PCB detection equipment and detection method thereof

Abstract

The invention discloses PCB detection equipment and a detection method thereof.The PCB detection equipment comprises a rack, a detection device, a feeding frame, a discharging frame, a feeding manipulator and a discharging manipulator, the rack is provided with a feeding opening, a discharging opening, a feeding position and a discharging position, the feeding opening and the discharging opening are formed in the same side of the rack side by side, the feeding position is arranged on the inner side of the feeding opening, and the discharging position is arranged on the outer side of the discharging opening; the discharging position is arranged on the inner side of the discharging opening. The detection device is arranged on the rack and located on the side, away from the feeding opening, of the feeding position. The feeding frame is installed on the feeding position in a sliding mode through the feeding opening. The discharging frame is installed at the discharging position in a sliding mode through the discharging opening. The feeding mechanical arm is installed on the machine frame and located above the feeding position, and the feeding mechanical arm is used for transferring the PCBs in the feeding frame to the detection device to be detected. The discharging mechanical arm is installed above the discharging position and used for transferring the qualified PCBs detected by the detection device to the discharging frame. According to the technical scheme, the occupied space of the PCB detection equipment can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB detection, and in particular to a PCB detection device and a detection method thereof. Background Art

[0002] In recent years, the continuous development of information technology has led to the rapid development of PCB boards as an important part of information technology. In order to ensure that the output PCB boards are qualified products, defects need to be inspected on the front and back of the PCB boards during the production process. At present, some PCB inspection equipment has a loading position on the front side of the PCB inspection equipment and a unloading position on the back side. The loading and unloading generally need to be operated manually, so it is necessary to ensure that the front and back sides of the PCB inspection equipment have sufficient operating space for the staff to move. This will result in a large footprint of the PCB inspection equipment, which is inconvenient to use when the space is limited or there are space restrictions on the equipment layout. Summary of the invention

[0003] The main purpose of the present invention is to provide a PCB detection device, aiming to reduce the floor space occupied by the PCB detection device.

[0004] To achieve the above object, the PCB detection device proposed by the present invention includes:

[0005] A frame, provided with a loading opening, a unloading opening, a loading position and a unloading position, wherein the loading opening and the unloading opening are arranged side by side on the same side of the frame, the loading position is arranged on the inner side of the loading opening, and the unloading position is arranged on the inner side of the unloading opening;

[0006] A detection device is arranged on the frame and is located on a side of the loading position away from the loading opening;

[0007] A loading rack, the loading rack being slidably mounted on the loading position through the loading opening;

[0008] A material unloading rack, the material unloading rack being slidably mounted on the material unloading position through the material unloading opening;

[0009] A loading robot, installed on the frame and located above the loading position, the loading robot is used to transfer the PCB board in the loading rack to the detection device for detection; and

[0010] A material unloading robot is installed on the frame and located above the material unloading position. The material unloading robot is used to transfer qualified PCB boards detected by the detection device to the material unloading rack.

[0011] Optionally, the PCB inspection equipment further comprises an empty tray rack, which is slidably mounted on the loading position through the loading opening and arranged side by side with the loading rack, and the loading robot is further used to transfer the empty trays on the loading rack to the empty tray rack.

[0012] Optionally, the loading position is provided with a first lifting mechanism, the first lifting mechanism has a first bracket, a first avoidance position is provided at the bottom of the loading rack, the first bracket can move upward through the first avoidance position and extend into the loading rack, so as to lift the material tray in the loading rack; the loading position is provided with a second lifting mechanism, the second lifting mechanism has a second bracket, and a second avoidance position is provided at the bottom of the empty tray rack, the second bracket can move upward through the second avoidance position and extend into the empty tray rack, so as to lift the material tray in the loading rack.

[0013] Optionally, the PCB detection equipment also includes a transfer mechanism, which includes a placement seat and a first manipulator, the placement seat is installed between the loading position and the detection device, the placement seat is provided with a placement position, and the placement position is used for placing a PCB board, the first manipulator can be movably installed above the placement seat, and is used to move between the placement seat and the detection device, the loading manipulator is used to transfer the PCB board in the loading position to the placement seat, and the first manipulator is used to transfer the PCB board on the placement seat to the detection device.

[0014] Optionally, the PCB inspection equipment also includes a tray rack, which is slidably installed at the unloading position through the unloading opening and is arranged side by side with the unloading rack. The tray rack is used to stack multiple empty trays, and the unloading robot is also used to transfer the empty trays in the tray rack to the unloading rack.

[0015] Optionally, the frame is also provided with a feeding port and an NG material level located inside the feeding port, and the unloading robot is also used to transfer unqualified PCB boards after inspection by the inspection device to the NG material level, and the feeding port, the loading opening and the unloading opening are arranged on the same side of the frame, and the feeding port is arranged between the loading opening and the unloading opening.

[0016] Optionally, the PCB inspection equipment also includes a transfer seat and a second manipulator, wherein the transfer seat is arranged between the unloading position and the inspection device, the transfer seat is used for placing PCB boards, and the second manipulator can be movably installed above the transfer seat, and is used to move between the transfer seat and the inspection device to transfer the PCB boards that have been inspected by the inspection device to the transfer seat, the unloading manipulator is used to transfer qualified PCB boards on the transfer seat to the material tray of the unloading rack, and the unloading manipulator is also used to transfer unqualified PCB boards on the transfer seat to the NG material position.

[0017] Optionally, the transfer seat includes a first seat body, a driving assembly and two flip plates, the two flip plates are arranged side by side, and the two flip plates are rotatably installed on the first seat body on one side adjacent to each other, the two flip plates have a horizontal state in which both are placed horizontally and an upright state in which both are placed upright, in the upright state, the two flip plates are close to each other so that the PCB boards on the two flip plates are erected and fit each other, the driving assembly is installed on the first seat body and is driven and connected to the two flip plates to drive the two flip plates to switch between the horizontal state and the upright state; the unloading robot is provided with a clamp, and the clamp is used to clamp the two PCB boards between the two flip plates in the upright state.

[0018] Optionally, the unloading robot is also provided with a negative pressure suction structure, and the negative pressure suction structure is spaced apart from the clamp. When the second robot places an unqualified PCB board on the flip plate, in the horizontal state, the unloading robot is used to suck the unqualified PCB board on the flip plate through the negative pressure suction structure and transfer it to the NG material position.

[0019] Optionally, the second manipulator has two material picking components for simultaneously picking up two PCB boards and placing them on the two flip plates. The transfer seat is also provided with a temporary storage position, which is parallel to the flip plate and spaced apart.

[0020] Optionally, the detection device includes a rotating seat, a plurality of loading seats, a dirt detection camera and a quality detection camera. The rotating seat can be rotatably mounted on the frame and is located on one side of the loading position. The frame is also provided with at least two detection positions. The rotating seat is located below the two detection positions. The plurality of loading seats are all mounted on the rotating seat and are arranged around the rotation axis of the rotating seat. When the rotating seat rotates, the plurality of loading seats pass through the two detection positions in sequence. The dirt detection camera is installed at one of the detection positions and is arranged toward the loading seat located below the detection position. The quality detection camera is installed at the other detection position and is arranged toward the loading seat located below the detection position. The quality detection camera is located downstream of the dirt detection camera.

[0021] Optionally, the detection device includes a rotating seat, a visual detection mechanism and multiple loading seats, the rotating seat can be rotatably installed on the frame, the rotating seat is provided with multiple sliding tracks, the multiple sliding tracks are arranged in sequence head to tail along the circumference of the rotating seat, each of the loading seats is correspondingly installed on one of the sliding tracks, the visual detection mechanism is arranged above the rotating seat and is arranged downward; the PCB detection equipment also includes a driving mechanism, the driving mechanism is installed on the frame or the rotating seat, the driving mechanism is connected to the loading seat, and is used to drive the loading seat to move relative to the visual detection mechanism, so that the visual detection mechanism scans the PCB board on the loading seat.

[0022] The present invention also provides a PCB detection method, which is applied to the PCB detection device as described above. The PCB detection method includes the following steps:

[0023] On the same side of the rack, slide the loading rack with the PCB to be tested into the loading position through the loading opening, and slide the empty unloading rack into the unloading position through the unloading opening;

[0024] The loading robot takes the PCB board to be tested in the loading rack, and transfers the PCB board to be tested to the placement seat of the transfer mechanism;

[0025] The first manipulator of the transfer mechanism transfers the PCB board to be tested on the placement seat to the detection device;

[0026] The detection device performs visual detection on the PCB board to be detected and feeds back the detection result to the controller;

[0027] The second manipulator transfers the PCB board after being inspected by the inspection device to the transfer seat;

[0028] The controller controls the unloading robot to transfer the defective PCB board on the transfer seat to the NG material position and transfer the qualified PCB board to the unloading rack of the unloading position according to the detection result.

