CN205061040U - Circuit board testing system - Google Patents

Circuit board testing system Download PDF

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Publication number
CN205061040U
CN205061040U CN201520835281.2U CN201520835281U CN205061040U CN 205061040 U CN205061040 U CN 205061040U CN 201520835281 U CN201520835281 U CN 201520835281U CN 205061040 U CN205061040 U CN 205061040U
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CN
China
Prior art keywords
circuit board
grasping
guide rail
test
attaching parts
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Expired - Fee Related
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CN201520835281.2U
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Chinese (zh)
Inventor
许英南
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Suzhou Heroic Automation Technology Co Ltd
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Suzhou Heroic Automation Technology Co Ltd
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Priority to CN201520835281.2U priority Critical patent/CN205061040U/en
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Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a circuit board testing system, including test cabinet and manipulator, the visual positioning system who is located circuit board assembly manufacturing line side, test cabinet includes rack -mounted a plurality of test machines with upper and lower transfer mode, the manipulator is located the side of circuit board assembly manufacturing line and is located the place ahead of test machine, the manipulator includes four -shaft moving mechanism and snatchs the mechanism, visual positioning system includes the camera, and the camera is established and is being snatched the side of mechanism. Pick the mechanism and can follow that Z picks the product to the high position of up -and -down motion to circuit board assembly manufacturing line and the product is put in order to get to movable test machine to a certain height of test cabinet. Wherein, it adopts organ shape sucking disc to absorb the circuit board to snatch the mechanism to replace vacuum chuck or clamping jaw and snatch the circuit board, be favorable to reducing the manufacturing cost of production facility, be favorable to simplifying the structure of production facility, be favorable to the keep -It -Simple -Control flow, be favorable to energy saving and emission reduction.

Description

A kind of circuit board testing system
Technical field:
The utility model relates to circuit card processing technique field, in particular to a kind of circuit board testing system.
Background technology:
On circuit board group assembling production lines, test is the link that degree of automation is the weakest, for the assembling of circuit card, all complete at automation line from brush tin cream to Reflow Soldering, have test link only, the process of its automation stops, and produce on line in major part at present, test has all been come by hand by operator.
The reason that test automation degree is not high, mainly comprise following two aspects: the first, relative to the linear speed of product, the test duration is longer, and a manufacturing line needs multiple stage test machine; The second, it is high that test equipment customizes degree, and volume ratio is comparatively large, and test equipment is often undertaken stacking by traditional building method.Due to above-mentioned two aspect restrictions, mean that a manufacturing line needs multiple test machine, also just need multiple manipulator, a manipulator can only substitute at most one manually, is unfavorable for the reduction of productive costs.
Along with the raising of quartz conductor degree of integration, the volume of instrument is constantly reducing, test itself also constantly simplify and normalisation, this trend the consumer electronics industry show particularly evident, in this context, by advancing the miniaturization of test macro, and then the integrated and automation of test can be realized.
If the box box of standard can will be become after test macro miniaturization, then multiple test macro can be stacked together, do product with a manipulator and pick and place from conveyor line to test machine, realize the automation of test.Realize the scheme of PCB test automation or the multi-joint manipulator of the standard of use at present, or use straight-line motion mechanism to build manipulator.No matter use multi-joint manipulator, or the manipulator using straight-line motion mechanism to build, need in manipulator to establish the grasping mechanism capturing circuit card.
By in prior art, the grasping mechanism of described circuit card mainly contains two classes: a class is by the jaw of air cylinder driven, with jaw gripping circuit card; Another kind of is sucker, and sucker need vacuumize with pneumatic shuttle when drawing circuit card.All there is certain drawback in the grasping mechanism of above-mentioned two class circuit cards, its reason is as follows: circuit board group assembling production lines comprises belt conveyor and pair of guide rails, belt conveyor is arranged between pair of guide rails, circuit card and belt conveyor directly contact and are transmitted by it, circuit card in transport process between pair of guide rails, by pair of guide rails, circuit card is led, ensure that circuit card is by desired trajectory transmission; The grasping mechanism of described circuit card according to jaw, then needs to establish jacking system for jack-up circuit card between pair of guide rails, and jaw can gripping circuit card; The setting of described jacking system adds the productive costs of production facilities undoubtedly, makes the control from being complicated of production facilities; The grasping mechanism of described circuit card according to sucker, then needs supporting pneumatic shuttle, controls the air pressure in sucker, so, also adds the productive costs of production facilities undoubtedly, makes the control from being complicated of production facilities, be unfavorable for energy-saving and emission-reduction.
