PCB welding spot detection robot based on magnetostrictive sensor

Abstract

The invention relates to the technical field of PCB processing, and discloses a PCB welding spot detection robot based on a magnetostrictive sensor, which comprises a detection sliding table and the magnetostrictive sensor, the detection sliding table is movably provided with a manipulator, the detection sliding table is provided with a placing plate for placing a PCB, the manipulator is detachably provided with a cover plate, the cover plate is provided with a clamping plate, and the clamping plate is provided with a clamping groove. The other side of the detection sliding table is movably provided with a machine moving table, the magnetostriction sensor is installed on the machine moving table, the side portion of the detection sliding table is provided with a transmission mechanism used for being in linkage with the mechanical arm and the machine moving table, and when the cover plate is placed and clamped on the placing plate, the machine moving table moves to the position above the cover plate. And the magnetostrictive sensor is matched with the magnetic sheet, so that nondestructive testing of the PCB is realized. According to the scheme, through a pulse signal dynamic feedback mechanism of the magnetic sheet and the magnetostriction sensor, defects such as welding spot cracks and pseudo soldering of the PCB can be directly captured.

Description

Technical Field

[0001] The present invention relates to the technical field of PCB processing, and in particular, to a PCB solder joint detection robot based on a magnetostrictive sensor. Background Art

[0002] In the related art, a magnetostrictive sensor works based on the magnetostrictive effect. The magnetostrictive sensor mainly consists of a waveguide, a movable magnetic ring, and an electronic chamber. The waveguide is made of a magnetostrictive material. When a current pulse is generated in the electronic chamber, a circumferential magnetic field is formed outside the waveguide. When the magnetic field of the magnetic ring intersects with the magnetic field of the waveguide, the Wiedemann effect (the interaction between the magnetic field and the current generates torsional strain) is triggered to form an ultrasonic pulse. This wave propagates at a fixed sound speed and is detected by the electronic chamber, so that the environmental information near the magnetic ring can be captured.

[0003] As a bridge connecting electronic components and a circuit board, the quality of a PCB solder joint directly affects signal transmission and power bearing. Most of the existing detections observe the solder joint situation through visual inspection, but it is impossible to know whether there are defects inside the solder joint. Therefore, it does not meet the existing requirements, and for this reason, we propose a PCB solder joint detection robot based on a magnetostrictive sensor. Summary of the Invention

[0004] The present invention provides a PCB solder joint detection robot based on a magnetostrictive sensor. The PCB solder joint detection robot based on a magnetostrictive sensor can automatically place a magnetic sheet corresponding to a solder joint on a PCB board, and use the magnetostrictive sensor to detect internal defects of the solder joint, thereby realizing non-destructive detection with high detection efficiency and accurate results, and solving the problem mentioned in the above background art that most of the existing detections observe the solder joint situation through visual inspection, but it is impossible to know whether there are defects inside the solder joint.

[0005] To achieve the above object, the present disclosure provides a PCB solder joint detection robot based on a magnetostrictive sensor, including a detection slide table and a magnetostrictive sensor. A manipulator is movably arranged on the detection slide table. A placement plate for placing a PCB board is installed on the detection slide table. A cover plate is detachably installed on the manipulator. A clamping plate is arranged on the cover plate, and a magnetic sheet is clamped on the clamping plate. A machine moving table is movably arranged on the other side of the detection slide table. The magnetostrictive sensor is installed on the machine moving table. A transmission mechanism for linking the manipulator and the machine moving table is arranged on the side of the detection slide table. When the cover plate is placed and clamped on the placement plate, the machine moving table moves above the cover plate, and the magnetostrictive sensor cooperates with the magnetic sheet to realize non-destructive detection of the PCB board.

[0006] Optionally, a three-axis electric slide is installed on the same side of the manipulator. The manipulator is connected to the Y-axis slider of the three-axis electric slide. The transmission mechanism includes a support table connected to the X-axis slider of the three-axis electric slide and a lifting column installed at the bottom of the Y-axis slider of the three-axis electric slide. A sliding rod is slidably inserted into the support table. An inclined block is installed at one end of the sliding rod adjacent to the lifting column. A compression spring is installed between the inclined block and the support table. The bottom end of the lifting column is in sliding contact with the slope of the inclined block. A sliding rack is connected between the machine moving table and the inclined block, and the sliding rack moves synchronously with the inclined block.