[0029] The technical solution of the present invention is provided with a loading opening, a unloading opening, a loading position and an unloading position on a frame, a loading rack and a loading manipulator are arranged at the loading position to realize loading, and an unloading rack and an unloading manipulator are arranged at the unloading position to realize unloading, and the loading opening and the unloading opening are arranged side by side on the same side of the frame, so that the staff can realize the loading of the PCB board to be tested and the unloading of the PCB board after the test on the same side of the PCB testing equipment, reducing the space requirement of the PCB testing equipment, that is, reducing the occupied space of the PCB testing equipment, and can be conveniently used in the case of limited space or space restrictions on the equipment layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 It is a structural schematic diagram of an embodiment of a PCB detection device of the present invention;

[0032] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0033] Figure 3 for Figure 1 The schematic diagram of the structure of the middle part frame and detection device;

[0034] Figure 4 for Figure 3 The enlarged view of point B in the middle;

[0035] Figure 5 for Figure 4 Structural schematic diagram of the middle rotating seat;

[0036] Figure 6 for Figure 4 Schematic diagram of the structure of the middle loading seat;

[0037] Figure 7 for Figure 4 A schematic diagram of the structure of the middle driving mechanism;

[0038] Figure 8 for Figure 1 A structural diagram of the PCB testing equipment from another angle;

[0039] Fig. 9 for Figure 8 Schematic diagram of the structure of the loading and unloading positions of the PCB inspection equipment;

[0040] Fig.10 for Fig. 9 Schematic diagram of the structure of the feeding and unloading robot;

[0041] Fig.11 for Fig. 9 Schematic diagram of the structure of the second manipulator and the middle transfer seat.

[0042] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0045] The invention provides a PCB detection device.

[0046] In the embodiment of the present invention, Figures 1 to 11As shown, the PCB detection equipment includes a frame 10, a detection device 20, a loading rack 121, a unloading rack 131, a loading robot 18 and a unloading robot 19. The frame 10 is provided with a loading opening 101, a unloading opening 102, a loading position 12 and a unloading position 13. The loading opening 101 and the unloading opening 102 are arranged side by side on the same side of the frame 10, the loading position 12 is arranged on the inner side of the loading opening 101, and the unloading position 13 is arranged on the inner side of the unloading opening 102. The detection device 20 is arranged on the frame 10 and is located on the side of the loading position 12 away from the loading opening 101; the loading rack 121 is slidably installed on the loading position 12 through the loading opening 101; the unloading rack 131 is slidably installed on the unloading position 13 through the unloading opening 102; the loading manipulator 18 is installed on the frame 10 and is located above the loading position 12. The loading manipulator 18 is used to transfer the PCB board in the loading rack 121 to the detection device 20 for detection. The unloading manipulator 19 is installed on the frame 10 and is located above the unloading position 13. The unloading manipulator 19 is used to transfer the qualified PCB board after being detected by the detection device 20 to the unloading rack 131.

[0047] When in use, the loading rack 121 can be first pulled out from the loading opening 101, and after the tray containing the PCB board is placed in the loading rack 121, the loading rack 121 is pushed into the loading position 12. The loading robot 18 transfers the PCB board of the loading rack 121 to the detection device 20 for detection. After the detection by the detection device 20 is completed, the qualified PCB board is transferred to the unloading rack 131 by the unloading machine. When the tray in the unloading rack 131 is full of qualified PCB boards, the unloading rack 131 is pulled out to take out the qualified PCB board.

[0048] The technical solution of the present invention is that a loading opening 101, a unloading opening 102, a loading position 12 and an unloading position 13 are provided on a frame 10, a loading rack 121 and a loading manipulator 18 are provided at the loading position 12 to realize loading, and an unloading rack 131 and an unloading manipulator 19 are provided at the unloading position 13 to realize unloading, and the loading opening 101 and the unloading opening 102 are arranged side by side on the same side of the frame 10, so that the staff can realize the loading of the PCB board to be tested and the unloading of the PCB board after the test on the same side of the PCB testing equipment, reducing the space requirement of the PCB testing equipment, that is, the space occupied by the PCB testing equipment (that is, the space occupied by the PCB testing equipment and the space required for operating the PCB testing equipment) can be reduced, and it can be conveniently used in the case of limited space or space restrictions on the equipment layout.

[0049] After the detection by the detection device 20 is completed, if an unqualified PCB board is found, when the unqualified PCB board moves to the material taking position of the unloading robot 19, the unqualified PCB board is transferred to the NG material position 11 by the unloading robot 19 (because the PCB board has an identification code, it can be located by scanning the identification code by a scanner before detection, so it can be distinguished during unloading). For qualified PCB boards, the unloading robot 19 is placed in the material tray of the unloading rack 131. When all the material trays in the unloading rack 131 are full, the unloading rack 131 is pulled out, and the qualified PCB boards can be taken out. When the NG material position 11 is fully loaded, the unqualified PCB boards can be taken out through the second opening.

[0050] In some embodiments, the PCB inspection device further includes an empty tray rack 122, which is slidably installed on the loading position 12 through the loading opening 101 and arranged side by side with the loading rack 121. The loading manipulator 18 is also used to transfer the empty trays on the loading rack 121 to the empty tray rack 122. Specifically, when loading, the loading rack 121 can be pulled out from the loading opening 101, and after stacking multiple trays with PCB boards on the loading rack 121, the loading rack 121 can be pushed into the loading position 12. Before the inspection, the empty tray rack 122 is in an empty state. When all the PCB boards in the upper tray of the loading rack 121 are taken out, the empty trays are transferred to the empty tray rack 122 by the loading manipulator 18, and then the PCB boards in the lower trays can be taken to the inspection device 20 for inspection. When a certain number of empty trays are loaded in the empty tray rack 122, the empty tray rack 122 can be pulled out from the loading opening 101, and after the empty trays are taken out, they are pushed into the loading position 12 through the empty trays to continue receiving empty trays. In this way, multiple trays can be put into the loading rack 121 at one time, and the empty trays after taking out can be taken out at one time, which reduces the number of manual replenishment and replacement of trays and can improve the loading efficiency. Moreover, by using a loading manipulator 18 to load and transfer empty trays, the structure at the loading position 12 can be simplified, thereby simplifying the structure of the PCB detection equipment and reducing the production cost and maintenance cost of the PCB detection equipment.

[0051] In some embodiments, the loading robot 18 is a six-axis robot. Specifically, the robot arm 191 is a six-axis robot arm 191, which makes the loading robot 18 have a high degree of freedom and is more flexible, so as to facilitate the transfer of PCB boards and trays. Of course, in other embodiments, a seven-axis or five-axis robot arm 191 can also be used.

[0052] Among them, a vacuum suction cup can be set on the loading robot 18 to suck the PCB board and the empty tray for transfer, or the PCB board and the empty tray can be clamped by the clamp 195 for transfer.

[0053] In some embodiments, the PCB inspection equipment also includes a first visual positioning device, which is installed on the frame 10 and located above the loading position 12. The first visual positioning device is set toward the loading position 12 to detect the position of the PCB board in the loading rack 121. Specifically, the first visual positioning device includes a mounting frame and a CCD camera (CCD: charge coupled device) installed on the mounting frame, so that the position and state of the PCB board loaded on the tray can be photographed in real time, so that the loading robot 18 can accurately pick up the PCB board in the tray. Of course, in other embodiments, the first visual positioning device can also use a CMOS camera (CMOS: Complementary Metal-Oxide-Semiconductor). In addition, in other embodiments, the trays can also be made of the same specifications, and the material picking path of the loading robot 18 can be pre-set, so that the loading robot 18 can install a predetermined program to pick up the PCB board on the tray.

[0054] In some embodiments, the loading position 12 is provided with a first lifting mechanism 141, the first lifting mechanism 141 has a first bracket, and the bottom of the loading rack 121 is provided with a first avoidance position, and the first bracket can move upward through the first avoidance position and extend into the loading rack 121, so as to lift the material tray in the loading rack 121. Specifically, the first lifting mechanism 141 also includes a driving structure and at least one lifting slide rail, the lifting slide rail is installed on the frame 10 and extends in the up and down direction, the first bracket is slidably installed on the lifting slide rail, the driving structure is installed on the frame 10, and is connected to the first bracket, so that the first bracket can be driven to move up and down by the driving structure. When the loading robot 18 removes the empty material tray on the top layer of the loading rack 121, the first bracket can be driven to move upward by the driving structure, thereby moving the remaining material trays upward, so that the top material trays can always be at the same height, so that the loading robot 18 can locate and take the PCB board. The drive structure may have various structures, for example, the drive structure includes a motor and a transmission structure (gear rack structure or a screw nut pair) or the drive structure includes a cylinder or a hydraulic cylinder. Of course, in other embodiments, the first lifting mechanism 141 may not be provided.

[0055] In some embodiments, the loading position 12 is also provided with a second lifting mechanism, the second lifting mechanism has a second bracket, and the bottom of the empty tray rack 122 is provided with a second avoidance position, and the second bracket can move upward through the second avoidance position and extend into the empty tray rack 122, so as to lift the tray in the loading rack 121. Specifically, when the empty tray has not been placed in the empty tray rack 122, the second bracket is located at the upper part of the empty tray rack 122. When the loading manipulator 18 places the empty tray in the loading rack 121 into the empty tray rack 122, the second bracket moves down, so that the loading manipulator 18 places the empty tray into the empty tray rack 122 at the same height position, so that the path of the loading manipulator 18 to transfer the empty tray each time is unified, which is conducive to improving the loading efficiency. Among them, the specific structure of the second lifting mechanism can refer to the structure of the first lifting mechanism 141, and will not be repeated here. In addition, in other embodiments, the second lifting mechanism may not be provided.

