CN106276232B - The upper and lower plates system that printed wiring board automatically detects - Google Patents
The upper and lower plates system that printed wiring board automatically detects Download PDFInfo
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- CN106276232B CN106276232B CN201610781092.0A CN201610781092A CN106276232B CN 106276232 B CN106276232 B CN 106276232B CN 201610781092 A CN201610781092 A CN 201610781092A CN 106276232 B CN106276232 B CN 106276232B
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- wiring board
- printed wiring
- dust
- machine
- lower plates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Supply And Installment Of Electrical Components (AREA)
Abstract
The invention discloses a kind of upper and lower plates systems that printed wiring board automatically detects, including feeding device, discharging device, dust-binding machine, shifting apparatus, robot, manipulator fixture, first auxiliary clamp and first movement mechanism, the feeding device and dust-binding machine are arranged side by side, the shifting apparatus is set to the top of feeding device and dust-binding machine, the robot is opposite with feeding device and dust-binding machine, the manipulator fixture is mounted on the front end of the mechanical arm of robot, first auxiliary clamp is set to the left side of robot and is moved in a vertical direction by first movement mechanism, the discharging device is set to the right side of robot.Auxiliary clamp is mounted on the left side of mechanical arm and cooperated with manipulator fixture by the present invention, mechanical arm is set only to need to overturn manipulator fixture into the upper and lower plates that a cycle can be completed twice, motion path and the time for shortening mechanical arm, improve the detection efficiency of entire detection system.
Description
Technical field
The present invention relates to a kind of upper and lower plates systems that printed wiring board automatically detects, and belong to printed wiring board detection auxiliary
Equipment technical field.
Background technique
Currently, printed wiring board automatic detection system needs to print every piece during printed wiring board processing
Brush wiring board carries out two-sided detection and coding processing.Most of printed wiring board automatic detection system is by two full-automatic opticals
Detection machine (AOI), two code spraying devices and upper and lower plates system etc. are constituted, and wiring board is sent to First AOI machine pair by upper and lower plates system
After the face A of wiring board is detected, First code spraying device carries out coding processing to the face A of wiring board, and the face A of wiring board is sprayed
After code processing, wiring board is moved to second AOI machine again by upper and lower plates system, is examined by B face of second AOI machine to wiring board
Coding processing is carried out by B face of second code spraying device to wiring board again after survey, then, upper and lower plates system again moves to out wiring board
Expect area.Auxiliary clamp can be mounted on the top of second AOI machine by existing upper and lower plates system, convenient to carry out with manipulator fixture
Although docking between two-way wiring board, this upper and lower plates system are able to achieve the detection of wiring board, coding, but due to auxiliary clamp
It is mounted on the top i.e. right side of mechanical arm of second AOI machine, the two-sided detection for realizing wiring board and double-sided code spraying are by machine
The overturning of tool rear jig repeatedly, increases the runing time of mechanical arm and the complexity of rotation, extends the upper and lower plates of every piece of wiring board
Time influences detection efficiency.
Summary of the invention
The present invention provides a kind of printed wire that can effectively improve detection efficiency to overcome the shortcomings of the prior art
The upper and lower plates system that plate automatically detects.
The present invention can be by taking following technical scheme to be achieved:
A kind of upper and lower plates system that printed wiring board plate automatically detects, including feeding device, discharging device, dust-binding machine,
Shifting apparatus, robot, manipulator fixture, the first auxiliary clamp and first movement mechanism, the feeding device and dust-binding machine are simultaneously
Row's setting, the shifting apparatus are set to the top of feeding device and dust-binding machine, the robot and feeding device and dust-binding machine
Relatively, the manipulator fixture is mounted on the front end of the mechanical arm of robot, and first auxiliary clamp is set to robot
Left side is simultaneously moved by first movement mechanism in a vertical direction, and the discharging device is set to the right side of robot.
Preferably, the upper and lower plates system that the printed wiring board automatically detects further includes the second auxiliary clamp and second
Mobile mechanism, second auxiliary clamp are set to the right side of robot and are moved in a vertical direction by the second mobile mechanism
It is dynamic.
Preferably, first auxiliary clamp and the second auxiliary clamp are located at the two sides of robot and are symmetrical arranged.
