CN110104388A - A kind of flexible circuit board visual detection robot and its drive method - Google Patents
A kind of flexible circuit board visual detection robot and its drive method Download PDFInfo
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- CN110104388A CN110104388A CN201910445393.XA CN201910445393A CN110104388A CN 110104388 A CN110104388 A CN 110104388A CN 201910445393 A CN201910445393 A CN 201910445393A CN 110104388 A CN110104388 A CN 110104388A
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- circuit board
- flexible circuit
- suction cup
- pneumatic suction
- fixed
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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
- B65G29/00—Rotary conveyors, e.g. rotating discs, arms, star-wheels or cones
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/956—Inspecting patterns on the surface of objects
- G01N2021/95638—Inspecting patterns on the surface of objects for PCB's
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The present invention relates to a kind of flexible circuit board visual detection robot and its drive methods, including feeding mechanism, four part of swing mechanism, visual component and discharging mechanism.Flexible circuit board to be detected is grabbed by feeding mechanism, the infrared ray that infrared transmitter is launched is received using infrared remote receiver, judges whether Pneumatic suction cup is directed at detection station, guarantees that workpiece to be detected is smooth, rest easily in detection station.Image is acquired by image capture module and is back to computer, sorting discharging is finally completed by discharging mechanism.Rotary disk can do 90 degree of dividing movements, and rotary disk often turn 90 degrees just self-locking and stops predetermined time interval, and visual component captures image and is back to computer disposal at this time.Four stations can be integrated on a disk by swing mechanism, not only save space, but also improve transmission accuracy, and suitable for the transmission of flexible circuit board, stable drive avoids vibration, accurate positioning.
Description
Technical field
The present invention relates to a kind of detection robots, and in particular to a kind of flexible circuit board visual detection robot and its biography
Dynamic method.
Background technique
Flexible circuit board is also known as " soft board ", is the printed circuit made of insulating substrate flexible, can be with free bend, volume
Around, fold.Flexible circuit provides excellent electrical property, is able to satisfy smaller and more high-density installation design needs, also helps
In reduction assembling procedure and enhancing reliability.Flexible circuit board is likely to occur the defects of disconnected coral, Lian Shan, pin hole, folding, above-mentioned to lack
It falls into if only taken time and effort with human eye inspection, and is easy to omit, therefore automation equipment is needed to carry out automatic detection to it.
The automation equipment for flexible circuit board detection usually utilizes linear roll table will be with to be detected in the prior art
Flexible circuit board is delivered to detection module, is sent out again by linear roll table after the completion of detection.However, flexible circuit board is due to it
Soft characteristic, above-mentioned solution transmit flexible circuit board on the way easily on linear roll table by roller there are larger drawback
Road is involved in, at the same the levelness of linear roll table it is lower, transmission when exist vibration, be unfavorable for detection module and workpiece to be detected determined
Bit manipulation.
Summary of the invention
Goal of the invention: a kind of flexible circuit board visual detection robot and its drive method are provided, solve existing skill
The above problem existing for art.
Technical solution: a kind of flexible circuit board visual detection robot, including feeding mechanism, swing mechanism, vision group
Four part of part and discharging mechanism.
Wherein, feeding mechanism, including pedestal, the loading bay being fixed on the pedestal are fixed on the pedestal and position
First level slide unit in the loading bay side, and the first pneumatic suction being slidably arranged on the first level slide unit
Disk；
Swing mechanism, the indexing revolving platform including being fixed on the pedestal and being located at the loading bay side, and rotation are set
Set the rotary disk on the indexing revolving platform；
Visual component, the T shape support frame including being slidably arranged on the pedestal and being located at the rotary disk side, is fixed on
The buffer of the T shape support frame two sides, and the horizontal multiple images acquisition mould being slidably arranged on the T shape support frame
Block；
Discharging mechanism, the second horizontal sliding table including being fixed on the pedestal and being located at the rotary disk side, and sliding
The second Pneumatic suction cup on second horizontal sliding table is set.
In a further embodiment, the loading bay includes a pair of sliding rail being placed in parallel, and is slided and is arranged by sliding block
Feeding clamp bottom plate on the sliding rail, and be fixed on the sliding rail side and connect with the feeding clamp bottom plate
Straight line cylinder.For straight line cylinder for driving feeding clamp bottom plate to move, the first Pneumatic suction cup of cooperation smoothly clamps flexibility to be detected
Circuit board.
