Single board automatic test apparatus

Abstract

The application provides a single-board automatic testing device, which is provided with a control board testing circuit, a driving board testing circuit and a controller. The control board testing circuit and the driving board testing circuit each comprise a plurality of modules for realizing control board detection and driving board detection. The controller can control each module respectively. Thus, only the controller needs to be driven, and each detection mode can be entered through the controller, so that one-key detection of each circuit in the control board and the driving board can be realized. The application has low cost, high efficiency and high accuracy.

Description

Technical Field

[0001] This application relates to the field of driver testing technology, and in particular to an automatic single-board testing device. Background Technology

[0002] In the manufacturing process of servo drives, after the surface mount technology (SMT) of the PCBA (Printed Circuit Board Assembly) is completed, the circuitry of the board needs to be tested, including various electronic components and functional circuits on the PCBA. Manual testing is costly, inefficient, and lacks accuracy. Therefore, designing an automated method and device for testing servo drive boards is crucial. Summary of the Invention

[0003] This application provides a low-cost automatic single-board testing device that can improve testing efficiency and accuracy.

[0004] An automatic single-board testing device is used for assembling circuit boards, the assembled circuit boards including a control board and a drive board, and the automatic single-board testing device includes a control board testing circuit, a drive board testing circuit and a controller.

[0005] The control board test circuit includes:

[0006] The PWM detection module is connected to the PWM emitting circuit of the control board and is used to detect the PWM signal output by the PWM emitting circuit in the modulation detection mode to obtain the first PWM detection signal.

[0007] The STO detection module is connected to the STO circuit of the control board and is used to control the STO circuit to open and close the output of the PWM signal to the PWM ripple circuit in the safety detection mode, and to detect the PWM signal output by the PWM ripple circuit to obtain the second PWM detection signal.

[0008] The driver board test circuit includes:

[0009] The discharge detection module is connected to the discharge circuit of the driver board and is used to control the discharge tube in the discharge circuit to conduct in the discharge detection mode, and to convert the loop current signal of the discharge circuit into a level detection signal.

[0010] The shaft locking detection module is connected to the shaft locking relay circuit of the drive board. In the shaft locking detection mode, it is used to pull up the first connection terminal of the shaft locking relay circuit to the power supply terminal, connect one of the second connection terminal and the third connection terminal of the shaft locking relay circuit to the ground terminal, and detect the terminal voltage of the first connection terminal to obtain a voltage detection signal.

[0011] The controller is connected to each module in the control board test circuit and the driver board test circuit, respectively, and is used to control each module to enter each detection mode one by one according to the test command, acquire the detection signal in each detection mode, and obtain the abnormal detection result of each circuit in the control board and the driver board according to each detection signal; wherein, the detection signal includes the first PWM detection signal, the second PWM detection signal, the level detection signal and the voltage detection signal.

[0012] In one embodiment, the detection mode further includes a sampling detection mode, and the control board test circuit further includes:

[0013] The sampling and detection module is connected to the delta-sigma sampling circuit of the controller and the control board respectively, and is used to output a sampling test signal to the delta-sigma sampling circuit in the sampling and detection mode;

[0014] The controller is also connected to the delta-sigma sampling circuit; the detection signal also includes the sampling signal obtained by the delta-sigma sampling circuit after sampling the sampling test signal.

[0015] In one embodiment, the detection mode further includes a power detection mode, and the control board test circuit further includes:

[0016] A power detection module is connected to the power circuits of the controller and the control board, respectively, and is used to detect the power supply voltage of the power circuit in the power detection mode to obtain a power detection signal; the detection signal also includes the power detection signal.

[0017] In one embodiment, the detection mode further includes an input detection mode, and the control board test circuit further includes:

[0018] An input detection module is connected to the digital input circuits of the controller and the control board respectively, and is used to output a digital test signal to the digital input circuit in the input detection mode;

[0019] The controller is also connected to the digital input circuit; the detection signal also includes the input detection signal obtained by the control board detecting the digital test signal.

[0020] In one embodiment, the detection mode further includes an output detection mode, and the control board test circuit further includes:

[0021] An output detection module is connected to the digital output circuits of the controller and the control board, respectively, and is used to detect the output voltage of the digital output circuit in the output detection mode to obtain an output detection signal; the detection signal also includes the output detection signal.

[0022] In one embodiment, the detection mode further includes a temperature sampling mode, and the control board test circuit further includes:

[0023] The temperature detection module is connected to the temperature communication circuits of the controller and the control board, respectively, and is used to sample the temperature signal received by the temperature communication circuit in the temperature sampling mode to obtain a temperature detection signal; the detection signal also includes the temperature detection signal.

[0024] In one embodiment, the detection mode further includes an IO detection mode, and the control board test circuit further includes:

[0025] An IO detection module is connected to the IO output circuits of the controller and the control board, respectively, and is used to detect the signal output by the IO output circuit in the IO detection mode to obtain an IO detection signal; the detection signal also includes the IO detection signal.

[0026] In one embodiment, the detection mode further includes a switching power supply detection mode; the driver board test circuit further includes:

[0027] A switching power supply detection module is connected to the switching power supply circuits of the controller and the driver board, respectively, and is used to detect the power supply voltage of the switching power supply circuit in the switching power supply detection mode to obtain a power supply detection signal; the detection signal also includes the power supply detection signal.

[0028] In one embodiment, the detection mode further includes an AC detection mode; the driver board test circuit further includes:

[0029] The power control module is connected to the controller and the drive board respectively, and is used to control the AC power supply to output AC signal to the drive board in the AC detection mode, so that the AC power failure detection circuit can detect the drive board's reception of the AC signal and obtain the power failure detection signal.

[0030] The controller is also connected to the AC power failure detection circuit; the detection signal also includes the power failure detection signal.

[0031] In one embodiment, the detection mode further includes an over-temperature detection mode; the driver board test circuit further includes:

[0032] An over-temperature protection detection module is connected to the over-temperature protection circuits of the controller and the drive board, respectively, and is used to output a first test voltage and a second test voltage in the over-temperature detection mode; wherein the first test voltage is greater than the over-temperature point voltage, the second test voltage is less than the over-temperature point voltage, and the over-temperature point voltage is the critical voltage that causes the over-temperature protection detection signal output by the over-temperature protection circuit to flip.