Preferably, the upper and lower plates system that the printed wiring board automatically detects further includes imaging sensor, the figure
As sensor is set to the top of dust-binding machine.
Preferably, the feeding device includes the first elevating mechanism and feeding platform, the first elevating mechanism setting
On the right side of dust-binding machine, the feeding platform is mounted on the first elevating mechanism.
Preferably, the discharging device includes the second elevating mechanism and outfeed platforms, the second elevating mechanism setting
On the right side of robot, the outfeed platforms are mounted on the second elevating mechanism.
Preferably, the shifting apparatus includes bracket, transverse moving mechanism, vertically movable mechanism and load moving fixture, institute
It is rack-mount to state transverse moving mechanism, the vertically movable mechanism is mounted on transverse moving mechanism, the load moving fixture
It is mounted in vertically movable mechanism and is located at the top of feeding device and dust-binding machine.
Preferably, the discharging device is located at the right side of feeding device and is arranged side by side with feeding device.
Preferably, the feeding device, discharging device, dust-binding machine, shifting apparatus, imaging sensor, robot, machinery
Hand fixture and first movement mechanism are mounted in protection rack.
Compared with prior art, the beneficial effects of the present invention are: auxiliary clamp is mounted on a left side for mechanical arm by the present invention
Discharging device is mounted on the right side of mechanical arm, the previous printing in the face A that auxiliary clamp has detected First AOI machine by side
Wiring board absorption is got up, and mechanical arm drives manipulator fixture that first printed wiring board in the face A to be detected is placed into First AOI
In machine and move up docked with auxiliary clamp previous printed wiring board is sucked and is moved to the first code spraying device carry out coding processing,
Mechanical arm drives manipulator fixture to move to second AOI machine and the first two printed wiring board for having detected the face B is sucked and is overturn,
Keep the A of previous wiring board face-down, B is face-up, and previous wiring board carries out the detection of the face B in second AOI machine, and mechanical arm makes machinery
Hand fixture is overturn again to be kept the B of the first two wiring board face-up and moves to the progress coding processing of the second code spraying device, and mechanical arm drives
Manipulator fixture the first two wiring board is moved to after discharging device reset it is standby, in this process, since auxiliary clamp is mounted on machinery
The left side of arm simultaneously cooperates with manipulator fixture, and mechanical arm is made only to need manipulator fixture overturning a cycle can be completed twice
Upper and lower plates, shorten motion path and the time of mechanical arm, improve the detection efficiency of entire detection system.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the upper and lower plates system that printed wiring board of the invention automatically detects；
Fig. 2 is the structural schematic diagram of feeding device in Fig. 1, discharging device and shifting apparatus；
Fig. 3 is that the structure that the upper and lower plates system that printed wiring board of the invention automatically detects cooperates with an AOI machine is shown
It is intended to；
The structural representation of upper and lower plates system and the cooperation of two AOI machines that printed wiring board Fig. 4 of the invention automatically detects
Figure；
Fig. 5 is two auxiliary clamps and two AOI for the upper and lower plates system that printed wiring board of the invention automatically detects
The structural schematic diagram of machine cooperation.
Specific embodiment
A specific embodiment of the invention is described in detail below in conjunction with attached drawing.