In a further embodiment, the indexing revolving platform includes cabinet, is rotated by deep groove ball bearing and bearing block
Setting is fixed on the dimension ribs of side on the conjugation camshaft, and rotation in the intracorporal conjugation camshaft of the case
Output capstan head in the cabinet and vertical with the conjugation camshaft is set；Even circumferential is distributed on the output capstan head
There are needle bearing, the conjugation camshaft and the needle bearing gapless Vertical Meshing.Pass through the cam on conjugation camshaft
The index dial gapless Vertical Meshing for being uniformly distributed needle bearing is had on capstan head with exporting, the curved section of cam contour surface drives
Needle bearing on index dial drives index dial indexing, and straightway keeps index dial static, and positions self-locking.
In a further embodiment, described image acquisition module includes the work that at least four sensor model numbers are IMX264
Industry video camera, the dynamic range of the industrial camera are 75.4dB to 138.5dB, and signal-to-noise ratio is greater than 40dB, time for exposure
34 microseconds.The dynamic range can ensure that each Color Channel of image needs data bit more more than traditional images, and can improve
The contrast of image reduces image noise, identifies defect convenient for computer.
In a further embodiment, the first level slide unit is H-shaped, including two sections are vertically fixed on the pedestal
Support portion, the crossbeam being fixed on the support portion is fixed on gear box on the crossbeam and parallel with it, passes through angle
Contact bearing is rotatably connected on the drive lead screw in the gear box, be fixed on the gear box side and with the driving wire
The servo motor that bar is connected by shaft coupling, threaded engagement are set in the transmission nut on the drive lead screw, and with it is described
The sucker mounting base that transmission nut is fixedly connected and is slidably connected with the gear box.Drive lead screw is driven by servo motor,
By the linear motion for being changed into transmission nut of drive lead screw, sucker mounting base straight line position can be more accurately controlled
It moves.
In a further embodiment, the structure of first Pneumatic suction cup and the second Pneumatic suction cup is identical, including it is double go out
Bar cylinder, is fixed on the pinboard of two extension bar ends of double rod cylinders, and is fixed on the pinboard
Vacuum chuck, the vacuum chuck include inlet end and outlet side, and the inlet end and outlet side pass through solenoid valve and outer respectively
Portion's gas source is connected.Double rod cylinders are gathered around there are two extension bar, can guarantee that pinboard is driven to keep it steady when doing vertical motion
Property.Solenoid valve is used to control the gas supply of inlet end and outlet side, and then controls the first Pneumatic suction cup and the absorption of the second Pneumatic suction cup
With put down flexible circuit board.
In a further embodiment, set that there are four symmetrical detection station two-by-two, the detection works on the rotary disk
The size fit of position and flexible circuit board.The edge of the detection station is equipped with multiple infrared receivers, first gas
Dynamic sucker and the second Pneumatic suction cup are equipped with the infrared transmitter of multiple distributions corresponding with the infrared remote receiver, infrared transmitter
Infrared ray is issued, is received by infrared remote receiver, if infrared remote receiver all receives infrared ray, determines detection station and first
The position of Pneumatic suction cup and the second Pneumatic suction cup is to just.
A kind of drive method of flexible circuit board visual detection robot, it is characterised in that the following steps are included:
S1, feeding mechanism work, drive the first Pneumatic suction cup sliding into flexible circuit board to be detected just by first level slide unit
Top；
S2, it drives vacuum chuck with set rate decline by double rod cylinders and softly conforms to flexible circuit board to be detected；
S3, the solenoid valve being connected to the outlet side of vacuum chuck starting, evacuate air pressure in vacuum chuck gradually, finally pick up to
Detect flexible circuit board；
S4, first level slide unit drive the first Pneumatic suction cup to slide into above swing mechanism and await orders；
S5, indexing revolving platform rotate 90 degree, so that the detection station of one of them is located at the underface of the first Pneumatic suction cup, and feed back
To first level slide unit；
S6, the first Pneumatic suction cup are driven vacuum chuck to be declined with set rate and are placed on inspection after receiving signal by double rod cylinders
It surveys in station, leaves detection station immediately, return to the original state of S1；
S7, indexing revolving platform rotate 90 degree, so that flexible circuit board to be detected moves to immediately below image capture module；
Image is simultaneously sent to computer by S9, image capture module acquisition image, is analyzed by computer disposal；
S10, indexing revolving platform continue to rotate 90 degree, will complete the flexible circuit board backswing of detection to discharging mechanism, according to
Computer feedback, non-defective unit and substandard products are grabbed by the second Pneumatic suction cup into non-defective unit box and substandard products box respectively.