Utility model content:
The technical matters that the utility model solves: on circuit board group assembling production lines, through miniaturization, test macro after integrated and automation needs manipulator that product is moved to test macro from manufacturing line, but, by prior art, no matter use multi-joint manipulator, or use the manipulator that straight-line motion mechanism is built, manipulator all needs to establish the grasping mechanism capturing circuit card from manufacturing line, no matter this grasping mechanism adopts jaw or sucker, all be unfavorable for the productive costs reducing production facilities, all be unfavorable for the structure simplifying production facilities, all be unfavorable for simplifying control flow, all be unfavorable for energy-saving and emission-reduction.
For solving technique scheme, the utility model provides following technical scheme:
A kind of circuit board testing system, comprises the test cabinet and manipulator, vision positioning system that are positioned at circuit board group assembling production lines side;
Described circuit board group assembling production lines comprises not to be surveyed material belt conveyor and has surveyed material belt conveyor, does not survey material belt conveyor and surveyed material belt conveyor to be set up in parallel;
Described test cabinet comprises frame, with the rack-mounted multiple test machine of upper and lower stacked system, described test machine comprises the drawer type test fixture and box test resource box that are installed together, and described test fixture is near circuit board group assembling production lines; Described test fixture is used for fixing circuit board, and described test resource box is used for depositing test resource; Described test resource box is positioned at the side of test fixture, and test resource box is connected by adaptor union with test fixture;
Described manipulator is positioned at the side of circuit board group assembling production lines and is positioned at the front that test fixture stretches out, described manipulator comprises support, four axes motion mechanism, the first grasping mechanism and the second grasping mechanism, described four axes motion mechanism comprises rack-mount Y-direction guide rail, be slidably mounted on the X direction guiding rail on Y-direction guide rail and drive X direction guiding rail along the first driver element of Y-direction guide rail movement, be slidably mounted on the Z-direction guide rail on X direction guiding rail and drive Z-direction guide rail along the second driver element of X direction guiding rail movement, be slidably mounted on motion platform on Z-direction guide rail and actuation movement platform the 3rd driver element along the movement of Z-direction guide rail, the four-wheel drive element being articulated in the attaching parts bottom motion platform and driving attaching parts to rotate, described Y-direction guide rail and X direction guiding rail are horizontally disposed with, and Y-direction guide rail is perpendicular to X direction guiding rail, and described Z-direction guide rail is vertically arranged, described first grasping mechanism and the second grasping mechanism are arranged on the bottom of attaching parts, and the first grasping mechanism and the second grasping mechanism are symmetrical arranged about the articulated section of attaching parts and motion platform,
In above-mentioned manipulator, described first grasping mechanism comprises and is arranged on the first lift cylinder bottom attaching parts, the first lifting assembly be arranged on the first lift cylinder piston rod, is arranged on a pair adsorption plant bottom the first lifting assembly; Described second grasping mechanism comprises and is arranged on the second lift cylinder bottom attaching parts, the second lifting assembly be arranged on the second lift cylinder piston rod, is arranged on a pair adsorption plant bottom the second lifting assembly;
In above-mentioned manipulator, described adsorption plant comprises absorption main body, adsorption combined part, depression bar, the 3rd lift cylinder; Establish cavity in described absorption main body, described adsorption combined part comprises and is fixed on mount pad bottom absorption main body cavity, is fixed on bottom mount pad and the organ shape sucker of outstanding cavity, activity is downwards plugged in the lifting bar in mount pad, the first spring be set on lifting bar, is fixed on the locating part at lifting bar top; Described first spring is between mount pad and locating part, and pore is established at organ shape sucker top, and lifting bar activity is plugged in pore, annular lip is established in lifting bar bottom, annular lip is positioned at organ shape sucker, under the elastic force of the first spring, and annular lip shutoff pore; Described depression bar activity is plugged in cavity, and the top of depression bar projects upwards cavity, and the top of depression bar connects the piston rod of the 3rd lift cylinder, and the 3rd lift cylinder is arranged on the end face of absorption main body; Radial flange is established at the middle part of described depression bar, and radial flange is against on the roof of cavity, offers pressure chamber bottom depression bar, and pressure chamber is enclosed within the top of lifting bar;
Described vision positioning system comprises the first photographic camera and the second photographic camera, master controller; Described first photographic camera and the second photographic camera are arranged on attaching parts, first photographic camera is positioned at the side of the first grasping mechanism, second photographic camera is positioned at the side of the second grasping mechanism, first photographic camera and the second photographic camera are all electrically connected with master controller, and master controller is electrically connected with the first driver element, the second driver element, the 3rd driver element; Described test fixture is provided with registration mast; Described circuit card is provided with knock hole.