[0033] The controller is also connected to the over-temperature protection circuit; the detection signal also includes the over-temperature protection detection signal.

[0034] In one embodiment, the detection mode further includes a PWM drive detection mode, and the driver board test circuit further includes:

[0035] The PWM drive detection module is connected to the PWM drive circuit of the controller and the drive board respectively, and is used to output a drive test signal to the PWM drive circuit in the PWM drive detection mode, so that the PWM drive circuit modulates the drive test signal and outputs a PWM drive detection signal.

[0036] The controller is also connected to the PWM drive circuit; the detection signal also includes the PWM drive detection signal.

[0037] In one embodiment, the detection mode further includes an overcurrent detection mode, and the driver board test circuit further includes:

[0038] An overcurrent detection module is connected to the overcurrent protection circuits of the controller and the drive board, respectively, and is used to output a current test signal to the overcurrent protection circuit in the overcurrent detection mode, so that the overcurrent protection circuit outputs a current detection signal.

[0039] The controller is also connected to the overcurrent protection circuit, and the detection signal also includes the current detection signal.

[0040] In one embodiment, the single-board automatic testing device further includes:

[0041] A clamping device is used to clamp the assembled circuit board and send a preparation completion signal to the host computer after detecting that the assembled circuit board is in a clamped state.

[0042] The test command is issued by the host computer after receiving the preparation completion signal.

[0043] In one embodiment, the controller includes a control board test fixture controller and a driver board test fixture controller, wherein the control board test fixture controller is connected to each module in the control board test circuit and is used to control the entry into a test mode for testing the control board; the driver board test fixture controller is connected to each module in the driver board test circuit and is used to control the entry into a test mode for testing the driver board.

[0044] The aforementioned automatic single-board testing device is equipped with a control board testing circuit, a driver board testing circuit, and a controller. The control board testing circuit and the driver board testing circuit each include multiple modules for testing the test board and driver board, respectively. The controller can control each module separately. Thus, by simply driving the controller, each module can be controlled to enter a different testing mode. This allows for one-click testing of each circuit in the control board and driver board, resulting in low cost, high efficiency, and high accuracy. Attached Figure Description

[0045] Figure 1 This is a structural block diagram of a single-board automatic testing device according to an embodiment of this application;

[0046] Figure 2 This is a circuit diagram of a discharge detection module according to an embodiment of this application;

[0047] Figure 3 This is a circuit diagram of a lock shaft detection module according to an embodiment of this application;

[0048] Figure 4 This is a structural block diagram of a single-board automatic testing device according to another embodiment of this application;

[0049] Figure 5 This is a structural block diagram of a single-board automatic testing device according to another embodiment of this application. Detailed Implementation

[0050] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0052] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly. The connection can be a direct connection or an indirect connection.

[0053] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0054] Figure 1 This is a schematic diagram of a single-board automatic testing device according to an embodiment. The device is used to assemble circuit boards, which include a control board and a driver board. The single-board automatic testing device includes a control board testing circuit 110, a driver board testing circuit 120, and a controller 130. Figure 1As shown, the control board test circuit 110 includes a PWM detection module 111 and an STO detection module 112; the driver board test circuit 120 includes a discharge detection module 121 and a shaft lock detection module 122; the PWM detection module 111 is connected to the PWM wave generation circuit of the control board and is used to detect the PWM signal output by the PWM wave generation circuit in the modulation detection mode to obtain a first PWM detection signal; the STO detection module 112 is connected to the STO circuit of the control board and is used to control the STO circuit to sequentially open and close the PWM signal output by the PWM wave generation circuit in the safety detection mode, and detect the PWM signal output by the PWM wave generation circuit to obtain a second PWM detection signal; the discharge detection module 121 is connected to the discharge circuit of the driver board and is used to control the discharge tube in the discharge circuit to conduct in the discharge detection mode. The circuit current signal of the discharge circuit is converted into a level detection signal. The shaft locking detection module 122 is connected to the shaft locking relay circuit of the drive board. In the shaft locking detection mode, it pulls the first connection terminal of the shaft locking relay circuit to the power supply terminal, connects one of the second and third connection terminals of the shaft locking relay circuit to the ground terminal, and detects the terminal voltage of the first connection terminal to obtain a voltage detection signal. The controller 130 is connected to each module in the control board test circuit 110 and the drive board test circuit 120 respectively. It is used to control the entry into each detection mode one by one according to the test command, and obtain the detection signal in each detection mode. Based on each detection signal, it obtains the abnormal detection results of each circuit in the control board and the drive board. The detection signals include the first PWM detection signal, the second PWM detection signal, the level detection signal, and the voltage detection signal.

[0055] It is understood that the control board in the assembled circuit board is used to control the external circuit, and the drive board is used to drive the external circuit. The control board test circuit 110 in the automatic test device of this application can test the control board, and the drive board test circuit 120 can test the drive board. The controller 130 controls each module in the control board test circuit 110 and the drive board test circuit 120, thereby entering each detection mode one by one, and acquiring detection signals in each detection mode. The detection signals can be generated by the detection module or by the circuits in the control board or the drive board. Then, based on the detection signals, the abnormal detection results of each circuit in the control board and the drive board can be obtained.

[0056] The various detection modes are entered sequentially. The controller 130 will only enter the next detection mode after obtaining the abnormal detection result in one of the detection modes. After receiving the test command, the controller 130 can control the entry of each detection mode in a preset order, thereby obtaining the abnormal detection results of each circuit in the control board and the driver board one by one. The controller 130 can communicate with the host computer, and the test command can be sent by the host computer.

[0057] Specifically, the control board test circuit 110 may include a PWM detection module 111 and an STO detection module 112. The PWM generation circuit is used to output a PWM signal under the drive of the FPGA circuit on the control board. In modulation detection mode, the controller 130 controls the PWM detection module 111 to detect the PWM signal, obtaining a first PWM detection signal. Then, the controller 130 can obtain the anomaly detection result of the PWM generation circuit based on the first PWM detection signal. The anomaly detection result of the PWM generation circuit is used to characterize whether the signal between the FPGA circuit and the PWM generation circuit is abnormal. In one embodiment, the PWM signal has a high-low level variation. If the controller 130 determines that the level variation of the PWM detection signal is consistent with the level variation of the first PWM signal output by the PWM generation circuit, it indicates that the PWM generation circuit is not abnormal; otherwise, an anomaly exists.

