CN102928430A - Five-axis movement positioning system - Google Patents

Five-axis movement positioning system Download PDF

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Publication number
CN102928430A
CN102928430A CN2012104551907A CN201210455190A CN102928430A CN 102928430 A CN102928430 A CN 102928430A CN 2012104551907 A CN2012104551907 A CN 2012104551907A CN 201210455190 A CN201210455190 A CN 201210455190A CN 102928430 A CN102928430 A CN 102928430A
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CN
China
Prior art keywords
pcb board
axis movement
positioning system
movement positioning
detected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2012104551907A
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Chinese (zh)
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CN102928430B (en
Inventor
李少腾
姚力
楼轶
胡瑛俊
吴幸
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Marketing Service Center of State Grid Zhejiang Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by State Grid Corp of China SGCC, Electric Power Research Institute of State Grid Zhejiang Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201210455190.7A priority Critical patent/CN102928430B/en
Publication of CN102928430A publication Critical patent/CN102928430A/en
Application granted granted Critical
Publication of CN102928430B publication Critical patent/CN102928430B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The invention provides a five-axis movement positioning system. The five-axis movement positioning system comprises a case shell, an optical illuminating device, a five-axis moving device, a controller and a conveyor. The five-axis movement positioning system effectively solves a problem that a manual detecting method is low in efficiency, high in omission factor, strong in subjectivity, easily affected by external factors due to physiological limit in the prior art, and difficult to satisfy such detecting requirements as accuracy, reliability and high repeatability of a PCB (Printed Circuit Board) component.

Description

The 5-axis movement positioning system
Technical field
The present invention relates to the mechanical automation field, in particular, relate to a kind of 5-axis movement positioning system.
Background technology
Intelligent electric energy meter is a kind of novel electronic power meter, has the functions such as electrical energy metering, Real Time Monitoring, automatically control, information interaction and data interaction, makes things convenient for the user accurately promptly to understand the electricity consumption situation of family, formulates energy conservation program.Intelligent electric energy meter is the fundamental equipments of intelligent grid (particularly intelligent distribution network) data acquisition, realize informationization, robotization, interactively have an important support effect for electrical network, bearing the task of original electrical energy data acquiring, metering and transmission, the basis that be that realization information is integrated, analysis optimization and information represents, thereby improve operational efficiency, the promotion energy-saving and emission-reduction of electric power enterprise, strengthen the stability of electric system.
Printed circuit board (PCB) (Printed Circuit Board, PCB) be the core component that consists of intelligent electric energy meter, it is the parent of the various electronic devices and components of carrying, each intelligent electric energy meter all has a PCB and a large amount of components and parts, such as resistance, electric capacity, inductance, integrated chip etc., these components and parts mainly are welded on the pcb board with surface mounting technology (Surface Mount Technology, SMT) and jack type field engineering.
The detection of PCB and components and parts thereof is directly connected to the qualification rate of product in the intelligent electric energy meter production run, detection is even more important.Because the impact of the various environmental factors of production scene, the existence of various errors in the processing and manufacturing process, circuit board might produce various defectives in manufacturing process, such as component on circuit board disappearance, skew and wrong part etc., will inevitably affect like this quality and the safety of product.Circuit board is detected in real time, and real-time results analysis and timely error correction can be avoided waste product, improve quality, reduce the wastage.
Traditional detection method mainly contains manual detection, electrical testing and X ray test mode.Manual detection mode most convenient, practicality, a kind of detection mode that adaptability is the strongest.Its dependence human eye adds magnifier (about 5-40 times) and carries out the inspection work of PCB components and parts.Be subjected to the restriction of self physiologic factor, manual detection mode efficient is low, loss is high, subjectivity is strong, be subject to external interference, be difficult to satisfy the PCB components and parts accurately, reliable, testing requirement that repeatability is high.
Summary of the invention
In view of this, the invention provides a kind of 5-axis movement positioning system, existing manual detection mode efficient is low, loss is high, subjectivity is strong in order to solve, pcb board detects the problem that is subject to external interference.
For achieving the above object, the invention provides following technical scheme:
A kind of 5-axis movement positioning system comprises:
Casing;
Be arranged on described casing inside top, be used to pcb board to be detected that the illumination optical apparatus of lighting environment is provided;
Be arranged on described illumination optical apparatus below, be used for fixing pcb board to be detected, and realize five shaft moving devices of 5-axis movement;
Link to each other with described five shaft moving devices, be used for carrying out according to described five shaft moving devices of the signal controlling of extraneous computing machine the controller of corresponding 5-axis movement;
Be arranged on the below of described five shaft moving devices, be used for the conveyer that travelling belt detects pcb board.
