TWM603251U - Automatic target position alignment and feeding device for X-ray target drilling machine circuit board - Google Patents

Abstract

An automatic positioning and feeding device for the target position of the X-ray target machine circuit board is to use a control unit to drive a horizontal articulated robot to carry out the board feeding, positioning and disposal operations of the circuit board; wherein the positioning operation is through the horizontal The displacement of the articulated robot enables the A and B bullseye of the attached circuit board to align with the center position of the X-ray CCD image cross target of the X-ray shooting machine, and the drilling operation is performed after determining that the target is correct. The incorrectly targeted circuit board is moved to the NG area; because this device only uses a horizontal articulated robot to cooperate with the X-ray imaging module in the X-ray shooting machine, it can complete the alignment of the feed and the target position. Creation has the benefits of intelligent production with low cost and high efficiency.

Description

Automatic alignment and feeding device for X-ray target machine circuit board target position

This creation is related to a feeding device, especially an X-ray shooting machine circuit board target position automatic alignment and feeding device that uses a control unit to drive a horizontal joint robot to perform circuit board feeding and bullseye alignment.

Press, the circuit board is a board body used to install various electronic components. There are many holes on the board to install various components, and the components must be connected to make electrical conduction, so as to form the circuits and holes. The drilling, image transfer and other manufacturing processes are all completed by various automated equipment. Since the existing multi-layer circuit boards must be manufactured through repeated multiple manufacturing processes, the circuit boards must be provided with target holes as positioning references for subsequent manufacturing processes such as drilling, molding, and exposure.

The second press, the conventional method used to process the target drilling of the circuit board is to place the circuit board on the feeding table 291, as shown in Figure 1A, the X-ray imaging module of the X-ray shooting machine 293 will capture the bullseye of the circuit board And display it on the upper image screen 292, inspect and adjust the bullseye of the circuit board to make it align with the center of the cross target of the X-ray imaging module by manpower, and finally the X-ray shooting machine 293 will target Drilling of holes. However, manual adjustment of the target position of the circuit board not only consumes manpower, but also easily causes instability of the board placement. In the trend of demanding automation, traditional machines and manual operation methods are obviously out of date.

Press again, a new patent case of Taiwan No. M557449 "Circuit Board Feeding Equipment" is shown in Figure 1B; it uses a first transfer unit 391 to transfer the circuit board 393 in the feeding area 392 to an X-ray positioning device 394 After detecting the positioning hole and adjusting it to the correct feeding position, it is transferred to the waiting area 395; although this creation can avoid manual feeding errors, the first transfer unit 391 is a six-axis robotic arm. The cost of the device is very expensive, and in addition to transferring the circuit board between the work areas, an arm also needs to adjust the position of the circuit board. Therefore, the six-axis robotic arm is not only extremely busy, but also causes long work time and work. Low efficiency.

The reason is that the main purpose of this creation is to provide a horizontal joint robot combined with an X-ray imaging module of an X-ray target machine, so that the bullseye of the circuit board is aligned with the center of the cross target of the X-ray imaging module. Furthermore, it is an automatic positioning and feeding device for the X-ray target machine circuit board target position, which replaces the manual board placement operation.

The second purpose of this creation is to provide a trolley combined with a whole board platform, so that the horizontal joint robot does not need to move the whole board after taking the board, so as to improve production efficiency. Feeding device.

Another purpose of this creation is to provide a control unit that is electrically connected to a CCD image sensor for interpretation, in order to achieve the effect of target search and alignment and judgment operation. Feeding device.

Another purpose of this creation is to provide a horizontal joint robot combined with a thin suction cup device to suck the circuit board through the board opening of the shooting machine to further improve the feeding efficiency of an X-ray shooting machine circuit board automatic alignment With feeding device.

In order to achieve the above-mentioned purpose, this creation is based on the inner edge of a frame with two working areas, which are composed of adjacent feeding area and NG area; the feeding area is set in the X-ray shooting machine. The front side of the Y-axis of the board mouth is for the trolley to contain the circuit boards, and there is a whole board platform above the trolley, so that the inserted circuit boards can complete the whole board positioning work first; the NG area has a The NG platform is placed on the side of the X-axis of the feeding area for placing circuit boards with incorrect targeting or failed alignment; a horizontal articulated robot whose base is fixed on the frame, The lower end of the horizontal articulated robot is provided with a vacuum chuck. The vacuum chuck has three axial displacements of X, Y, and Z and a rotation function of a horizontal angle (θ axis), and its range of motion is located in the feeding zone and NG zone And the X-ray shooting machine above its mounting plate opening; and a control unit installed on the frame and electrically connected to the X-ray imaging module of the X-ray shooting machine, the horizontal joint robot, and then Drive its action.