By technique scheme, the principle of work of circuit board testing system described in the utility model is as follows:
First, first grasping mechanism and the second grasping mechanism can along Z-direction guide rail up-and-down movements, and wherein, the first grasping mechanism is for capturing testing circuit board, and the second grasping mechanism is for capturing non-testing circuit board; When the first grasping mechanism and the second grasping mechanism move to the height and position of circuit board group assembling production lines, first driver element orders about X direction guiding rail and moves along Y-direction guide rail, and the first grasping mechanism and the second grasping mechanism stretch out support and be positioned at the top of circuit board group assembling production lines; Testing circuit board is placed on circuit board group assembling production lines, and the first grasping mechanism is idle, and the second grasping mechanism captures non-testing circuit board from circuit board group assembling production lines.
The second, X direction guiding rail is retracted along Y-direction guide rail, and namely the first grasping mechanism and the second grasping mechanism are retracted, and the first grasping mechanism and the second grasping mechanism are positioned at the dead ahead that test fixture stretches out; Afterwards, first grasping mechanism and the second grasping mechanism can rise or certain height that declines along Z-direction guide rail, during to the test fixture position that will operate, test fixture drawer ejects, and the first idle grasping mechanism takes out after slowdown monitoring circuit plate from test fixture, and rotary cylinder revolves turnback, circuit board under test is put into test fixture by the second grasping mechanism, now, the second grasping mechanism is idle, and the first grasping mechanism is occupied.Wherein, when the first grasping mechanism feeding, test fixture stretches out, and now, the first grasping mechanism is positioned at directly over test fixture, the position of the first photographic camera shooting test fixture two registration masts, when slowdown monitoring circuit plate takes out from test fixture, second grasping mechanism and circuit board under test revolve turnback, be positioned at position directly over the test fixture that stretches out, the position of the knock hole on second camera shooting circuit card, master controller calculates the deviation of knock hole and test fixture registration mast, afterwards, main controller controls first driver element, second driver element, 3rd driver element action, compensate is carried out with mobile circuit board under test, the registration mast of the knock hole on circuit card and test fixture can be aimed at, avoid the position error owing to aiming at excessive and damage circuit card.
3rd, the blanking position that the first grasping mechanism and the second grasping mechanism return circuit board group assembling production lines starts next loading and unloading circulation, so just achieves the material loading action of blanking and the non-slowdown monitoring circuit plate completing slowdown monitoring circuit plate in a back and forth movement.
In above-mentioned principle of work, the principle of work that first grasping mechanism and the second grasping mechanism capture circuit card is as follows: when the first lift cylinder or the second lift cylinder drive adsorption plant to decline, during adsorption device adsorbs circuit card, board top surface is organ shape sucker upwardly, and organ shape sucker holds circuit card; When adsorption plant needs release circuit plate, it is descending that the 3rd lift cylinder orders about depression bar, and it is descending that depression bar orders about lifting bar, and annular lip removes the shutoff to pore, organ shape sucker release circuit plate.So far, adsorption plant completes one and takes turns the process drawing circuit card and release circuit plate.
The utility model first grasping mechanism and the second grasping mechanism adopt organ shape sucker to draw release circuit plate again, circuit card is captured with alternative vacuum cup or jaw, without the need to being equipped with pneumatic shuttle or jacking system, the parts drawing or capture circuit card not only can be effectively avoided to be worn and torn in the course of the work, and, circuit card can be drawn without the need to carrying out application of vacuum to organ shape sucker, be conducive to the productive costs reducing production facilities, be conducive to the structure simplifying production facilities, be conducive to simplifying control flow, be conducive to energy-saving and emission-reduction.