Preferably, also comprise:
Be arranged on described five shaft moving devices, be used for the objective table of placing pcb board to be detected and being provided with a plurality of threaded holes.
Preferably, also comprise:
Be arranged on the described objective table, be used for regulating the pcb board erecting device that pcb board to be detected is the diverse location relation.
Preferably, described pcb board erecting device comprises:
Base plate;
Be arranged on the first backstay of described base plate one end;
Be arranged on the first support bar and second support bar of the described base plate other end;
Be arranged on the adjustment sheet of described the first support bar and described the second support bar top;
Be arranged on described adjustment sheet top, and the second backstay that be arranged in parallel with described the first backstay;
Be arranged on described floor below, be used for guaranteeing the pcb board to be detected gib block according to the predetermined direction motion when being transported to detection platform.
Preferably, also comprise be used to the magnetic clamping device that clamps pcb board to be detected.
Preferably, described conveyer is the light-duty fixed band conveyor of U-shaped belt conveyor, tubular belt conveyor, air-cushion type band conveyor, rope-driven conveyor, press belt type band conveyor or QD80.
Preferably, described five shaft moving devices comprise:
Be converted to the stepper motor of angular displacement according to the electric signal of described controller generation.
Via above-mentioned technical scheme as can be known, compared with prior art, the invention provides a kind of 5-axis movement positioning system, comprising: casing, illumination optical apparatus, five shaft moving devices, controller and conveyer.Effectively solved the restriction that is subjected to self physiologic factor in the prior art, manual detection mode efficient is low, loss is high, subjectivity is strong, be subject to external interference, be difficult to satisfy the PCB components and parts accurately, reliable, testing requirement that repeatability is high.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, the below will do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art, apparently, accompanying drawing in the following describes only is embodiments of the invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to the accompanying drawing that provides other accompanying drawing.
The structural representation of a kind of 5-axis movement positioning system that Fig. 1 provides for the embodiment of the invention;
Fig. 2 is the structural representation of a kind of conveyer provided by the invention;
The synoptic diagram of a kind of five axle locating devices that Fig. 3 provides for the embodiment of the invention;
The synoptic diagram of a kind of objective table that Fig. 4 provides for the embodiment of the invention;
The synoptic diagram of a kind of magnetic clamping device that Fig. 5 provides for the embodiment of the invention;
The synoptic diagram of a kind of pcb board erecting device that Fig. 6 provides for the embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Embodiment one
See also accompanying drawing 1, the structural representation of a kind of 5-axis movement positioning system that provides for the embodiment of the invention comprises:
Casing;
Be arranged on described casing inside top, be used to pcb board to be detected that the illumination optical apparatus of lighting environment is provided;
Be arranged on described illumination optical apparatus below, be used for fixing pcb board to be detected, and realize five shaft moving devices of 5-axis movement;
Link to each other with described five shaft moving devices, be used for carrying out according to described five shaft moving devices of the signal controlling of extraneous computing machine the controller of corresponding 5-axis movement;
Be arranged on the below of described five shaft moving devices, be used for the conveyer that travelling belt detects pcb board.
The invention provides a kind of 5-axis movement positioning system, comprising: casing, illumination optical apparatus, five shaft moving devices, controller and conveyer.Adopt the control procedure of robotization, effectively solved the restriction that is subjected to self physiologic factor in the prior art, manual detection mode efficient is low, loss is high, subjectivity is strong, be subject to external interference, is difficult to satisfy the testing requirement that the PCB components and parts are accurate, reliable, repeatability is high.
Embodiment two
On the basis of above-described embodiment one, present embodiment is except comprising: casing; Be arranged on described casing inside top, be used to pcb board to be detected that the illumination optical apparatus of lighting environment is provided; Be arranged on described illumination optical apparatus below, be used for fixing pcb board to be detected, and realize five shaft moving devices of 5-axis movement; Link to each other with described five shaft moving devices, be used for carrying out according to described five shaft moving devices of the signal controlling of extraneous computing machine the controller of corresponding 5-axis movement; Be arranged on the below of described five shaft moving devices, be used for outside the conveyer of travelling belt detection pcb board, the present invention also provides objective table, and this objective table is arranged on described five shaft moving devices, be used for placing pcb board to be detected and being provided with a plurality of threaded holes, as shown in Figure 3.