According to the features of the previous disclosure, the work steps of this creation include: (a) Place the board, manually place the circuit board on the platform of the trolley; (b) Place the board, manually place the circuit board The trolley is placed in the feeding area; (c) the board feeding operation is performed by the horizontal joint robot to move the circuit board above the trolley into the X-ray shooting machine; (d) the alignment operation is performed by the horizontal joint The robot cooperates with the image of the X-ray imaging module to perform the steps of automatically aligning the target position of the circuit board; (e) Judgment is performed by the X-ray imaging module to determine whether the target of the circuit board bullseye and its fool-proof geometry are correct ; (F) Drilling operation (disposal operation 1), which means that the X-ray shooting machine will target the correct circuit board for drilling; (g) unloading operation (disposal operation 2), which is carried out by the horizontal joint robot Circuit boards that are not targeted correctly or failed to be aligned are moved and stored on the NG platform.

According to the features disclosed above, the method of alignment operation in this creation includes the following steps: (a) The circuit board is fed into the X-ray target machine, and the control unit captures the image of the X-ray image module to determine the circuit board. The state where the A and B bullseye enter the image capturing range, including scenario 1: If both A and B bullseye are within the image capturing range, go to step f.; Aspect 2: A and B bullseye are not within the image capturing range, then Perform step b.; Aspect 3: If there is only one bullseye in the imaging range, perform step c.; (b) The control unit drives the horizontal joint robot to move the circuit board until its A bullseye enters the X-ray imaging range, And execute step c.; (c) The control unit calculates the offset and angle difference between the center of the A bullseye cross and the center of the X-ray CCD image cross target, and shifts the A bullseye of the circuit board to the center position of the X-ray CCD image cross target Point, and then perform step d.; (d) Determine whether the B bullseye is within the X-ray CCD imaging range, if yes, perform step e., if it is, the control unit drives the horizontal joint robot to center the A bullseye on the circuit board , Rotate the B bullseye of the circuit board until the B bullseye enters the X-ray CCD imaging range, and then perform step e.; (e) The control unit calculates the offset between the B bullseye cross center and the X-ray CCD image cross target center position and Angle difference, and rotate the circuit board with the A bullseye as the center of the circle, make the B bullseye rotate to the center position of the X-ray CCD image cross target, and then perform step g.; (f) The control unit calculates the A and B bullseye cross center and X-ray Offset and angle difference of the center position of the CCD image cross target, and shift the A and B bullseye of the circuit board to the center position of the X-ray CCD image cross target, and then perform step g.; (g) the control unit waits for the execution of the connection The circuit board judges the job. Since the X-ray shooting machine is equipped with two sets of X-ray CCD image cross targets and the X-ray CCD imaging range, the positioning in steps (d) and (e) does not limit the A bullseye as the center, and it is possible that the B bullseye is first When it is positioned, it will rotate around the B bullseye to align the A bullseye.

According to the features of the previous disclosure, this creation further includes a CCD image sensor, which is installed on the frame and placed directly in front of the Y axis of the X-ray shooting machine's image screen for capturing the X-ray The image of the X-ray CCD image cross target of the image module and the bullseye of the circuit board, and the control unit is further electrically connected to the CCD image sensor.

According to the features disclosed above, in this creation, a trolley sensor and a trolley fixing device are also provided in the feeding area.

According to the features of the previous disclosure, the entire board platform of the trolley in this creation is equipped with horizontal and vertical positioning mechanisms for supporting and positioning the circuit board above the entire board platform; and the horizontal and vertical positioning mechanisms are further separate It is provided with a plurality of positioning rods and a displacement component used to operate the positioning rod to slide.

According to the features disclosed above, the horizontal joint robot in this creation further includes a first rotating shaft, which is installed in the base, a first rotating arm, which is pivoted on the first rotating shaft and can rotate therewith, The second rotating shaft is installed at the end of the first rotating arm, a second rotating arm is pivoted on the second rotating shaft and can rotate therewith, and a lifting shaft is installed on the second rotating arm. At the end of the arm, a connecting block is arranged at the lower end of the lifting shaft to connect the vacuum chuck so that the vacuum chuck can rotate at a required horizontal angle.