[0056] In some embodiments, the upper and lower ends of the lifting rails of the first lifting mechanism 141 and the second lifting mechanism are both provided with limit sensors, and the PCB detection device further includes a controller, and the limit sensors are electrically connected to the controller. When the upper limit sensor detects the first bracket (second bracket), it indicates that the first bracket (second bracket) has moved to the highest position, and at this time, the first lifting mechanism 141 (second lifting mechanism) can be controlled to stop working by the controller. When the lower limit sensor detects the first bracket (second bracket), it indicates that the first bracket (second bracket) has moved to the lowest position, and at this time, the first lifting mechanism 141 (second lifting mechanism) can be controlled to stop working by the controller.

[0057] In some embodiments, the PCB detection equipment also includes a transfer mechanism 50, which includes a placement seat 51 and a first manipulator 52. The placement seat 51 is installed between the loading position 12 and the detection device 20. The placement seat 51 is provided with a placement position for placing the PCB board. The first manipulator 52 can be movably installed above the placement seat 51 and is used to move between the placement seat 51 and the detection device 20. The loading manipulator 18 is used to transfer the PCB board in the loading position 12 to the placement seat 51, and the first manipulator 52 is used to transfer the PCB board on the placement seat 51 to the detection device 20.

[0058] During operation, the loading robot 18 first takes the PCB board from the material tray of the loading position 12, and after placing the PCB board in the placement position of the placement seat 51, the loading robot 18 returns to the loading position 12 to continue taking the PCB board, and at the same time, the first robot 52 moves to the placement position to take the PCB board, and then moves the PCB board to the detection device 20. In this way, the loading stroke of the loading robot 18 can be shortened, which can reduce the size of the loading robot 18 and simplify the structure. Moreover, the placement position of the PCB board in the material tray is usually relatively random. After the loading robot 18 moves the PCB board to the placement seat 51 of the transfer mechanism 50, it is also convenient to position the PCB board, so that the first robot 52 can accurately place the PCB board in the detection position of the detection device 20, which can reduce the risk of the PCB board being offset in the detection position of the detection device 20 and improve the detection effect.

[0059] In an embodiment in which an empty tray rack 122 and a loading rack 121 are provided at the loading position 12, after the loading robot 18 transfers the last or the last group of PCB boards on the tray to the transfer mechanism 50, when the first robot 52 transfers the PCB boards on the placement seat 51, the loading robot 18 can move the empty trays in the loading rack 121 to the empty tray rack 122, thereby shortening the movement stroke of the loading robot 18, so that the loading robot 18 can move the empty trays to the empty tray rack 122 faster, and also reduces the waiting time of the detection device 20, thereby improving the loading efficiency of the PCB detection equipment.

[0060] In some embodiments, the placement seat 51 is provided with first guide rails 511 on opposite sides of the placement position, and the first guide rails 511 extend in the direction from the loading position 12 to the detection device 20. The first manipulator 52 includes a first support arm 521, a first lifting assembly 522 installed on the first support arm 521, and a material-retrieving structure 523 installed on the first lifting assembly 522. One end of the first support arm 521 is slidably installed on one of the first guide rails 511, and the other end is slidably installed on the other first guide rail 511, and is located above the placement position. Specifically, the transfer mechanism 50 also includes a first driving member 53, which is installed on one of the placement seat 51 and the first support arm 521, and is drivingly connected to the other one to drive the first support arm 521 to move along the first guide rail 511. The first support arm 521 has a material picking position that moves to the top of the placement position and a material unloading position that moves to the top of the receiving position of the detection device 20. When the first support arm 521 moves to the material picking position, the material picking structure 523 can be driven to move downward by the first lifting component 522 to pick up the PCB board from the placement position. After picking up the PCB board, the material picking structure 523 and the PCB board are driven to move upward by the first lifting component 522 to leave the placement position. Then, it moves to the material unloading position under the drive of the first driving member 53. At this time, the material picking structure 523 is driven to move downward by the first lifting component 522 to place the PCB board at the receiving position of the detection device 20. Compared with the method of using the six-axis robot arm 191 for the first manipulator 52, this makes the structure of the first manipulator 52 simple, and makes the process of transferring the PCB board from the placement position to the detection device 20 smooth.

[0061] In some embodiments, the first lifting assembly 522 includes a first lifting cylinder and a first connecting member, the first lifting cylinder is installed on the first support arm 521, the first connecting member is installed on the piston rod of the first lifting cylinder, and is connected to the material picking structure 523. The use of a cylinder to act on the first driving member 53 of the first lifting assembly 522 has a simple structure, which can simplify the structure of the first lifting assembly 522 and reduce costs. Of course, in other embodiments, the first lifting assembly 522 includes an electric cylinder and a first connecting member, the electric cylinder is installed on the first support arm 521, the first connecting member is installed on the push rod of the electric cylinder, and is connected to the material picking structure 523.

[0062] In some embodiments, the PCB inspection device further includes a tray rack 132, which is slidably mounted on the unloading position 13 through the unloading opening 102 and arranged side by side with the unloading rack 131. The tray rack 132 is used to stack multiple empty trays, and the unloading manipulator 19 is also used to transfer the empty trays in the tray rack 132 to the unloading rack 131. The unloading manipulator 19 is also used to transfer the PCB board detected by the detection device 20 to the empty tray of the unloading rack 131. That is, when in use, the unloading manipulator 19 first takes the empty tray on the upper layer of the tray rack 132 and transfers it to the unloading rack 131, and then transfers the PCB board detected by the detection device 20 to the empty tray of the unloading rack 131. When the tray in the unloading rack 131 is full of PCB boards, the empty tray is taken from the tray rack 132 and stacked above the fully loaded tray in the unloading rack 131.

[0063] In some embodiments, the unloading position 13 is provided with a third lifting mechanism 143, the third lifting mechanism 143 has a third bracket, and a third avoidance position is provided at the bottom of the unloading rack 131. The third bracket can move upward through the third avoidance position and extend into the unloading rack 131 to lift the material tray in the unloading rack 131. Specifically, the third lifting mechanism 143 also includes a driving structure and at least one lifting slide rail, the lifting slide rail is installed on the frame 10 and extends in the up and down direction, the third bracket is slidably installed on the lifting slide rail, the driving structure is installed on the frame 10 and connected to the third bracket, so that the third bracket can be driven to move up and down by the driving structure. When the empty tray has not been placed in the loading rack 121, the third bracket is located at the upper part of the unloading rack 131. As the unloading manipulator 19 continuously places the empty trays in the tray rack 132 into the unloading rack 131, the driving structure drives the third bracket to gradually move downward to ensure that the uppermost tray is always at the same height position, so that the unloading manipulator 19 always places the tested PCB board into the tray of the unloading rack 131 at the same height position, which is convenient for the unloading manipulator 19 to position and place the PCB board, which is conducive to improving the unloading efficiency. In addition, in other embodiments, the third lifting mechanism 143 may not be provided.

[0064] In some embodiments, the material unloading position 13 is provided with a fourth lifting mechanism 144, and the fourth lifting mechanism 144 has a fourth bracket. The bottom of the tray rack 132 is provided with a fourth avoidance position, and the fourth bracket can move upward through the fourth avoidance position and extend into the tray rack 132, so as to lift the material tray in the material unloading rack 131. Similarly, the setting of the fourth lifting mechanism 144 can make the uppermost empty pallet in the tray rack 132 always at the same height position, so that the material unloading manipulator 19 can pick up the empty pallet at the same height position, and the path of the material unloading manipulator 19 to transfer the empty material tray each time is unified, which is conducive to improving the material unloading efficiency. Among them, the specific structure of the fourth lifting mechanism 144 can refer to the structure of the third lifting mechanism 143, and will not be repeated here. In addition, in other embodiments, the fourth lifting mechanism 144 may not be provided.

[0065] In some embodiments, the frame 10 is further provided with a material taking port 103 and an NG material position 11 located inside the material taking port 103. The unloading robot 19 is also used to transfer the unqualified PCB board after the detection by the detection device 20 to the NG material position 11. The material taking port 103, the loading opening 101 and the unloading opening 102 are arranged on the same side of the frame 10, and the material taking port 103 is arranged between the loading opening 101 and the unloading opening 102. Specifically, after the detection by the detection device 20 is completed, if an unqualified PCB board is found, when the unqualified PCB board moves to the material taking position of the unloading robot 19, the unqualified PCB board is transferred to the NG material position 11 by the unloading robot 19 (because the PCB board has an identification code, it can be located by scanning the identification code by a scanner before detection, so it can be distinguished during unloading). For qualified PCB boards, the unloading robot 19 is placed in the material tray of the unloading rack 131. When all the trays in the unloading rack 131 are full, the unloading rack 131 is pulled out to take out the qualified PCB boards. When the NG material position 11 is fully loaded, the unqualified PCB boards can be taken out through the material taking port 103.