The utility model has the advantages that the present invention relates to a kind of flexible circuit board visual detection robot and its drive methods, by setting
Feeding mechanism, swing mechanism, visual component and discharging mechanism are set, feeding mechanism is pneumatic using first level slide unit and first
Sucker cooperates, and flexible circuit board to be detected is drawn and is placed in the detection station of rotary disk.Further implementing
In example, the edge of the detection station is equipped with multiple infrared receivers, on first Pneumatic suction cup and the second Pneumatic suction cup
Infrared transmitter equipped with multiple distributions corresponding with the infrared remote receiver receives infrared transmitter using infrared remote receiver and emits
Infrared ray out, judges whether Pneumatic suction cup is directed at detection station, guarantees that workpiece to be detected is smooth, rests easily within detection work
On position.By the way that swing mechanism is arranged, rotary disk can do 90 degree of dividing movements, and rotary disk often turn 90 degrees just self-locking and stops
Predetermined time interval is stayed, visual component captures image and is back to computer disposal at this time.Swing mechanism can be by four stations
It is integrated on a disk, not only saves space, but also improve transmission accuracy, suitable for the transmission of flexible circuit board, stable drive is kept away
Exempt from vibration, accurate positioning.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the structural schematic diagram of feeding mechanism in the present invention.
Fig. 3 is the structural schematic diagram of swing mechanism in the present invention.
Fig. 4 is the structural schematic diagram that revolving platform is indexed in swing mechanism of the present invention.
Fig. 5 is the work variation schematic diagram that revolving platform is indexed in swing mechanism of the present invention.
Each appended drawing reference in figure are as follows: pedestal 1, loading bay 2, sliding rail 201, straight line cylinder 202, feeding clamp bottom plate 203,
One horizontal sliding table 3, support portion 301, crossbeam 302, gear box 303, servo motor 304, double rod cylinders 305, vacuum chuck
306, pinboard 307, the first Pneumatic suction cup 4, the second Pneumatic suction cup 5, the second horizontal sliding table 6, image capture module 7, the support of T shape
Frame 8, swing mechanism 9, rotary disk 901, detection station 902, indexing revolving platform 903, conjugation camshaft 903a, needle bearing
903b, output capstan head 903c, buffer 10, flexible circuit board 11.
Specific embodiment
In the following description, a large amount of concrete details are given so as to provide a more thorough understanding of the present invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid confusion with the present invention, for some technical characteristics well known in the art not into
Row description.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
As shown in Figures 1 to 5, the invention discloses a kind of flexible circuit board visual detection robot and its transmission sides
Method, wherein a kind of flexible circuit board visual detection robot includes pedestal 1, loading bay 2, first level slide unit 3, the first gas
Dynamic sucker 4, indexing revolving platform 903, rotary disk 901, T shape support frame 8, buffer 10, image capture module 7, second are horizontal sliding
Platform 6, the second Pneumatic suction cup 5.The loading bay 2 is fixed on the pedestal 1, and the first level slide unit 3 is fixed on the base
Side on seat 1 and positioned at the loading bay 2, first Pneumatic suction cup 4 are slidably arranged on the first level slide unit 3,
The indexing revolving platform 903 is fixed on the side on the pedestal 1 and being located at the loading bay 2, and the rotary disk 901 rotates
It is arranged on the indexing revolving platform 903, the T shape support frame 8 is slidably arranged on the pedestal 1 and is located at the revolution
The side of disk 901, the buffer 10 are fixed on 8 two sides of T shape support frame, and the horizontal sliding of described image acquisition module 7 is set
It sets on the T shape support frame 8, second horizontal sliding table 6 is fixed on the pedestal 1 and is located at the rotary disk 901
Side, second Pneumatic suction cup 5 are slidably arranged on second horizontal sliding table 6.The pedestal 1, loading bay 2, the first water
Somoothing board 3, the first Pneumatic suction cup 4 constitute feeding mechanism, and the indexing revolving platform 903 and rotary disk 901 constitute swing mechanism 9,
The T shape support frame 8, buffer 10, image capture module 7 constitute visual component, and second horizontal sliding table 6 and second is pneumatic
Sucker 5 constitutes discharging mechanism.