As shown in Figure 1, a kind of upper and lower plates system that printed wiring board automatically detects includes feeding device 1, discharging device
2, dust-binding machine 3, shifting apparatus 4, imaging sensor 5, robot 6, manipulator fixture 7, the first auxiliary clamp 8 and first movement machine
Structure 9, feeding device 1 and dust-binding machine 3 are arranged side by side, and shifting apparatus 4 is set to the top of feeding device 1 and dust-binding machine 3, and image passes
Sensor 5 is set to the top of dust-binding machine 3, and the robot 6 is opposite with feeding device 1 and dust-binding machine 3, and manipulator fixture 7 is installed
In the front end of the mechanical arm 61 of robot 6, the first additional lock 8 tool is set to the left side of robot and by first movement mechanism 9
It moves in a vertical direction, discharging device 2 is set to the right side of robot 6, wherein feeding device 1, discharging device 2, dust-binding machine
3, shifting apparatus 4, imaging sensor 5, robot 6, first movement mechanism 9 may be mounted in same protection rack 10, can also
It is supported with corresponding bracket；Discharging device 2 can be disposed side by side on the right side of feeding device 1；Manipulator fixture 7 uses
Double-face sucking disk fixture can adsorb printed wiring board with front and back sides；First auxiliary clamp 8 uses single side sucker clamp, for adsorbing
The printed wiring board in the first face has been detected on first AOI machine 11 engaged therewith；Manipulator fixture 7 and the first auxiliary clamp 8
On be equipped with gas circuit control integration module, by gas circuit control integration module the work of sucker is controlled；Feeding device 1,
Discharging device 2, dust-binding machine 3, shifting apparatus 4, imaging sensor 5, robot 6, manipulator fixture 7, the first auxiliary clamp 8 and
One mobile mechanism 9 connect with peripheral control unit, controls its work by controller；Imaging sensor 5 facilitates detection printed wire
The specific location of plate is simultaneously transmitted to the position that peripheral control unit adjusts the crawl wiring board of manipulator fixture 7 with example.
As shown in Fig. 2, feeding device 1 includes the first elevating mechanism 102 and feeding platform 101, the first elevating mechanism 102 peace
Mounted in the right side for protecting in rack 10 and being arranged in dust-binding machine 3, feeding platform 101 is mounted on the first elevating mechanism 102, and first
Feeding platform 101 is moved up and down and is once adjusted to setting height by elevating mechanism 102, facilitates shifting apparatus 4 to feeding platform 101
Printed wiring board adsorbed.
Discharging device 2 includes the second elevating mechanism 202 and outfeed platforms 201, and the second elevating mechanism 202 is mounted on protection machine
On frame 10 and the right side of robot 6 is set, outfeed platforms 201 are mounted on the second elevating mechanism 202, wiring board inspection to be printed
After having surveyed and being placed into outfeed platforms 201, the second elevating mechanism 202, which moves up and down, is once adjusted to setting height, facilitates machinery
Hand fixture 7 places wiring board.
Shifting apparatus 4 includes bracket 401, transverse moving mechanism 402, vertically movable mechanism 403 and load moving fixture 404, branch
Frame 401 is fixed in protection rack 10, and transverse moving mechanism 402 is mounted on bracket 401, and vertically movable mechanism 403 is mounted on
On transverse moving mechanism 402, load moving fixture 404 is mounted in vertically movable mechanism 403 and is located at feeding device 1 and dust-binding machine 3
Top, vertically movable mechanism 403 drives load moving fixture 404 to move up and down, load moving fixture 404 allow to be sucked and unclamp printing
Wiring board or for adsorb, unclamp isolation two printed wiring board partition；Transverse moving mechanism 402 should drive vertical shifting
Motivation structure 403 and load moving fixture 404 move between feeding device 1 and dust-binding machine 3, will be from feeding device 1 by printed wiring board
It moves on to dust-binding machine 3 and resets, transverse moving mechanism 402 will also drive vertically movable mechanism 403 and load moving fixture 404 to fill in charging
It sets and is moved between 1 and discharging device 2, the partition that two printed wiring board are isolated is moved on into discharging device 2 from feeding device 1 and answer
Position.The position of transverse moving mechanism 402 and vertically movable mechanism 403 can be exchanged, i.e., vertically movable mechanism 403 is mounted on bracket
On 401, transverse moving mechanism 402 is mounted in vertically movable mechanism 403, and load moving fixture 404 is mounted on transverse moving mechanism 402
On, as long as being able to achieve load moving fixture 404 lateral, vertically movable.Single side sucker clamp can be used in load moving fixture 404.
First movement mechanism 9, the first elevating mechanism 102, the second elevating mechanism 202, transverse moving mechanism 402, vertical shifting
Motivation structure 403 can be used with flowering structure, which includes motor, screw rod, two sliding rails, two sliding blocks and link block, i.e., and two
In the parallel mounting bracket of a sliding rail, motor is mounted on the rack and is located at one end of sliding rail, and two sliding blocks are respectively fitted over two cunnings
On rail, link block be connected to two sliding between, one end of screw rod is connect with motor drive, the other end across link block and with
Link block is threadedly coupled, and is fixed on link block by the component that the structure drives, and motor rotation drives screw rod rotation, makes link block
It is slided through sliding block along sliding rail, keeps the component being fixed on link block mobile according to direction initialization.The structure can also use other
Sliding equipment is realized, as long as energy band dynamic component is mobile according to direction initialization.