[0007] Optionally, two travel gears are rotatably installed on the side of the inclined block. A fixed rack is installed on the bottom side of the support table. The two travel gears are both meshed with the fixed rack and the sliding rack.

[0008] Optionally, a three-axis electric slide is installed on the same side of the manipulator. The manipulator is connected to the Y-axis slider of the three-axis electric slide. The transmission mechanism includes a support slide installed at the bottom side of the X-axis slider of the three-axis electric slide. A vertical piston cylinder is installed on the support slide. A vertical piston rod is installed at the bottom side of the Y-axis slider of the three-axis electric slide. A vertical piston disk is installed at the end of the vertical piston rod. The vertical piston disk is in sliding fit with the inner wall of the vertical piston cylinder. The support slide extends to one side of the machine moving table, and a horizontal piston cylinder is installed on the support slide. A horizontal piston rod is connected to the back side of the machine moving table. A horizontal piston disk is connected to the end of the horizontal piston rod. The horizontal piston disk is in sliding fit with the inner wall of the horizontal piston cylinder. An air pipe is connected between the horizontal piston cylinder and the vertical piston cylinder.

[0009] Optionally, an inert gas is filled inside the vertical piston cylinder, and the support slide is configured as a moving table with pulleys at the bottom.

[0010] Optionally, a support cross arm is fixedly installed on the side of the machine moving table, and the support cross arm is slidably inserted and connected to the bottom side of the detection slide.

[0011] Optionally, an activity groove is formed on the side of the cover plate. The clamping plate is slidably clamped in the activity groove. The magnetic sheet on the clamping plate keeps a distance from the PCB board on the placement plate. An elastic member is installed on the clamping plate. The elastic member is made of non-metal. The other side of the elastic member is installed in the activity groove.

[0012] Optionally, two slots are opened on one side of the cover plate adjacent to the machine moving table. Driving gears are rotatably installed at the openings of the two slots. A worm is coaxially installed on the driving gears. Two rotating shafts are rotatably installed inside the cover plate. Cams are fixedly installed on the rotating shafts. The cams are in contact with the bottom surface of the clamping plate. Worms are fixedly installed at the ends of the rotating shafts. The worm is meshed with the worm gear. A walking rack is arranged on the side of the machine moving table. The walking rack is movably meshed with the driving gear.

[0013] Optionally, sleeves are installed on both sides of the machine moving table. The walking rack is slidably inserted into the sleeves. A walking rod is installed on the bottom side of the walking rack. A fixing plate is fixedly installed on the side of the detection sliding table. A walking chute for guiding the movement of the walking rod is opened on the fixing plate. The walking chute includes an inlet and outlet straight groove, a parallel straight groove and an inclined groove. The inlet and outlet straight groove, the parallel straight groove and the inclined groove are communicated in sequence. The walking rod is slidably inserted into the walking chute.

[0014] Optionally, a limiting strip for limiting the PCB board is arranged on the placing plate. An inserting block is integrally connected to the limiting strip. A positioning groove is opened on the cover plate. The positioning groove is movably clamped with the inserting block. A positioning plate is connected to the side of the cover plate. The positioning plate is arranged as an L-shaped plate for positioning with the placing plate.

[0015] Through the above technical solutions, when the PCB solder joint detection robot based on the magnetostrictive sensor provided by the present disclosure is in use: through the pulse signal dynamic feedback mechanism of the magnetic sheet and the magnetostrictive sensor, defects such as cracks and virtual soldering of the solder joints of the PCB board can be directly captured. Compared with traditional visual inspection, the detection is deeper, and there is no need to damage the solder joint structure, avoiding secondary damage to precision electronic components and ensuring the integrity and reliability of the product; moreover, through the setting of the transmission mechanism, when the manipulator clamps the cover plate on the placing plate, the machine moving table moves above the cover plate to realize automatic detection, which not only simplifies the operation steps but also reduces human intervention and improves the accuracy and consistency of detection; and by moving along the detection sliding table, the rotation of the cam can be realized by using the walking rod and the walking chute, so as to change the distance between the magnetic sheet and the magnetostrictive sensor, and multiple detections at different positions can be carried out during the same detection process. This multiple detection method further improves the accuracy of non-contact detection.

