CN113138199B - Visual detection system and method for circular PCB - Google Patents
Visual detection system and method for circular PCB Download PDFInfo
- Publication number
- CN113138199B CN113138199B CN202110337522.0A CN202110337522A CN113138199B CN 113138199 B CN113138199 B CN 113138199B CN 202110337522 A CN202110337522 A CN 202110337522A CN 113138199 B CN113138199 B CN 113138199B
- Authority
- CN
- China
- Prior art keywords
- circuit board
- disc
- detected
- shaped
- shaped circuit
- 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.)
- Active
Links
Images
Classifications
-
- 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
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- 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
Landscapes
- 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)
- Immunology (AREA)
- Pathology (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a visual detection system of a circular PCB (printed circuit board), which comprises a circuit board visual detection unit and a circuit board transfer unit, wherein the circuit board visual detection unit comprises a circuit board visual detection unit and a circuit board transfer unit; the circuit board transferring unit can transfer and install the disc-shaped circuit board to be detected on the circuit board visual detection unit, and the circuit board transferring unit can take down the disc-shaped circuit board to be detected which is additionally installed on the circuit board visual detection unit; the scheme of the invention can realize the automatic detection loading and unloading processes, can realize local shooting, and can obtain a visual detection mechanism of a whole image, thereby completing a high-definition shooting task under the condition of lower configuration of an industrial camera.
Description
Technical Field
The invention belongs to the field of PCB detection.
Background
The existing circuit board often falls the whole circuit board into the sight line range of an industrial camera during detection, so that the industrial camera is required to have enough wide angle and resolution, and various camera parameters are required to be improved; this increases the cost of the industrial camera; the applicant feels that the design of a visual detection mechanism capable of partially shooting but obtaining a whole-surface image can be considered according to the shape characteristics of the circular circuit board, so that a high-definition shooting task can be completed under the condition of an industrial camera with lower configuration.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a visual detection system and a detection method of a circular PCB which can be locally shot and can obtain a complete image.
The technical scheme is as follows: in order to achieve the above purpose, the visual inspection system of the circular PCB comprises a circuit board visual inspection unit and a circuit board transfer unit; the circuit board transferring unit can transfer and install the disc-shaped circuit board to be detected on the circuit board visual detection unit, and the circuit board transferring unit can take down the disc-shaped circuit board to be detected which is additionally installed on the circuit board visual detection unit;
the circuit board transferring unit comprises a supporting column, a rocker arm driving motor is fixedly mounted at the top end of the supporting column, the axis of an output shaft of the rocker arm driving motor is horizontal, a rocker arm is connected onto the output shaft, an arc-shaped groove seat is fixedly mounted at the tail end of the rocker arm, and an arc-shaped groove is formed in the arc-shaped groove seat along the arc direction;
the outer edge of the disc-shaped circuit board to be detected is clamped into the arc-shaped groove, the outer contour of the disc-shaped circuit board to be detected is matched with the bottom of the arc-shaped groove, and the axis of the disc-shaped circuit board to be detected clamped into the arc-shaped groove is parallel to the axis of the output shaft;
treat that disc circuit board goes up at least fretwork has a locating hole, there is the expansion bend through first linking arm fixedly connected with on the arc groove seat, telescopic link on the expansion bend corresponds with the locating hole of treating on the disc circuit board, telescopic link on the expansion bend outwards stretches out and can insert in the locating hole to the messenger treats that the disc circuit board is fixed a position on the arc groove seat completely.
Furthermore, the circuit board visual detection unit comprises a base, wherein a vertical guide rail supporting column is fixedly mounted on the base, a bracket base is fixedly mounted at the upper end of the guide rail supporting column, a gear bracket is fixedly mounted on the bracket base, and a horizontal first gear shaft is fixedly mounted on the gear bracket; the bracket base is fixedly connected with an oblique beam through an arc-shaped supporting arm, the upper end of the oblique beam is fixedly connected with a horizontal second roller shaft, a suspension arm shaft is rotatably arranged in a bearing hole at the lower end of the oblique beam through a ball bearing, a suspension arm is fixedly connected to the suspension arm shaft, and the suspension arm is in a plumb bob shape under the action of gravity; the lower end of the suspension arm is vertically and fixedly connected with a third roller shaft;
the first gear shaft, the second roller shaft and the third roller shaft are respectively provided with an output gear, a driven roller and a movable roller in a rotating way through ball bearings; the axes of the output gear, the driven roller and the movable roller are respectively a first axis point, a second axis point and a third axis point, the first axis point, the second axis point and the third axis point form three vertexes of an equilateral triangle, and the first axis point and the second axis point are equal in height; the circle center of the circumscribed circle of the equilateral triangle is positioned on the axis of the suspension arm shaft;
the peripheries of the output gear, the driven roller and the movable roller are respectively provided with a first ring groove, a second ring groove and a third ring groove; when the disc-shaped circuit board to be detected is additionally arranged on the circuit board visual detection unit, the outer contour of the disc-shaped circuit board to be detected is simultaneously matched with the bottom of the first ring groove, the bottom of the second ring groove and the bottom of the third ring groove on the wheel surfaces of the output gear, the driven roller and the movable roller in a rolling manner;
the axis of the output shaft is marked as a fourth axis point, a straight line passing through the fourth axis point and the second axis point is marked as a reference straight line, the circle center of an external circle of the equilateral triangle is positioned on the reference straight line, the movement track of the circle center of a plate of the disc-shaped circuit board to be detected positioned on the arc-shaped groove seat along with the rotation of the output shaft is marked as a circle center transferring track, and the circle center of the external circle of the equilateral triangle is positioned on the circle center transferring track.
Furthermore, the bottoms of the first annular groove and the second annular groove and the third annular groove and the tail end of the telescopic rod are all made of rubber.
Further, still fixed mounting has the linear electric motor support on the support saddle, fixed mounting has the horizontally linear electric motor on the linear electric motor support, linear electric motor's linear expansion link the axis with hang the axis of arm axle and intersect perpendicularly, linear expansion link's terminal fixed mounting has the visual detection camera, and linear expansion link is under the state of stretching out, the camera lens axis of visual detection camera with hang the axis coincidence of arm axle.
Furthermore, a transmission gear is rotatably arranged on the gear bracket through a bearing, and the transmission gear is in meshing transmission with the output gear; and the bracket base is fixedly provided with a stepping motor through a motor bracket, and the stepping motor is in driving connection with the transmission gear.