As shown in Figure 1 to Figure 3, when the upper and lower plates system that the printed wiring board automatically detects cooperates work with an AOI machine
When making, vertically movable mechanism 403 drives load moving fixture 404 to move down the first bar printing route being sucked on feeding platform 101
It is moved up after plate, transverse moving mechanism 402 drives vertically movable mechanism 403 and load moving fixture 404 traversing, makes the first bar printing
Wiring board is laterally moved to the top of dust-binding machine 3, and vertically movable mechanism 403 moves down, and load moving fixture 404 discharges printed wiring board,
Vertically movable mechanism 403 and the mobile drive load moving fixture 404 of transverse moving mechanism 402 reset, and transverse moving mechanism 402 drives perpendicular
It is moved between feeding device 1 and discharging device 2 to mobile mechanism 403 and load moving fixture 404, two printed wiring board will be isolated
Partition move on to discharging device 2 from feeding device 1 and reset, with the second bar printing wiring board to be adsorbed, the first bar printing route
Plate carries out binding dust processing on dust-binding machine 3 and is taken pictures by imaging sensor 5, and mechanical arm 61 drives manipulator fixture 7 to the
One piece of wiring board carries out in absorption and traversing rotation to the first AOI machine 11, and mechanical arm 61 resets, and the first AOI machine 11 is to first piece
First movement mechanism 9, which moves down, after the face A of printed wiring board is detected drives the first auxiliary clamp 8 to the first bar printing line
Road plate carries out absorption and to moving up；Feeding platform 101 is sent to dust-binding machine 3 and glued by second piece of wiring board by load moving fixture 404
After dirt is handled and taken pictures by imaging sensor 5, mechanical arm 61 drives manipulator fixture 7 by second piece of the first AOI of wiring board
11 on machine, the first AOI machine 11 detects the face A of the second wiring board, and mechanical arm 61 drives manipulator fixture 7 to move up and first
Auxiliary clamp 8 docks, and the first line plate on the first auxiliary clamp 8 is sucked and is laterally moved at the progress coding of the first code spraying device 12
First line plate is sent to outfeed platforms 201 by traversing and turning manipulator fixture 7 after reason, to complete the list to one piece of wiring board
Face detection.
As shown in figure 4, when the upper and lower plates system and two AOI machine cooperatings that the printed wiring board automatically detects,
It is backward that vertically movable mechanism 403 drives load moving fixture 404 to move down the first bar printing wiring board being sucked on feeding platform 101
Upper movement, transverse moving mechanism 402 drives vertically movable mechanism 403 and load moving fixture 404 is traversing makes the first bar printing wiring board
It is laterally moved to the top of dust-binding machine 3, vertically movable mechanism 403 moves down, and load moving fixture 404 discharges the first bar printing wiring board,
Vertically movable mechanism 403 and mobile 404 tool of drive transfer folder of transverse moving mechanism 402 reset, and transverse moving mechanism 402, which drives, to be erected
It is moved between feeding device 1 and discharging device 2 to mobile mechanism 403 and load moving fixture 404, two printed wiring board will be isolated
Partition move on to discharging device 2 from feeding device 1 and reset, with second piece of wiring board to be adsorbed, the first bar printing wiring board exists
Binding dust processing is carried out on dust-binding machine 3 and is taken pictures by imaging sensor 5, and mechanical arm 61 drives manipulator fixture 7 to first piece
Printed wiring board carries out in absorption and traversing rotation to the first AOI machine 11, and mechanical arm 61 resets, and the first AOI machine 11 is to first piece
First movement mechanism 9, which moves down, after first face of printed wiring board is detected drives the first auxiliary clamp 8 to print first piece
Brush wiring board carries out absorption and to moving up；Second bar printing wiring board is sent to dust-binding machine from feeding platform 101 by load moving fixture 404
After 3 carry out binding dust processing and taken pictures by imaging sensor 5, mechanical arm 61 drives manipulator fixture 7 by the second bar printing line