As the utility model further illustrating technique scheme, when test resource box is outwards extracted out at the direction of transfer perpendicular to circuit board group assembling production lines, test fixture and test resource box depart from, and test fixture just can be extracted out from the direction of transfer being parallel to circuit board group assembling production lines and change.The position error of the test fixture of new replacing auto-compensation in the algorithm after can being measured by vision positioning system; and do not need to adjust the position of test fixture in test cabinet; or moved by hand manipulator comes alignment circuit plate and test fixture, so, can realize not shutting down quick-replaceable test fixture.
Pass through technique scheme, because the first grasping mechanism and the second grasping mechanism stretch out support along Y-direction guide rail, to pick and place the service direction of circuit card vertical with the service direction of circuit board group assembling production lines, so, when the first grasping mechanism and the second grasping mechanism are after Y-direction guide rail retraction support, first grasping mechanism and the second grasping mechanism and circuit board group assembling production lines no longer include the risk of movement interference, 3rd driver element can actuation movement platform and on the first grasping mechanism and the picking and placeing of the test machine position completing circuit plate of the second grasping mechanism along Z-direction guide rail to arbitrary height.By such system architecture, test machine can be installed from the position near ground, the exercisable height that the operator that is upwards added to is maximum, thus the space below circuit board group assembling production lines height is fully utilized, maximize the test machine capacity of single device.
Illustrate the one of four axes motion mechanism in manipulator as the utility model, described four-wheel drive element is rotary cylinder, and described attaching parts is articulated in the bottom of motion platform by rotary cylinder.Namely the cylinder body of rotary cylinder installs bottom on the moving platform, and described attaching parts is arranged on the S. A. of rotary cylinder.First grasping mechanism and the second grasping mechanism are arranged about the axisymmetry of rotary cylinder.
Improve the one of four axes motion mechanism in manipulator as the utility model, described support is provided with Y-direction auxiliary guide rail, Y-direction auxiliary guide rail and Y-direction guide rail parallel, and the two ends of described X direction guiding rail are slidably fitted on Y-direction auxiliary guide rail and Y-direction guide rail respectively.
Illustrate the one of manipulator as the utility model, the bottom of the depression bar in described adsorption plant is arranged with the second spring, and the second spring is between radial flange and mount pad.Described second spring can assist depression bar to reset.
As the one explanation of the utility model to manipulator, described first lifting assembly comprises the first lifter plate, the first bent rod be fixed on the first lifter plate, a pair adsorption plant is arranged on the two ends of the first bent rod, and a pair adsorption plant is positioned at a pair diagonal angle place of the first lifter plate.In the same manner, described second lifting assembly comprises the second lifter plate, the second bent rod be fixed on the second lifter plate, and a pair adsorption plant is arranged on the two ends of the second bent rod, and a pair adsorption plant is positioned at a pair diagonal angle place of the second lifter plate.As described above, the first grasping mechanism or the second grasping mechanism capture circuit card by a pair adsorption device adsorbs at a pair diagonal angle place of circuit card.
Accompanying drawing illustrates:
Below in conjunction with accompanying drawing, the utility model is described further:
Fig. 1 is the structural representation of a kind of circuit board testing system of the utility model;
Fig. 2 is the unitized construction schematic diagram of the first grasping mechanism 31 and the second grasping mechanism 32 in Fig. 1;
Fig. 3 is the structural representation of adsorption plant 300 in Fig. 2;
Fig. 4 is the structural representation of adsorption combined part 300-b in Fig. 3.
Fig. 5 is the structural representation testing cabinet 20 in Fig. 1.
Nomenclature in figure:
10, circuit board group assembling production lines; 11, material belt conveyor is not surveyed; 12, material belt conveyor has been surveyed;
20, cabinet is tested; 21, test machine; 211, test fixture; 212, test resource box; 213, adaptor union;
30, manipulator; 31, the first grasping mechanism; 311, the first lift cylinder; 312, the first lifting assembly; 3121, the first lifter plate; 3122, the first bent rod; 32, the second grasping mechanism; 33, support; 34, Y-direction guide rail; 340, auxiliary guide rail; 35, X direction guiding rail; 36, Z-direction guide rail; 37, motion platform; 38, attaching parts; 39, rotary cylinder; 300, adsorption plant; 300-a, absorption main body; 300-b, adsorption combined part; 300-c, depression bar; 300-d, the second spring; 301, cavity; 302, mount pad; 303, organ shape sucker; 304, lifting bar; 305, the first spring; 306, locating part; 307, annular lip; 308, radial flange; 309, chamber is pressed;
41, the first photographic camera; 42, the second photographic camera.