[0058] Similarly, when the STO circuit is turned on, it can block the output of the PWM signal from the PWM transmitting circuit; when the STO circuit is turned off, it can allow the output of the PWM signal from the PWM transmitting circuit. In the safety detection mode, the controller 130 controls the STO detection module 112 to first turn off and then on the STO circuit, so that the PWM transmitting circuit outputs the PWM signal first and then stops outputting. At the same time, the STO detection module 112 and the controller 130's PWM detection module 111 detect the PWM signal output by the PWM transmitting circuit to obtain a second PWM detection signal. Then, the controller 130 can obtain the abnormal detection result of the STO circuit based on the second PWM detection signal. It can be understood that if the controller 130 determines that the amplitude change of the second PWM detection signal is consistent with the amplitude change of the PWM signal output by the PWM transmitting circuit when the STO circuit is both blocking and allowing the PWM transmitting circuit to output the PWM signal, then the STO circuit is normal; otherwise, the STO circuit is abnormal. In some other embodiments, the modulation detection mode may be entered before the safety detection mode. It is understandable that the detection of the STO circuit relies on the PWM wave generation circuit. If the PWM wave generation circuit is abnormal from the beginning, the second PWM detection signal will also be abnormal. In this case, it is impossible to determine whether the STO circuit is abnormal. Therefore, by first entering the modulation detection mode, it can be determined whether the PWM wave generation circuit is normal. If it is normal, the subsequent judgment result of the STO circuit is valid. If it is abnormal, the subsequent judgment result of the STO circuit is invalid. This facilitates the accurate determination of the abnormal result of the STO circuit.

[0059] The driver board test circuit 120 includes a discharge detection module 121 and a shaft lock detection module 122. The discharge circuit, used to discharge electrical energy, may include a pull-up resistor R1 and a discharge switch M1. (Refer to...) Figure 2As shown, one end of the pull-up resistor R1 receives the pull-up voltage VDD, and the other end is connected to the first terminal of the discharge switch M1 via the discharge detection module 121. The second terminal of the discharge switch M1 is connected to the negative terminal N of the bus. The control terminal of the discharge switch (represented by a in the figure) is connected to the discharge detection module 121. The discharge detection module 121 can control the first and second terminals of the discharge switch M1 to conduct, thereby realizing the discharge of electrical energy to the negative terminal of the bus. At the same time, the discharge detection module 121 can convert the loop current signal flowing through the discharge circuit into a level detection signal. Then, the controller 130 can obtain the abnormal detection result of the discharge circuit based on the level detection signal. The level value of the level detection signal can be used to characterize the amplitude of the loop current signal flowing through the discharge circuit. If the amplitude of the loop current signal represented by the level detection signal is not 0, it indicates that the discharge circuit is normal; otherwise, it is abnormal.

[0060] In some embodiments, the discharge detection module 121 may include a resistor R0 and an optocoupler circuit 1211, continuing to refer to Figure 2 As shown, resistor R0 can be connected to the pull-up resistor R1 and the first terminal of the bleeder switch M1 respectively. The LED in the front stage of the optocoupler circuit 1211 can be connected in parallel across resistor R0. The photosensitive element in the rear stage is connected to the controller 130 and is used to convert the light signal generated by the LED into a level detection signal, and then transmit the level detection signal to the controller 130. Assuming the level detection signal is high when the amplitude of the loop current signal is not zero, and low when it is low; it can be understood that when the bleeder switch M1 is turned on, theoretically the amplitude of the loop current signal is not zero. At this time, the LED emits a light signal, and the level detection signal generated by the photosensitive element based on the light signal should be high. Therefore, if the controller determines the level detection signal is high, it indicates that the bleeder circuit is normal; if it determines it is low, it indicates that the bleeder circuit is abnormal. In some other embodiments, the pull-up voltage VDD can be provided by the controller, and its voltage value can be 5V.

[0061] The shaft-locking relay circuit 101 is used to short-circuit the UVW three-phase lines of the drive board together when the motor is stopped, thereby preventing the motor from rotating when it is stopped. The structure of the shaft-locking relay circuit 101 can be found in [reference needed]. Figure 3As shown, it may include a relay, whose three terminals are respectively connected to the UVW three-phase lines of the drive board. In the shaft locking detection mode, the controller 130 controls the shaft locking detection module 122 to pull up one of the terminals of the shaft locking relay circuit to the power supply terminal U1, and the remaining two terminals are successively connected to the ground terminal. In this way, the two connected terminals form a loop, and the terminal voltage of the terminal pulled up to the power supply terminal will reach a specific value. Therefore, after obtaining the voltage detection signal, the controller 130 can determine whether the terminal voltage has reached the specific value based on the voltage detection signal, and thus determine whether there is an abnormality in the shaft locking relay circuit. The shaft locking relay circuit may include a pull-up resistor R2, which is connected to the power supply terminal U1 and the shaft locking relay circuit to realize the pull-up of the power supply terminal. It also includes relays K1 and K2, which are connected to the shaft locking relay circuit and the ground terminal respectively to control the connection between the shaft locking relay circuit and the ground terminal.

[0062] It is understood that the control board test circuit 110 and the driver board test circuit 120 may also include other detection modules, and the detection mode is not limited to that described in this embodiment. Furthermore, each circuit on the control board and the driver board may be equipped with test points, and each module is connected to the test points of the corresponding circuit. In some embodiments, after obtaining the abnormal detection results of all detection modules, the controller 130 may transmit all abnormal detection results to the host computer.