Road plate carries out in absorption and traversing rotation to the first AOI machine 11, and the first AOI machine 11 carries out the face A of the second bar printing wiring board
Detection, mechanical arm 61 drives manipulator fixture 7 to move up and docks with the first auxiliary clamp 8, by first piece on the first auxiliary clamp 8
Traversing and turning manipulator fixture 7 is first piece after printed wiring board is sucked and is laterally moved to the progress coding processing of the first code spraying device 12
Printed wiring board is sent to the 2nd AOI machine 13, and the 2nd AOI machine 13 detects the second face of the first bar printing wiring board, mechanical
Arm 61 drives manipulator fixture 7 to reset to adsorb third bar printing wiring board, and the first AOI machine 11 is to the second bar printing wiring board
Second bar printing route is adsorbed from the first auxiliary clamp 8 after the detection of first face and to moving up；Load moving fixture 404 prints third block
After brush wiring board is sent to the progress binding dust processing of dust-binding machine 3 from feeding platform 101 and is taken pictures by imaging sensor 5, mechanical arm
61 drive manipulator fixtures 7 carry out third bar printing wiring board in absorption and traversing rotation to the first AOI machine 11, the first AOI
Machine 11 detects the first face of third bar printing wiring board, and mechanical arm 61 drives manipulator fixture 7 to move up and the first auxiliary
Fixture 8 docks, and the second bar printing wiring board on the first auxiliary clamp 8 is sucked and is laterally moved to the progress coding of the first code spraying device 12
Mechanical arm 61, which drives manipulator fixture 7 to be laterally moved to the 2nd AOI machine 13, after processing will test the first bar printing route in the second face
Plate is sucked, and mechanical arm 61 drives manipulator fixture 7 to stir and the second bar printing wiring board is placed on the 2nd AOI machine 13, at this point,
Up, down, the 2nd AOI machine 13 is to second piece for the second of the first bar printing wiring board for the second of second bar printing wiring board
Second face of printed wiring board is detected, and mechanical arm 61, which drives manipulator fixture 7 to overturn again, makes the first bar printing wiring board
The second face be laterally moved to the second code spraying device 14 afterwards upward again, the second code spraying device 14 to the second face of the first bar printing wiring board into
Row coding processing, mechanical arm 61 drive that manipulator fixture 7 is traversing that first bar printing wiring board is placed on outfeed platforms 201,
Mechanical arm 61 drives manipulator fixture 7 to reset, to complete the two-sided detection to a bar printing wiring board.In entire detection process
In, the two-sided detection of a bar printing wiring board only needs mechanical arm to drive manipulator fixture overturning twice, and a week can be completed
The upper and lower plates of phase shorten motion path and the time of mechanical arm, improve the detection efficiency of entire detection system.
As shown in figure 5, the upper and lower plates system that the printed wiring board automatically detects further includes the second auxiliary clamp 15 and
Two mobile mechanisms 16, the second auxiliary clamp 15 are set to the right side of robot 6 and by the second mobile mechanism 16 in vertical direction
Upper movement, the first auxiliary clamp 8 and the second auxiliary clamp 15 are located at the two sides of robot 6, the second auxiliary clamp 15 and first auxiliary
Fixture 8 is helped to use identical structure, which can be fixed on protective stent 10, can also pass through other brackets
It is fixed.The upper and lower plates system that the printed wiring board automatically detects uses two auxiliary fixture structures, and printed wire may be implemented
Two faces of plate upper and lower plates in the widely different situation of sweep time on two AOI respectively, can also cannot in a certain AOI machine
Upper and lower plates when realizing single AOI machine testing when work, process when due to single AOI machine testing are arranged with the first auxiliary clamp
The left side is as the process that an AOI machine testing cooperates or similar, only describes two faces of printed wiring board herein respectively two
Upper and lower plates process on platform AOI when sweep time widely different situation.
