CN115078961A - Desktop-level circuit board detection device and method based on visual feedback mechanical arm - Google Patents

Desktop-level circuit board detection device and method based on visual feedback mechanical arm Download PDF

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Publication number
CN115078961A
CN115078961A CN202210605092.0A CN202210605092A CN115078961A CN 115078961 A CN115078961 A CN 115078961A CN 202210605092 A CN202210605092 A CN 202210605092A CN 115078961 A CN115078961 A CN 115078961A
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China
Prior art keywords
circuit board
mechanical arm
detection
detector
desktop
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CN202210605092.0A
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Chinese (zh)
Inventor
夏煌
方银锋
王帮雨
濮程红
刘子洋
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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Priority to CN202210605092.0A priority Critical patent/CN115078961A/en
Publication of CN115078961A publication Critical patent/CN115078961A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28—Testing of electronic circuits, e.g. by signal tracer
    • G01R31/2801—Testing of printed circuits, backplanes, motherboards, hybrid circuits or carriers for multichip packages [MCP]
    • G01R31/2806—Apparatus therefor, e.g. test stations, drivers, analysers, conveyors
    • G01R31/2808—Holding, conveying or contacting devices, e.g. test adapters, edge connectors, extender boards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/28—Testing of electronic circuits, e.g. by signal tracer
    • G01R31/302—Contactless testing

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of circuit board detection, and discloses a desktop-level circuit board detection device and method based on a visual feedback mechanical arm, wherein the desktop-level circuit board detection device comprises a PC (personal computer), a mechanical arm, a detector, a camera and a circuit board, the detector comprises a detection probe, and the detection probe is fixed at the tail end of the mechanical arm; the camera is arranged at the tail end of the mechanical arm and above the detection probe; the detector, the camera and the mechanical arm are connected with the PC; the mechanical arm is used for carrying the test probe to move to a detection point of the circuit board; the camera is used for shooting the circuit board and transmitting the image information of the circuit board to the PC for analysis; the detector detects whether the relevant parameters of the circuit board meet the design requirements or not; and the PC is used for processing image information returned by the camera and controlling the mechanical arm and the detector. The invention realizes automatic circuit board detection, replaces workers to carry out repeated work, reduces the participation of the workers and improves the detection efficiency.