[0016] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the following specific implementation manners, but do not constitute a limitation to the present disclosure. In the drawings: Figure 1 Schematic diagram of the overall three-dimensional structure of the present invention.

[0018] Figure 2 Schematic diagram of the exploded three-dimensional structure of the parts of the present invention.

[0019] Figure 3 Schematic diagram of the overall sectional three-dimensional structure of the present invention.

[0020] Figure 4 Schematic diagram of a transmission component structure of the present invention.

[0021] Figure 5 Schematic diagram of another transmission component structure of the present invention.

[0022] Figure 6 Schematic diagram of the placement plate and the cover plate structure of the present invention.

[0023] Figure 7 For the present invention Figure 1 Schematic diagram of the enlarged structure at position A.

[0024] Figure 8 Schematic diagram of the structure of the walking rack and the cam in the first state of the present invention.

[0025] Figure 9 Schematic diagram of the structure of the walking rack and the cam in the second state of the present invention.

[0026] Figure 10 Schematic diagram of the structure of the present invention when the distance between the magnetic sheet and the magnetostrictive sensor is J.

[0027] Figure 11 Schematic diagram of the structure of the present invention when the distance between the magnetic sheet and the magnetostrictive sensor is K.

[0028] Description of reference numerals: 10, placing plate; 11, limiting strip; 12, inserting block; 20, magnetostrictive sensor; 30, magnetic sheet; 110, detection slide; 120, three-axis electric slide; 130, manipulator; 140, cover plate; 141, movable groove; 142, elastic member; 143, positioning plate; 144, positioning groove; 145, inserting slot; 150, clamping plate; 210, machine moving platform; 220, supporting cross arm; 310, lifting column; 320, inclined block; 330, sliding rod; 340, compression spring; 350, stroke gear; 360, fixed rack; 370, sliding rack; 380, supporting table; 3101, vertical piston rod; 3201, vertical piston disk; 3301, vertical piston cylinder; 3401, air pipe; 3501, horizontal piston cylinder; 3601, horizontal piston disk; 3701, horizontal piston rod; 3801, supporting slide; 410, driving gear; 420, worm; 430, worm gear; 440, rotating shaft; 450, cam; 510, sleeve; 520, walking rack; 530, walking rod; 540, fixing plate; 550, walking chute; 551, inlet and outlet straight groove; 552, parallel straight groove; 553, inclined groove. Detailed implementation manners

[0029] To make the above objects, features, and advantages of the present disclosure more obvious and understandable, the following will describe the detailed implementation manners of the present disclosure with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present disclosure. However, the present disclosure can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present disclosure. Therefore, the present disclosure is not limited by the specific embodiments disclosed below.

[0030] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present disclosure. The terms "first" and "second" used are for distinguishing one element from another and do not have an order or importance. In addition, in the following description when referring to the accompanying drawings, the same reference numerals in different drawings represent the same or similar elements, and the present disclosure will not repeat them here.

[0031] In the present disclosure, unless otherwise clearly specified and defined, terms such as "installation", "connection", "linkage", "fixation" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0032] According to some embodiments of the present disclosure, there is provided a PCB solder joint detection robot based on a magnetostrictive sensor. As shown in Figures 1 - 2 the PCB solder joint detection robot based on a magnetostrictive sensor includes a detection slide table 110 and a magnetostrictive sensor 20. A manipulator 130 is movably arranged on the detection slide table 110. A placement plate 10 for placing a PCB board is installed on the detection slide table 110. A cover plate 140 is detachably installed on the manipulator 130. A clamping plate 150 is arranged on the cover plate 140. A magnetic sheet 30 is clamped on the clamping plate 150. A machine moving table 210 is movably arranged on the other side of the detection slide table 110. The magnetostrictive sensor 20 is installed on the machine moving table 210. A transmission mechanism for linking the manipulator 130 and the machine moving table 210 is arranged on the side of the detection slide table 110. When the cover plate 140 is placed and clamped on the placement plate 10, the machine moving table 210 moves above the cover plate 140, and the magnetostrictive sensor 20 cooperates with the magnetic sheet 30 to realize non-destructive detection of the PCB board.