More specifically, the loading bay 2 includes sliding rail 201, feeding clamp bottom plate 203, straight line cylinder 202, the cunning
Rail 201 is a pair, and is installed in parallel on the pedestal 1, and the feeding clamp bottom plate 203 is slidably arranged in described by sliding block
On sliding rail 201, the straight line cylinder 202 is fixed on 201 side of sliding rail and connect with the feeding clamp bottom plate 203.Institute
Stating indexing revolving platform 903 includes cabinet, conjugation camshaft 903a, dimension ribs, output capstan head 903c, the conjugation camshaft
903a is rotatably arranged in the cabinet by deep groove ball bearing and bearing block, and it is convex that the latitude ribs are fixed on the conjugation
Side on wheel shaft 903a, the output capstan head 903c be rotatably arranged in the cabinet and with the conjugation camshaft 903a
Right angle setting, needle bearing 903b, the conjugation camshaft 903a and institute is distributed in even circumferential on the output capstan head 903c
State needle bearing 903b gapless Vertical Meshing.Described image acquisition module 7 includes that at least four sensor model numbers are IMX264
Industrial camera, the dynamic range of the industrial camera is 75.4dB to 138.5dB, and signal-to-noise ratio is greater than 40dB, when exposure
Between be 34 microseconds.The industrial camera is equipped with RJ-45 cable interface, for establishing communication between computer.Described first
Horizontal sliding table 3 is H-shaped, including support portion 301, crossbeam 302, gear box 303, drive lead screw, servo motor 304, transmission nut,
Sucker mounting base, the support portion 301 are two sections and are vertically fixed on the pedestal 1 that the crossbeam 302 is fixed on described
301 top of support portion, the gear box 303 are fixed on the crossbeam 302 and parallel with the crossbeam 302, the driving wire
Bar is rotatably connected in the gear box 303 by angular contact bearing, and the servo motor 304 is fixed on the gear box 303
It side and being connect with the drive lead screw by shaft coupling, the transmission nut threaded engagement is set on the drive lead screw,
The sucker mounting base is fixed on the transmission nut while being slidably connected with the gear box 303.Described first pneumatic suction
Disk 4 is identical with the structure of the second Pneumatic suction cup 5, including double rod cylinders 305, vacuum chuck 306, pinboard 307, the switching
Plate 307 is fixed on two extension bar ends of double rod cylinders 305, and the vacuum chuck 306 is fixed on the pinboard
On 307, the vacuum chuck 306 includes inlet end, outlet side, solenoid valve, external air source, and the inlet end and outlet side are distinguished
It is connected by solenoid valve and the external air source.Set that there are four symmetrical detection station 902 two-by-two, institutes on the rotary disk 901
State the size fit of detection station 902 Yu flexible circuit board 11.
According to the above technical scheme, the specific course of work of the present invention is as follows: firstly, feeding mechanism works, by the first water
Somoothing board 3 drives the first Pneumatic suction cup 4 to slide into the surface of flexible circuit board 11 to be detected, is driven by double rod cylinders 305
Vacuum chuck 306 is declined with set rate and softly conforms to flexible circuit board 11 to be detected.There are two double rod cylinders 305 are gathered around
Extension bar can guarantee that pinboard 307 is driven to keep its stationarity when doing vertical motion.Then, with the outlet of vacuum chuck 306
The solenoid valve starting of end connection, evacuates air pressure in vacuum chuck 306 gradually, finally picks up flexible circuit board 11 to be detected；With
Afterwards, first level slide unit 3 drives the first Pneumatic suction cup 4 to slide into above swing mechanism 9 and awaits orders；Then, 903 turns of revolving platform are indexed
It is 90 degree dynamic, so that the detection station 902 of one of them is located at the underface of the first Pneumatic suction cup 4, and feed back to first level slide unit
3；First Pneumatic suction cup 4 is declined and is placed on set rate by double rod cylinders 305 drive vacuum chuck 306 after receiving signal
In detection station 902, detection station 902 is left immediately, returns to original state；Then, indexing revolving platform 903 rotates 90 degree, makes
Flexible circuit board 11 to be detected is obtained to move to immediately below image capture module 7；Image capture module 7 acquires image and sends out image
It send to computer, is analyzed by computer disposal；Then, indexing revolving platform 903 continues to rotate 90 degree, will complete the soft of detection
Property 11 backswing of circuit board to discharging mechanism, fed back according to computer, non-defective unit and substandard products are grabbed by the second Pneumatic suction cup 5 to good respectively
In product box and substandard products box.It is noted that the edge of the detection station 902 is equipped with multiple infrared receivers, described the
One Pneumatic suction cup 4 and the second Pneumatic suction cup 5 are equipped with the infrared transmitter of multiple distributions corresponding with the infrared remote receiver, infrared
Transmitter issues infrared ray, is received by infrared remote receiver, if infrared remote receiver all receives infrared ray, determines detection station
902 and first Pneumatic suction cup 4 and the second Pneumatic suction cup 5 position to just.