Description

Desktop-level circuit board detection device and method based on visual feedback mechanical arm
Technical Field
The invention belongs to the technical field of circuit board detection, and particularly relates to a desktop-level circuit board detection device and method based on a visual feedback mechanical arm.
Background
In the prior art, due to the lack of a complete assembly line, a produced circuit board is often manually detected, so that the detection efficiency is low; and the detection work can be completed only by using a detection instrument on the desktop, but workers need to hold the probe and manually align the detection point, the work is carried out for a long time, the hands and eyes are tired, and the efficiency is lower.
With the rapid development of automation control, the desktop-level mechanical arm is more and more widely applied to industrial production, and compared with a large-scale production line, the desktop-level detection system has the advantages of better cost performance and stronger applicability, and is more popular with small and medium-sized factories. The invention designs and develops a vision-based automatic circuit board detection device based on a desktop-level mechanical arm and assisted by visual feedback.
Disclosure of Invention
The invention aims to provide a desktop-level circuit board detection device and method based on a visual feedback mechanical arm, so as to solve the technical problems.
In order to solve the technical problems, the specific technical scheme of the desktop-level circuit board detection device and method based on the visual feedback mechanical arm is as follows:
a desktop-level circuit board detection device based on a visual feedback mechanical arm comprises a PC (personal computer), the mechanical arm, a detector, a camera and a circuit board, wherein the detector comprises a detection probe which is fixed at the tail end of the mechanical arm; the camera is arranged at the tail end of the mechanical arm and above the detection probe; the detector, the camera and the mechanical arm are connected with the PC; the mechanical arm is used for carrying the test probe to move to a detection point of the circuit board; the camera is used for shooting the circuit board and transmitting the image information of the circuit board to the PC for analysis; the detector detects whether the relevant parameters of the circuit board meet the design requirements or not; and the PC is used for processing image information returned by the camera and controlling the mechanical arm and the detector.
Further, the detector comprises a detector main body and an interface module, wherein the detector main body is connected with the PC 1 through a USB interface, and the interface module is connected with the detection probe and the detector main body.
Further, the camera is connected with the PC through a serial port; the mechanical arm is connected with the PC through a USB interface.
Further, the maximum load of the mechanical arm is 500 g; maximum extension distance 320 mm; the motion range is as follows: base: -90 ° ± 90 °, big arm: 0 ° -85 °, small arm: minus 10 to plus 90 DEG, end rotation: -90 ° + 90 °; maximum movement speed (250 g load): the rotation speed of the big arm, the small arm and the base is 320 degrees/s, and the rotation speed of the tail end is 480 degrees/s.
Furthermore, the camera sensor is of a Comms 1/2.3 inch type, can be resolved into nine MJPEG formats of 3840 × 2880-20 frames, supports YUY2 physical pixels and 1200 ten thousand physical pixel viewing angles, has a 3.24mm undistorted wide angle and a 130 degree distorted and distorted 3.24mm focal length, and is less than-0.35 percent.
Further, the joint coordinate system of the mechanical arm is: coordinate system determined with each kinematic joint as reference: when the end of the mechanical arm is provided with a detection probe, the detection probe comprises four joints: j1, J2, J3 and J4, J1, J2, J3 and J4 are all rotary joints, the anticlockwise direction is positive, and the J1 controls the positive and negative directions of the base motor to rotate; j2 controls the positive and negative rotation of the big arm motor; j3 controls the small arm motor to move in positive and negative directions; j4 controls the tail end steering engine to rotate in positive and negative directions.
Further, the cartesian coordinate system of the robot arm is: coordinate system determined with the robot arm base as reference: the origin of the coordinate system is the intersection point of three shafts of the large arm, the small arm and the base, and the X-axis direction is vertical to the fixed base and forwards; the Y-axis direction is vertical to the fixed base and faces the left; the Z axis accords with the right hand rule, and the vertical direction is the positive direction; the R axis is the attitude of the center of the tail end steering engine relative to the origin, the anticlockwise direction is positive, when the detection probe is installed, the R axis exists, and the R axis coordinate is the sum of the J1 axis coordinate and the J4 axis coordinate.