[0033] In this way, through the setting of the transmission mechanism, when the manipulator 130 clamps the cover plate 140 on the placement plate 10, the machine moving table 210 moves above the cover plate 140 to realize automatic detection. Through the pulse signal feedback between the magnetic sheet 30 and the magnetostrictive sensor 20, for normal solder joints, the magnetic field is evenly distributed and the stress wave signal is stable; for problematic solder joints, cracks or pores cause magnetic field distortion, triggering abnormal stress wave reflection signals (the waveform appears with burrs or amplitude mutations), so as to capture defects such as cracks and false soldering of the PCB board solder joints and realize non-destructive detection.

[0034] In addition, a support cross arm 220 is fixedly installed on the side of the machine moving table 210. The support cross arm 220 is inserted and slidably connected to the bottom side of the detection slide table 110. A slot hole is opened on the side of the cover plate 140, and the manipulator 130 is inserted into the slot hole to fork up the cover plate 140.

[0035] Moreover, a limiting strip 11 for limiting the PCB board is provided on the placement plate 10. An insertion block 12 is integrally connected to the limiting strip 11. A positioning groove 144 is formed on the cover plate 140, and the positioning groove 144 is movably engaged with the insertion block 12. A positioning plate 143 is connected to the side of the cover plate 140. The positioning plate 143 is provided as an L-shaped plate for positioning with the placement plate 10. A three-axis electric slide 120 is installed on the same side of the manipulator 130, and the manipulator 130 is connected to the Y-axis slider of the three-axis electric slide 120.

[0036] Specifically, the layout of the clamping plate 150 corresponds to the PCB board to be detected. The magnetic sheet 30 is detachably engaged with the clamping plate 150, supporting modular setting and facilitating adaptation to PCB boards of different specifications. The three-axis electric slide 120 drives the manipulator 130 to fork up the cover plate 140 and approach the detection slide 110. By means of the setting of the positioning plate 143, the edge of the cover plate 140 can be quickly aligned with the edge of the placement plate 10, and finally moved downwards to engage the insertion block 12 with the positioning groove 144, completing the docking of the cover plate 140 and the placement plate 10, thereby ensuring that the clamping plate 150 and the magnetic sheet 30 thereon can smoothly approach the PCB board and the solder joints below.

[0037] Through the above technical solution, when the PCB solder joint detection robot provided by the present disclosure is in use, through the pulse signal dynamic feedback mechanism of the magnetic sheet 30 and the magnetostrictive sensor 20, defects such as cracks and virtual soldering of the PCB board solder joints can be directly captured. Compared with traditional visual inspection, the detection is deeper, and there is no need to damage the solder joint structure, avoiding secondary damage to precision electronic components and ensuring the integrity and reliability of the product. Moreover, through the setting of the transmission mechanism, when the manipulator 130 clamps the cover plate 140 on the placement plate 10, the machine moving platform 210 moves above the cover plate 140 to realize automatic detection, which not only simplifies the operation steps but also reduces human intervention, improving the accuracy and consistency of the detection.

[0038] It should be noted that the detection slide 110 can be an electric slide or a pneumatic slide. The three-axis electric slide 120 realizes precise movement and positioning of an object in three-dimensional space through three independent electric axes (usually the X, Y, and Z axes). The magnetostrictive sensor 20 is a high-precision displacement measurement device based on the magnetostrictive effect. The detection slide 110, the three-axis electric slide 120, and the magnetostrictive sensor 20 are all products of the prior art, and suitable prior art is also selected in this embodiment. Therefore, the relevant models and principles are not elaborated herein.