Furthermore, a vertical guide rail is arranged on one side of the guide rail support, a sliding block is arranged on the guide rail in a sliding manner, a lifting block is fixedly connected to one side of the sliding block, and the lifting block moves up and down along with the sliding block; the machine base is fixedly provided with a lifter, and the upper end of a lifting rod of the lifter is fixedly connected with the lifting block; the upper surface of the lifting block is an arc-shaped rolling ramp; when the circular arc rolling ramp rises to be matched with the movable idler wheel in a rolling manner, the circular arc center of the circular arc rolling ramp is coincided with the center of the external circle of the equilateral triangle, the circular arc rolling ramp further comprises a vertical lifting arm, the left side of the upper end of the lifting arm is fixedly connected with a horizontal lifting beam, a rectangular bayonet is arranged on the lower side of the left end of the lifting beam, a horizontal connecting arm is fixedly connected to the lower end of the lifting arm, and the tail end fixing part of the connecting arm is fixed on the side part of the lifting block;
and when the suspension arm is in a vertical state, the downward displacement of the lifting cross beam can enable the upper end of the suspension arm to be clamped into the rectangular bayonet, so that the suspension arm shaft cannot rotate.
Further, the visual inspection camera is a CCD camera.
Further, the visual inspection system of circular PCB circuit board:
the method comprises the following steps:
step one, a disc-shaped circuit board to be detected is not installed on a circuit board visual detection unit in an initial state, a suspension arm is in a vertical state under the action of gravity, a movable roller is not in rolling fit with an arc-shaped rolling ramp, the upper end of the suspension arm is not clamped into a rectangular bayonet, a suspension arm shaft is in a free state, the outer edge of the disc-shaped circuit board to be detected is clamped into an arc-shaped groove, the outer contour of the disc-shaped circuit board to be detected is matched with the bottom of the arc-shaped groove, and a telescopic rod on a telescopic device is controlled to extend outwards so that the telescopic rod on the telescopic device is inserted into a corresponding positioning hole; so that the disc-shaped circuit board to be detected is completely positioned on the arc-shaped groove seat.
Controlling a rocker arm driving motor to enable an output shaft to drive a rocker arm to rotate clockwise, so that the circle center of the disc-shaped circuit board to be detected positioned on the arc-shaped groove seat is displaced clockwise along the circle center transfer track until the outer contour of the disc-shaped circuit board to be detected is in abutting contact with the bottom of a third ring groove on the movable roller, and the outer contour of the disc-shaped circuit board to be detected is in rolling fit with the movable roller;
step three, continuously controlling the rocker arm driving motor to enable the output shaft to drive the rocker arm to rotate clockwise, enabling the circle center of the disc-shaped circuit board to be detected positioned on the arc-shaped groove seat to continuously displace clockwise along the circle center transferring track, and enabling the disc-shaped circuit board to be detected to push the movable roller along the clockwise direction of the circle center transferring track, so that the suspension arm gradually rotates clockwise along the axis of the suspension arm shaft;
step four, in the process that the suspension arm rotates clockwise along the axis of the suspension arm shaft, once the extension line of the suspension arm reaches a critical position when being coincided with the reference straight line, when the critical position is in a state, the center of a plate circle of the disc-shaped circuit board to be detected is coincided with the center of a circumscribed circle of the equilateral triangle, and according to the geometrical relationship at the moment, the disc-shaped circuit board to be detected just loses the force of pushing the movable roller wheel clockwise and obliquely upwards, so that the movable roller wheel is restored to a free state again;
step five, the movable idler wheel and the suspension arm which restore the free state automatically swing anticlockwise and downwards under the action of gravity, and the movable idler wheel rolls along the outer contour of the disc-shaped circuit board to be detected adaptively; until the suspension arm recovers to the plumb state again, the first axle center point, the second axle center point and the third axle center point of the output gear, the driven roller and the movable roller form three vertexes of an equilateral triangle, and the output gear, the driven roller and the first ring groove bottom, the second ring groove bottom and the third ring groove bottom on the wheel surface of the movable roller are in rolling fit, so that the mounting work of the disc-shaped circuit board to be detected is realized;
step six, the lifter controls the lifting block to descend for a sufficient distance until the upper end of the suspension arm is clamped into the rectangular bayonet, so that the suspension arm shaft cannot rotate, and the plumb state of the suspension arm is fixed; meanwhile, the telescopic rod on the telescopic device is controlled to retract, and the rocker arm is rotated anticlockwise, so that the arc-shaped groove seat releases the disc-shaped circuit board to be detected; at the moment, the linear telescopic rod is controlled to extend out, so that the axis of a lens of the visual inspection camera is superposed with the axis of the suspension arm shaft, and the central area of the disc-shaped circuit board to be inspected falls into the range of the lens of the visual inspection camera; starting a visual inspection camera so that the visual inspection camera obtains a plate surface image of the central area of the disc-shaped circuit board to be inspected;
step seven, controlling the linear telescopic rod to retract, so that the axis of the lens of the visual inspection camera deviates from the axis of the suspension arm shaft, and the edge local area of the disc-shaped circuit board to be inspected falls into the range of the lens of the visual inspection camera; starting a visual inspection camera so that the visual inspection camera obtains a plate surface image of the edge local area of the disc-shaped circuit board to be inspected;
at the moment, the transmission gear drives the output gear to rotate at a constant speed, and the outer contour of the disc-shaped circuit board to be detected is in rolling fit with the bottom of the first ring groove on the output gear, so that the disc-shaped circuit board to be detected can be driven to rotate along the self axis by the constant-speed rotation of the output gear, and when the disc-shaped circuit board to be detected can rotate for one circle along the self axis at a constant speed, the visual line range of the lens of the visual detection camera sweeps all edge local areas of the disc-shaped circuit board to be detected; then the vision detection camera transmits the obtained image data of all edge local areas and central areas to an image processing system or a display screen, so that human eyes are replaced to judge whether the positions and the intervals of elements of the disc-shaped circuit board to be detected are wrong, the sizes of lines and the elements are wrong, the shapes of the elements are wrong, and whether stains exist on the board, and the vision detection of the disc-shaped circuit board to be detected is realized; the subsequent steps require taking out the detected disc-shaped circuit board to be detected:
step eight, controlling the lifter to enable the lifting block to gradually rise until the circular arc rolling ramp on the upper surface of the lifting block is in rolling fit with the movable roller, wherein the circular arc center of the circular arc rolling ramp is coincident with the center of the circle of the equilateral triangle, and meanwhile, the upper end of the suspension arm is separated from the rectangular bayonet, so that the rotation of the suspension arm shaft is free from the limitation of the rectangular bayonet;
step nine, controlling the output gear to rotate anticlockwise along the axis of the output gear, then driving the disc-shaped circuit board to be detected to rotate clockwise along the axis of the output gear anticlockwise, driving the movable roller to rotate anticlockwise along the axis of the disc-shaped circuit board to be detected which rotates clockwise under the action of rolling friction, and because the movable roller is in close rolling fit with the arc-shaped rolling ramp, the movable roller can roll upwards along the arc-shaped rolling ramp by virtue of the anticlockwise rotation of the movable roller along the axis of the disc-shaped circuit board to be detected, and can rotate clockwise along the axis of the suspension arm shaft by virtue of the upwards rolling of the movable roller along the arc-shaped rolling ramp until the suspension arm is about to reach the critical position state in the step four;
step ten, controlling a rocker arm driving motor to enable an output shaft to drive a rocker arm to rotate clockwise, so that an arc-shaped groove seat is enabled to displace clockwise along a circle center transfer track, finally the outer edge of the detected disc-shaped circuit board is clamped into the arc-shaped groove again, the disc-shaped circuit board and the arc-shaped groove can move relatively, and the step nine is continued until the suspension arm reaches the critical position in the step four; when the suspension arm reaches the critical position in the step four, the output gear, the driven roller and the movable roller lose the restraint capability on the detected disc-shaped circuit board to be detected;
at the moment, the telescopic rod on the telescopic device is controlled to slowly extend towards the outer edge, and the telescopic rod on the telescopic device corresponds to the positioning hole on the disc-shaped circuit board to clamp the disc-shaped circuit board;
and step eleven, controlling a rocker arm driving motor to enable an output shaft to drive the rocker arm to rotate counterclockwise, and taking down the detected disc-shaped circuit board from the circuit board vision detection unit onto the circuit board transfer unit.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Has the advantages that: the scheme of the invention can realize the automatic detection loading and unloading processes, can realize local shooting, and can obtain a visual detection mechanism of a whole image, thereby completing a high-definition shooting task under the condition of lower configuration of an industrial camera.