The upper and lower plates system that the printed wiring board automatically detects is directed to two faces of printed wiring board respectively in two AOI
Upper and lower plates process when upper sweep time widely different situation is as follows: vertically movable mechanism 403 drives load moving fixture 404 to moving down
It is moved up after dynamic first piece of wiring board being sucked on feeding platform 101, transverse moving mechanism 402 drives vertically movable mechanism
403 and the traversing top for making the first bar printing wiring board be laterally moved to dust-binding machine 3 of load moving fixture 404, vertically movable mechanism 403 is downwards
Mobile, load moving fixture 404 discharges the first bar printing wiring board, vertically movable mechanism 403 and the mobile drive of transverse moving mechanism 402
Load moving fixture 404 reset, transverse moving mechanism 402 drive vertically movable mechanism 403 and load moving fixture 404 feeding device 1 with
It moves, the partition that two printed wiring board are isolated is moved on into discharging device 2 from feeding device 1 and resets between discharging device 2, with
Second piece of wiring board to be adsorbed, the first bar printing wiring board carry out binding dust processing on dust-binding machine 3 and are carried out by imaging sensor 5
It takes pictures, mechanical arm 61 drives manipulator fixture 7 to carry out in absorption and traversing rotation to the first AOI machine the first bar printing wiring board
11, before this, the previous piece of even plates that the first auxiliary clamp 8 will test pick up, and mechanical arm 61 drives manipulator fixture 7 to move up
It is docked with the first auxiliary clamp 8 and previous piece of even plates is sucked and are laterally moved to overturn placement after the first code spraying device 12 carries out coding processing
Onto the 2nd AOI machine 13, before this, the second auxiliary clamp 15 picks up previous block of odd number plate, and mechanical arm 61 drives manipulator
Fixture 7 is moved up to be docked with the second auxiliary clamp 15, and the second code spraying device 16 is moved to after previous block of odd number plate is sucked and carries out coding
It overturns again afterwards and previous block of odd number plate is put on rewinding platform 201, mechanical arm 61 drives 7 tool of manipulator folder to reset；Mechanical arm 61
Drive manipulator fixture 7 is horizontal to claim to 3 top of dust-binding machine again, at this point, the second bar printing wiring board has already passed through binding dust processing simultaneously
Take pictures, mechanical arm 61 drive manipulator fixture 7 be sucked second piece of wiring board and overturn it is traversing docked with the first auxiliary clamp 8, the
The second printed wiring board is sucked in one auxiliary clamp 8, and mechanical arm 61 drives manipulator fixture 7 to move down and the first printed wiring board is sucked
And be laterally moved to the first code spraying device 12 and carry out coding processing, mechanical arm 61 drives manipulator fixture 7 to overturn and is laterally moved to the second auxiliary
Fixture 15 is simultaneously docked with the second auxiliary clamp 15, and mechanical arm 61 drives manipulator fixture 7 to move down on the 2nd AOI machine 13, will
Previous piece of even plates for having detected the second face pick up, and move to after the second code spraying device 16 carries out coding and be put into rewinding platform
On 201, mechanical arm 61 drives 7 tool of manipulator folder to reset, and moves when mechanical arm 61 drives manipulator fixture 7 to pick up previous piece of even plates
Out when the 2nd AOI 13 table top of machine, the first printed wiring board is placed on the 2nd AOI machine 13 by the second auxiliary clamp 15.Odd number plate
So on circulate with even plates.In entire detection process, the two-sided inspection of odd number printed wiring board and even number printed wiring board
Survey only needs mechanical arm 61 to drive the overturning of manipulator fixture 7 twice, and the upper and lower plates of a cycle can be completed, shorten mechanical arm
Motion path and the time, improve the detection efficiency of entire detection system.
Combining preferred embodiment above, invention has been described, but the invention is not limited to implementations disclosed above
Example, and various modifications, equivalent combinations according to the essence of the present invention should be covered.