Need to prove that described objective table is used for placing pcb board, because the size of pcb board is inconsistent, so design the size of objective table according to pcb board full-size, preferentially gets and be of a size of 300mm * 250mm.The pcb board magnetic locking device is installed and is guided smoothly the pcb board erecting device to occupy correct position at objective table for convenient, make a call to 5 row, 6 row totally 30 threaded holes in the above, spacing is 50mm.Wherein Fig. 3 is just in order to illustrate, and the quantity of threaded hole and the size of objective table can be set according to actual needs, all within protection scope of the present invention.
Preferably, also comprise being arranged on the described objective table, be used for regulating the pcb board erecting device that pcb board to be detected is the diverse location relation.Described pcb board erecting device can comprise as shown in Figure 6:
Base plate;
Be arranged on the first backstay of described base plate one end;
Be arranged on the first support bar and second support bar of the described base plate other end;
Be arranged on the adjustment sheet of described the first support bar and described the second support bar top;
Be arranged on described adjustment sheet top, and the second backstay that be arranged in parallel with described the first backstay;
Be arranged on described floor below, be used for guaranteeing the pcb board to be detected gib block according to the predetermined direction motion when being transported to detection platform.
Now by reference to the accompanying drawings, the pcb board erecting device is carried out brief description, wherein, the pcb board erecting device is used for installing pcb board, because the size of various electric energy meter pcb boards is different, and the height of the components and parts such as top resistance, electric capacity is also unequal, and positional alignment is also different, so, can not directly be placed on the electric energy meter pcb board on the objective table; In addition, the electric energy meter pcb board is to be transported on the objective table by belt conveyor, and erecting device can be installed the pcb board of different sizes, and can carry at belt conveyor.
The installation method of described pcb board erecting device is as follows:
Pcb board is placed on long backstay 2, the short backstay 5 by the pilot hole on it, and short backstay 5 is connected with adjustment sheet and is connected by screw thread; Adjustment sheet 3 is placed on support bar 4 and 6, on the adjustment sheet 3 elongated slot is arranged, and can adjust distance; It is the threaded hole of 5mm that 10 row *, 10 row diameters are arranged on the base plate 1, is used for installing long backstay 2 and support bar 4 and 6.Gib block 7 is used for guaranteeing the proper exercise direction when the pcb board erecting device is transported to detection platform.
Pcb board erecting device provided by the invention can be laid the pcb board of different size size, makes system have more versatility, realizes the put correctly of PCB.
Embodiment three
See also Fig. 5, preferred on the basis of the embodiment that the invention described above provides, also comprise be used to the magnetic clamping device that clamps pcb board to be detected.
After the inventor considered that pcb board is transported to objective table by erecting device, motion locating platform will move to the position of detection, in addition, in testing process, objective table also will rotate and swing, so the pcb board erecting device needs to keep motionless at objective table, namely needs to clamp.
The mode that clamps mainly contains manually, air pressure, hydraulic pressure, electronic, electromagnetism, magnetic force, pull of vacuum etc.Along with developing rapidly of machine building industry, the popularization of automated and semi-automatic equipment, and requirement alleviates operating personnel's labour intensity as far as possible in production in enormous quantities, the clampings such as now most employing is pneumatic, hydraulic pressure replace manpower to clamp, this class clamp system can also carry out far distance controlled, it is stable that its clamping force can keep, and mechanism also needn't consider self-locking, and it is also higher to clamp quality.
Now various clamping modes are simply introduced:
1, manual
Select the clamp device of manual mode must have reliable self-locking property and less primary action power, so hand actuable clamping device is multiplex in the clamp device of bolt and nut force application mechanism and eccentric force application mechanism.When designing this clamp device, should consider that the fluctuation of operator's muscle power and mood is on the impact of the large minor swing of clamping force.
2, pneumatic
The power source medium of pneumatic mode is air, thus undergo no deterioration and do not produce pollution, and little in the ducted pressure loss, but air pressure is lower, is generally 0.4 ~ 0.6MPa, when the larger clamping force of needs, cylinder will be very large, cause the clamp device structure not compact.In addition, because the compressibility of air is large, so the rigidity of clamp device and less stable.In addition, also has larger exhaust noise.