Drawings
FIG. 1 is a schematic view of the state at the end of "step one";
FIG. 2 is a diagram illustrating the state at the end of step two;
FIG. 3 is a diagram illustrating the state at the end of step three;
FIG. 4 is a diagram illustrating the state at the end of step four;
FIG. 5 is a diagram illustrating the state at the end of "step five";
FIG. 6 is a diagram illustrating the state at the end of "step six";
FIG. 7 is a diagram illustrating the state at the end of "step seven";
FIG. 8 is a diagram illustrating the state at the end of "step eight";
FIG. 9 is a schematic view showing the state at the end of step nine (in this figure, the suspension arm has just reached the critical position state in step four);
FIG. 10 is a diagram illustrating the state at the end of "step ten";
FIG. 11 is a schematic view of the state at the end of "step eleven";
FIG. 12 is a schematic view of the device in a first state on the back side (the upper end of the suspension arm is not engaged in the rectangular opening);
FIG. 13 is a schematic view of the device in a second state on the back side (the upper end of the suspension arm has been snapped into the rectangular opening);
FIG. 14 is a schematic structural view of a circuit board visual inspection unit of the apparatus without a disk-shaped circuit board;
FIG. 15 is a schematic view of the structure of FIG. 4 from another perspective;
FIG. 16 is a schematic view of the structure of the circuit board transfer unit;
FIG. 17 is an enlarged schematic view of the rocker arm of FIG. 16 from another perspective at the end thereof;
FIG. 18 is a disassembled schematic view of FIG. 17;
fig. 19 is a schematic view of a visual inspection camera.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The structural part of the scheme is as follows (the working principle is in the end of the text):
the visual inspection system for circular PCB circuit board as shown in FIGS. 1 to 19 comprises a circuit board visual inspection unit 888 and a circuit board transfer unit 999; the circuit board transferring unit 999 can transfer and install the disc-shaped circuit board 11 to be detected on the circuit board visual detection unit 888, and the circuit board transferring unit 999 can take down the disc-shaped circuit board 11 to be detected which is additionally installed on the circuit board visual detection unit 888;
the circuit board transfer unit 999 comprises a supporting column 112, a rocker arm driving motor 120 is fixedly installed at the top end of the supporting column 112, the axis of an output shaft 122 of the rocker arm driving motor 120 is horizontal, a rocker arm 119 is connected to the output shaft 122, an arc-shaped groove seat 117 is fixedly installed at the tail end of the rocker arm 119, and an arc-shaped groove 0117 is formed in the arc-shaped groove seat 117 in the arc direction;
the outer edge of the disc-shaped circuit board 11 to be detected is clamped into the arc-shaped groove 0117 (as shown in fig. 16, 17 and 18), the outer contour 11.1 of the disc-shaped circuit board 11 to be detected is matched with the arc-shaped groove bottom 0117.1 of the arc-shaped groove 0117, and the axis of the disc-shaped circuit board 11 to be detected clamped into the arc-shaped groove 0117 is parallel to the axis of the output shaft 122;
the disc-shaped circuit board 11 to be detected is at least hollowed with a positioning hole 171, the arc-shaped groove seat 117 is fixedly connected with an expansion piece 143 through a first connecting arm 118, an expansion rod 144 on the expansion piece 143 corresponds to the positioning hole 171 on the disc-shaped circuit board 11 to be detected, and the expansion rod 144 on the expansion piece 143 extends outwards and can be inserted into the positioning hole 171, so that the disc-shaped circuit board 11 to be detected is completely positioned on the arc-shaped groove seat 117.