Furthermore, the detection probes are vertically fixed on a detection probe board, the detection probe board is fixed at the tail end of the mechanical arm, 4 detection probes form a group, the tips of the detection probes are on a spatial horizontal line, the distance is the distance between monitoring points of a corresponding detected circuit, and the upper part of each detection probe is connected with a lead for transmitting detection current; the camera is fixed on the upper part of the tail end of the mechanical arm.
Furthermore, the detection probe board is fixed at the tail end of the mechanical arm in a glue adhesion mode, and the camera is fixed at the upper part of the tail end of the mechanical arm through a screw.
The invention also discloses a desktop-level circuit board detection method based on the visual feedback mechanical arm, which comprises the following steps:
step 1: when the device is started, the mechanical arm receives a PC (personal computer) instruction, resets to the zero position and reaches an initial position, and the camera shoots a circuit board on a desktop; acquiring image information, and sending the image information to a PC (personal computer) through a USB (universal serial bus) serial port;
step 2: the PC machine processes the image information, the PC machine identifies the detection points of the circuit board through a detection point detection algorithm, pixel coordinates of the detection points are obtained, space coordinates of the detection points are obtained through the conversion relation between the pixel coordinates and the actual space coordinates, and the circuit board angle is calculated by utilizing the space coordinates of a series of the detection points;
and step 3: under the control of a PC (personal computer), the mechanical arm carries a detection probe to move to a detection point;
and 4, step 4: receiving a motion signal of a mechanical arm, starting a detector by a PC (personal computer) to detect;
and 5: the detector detects whether the corresponding indexes of the circuit board meet the requirements or not;
step 6: the PC machine receives the detection result returned by the detector and prompts workers whether the circuit board is qualified or not.
The desktop-level circuit board detection device and method based on the visual feedback mechanical arm have the following advantages: the desktop-level circuit board detection device and method based on the visual feedback mechanical arm realize automatic circuit board detection, replace workers to carry out repeated work, reduce the participation of the workers and improve the detection efficiency.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the desktop-level circuit board detection device of the present invention;
FIG. 2 is a Cartesian coordinate architecture diagram of a robotic arm of the present invention;
FIG. 3 is a schematic view of the end of a robotic arm of the present invention;
fig. 4 is a flowchart of a desktop-level circuit board detection method based on a visual feedback mechanical arm according to the present invention.
The notation in the figure is: 1. a PC machine; 2. a mechanical arm; 3. a detector; 4. a camera; 5. detecting the probe; 6. a circuit board.
Detailed Description
In order to better understand the purpose, structure and function of the present invention, a desktop-level circuit board inspection apparatus and method based on a visual feedback mechanical arm according to the present invention will be described in further detail with reference to the accompanying drawings.
As shown in FIG. 1, the desktop-level circuit board detection device based on the visual feedback mechanical arm comprises a PC (personal computer) 1, a mechanical arm 2, a detector 3, a camera 4 and a circuit board 6.
The detector 3 comprises a detector main body, a detection probe 5 and an interface module, wherein the detector main body is connected with the PC 1 through a USB interface, and the interface module is connected with the detection probe 5 and the detector main body;
the detection probe 5 is fixed at the tail end of the mechanical arm 2;
the camera 4 is arranged at the tail end of the mechanical arm 2, is above the detection probe 5 and is connected with the PC 1 through a serial port;
the mechanical arm 2 is connected with the PC 1 through a USB interface;