The working principle for indexing revolving platform 903 is as follows: passing through the cam and output capstan head 903c on conjugation camshaft 903a
Upper to have the index dial gapless Vertical Meshing for being uniformly distributed needle bearing 903b, the curved section of cam contour surface drives index dial
On needle bearing 903b drive index dial indexing, straightway keeps index dial static, and positions self-locking.Conjugation camshaft 903a is every
Complete rotation one is enclosed, and output capstan head 903c will complete " move-stop-move " this indexing process.It is defeated within an indexing period
The ratio between the rotation time of capstan head 903c and dwell time are the output ratio of Q-switching to free running out, which is determined by the curved section of cam contour surface,
The curved section of cam contour surface constitutes driving angle.Meanwhile the location error between the bearing on index dial determines that the indexing is returned
The rotating accuracy of turntable 903, therefore needle bearing 903b is used in the present invention, the radial structure of needle bearing 903b is compact, can
Carry the radial load in preset range, it is ensured that the functional reliability of indexing revolving platform 903.
The type selecting of the infrared remote receiver is 1838T, the infrared remote receiver build-in IC chip of this model, and anti-interference energy
Power is strong, is suitble to apply in actual production, and other automation equipments in workshop is avoided to cause signal interference to it.The infrared hair
The type selecting of emitter is LHI778, and the carrier frequency of the infrared transmitter is 2.8MHz, maximum power output 6Mw, total harmonic wave mistake
True is 1.5%, and signal-to-noise ratio 54Db, acoustic frequency response frequency is 50Hz to 12KHz.Above-mentioned 1838T infrared remote receiver and LHI778
Infrared transmitter coordinated constitute optoelectronic switch, due to light in uniform dielectric along straightline propagation, when 1838T infrared receiver
When device receives the infrared signal of LHI778 infrared transmitter sending, the resistance value moment of infrared remote receiver is reduced to predetermined value, root
Judge whether light is received by infrared remote receiver according to the change in resistance of infrared remote receiver, and then judges infrared remote receiver and infrared hair
Whether whether emitter on the same line, and then determine the first Pneumatic suction cup 4 and the second Pneumatic suction cup 5 to positive detection station 902.
As described above, must not be explained although the present invention has been indicated and described referring to specific preferred embodiment
For the limitation to invention itself.It without prejudice to the spirit and scope of the invention as defined in the appended claims, can be right
It makes a variety of changes in the form and details.
Claims (9)
1. a kind of flexible circuit board visual detection robot, it is characterized in that including:
Feeding mechanism, including pedestal, the loading bay being fixed on the pedestal, be fixed on the pedestal and be located at it is described into
Expect the first level slide unit of platform side, and the first Pneumatic suction cup being slidably arranged on the first level slide unit；
Swing mechanism, the indexing revolving platform including being fixed on the pedestal and being located at the loading bay side, and rotation are set
Set the rotary disk on the indexing revolving platform；
Visual component, the T shape support frame including being slidably arranged on the pedestal and being located at the rotary disk side, is fixed on
The buffer of the T shape support frame two sides, and the horizontal multiple images acquisition mould being slidably arranged on the T shape support frame
Block；
Discharging mechanism, the second horizontal sliding table including being fixed on the pedestal and being located at the rotary disk side, and sliding
The second Pneumatic suction cup on second horizontal sliding table is set.
2. a kind of flexible circuit board visual detection robot according to claim 1, it is characterised in that: the loading bay
Including the sliding rail that a pair is placed in parallel, the feeding clamp bottom plate on the sliding rail is slidably arranged in by sliding block, and be fixed on
The sliding rail side and the straight line cylinder being connect with the feeding clamp bottom plate.