[0063] The aforementioned automatic single-board testing device includes a control board testing circuit 110, a driver board testing circuit 120, and a controller 130. The control board testing circuit 110 and the driver board testing circuit 120 each include multiple testing modules for testing the test board and driver board, respectively. The controller 130 can control each module individually. Thus, by simply driving the controller 130, each testing mode can be entered sequentially, allowing for one-click testing of each circuit in the control board and driver board. This approach is low-cost, highly efficient, and avoids controller errors compared to simultaneously controlling multiple modes, resulting in higher testing accuracy. Furthermore, the inclusion of a PWM detection module 111, an STO detection module 112, a discharge detection module 121, and a shaft-locking detection module 122 enables fault detection of the PWM wave generation circuit and STO circuit of the control board, as well as the discharge circuit and shaft-locking relay circuit of the driver board. This high level of integration makes it suitable for both control boards and driver boards, broadening its application scope.

[0064] In one embodiment, the detection mode further includes a sampling detection mode, and the control board test circuit 110 further includes a sampling detection module 113, such as... Figure 4As shown, the sampling detection module 113 is connected to the controller 130 and the delta-sigma sampling circuit of the control board, respectively, and is used to output the sampling test signal to the delta-sigma sampling circuit in the sampling detection mode; the controller 130 is also connected to the delta-sigma sampling circuit; the detection signal also includes the sampling signal obtained after the delta-sigma sampling circuit samples the sampling test signal.

[0065] It is understood that, in addition to the PWM detection module 111 and the STO detection module 112, the control board test circuit 110 may also include a sampling detection module 113, used together with the controller 130 to realize the anomaly detection of the delta-sigma sampling circuit. The delta-sigma sampling circuit is used to sample the input signal using oversampling technology; specifically, the controller 130 controls the sampling detection module 113 to output a sampling test signal, thereby entering the sampling detection mode. The delta-sigma sampling circuit samples the sampling test signal to obtain a sampling signal. Then, the controller 130 acquires the sampling signal and determines whether the delta-sigma sampling circuit is abnormal based on the sampling signal. In some embodiments, the controller 130 can compare the amplitude of the sampling signal with the sampling test signal. If the amplitudes are the same, it indicates that the delta-sigma sampling circuit is normal; otherwise, it is abnormal. In some embodiments, the sampling detection module 113 outputs three sampling test signals, each with a different amplitude. Thus, the delta-sigma sampling circuit will also acquire three sampling signals. The controller 130 can compare the amplitude of each sampling signal with the amplitude of each sampling test signal. If they are all consistent, it indicates that the delta-sigma sampling circuit is normal; otherwise, it is abnormal.

[0066] Thus, by setting a sampling detection module 113 in the control board test circuit 110, a sampling test signal is output under the control of the controller 130 for sampling by the delta-sigma sampling circuit. The controller 130 then determines whether there is an abnormality in the delta-sigma sampling circuit based on the sampled signal obtained from the delta-sigma sampling circuit. The structure is simple and easy to implement. The controller 130 enters each detection mode sequentially according to the test command; the entry order of the sampling detection mode and other detection modes can be set by the user.

[0067] In one embodiment, the detection mode further includes a power detection mode, and the control board test circuit 110 further includes a power detection module 114, such as... Figure 4As shown, the power detection module 114 is connected to the power circuit of the controller 130 and the control board respectively, and is used to detect the power supply voltage of the power circuit in the power detection mode to obtain the power detection signal; the detection signal also includes the power detection signal.

[0068] It is understood that, in addition to the PWM detection module 111, STO detection module 112, and sampling detection module 113, the control board test circuit 110 may also include a power detection module 114. The power detection module 114 is used together with the controller 130 to detect abnormalities in the power circuit. The power circuit is used to supply power to various electrical circuits on the control board. Specifically, under the control of the controller 130, the power detection module 114 detects the power detection signal and then transmits it to the controller 130. The controller 130 receives the power detection signal through its ADC port, and thus can read the power supply voltage of the power circuit based on the power detection signal, thereby determining whether the power circuit is abnormal. The power circuit may have detection points, and the power detection module 114 can be connected to these detection points via pins, resulting in a stable structure and more accurate detection. In some other embodiments, the controller 130 can compare the voltage value of the power detection signal with a preset voltage value; if they match, the power circuit is normal; otherwise, it is abnormal. The controller 130 enters each detection mode one by one according to the test command. The order of entering the power detection mode and other detection modes can be set by the user.

[0069] By setting a power detection circuit in the test circuit 110 of the control board and combining it with the controller 130 to detect the power circuit, the reliability of the control board's normal operation is improved, and the structure is simple and easy to implement.

[0070] In one embodiment, the detection mode further includes an input detection mode, and the control board test circuit 110 further includes an input detection module 115, such as... Figure 4 As shown, the input detection module 115 is connected to the controller 130 and the digital input circuit of the control board, respectively, and is used to output a digital test signal to the digital input circuit in the input detection mode; the controller 130 is also connected to the digital input circuit; the detection signal also includes the input detection signal obtained by the control board detecting the digital test signal.

[0071] It is understood that the input detection module 115, together with the controller 130, is used to detect abnormalities in the digital input circuit. The digital input circuit receives digital signals input to the control board from external sources. Specifically, under the control of the controller 130, the input detection module 115 outputs a digital test signal. After receiving the digital test signal, the control board detects the digital test signal on the digital input circuit to obtain an input detection signal, which is then transmitted to the controller 130. The controller 130 can determine whether the digital input circuit is abnormal based on this input detection signal. The digital input circuit may have detection points, and the input detection module 115 can be connected to these detection points via pins, resulting in a stable structure and more accurate detection. In some other embodiments, the controller 130 can compare the voltage value of the input detection signal with a preset input voltage value. If they match, the digital input circuit is normal; otherwise, it is abnormal. The controller 130 enters each detection mode sequentially according to the test command, and the order of entry for the input detection mode and other detection modes can be set independently.

[0072] In one embodiment, the detection mode further includes an output detection mode, and the control board test circuit 110 further includes an output detection module 116, such as... Figure 4 As shown, the output detection module 116 is connected to the controller 130 and the digital output circuit of the control board, respectively, and is used to detect the output voltage of the digital output circuit in the output detection mode to obtain the output detection signal; the detection signal also includes the output detection signal.