The circuit board visual detection unit 888 comprises a base 111, wherein a vertical guide rail support 106 is fixedly installed on the base, a support base 103 is fixedly installed at the upper end of the guide rail support 106, a gear support 100 is fixedly installed on the support base 103, and a horizontal first gear shaft 38 is fixedly installed on the gear support 100; the bracket seat 103 is fixedly connected with an oblique beam 124 through an arc-shaped supporting arm 101, the upper end of the oblique beam 124 is fixedly connected with a horizontal second roller shaft 40, a suspension arm shaft 31 is rotatably arranged in a bearing hole at the lower end of the oblique beam 124 through a ball bearing, a suspension arm 6 is fixedly connected to the suspension arm shaft 31, and the suspension arm 6 is in a plumb bob shape under the action of gravity; the lower end of the suspension arm 6 is vertically and fixedly connected with a third roller shaft 39;
the first gear shaft 38, the second roller shaft 40 and the third roller shaft 39 are respectively provided with an output gear 18, a driven roller 20 and a movable roller 19 through ball bearings in a rotating way; axes of the output gear 18, the driven roller 20 and the movable roller 19 are respectively a first axis point 018, a second axis point 020 and a third axis point 019, the first axis point 018, the second axis point 020 and the third axis point 019 form three vertexes of an equilateral triangle 0, and the first axis point 018 and the second axis point 020 are equal in height; the circle center 50 of the circumscribed circle of the equilateral triangle 0 is on the axis of the suspension arm shaft 31;
the peripheries of the output gear 18, the driven roller 20 and the movable roller 19 are respectively provided with a first ring groove 18.1, a second ring groove 20.1 and a third ring groove 19.1; when the disc-shaped circuit board 11 to be detected is additionally arranged on the circuit board visual detection unit 888, the outer contour 11.1 of the disc-shaped circuit board 11 to be detected is simultaneously in rolling fit with the groove bottoms of the first ring groove 18.1, the second ring groove 20.1 and the third ring groove 19.1 on the wheel surfaces of the output gear 18, the driven roller 20 and the movable roller 19;
the axis of the output shaft 122 is marked as a fourth axis point 121, a straight line passing through the fourth axis point 121 and the second axis point 020 is marked as a reference straight line 45, the circle center 50 of the circumscribed circle of the equilateral triangle 0 is on the reference straight line 45, the movement track of the plate circle center 115 of the disc-shaped circuit board 11 to be detected positioned on the arc-shaped groove seat 117 rotating along with the output shaft 122 is marked as a circle center transfer track 114, and the circle center 50 of the circumscribed circle of the equilateral triangle 0 is on the circle center transfer track 114.
The bottoms of the first ring groove 18.1, the second ring groove 20.1 and the third ring groove 19.1 and the tail end of the telescopic rod 144 are made of rubber.
The support base 103 is also fixedly provided with a linear motor support 172, the linear motor support 172 is fixedly provided with a horizontal linear motor 105, the axis of a linear telescopic rod 104 of the linear motor 105 is vertically intersected with the axis of the suspension arm shaft 31, the tail end of the linear telescopic rod 104 is fixedly provided with a vision detection camera 22, and the lens axis of the vision detection camera 22 is superposed with the axis of the suspension arm shaft 31 when the linear telescopic rod 104 is in an extended state; the visual inspection camera 22 of the present embodiment is a CCD camera.
The gear bracket 100 is also rotatably provided with a transmission gear 102 through a bearing, and the transmission gear 102 is in meshing transmission with the output gear 18; a stepping motor 151 is fixedly mounted on the bracket base 103 through a motor bracket 152, and the stepping motor 151 is in driving connection with the transmission gear 102.
A vertical guide rail is arranged on one side of the guide rail pillar 106, a sliding block 107 is arranged on the guide rail in a sliding manner, a lifting block 1 is fixedly connected to one side of the sliding block 107, and the lifting block 1 moves up and down along with the sliding block 107; the base 111 is fixedly provided with a lifter 108, and the upper end of a lifting rod 109 of the lifter 108 is fixedly connected with a lifting block 1; the upper surface of the lifting block 1 is a circular arc rolling ramp 10; when the circular arc rolling ramp 10 rises to be matched with the movable roller 19 in a rolling manner, the circular arc center of the circular arc rolling ramp 10 is overlapped with the circular arc center 50 of the equilateral triangle 0, the lifting device also comprises a vertical lifting arm 5, the left side of the upper end of the lifting arm 5 is fixedly connected with a horizontal lifting beam 7, the lower side of the left end of the lifting beam 7 is provided with a rectangular bayonet 8, the lower end of the lifting arm 5 is fixedly connected with a horizontal connecting arm 110, and the tail end fixing part 161 of the connecting arm 110 is fixed on the side part of the lifting block 1;
in a state where the suspension arm 6 is vertically vertical, downward displacement of the lifting beam 7 allows the upper end of the suspension arm 6 to be engaged with the rectangular bayonet 8, so that the suspension arm shaft 31 cannot rotate. (see fig. 13)
The working principle and the working method of the scheme are as follows:
the working method of the visual detection system of the circular PCB comprises the following steps:
the method comprises the following steps:
step one, the disc-shaped circuit board 11 to be detected is not installed on the circuit board visual detection unit 888 in an initial state, the suspension arm 6 is in a vertical state under the action of gravity, the movable roller 19 is not in rolling fit with the circular arc-shaped rolling ramp 10 yet, the upper end of the suspension arm 6 is not clamped in the rectangular bayonet 8 yet, the suspension arm shaft 31 is in a free state, the outer edge of the disc-shaped circuit board 11 to be detected is clamped in the arc-shaped groove 0117, the outer contour 11.1 of the disc-shaped circuit board 11 to be detected is matched with the arc-shaped groove bottom 0117.1 of the arc-shaped groove 0117, and the telescopic rod 144 on the telescopic device 143 is controlled to extend outwards, so that the telescopic rod 144 on the telescopic device 143 is inserted into the corresponding positioning hole 171; so that the disc-shaped circuit board 11 to be inspected is completely positioned on the arc-shaped socket 117.