[0066] In this way, a material unloading manipulator 19 is used to unload qualified PCB boards (transfer qualified PCB boards after being tested by the testing device 20 to the material tray of the unloading rack 131) and unqualified PCB boards (transfer unqualified PCB boards after being tested by the testing device 20 to the NG material position 11), which reduces the number of manipulators, simplifies the structure of the PCB testing equipment, and makes the unloading position 13 and the NG material position 11 arranged compactly, which can improve the compactness of the structure of the PCB testing equipment and help reduce the overall size of the PCB testing equipment. In addition, the material taking port 103, the loading opening 101 and the unloading opening 102 are arranged on the same side of the frame 10, so that the staff can unload qualified products and unqualified products on the same side of the PCB testing equipment, which can reduce the space requirement of the PCB testing equipment, that is, it can reduce the occupied space of the PCB testing equipment.

[0067] In some embodiments, the PCB inspection equipment also includes a transfer seat 31 and a second manipulator 32. The transfer seat 31 is arranged between the unloading position 13 and the inspection device 20. The transfer seat 31 is used for placing the PCB board. The second manipulator 32 can be movably installed above the transfer seat 31, and is used to move between the transfer seat 31 and the inspection device 20 to transfer the PCB board after inspection by the inspection device 20 to the transfer seat 31. The unloading manipulator 19 is used to transfer the qualified PCB board on the transfer seat 31 to the material tray of the unloading rack 131. The unloading manipulator 19 is also used to transfer the unqualified PCB board on the transfer seat 31 to the NG material position 11.

[0068] During operation, the second manipulator 32 first takes the PCB board that has been inspected from the inspection device 20, and after moving the PCB board to the transfer seat 31, the second manipulator 32 returns to the inspection device 20 to continue taking the next PCB board, and at the same time, the unloading manipulator 19 moves to the transfer seat 31 to take the PCB board. If the PCB board on the transfer seat 31 is a qualified product, the unloading manipulator 19 transfers the qualified PCB board to the material tray of the unloading rack 131. If the PCB board on the transfer seat 31 is an unqualified product, the unloading manipulator 19 transfers the unqualified PCB board to the NG material position 11. In this way, the unloading stroke of the unloading manipulator 19 can be shortened, the production cycle can be improved, the size of the unloading manipulator 19 can be reduced, and the structure can be simplified. Moreover, after the PCB board is moved to the transfer seat 31 by the second manipulator 32, it is also convenient to position the PCB board.

[0069] In some embodiments, the transfer seat 31 includes a first seat body 311, a driving assembly 312 and two flip plates 313. The two flip plates 313 are arranged side by side, and the sides of the two flip plates 313 adjacent to each other are rotatably installed on the first seat body 311. The two flip plates 313 have a horizontal state in which both are placed horizontally and an upright state in which both are placed upright. In the upright state, the two flip plates 313 are close to each other so that the PCB boards on the two flip plates 313 are erected and fit each other. The driving assembly 312 is installed on the first seat body 311 and is driven and connected to the two flip plates 313 to drive the two flip plates 313 to switch between the horizontal state and the upright state. The unloading robot 19 is provided with a clamp 195, and the clamp 195 is used to clamp the two PCB boards between the two flip plates 313 in the upright state.

[0070] Specifically, the material tray in the unloading rack 131 is provided with a plurality of slots, and the unloading manipulator 19 inserts the qualified PCB board into the slots of the material tray. When the second manipulator 32 takes the PCB board from the detection device 20 and moves it to the top of the flip plate 313, the two flip plates 313 are in a horizontal state for the PCB board to be placed. When the PCB boards placed on the two flip plates 313 are all qualified products, the driving component 312 drives the two flip plates 313 to flip up on the side away from each other, so that when the two flip plates 313 are in an upright state, the two PCB boards are attached to each other in an upright posture, so that the two PCB boards can be clamped by the clamp 195 on the unloading manipulator 19 and transferred to the slots of the material tray. Compared with the method of placing the PCB board horizontally on the material tray, this method can reduce the space occupied by each PCB board in the material tray, so that the material tray can hold more PCB boards, and at the same time, it can avoid the situation where the unloading robot 19 needs to convert the PCB board to an upright state after taking the horizontal PCB board, so that the unloading robot 19 can easily take the upright PCB board. Among them, the driving component 312 can be driven by a motor (such as a motor and a gear group transmission structure) or a rotary cylinder. In addition, in other embodiments, the unloading robot 19 can also take the PCB board horizontally placed on the transfer seat 31 and place it flat in the material tray, that is, no flip plate 313 is provided.

[0071] In some embodiments, the unloading manipulator 19 is further provided with a negative pressure suction structure 192, and the negative pressure suction structure 192 is spaced from the clamp 195. When the second manipulator 32 places an unqualified PCB board on the flip plate 313, in a horizontal state, the unloading manipulator 19 is used to suck the unqualified PCB board on the flip plate 313 through the negative pressure suction structure 192, and transfer it to the NG material position 11. Specifically, the NG material position 11 is provided with an NG material tray for receiving unqualified PCB boards. The unloading manipulator 19 sucks the unqualified PCB board placed horizontally on the flip plate 313 through the negative pressure suction structure 192, and places the unqualified PCB board flat in the material tray of the NG material position 11. In actual work, when the PCB board is judged as a defective product by the detection device 20, there may be a misjudgment, or the defect of the PCB board is a repairable situation, etc. For these PCB boards, after eliminating the influencing factors, they can be tested again later, so placing these PCB boards on the NG material tray is more convenient for subsequent work. Moreover, when only one PCB board on the two flip plates 313 is a defective product and the other is a qualified product, it is convenient for the unloading robot 19 to take the defective PCB board alone. Of course, in other embodiments, the unqualified PCB board can also be clamped by the clamp 195 on the unloading robot 19 and placed at the NG material position 11.

[0072] In some embodiments, the second manipulator 32 has two material taking components 325 for simultaneously taking two PCB boards and placing them on two flip plates 313. The transfer seat 31 is also provided with a temporary storage position 314, which is parallel to the flip plates 313 and spaced apart. Specifically, when only one of the PCB boards placed on the two flip plates 313 by the second manipulator 32 is a qualified product, the two flip plates 313 are in a horizontal state, and the unloading manipulator 19 can first suck the unqualified PCB board on the flip plate 313 through the negative pressure suction structure 192 and transfer it to the NG material position 11, and then the unloading manipulator 19 can suck the qualified PCB board on the flip plate 313 through the negative pressure suction structure 192 and transfer it to the temporary storage position 314. In this way, the two flip plates 313 are vacant and can receive the two PCB boards transferred by the second manipulator 32 next time.

[0073] If each subsequent group of PCB boards (two PCB boards) are qualified products, the driving component 312 drives the two flip plates 313 to flip upward on the side away from each other, so that when the two flip plates 313 are in an upright state, the two PCB boards are attached to each other in an upright posture to be clamped by the unloading robot 19. If the PCB boards on the two flip plates 313 are both unqualified products, the unloading robot 19 transfers the two unqualified PCB boards to the NG material position 11 through the negative pressure suction structure 192.

[0074] If only one of the PCB boards placed on the two flip plates 313 by the second robot 32 next time is a qualified product, the unloading robot 19 first absorbs the unqualified PCB board on the flip plate 313 through the negative pressure suction structure 192 and transfers it to the NG material position 11. Then the unloading robot 19 absorbs the qualified PCB board in the temporary storage position 314 through the negative pressure suction structure 192 and transfers it to the idle flip plate 313 (to remove the flip plate 313 with the unqualified PCB board). At this time, the PCB boards on the two flip plates 313 are all qualified products, and the driving component 312 can drive the two flip plates 313 to flip up on the side away from each other.

[0075] Such an arrangement can avoid the situation where the unloading robot 19 inserts a PCB board into the slot first, causing the slot to be unable to insert another PCB board, so that each slot in the material tray of the unloading rack 131 has two qualified PCB boards inserted, and the space in the material tray can be fully utilized.

[0076] In some embodiments, the unloading robot 19 is provided with two negative pressure suction structures 192, and the clamp 195 is provided between the two negative pressure suction structures 192, and the two negative pressure suction structures 192 are used to simultaneously pick up the PCB boards on the two flip plates 313. In this way, when the PCB boards on the two flip plates 313 are both unqualified products, the unloading robot 19 can transfer the two unqualified PCB boards to the NG material position 11 at one time, which can improve efficiency, and the clamp 195 is provided between the two negative pressure suction structures 192, and in the case of no interference, the compactness of the structure of the unloading robot 19 can also be improved.

[0077] In some embodiments, second rails are provided on opposite sides of the PCB placement position (flip plate 313) on the transfer seat 31, and the second rails extend in the direction of the material discharge position 13 pointing to the detection device 20. The second manipulator 32 includes a second support arm 321, a second lifting assembly 322 installed on the second support arm 321, and a material picking assembly 325 installed on the second lifting assembly 322. One end of the second support arm 321 is slidably installed on one of the second rails, and the other end is slidably installed on the other second rail, and is located above the PCB placement position. Specifically, the flip plate 313 is located between the two second rails, and the two second rails are spaced apart along the extension direction of the rotation axis of the flip plate 313.