the mechanical arm 2 is used for carrying the test probe 5 to move to a detection point of the circuit board 6; the camera 4 is used for shooting the circuit board 6 and transmitting the image information of the circuit board to the PC 1 for analysis; the detector 3 detects whether the relevant parameters of the circuit board 6 meet the design requirements; the PC 1 processes the image information returned by the camera 4 and controls the mechanical arm 2 and the detector 3.
The maximum load of the mechanical arm 2 is 500 g; maximum extension distance 320 mm; the motion range is as follows: base: -90 ° ± 90 °, big arm: 0 ° -85 °, small arm: minus 10 to plus 90 DEG, end rotation: -90 ° + 90 °; maximum movement speed (250 g load): the rotation speed of the big arm, the small arm and the base is 320 degrees/s, and the rotation speed of the tail end is 480 degrees/s.
The sensor type of the camera 4 is Coms 1/2.3 inchse, the sensor is distinguished into nine MJPEG formats such as 3840 frames 2880-20 frames and the like, the YUY2 physical pixels are supported, the viewing angle of 1200 physical pixels is 3.24mm, the undistorted wide angle is 130 degrees, and the distorted distortion is 3.24mm, and the focal length is less than-0.35 percent.
As shown in fig. 2, the joint coordinate system of the robot arm 2: coordinate system determined with each kinematic joint as reference:
when the detection probe 5 is installed at the end of the mechanical arm 2, the detection probe comprises four joints: j1, J2, J3 and J4, J1, J2, J3 and J4 are all rotary joints, and are positive anticlockwise. J1 controls the positive and negative rotation of the base motor; j2 controls the positive and negative rotation of the big arm motor; j3 controls the small arm motor to move in positive and negative directions; j4 controls the tail end steering engine to rotate in positive and negative directions.
Cartesian coordinate system of the robot arm 2: coordinate system determined with the mechanical arm base as reference:
the origin of the coordinate system is the intersection point of three motor shafts of the big arm, the small arm and the base. The X-axis direction is vertical to the fixed base and forwards; the Y-axis direction is vertical to the fixed base and faces the left; the Z axis accords with the right hand rule, and the vertical direction is the positive direction; the R axis is the attitude of the center of the tail end steering engine relative to the origin, and is positive anticlockwise. The R-axis is present when the detection probe 5 is mounted. The R axis coordinate is the sum of the J1 axis and the J4 axis coordinates.
FIG. 3 is a diagram of the end of a mechanical arm 2, wherein a detection probe 5 is vertically fixed on a detection probe plate, the detection probe plate is fixed at the end of the mechanical arm 2 in a glue adhesion mode, 4 detection probes 5 are in a group, the tips of the detection probes 5 are on a spatial horizontal line, the distance corresponds to the distance between monitoring points of a detected circuit board, and the upper part of each detection probe 5 is connected with a wire for transmitting detection current. The camera 4 is fixed on the upper part of the tail end of the mechanical arm 2 through screws.
As shown in fig. 4, the desktop-level circuit board detection method based on the visual feedback mechanical arm includes:
step 1: when the device is started, the mechanical arm 2 receives an instruction of the PC 1, the mechanical arm is set to zero and returns to the original position, and the camera 4 shoots a circuit board 6 on a desktop; acquiring image information, and sending the image information to the PC 1 through the USB serial port;
step 2: the PC 1 processes the image information, the PC 1 identifies the detection points of the circuit board 6 through a detection point detection algorithm, obtains the pixel coordinates of the detection points, obtains the space coordinates of the detection points through the conversion relation between the pixel coordinates and the actual space coordinates, and calculates the angle of the circuit board by using the space coordinates of a series of detection points;
and 3, step 3: under the control of the PC 1, the mechanical arm 2 carries the detection probe 5 to move to a detection point;
and 4, step 4: receiving a motion signal of the mechanical arm 2, starting the detector 3 by the PC 1 for detection;
and 5: the detector 3 detects whether the corresponding indexes of the circuit board 6 meet the requirements or not;
step 6: the PC 1 receives the detection result returned by the detector 3 and prompts a worker whether the circuit board 6 is qualified or not.
It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes in the features and embodiments, or equivalent substitutions may be made therein by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.

