at the same time.

6. The device according to any one of claims 1 to 5, characterized in that, The controller (4) has a built-in constant force riveting control module and a pressure-displacement monitoring module. The constant force riveting control module controls the riveting head (311) to feed at a constant force throughout the riveting process through a servo electric cylinder drive component. The pressure-displacement monitoring module collects pressure and displacement data of the riveting process in real time, generates a real-time pressure-displacement curve and compares it with a preset standard sample curve. When the comparison deviation exceeds the preset threshold, the controller immediately triggers a shutdown alarm.

7. The device according to any one of claims 1 to 5, characterized in that, The workbench (2) is provided with a loading fixture (6) and a positioning fixture (7); the loading fixture (6) is used to place the probe; the positioning fixture (7) is used to fix the loading fixture (6).

8. The device according to any one of claims 1 to 5, characterized in that, The device also includes a display (8) for displaying the control parameters of the controller (4) and the device operating status parameters.

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