Detailed description of the invention:
As Fig. 1, a kind of circuit board testing system, comprises the test cabinet 20 and manipulator 30, vision positioning system that are positioned at circuit board group assembling production lines 10 side.
As Fig. 1, described circuit board group assembling production lines 10 comprises not to be surveyed material belt conveyor 11 and has surveyed material belt conveyor 12, does not survey material belt conveyor and surveyed material belt conveyor to be set up in parallel.
Composition graphs 1, Fig. 5, described test cabinet 20 comprises frame, with the rack-mounted multiple test machine 21 of upper and lower stacked system, described test machine comprises the drawer type test fixture 211 and box test resource box 212 that are installed together, and described test fixture is near circuit board group assembling production lines; Described test fixture is used for fixing circuit board, and described test resource box is used for depositing test resource.Described test resource box is positioned at the side of test fixture, and test resource box is connected by adaptor union 213 with test fixture.
The principle of work of above-mentioned test machine is as follows: test machine adopts the concept of TIF (Testerinfixture), and its front portion is drawer type holder part, and rear portion is divided into instrument and test machine.Test machine TIF need to transmit below status information to PLC: drawer is empty; Whether drawer inner panel can be removed; The position whether drawer is opened.Add that PLC controls the control bit of drawer action, each drawer TIF at least will take the IO of 4 PLC.Test machine oneself needs to detect board under test and whether puts into fixture, detects the state that fixture is current, and from network sweep bar code, fixture under pressure, start test, test terminates the rear mode bit arranging drawer inner panel and can take away, and the data of test is uploaded onto the server by network.Need various sensor in TIF, as whether drawer is opened, whether circuit card exists, and whether the placement of circuit card puts in place, and whether fixture the state such as presses down.
Composition graphs 1, Fig. 2, described manipulator 30 is positioned at the side of circuit board group assembling production lines and is positioned at the front that test fixture stretches out, described manipulator comprises support 33, four axes motion mechanism, the first grasping mechanism 31 and the second grasping mechanism 32, described four axes motion mechanism comprises rack-mount Y-direction guide rail 34, be slidably mounted on the X direction guiding rail 35 on Y-direction guide rail and drive X direction guiding rail along the first driver element of Y-direction guide rail movement, be slidably mounted on the Z-direction guide rail 36 on X direction guiding rail and drive Z-direction guide rail along the second driver element of X direction guiding rail movement, be slidably mounted on motion platform 37 on Z-direction guide rail and actuation movement platform the 3rd driver element along the movement of Z-direction guide rail, the four-wheel drive element being articulated in the attaching parts 38 bottom motion platform and driving attaching parts to rotate, described Y-direction guide rail and X direction guiding rail are horizontally disposed with, and Y-direction guide rail is perpendicular to X direction guiding rail, and described Z-direction guide rail is vertically arranged, described first grasping mechanism and the second grasping mechanism are arranged on the bottom of attaching parts, and the first grasping mechanism and the second grasping mechanism are symmetrical arranged about the articulated section of attaching parts and motion platform.
In above-mentioned manipulator 30, described four-wheel drive element is rotary cylinder 39, and described attaching parts 38 is articulated in the bottom of motion platform 37 by rotary cylinder.
In above-mentioned manipulator 30, described support 33 is provided with Y-direction auxiliary guide rail 340, and Y-direction auxiliary guide rail is parallel with Y-direction guide rail 34, and the two ends of described X direction guiding rail 35 are slidably fitted on Y-direction auxiliary guide rail and Y-direction guide rail respectively.