3, hydraulic pressure
Hydraulic clamp is to utilize hydraulic oil to come a kind of device of power transmission for actuating medium.It and pneumatic pinch mode relatively, Hydraulic Clamping Mechanism has that pressure is large, volume is little, compact conformation, clamping force is stable, vibration absorption ability is not changed by external force by force, advantages such as impact.But complicated structure, manufacturing cost are higher, therefore are only applicable to a large amount of productions.The kinematic train of hydraulic clamp and common hydraulic system are similar, but set up in the system accumulator are arranged, in order to save pressure oil, to improve the service efficiency of hydraulic pump motor.Behind Workpiece clamping, the hydraulic pump motor can quit work, and by accumulator compensation leakage of oil, keeps clamped condition.
4, solution-air combination
The power source of solution-air combination clamp device is pressurized air, but will use special supercharger, and is more complicated than air clamper.
5, electric electromagnetic
Electric wrench and magnechuck all belong to the hardware features power source, often adopt electric wrench to replace manually not only enhancing productivity in processing line, and overcome the fluctuation of application of force when manual, and alleviate workman's labour intensity, be to obtain to stablize one of method of clamping force.
6, magnetic force
Magnetic clamping device utilizes high performance magnet material, and suction is large, and volume is little, from heavy and light, and easy-to-operate.Owing to do not need power supply, the one-piece construction of magnetic clamping device is simple.
In design during clamp device, except the clamping mode of considering to adopt, also to consider the investment of power source facility is reduced the economic benefit used, and clamping structure is simplified, reduce cost.According to above analysis, in conjunction with specific requirement, this project adopts magnetic clamping device.Its structure as shown in Figure 5, principle of work is as follows:
The pcb board erecting device is delivered to objective table 1 by conveyor, in motion process, along two position orienting lugs 6 and 9, gradually from left to right, is tightly held by strong magnets 5.Position orienting lug 6 and 9 is connected on the platform 1 by socket head cap screw 7,8 and 10,11 respectively, and magnetic strips 5 is bonded on the block 2, and block 2 is connected on the objective table 1 by socket head cap screw 3,4.
Preferably, described conveyer is the light-duty fixed band conveyor of U-shaped belt conveyor, tubular belt conveyor, air-cushion type band conveyor, rope-driven conveyor, press belt type band conveyor or QD80.
Preferably, described five shaft moving devices comprise:
Be converted to the stepper motor of angular displacement according to the electric signal of described controller generation.
In sum: five axle setting movement systems provided by the invention, by driven by servomotor be installed in driving shaft in the cabinet make its by certain displacement at X, Y and Z axis move, and horizontally rotate at a certain angle and special angle change platform level angle (angle of depression/elevation angle).Except this, can adopt high-speed CCD that the electric energy meter PCB on the driving shaft platform is made a video recording and carry out post processing of image, and the components and parts on the plate are positioned and identify.The Sample Storehouse of Criterion pcb board, PCB to be measured and the standard sample database that then will gather compare analysis, realize defects detection and components and parts detection and localization.Can realize on the front plate Identify chip and from the side components and parts are detected.Effectively solved the restriction that is subjected to self physiologic factor in the prior art, manual detection mode efficient is low, loss is high, subjectivity is strong, be subject to external interference, be difficult to satisfy the PCB components and parts accurately, reliable, testing requirement that repeatability is high.
Each embodiment adopts the mode of going forward one by one to describe in this instructions, and what each embodiment stressed is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.For the device that embodiment provides, because it is corresponding with the method that embodiment provides, so description is fairly simple, relevant part partly illustrates referring to method and gets final product.
Above-mentioned explanation to the embodiment that provides makes this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be apparent concerning those skilled in the art, and General Principle as defined herein can in the situation that does not break away from the spirit or scope of the present invention, realize in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but principle and the features of novelty the widest consistent scope that provides with this paper will be provided.

Claims (7)

1. a 5-axis movement positioning system is characterized in that, comprising:
Casing;
Be arranged on described casing inside top, be used to pcb board to be detected that the illumination optical apparatus of lighting environment is provided;
Be arranged on described illumination optical apparatus below, be used for fixing pcb board to be detected, and realize five shaft moving devices of 5-axis movement;
Link to each other with described five shaft moving devices, be used for carrying out according to described five shaft moving devices of the signal controlling of extraneous computing machine the controller of corresponding 5-axis movement;
Be arranged on the below of described five shaft moving devices, be used for the conveyer that travelling belt detects pcb board.