[0073] It is understood that the output detection module 116 is used in conjunction with the controller 130 to detect anomalies in the digital output circuit. The digital output circuit is used to output digital signals to the outside. Specifically, under the control of the controller 130, the output detection module 116 detects the output voltage of the digital output circuit to obtain an output detection signal. Then, the controller 130 acquires the output detection signal and determines whether the digital output circuit is abnormal based on the output detection signal. The digital output circuit may have detection points, and the output detection module 116 can be connected to these detection points via pins, resulting in a stable structure and more accurate detection. In some other embodiments, the controller 130 can compare the voltage value of the output detection signal with an ideal voltage value. If they match, the digital output circuit is normal; otherwise, it is abnormal. The controller 130 enters each detection mode sequentially according to the test command, and the order of entering the output detection mode and other detection modes can be set by the controller.

[0074] In one embodiment, the detection mode further includes a temperature sampling mode, and the control board test circuit 110 further includes a temperature detection module 117, such as... Figure 4As shown, the temperature detection module 117 is connected to the temperature communication circuit of the controller 130 and the control board respectively, and is used to sample the temperature signal received by the temperature communication circuit in the temperature sampling mode to obtain the temperature detection signal; the detection signal also includes the temperature detection signal.

[0075] It is understood that a temperature detection circuit is provided on the driver board to detect the driver board temperature, and the control board reads the temperature signal generated by the temperature detection circuit through I2C communication. By setting up the temperature detection module 117, it can work with the controller 130 to realize the anomaly detection of the temperature communication circuit, and determine whether the temperature communication circuit can normally initiate communication and read the temperature signal. Specifically, under the control of the controller 130, the temperature detection module 117 samples the temperature signal received by the temperature communication circuit to obtain a temperature detection signal. Then, the controller 130 acquires the temperature detection signal and determines whether the digital output circuit is abnormal based on the temperature detection signal. In one embodiment, after sampling the temperature signal, the temperature detection module 117 can also determine whether the temperature signal read by the temperature communication circuit is normal based on the sampled signal, thereby generating a temperature detection signal to characterize the determination result.

[0076] The controller 130 enters each detection mode one by one according to the test instructions when controlling the entry of each detection mode. The entry order of the output detection mode and other detection modes can be set by the user.

[0077] In one embodiment, the detection mode further includes an IO detection mode, and the control board test circuit 110 further includes an IO detection module 118, such as... Figure 4 As shown, the IO detection module 118 is connected to the controller 130 and the IO output circuit of the control board respectively, and is used to detect the signal output by the IO output circuit in the IO detection mode to obtain the IO detection signal; the detection signal also includes the IO detection signal.

[0078] It is understood that the IO detection module 118 is used together with the controller 130 to realize the anomaly detection of the IO output circuit. The IO output circuit is used to output IO signals to the outside; specifically, under the control of the controller 130, the IO detection module 118 detects the signal output by the IO output circuit to obtain the IO detection signal. Then, the controller 130 acquires the IO detection signal and determines whether the IO output circuit is abnormal based on the IO detection signal. The IO output circuit may be equipped with detection points, and the IO detection module 118 can be connected to the detection points of the IO output circuit via pins, resulting in a stable structure and more accurate detection. In some other embodiments, the controller 130 can compare the level of the signal output by the IO output circuit with an ideal level. If they match, it indicates that the IO output circuit is normal; otherwise, it is abnormal. In some other embodiments, the signal output by the IO output circuit may be a signal whose level changes over time. The controller 130 enters each detection mode sequentially according to the test command, and the entry order of the IO detection mode and other detection modes can be set by the controller.

[0079] In one embodiment, the detection mode further includes a storage detection mode, and the detection signal further includes a storage detection signal output by the storage circuit.

[0080] The storage circuit may include an EEPROM storage module and a FLASH storage module. These two storage modules can independently detect whether their functions are abnormal, thereby generating a storage detection signal. The controller 130 can acquire the storage detection signal in storage detection mode, and thus obtain the abnormal detection result of the storage circuit. It can be understood that the functions of the storage module may include storage functions, read and write functions, etc.

[0081] In one embodiment, the detection mode further includes an interactive detection mode, and the detection signal also includes the interactive detection signal between the MCU and the FPGA on the control board.

[0082] The interaction between the MCU and FPGA in the control board is detected by the control board itself. The controller 130 can acquire the interaction detection signal in the interaction detection mode, and then determine whether the interaction between the MCU and FPGA in the control board is normal based on the interaction detection signal, and obtain the interaction anomaly detection result.

[0083] In one embodiment, the detection mode further includes a switching power supply detection mode; the driver board test circuit 120 also includes a switching power supply detection module 123, such as... Figure 4 As shown, the switching power supply detection module 123 is connected to the switching power supply circuits of the controller 130 and the driver board, respectively, and is used to detect the power supply voltage of the switching power supply circuit in the switching power supply detection mode to obtain a power supply detection signal; the detection signal also includes a power supply detection signal.

[0084] It is understood that, in addition to the discharge detection module 121 and the shaft locking detection module 122, the drive board test circuit 120 may also include a switching power supply detection module 123. The switching power supply detection module 123 is used together with the controller 130 to realize the abnormal detection of the switching power supply circuit. The switching power supply circuit can receive the voltage of the programmable power supply through the DC bus P / N, and then convert it into the voltage required by each functional module in the drive board, thereby powering each functional module on the drive board. Specifically, under the control of the controller 130, the switching power supply detection module 123 detects the power supply voltage output by the switching power supply circuit, obtains the power supply detection signal, and then transmits it to the controller 130. The controller 130 receives the power supply detection signal through its ADC port. In this way, the power supply voltage of the switching power supply circuit can be read according to the power supply detection signal, and then it can be determined whether the switching power supply circuit is abnormal. Among them, the switching power supply circuit can be provided with detection points, and the power detection module 114 can be connected to the detection points of the power supply circuit through the pin. The structure is stable and the detection is more accurate. In some other embodiments, the controller 130 can compare the voltage value of the power supply detection signal with the ideal voltage value. If they match, it indicates that the switching power supply circuit is normal; otherwise, it is abnormal.