3. a kind of flexible circuit board visual detection robot according to claim 1, it is characterised in that: described to index back
Turntable includes cabinet, is rotatably arranged on the intracorporal conjugation camshaft of the case by deep groove ball bearing and bearing block, is fixed on institute
The dimension ribs of side on conjugation camshaft are stated, and is rotatably arranged in the cabinet and hangs down with the conjugation camshaft
Straight output capstan head；Needle bearing, the conjugation camshaft and the needle roller axis is distributed in even circumferential on the output capstan head
Hold gapless Vertical Meshing.
4. a kind of flexible circuit board visual detection robot according to claim 1, it is characterised in that: described image is adopted
Integrating module includes at least four sensor model numbers as the industrial camera of IMX264, and the dynamic range of the industrial camera is
75.4dB to 138.5dB, signal-to-noise ratio are greater than 40dB, and the time for exposure is 34 microseconds.
5. a kind of flexible circuit board visual detection robot according to claim 1, it is characterised in that: first water
Somoothing board is H-shaped, the support portion being vertically fixed on the pedestal including two sections, the crossbeam being fixed on the support portion, Gu
It is scheduled on gear box on the crossbeam and parallel with it, the transmission in the gear box is rotatably connected on by angular contact bearing
Screw rod, the servo motor for being fixed on the gear box side and being connect with the drive lead screw by shaft coupling, threaded engagement set
The transmission nut being located on the drive lead screw, and be fixedly connected with the transmission nut and slided with the gear box and connected
The sucker mounting base connect.
6. a kind of flexible circuit board visual detection robot according to claim 1, it is characterised in that: first gas
The structure of dynamic sucker and the second Pneumatic suction cup is identical, including double rod cylinders, is fixed on two stretchings of double rod cylinders
The pinboard of bar end, and the vacuum chuck being fixed on the pinboard, the vacuum chuck include inlet end and outlet
End, the inlet end and outlet side pass through solenoid valve respectively and external air source is connected.
7. a kind of flexible circuit board visual detection robot according to claim 1, it is characterised in that: the rotary disk
On set that there are four symmetrical detection station two-by-two, the size fits of the detection station and flexible circuit board.
8. a kind of drive method of flexible circuit board visual detection robot, it is characterised in that the following steps are included:
S1, feeding mechanism work, drive the first Pneumatic suction cup sliding into flexible circuit board to be detected just by first level slide unit
Top；
S2, it drives vacuum chuck with set rate decline by double rod cylinders and softly conforms to flexible circuit board to be detected；
S3, the solenoid valve being connected to the outlet side of vacuum chuck starting, evacuate air pressure in vacuum chuck gradually, finally pick up to
Detect flexible circuit board；
S4, first level slide unit drive the first Pneumatic suction cup to slide into above swing mechanism and await orders；
S5, indexing revolving platform rotate 90 degree, so that the detection station of one of them is located at the underface of the first Pneumatic suction cup, and feed back
To first level slide unit；
S6, the first Pneumatic suction cup are driven vacuum chuck to be declined with set rate and are placed on inspection after receiving signal by double rod cylinders
It surveys in station, leaves detection station immediately, return to the original state of S1；
S7, indexing revolving platform rotate 90 degree, so that flexible circuit board to be detected moves to immediately below image capture module；
Image is simultaneously sent to computer by S9, image capture module acquisition image, is analyzed by computer disposal；
S10, indexing revolving platform continue to rotate 90 degree, will complete the flexible circuit board backswing of detection to discharging mechanism, according to
Computer feedback, non-defective unit and substandard products are grabbed by the second Pneumatic suction cup into non-defective unit box and substandard products box respectively.
9. a kind of drive method of flexible circuit board visual detection robot according to claim 8, it is characterised in that:
The edge of the detection station is equipped with multiple infrared receivers, and first Pneumatic suction cup and the second Pneumatic suction cup are equipped with more
The infrared transmitter of a distribution corresponding with the infrared remote receiver, infrared transmitter issue infrared ray, are received by infrared remote receiver,
If infrared remote receiver all receives infrared ray, the position of detection station Yu the first Pneumatic suction cup and the second Pneumatic suction cup is determined
To just.