In above-mentioned manipulator 30, described first grasping mechanism 31 comprises and is arranged on the first lift cylinder 311 bottom attaching parts 38, the first lifting assembly 312 be arranged on the first lift cylinder piston rod, is arranged on a pair adsorption plant 300 bottom the first lifting assembly; Described second grasping mechanism 32 comprises and is arranged on the second lift cylinder bottom attaching parts 38, the second lifting assembly be arranged on the second lift cylinder piston rod, is arranged on a pair adsorption plant bottom the second lifting assembly.Composition graphs 3, Fig. 4, described adsorption plant 300 comprises absorption main body 300-a, adsorption combined part 300-b, depression bar 300-c, the 3rd lift cylinder; Establish cavity 301 in described absorption main body, described adsorption combined part comprises and is fixed on mount pad 302 bottom absorption main body cavity, is fixed on bottom mount pad and the organ shape sucker 303 of outstanding cavity, activity is downwards plugged in the lifting bar 304 in mount pad, the first spring 305 be set on lifting bar, is fixed on the locating part 306 at lifting bar top; Described first spring is between mount pad and locating part, and pore is established at organ shape sucker top, and lifting bar activity is plugged in pore, annular lip 307 is established in lifting bar bottom, annular lip is positioned at organ shape sucker, under the elastic force of the first spring, and annular lip shutoff pore; Described depression bar activity is plugged in cavity, and the top of depression bar projects upwards cavity, and the top of depression bar connects the piston rod of the 3rd lift cylinder, and the 3rd lift cylinder is arranged on the end face of absorption main body; Radial flange 308 is established at the middle part of described depression bar, and radial flange is against on the roof of cavity, offers pressure chamber 309 bottom depression bar, and pressure chamber is enclosed within the top of lifting bar.Wherein, the bottom of described depression bar 300-c is arranged with the second spring 300-d, and the second spring is between radial flange 308 and mount pad 302.
In above-mentioned manipulator 30, described first lifting assembly 312 comprises the first lifter plate 3121, the first bent rod 3122 be fixed on the first lifter plate, a pair adsorption plant 300 is arranged on the two ends of the first bent rod, and a pair adsorption plant is positioned at a pair diagonal angle place of the first lifter plate.Described second lifting assembly comprises the second lifter plate, the second bent rod be fixed on the second lifter plate, and a pair adsorption plant is arranged on the two ends of the second bent rod, and a pair adsorption plant 300 is positioned at a pair diagonal angle place of the second lifter plate.
As Fig. 2, described vision positioning system comprises the first photographic camera 41 and the second photographic camera 42, master controller; Described first photographic camera and the second photographic camera are arranged on attaching parts, first photographic camera is positioned at the side of the first grasping mechanism, second photographic camera is positioned at the side of the second grasping mechanism, first photographic camera and the second photographic camera are all electrically connected with master controller, and master controller is electrically connected with the first driver element, the second driver element, the 3rd driver element; Described test fixture is provided with registration mast; Described circuit card is provided with knock hole.
The workflow of circuit board testing system described in the utility model is as follows:
First, first grasping mechanism 31 and the second grasping mechanism 32 can along Z-direction guide rail 36 up-and-down movements, and wherein, the first grasping mechanism is for capturing testing circuit board, and the second grasping mechanism is for capturing non-testing circuit board; When the first grasping mechanism and the second grasping mechanism move to the height and position of circuit board group assembling production lines 10, first driver element orders about X direction guiding rail 35 and moves along Y-direction guide rail 34, and the first grasping mechanism 31 and the second grasping mechanism 32 stretch out support 33 and be positioned at the top of circuit board group assembling production lines 10; Testing circuit board is placed on circuit board group assembling production lines, and the first grasping mechanism 31 is idle, and the second grasping mechanism 32 captures non-testing circuit board from circuit board group assembling production lines 10.
The second, X direction guiding rail is retracted along Y-direction guide rail, and namely the first grasping mechanism 31 and the second grasping mechanism 32 are retracted, and the first grasping mechanism and the second grasping mechanism are positioned at the dead ahead that test fixture 211 stretches out; Afterwards, first grasping mechanism and the second grasping mechanism can to rise or decline certain height along Z-direction guide rail 36, during to test fixture 211 position that will operate, test fixture drawer ejects, and the first idle grasping mechanism 31 takes out after slowdown monitoring circuit plate from test fixture 211, and rotary cylinder 39 revolves turnback, circuit board under test is put into test fixture 211 by the second grasping mechanism 32, now, the second grasping mechanism is idle, and the first grasping mechanism is occupied.Wherein, when the first grasping mechanism 31 feeding, test fixture 211 stretches out, and now, the first grasping mechanism is positioned at directly over test fixture, and the position of test fixture two registration masts taken by the first photographic camera 41, when slowdown monitoring circuit plate takes out from test fixture, second grasping mechanism 32 and circuit board under test revolve turnback, be positioned at position directly over the test fixture that stretches out, second camera 42 takes the position of the knock hole on circuit card, master controller calculates the deviation of knock hole and test fixture registration mast, afterwards, main controller controls first driver element, second driver element, 3rd driver element action, compensate is carried out with mobile circuit board under test, the registration mast of the knock hole on circuit card and test fixture can be aimed at, avoid the position error owing to aiming at excessive and damage circuit card.