[0039] In some embodiments, in the implementation manner where a transmission mechanism for linking the manipulator 130 and the machine moving platform 210 is provided on the side of the detection slide 110, refer to Figure 2 、 Figure 3 and Figure 5As shown in the figure, the transmission mechanism includes a support table 380 connected to the X-axis slider of the three-axis electric slide 120 and a lifting column 310 installed at the bottom of the Y-axis slider of the three-axis electric slide 120. A sliding rod 330 is slidably inserted on the support table 380. One end of the sliding rod 330 adjacent to the lifting column 310 is provided with an inclined block 320. A compression spring 340 is installed between the inclined block 320 and the support table 380. The bottom end of the lifting column 310 is in sliding contact with the slope of the inclined block 320. A sliding rack 370 is connected between the machine moving table 210 and the inclined block 320, and the sliding rack 370 moves synchronously with the inclined block 320.

[0040] Two travel gears 350 are rotatably installed on the side of the inclined block 320, and a fixed rack 360 is installed on the bottom side of the support table 380. The two travel gears 350 are both meshed with the fixed rack 360 and the sliding rack 370.

[0041] Specifically, when the manipulator 130 moves downward, the lifting column 310 presses the inclined block 320 to compress the compression spring 340, and the inclined block 320 retreats. When the inclined block 320 retreats, it drives the travel gears 350 to roll meshingly on the fixed rack 360. Due to the rolling travel of the two travel gears 350, the actual moving distance of the two travel gears 350 will be greater than the moving distance of the inclined block 320. This amplified moving distance is transmitted to the sliding rack 370, so the moving distance of the sliding rack 370 is increased, enabling the machine moving table 210 to quickly move close to and move onto the cover plate 140, realizing automatic movement and detection.

[0042] In some other embodiments, in the embodiment where a transmission mechanism for linking the manipulator 130 and the machine moving table 210 is provided on the side of the detection slide 110, refer to Figure 4 As shown in the figure, the transmission mechanism includes a support slide 3801 installed at the bottom side of the X-axis slider of the three-axis electric slide 120. A vertical piston cylinder 3301 is installed on the support slide 3801. A vertical piston rod 3101 is installed at the bottom side of the Y-axis slider of the three-axis electric slide 120. A vertical piston disk 3201 is installed at the end of the vertical piston rod 3101. The vertical piston disk 3201 is in sliding fit with the inner wall of the vertical piston cylinder 3301. The support slide 3801 extends to one side of the machine moving table 210, and a horizontal piston cylinder 3501 is installed on the support slide 3801. A horizontal piston rod 3701 is connected to the back side of the machine moving table 210. A horizontal piston disk 3601 is connected to the end of the horizontal piston rod 3701. The horizontal piston disk 3601 is in sliding fit with the inner wall of the horizontal piston cylinder 3501. An air pipe 3401 is connected between the horizontal piston cylinder 3501 and the vertical piston cylinder 3301.

[0043] The inside of the vertical piston cylinder 3301 is filled with inert gas, and the support slide 3801 is set as a moving table with pulleys at the bottom.

[0044] Specifically, the vertical piston rod 3101 moves downward to squeeze the gas in the vertical piston cylinder 3301, and the gas enters the horizontal piston cylinder 3501 through the air pipe 3401, thereby pushing the horizontal piston rod 3701 outwards to realize the movement of the machine moving table 210.

[0045] In some embodiments of the present disclosure, referring to Figures 6 - 11 As shown in, an activity groove 141 is provided on the side of the cover plate 140. The clamping plate 150 is slidably clamped in the activity groove 141. The magnetic sheet 30 on the clamping plate 150 keeps a distance from the PCB board on the placement plate 10. An elastic member 142 is installed on the clamping plate 150. The elastic member 142 is set as a non-metallic member for anti-magnetic interference. The other side of the elastic member 142 is installed in the activity groove 141. In this embodiment, the elastic member 142 can be set as a rubber column or a sponge column.

[0046] Specifically, two slots 145 are provided on the side of the cover plate 140 adjacent to the machine moving table 210. Driving gears 410 are rotatably installed at the openings of the two slots 145. A worm 420 is coaxially installed on the driving gear 410. Two rotating shafts 440 are rotatably installed inside the cover plate 140. A cam 450 is fixedly installed on the rotating shaft 440. The slot 145 communicates with the activity groove 141. The cam 450 contacts the bottom surface of the clamping plate 150. A worm gear 430 is fixedly installed at the end of the rotating shaft 440. The worm 420 meshes with the worm gear 430. A traveling rack 520 is provided on the side of the machine moving table 210. The traveling rack 520 is movably meshed with the driving gear 410.