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| CN201910445393.XA CN110104388A (en) | 2019-05-27 | 2019-05-27 | A kind of flexible circuit board visual detection robot and its drive method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110609043A (en) * | 2019-09-30 | 2019-12-24 | 江苏新鹏能源科技有限公司 | Full-automatic welded pipe testing platform |
| CN112129699A (en) * | 2020-09-01 | 2020-12-25 | 中山德著智能科技有限公司 | Image detection device and imaging shooting method of flexible circuit board |
| CN112284442A (en) * | 2020-12-29 | 2021-01-29 | 苏州天准科技股份有限公司 | Automatic visual inspection device of flexible circuit board |
| CN112394066A (en) * | 2020-12-12 | 2021-02-23 | 明瑞达(苏州)人工智能科技有限公司 | Automatic keyboard detection system and method |
| CN112555340A (en) * | 2020-12-29 | 2021-03-26 | 苏州天准科技股份有限公司 | Automatic visual detection device for sucker assembly and flexible circuit board |
| CN112630221A (en) * | 2020-12-27 | 2021-04-09 | 苏州富纳智能科技有限公司 | Axial actuating mechanism for industrial vision practical training equipment |
| CN113252665A (en) * | 2021-04-27 | 2021-08-13 | 深圳市安仕新能源科技有限公司 | Product testing method and device, electronic equipment and storage medium |
| CN113447505A (en) * | 2021-05-13 | 2021-09-28 | 深圳市大成精密设备有限公司 | Pneumatic surface density detection device |
| CN113784610A (en) * | 2021-09-11 | 2021-12-10 | 南京久运科技有限公司 | Efficient mounting device and mounting method for electronic components |
| CN116183632A (en) * | 2023-04-24 | 2023-05-30 | 常州市武进三维电子有限公司 | Soft circuit board blind hole detection device for new energy automobile |
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| CN110609043B (en) * | 2019-09-30 | 2022-09-13 | 徐州市贾汪区万青聚富新能源有限公司 | Full-automatic welded tube testing platform |
| CN110609043A (en) * | 2019-09-30 | 2019-12-24 | 江苏新鹏能源科技有限公司 | Full-automatic welded pipe testing platform |
| CN112129699A (en) * | 2020-09-01 | 2020-12-25 | 中山德著智能科技有限公司 | Image detection device and imaging shooting method of flexible circuit board |
| CN112394066A (en) * | 2020-12-12 | 2021-02-23 | 明瑞达(苏州)人工智能科技有限公司 | Automatic keyboard detection system and method |
| CN112394066B (en) * | 2020-12-12 | 2024-01-30 | 明瑞达(苏州)人工智能科技有限公司 | Keyboard automatic detection system and method |
| CN112630221A (en) * | 2020-12-27 | 2021-04-09 | 苏州富纳智能科技有限公司 | Axial actuating mechanism for industrial vision practical training equipment |
| CN112284442A (en) * | 2020-12-29 | 2021-01-29 | 苏州天准科技股份有限公司 | Automatic visual inspection device of flexible circuit board |
| CN112555340A (en) * | 2020-12-29 | 2021-03-26 | 苏州天准科技股份有限公司 | Automatic visual detection device for sucker assembly and flexible circuit board |
| CN113252665A (en) * | 2021-04-27 | 2021-08-13 | 深圳市安仕新能源科技有限公司 | Product testing method and device, electronic equipment and storage medium |
| CN113252665B (en) * | 2021-04-27 | 2023-02-10 | 深圳市安仕新能源科技有限公司 | Product testing method and device, electronic equipment and storage medium |
| CN113447505B (en) * | 2021-05-13 | 2022-04-08 | 深圳市大成精密设备股份有限公司 | Pneumatic surface density detection device |
| CN113447505A (en) * | 2021-05-13 | 2021-09-28 | 深圳市大成精密设备有限公司 | Pneumatic surface density detection device |
| CN113784610A (en) * | 2021-09-11 | 2021-12-10 | 南京久运科技有限公司 | Efficient mounting device and mounting method for electronic components |
| CN113784610B (en) * | 2021-09-11 | 2023-08-25 | 南京久运科技有限公司 | Efficient electronic component mounting device and mounting method |
| CN116183632A (en) * | 2023-04-24 | 2023-05-30 | 常州市武进三维电子有限公司 | Soft circuit board blind hole detection device for new energy automobile |
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