Step two, controlling the rocker arm driving motor 120 to enable the output shaft 122 to drive the rocker arm 119 to rotate clockwise, so that the circle center of the disc-shaped circuit board 11 to be detected positioned on the arc-shaped groove seat 117 moves clockwise along the circle center transferring track 114 until the outer contour 11.1 of the disc-shaped circuit board 11 to be detected is in abutting contact with the bottom of the third ring groove 19.1 on the movable roller 19, and the outer contour 11.1 of the disc-shaped circuit board 11 to be detected is in rolling fit with the movable roller 19;
step three, continuously controlling the rocker arm driving motor 120, enabling the output shaft 122 to drive the rocker arm 119 to rotate clockwise, enabling the circle center of the disc-shaped circuit board 11 to be detected positioned on the arc-shaped groove seat 117 to continuously displace clockwise along the circle center transferring track 114, and at this time, the disc-shaped circuit board 11 to be detected can push the movable roller 19 clockwise along the circle center transferring track 114, so that the suspension arm 6 gradually rotates clockwise along the axis of the suspension arm shaft 31;
step four, in the step three, in the process that the suspension arm 6 rotates clockwise along the axis of the suspension arm shaft 31, once the extension line of the suspension arm 6 is superposed with the reference straight line 45 and reaches a critical position, in the state of the critical position, the center 115 of the disc-shaped circuit board 11 to be detected is superposed with the center 50 of the circumscribed circle of the triangle 0, and according to the geometrical relationship at this time, the disc-shaped circuit board 11 to be detected just loses the force of pushing the movable roller 19 clockwise and obliquely upwards, so that the movable roller 19 is restored to the free state again;
step five, the movable roller 19 and the suspension arm 6 which restore the free state automatically swing anticlockwise and downwards under the action of gravity, and at the moment, the movable roller 19 rolls along the outer contour 11.1 of the disc-shaped circuit board 11 to be detected adaptively; until the suspension arm 6 recovers to the plumb state again, at this time, the first axle center point 018, the second axle center point 020 and the third axle center point 019 of the output gear 18, the passive roller 20 and the movable roller 19 form three vertexes of an equilateral triangle 0, and the groove bottoms of the first ring groove 18.1, the second ring groove 20.1 and the third ring groove 19.1 on the wheel surfaces of the output gear 18, the passive roller 20 and the movable roller 19 are in rolling fit, at this time, the mounting work of the disc-shaped circuit board 11 to be detected is already realized;
step six, the lifter 108 controls the lifting block 1 to descend for a sufficient distance until the upper end of the suspension arm 6 is clamped into the rectangular bayonet 8, so that the suspension arm shaft 31 cannot rotate, and the plumb state of the suspension arm 6 is fixed; meanwhile, the telescopic rod 144 on the control telescopic device 143 retracts and rotates the rocker arm 119 counterclockwise, so that the arc-shaped slot seat 117 releases the disc-shaped circuit board 11 to be detected; at this time, the linear telescopic rod 104 is controlled to extend out, so that the axis of the lens of the visual inspection camera 22 coincides with the axis of the suspension arm shaft 31, and the central area 140 of the disc-shaped circuit board 11 to be detected falls into the lens range of the visual inspection camera 22; at this time, the vision inspection camera 22 is started, so that the vision inspection camera 22 obtains a board surface image of the central area 140 of the disc-shaped circuit board 11 to be inspected;
step seven, controlling the linear telescopic rod 104 to retract, so that the lens axis of the visual inspection camera 22 deviates from the axis of the arm shaft 31, and the edge local area 142 of the disc-shaped circuit board 11 to be inspected falls in the lens range of the visual inspection camera 22; then, the visual inspection camera 22 is started, so that the visual inspection camera 22 obtains a board surface image of the edge local area 142 of the disc-shaped circuit board 11 to be inspected;
at this time, the transmission gear 102 drives the output gear 18 to rotate at a constant speed, because the outer contour 11.1 of the disc-shaped circuit board 11 to be detected is in rolling fit with the bottom of the first ring groove 18.1 on the output gear 18, the disc-shaped circuit board 11 to be detected can be driven to rotate along the self axis by the constant speed rotation of the output gear 18, and when the disc-shaped circuit board 11 to be detected can rotate for a circle along the self axis at a constant speed, the visual line range of the lens 41 of the visual detection camera 22 sweeps all edge local areas 142 of the disc-shaped circuit board 11 to be detected; then, the vision inspection camera 22 transmits the obtained image data of all the edge local areas 142 and the center area 140 to an image processing system or a display screen, so that the human eyes are replaced to judge whether the positions and the intervals of the elements of the disc-shaped circuit board 11 to be inspected are wrong, whether the sizes of lines and the elements are wrong, whether the shapes of the elements are wrong, and whether the board is stained, thereby realizing the vision inspection of the disc-shaped circuit board 11 to be inspected; the subsequent steps require taking out the detected disc-shaped circuit board 11 to be detected:
step eight, controlling the lifter 108 to enable the lifting block 1 to gradually rise until the circular arc rolling ramp 10 on the upper surface of the lifting block 1 is in rolling fit with the movable roller 19, wherein the circular arc center of the circular arc rolling ramp 10 is coincided with the center 50 of the external circle of the equilateral triangle 0, and meanwhile, the upper end of the suspension arm 6 is separated from the rectangular bayonet 8, so that the rotation of the suspension arm shaft 31 is free from the limitation of the rectangular bayonet 8;
step nine, controlling the output gear 18 to rotate anticlockwise along the axis of the output gear, then driving the disc-shaped circuit board 11 to be detected to rotate clockwise along the axis of the output gear 18 anticlockwise, driving the movable roller 19 to rotate anticlockwise along the axis of the disc-shaped circuit board 11 to be detected which rotates clockwise under the action of rolling friction, and because the movable roller 19 is also in close rolling fit with the circular arc-shaped rolling ramp 10, the anticlockwise rotation of the movable roller 19 along the axis of the movable roller 19 can enable the movable roller 19 to roll upwards along the circular arc-shaped rolling ramp 10, and the upward rolling of the movable roller 19 along the circular arc-shaped rolling ramp 10 can enable the suspension arm 6 to rotate clockwise along the axis of the suspension arm shaft 31 until the suspension arm 6 is about to reach the critical position state in the step four;
step ten, controlling a rocker arm driving motor 120 to enable an output shaft 122 to drive a rocker arm 119 to rotate clockwise, so that an arc-shaped groove seat 117 moves clockwise along a circle center transfer track 114, and finally enabling the outer edge of the detected disc-shaped circuit board 11 to be clamped into the arc-shaped groove 0117 again, wherein the disc-shaped circuit board 11 and the arc-shaped groove 0117 can move relatively, and the step nine is continued until the suspension arm 6 reaches a critical position in the step four; when the suspension arm 6 reaches the critical position state in the step four, the output gear 18, the passive roller 20 and the movable roller 19 lose the restraining capability of the detected disc-shaped circuit board 11 to be detected;
at this time, the telescopic rod 144 on the telescopic device 143 is controlled to slowly extend out towards the outer edge, and at this time, the telescopic rod 144 on the telescopic device 143 corresponds to the positioning hole 171 on the disc-shaped circuit board 11 to clamp the disc-shaped circuit board 11;
step eleven, controlling the rocker arm driving motor 120 to make the output shaft 122 drive the rocker arm 119 to rotate counterclockwise, and taking down the detected disc-shaped circuit board 11 from the circuit board visual detection unit 888 to the circuit board transfer unit 999.