[0047] Sleeves 510 are installed on both sides of the machine moving table 210. The traveling rack 520 is slidably inserted into the sleeves 510. And a traveling rod 530 is installed on the bottom side of the traveling rack 520. A fixing plate 540 is fixedly installed on the side of the detection sliding table 110. A traveling chute 550 for guiding the movement of the traveling rod 530 is provided on the fixing plate 540. The traveling chute 550 includes an access straight groove 551, a parallel straight groove 552 and an inclined groove 553. The access straight groove 551, the parallel straight groove 552 and the inclined groove 553 are connected in sequence. The traveling rod 530 is slidably inserted into the traveling chute 550. Specifically, a transition fillet is provided at the connection between the inclined groove 553 and the parallel straight groove 552 to prevent the traveling rod 530 from getting stuck.

[0048] Among them, when the machine moving table 210 approaches the cover plate 140, the traveling rack 520 is inserted into the slot 145, and the traveling rod 530 enters the access straight groove 551, causing the cam 450 to rotate.

[0049] For example, in some embodiments, referring to Figure 8 and Figure 10As shown, the cam 450 can have a first state. In the first state, when the walking rod 530 is located in the parallel straight groove 552, the base circle vertex of the cam 450 contacts the card plate 150, and the distance between the magnetic sheet 30 and the magnetostrictive sensor 20 is J.

[0050] For example, in some embodiments, reference Figure 9 and Figure 11 As shown, the cam 450 can have a second state. In the second state, when the walking rod 530 is located in the oblique groove 553, the lift vertex of the cam 450 conflicts with the clamping plate 150. In the second state, the distance between the magnetic sheet 30 and the magnetostrictive sensor 20 is K.

[0051] Specifically, J<K.

[0052] The manipulator 130 drives the machine platform 210 to move along the detection slide 110, and the walking rod 530 and the walking slide 550 can be used to realize the rotation of the cam 450, thereby changing the distance between the magnetic sheet 30 and the magnetostrictive sensor 20, and performing multiple detections at different positions during the same detection process. This multiple detection method further improves the accuracy of non-contact detection.

[0053] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0054] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0055] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. The PCB solder joint detection robot based on a magnetostrictive sensor, comprising a detection slide table (110) and a magnetostrictive sensor (20), wherein the detection slide table (110) is movably provided with a manipulator (130), and is characterized in that: A placement board (10) for placing a PCB board is installed on the detection slide table (110). A cover plate (140) is detachably installed on the manipulator (130). A clamping plate (150) is arranged on the cover plate (140). A magnetic sheet (30) is clamped on the clamping plate (150). A machine moving table (210) is movably arranged on the other side of the detection slide table (110). The magnetostrictive sensor (20) is installed on the machine moving table (210). A transmission mechanism for linking the manipulator (130) and the machine moving table (210) is arranged on the side of the detection slide table (110). When the cover plate (140) is placed and clamped on the placement board (10), the machine moving table (210) moves above the cover plate (140). The magnetostrictive sensor (20) cooperates with the magnetic sheet (30) to realize non-destructive detection of the PCB board.

2. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 1, and is characterized in that: A three-axis electric slide table (120) is installed on the same side of the manipulator (130). The manipulator (130) is connected to the Y-axis slider of the three-axis electric slide table (120). The transmission mechanism includes a support table (380) connected to the X-axis slider of the three-axis electric slide table (120) and a lifting column (310) installed at the bottom of the Y-axis slider of the three-axis electric slide table (120). A sliding rod (330) is slidably inserted on the support table (380). An inclined plane block (320) is installed at one end of the sliding rod (330) adjacent to the lifting column (310). A compression spring (340) is installed between the inclined plane block (320) and the support table (380). The bottom end of the lifting column (310) is in sliding contact with the slope of the inclined plane block (320). A sliding rack (370) is connected between the machine moving table (210) and the inclined plane block (320). The sliding rack (370) moves synchronously with the inclined plane block (320).

3. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 2, and is characterized in that: Two travel gears (350) are rotatably installed on the side of the inclined plane block (320). A fixed rack (360) is installed on the bottom side of the support table (380). The two travel gears (350) are meshed with the fixed rack (360) and the sliding rack (370).

4. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 1, and is characterized in that: A three-axis electric slide (120) is installed on the same side of the manipulator (130). The manipulator (130) is connected to the Y-axis slider of the three-axis electric slide (120). The transmission mechanism includes a support slide (3801) installed on the bottom side of the X-axis slider of the three-axis electric slide (120). A vertical piston cylinder (3301) is installed on the support slide (3801). A vertical piston rod (3101) is installed on the bottom side of the Y-axis slider of the three-axis electric slide (120). A vertical piston disc (3201) is installed at the end of the vertical piston rod (3101). The vertical piston disc (3201) is slidably fitted with the inner wall of the vertical piston cylinder (3301). The support slide (3801) extends to one side of the machine moving table (210), and a horizontal piston cylinder (3501) is installed on the support slide (3801). A horizontal piston rod (3701) is connected to the back side of the machine moving table (210). A horizontal piston disc (3601) is connected to the end of the horizontal piston rod (3701). The horizontal piston disc (3601) is slidably fitted with the inner wall of the horizontal piston cylinder (3501). An air pipe (3401) is connected between the horizontal piston cylinder (3501) and the vertical piston cylinder (3301).

5. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 4, and is characterized in that: The vertical piston cylinder (3301) is filled with inert gas. The support slide (3801) is set as a moving table with pulleys at the bottom.

6. The PCB solder joint detection robot based on a magnetostrictive sensor according to any one of claims 1-5, and is characterized in that: A support cross arm (220) is fixedly installed on the side of the machine moving table (210). The support cross arm (220) is inserted and slidably connected to the bottom side of the detection slide (110).

7. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 1, and is characterized in that: An activity slot (141) is formed on the side of the cover plate (140). The clamping plate (150) is slidably clamped in the activity slot (141). The magnetic sheet (30) on the clamping plate (150) keeps a distance from the PCB board on the placement plate (10). An elastic member (142) is installed on the clamping plate (150). The elastic member (142) is made of non-metal. The other side of the elastic member (142) is installed in the activity slot (141).

8. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 1, and is characterized in that: Two slots (145) are formed on the side of the cover plate (140) adjacent to the machine moving table (210). Driving gears (410) are rotatably installed at the openings of the two slots (145). A worm (420) is coaxially installed on the driving gear (410). Two rotating shafts (440) are rotatably installed inside the cover plate (140). Cams (450) are fixedly installed on the rotating shafts (440). The cams (450) are in contact with the bottom surface of the clamping plate (150). Worms (430) are fixedly installed at the ends of the rotating shafts (440). The worm (420) is meshed with the worm (430). A traveling rack (520) is arranged on the side of the machine moving table (210). The traveling rack (520) is movably meshed with the driving gear (410).

9. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 8, and is characterized in that: Sleeves (510) are installed on both sides of the machine moving table (210). A traveling rack (520) is slidably inserted into the sleeves (510). A traveling rod (530) is installed on the bottom side of the traveling rack (520). A fixing plate (540) is fixedly installed on the side of the detection sliding table (110). A traveling chute (550) for guiding the movement of the traveling rod (530) is formed on the fixing plate (540). The traveling chute (550) includes an access straight groove (551), a parallel straight groove (552), and an inclined groove (553). The access straight groove (551), the parallel straight groove (552), and the inclined groove (553) are connected in sequence. The traveling rod (530) is slidably inserted into the traveling chute (550).

10. The PCB solder joint detection robot based on a magnetostrictive sensor according to claim 1, and is characterized in that: A limiting strip (11) for limiting the PCB board is arranged on the placing plate (10). A plug (12) is integrally connected to the limiting strip (11). A positioning groove (144) is formed on the cover plate (140). The positioning groove (144) is movably engaged with the plug (12). A positioning plate (143) is connected to the side of the cover plate (140). The positioning plate (143) is arranged as an L-shaped plate for positioning with the placing plate (10).

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