[0078] The PCB detection device also includes a second driving member 33, which is installed on one of the transfer seat 31 and the second support arm 321, and is connected to the other to drive the second support arm 321 to move along the second guide rail. The second support arm 321 has a discharge position that moves to the top of the flip plate 313 and a pick-up position that moves to the PCB board position of the detection device 20. When the second support arm 321 moves to the pick-up position, the pick-up assembly 325 can be driven to move downward by the second lifting assembly 322 to pick up the PCB board from the detection device 20. After picking up the PCB board, the pick-up assembly 325 and the PCB board are driven to move upward by the second lifting assembly 322. Then, it moves to the discharge position under the drive of the driving member, and at this time, the pick-up assembly 325 is driven to move downward by the second lifting assembly 322 to place the PCB board on the transfer seat 31. Compared with the method of using the six-axis robot arm 191 for the second robot 32, this makes the structure of the second robot 32 simple and makes the process of transferring the PCB board from the detection device 20 to the transfer seat 31 smooth.

[0079] In some embodiments, the second lifting assembly 322 includes a second lifting cylinder 323 and a second connecting member 324, the second lifting cylinder 323 is installed on the second support arm 321, the second connecting member 324 is installed on the piston rod of the second lifting cylinder 323, and is connected to the material taking assembly 325. The use of a cylinder to act on the second driving member 33 of the second lifting assembly 322 has a simple structure, which can simplify the structure of the second lifting assembly 322 and reduce costs. Of course, in other embodiments, the second lifting assembly 322 includes an electric cylinder and a second connecting member 324, the electric cylinder is installed on the second support arm 321, the second connecting member 324 is installed on the push rod of the electric cylinder, and is connected to the material taking assembly 325.

[0080] In some embodiments, the material taking assembly 325 includes a second mounting plate 326 and a second suction member 327 mounted on the second mounting plate 326. The second suction member 327 is arranged downward, and the second suction member 327 is used to connect with the negative pressure generating device.

[0081] Specifically, the second suction member 327 is a negative pressure suction cup (suction nozzle). The second suction member 327 is connected to a negative pressure generating device, and negative pressure can be generated at the suction port of the second suction member 327 through the negative pressure generating device. In this way, when the suction port of the second suction member 327 is brought close to or in contact with the PCB board, the PCB board can be adsorbed, thereby taking the PCB board. When the PCB board is moved above the transfer seat 31, the negative pressure generating device is turned off or the air path between the negative pressure generating device and the second suction member 327 is disconnected, and the PCB board can fall off the second suction member 327 under the action of gravity. In this way, the PCB board can be prevented from being damaged by clamping, and it is also convenient to take the PCB board laid flat in the placement position. Of course, in other embodiments, the material taking component 325 includes a clamping claw, which clamps the PCB board.

[0082] In this embodiment, the number of the second suction member 327 is multiple (at least two), which can increase the contact area between the material taking component 325 and the PCB board and reduce the risk of the PCB board falling during the transfer process. Of course, in other embodiments, only one second suction member 327 can also be set.

[0083] In some embodiments, the unloading robot 19 includes a robot arm 191 and a negative pressure suction structure 192, wherein the robot arm 191 is mounted on the frame 10, and the negative pressure suction structure 192 is mounted on the free end of the robot arm 191. Optionally, the robot arm 191 is a six-axis robot arm 191.

[0084] In some embodiments, the negative pressure suction structure 192 includes a first mounting plate 193 and a first suction member 194, the number of the first suction member 194 is one or more, the first mounting plate 193 is mounted on the free end of the mechanical arm 191, the first suction member 194 is mounted on the first mounting plate 193, and the first suction member 194 is used to connect the negative pressure generating device. Specifically, the first suction member 194 is a negative pressure suction cup (suction nozzle), and the first suction member 194 is connected to the negative pressure generating device, and the negative pressure generating device can generate negative pressure at the suction port of the first suction member 194, so that when the suction port of the first suction member 194 is close to or in contact with the PCB board, the PCB board can be adsorbed, thereby achieving the PCB board. After the PCB board is moved to a suitable position, the negative pressure generating device is turned off or the air path between the negative pressure generating device and the first suction member 194 is disconnected, and the PCB board can fall off the first suction member 194 under the action of gravity. This can avoid the PCB board from being clamped and is also convenient for taking the PCB board laid flat in the tray. Of course, in other embodiments, the negative pressure suction structure 192 includes a clamping claw to clamp the PCB board.

[0085] In some embodiments, the PCB detection equipment further includes a second visual positioning device, which is mounted on the frame 10 and located above the unloading position 13. The second visual positioning device is arranged toward the unloading position 13 to detect the position of the PCB board in the unloading rack 131. Specifically, the second visual positioning device includes a mounting frame and a CCD camera mounted on the mounting frame, so that the position and state of the PCB board on the tray can be photographed in real time, so that the unloading manipulator 19 can accurately pick up the PCB board in the tray. Of course, in other embodiments, the second visual positioning device can also be a CMOS camera. Optionally, the second visual positioning device is slidably mounted on the frame 10 in the horizontal direction so that the position of the second visual positioning device in the horizontal direction is adjustable, so as to facilitate the positioning and placement of each group of PCB boards. In addition, in other embodiments, the trays can also be made of the same specifications, and the material picking path of the unloading manipulator 19 can be pre-set, so that the unloading manipulator 19 can install a predetermined program to pick up the PCB board on the tray.

[0086] In some embodiments, the number of the detection devices 20 is two, and the PCB detection device further includes a flip transfer mechanism 60, which is arranged between the two detection devices 20, that is, the flip transfer mechanism 60 is arranged at the transfer position, and the flip transfer mechanism 60 is used to flip the PCB board after being detected by the previous detection device 20 and transfer it to the next detection device 20. Specifically, when in use, the PCB board moves from the loading position 12 to the first detection device 20 for front side (the first side to be detected is the front side, and the second side to be detected is the back side) detection. After the front side detection is completed, the detected PCB board is moved to the next detection device 20 by the flip transfer mechanism 60, and the PCB board is flipped so that the back side of the PCB board can be detected by the next detection device 20. In this way, the front and back sides of the PCB board are detected in sequence by the two detection devices 20 respectively, which can reduce the retention time of the PCB board in a single detection position and improve the detection efficiency. Among them, the flip transfer mechanism 60 can be a six-axis manipulator or other flipping structure.

[0087] In some embodiments, the detection device 20 includes a rotating seat 21 and a plurality of material loading seats 22. The rotating seat 21 is rotatably mounted on the frame 10 (the rotation direction of the rotating seat 21 is referenced to Figure 3 A plurality of material carriers 22 are mounted on the rotating seat 21 and arranged around the rotation axis of the rotating seat 21. The frame 10 is provided with two inspection positions above each rotating seat 21. When the rotating seat 21 rotates, the plurality of material carriers 22 pass through the two inspection positions in sequence. Each inspection position is provided with a visual inspection mechanism 23. In the rotation direction of the rotating seat 21, the visual inspection mechanism 23 located upstream is used to detect dirt on the PCB board, and the visual inspection mechanism 23 located downstream is used to detect the quality of the PCB board after being inspected by the upstream visual inspection mechanism 23.

[0088] Specifically, the PCB inspection device further includes a driving device, which is mounted on the frame 10 and is drivingly connected to the rotating seat 21 to drive the rotating seat 21 to rotate. In the rotation direction of the rotating seat 21, the visual inspection mechanism 23 located upstream includes a dirt detection camera 231, and the visual inspection mechanism 23 located downstream includes a quality inspection camera 232. That is, the quality inspection camera 232 is located downstream of the dirt detection camera 231.

[0089] When in use, first place the PCB board on the loading seat 22 near the loading position 12, and rotate the rotating seat 21 so that the loading seat 22 with the PCB board is moved to the bottom of the dirt detection camera 231 (while another adjacent loading seat 22 is moved close to the loading position 12), and the PCB board is photographed by the dirt detection camera 231 to detect whether there is stain on the PCB board. After the dirt detection camera 231 completes the detection, the rotating seat 21 rotates so that the PCB board after the dirt detection camera 231 is detected moves to the bottom of the quality detection camera 232, and the PCB board is photographed by the quality detection camera 232 to detect the quality of the PCB board (for example, whether there are welding defects, scratches, wrong position and spacing of wires and components, wrong size of circuits and components, wrong shape of components, on-off of circuits, etc.). Optionally, the dirt detection camera 231 and the quality detection camera 232 are both CCD cameras.

[0090] Among them, when the dirt detection camera 231 detects that the PCB board is dirty, the PCB board on the carrier 22 can be directly removed by a set manipulator or manually, or after passing through the quality inspection camera 232 (quality inspection is not required at this time), the dirty PCB board and the qualified PCB board can be separated at the final unloading (because the PCB board has an identification code, the identification code can be scanned by a barcode scanner before inspection, so they can be distinguished during unloading). Similarly, when the quality inspection camera 232 detects that the PCB board has defects, the PCB board on the carrier 22 can be directly removed by a set manipulator or manually, or after subsequent inspection processes, the unqualified PCB board and the qualified PCB board can be separated at the final unloading.