The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (6)
1. Visual inspection system of circular PCB circuit board, its characterized in that: comprises a circuit board visual detection unit (888) and a circuit board transfer unit (999); the circuit board transferring unit (999) can transfer and install the disc-shaped circuit board (11) to be detected on the circuit board visual detection unit (888), and the circuit board transferring unit (999) can take down the disc-shaped circuit board (11) to be detected additionally installed on the circuit board visual detection unit (888);
the circuit board transfer unit (999) comprises a supporting column (112), a rocker arm driving motor (120) is fixedly mounted at the top end of the supporting column (112), the axis of an output shaft (122) of the rocker arm driving motor (120) is horizontal, a rocker arm (119) is connected to the output shaft (122), an arc-shaped groove seat (117) is fixedly mounted at the tail end of the rocker arm (119), and an arc-shaped groove (0117) is formed in the arc-shaped groove seat (117) along the arc direction;
the outer edge of the disc-shaped circuit board (11) to be detected is clamped into the arc-shaped groove (0117), the outer contour (11.1) of the disc-shaped circuit board (11) to be detected is matched with the arc-shaped groove bottom (0117.1) of the arc-shaped groove (0117), and the axis of the disc-shaped circuit board (11) to be detected clamped into the arc-shaped groove (0117) is parallel to the axis of the output shaft (122);
at least one positioning hole (171) is hollowed out on the disc-shaped circuit board (11) to be detected, an expansion piece (143) is fixedly connected to the arc-shaped groove seat (117) through a first connecting arm (118), an expansion link (144) on the expansion piece (143) corresponds to the positioning hole (171) on the disc-shaped circuit board (11) to be detected, and the expansion link (144) on the expansion piece (143) extends outwards and can be inserted into the positioning hole (171), so that the disc-shaped circuit board (11) to be detected is completely positioned on the arc-shaped groove seat (117);
the circuit board visual detection unit (888) comprises a base (111), wherein a vertical guide rail support column (106) is fixedly mounted on the base, a bracket base (103) is fixedly mounted at the upper end of the guide rail support column (106), a gear bracket (100) is fixedly mounted on the bracket base (103), and a horizontal first gear shaft (38) is fixedly mounted on the gear bracket (100); an oblique beam (124) is fixedly connected to the support base (103) through an arc-shaped support arm (101), a horizontal second roller shaft (40) is fixedly connected to the upper end of the oblique beam (124), a suspension arm shaft (31) is rotatably arranged in a bearing hole in the lower end of the oblique beam (124) through a ball bearing, a suspension arm (6) is fixedly connected to the suspension arm shaft (31), and the suspension arm (6) is in a plumb hammer shape under the action of gravity; the lower end of the suspension arm (6) is vertically and fixedly connected with a third roller shaft (39);
the first gear shaft (38), the second roller shaft (40) and the third roller shaft (39) are respectively provided with an output gear (18), a driven roller (20) and a movable roller (19) in a rotating way through ball bearings; the axes of the output gear (18), the driven roller (20) and the movable roller (19) are respectively a first axis point (018), a second axis point (020) and a third axis point (019), the first axis point (018), the second axis point (020) and the third axis point (019) form three vertexes of an equilateral triangle (0), and the first axis point (018) and the second axis point (020) are equal in height; the circle center (50) of the circumscribed circle of the equilateral triangle (0) is positioned on the axis of the suspension arm shaft (31);
the peripheries of the output gear (18), the driven roller (20) and the movable roller (19) are respectively provided with a first ring groove (18.1), a second ring groove (20.1) and a third ring groove (19.1); when the circuit board visual detection unit (888) is additionally provided with the disc-shaped circuit board (11) to be detected, the outer contour (11.1) of the disc-shaped circuit board (11) to be detected is simultaneously matched with the groove bottom of the first ring groove (18.1), the groove bottom of the second ring groove (20.1) and the groove bottom of the third ring groove (19.1) on the wheel surfaces of the output gear (18), the driven roller (20) and the movable roller (19) in a rolling manner;
marking the axis of an output shaft (122) as a fourth axis point (121), simultaneously marking a straight line passing through the fourth axis point (121) and a second axis point (020) as a reference straight line (45), marking the circle center (50) of an external circle of the equilateral triangle (0) on the reference straight line (45), marking the motion track of the plate circle center (115) of the disc-shaped circuit board (11) to be detected positioned on the arc-shaped groove seat (117) rotating along with the output shaft (122) as a circle center transfer track (114), and marking the circle center (50) of the external circle of the equilateral triangle (0) on the circle center transfer track (114);
a vertical guide rail is arranged on one side of the guide rail support column (106), a sliding block (107) is arranged on the guide rail in a sliding manner, a lifting block (1) is fixedly connected to one side of the sliding block (107), and the lifting block (1) moves up and down along with the sliding block (107); a lifter (108) is fixedly installed on the base (111), and the upper end of a lifting rod (109) of the lifter (108) is fixedly connected with the lifting block (1); the upper surface of the lifting block (1) is a circular arc rolling ramp (10); when the circular arc rolling ramp (10) rises to be matched with the movable roller (19) in a rolling manner, the circular arc center of the circular arc rolling ramp (10) is overlapped with the circle center (50) of the external circle of the equilateral triangle (0), the lifting device further comprises a vertical lifting arm (5), the left side of the upper end of the lifting arm (5) is fixedly connected with a horizontal lifting cross beam (7), the lower side of the left end of the lifting cross beam (7) is provided with a rectangular bayonet (8), the lower end of the lifting arm (5) is fixedly connected with a horizontal connecting arm (110), and a tail end fixing part (161) of the connecting arm (110) is fixed on the side part of the lifting block (1);
and under the condition that the suspension arm (6) is vertical, the downward displacement of the lifting cross beam (7) can clamp the upper end of the suspension arm (6) into the rectangular bayonet (8), so that the suspension arm shaft (31) cannot rotate.
2. The visual inspection system of a circular PCB circuit board of claim 1, wherein: the bottom of the first ring groove (18.1), the bottom of the second ring groove (20.1), the bottom of the third ring groove (19.1) and the tail end of the telescopic rod (144) are all made of rubber.
3. The visual inspection system of a circular PCB circuit board of claim 2, wherein: still fixed mounting has linear electric motor support (172) on support seat (103), fixed mounting has horizontally linear electric motor (105) on linear electric motor support (172), the axis of linear electric motor's (105) linear telescopic rod (104) with hang the axis of arm axle (31) and intersect perpendicularly, the end fixed mounting of linear telescopic rod (104) has visual detection camera (22), and linear telescopic rod (104) are under the state of stretching out, the camera lens axis of visual detection camera (22) with hang the axis coincidence of arm axle (31).
4. The visual inspection system of a circular PCB circuit board of claim 3, wherein: the gear bracket (100) is also provided with a transmission gear (102) in a rotating way through a bearing, and the transmission gear (102) is in meshing transmission with the output gear (18); a stepping motor (151) is fixedly mounted on the support base (103) through a motor support (152), and the stepping motor (151) is in driving connection with the transmission gear (102).
5. The visual inspection system of circular PCB circuit board of claim 4, wherein: the visual inspection camera (22) is a CCD camera.