According to the aforementioned features, a buffer mechanism is further provided between the connecting block and the vacuum suction cup in this creation, so that when the horizontal articulated robot is sucking the board, the lifting shaft can be lowered by a distance to ensure the vacuum suction cup It can be completely attached to the surface of the circuit board to achieve the effect of completely adsorbing the circuit board.

According to the features disclosed above, this creation further includes any form of laser ranging sensor, infrared ranging sensor, ultrasonic ranging sensor, which is installed on the vacuum chuck and is electrical Connect the control unit to detect the distance between the vacuum suction cup and the uppermost circuit board of the entire board platform of the trolley during board feeding, so that the control unit can provide the correct Z-axis coordinate command of the horizontal joint robot .

According to the features disclosed above, the vacuum suction cup in this creation is a thin suction cup device, which includes: a lower template, an upper cover, and a plurality of suction nozzles; the outer side of the lower template is provided with a plurality of device holes, and the inner side A groove communicating with each device hole is provided, the suction nozzle is embedded in the device hole, the upper cover plate is provided with a through pipe hole, one end of which communicates with the groove, and the other end is connected to the vacuum pump pipe The upper cover plate is locked and attached to the inner side of the lower mold plate, the groove will form a vacuum circuit, and the plurality of suction nozzles will generate strong suction to absorb the circuit board, and then the upper cover plate will be combined The thickness of the template and the suction nozzle, together with the absorbed circuit board, is less than the height of the board opening of the X-ray target machine.

With the help of the features mentioned above, this creation "X-ray shooting machine circuit board automatic alignment and feeding device" has the following benefits: (1) This creation uses a control unit to drive a horizontal articulated robot, so that the absorbed circuit board repeatedly performs regular displacement and rotation in the X-ray shooting machine, thereby making the A and B bullseye of the circuit board Enter into the imaging range of the X-ray image module, and then the control unit calculates the distance between the A and B bullseye and the X-ray CCD image cross target, and drives the horizontal joint robot to make the A and B bullseye of the circuit board align with the X-ray CCD Image the center position of the cross target to complete the automatic alignment of the target position. Because this creation uses a horizontal articulated robot with the X-ray imaging module in the X-ray shooting machine, it can complete the alignment between the board and the target position, so this creation has fast speed, small overall machine space and low cost And the production efficiency of replacing manpower. (2) The trolley in this creation is equipped with an entire board platform, and the entire board platform is equipped with a horizontal and vertical positioning mechanism for supporting and positioning the circuit board; because the horizontal joint robot is in the process of feeding the board. The circuit board that has been positioned first can be sent into the X-ray shooting machine for alignment and drilling, so the instability of X-ray imaging in the X-ray shooting machine can be reduced, and there is no need to set up a whole board area in this creation. And the related clapboard mechanism, it can streamline the space of the feeding operation, reduce the maintenance cost of the machine, and meet the benefits of automatic feeding and intelligent production. (3) This creation is to install a CCD image sensor on the frame, which is located directly in front of the Y axis of the image screen of the X-ray target machine to capture the X-ray CCD image of the X-ray image module The bullseye image of the cross target and the circuit board; therefore, the control unit is electrically connected to the CCD image sensor, and the control unit can capture the image of the CCD image sensor for direct interpretation to perform the alignment and judgment of the circuit board Operation; therefore, this creation will increase the flexibility of the feeding device application. (4) This creation is based on a horizontal joint robot combined with a thin suction cup device, where the thin suction cup device includes a lower template, an upper cover, and a plurality of suction nozzles; due to the combination of the combined thickness of the circuit board, It is smaller than the height of the board opening of the X-ray shooting machine; therefore, the horizontal articulated robot can absorb the circuit board through the board opening of the X-ray shooting machine, and the X-ray shooting machine can complete the feeding operation without a conveying platform, so this creation will be further Improve the efficiency of feeding. (5) This creation installs a laser range sensor on the vacuum suction cup, which can detect the distance between the vacuum suction cup and the uppermost circuit board of the trolley during board feeding, and then provide the correct Z of the horizontal joint robot Axis coordinate command. (6) This creation installs a buffer mechanism on the vacuum suction cup, so that when the horizontal articulated robot is sucking the board, the lifting shaft can be lowered by one more distance to ensure that the vacuum suction cup can be completely attached to the surface of the circuit board. Flat, and then achieve the effect of completely adsorbing the circuit board.

First of all, please refer to Figures 2A to 2C. The structure of the "Automatic Target Positioning and Feeding Device" 100 in this creation includes the inner edge of a frame 10 with two adjacent feeders. Area 11 and NG area 12, and the frame 10 is arranged in front of the Y-axis direction of an X-ray shooting machine 20; wherein, the X-ray shooting machine 20 is provided with a cross target 211/212 connecting two sets of X-ray CCD images The X-ray image module 21 is used to capture and display the image of the circuit board bull's-eye 102, and an image screen 24 is used to display the X-ray CCD image cross target 211/212 of the X-ray image module 21 and the image of the circuit board bull's-eye 102 , And a board opening 23 for placing the circuit board 101; the feeding area 11 is placed directly in front of the Y-axis of the X-ray shooting machine 20, and is for placing the trolley 40 containing the circuit board 101; The NG zone 12 is provided with an NG platform 50, which is placed on one side of the X-axis of the feeding zone 11 for placing the circuit board 101 with incorrect targeting or failed alignment. In the present invention, the circuit board 101 to be drilled is packed in a trolley 40 and then placed in the feeding area 11, and a whole board platform 41 is arranged above the trolley 40, so that when the circuit board 101 is placed manually, the whole board can be positioned automatically In addition, a trolley sensor 42 and a trolley fixing device 43 are further provided in the feeding area 11, so that the inserted trolley 40 and the circuit board 101 on the trolley can be fixed and positioned.

Above, a horizontal joint robot 60 has a base 61 fixed on the frame 10, and a vacuum suction cup 63 is provided at the lower end of the horizontal joint robot 60. The vacuum suction cup 63 has three axial directions of X, Y, and Z. The displacement and the rotation function of a horizontal angle (theta axis), and the range of motion is located in the feeding zone 11, the NG zone 12 and the X-ray shooting machine 20 above the plate opening 23; this creation also includes a mine The radio range sensor 64 is installed on the vacuum chuck 63 to detect the distance between the vacuum chuck 63 and the uppermost circuit board above the trolley 40, so as to provide the correct Z of the horizontal joint robot 60 Axis coordinate commands; but check, this creation is not limited to the use of laser ranging sensors 64, for example, infrared ranging sensors or ultrasonic ranging sensors are applicable devices for this creation; and a control The unit (not shown) is installed on the frame 10 and is electrically connected to the X-ray imaging module 21 of the X-ray shooting machine 20, the laser range sensor 64, and the horizontal joint robot 60 , And then drive its action.

The operation steps of the "Automatic Target Positioning and Feeding Device" in this creation include: (a) Board placement, which involves manually placing the circuit board 101 on the entire board platform 41 of the trolley 40; (b) Casting the board The operation is to manually place the trolley 40 containing the circuit board 101 into the feeding area 11; (c) the board feeding operation is to move the circuit board 101 above the trolley 40 by the horizontal joint robot 60 to the X-ray In the target machine 20; (d) Alignment operation is performed by the horizontal articulated robot 60 in cooperation with the X-ray imaging module 21 in the X-ray target machine 20 to automatically align the target position of the circuit board 101; (e) The judging operation is to capture the bullseye image of the circuit board 101 by the X-ray imaging module 21 and the control unit to judge whether the targeting of the foolproof geometric figure is correct; (f) Drilling operation (treatment operation 1), horizontal joint robot 60 put the board and return it to the feeding area 11, and perform the boarding and the following operations in sequence, and the X-ray shooting machine 20 will target the correct circuit board 101 for drilling; (g) unloading operation (disposal operation) 2) The horizontal articulated robot 60 moves the circuit board 101 with incorrect targeting or failed alignment to the NG platform 50 for storage.

The aforementioned item (c) in this creation: The automatic alignment steps in the alignment operation are: (a) The circuit board is fed into the X-ray shooting machine, and the control unit captures the image of the X-ray image module. According to the state that the bullseye of circuit board A and B enter the imaging range, including aspect 1: both A and B bullseye are within the image capturing range, then perform step f.; Pattern 2: A and B bullseye are not capturing If only one bullseye is within the imaging range, then execute step c.; (b) The control unit drives the horizontal joint robot to move the circuit board until its A bullseye enters the X-ray Take the image range, and execute step c.; (c) The control unit calculates the offset and angle difference between the cross center of the A bullseye and the center of the X-ray CCD image cross target, and shifts the bullseye of the circuit board to the X-ray CCD image Go to the center position of the cross target, and then go to step d.; (d) Determine whether the B bullseye has entered the X-ray CCD imaging range, if yes, go to step e., if not, the control unit drives the horizontal joint robot to the circuit board A bullseye is the center of the circle, rotate the B bullseye of the circuit board until the B bullseye enters the X-ray CCD imaging range, and then perform step e.; (e) The control unit calculates the position of the B bullseye cross center and the X-ray CCD image cross target center position Rotate the circuit board with the A bullseye as the center of the circle, and rotate the B bullseye to the center position of the X-ray CCD image cross target, and then execute step g.; (f) The control unit calculates the A and B bullseye The offset and angle difference between the center of the cross and the center of the X-ray CCD image cross target, and shift the A and B bullseye of the circuit board to the center position of the X-ray CCD image cross target, and then perform step g.; (g) control The unit waits for the execution of the connected circuit board determination task. Since the X-ray shooting machine is equipped with two sets of X-ray CCD image cross targets and the X-ray CCD imaging range, the positioning in steps (d) and (e) does not limit the A bullseye as the center, and it is possible that the B bullseye is first When it is positioned, it will rotate around the B bullseye to align the A bullseye.

This creation further includes installing a CCD image sensor 25 on the frame 10, which is located directly in front of the Y-axis of the image screen 24 of the X-ray shooting machine 20 to capture the X-ray image model The image of the X-ray CCD image cross target 211/212 of the group 21 and the bullseye 102 of the circuit board, and the control unit is further electrically connected to the CCD image sensor 25, and the CCD image sensor 25 is matched through the control unit The interpretation can also achieve the effects of item (d): alignment work and item (e): judgment work in the work steps of this creation.

In this way, the circuit board 101 is placed on the entire board platform 41 of the trolley 40, and then the trolley 40 containing the circuit board 101 is placed in the feeding area 11, the trolley sensor 42 detects that the trolley 40 is in place, and the trolley The fixing device 43 is activated to fix and position the trolley 40 and the circuit board 101 on the vehicle; the horizontal joint robot 60 then moves to the top of the feeding area 11, and the control unit uses the laser range sensor 64 to detect The Z-axis coordinate information of the uppermost circuit board 101 on the entire board platform 41 drives the horizontal articulated robot 60 to adsorb the uppermost circuit board 101 and transfer it to the X-ray shooting machine 20 for target search and alignment , And determination; wherein the alignment operation is coordinated with the interpretation of the X-ray image module 21 through the displacement of the horizontal joint robot 60 and the control unit, so that the absorbed circuit board bullseye 102 can be aligned with the X-ray CCD image cross The center position of the target 211/212, and when it is determined that the target of the fool-proof geometric figure of the circuit board bullseye 102 is correct, the horizontal joint robot 60 will put the board and return to the feeding area 11, and perform the boarding and the following operations in sequence, The X-ray target machine 20 performs the drilling operation; if it is determined that the target of the foolproof geometry of the circuit board bullseye 102 is incorrect or the circuit board 101 cannot successfully complete the alignment operation, the horizontal joint robot 60 The circuit board 101 is moved to the NG platform 50 in the NG zone 12.

Figures 3A to 3B show the structure of the trolley 40 in this creation and the entire board platform 41 provided thereon; wherein, the entire board platform 41 is provided with a horizontal positioning mechanism 44 and a longitudinal positioning mechanism 45, and a longitudinal installation There is a scale 46 corresponding to the circuit board for supporting and positioning the circuit board 101; the horizontal/vertical positioning mechanism 44/45 individually includes a plurality of positioning rods 471 and installed on the back of the entire board platform 41 to operate the positioning rods 471 One of the displacement components 472 slips. In this creation, the horizontal positioning mechanism 44 is provided with three symmetrical positioning rods 471 on both sides, and the operating interface of the displacement component 472 is a handle 473; while the longitudinal positioning mechanism 45 is only on the inner side. Two positioning rods 471 are provided, and the operating interface of the displacement component 472 is a knob 474; but it is not limited to this. In this creation, the method of positioning the circuit board 101 on the entire board platform 41 is as follows: (a) Place a piece of circuit board 101 in the center of the entire board platform 41, and turn the knob 474 to move the positioning of the inner side The rod 471 to the position of the circuit board corresponding to the scale 46, leaning against one side of the circuit board 101; (b) Rotating the handle 473 drives the positioning rods 471 on the two sides to move to the center, leaning against the two sides of the circuit board 101 to form Lean on three sides; (c) Place the positioning rod 471 on the three sides into the circuit board 101 in order to place the board; (d) After the board is placed, push the trolley 40 into the feeding area 11, The casting operation is completed.

Figures 4A-4B show the structure of the horizontal articulated robot 60 in this creation; press, the horizontal articulated robot is a commercialized industrial robot, and the product name is "Selective Compliance Articulated Robot Arm" (Selective Compliance Articulated Robot Arm) Abbreviated as SCARA, it has 4 degrees of freedom, including displacement along the X, Y, and Z directions and rotation around the Z axis; among them, the robot has two arms with joint structures similar to human arms, allowing access to narrow or restricted areas Work, and has the characteristics of fast response and small space. In this creation, the horizontal joint robot 60 includes a first rotating shaft 651 installed in the base 61, a first rotating arm 661 pivoted on the first rotating shaft 651 and capable of rotating therewith, Two rotating shafts 652 are installed at the end of the first rotating arm 661, a second rotating arm 662 is pivoted on the second rotating shaft 652 and can rotate therewith, and a lifting shaft 653 is installed on the At the end of the second rotating arm 662, a connecting block 62 is provided at the lower end of the lifting shaft 653 to connect the vacuum chuck 63 so that the vacuum chuck 63 can rotate at a desired horizontal angle; Considering the possible warpage of the circuit board 101 and the possible error of its thickness, causing the vacuum suction cup 63 to fail to suck the board, this creation further sets a buffer mechanism between the connection block 62 and the vacuum suction cup 63 to make the horizontal joint When the robot 60 is sucking the board, its lifting shaft 653 can be lowered by one more distance to ensure that the vacuum suction cup 63 can be completely flat on the surface of the circuit board 101, thereby achieving the effect of completely sucking the circuit board 101; the buffer mechanism It has an upper seat body 671, a set of compression springs 672, and a lower connecting seat 673. The upper seat body 671 is locked and attached to the connecting block 62, and the lower connecting seat 673 is locked and attached to the vacuum suction cup 63. The compression spring 672 is arranged between the upper base body 671 and the lower connecting base 673 to absorb the lowering distance of the lifting shaft 653; because the horizontal joint robot 60 is a commercialized structure and is in the field Those who are familiar with the general technical personnel, so the transmission principle and operation mode will not be repeated here.

Since the gap between the plate opening 23 of the X-ray shooting machine 20 is very small, the vacuum suction cup 63 in this creation is further set as a thin suction cup device, as shown in FIG. 5, which includes: a lower template 731, an upper cover 732, and A plurality of suction nozzles 733; the outer side of the lower template 731 is provided with a plurality of device holes 734, and the inner side is provided with grooves 735 connecting the respective device holes. The suction nozzle 733 is nested in the device hole 734. The upper cover plate 732 is locked on the inner side of the lower mold plate 731. One end of the pipe hole 736 that penetrates is connected to the groove 735, and the other end is connected to the vacuum pump pipeline 737, so that the groove 735 forms a vacuum. Circuit board 101, and then the upper cover 732 combines the lower template 731 and the suction nozzle 733 together with the thickness T of the circuit board 101, which is smaller than that of the X-ray shooting machine 20 The height of the board opening 23 is set, and the circuit board 101 is sent into the X-ray shooting machine 20; because this creation can avoid the transmission of the conveying platform, the positioning accuracy of the circuit board and the processing efficiency of drilling can be improved.

This creation uses a control unit to drive a horizontal articulated robot 60, so that the absorbed circuit board 101 repeatedly performs regular displacement and rotation in the X-ray shooting machine 20, thereby causing A and B of the circuit board 101 The bullseye enters the imaging range of the X-ray image module 21, and the control unit calculates the distance between the A and B bullseye and the X-ray CCD image cross target, and drives the horizontal joint robot 60 to make the A and B bullseye of the circuit board 101 match Positive X-ray CCD image of the center position of the cross target to complete the automatic alignment of the target position. Because this creation uses a horizontal articulated robot 60 and the X-ray imaging module 21 in the X-ray shooting machine 20, it can complete the alignment between the board feeding and the target position, so this creation has a fast speed and a small overall machine space. , Low cost and production efficiency of replacing manpower.

The trolley 40 of this creation is provided with an entire board platform 41, and the entire board platform 41 is equipped with a horizontal and vertical positioning mechanism 44/45 for supporting and positioning the circuit board 101; The articulated robot 60 can send the circuit board 101 that has been positioned first into the X-ray shooting machine 20 for positioning and drilling, so it can reduce the instability of 20X-ray imaging in the X-ray shooting machine, and it is not necessary in this creation There is also a whole board area and related boarding mechanism, so it can streamline the space for feeding operations, reduce machine maintenance costs, and meet the benefits of automatic feeding and intelligent production. Furthermore, in this creation, a CCD image sensor 25 is installed on the frame 10, which is located directly in front of the Y axis of the image screen 24 of the X-ray shooting machine 20, and is used to capture the X-ray image module 21 The X-ray CCD image cross target and the bullseye image of the circuit board 101; therefore, the control unit is electrically connected to the CCD image sensor 25, and the control unit can capture the image of the CCD image sensor 25 directly for interpretation, Perform the alignment and determination of the circuit board 101; therefore, this creation will increase the flexibility of the application of the feeding device. Furthermore, this creation is based on a horizontal joint robot 60 combined with a thin suction cup device, where the thin suction cup device includes a lower template 731, an upper cover 732, and a plurality of suction nozzles 733; as they are combined together with the sucked circuit board The thickness of 101 is smaller than the height of the board opening 23 of the X-ray shooting machine 20; therefore, the horizontal joint robot 60 adsorbs the circuit board 101 and can pass through the board opening 23 of the X-ray shooting machine, and the X-ray shooting machine 20 does not need a conveying platform. It can complete the feeding operation; this creation also installs a laser range sensor 64 on the vacuum chuck 63, so that it can detect the distance between the vacuum chuck 63 and the uppermost circuit board of the trolley 40 during the board feeding operation, and then provide The horizontal articulated robot 60 has the correct Z-axis coordinate command, so this creation will further improve the efficiency of feeding; and the creation of the vacuum suction cup 63 is equipped with a buffer mechanism, so that the horizontal articulated robot 60 is sucking the board. , The lifting shaft 653 can be lowered by one more distance to ensure that the vacuum chuck 63 can be completely attached to the surface of the circuit board 101, thereby achieving the effect of completely sucking the circuit board 101.

To sum up, the structure disclosed in this creation is unprecedented, and it can indeed achieve the enhancement of efficacy, and is available for industrial use, and fully meets the requirements of a new patent. I pray that the Jun Bureau will grant the patent to encourage innovation , No sense of morality.

However, the drawings and descriptions disclosed above are only preferred embodiments of this creation. Anyone who is familiar with this technique and makes modifications or equivalent changes based on the spirit of this case should still be included in the scope of the patent application in this case.

10: rack 11: Feeding area 12: NG area 20: X-ray shooting machine 21: X-ray image module 211: X-ray CCD image cross target 212: X-ray CCD image cross target 23: set board mouth 24: Video screen 25: CCD image sensor 40: Trolley 41: Whole board platform 42: Trolley sensor 43: Trolley fixture 44: Horizontal positioning mechanism 45: Longitudinal positioning mechanism 46: The corresponding scale of the circuit board 471: positioning rod 472: Displacement component 473: Handle 474: Knob 50: NG platform 60: Horizontal joint robot 61: Pedestal 62: connection block 63: vacuum suction cup 64: Laser range sensor 651: first reel 652: second shaft 653: Lift shaft 661: First Spiral Arm 662: Second Spiral Arm 671: upper seat 672: Compression Spring 673: Lower connector 731: lower template 732: upper cover 733: Nozzle 734: device hole 735: groove 736: pipe hole 737: pipeline 100: Automatic target alignment and feeding device 101: circuit board 102: Circuit Board Bullseye T: thickness

Figure 1A: A schematic diagram of a conventional manual feeding process machine. Figure 1B: A schematic diagram of a conventional automatic feeding process machine. Figure 2A: A combined perspective view of the automatic alignment and feeding device of the creative target position. Figure 2B: The top view of the combination of the automatic positioning and feeding device of the creative target position. Figure 2C: Front view of the combination of the automatic alignment and feeding device of the creative target position. Figure 3A: is the combined three-dimensional view of the whole board trolley of this creation. Figure 3B: is a schematic diagram of the entire board platform of the creation of the entire board cart. Figure 4A: is a combined three-dimensional view of this creative horizontal joint robot. Figure 4B: A side view of the horizontal joint robot of this creation. Figure 5: A schematic diagram of this creation's thin suction cup device.

10: rack

11: Feeding area

12: NG area

20: X-ray shooting machine

23: set board mouth

24: Video screen

25: CCD image sensor

40: Trolley

41: Whole board platform

42: Trolley sensor

43: Trolley fixture

50: NG platform

60: Horizontal joint robot

62: connection block

63: vacuum suction cup

100: Automatic target alignment and feeding device

Claims (8)

An automatic alignment and feeding device for the target position of an X-ray target machine circuit board, comprising: an X-ray target machine equipped with an X-ray image module for capturing images of the bullseye of the circuit board, and an image screen for displaying the The image of the X-ray CCD image cross target and the bullseye of the circuit board of the X-ray imaging module, and a board opening for placing the circuit board; a rack is installed in front of the board opening of the X-ray shooting machine, There are two working areas on its inner edge, which are composed of a feeding area and an NG area that are adjacent to each other; the feeding area is set directly in front of the Y-axis of the X-ray shooting machine's plate opening and is for placement Enter the trolley containing the circuit boards, and there is a whole board platform on the top of the trolley, so that the inserted circuit boards can complete the positioning of the whole board first; the NG area is equipped with an NG platform, which is placed in the feeding area and its X axis The side; a horizontal joint robot, the base is fixed on the frame, the lower end of the horizontal joint robot is provided with a vacuum suction cup, the vacuum suction cup has X, Y, Z three axial displacement and a horizontal Angle (θ-axis) rotation function, and its range of motion is located above the feeding area, NG area and the X-ray shooting machine's plate opening; and a control unit, which is installed on the frame and is electrically Sexually connect the X-ray imaging module of the X-ray target machine and the horizontal joint robot, and then drive its action. The automatic alignment and feeding device for the target position of the X-ray target machine circuit board as described in the first item of the scope of patent application, which further includes a CCD image sensor, which is installed on the frame and placed on the X-ray The target machine’s image screen is directly in front of the Y axis to capture the image of the X-ray CCD image cross target of the X-ray image module and the bullseye of the circuit board, and the control unit is further electrically connected to the CCD image sensor Device. For example, the automatic alignment and feeding device for the target position of the X-ray target machine circuit board described in item 1 of the scope of the patent application, wherein a trolley sensor and a trolley fixing device are also provided in the feeding area. Automatic alignment and feeding of the X-ray target machine circuit board target position as described in item 1 of the scope of patent application Device, wherein the entire board platform of the trolley is provided with a horizontal and vertical positioning mechanism for supporting and positioning the circuit board above the entire board platform; and the horizontal and vertical positioning mechanism is further provided with a plurality of branches separately A positioning rod and a displacement component used to operate the positioning rod to slide. For example, the automatic positioning and feeding device for the X-ray target machine circuit board target position described in the first item of the scope of patent application, wherein the horizontal joint robot further includes a first rotating shaft, which is installed in the base, and a first The revolving arm is pivoted on the first revolving shaft and can rotate accordingly, a second revolving shaft is installed at the end of the first revolving arm, and a second revolving arm is pivoted on the second revolving shaft It can be rotated along with it. A lifting shaft is installed at the end of the second swing arm, and a connecting block is provided at the lower end of the lifting shaft to connect the vacuum suction cup so that the vacuum suction cup can perform all operations. Need to rotate horizontally. For example, the automatic positioning and feeding device of the X-ray target machine circuit board target position described in the 5th item of the scope of patent application, wherein a buffer mechanism is provided between the connecting block and the vacuum suction cup, so that the horizontal joint robot is sucking When the board is moving, the lifting shaft can be lowered by one more distance to ensure that the vacuum chuck can be completely flat on the surface of the circuit board, thereby achieving the effect of completely adsorbing the circuit board. As described in item 5 of the scope of patent application, the automatic alignment and feeding device for the target position of the X-ray target machine circuit board, which also includes a laser range sensor, an infrared range sensor, and an ultrasonic range sensor In any form of the device, it is installed on the vacuum chuck and is electrically connected to the control unit so that it can detect the vacuum chuck and the entire board platform of the trolley and the uppermost circuit board during the board feeding operation. Distance, so that the control unit can provide the correct Z-axis coordinate command of the horizontal joint robot. For example, the automatic positioning and feeding device for the target position of the X-ray shooting machine circuit board described in the fifth item of the scope of patent application, wherein the vacuum suction cup is a thin suction cup device, which includes: a lower template, an upper cover, and a plurality of Suction nozzle; the outer side of the lower template is provided with a plurality of device holes, and the inner side is provided with grooves connecting each device hole, the suction nozzle is embedded in the device hole, and the upper cover plate is provided with a through pipe One end of the hole communicates with the groove, and the other end communicates with the pipeline of the vacuum pump. The upper cover plate is fastened and attached to the inner side of the lower template. Then the groove will form a vacuum circuit and make the plural A suction nozzle produces a powerful The suction is used to absorb the circuit board, and then the thickness of the upper cover combined with the lower template and the suction nozzle together with the absorbed circuit board is smaller than the height of the board opening of the X-ray target machine.

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