3rd, the blanking position that first grasping mechanism 31 and the second grasping mechanism 32 return circuit board group assembling production lines 10 starts next loading and unloading circulation, so just achieves the material loading action of blanking and the non-slowdown monitoring circuit plate completing slowdown monitoring circuit plate in a back and forth movement.
4th, when test resource box 212 is outwards extracted out at the direction of transfer perpendicular to circuit board group assembling production lines 10, test fixture 211 and test resource box 212 depart from, and test fixture 211 just can be extracted out from the direction of transfer being parallel to circuit board group assembling production lines and change.The position error of the test fixture of new replacing auto-compensation in the algorithm after can being measured by vision positioning system.
In above-mentioned workflow, the algorithm that first grasping mechanism 31 and the second grasping mechanism 32 capture circuit card is as follows: when the first lift cylinder 311 or the second lift cylinder drive adsorption plant 300 to decline, during adsorption device adsorbs circuit card, board top surface is organ shape sucker 303 upwardly, and organ shape sucker holds circuit card; When adsorption plant 300 needs release circuit plate, it is descending that the 3rd lift cylinder orders about depression bar 300-c, and it is descending that depression bar orders about lifting bar 304, and annular lip 307 removes the shutoff to pore, organ shape sucker 303 release circuit plate.So far, adsorption plant 300 completes one and takes turns the process drawing circuit card and release circuit plate.
Above content is only better embodiment of the present utility model, for those of ordinary skill in the art, according to thought of the present utility model, all will change in specific embodiments and applications, this description should not be construed as restriction of the present utility model.

Claims (6)

1. a circuit board testing system, comprises the test cabinet (20) and manipulator (30), vision positioning system that are positioned at circuit board group assembling production lines (10) side;
Described circuit board group assembling production lines (10) comprises does not survey material belt conveyor (11) and has surveyed material belt conveyor (12), does not survey material belt conveyor and surveyed material belt conveyor to be set up in parallel;
Described test cabinet (20) comprises frame, with the rack-mounted multiple test machine (21) of upper and lower stacked system, described test machine comprises the drawer type test fixture (211) and box test resource box (212) that are installed together, and described test fixture is near circuit board group assembling production lines; Described test fixture is used for fixing circuit board, and described test resource box is used for depositing test resource; Described test resource box is positioned at the side of test fixture, and test resource box is connected by adaptor union (213) with test fixture;
Described manipulator (30) is positioned at the side of circuit board group assembling production lines and is positioned at the front that test fixture stretches out, described manipulator comprises support (33), four axes motion mechanism, the first grasping mechanism (31) and the second grasping mechanism (32), described four axes motion mechanism comprises rack-mount Y-direction guide rail (34), be slidably mounted on the X direction guiding rail (35) on Y-direction guide rail and drive X direction guiding rail along the first driver element of Y-direction guide rail movement, be slidably mounted on the Z-direction guide rail (36) on X direction guiding rail and drive Z-direction guide rail along the second driver element of X direction guiding rail movement, be slidably mounted on motion platform (37) on Z-direction guide rail and actuation movement platform the 3rd driver element along the movement of Z-direction guide rail, the four-wheel drive element being articulated in the attaching parts (38) bottom motion platform and driving attaching parts to rotate, described Y-direction guide rail and X direction guiding rail are horizontally disposed with, and Y-direction guide rail is perpendicular to X direction guiding rail, and described Z-direction guide rail is vertically arranged, described first grasping mechanism and the second grasping mechanism are arranged on the bottom of attaching parts, and the first grasping mechanism and the second grasping mechanism are symmetrical arranged about the articulated section of attaching parts and motion platform,