[0091] By arranging the dirt detection camera 231 in front of the quality detection camera 232, the dirt detection camera 231 is used to detect whether there are stains on the PCB board during the detection, so that the dirty PCB board can be screened out, and the situation that the PCB board is misjudged due to the presence of stains on the PCB board can be avoided, thereby improving the accuracy of PCB board detection. In addition, the rotation of the rotating seat 21 drives the rotation of multiple material carriers 22, so that the PCB board on the material carrier 22 passes through the dirt detection camera 231 and the quality detection camera 232 in turn, so that the multiple material carriers 22 are recycled and continuously transported for detection, which can improve the efficiency of PCB board detection, and can make the overall structure of the detection device 20 compact, which is conducive to reducing the size of the PCB detection equipment.

[0092] In some embodiments, there are four loading seats 22. When the rotating seat 21 stops rotating, two of the loading seats 22 are respectively located below two detection positions. The rotating seat 21 is square in shape, and a loading seat 22 is correspondingly provided at each side position of the rotating seat 21.

[0093] Specifically, when the rotating seat 21 stops rotating, two of the loading seats 22 are respectively located below the two detection positions (equivalent to the detection station), another loading seat 22 is adjacent to the loading position 12 (equivalent to the loading station), and the last loading seat 22 is adjacent to the flip transfer mechanism 60 (equivalent to the unloading station). That is, during the detection process, each loading seat 22 is located at a station (loading station, unloading station and two detection stations) to perform the corresponding process, avoiding the situation where there are idle loading seats 22, which can not only improve the detection efficiency, but also improve the compact structure of the PCB detection equipment, which is conducive to reducing the size of the PCB detection equipment. Of course, the present invention is not limited to this. In other embodiments, the number of loading seats 22 can also be three (at this time, a manipulator can be set at each detection position to directly remove the dirty PCB board when the dirty detection camera 231 detects the dirty PCB board, and directly remove the qualified or unqualified PCB board after the quality detection camera 232 detects it) or five, etc.

[0094] In some embodiments, the rotating seat 21 is arranged in a square shape, and each side position of the rotating seat 21 corresponds to a material loading seat 22. By arranging the material loading seats 22 at the side positions of the square rotating seat 21, the space for placing the PCB board on each material loading seat 22 is large, which can be suitable for long strip PCB boards and small PCB boards, thereby improving the compatibility of the PCB detection equipment. Of course, in other embodiments, the rotating seat 21 can also be arranged in a circular shape, etc.

[0095] In some embodiments, the loading seat 22 includes a second seat body 221 and a negative pressure suction head 227 mounted on the second seat body 221, the negative pressure suction head 227 is arranged upward, and the negative pressure suction head 227 is used to connect the negative pressure generating device to adsorb the PCB board on the loading seat 22. Specifically, the negative pressure suction head 227 can be a suction cup or a suction nozzle, and the suction port of the negative pressure suction head 227 is upward. The negative pressure suction head 227 is connected to the negative pressure generating device, and the negative pressure generating device can generate negative pressure at the suction port of the negative pressure suction head 227, so that when the PCB board is placed on the negative pressure suction head 227, the PCB board can be adsorbed, thereby preventing the PCB board from falling or shifting during the transfer and detection process. When the PCB board is moved to a suitable position (transfer position), the negative pressure generating device is turned off or the air path between the negative pressure generating device and the negative pressure suction head 227 is disconnected, that is, the PCB board can be removed from the negative pressure suction head 227. This can also avoid clamping the PCB board. Of course, in other embodiments, a clamping claw is provided on the carrier 22 to clamp the PCB board.

[0096] In some embodiments, the loading seat 22 includes a plurality of negative pressure suction heads 227, a mounting track 226 is provided on the second seat body 221, and the plurality of negative pressure suction heads 227 can be slidably mounted on the mounting track 226, and a locking member 228 is provided on the negative pressure suction head 227, and the locking member 228 is used to fix the negative pressure suction head 227 on the mounting track 226. Specifically, the locking member 228 is a screw, which is screwed to the negative pressure suction head 227 and can abut against the mounting track 226. Such provision of a plurality of negative pressure suction heads 227 can increase the contact area between the loading seat 22 and the PCB board, can further reduce the risk of the PCB board falling or shifting, and can better absorb the long strip PCB board. Of course, in other embodiments, the locking member 228 can also be a pin.

[0097] In some embodiments, two mounting rails 226 arranged side by side are provided on the second seat body 221, and each mounting rail 226 is provided with a plurality of negative pressure suction heads 227. Specifically, the upstream detection position is provided with two dirt detection cameras 231 arranged side by side, and each dirt detection camera 231 is correspondingly located above one mounting rail 226, and the downstream detection position is provided with two quality detection cameras 232 arranged side by side, and each quality detection camera 232 is correspondingly located above one mounting rail 226. During the detection, a plurality of negative pressure suction heads 227 on each mounting rail 226 can adsorb a PCB board, that is, two PCB boards can be placed on a loading seat 22 at the same time for detection, which can improve the detection efficiency. In addition, in other embodiments, the same PCB board (for example, a larger PCB board) can also be adsorbed by the negative pressure suction heads 227 on the two mounting rails 226.

[0098] In some embodiments, the detection device 20 includes a rotating seat 21 and multiple loading seats 22. The rotating seat 21 is rotatably mounted on the frame 10. A plurality of sliding rails 211 are provided on the rotating seat 21. The plurality of sliding rails 211 are arranged in sequence head to tail along the circumference of the rotating seat 21. Each loading seat 22 is correspondingly installed on a sliding rail 211. The visual inspection mechanism 23 is arranged above the rotating seat 21 and is arranged downward; the PCB inspection equipment also includes a driving mechanism 40. The driving mechanism 40 is installed on the frame 10 or the rotating seat 21. The driving mechanism 40 is connected to the loading seat 22 to drive the loading seat 22 to move relative to the visual inspection mechanism 23, so that the visual inspection mechanism 23 scans the PCB board on the loading seat 22.

[0099] Specifically, the visual inspection mechanism 23 (such as a CCD camera) is used to photograph the PCB board on the carrier 22 to detect whether there are defects in the PCB board (such as welding defects, scratches, incorrect position and spacing of wires and components, incorrect size of circuits and components, incorrect component shape, disconnection of circuits, dirt, etc.).

[0100] In the initial state, the loading seat 22 is located at one end of the sliding track 211. When the rotating seat 21 is rotated to move the loading seat 22 equipped with the PCB board to the bottom of the visual inspection mechanism 23, the rotating seat 21 stops rotating, and then the driving mechanism 40 drives the loading seat 22 to move along the sliding track 211, and the PCB board passes under the visual inspection mechanism 23, so that the visual inspection mechanism 23 scans the PCB board on the loading seat 22 to inspect the entire PCB board.

[0101] By providing a plurality of sliding rails 211 on the rotating seat 21, the plurality of sliding rails 211 are arranged in sequence head to tail along the circumference of the rotating seat 21, each sliding rail 211 is provided with a material carrier 22, and a driving mechanism 40 is provided on the frame 10 or the rotating seat 21, so that the driving mechanism 40 is connected to the material carrier 22. During detection, the material carrier 22 can be driven by the driving mechanism 40 to move along the sliding rails 211, and the PCB board can pass under the visual inspection mechanism 23, so that the visual inspection mechanism 23 can scan the PCB board on the material carrier 22 to detect the entire PCB board. In this way, the PCB board is driven by the material carrier 22 to pass under the visual inspection mechanism 23, and the visual inspection mechanism 23 can shoot the entire PCB board without adjusting the height of the visual inspection mechanism 23, which can avoid the situation where the detection accuracy is reduced due to the excessive height of the visual inspection mechanism 23, improve the detection accuracy of the PCB board, and reduce the risk of misjudgment of the PCB board. Moreover, it can be applied to PCB boards of various specifications, and improve the compatibility of PCB detection equipment.

[0102] In some embodiments, the driving mechanism 40 is mounted on the frame 10 and is located below the rotating seat 21. The driving mechanism 40 is provided with a pushing structure 42. The pushing structure 42 has a movable pushing member 422. The pushing member 422 is used to abut the material carrier 22 to push the material carrier 22 to move along the sliding track 211. Specifically, the pushing member 422 has an abutting position and a retreat position that moves downward relative to the abutting position. When the pushing member 422 is in the abutting position, the pushing member 422 abuts against the material carrier 22 to push the material carrier 22 to move along the sliding track 211 under the action of the driving mechanism 40. When the pushing member 422 is in the retreat position, the pushing member 422 is located outside the movement path of the material carrier 22 when the rotating seat 21 rotates, so as to avoid interference between the rotating seat 21 and the material carrier 22 when the rotating seat 21 rotates. In this way, the driving mechanism 40 is arranged on the frame 10 and is located below the rotating seat 21. Compared with the method of installing the driving mechanism 40 on the rotating seat 21, the driving mechanism 40 can be set only at the position below the visual inspection mechanism 23. There is no need to set a driving mechanism 40 for each loading seat 22 on the rotating seat 21. The number of driving mechanisms 40 can be reduced, the structure of the rotating seat 21 and the PCB inspection equipment can be simplified, the production cost can be reduced, and the overall weight of the rotating seat 21 can be reduced.

[0103] In some embodiments, the loading seat 22 has an abutment portion 223 located below the rotating seat 21, and the pushing structure 42 also includes a third seat body 421 and an elastic member. The pushing member 422 is hinged to the third seat body 421 and has a pushing portion 423. The pushing portion 423 gradually extends upward in the rotation direction of the rotating seat 21. The elastic member abuts between the third seat body 421 and the pushing member 422, so that when the rotating seat 21 rotates until the loading seat 22 is located above the driving mechanism 40, the pushing portion 423 abuts against the rear side of the abutment portion 223 to push the loading seat 22 to move along the sliding track 211.

[0104] Specifically, the elastic member is in a compressed state and has a driving force to drive the push member 422 to move from the avoidance position to the abutment position. When the rotating seat 21 rotates, since the upper side of the push is inclined, the abutment portion 223 can press the push member 423 downward when abutting the upper side of the push member 423, so that the push member 422 is in the avoidance position, and when the abutment portion 223 as a whole passes over the push member 423, under the action of the elastic member, the push member 422 automatically switches to the abutment position, so that it can abut against the rear side of the abutment portion 223. After the rotating seat 21 stops rotating, it can push the loading seat 22 to move along the sliding track 211 under the drive of the driving mechanism 40. In this way, there is no need to set an electric control structure to control the movement of the push member 422, the structure is simple, the structure of the driving mechanism 40 can be simplified, and the production cost of the PCB detection equipment can be reduced. Among them, the elastic member can be a compression spring, a spring or a rubber block, etc. Of course, in other embodiments, a motor or a cylinder may be provided on the driving mechanism 40 to drive the pusher 422 to move between the abutting position and the avoiding position.

[0105] In some embodiments, the PCB detection device further comprises an elastic reset member, which is connected to the rotating seat 21 and the material carrier 22. The elastic reset member is elastically deformed when the driving mechanism 40 drives the material carrier 22 to move. The elastic reset member is used to drive the material carrier 22 to reset when the driving mechanism 40 drives the pushing structure 42 to reset. Specifically, the elastic reset member can be a compression spring or a tension spring. When the driving mechanism 40 drives the material carrier 22 to move along the sliding track 211, the elastic reset member is in a compressed state or a tensioned state, so as to have a tendency to drive the material carrier 22 to reset. In this way, when the detection is completed, when the driving mechanism 40 moves in the opposite direction and resets, the material carrier 22 can also be automatically reset under the action of the elastic reset member. Such a structure is simple and reliable, and the structure of the material carrier 22 can be simplified. Of course, in other embodiments, a magnet can also be set at the position where the abutting portion 223 and the pushing portion 423 contact each other, so that when the driving mechanism 40 drives the pushing member 422 to reset, the material carrier 22 is driven to reset by the magnetic attraction between the abutting portion 223 and the pushing portion 423.

[0106] In some embodiments, the material carrier 22 includes a second seat 221 and a plurality of negative pressure suction heads 227. The second seat 221 is mounted on the sliding track 211. Two mounting tracks 226 arranged side by side are provided on the second seat 221. Each mounting track 226 is provided with a plurality of negative pressure suction heads 227. The negative pressure suction heads 227 are used to connect the negative pressure generating device to adsorb the PCB board on the material carrier 22. The negative pressure suction heads 227 are provided with locking members 228, and the locking members 228 are used to fix the negative pressure suction heads 227 on the mounting track 226. The elastic reset member is arranged between the two mounting tracks 226. In this way, the elastic reset member is installed in the space between the two mounting tracks 226, which can improve the space utilization rate on the material carrier 22, and the elastic reset member is arranged in the center. The force of the elastic reset member on the material carrier 22 is consistent with the moving direction of the material carrier 22, so that the two sides of the material carrier 22 are evenly stressed, which can reduce the wear between the second seat 221 and the sliding track 211.

[0107] In some embodiments, the rotating seat 21 is provided with a clearance hole 212, which is in the shape of a long strip extending along the length direction of the sliding track 211, and the sliding track 211 is located between the clearance hole 212 and the edge of the rotating seat 21, and the loading seat 22 has two connecting parts 224, one of which extends from the clearance hole 212 to the bottom of the rotating seat 21, and the other connecting part 224 extends from the outside of the rotating seat 21 to the bottom of the rotating seat 21, and the abutting part 223 is connected to the two connecting parts 224. Specifically, the second seat body 221 includes a top plate 222 and a slider 225 installed below the top plate 222, the slider 225 is installed on the sliding track 211, and the mounting track 226 is installed above the top plate 222. The two connecting parts 224 are both connected to the top plate 222, so that the top plate 222, the abutting part 223 and the two connecting parts 224 form a frame structure, and the sliding rail 211 and the part of the rotating seat 21 located outside the yielding hole 212 are inserted inside, so that when the pushing part 423 abuts against the abutting part 223, the overall force of the loading seat 22 can be evenly applied, thereby avoiding the loading seat 22 from generating torque when being pushed, and reducing the wear between the second seat body 221 and the sliding rail 211.

[0108] In some embodiments, the driving mechanism 40 is a linear motor 41. Such a structure is simple and reliable. Of course, in other embodiments, the driving mechanism 40 can also be a cylinder, etc.

[0109] The present invention further provides a PCB detection method, which is applied to the PCB detection device as described above, and comprises the following steps:

[0110] On the same side of the frame 10, slide the loading rack 121 loaded with the PCB board to be tested into the loading position 12 through the loading opening 101, and slide the empty unloading rack 131 into the unloading position 13 through the unloading opening 102;

[0111] The loading robot 18 takes the PCB board to be tested from the loading rack 121 and transfers the PCB board to be tested to the placement seat 51 of the transfer mechanism 50;

[0112] The first manipulator 52 of the transfer mechanism 50 transfers the PCB board to be tested on the placement seat 51 to the detection device 20;

[0113] The detection device 20 performs visual inspection on the PCB board to be tested and feeds back the inspection result to the controller;

[0114] The second manipulator 32 transfers the PCB board after being inspected by the inspection device 20 to the transfer seat 31;

[0115] The controller controls the unloading robot 19 to transfer the defective PCB board on the transfer seat 31 to the NG material position 11 and transfer the qualified PCB board to the unloading rack 131 of the unloading position 13 according to the detection result.

[0116] In this way, the staff can load the PCB to be tested and unload the PCB after testing on the same side of the PCB testing equipment, reducing the space requirement of the PCB testing equipment, that is, reducing the floor space of the PCB testing equipment, which can be conveniently used in situations where space is limited or there are space restrictions on the equipment layout.

[0117] Through the transfer mechanism 50, when working, the PCB board can be first taken from the material tray of the loading position 12 by the loading manipulator 18, and after the PCB board is placed in the placement position of the placement seat 51, the loading manipulator 18 returns to the loading position 12 to continue to take the PCB board, and at the same time, the first manipulator 52 moves to the placement position to take the PCB board, and then moves the PCB board to the detection device 20. In this way, the loading stroke of the loading manipulator 18 can be shortened, which can reduce the size of the loading manipulator 18 and simplify the structure. In addition, the placement position of the PCB board in the material tray is usually relatively random. After the PCB board is moved to the placement seat 51 of the transfer mechanism 50 by the loading manipulator 18, it is also convenient to position the PCB board, so that the first manipulator 52 can accurately place the PCB board in the detection position of the detection device 20, which can reduce the risk of the PCB board being offset in the detection position of the detection device 20 and improve the detection effect.

[0118] By using the transfer seat 31 and the second manipulator 32, the material unloading stroke of the unloading manipulator 19 can be shortened, the production cycle can be improved, the size of the unloading manipulator 19 can be reduced, and the structure can be simplified. Moreover, after the PCB board is moved to the transfer seat 31 by the second manipulator 32, the PCB board can be easily positioned.

[0119] In some embodiments, the controller controls the unloading robot 19 to transfer the defective PCB board on the transfer seat 31 to the NG material position 11 and transfers the qualified PCB board to the unloading rack 131 of the unloading position 13 according to the detection result, including the following steps:

[0120] The second manipulator 32 places a PCB board inspected by the inspection device 20 on each of the two flip plates 313 of the intermediate transfer seat 31;

[0121] The controller determines whether the PCB boards on the two flip plates 313 are defective PCB boards according to the detection results;

[0122] If the PCBs on the two flip plates 313 are both qualified PCBs, the controller controls the driving assembly 312 of the transfer seat 31 to drive the two flip plates 313 to flip to a vertical state close to each other to overlap the two PCBs, and then controls the unloading manipulator 19 to take the two overlapped PCBs and transfer them to the unloading rack 131 of the unloading position 13;

[0123] If the PCB boards on the two flip plates 313 are both defective PCB boards, the controller controls the unloading robot 19 to take the two defective PCB boards and transfer them to the NG material position 11;

[0124] If the PCB board on one of the flip plates 313 is a defective PCB board and the PCB board on the other flip plate 313 is a qualified PCB board, the controller controls the unloading robot 19 to take the defective PCB board and transfer it to the NG material position 11, and also controls the unloading robot 19 to take the qualified PCB board and transfer it to the temporary storage position 314;

[0125] When the PCB board on one of the flip plates 313 is a defective PCB board and the PCB board on the other flip plate 313 is a qualified PCB board next time, the controller first controls the unloading robot 19 to take the defective PCB board and transfer it to the NG material position 11, and then controls the unloading robot 19 to transfer the qualified PCB board from the temporary storage position 314 to the flip plate 313 after the PCB board is removed, and repeats the steps of making the PCB boards on the two flip plates 313 both qualified PCB boards (that is, the controller controls the driving component 312 of the transfer seat 31 to drive the two flip plates 313 to flip to a vertical state close to each other to overlap the two PCB boards, and then controls the unloading robot 19 to take the two overlapped PCB boards and transfer them to the unloading rack 131 of the unloading position 13).

[0126] Such an arrangement can avoid the situation where the unloading robot 19 inserts a PCB board into the slot first, causing the slot to be unable to insert another PCB board, so that each slot in the material tray of the unloading rack 131 has two qualified PCB boards inserted, and the space in the material tray can be fully utilized.

[0127] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A PCB detection device, characterized in that: include: A frame, provided with a loading opening, a unloading opening, a loading position and a unloading position, wherein the loading opening and the unloading opening are arranged side by side on the same side of the frame, the loading position is arranged on the inner side of the loading opening, and the unloading position is arranged on the inner side of the unloading opening; A detection device is arranged on the frame and is located on a side of the loading position away from the loading opening; A loading rack, the loading rack being slidably mounted on the loading position through the loading opening; A material unloading rack, the material unloading rack being slidably mounted on the material unloading position through the material unloading opening; A loading robot, installed on the frame and located above the loading position, the loading robot is used to transfer the PCB board in the loading rack to the detection device for detection; as well as A material unloading robot is installed on the frame and located above the material unloading position. The material unloading robot is used to transfer qualified PCB boards detected by the detection device to the material unloading rack.

2. The PCB detection device according to claim 1, characterized in that: The PCB inspection equipment also includes an empty tray rack, which is slidably installed at the loading position through the loading opening and arranged side by side with the loading rack. The loading robot is also used to transfer the empty trays on the loading rack to the empty tray rack. The loading position is provided with a first lifting mechanism, the first lifting mechanism has a first bracket, and a first avoidance position is provided at the bottom of the loading rack. The first bracket can move upward through the first avoidance position and extend into the loading rack to lift the material tray in the loading rack; The loading position is provided with a second lifting mechanism, the second lifting mechanism has a second bracket, and the bottom of the empty tray rack is provided with a second avoidance position. The second bracket can move upward through the second avoidance position and extend into the empty tray rack to lift the tray in the loading rack.

3. The PCB detection device according to claim 1, characterized in that: The PCB detection equipment also includes a transfer mechanism, which includes a placement seat and a first manipulator. The placement seat is installed between the loading position and the detection device. The placement seat is provided with a placement position, and the placement position is used for placing a PCB board. The first manipulator is movably installed above the placement seat and is used to move between the placement seat and the detection device. The loading manipulator is used to transfer the PCB board in the loading position to the placement seat, and the first manipulator is used to transfer the PCB board on the placement seat to the detection device. The PCB inspection equipment also includes a tray rack, which is slidably installed at the unloading position through the unloading opening and is arranged side by side with the unloading rack. The tray rack is used to stack multiple empty trays, and the unloading robot is also used to transfer the empty trays in the tray rack to the unloading rack.

4. The PCB detection device according to claim 1, characterized in that: The frame is also provided with a material taking port and an NG material position located inside the material taking port. The unloading robot is also used to transfer unqualified PCB boards detected by the detection device to the NG material position. The material taking port, the loading opening and the unloading opening are arranged on the same side of the frame, and the material taking port is arranged between the loading opening and the unloading opening.

5. The PCB detection device according to claim 4, characterized in that: The PCB inspection equipment also includes a transfer seat and a second manipulator. The transfer seat is arranged between the unloading position and the inspection device. The transfer seat is used for placing PCB boards. The second manipulator can be movably installed above the transfer seat and is used to move between the transfer seat and the inspection device to transfer the PCB boards that have been inspected by the inspection device to the transfer seat. The unloading manipulator is used to transfer qualified PCB boards on the transfer seat to the material tray of the unloading rack. The unloading manipulator is also used to transfer unqualified PCB boards on the transfer seat to the NG material position.

6. The PCB testing device according to claim 5, characterized in that: The transfer seat comprises a first seat body, a driving assembly and two flip plates, the two flip plates are arranged side by side, and the two flip plates are rotatably mounted on the first seat body at one side adjacent to each other, the two flip plates have a horizontal state in which both are horizontally placed and a vertical state in which both are vertically placed, in the vertical state, the two flip plates are close to each other so that the PCB boards on the two flip plates are vertically placed and fit each other, the driving assembly is mounted on the first seat body and is drivingly connected to the two flip plates to drive the two flip plates to switch between the horizontal state and the vertical state; the unloading manipulator is provided with a clamp, and the clamp is used to clamp the two PCB boards between the two flip plates in the vertical state; The unloading robot is further provided with a negative pressure suction structure, and the negative pressure suction structure is spaced apart from the clamp. When the second robot places an unqualified PCB board on the flip plate, in the horizontal state, the unloading robot is used to suck the unqualified PCB board on the flip plate through the negative pressure suction structure and transfer it to the NG material position; The second manipulator has two material picking components for simultaneously picking up two PCB boards and placing them on the two flip plates. The transfer seat is also provided with a temporary storage position, which is parallel to the flip plate and spaced apart.

7. The PCB detection device according to any one of claims 1 to 6, characterized in that: The detection device includes a rotating seat, a plurality of loading seats, a dirt detection camera and a quality detection camera. The rotating seat can be rotatably mounted on the frame and is located on one side of the loading position. The frame is also provided with at least two detection positions. The rotating seat is located below the two detection positions. The plurality of loading seats are all mounted on the rotating seat and are arranged around the rotation axis of the rotating seat. When the rotating seat rotates, the plurality of loading seats pass through the two detection positions in sequence. The dirt detection camera is mounted at one of the detection positions and is arranged toward the loading seat located below the detection position. The quality detection camera is mounted at the other detection position and is arranged toward the loading seat located below the detection position. The quality detection camera is located downstream of the dirt detection camera.

8. The PCB testing device according to any one of claims 1 to 6, characterized in that: The detection device includes a rotating seat, a visual detection mechanism and a plurality of material carriers, the rotating seat is rotatably mounted on the frame, a plurality of sliding tracks are arranged in sequence along the circumference of the rotating seat, each material carrier is correspondingly mounted on one of the sliding tracks, and the visual detection mechanism is arranged above the rotating seat and is arranged downward; The PCB inspection device also includes a driving mechanism, which is installed on the frame or the rotating seat. The driving mechanism is connected to the carrier seat and is used to drive the carrier seat to move relative to the visual inspection mechanism so that the visual inspection mechanism scans the PCB board on the carrier seat.

9. A PCB detection method, characterized in that: Applied to the PCB detection device according to any one of claims 1 to 8, the PCB detection method comprises the following steps: On the same side of the rack, slide the loading rack with the PCB to be tested into the loading position through the loading opening, and slide the empty unloading rack into the unloading position through the unloading opening; The loading robot takes the PCB board to be tested in the loading rack, and transfers the PCB board to be tested to the placement seat of the transfer mechanism; The first manipulator of the transfer mechanism transfers the PCB board to be tested on the placement seat to the detection device; The detection device performs visual detection on the PCB board to be detected and feeds back the detection result to the controller; The second manipulator transfers the PCB board after being inspected by the inspection device to the transfer seat; The controller controls the unloading robot to transfer the defective PCB board on the transfer seat to the NG material position and transfer the qualified PCB board to the unloading rack of the unloading position according to the detection result.

10. The PCB detection method according to claim 9, characterized in that: The controller controls the unloading robot to transfer the defective PCB board on the transfer seat to the NG material position and transfer the qualified PCB board to the unloading rack of the unloading position according to the detection result, including the following steps: The second manipulator places a PCB board inspected by the inspection device on each of the two flip plates of the transfer seat; The controller determines whether the PCB boards on the two flip plates are defective PCB boards according to the detection result; If the PCB boards on the two flip plates are both qualified PCB boards, the controller controls the driving component of the intermediate transfer seat to drive the two flip plates to flip to a vertical state close to each other, so as to overlap the two PCB boards, and then controls the unloading robot to take the two overlapped PCB boards and transfer them to the unloading rack at the unloading position; If the PCB boards on the two flip plates are both defective PCB boards, the controller controls the unloading robot to take the two defective PCB boards and transfer them to the NG material position; If the PCB board on one of the flip plates is a defective PCB board and the PCB board on the other flip plate is a qualified PCB board, the controller controls the unloading robot to take the defective PCB board and transfer it to the NG material position, and also controls the unloading robot to take the qualified PCB board and transfer it to the temporary storage position; When the next time when one of the PCB boards on the flip board is a defective PCB board and the other PCB board on the flip board is a qualified PCB board, the controller first controls the unloading robot to take the defective PCB board and transfer it to the NG material position, and then controls the unloading robot to transfer the qualified PCB board from the temporary storage position to the flip board after the PCB board is taken off, and repeats the step of making both PCB boards on the flip boards qualified PCB boards.

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