[0085] In some other embodiments, the switching power supply circuit may include multiple output terminals, each output terminal outputting a different supply voltage value. The number of detection points may include multiple points, each located on a different output terminal. In this way, the switching power supply detection module 123 can measure multiple supply detection signals. If the voltage values ​​of all supply detection signals are consistent with the corresponding ideal values, it indicates that the switching power supply circuit is normal; otherwise, it is abnormal.

[0086] The controller 130 enters each detection mode one by one according to the test command. The entry order of the switching power supply detection mode and other detection modes can be set by the user.

[0087] By setting a power detection circuit in the test circuit 110 of the control board and combining it with the controller 130 to detect the power circuit, the reliability of the control board's normal operation is improved, and the structure is simple and easy to implement.

[0088] In one embodiment, the detection mode further includes an AC detection mode; the driver board test circuit 120 also includes a power control module 124, such as... Figure 4 As shown, the power control module 124 is connected to the controller 130 and the driver board respectively, and is used to control the AC power supply to output AC signals to the driver board in AC detection mode, so that the AC power failure detection circuit can detect the driver board's reception of AC signals and obtain a power failure detection signal; the controller 130 is also connected to the AC power failure detection circuit; the detection signal also includes the power failure detection signal.

[0089] It is understood that the power control module 124, together with the controller 130, is used to detect abnormalities in the AC power failure detection circuit. The AC power failure detection circuit is used to detect whether the AC power supplied to the drive board has failed. Specifically, under the control of the controller 130, the power control module 124 controls the AC power supply to output an AC signal to the drive board. The AC power failure detection circuit outputs a power failure detection signal based on the AC power failure status of the drive board. The controller 130 then acquires this power failure detection signal and determines whether the AC power failure detection circuit is abnormal based on the signal. The power control module 124 may include a relay, with one end connected to the AC power supply and the other end connected to the drive board, thereby enabling the AC power supply to the drive board through the opening and closing of the relay. In some other embodiments, the controller 130 can compare the level of the power failure detection signal with the power failure threshold level detected by the AC power failure detection circuit when there is no power failure. If they match, it indicates that the power failure detection circuit is normal; otherwise, it is abnormal. The controller 130 enters each detection mode one by one according to the test command. The entry order of AC detection mode and other detection modes can be set by the user.

[0090] In one embodiment, before entering each detection mode, the controller 130 is also configured to control the power control module 124 to conduct the conductive path between the DC power supply and the switching power supply circuit, so that the DC power supply provides a DC signal to the switching power supply circuit, such as... Figure 4 As shown.

[0091] It is understandable that the various functional modules within the driver board require a switching power supply circuit for power, and the switching power supply circuit needs to be powered externally to generate the electrical energy required by each functional module. Therefore, before the controller 130 controls the driver board to enter each detection mode, it can first control the supply of power to the switching power supply circuit.

[0092] In one embodiment, the detection mode further includes an over-temperature detection mode; the driver board test circuit 120 also includes an over-temperature protection detection module 125, such as... Figure 4 As shown, the over-temperature protection detection module 125 is connected to the controller 130 and the over-temperature protection circuit of the driver board, respectively, and is used to output a first test voltage and a second test voltage in the over-temperature detection mode; wherein the first test voltage is greater than the over-temperature point voltage, the second test voltage is less than the over-temperature point voltage, and the over-temperature point voltage is the critical voltage that causes the over-temperature protection detection signal output by the over-temperature protection circuit to flip; the controller 130 is also connected to the over-temperature protection circuit; the detection signal also includes the over-temperature protection detection signal.

[0093] It is understood that the over-temperature protection detection module 125 is used together with the controller 130 to realize the abnormal detection of the over-temperature protection circuit. The over-temperature protection circuit is used to detect the temperature of the driver board. When the temperature rises, the thermistor inside increases, and the voltage drop also increases. When a certain temperature is exceeded, the voltage drop exceeds the threshold, causing the level of the over-temperature protection detection signal output by the comparator to flip. Specifically, under the control of the controller 130, the over-temperature protection detection module 125 first outputs a first test voltage. The first test voltage is greater than the over-temperature point voltage, so theoretically, the over-temperature protection detection signal output at this time indicates an abnormal temperature. Then, the controller 130 controls the over-temperature protection detection module 125 to output a second test voltage. The second test voltage is less than the over-temperature point voltage, so theoretically, the level of the over-temperature protection detection signal output at this time will flip, indicating that the temperature is normal. Based on this, the controller 130 only needs to determine whether the temperature is abnormal first and then normal based on the over-temperature protection detection signal to determine whether the over-temperature protection circuit is abnormal. In some other embodiments, the first test voltage can be 3V, the second test voltage can be 0V, and the over-temperature point voltage can be 2.4V.

[0094] In one embodiment, the detection mode further includes a PWM drive detection mode, and the driver board test circuit 120 further includes a PWM drive detection module 126, such as... Figure 4 As shown, the PWM drive detection module 126 is connected to the controller 130 and the PWM drive circuit of the drive board, respectively, and is used to output a drive test signal to the PWM drive circuit in the PWM drive detection mode, so that the PWM drive circuit modulates the drive test signal and outputs a PWM drive detection signal; the controller 130 is also connected to the PWM drive circuit; the detection signal also includes the PWM drive detection signal.

[0095] The PWM drive circuit is used to modulate the externally input signal. In the PWM drive detection mode, the controller 130 controls the PWM drive detection module 126 to output a drive test signal to the PWM drive circuit, so that the PWM drive circuit modulates the drive test signal and outputs a PWM drive detection signal. Then, the controller 130 obtains the abnormal detection result of the PWM drive detection module 126 based on the PWM drive detection signal. The abnormal detection result of the PWM drive detection module 126 is used to characterize whether the input to output of the PWM drive detection module 126 is abnormal. In one embodiment, the drive test signal has a high-low level. If the controller 130 determines that the level change of the PWM drive detection signal is consistent with the level change of the drive test signal, it indicates that the PWM drive detection module 126 is not abnormal; otherwise, there is an abnormality.

[0096] In one embodiment, the detection mode further includes an overcurrent detection mode, and the driver board test circuit 120 further includes an overcurrent detection module 127, such as... Figure 4As shown, the overcurrent detection module 127 is connected to the controller 130 and the overcurrent protection circuit of the driver board respectively, and is used to output a current test signal to the overcurrent protection circuit in the overcurrent detection mode so that the overcurrent protection circuit outputs a current detection signal; the controller 130 is also connected to the overcurrent protection circuit, and the detection signal also includes a current detection signal.

[0097] It is understood that the overcurrent detection module 127 is used in conjunction with the controller 130 to detect abnormalities in the overcurrent protection circuit. The overcurrent protection circuit outputs a corresponding overcurrent detection signal when the current in the driver board exceeds the threshold current. Therefore, the normality of the overcurrent protection circuit can be determined by detecting the value of the overcurrent detection signal. Specifically, under the control of the controller 130, the overcurrent detection module 127 first outputs a current test signal to the overcurrent protection circuit. The overcurrent protection circuit outputs a corresponding overcurrent detection signal based on the magnitude of the current test signal. In one embodiment, the current test signal can be set to be higher than the current threshold. When the current test signal is higher than the current threshold, if the controller 130 determines that an overcurrent condition has occurred based on the overcurrent detection signal, it indicates that the overcurrent protection circuit is normal; otherwise, it indicates an abnormality. This method is simple and the judgment result is highly accurate. The overcurrent detection module 127 can be connected to the overcurrent protection circuit via a pin.

[0098] In some other embodiments, the overcurrent detection module 127 may include an optocoupler circuit (not shown). The primary side of the optocoupler circuit has a light-emitting diode (LED), which forms a loop with the controller 130. The secondary side has a photodetector, which forms a loop with the overcurrent protection circuit. The controller 130 can output a current signal to the primary side of the optocoupler circuit, causing the LED on the primary side to emit a light signal. Upon sensing the light signal, the photodetector on the secondary side generates a current test signal, which is then output to the overcurrent protection circuit. By incorporating an optocoupler circuit into the overcurrent detection module 127, the magnitude of the final current test signal can be adjusted by adjusting the current output by the controller 130. This design is simple and easy to adjust.

[0099] In one embodiment, the single-board automatic testing device further includes a clamping device for clamping the assembled circuit board and sending a preparation completion signal to the host computer after detecting that the assembled circuit board is in a clamped state; the test command is issued by the host computer after receiving the preparation completion signal.

[0100] It is understood that the clamping device is used to hold the assembled circuit board during testing to prevent it from moving and causing the test circuit to disconnect. The clamping device monitors in real time whether the assembled circuit is in a clamped state. If it detects that it is in a clamped state, it sends a ready-to-complete signal to the host computer. Only after receiving the ready-to-complete signal is the host computer allowed to send test commands. At this time, the start test button on the host computer can be clicked to send test commands to the controller 130. When in the clamped state, the modules in the single-board automatic testing device are connected to the corresponding circuits in the control board and driver board.

[0101] In this way, by setting up a clamping device, not only can the test circuit be prevented from being disconnected, but the test can also be carried out only after the connection with each circuit is successful, thus ensuring the validity of the test results.

[0102] In one embodiment, reference Figure 5 As shown, the controller 130 includes a control board test fixture controller 131 and a drive board test fixture controller 132. The control board test fixture controller 131 is connected to each module in the control board test circuit 110 and is used to control the entry into the test mode for testing the control board. The drive board test fixture controller 132 is connected to each module in the drive board test circuit 120 and is used to control the entry into the test mode for testing the drive board.

[0103] The control board test fixture controller 131 is used to control each module in the control board test circuit 110 to achieve the corresponding test mode; the drive board test fixture controller 132 is used to control each module in the control board test circuit 110 to achieve the corresponding test mode.

[0104] In some other embodiments, the detection modes include control detection modes and drive detection modes; the controller 130 controls each detection mode to enter one by one according to the test command, which can be the control board test fixture controller 131 controlling each one to enter the control detection mode according to the test command, and the drive board test fixture controller 132 controlling each one to enter the drive detection mode according to the test command; wherein, the control board test fixture controller 131 is used to control the entry into the detection mode for detecting the control board, and the drive board test fixture controller 132 is used to control the entry into the detection mode for detecting the drive board; for example, modulation detection mode, safety detection mode, sampling detection mode, power supply detection mode, input detection mode, output detection mode, temperature sampling mode, IO detection mode, storage detection mode, and interactive detection mode are all control detection modes; discharge detection mode, shaft locking detection mode, switching power supply detection mode, AC detection mode, over-temperature detection mode, PWM drive detection mode, and over-current detection mode are all drive detection modes.

[0105] Another embodiment of the present invention provides an automatic single-board testing device, applied to the assembly of circuit boards, the assembled circuit board including a control board and a driver board, such as... Figure 5 As shown, the single-board automatic testing device includes a control board testing circuit 110, a driver board testing circuit 120, a controller 130, and a clamping device (not shown). The control board testing circuit 110 includes a PWM detection module 111, an STO detection module 112, a sampling detection module 113, a power supply detection module 114, an input detection module 115, an output detection module 116, a temperature detection module 117, and an IO detection module 118. The driver board testing circuit 120 includes a discharge detection module 121, a shaft locking detection module 122, a switching power supply detection module 123, a power control module 124, an over-temperature protection detection module 125, a PWM drive detection module 126, and an overcurrent detection module 127. The connection relationship and working principle of each module can be referred to the above embodiment, and will not be repeated here.

[0106] The above description is only a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural changes made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. An automatic single-board testing device, characterized in that, The device is used for assembling circuit boards, which includes a control board and a drive board. The single-board automatic testing device includes a control board testing circuit, a drive board testing circuit, and a controller. The control board test circuit includes: The PWM detection module is connected to the PWM emitting circuit of the control board and is used to detect the PWM signal output by the PWM emitting circuit in the modulation detection mode to obtain the first PWM detection signal. The STO detection module is connected to the STO circuit of the control board and is used to control the STO circuit to open and close the output of the PWM signal to the PWM ripple circuit in the safety detection mode, and to detect the PWM signal output by the PWM ripple circuit to obtain the second PWM detection signal. The driver board test circuit includes: The discharge detection module is connected to the discharge circuit of the driver board and is used to control the discharge tube in the discharge circuit to conduct in the discharge detection mode, and to convert the loop current signal of the discharge circuit into a level detection signal. The shaft locking detection module is connected to the shaft locking relay circuit of the drive board. In the shaft locking detection mode, it is used to pull up the first connection terminal of the shaft locking relay circuit to the power supply terminal, connect one of the second connection terminal and the third connection terminal of the shaft locking relay circuit to the ground terminal, and detect the terminal voltage of the first connection terminal to obtain a voltage detection signal. The controller is connected to each module in the control board test circuit and the driver board test circuit, respectively, and is used to control each module to enter each detection mode one by one according to the test command, acquire the detection signal in each detection mode, and obtain the abnormal detection result of each circuit in the control board and the driver board according to each detection signal; wherein, the detection signal includes the first PWM detection signal, the second PWM detection signal, the level detection signal and the voltage detection signal.

2. The automatic single-board testing device according to claim 1, characterized in that, The detection mode also includes a sampling detection mode, and the control board test circuit further includes: The sampling and detection module is connected to the delta-sigma sampling circuit of the controller and the control board respectively, and is used to output a sampling test signal to the delta-sigma sampling circuit in the sampling and detection mode; The controller is also connected to the delta-sigma sampling circuit; the detection signal also includes the sampling signal obtained by the delta-sigma sampling circuit after sampling the sampling test signal.

3. The automatic single-board testing device according to claim 2, characterized in that, The detection mode also includes a power detection mode, and the control board test circuit further includes: A power detection module is connected to the power circuits of the controller and the control board, respectively, and is used to detect the power supply voltage of the power circuit in the power detection mode to obtain a power detection signal; the detection signal also includes the power detection signal.

4. The automatic single-board testing device according to claim 3, characterized in that, The detection mode also includes an input detection mode, and the control board test circuit further includes: An input detection module is connected to the digital input circuits of the controller and the control board respectively, and is used to output a digital test signal to the digital input circuit in the input detection mode; The controller is also connected to the digital input circuit; the detection signal also includes the input detection signal obtained by the control board detecting the digital test signal.

5. The automatic single-board testing device according to claim 3, characterized in that, The detection mode also includes an output detection mode, and the control board test circuit also includes: An output detection module is connected to the digital output circuits of the controller and the control board, respectively, and is used to detect the output voltage of the digital output circuit in the output detection mode to obtain an output detection signal; the detection signal also includes the output detection signal.

6. The automatic single-board testing device according to claim 3, characterized in that, The detection mode also includes a temperature sampling mode, and the control board test circuit also includes: The temperature detection module is connected to the temperature communication circuits of the controller and the control board, respectively, and is used to sample the temperature signal received by the temperature communication circuit in the temperature sampling mode to obtain a temperature detection signal; the detection signal also includes the temperature detection signal.

7. The automatic single-board testing device according to claim 3, characterized in that, The detection mode also includes an IO detection mode, and the control board test circuit further includes: An IO detection module is connected to the IO output circuits of the controller and the control board, respectively, and is used to detect the signal output by the IO output circuit in the IO detection mode to obtain an IO detection signal; the detection signal also includes the IO detection signal.

8. The automatic single-board testing device according to claim 1, characterized in that, The detection mode also includes a switching power supply detection mode; the driver board test circuit also includes: A switching power supply detection module is connected to the switching power supply circuits of the controller and the driver board, respectively, and is used to detect the power supply voltage of the switching power supply circuit in the switching power supply detection mode to obtain a power supply detection signal; the detection signal also includes the power supply detection signal.

9. The automatic single-board testing device according to claim 8, characterized in that, The detection mode also includes an AC detection mode; the driver board test circuit also includes: The power control module is connected to the controller and the drive board respectively, and is used to control the AC power supply to output AC signal to the drive board in the AC detection mode, so that the AC power failure detection circuit can detect the drive board's reception of the AC signal and obtain the power failure detection signal. The controller is also connected to the AC power failure detection circuit; the detection signal also includes the power failure detection signal.

10. The automatic single-board testing device according to claim 9, characterized in that, The detection mode also includes an over-temperature detection mode; the driver board test circuit also includes: An over-temperature protection detection module is connected to the over-temperature protection circuits of the controller and the drive board, respectively, and is used to output a first test voltage and a second test voltage in the over-temperature detection mode; wherein the first test voltage is greater than the over-temperature point voltage, the second test voltage is less than the over-temperature point voltage, and the over-temperature point voltage is the critical voltage that causes the over-temperature protection detection signal output by the over-temperature protection circuit to flip. The controller is also connected to the over-temperature protection circuit; the detection signal also includes the over-temperature protection detection signal.

11. The automatic single-board testing device according to claim 10, characterized in that, The detection mode also includes a PWM drive detection mode, and the driver board test circuit further includes: The PWM drive detection module is connected to the PWM drive circuit of the controller and the drive board respectively, and is used to output a drive test signal to the PWM drive circuit in the PWM drive detection mode, so that the PWM drive circuit modulates the drive test signal and outputs a PWM drive detection signal. The controller is also connected to the PWM drive circuit; the detection signal also includes the PWM drive detection signal.

12. The automatic single-board testing device according to claim 10, characterized in that, The detection mode also includes an overcurrent detection mode, and the driver board test circuit further includes: An overcurrent detection module is connected to the overcurrent protection circuits of the controller and the drive board, respectively, and is used to output a current test signal to the overcurrent protection circuit in the overcurrent detection mode, so that the overcurrent protection circuit outputs a current detection signal. The controller is also connected to the overcurrent protection circuit, and the detection signal also includes the current detection signal.

13. The automatic single-board testing device according to claim 1, characterized in that, The automatic single-board testing device also includes: A clamping device is used to clamp the assembled circuit board and send a preparation completion signal to the host computer after detecting that the assembled circuit board is in a clamped state. The test command is issued by the host computer after receiving the preparation completion signal.

14. The automatic single-board testing device according to claim 1, characterized in that, The controller includes a control board test fixture controller and a driver board test fixture controller. The control board test fixture controller is connected to each module in the control board test circuit and is used to control the entry into a test mode for testing the control board. The driver board test fixture controller is connected to each module in the driver board test circuit and is used to control the entry into a test mode for testing the driver board.

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