Claims (10)

1. A desktop-level circuit board detection device based on a visual feedback mechanical arm comprises a PC (personal computer) machine (1), the mechanical arm (2), a detector (3), a camera (4) and a circuit board (6), and is characterized in that the detector (3) comprises a detection probe (5), and the detection probe (5) is fixed at the tail end of the mechanical arm (2); the camera (4) is arranged at the tail end of the mechanical arm (2) and above the detection probe (5); the detector (3), the camera (4) and the mechanical arm (2) are connected with the PC (1); the mechanical arm (2) is used for carrying the test probe (5) to move to a detection point of the circuit board (6); the camera (4) is used for shooting the circuit board (6) and transmitting the circuit board image information to the PC (1) for analysis; the detector (3) detects whether the related parameters of the circuit board (6) meet the design requirements; and the PC (1) processes image information returned by the camera (4) and controls the mechanical arm (2) and the detector (3).
2. The desktop-level circuit board detection device based on the visual feedback mechanical arm is characterized in that the detector (3) comprises a detector main body and an interface module, the detector main body is connected with the PC (1) through a USB interface, and the interface module is connected with the detection probe (5) and the detector main body.
3. The desktop-level circuit board detection device based on the visual feedback mechanical arm is characterized in that the camera (4) is connected with the PC (1) through a serial port; the mechanical arm (2) is connected with the PC (1) through a USB interface.
4. A visual feedback robot-based desktop-level circuit board inspection device according to claim 1, characterized in that the robot arm (2) has a maximum load of 500 g; maximum extension distance 320 mm; the motion range is as follows: base: -90 ° ± 90 °, big arm: 0 ° +/-85 °, small arm: minus 10 to plus 90 DEG, end rotation: -90 ° + 90 °; maximum movement speed (250 g load): the rotation speed of the big arm, the small arm and the base is 320 degrees/s, and the rotation speed of the tail end is 480 degrees/s.
5. The desktop-level circuit board detection device based on the visual feedback mechanical arm is characterized in that the sensor type of the camera (4) is Coms 1/2.3 inchse, the resolution is nine MJPEG formats of 3840 × 2880-20 frames, the YUY2 physical pixels are supported, the visual angle of 1200 ten thousand physical pixels is 3.24mm, the undistorted wide angle is 130 degrees, and the distortion is 3.24mm, and the focal length is < -0.35 percent.
6. A visual feedback robot based desktop-level circuit board inspection device according to claim 1, wherein the joint coordinate system of the robot arm (2) is: coordinate system determined with each kinematic joint as reference: when the detection probe (5) is arranged at the tail end of the mechanical arm (2), the detection probe comprises four joints: j1, J2, J3 and J4, J1, J2, J3 and J4 are all rotary joints, the anticlockwise direction is positive, and the J1 controls the positive and negative directions of the base motor to rotate; j2 controls the positive and negative rotation of the big arm motor; j3 controls the small arm motor to move in positive and negative directions; j4 controls the tail end steering engine to rotate in positive and negative directions.
7. A visual feedback robot based desktop-level circuit board inspection device according to claim 6, characterized in that the Cartesian coordinate system of the robot arm (2) is: coordinate system determined with the robot arm base as reference: the origin of the coordinate system is the intersection point of three shafts of the large arm, the small arm and the base, and the X-axis direction is vertical to the fixed base and forwards; the Y-axis direction is vertical to the fixed base and faces the left; the Z axis accords with the right hand rule, and the vertical direction is the positive direction; the R axis is the attitude of the center of the tail end steering engine relative to the origin, the anticlockwise direction is positive, when the detection probe (5) is installed, the R axis exists, and the R axis coordinate is the sum of the J1 axis coordinate and the J4 axis coordinate.
8. The desktop-level circuit board detection device based on the visual feedback mechanical arm is characterized in that the detection probes (5) are vertically fixed on a detection probe board, the detection probe board is fixed at the tail end of the mechanical arm (2), 4 detection probes (5) form a group, the tips of the detection probes (5) are positioned on a spatial horizontal line, the distance is the distance between monitoring points of the corresponding detected circuit board, and the upper part of each detection probe (5) is connected with a lead for transmitting detection current; the camera (4) is fixed on the upper part of the tail end of the mechanical arm (2).
9. The desktop-level circuit board detection device based on the visual feedback mechanical arm is characterized in that the detection probe board is fixed at the tail end of the mechanical arm (2) in a glue adhesion mode, and the camera (4) is fixed at the upper part of the tail end of the mechanical arm (2) through screws.
10. A method for circuit board inspection using the desktop-level circuit board inspection device based on the visual feedback robot arm as claimed in any one of claims 1 to 9, comprising the steps of:
step 1: when the device is started, the mechanical arm (2) receives an instruction of the PC (1) to be set to zero and reset, and reaches an initial position, and the camera (4) shoots a circuit board (6) on a desktop; image information is obtained and sent to the PC (1) through the USB serial port;
step 2: the PC (1) processes image information, the PC (1) identifies detection points of the circuit board (6) through a detection point detection algorithm, pixel coordinates of the detection points are obtained, space coordinates of the detection points are obtained through a conversion relation between the pixel coordinates and actual space coordinates, and circuit board angles are calculated by using the space coordinates of a series of detection points;
and step 3: under the control of the PC (1), the mechanical arm (2) carries a detection probe (5) to move to a detection point;
and 4, step 4: receiving a motion signal of the mechanical arm (2) to start the detector (3) of the PC (1) for detection;
and 5: the detector (3) detects whether the corresponding indexes of the circuit board (6) meet the requirements or not;
step 6: the PC (1) receives the detection result returned by the detector (3) and prompts a worker whether the circuit board (6) is qualified or not.
CN202210605092.0A 2022-05-31 2022-05-31 Desktop-level circuit board detection device and method based on visual feedback mechanical arm Pending CN115078961A (en)

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CN202210605092.0A CN115078961A (en) 2022-05-31 2022-05-31 Desktop-level circuit board detection device and method based on visual feedback mechanical arm

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Application Number Priority Date Filing Date Title
CN202210605092.0A CN115078961A (en) 2022-05-31 2022-05-31 Desktop-level circuit board detection device and method based on visual feedback mechanical arm

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117532327A (en) * 2023-12-21 2024-02-09 北京李尔现代坦迪斯汽车系统有限公司 Intelligent deviation rectifying mechanical arm based on automobile seat assembly

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117532327A (en) * 2023-12-21 2024-02-09 北京李尔现代坦迪斯汽车系统有限公司 Intelligent deviation rectifying mechanical arm based on automobile seat assembly
CN117532327B (en) * 2023-12-21 2024-05-03 北京李尔现代坦迪斯汽车系统有限公司 Intelligent deviation rectifying mechanical arm based on automobile seat assembly

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