Described vision positioning system comprises the first photographic camera (41) and the second photographic camera (42), master controller; Described first photographic camera and the second photographic camera are arranged on attaching parts, first photographic camera is positioned at the side of the first grasping mechanism, second photographic camera is positioned at the side of the second grasping mechanism, first photographic camera and the second photographic camera are all electrically connected with master controller, and master controller is electrically connected with the first driver element, the second driver element, the 3rd driver element; Described test fixture is provided with registration mast; Described circuit card is provided with knock hole;
It is characterized in that:
Described first grasping mechanism (31) comprise be arranged on attaching parts (38) bottom the first lift cylinder (311), the first lifting assembly (312) be arranged on the first lift cylinder piston rod, be arranged on a pair adsorption plant (300) bottom the first lifting assembly;
Described second grasping mechanism (32) comprise be arranged on attaching parts (38) bottom the second lift cylinder, the second lifting assembly be arranged on the second lift cylinder piston rod, be arranged on a pair adsorption plant bottom the second lifting assembly;
Described adsorption plant (300) comprises absorption main body (300-a), adsorption combined part (300-b), depression bar (300-c), the 3rd lift cylinder; Establish cavity (301) in described absorption main body, described adsorption combined part comprises and is fixed on mount pad (302) bottom absorption main body cavity, is fixed on bottom mount pad and the organ shape sucker (303) of outstanding cavity, activity is downwards plugged in the lifting bar (304) in mount pad, the first spring (305) be set on lifting bar, is fixed on the locating part (306) at lifting bar top; Described first spring is between mount pad and locating part, and pore is established at organ shape sucker top, and lifting bar activity is plugged in pore, annular lip (307) is established in lifting bar bottom, annular lip is positioned at organ shape sucker, under the elastic force of the first spring, and annular lip shutoff pore; Described depression bar activity is plugged in cavity, and the top of depression bar projects upwards cavity, and the top of depression bar connects the piston rod of the 3rd lift cylinder, and the 3rd lift cylinder is arranged on the end face of absorption main body; Radial flange (308) is established at the middle part of described depression bar, and radial flange is against on the roof of cavity, offers pressure chamber (309) bottom depression bar, and pressure chamber is enclosed within the top of lifting bar.
2. a kind of circuit board testing system as claimed in claim 1, it is characterized in that: described four-wheel drive element is rotary cylinder (39), described attaching parts (38) is articulated in the bottom of motion platform (37) by rotary cylinder.
3. a kind of circuit board testing system as claimed in claim 1, it is characterized in that: described support (33) is provided with Y-direction auxiliary guide rail (340), Y-direction auxiliary guide rail is parallel with Y-direction guide rail (34), and the two ends of described X direction guiding rail (35) are slidably fitted on Y-direction auxiliary guide rail and Y-direction guide rail respectively.
4. a kind of circuit board testing system as claimed in claim 1, it is characterized in that: in adsorption plant (300), the bottom of described depression bar (300-c) is arranged with the second spring (300-d), and the second spring is positioned between radial flange (308) and mount pad (302).
5. a kind of circuit board testing system as claimed in claim 1, it is characterized in that: described first lifting assembly (312) comprises the first lifter plate (3121), the first bent rod (3122) be fixed on the first lifter plate, a pair adsorption plant (300) is arranged on the two ends of the first bent rod, and a pair adsorption plant is positioned at a pair diagonal angle place of the first lifter plate.
6. a kind of circuit board testing system as claimed in claim 1, it is characterized in that: described second lifting assembly comprises the second lifter plate, the second bent rod be fixed on the second lifter plate, a pair adsorption plant is arranged on the two ends of the second bent rod, and a pair adsorption plant (300) is positioned at a pair diagonal angle place of the second lifter plate.
CN201520835281.2U 2015-10-27 2015-10-27 Circuit board testing system Expired - Fee Related CN205061040U (en)

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Application Number Priority Date Filing Date Title
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CN201520835281.2U Expired - Fee Related CN205061040U (en) 2015-10-27 2015-10-27 Circuit board testing system

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105314422A (en) * 2015-10-27 2016-02-10 苏州和瑞科自动化科技有限公司 Circuit board testing system
CN106908633A (en) * 2017-02-09 2017-06-30 广州视源电子科技股份有限公司 Board test machine

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105314422A (en) * 2015-10-27 2016-02-10 苏州和瑞科自动化科技有限公司 Circuit board testing system
CN106908633A (en) * 2017-02-09 2017-06-30 广州视源电子科技股份有限公司 Board test machine

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