2. 5-axis movement positioning system according to claim 1 is characterized in that, also comprises:
Be arranged on described five shaft moving devices, be used for the objective table of placing pcb board to be detected and being provided with a plurality of threaded holes.
3. 5-axis movement positioning system according to claim 2 is characterized in that, also comprises:
Be arranged on the described objective table, be used for regulating the pcb board erecting device that pcb board to be detected is the diverse location relation.
4. 5-axis movement positioning system according to claim 3 is characterized in that, described pcb board erecting device comprises:
Base plate;
Be arranged on the first backstay of described base plate one end;
Be arranged on the first support bar and second support bar of the described base plate other end;
Be arranged on the adjustment sheet of described the first support bar and described the second support bar top;
Be arranged on described adjustment sheet top, and the second backstay that be arranged in parallel with described the first backstay;
Be arranged on described floor below, be used for guaranteeing the pcb board to be detected gib block according to the predetermined direction motion when being transported to detection platform.
5. 5-axis movement positioning system according to claim 4 is characterized in that, also comprises be used to the magnetic clamping device that clamps pcb board to be detected.
6. 5-axis movement positioning system according to claim 1, it is characterized in that described conveyer is the light-duty fixed band conveyor of U-shaped belt conveyor, tubular belt conveyor, air-cushion type band conveyor, rope-driven conveyor, press belt type band conveyor or QD80.
7. 5-axis movement positioning system according to claim 1 is characterized in that, described five shaft moving devices comprise:
Be converted to the stepper motor of angular displacement according to the electric signal of described controller generation.
CN201210455190.7A 2012-11-13 2012-11-13 Five-axis movement positioning system Active CN102928430B (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103207149A (en) * 2013-04-16 2013-07-17 无锡优创生物科技有限公司 Infrared gel positioning device and gel imaging system utilizing same
CN104501830A (en) * 2014-11-28 2015-04-08 苏州迅威光电科技有限公司 Automatic coded disk component testing platform and operation method thereof
CN105203553A (en) * 2015-09-30 2015-12-30 江苏比微曼智能科技有限公司 Defect detecting machine

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Publication number Priority date Publication date Assignee Title
US5455870A (en) * 1991-07-10 1995-10-03 Raytheon Company Apparatus and method for inspection of high component density printed circuit board
US20040240197A1 (en) * 2003-05-28 2004-12-02 Tdk Corporation Work piece holding apparatus, work piece illumination apparatus and work piece inspection system
CN2892355Y (en) * 2006-03-23 2007-04-25 艾逖恩机电(深圳)有限公司 Automatically shifting clamp used on wire solder
CN201438174U (en) * 2009-08-03 2010-04-14 东莞市科隆威自动化设备有限公司 Conveyer for automatic optical inspection systems
CN102565080A (en) * 2011-12-30 2012-07-11 聚信科技有限公司 Vision detection device and system
CN203025094U (en) * 2012-11-13 2013-06-26 浙江省电力公司电力科学研究院 Five-axis movement positioning system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5455870A (en) * 1991-07-10 1995-10-03 Raytheon Company Apparatus and method for inspection of high component density printed circuit board
US20040240197A1 (en) * 2003-05-28 2004-12-02 Tdk Corporation Work piece holding apparatus, work piece illumination apparatus and work piece inspection system
CN2892355Y (en) * 2006-03-23 2007-04-25 艾逖恩机电(深圳)有限公司 Automatically shifting clamp used on wire solder
CN201438174U (en) * 2009-08-03 2010-04-14 东莞市科隆威自动化设备有限公司 Conveyer for automatic optical inspection systems
CN102565080A (en) * 2011-12-30 2012-07-11 聚信科技有限公司 Vision detection device and system
CN203025094U (en) * 2012-11-13 2013-06-26 浙江省电力公司电力科学研究院 Five-axis movement positioning system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103207149A (en) * 2013-04-16 2013-07-17 无锡优创生物科技有限公司 Infrared gel positioning device and gel imaging system utilizing same
CN104501830A (en) * 2014-11-28 2015-04-08 苏州迅威光电科技有限公司 Automatic coded disk component testing platform and operation method thereof
CN104501830B (en) * 2014-11-28 2017-06-30 苏州迅威光电科技有限公司 Code-disc component automatically testing platform and its operating method
CN105203553A (en) * 2015-09-30 2015-12-30 江苏比微曼智能科技有限公司 Defect detecting machine
CN105203553B (en) * 2015-09-30 2017-09-12 江苏比微曼智能科技有限公司 Defect inspection machine

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