Claims (9)
1. a kind of upper and lower plates system that printed wiring board automatically detects, it is characterised in that including feeding device, discharging device, glue
Dirt machine, shifting apparatus, robot, manipulator fixture, the first auxiliary clamp and first movement mechanism, the feeding device and binding dust
Machine is arranged side by side, and the shifting apparatus is set to the top of feeding device and dust-binding machine, the robot and feeding device and glues
Dirt machine is opposite, and the manipulator fixture is mounted on the front end of the mechanical arm of robot, and first auxiliary clamp is set to machine
The left side of people is simultaneously moved by first movement mechanism in a vertical direction, and the discharging device is set to the right side of robot,
The upper and lower plates system further includes the first AIO machine, and the lower section of the first auxiliary clamp, printed wire is arranged in the first AIO machine
Plate is sent from discharging device to binding dust is carried out on dust-binding machine by shifting apparatus, is sent by manipulator fixture to the first AIO machine after binding dust
It is detected, after the completion of to be detected, first movement mechanism the first auxiliary clamp of drive, which moves down, inhales printed wiring board
It is attached and move up；Manipulator fixture is sent latter bar printing wiring board to the first AIO machine by dust-binding machine, then on manipulator fixture
Shifting is docked with the first auxiliary clamp, and the printed wiring board on the first auxiliary clamp is sucked.
2. the upper and lower plates system that printed wiring board according to claim 1 automatically detects, it is characterised in that the route
The upper and lower plates system that plate automatically detects further includes the second auxiliary clamp and the second mobile mechanism, the second auxiliary clamp setting
In robot right side and moved in a vertical direction by the second mobile mechanism.
3. the upper and lower plates system that printed wiring board according to claim 2 automatically detects, it is characterised in that described first
Auxiliary clamp and the second auxiliary clamp are located at the two sides of robot and are symmetrical arranged.
4. the upper and lower plates system that printed wiring board according to any one of claim 1 to 3 automatically detects, feature exist
In further including imaging sensor, described image sensor is set to the top of dust-binding machine.
5. the upper and lower plates system that printed wiring board according to any one of claim 1 to 3 automatically detects, feature exist
It include the first elevating mechanism and feeding platform in the feeding device, the right side of dust-binding machine is arranged in first elevating mechanism,
The feeding platform is mounted on the first elevating mechanism.
6. the upper and lower plates system that printed wiring board according to any one of claim 1 to 3 automatically detects, feature exist
It include the second elevating mechanism and outfeed platforms in the discharging device, the right side of robot is arranged in second elevating mechanism,
The outfeed platforms are mounted on the second elevating mechanism.
7. the upper and lower plates system that printed wiring board according to any one of claim 1 to 3 automatically detects, feature exist
It include bracket, transverse moving mechanism, vertically movable mechanism and load moving fixture in the shifting apparatus, the transverse moving mechanism is pacified
On bracket, the vertically movable mechanism is mounted on transverse moving mechanism, and the load moving fixture is mounted on vertically movable machine
Top on structure and positioned at feeding device and dust-binding machine.
8. the upper and lower plates system that printed wiring board according to any one of claim 1 to 3 automatically detects, feature exist
It is located at the right side of feeding device in the discharging device and is arranged side by side with feeding device.
9. the upper and lower plates system that printed wiring board according to any one of claim 1 to 3 automatically detects, feature exist
It is moved in the feeding device, discharging device, dust-binding machine, shifting apparatus, imaging sensor, robot, manipulator fixture and first
Motivation structure is mounted in protection rack.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610781092.0A CN106276232B (en) | 2016-08-31 | 2016-08-31 | The upper and lower plates system that printed wiring board automatically detects |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610781092.0A CN106276232B (en) | 2016-08-31 | 2016-08-31 | The upper and lower plates system that printed wiring board automatically detects |
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| CN106276232A CN106276232A (en) | 2017-01-04 |
| CN106276232B true CN106276232B (en) | 2019-05-24 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107161690A (en) * | 2017-06-29 | 2017-09-15 | 广州市泰立机电设备有限公司 | Printed substrate system and wiring board method for shifting above and below intelligent robot |
| CN108995874A (en) * | 2018-07-27 | 2018-12-14 | 同济大学 | A kind of auxiliary device supplied for blank and finished parts storage |
| CN116969153A (en) * | 2018-11-29 | 2023-10-31 | 深圳宜美智科技股份有限公司 | FPC board switching system and corresponding FPC board outward appearance detects machine |
| CN110937389B (en) * | 2019-11-07 | 2021-02-12 | 广东极迅精密仪器有限公司 | Conveying device and conveying method for double-sided detection of PCB |
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