6. The operation method of the visual inspection system of the circular PCB circuit board as claimed in claim 5, wherein:
the method comprises the following steps:
step one, a disc-shaped circuit board (11) to be detected is not installed on a circuit board visual detection unit (888) in an initial state, a suspension arm (6) is in a vertical state under the action of gravity, a movable roller (19) is not in rolling fit with an arc-shaped rolling ramp (10) at the moment, the upper end of the suspension arm (6) is not clamped into a rectangular bayonet (8) at the moment, a suspension arm shaft (31) is in a free state, the outer edge of the disc-shaped circuit board (11) to be detected is clamped into an arc-shaped groove (0117), the outer contour (11.1) of the disc-shaped circuit board (11) to be detected is matched with the arc-shaped groove bottom (0117.1) of the arc-shaped groove (0117), and a telescopic rod (144) on a telescopic device (143) is controlled to extend outwards, so that the telescopic rod (144) on the telescopic device (143) is inserted into a corresponding positioning hole (171); so that the disc-shaped circuit board (11) to be detected is completely positioned on the arc-shaped groove seat (117);
controlling a rocker arm driving motor (120) to enable an output shaft (122) to drive a rocker arm (119) to rotate clockwise, so that the circle center of the disc-shaped circuit board (11) to be detected positioned on the arc-shaped groove seat (117) is displaced clockwise along a circle center transfer track (114) until the outer contour (11.1) of the disc-shaped circuit board (11) to be detected is in pressing contact with the bottom of a third ring groove (19.1) on the movable roller (19), and accordingly the outer contour (11.1) of the disc-shaped circuit board (11) to be detected is in rolling fit with the movable roller (19);
step three, continuously controlling the rocker arm driving motor (120), enabling the output shaft (122) to drive the rocker arm (119) to rotate clockwise, enabling the circle center of the disc-shaped circuit board to be detected (11) positioned on the arc-shaped groove seat (117) to continuously displace clockwise along the circle center transferring track (114), and enabling the disc-shaped circuit board to be detected (11) to push the movable roller (19) clockwise along the circle center transferring track (114), so that the suspension arm (6) gradually rotates clockwise along the axis of the suspension arm shaft (31);
step four, in the step three, in the process that the suspension arm (6) rotates clockwise along the axis of the suspension arm shaft (31), once the extension line of the suspension arm (6) is superposed with the reference straight line (45) and reaches a critical position, in the state of the critical position, the center (115) of the disc-shaped circuit board (11) to be detected is superposed with the center (50) of the circumscribed circle of the equilateral triangle (0), and according to the geometrical relationship at the moment, the disc-shaped circuit board (11) to be detected just loses the force of pushing the movable roller (19) clockwise and obliquely upwards, so that the movable roller (19) is restored to the free state again;
fifthly, the movable roller (19) and the suspension arm (6) which restore the free state automatically swing anticlockwise and downwards under the action of gravity, and the movable roller (19) rolls along the outer contour (11.1) of the disc-shaped circuit board (11) to be detected adaptively; until the suspension arm (6) restores to the plumb state again, the output gear (18), the driven roller (20) and the first axle center point (018), the second axle center point (020) and the third axle center point (019) of the movable roller (19) form three vertexes of an equilateral triangle (0), and the output gear (18), the driven roller (20) and the groove bottom of a first annular groove (18.1), the groove bottom of a second annular groove (20.1) and the groove bottom of a third annular groove (19.1) on the wheel surface of the movable roller (19) are in rolling fit, so that the mounting work of the disc-shaped circuit board (11) to be detected is realized;
step six, the lifter (108) controls the lifting block (1) to descend for a sufficient distance until the upper end of the suspension arm (6) is clamped into the rectangular bayonet (8), so that the suspension arm shaft (31) cannot rotate, and the plumb state of the suspension arm (6) is fixed; meanwhile, the telescopic rod (144) on the telescopic device (143) is controlled to retract, and the rocker arm (119) is rotated anticlockwise, so that the arc-shaped groove seat (117) releases the disc-shaped circuit board (11) to be detected; at the moment, the linear telescopic rod (104) is controlled to extend out, so that the axis of a lens of the visual inspection camera (22) is superposed with the axis of the suspension arm shaft (31), and the central area (140) of the disc-shaped circuit board (11) to be inspected falls into the range of the lens of the visual inspection camera (22); then, starting a visual inspection camera (22), so that the visual inspection camera (22) obtains a plate surface image of a central area (140) of the disc-shaped circuit board (11) to be inspected;
step seven, controlling the linear telescopic rod (104) to retract, so that the lens axis of the visual inspection camera (22) deviates from the axis of the suspension arm shaft (31), and the edge local area (142) of the disc-shaped circuit board (11) to be inspected falls in the lens range of the visual inspection camera (22); then, starting a visual inspection camera (22), so that the visual inspection camera (22) obtains a plate surface image of an edge local area (142) of the disc-shaped circuit board (11) to be inspected;
at the moment, the transmission gear (102) drives the output gear (18) to rotate at a constant speed, because the outer contour (11.1) of the disc-shaped circuit board (11) to be detected is in rolling fit with the bottom of the first ring groove (18.1) on the output gear (18), the disc-shaped circuit board (11) to be detected can be driven to rotate along the axis of the disc-shaped circuit board (11) to be detected by the constant-speed rotation of the output gear (18), and when the disc-shaped circuit board (11) to be detected can rotate around the axis of the disc-shaped circuit board, the sight range of the lens (41) of the visual detection camera (22) sweeps all edge local areas (142) of the disc-shaped circuit board (11) to be detected; then, the visual detection camera (22) transmits the obtained image data of all the edge local areas (142) and the central area (140) to an image processing system or a display screen, so that the human eyes are replaced to judge whether the positions and the intervals of the elements of the disc-shaped circuit board (11) to be detected are wrong, whether the sizes of lines and the elements are wrong, whether the shapes of the elements are wrong and whether the board is stained, and the visual detection of the disc-shaped circuit board (11) to be detected is realized; the subsequent steps require taking out the disc-shaped circuit board (11) to be detected which has been detected:
step eight, controlling a lifter (108) to enable the lifting block (1) to gradually rise until a circular arc rolling ramp (10) on the upper surface of the lifting block (1) is in rolling fit with a movable roller (19), wherein the circular arc center of the circular arc rolling ramp (10) is overlapped with the circle center (50) of the external circle of the equilateral triangle (0), and meanwhile, the upper end of the suspension arm (6) is separated from the rectangular bayonet (8), so that the rotation of the suspension arm shaft (31) is free from the limitation of the rectangular bayonet (8);
step nine, controlling the output gear (18) to rotate anticlockwise along the axis of the output gear, then driving the disc-shaped circuit board to be detected (11) to rotate clockwise along the axis of the output gear (18) anticlockwise, driving the movable roller (19) to rotate anticlockwise along the axis of the output gear under the action of rolling friction of the disc-shaped circuit board to be detected (11) which rotates clockwise, because the movable roller (19) is also in close rolling fit with the circular arc rolling ramp (10), therefore, the counterclockwise rotation of the movable roller (19) along the axis thereof can enable the movable roller (19) to roll upwards along the circular arc rolling ramp (10), and the upward rolling of the movable roller (19) along the circular arc rolling ramp (10) can enable the suspension arm (6) to rotate clockwise along the axis of the suspension arm shaft (31) until the suspension arm (6) is about to reach the critical position state in the step four;
step ten, controlling a rocker arm driving motor (120), enabling an output shaft (122) to drive a rocker arm (119) to rotate clockwise, thereby enabling an arc-shaped groove seat (117) to displace clockwise along a circle center transfer track (114), finally enabling the outer edge of the detected disc-shaped circuit board (11) to be clamped into the arc-shaped groove (0117) again, enabling the disc-shaped circuit board (11) and the arc-shaped groove (0117) to move relatively, and continuing the step nine until the suspension arm (6) reaches a critical position state in the step four; when the suspension arm (6) reaches the critical position state in the step four, the output gear (18), the passive roller (20) and the movable roller (19) lose the restraining capability of the detected disc-shaped circuit board (11) to be detected;
at the moment, the telescopic rod (144) on the telescopic device (143) is controlled to slowly extend towards the outer edge, and at the moment, the telescopic rod (144) on the telescopic device (143) corresponds to the positioning hole (171) on the disc-shaped circuit board (11) to clamp the disc-shaped circuit board (11);
step eleven, controlling the rocker arm driving motor (120) to enable the output shaft (122) to drive the rocker arm (119) to rotate counterclockwise, and taking down the detected disc-shaped circuit board (11) from the circuit board visual detection unit (888) to the circuit board transfer unit (999).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337522.0A CN113138199B (en) | 2021-03-30 | 2021-03-30 | Visual detection system and method for circular PCB |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110337522.0A CN113138199B (en) | 2021-03-30 | 2021-03-30 | Visual detection system and method for circular PCB |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113138199A CN113138199A (en) | 2021-07-20 |
| CN113138199B true CN113138199B (en) | 2022-06-21 |
Family
ID=76810200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110337522.0A Active CN113138199B (en) | 2021-03-30 | 2021-03-30 | Visual detection system and method for circular PCB |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113138199B (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0165200B1 (en) * | 1994-12-31 | 1999-03-20 | 이형도 | Pcb inspection apparatus for capstan motor |
| KR20020029853A (en) * | 2000-10-14 | 2002-04-20 | 안민혁 | Pcb inspection system |
| CN108946164B (en) * | 2018-03-30 | 2020-05-19 | 广东工业大学 | PCB clamping and taking device and PCB AOI double-sided detection turnover device |
| CN111830063A (en) * | 2019-04-22 | 2020-10-27 | 苏州天目光学科技有限公司 | Dual-module AOI detection device of liquid crystal display production line |
| CN210051658U (en) * | 2019-06-17 | 2020-02-11 | 深圳芯通互联科技有限公司 | Flexible PCB board detection device |
| CN110686715A (en) * | 2019-10-17 | 2020-01-14 | 陕西众策网络科技发展有限公司 | Product quality detection device based on machine vision |
| CN111505021A (en) * | 2020-05-07 | 2020-08-07 | 宋志龙 | AOI detection system and detection method for PCB |
| CN111929239A (en) * | 2020-07-20 | 2020-11-13 | 浙江四点灵机器人股份有限公司 | AOI detection device and detection method for PCB part defects |
| CN112197704B (en) * | 2020-10-12 | 2022-03-25 | 广州锋明信息科技有限公司 | Double-sided optical detection system and detection method for circular ring PCB |
-
2021
- 2021-03-30 CN CN202110337522.0A patent/CN113138199B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113138199A (en) | 2021-07-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113138199B (en) | Visual detection system and method for circular PCB | |
| CN113138200A (en) | Detection system and detection method for PCB | |
| CN111855698A (en) | PCB two-side visual efficient detection system and two-side detection method | |
| CN111678925A (en) | Front and back optical detection system and detection method for PCB | |
| CN112894825A (en) | Industrial robot visual identification control system and method | |
| CN211438908U (en) | Automatic assembly equipment for automotive air conditioning compressor movable fixed plate | |
| CN110587299B (en) | Automatic assembly equipment for automotive air conditioning compressor movable fixed plate | |
| CN110850702B (en) | Watch lens detection machine | |
| CN211977876U (en) | Detection mechanism for controlling rotation angle of tilting gear | |
| CN210626819U (en) | Liquid crystal screen inspection device | |
| CN219950270U (en) | Lower cover plate positioning assembly of cantilever | |
| CN114235812B (en) | Intelligent vision system in high-precision manufacturing and detecting process of display back plate | |
| CN113070715A (en) | Precision adjusting scheme and method for numerical control mobile platform | |
| JP4150448B2 (en) | Component recognition apparatus and method | |
| CN114235813B (en) | Quality control system of display backboard based on visual detection | |
| JP2579147B2 (en) | Assembly method of constant velocity ball joint | |
| CN219065327U (en) | Large-cylinder full-tab battery CCD detection device | |
| CN113607733A (en) | Combined visual inspection system and working method for PCB production | |
| CN219362401U (en) | Positioning device and automatic feeding device | |
| CN220271192U (en) | Steel ball surface defect detection device based on vision | |
| CN218433507U (en) | Overturning module and appearance detection machine | |
| CN218330031U (en) | Automatic detection device for retainer | |
| CN220161550U (en) | Positioning system for automatically adjusting multiple plate joints | |
| CN215967931U (en) | Feeding mechanism of glass chamfering machine | |
| CN212355548U (en) | Steel cylinder lifting, positioning and rotating device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220601 Address after: 518000 Huaide Yinshan building 331 and 332 beside National Highway 107, Fuwei community, Fuyong street, Bao'an District, Shenzhen City, Guangdong Province Applicant after: Shenzhen haozhen Intelligent Technology Co.,Ltd. Address before: A3-1608, 183 Tinglan lane, Suzhou Industrial Park, 215000 Jiangsu Province Applicant before: Song Zhilong |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |