PCB solder joint detection robot based on magnetostrictive sensor

Abstract

The present invention relates to the field of PCB processing technology and discloses a PCB solder joint inspection robot based on a magnetostrictive sensor. The robot comprises a detection slide, a magnetostrictive sensor, a manipulator movably provided on the detection slide, a placement plate mounted on the detection slide for placing a PCB board, a cover plate detachably mounted on the manipulator, a clamping plate mounted on the cover plate, and a magnetic disc engaged with the clamping plate. A machine platform movably provided on the other side of the detection slide, the magnetostrictive sensor mounted on the machine platform, and a transmission mechanism for linking the manipulator and the machine platform. When the cover plate is placed and engaged with the placement plate, the machine platform moves above the cover plate, and the magnetostrictive sensor cooperates with the magnetic disc to perform non-destructive inspection of the PCB board. This solution can directly detect defects such as cracks and cold solder joints in PCB board solder joints through a dynamic feedback mechanism of pulse signals between the magnetic disc and the magnetostrictive sensor.

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 related technologies, magnetostrictive sensors operate based on the magnetostrictive effect. They primarily consist of a waveguide tube, a movable magnetic ring, and an electronics chamber. The waveguide tube is made of magnetostrictive material. When the electronics chamber generates a current pulse, a circular magnetic field forms outside the waveguide tube. When the magnetic field of the magnetic ring intersects with the magnetic field of the waveguide tube, the Wiedemann effect (the interaction of magnetic field and current produces torsional strain) is triggered, generating an ultrasonic pulse. This wave propagates at a constant speed and is detected by the electronics chamber, thereby capturing information about the environment near the magnetic ring.

[0003] PCB solder joints serve as the bridge connecting electronic components and circuit boards. Their quality directly affects signal transmission and power carrying. Existing inspections mostly rely on visual inspection to observe the solder joints, but it is impossible to understand whether there are defects inside the solder joints. Therefore, this does not meet existing needs. To address this, we propose a PCB solder joint inspection robot based on magnetostrictive sensors. Summary of the Invention

[0004] The present invention provides a PCB solder joint inspection robot based on a magnetostrictive sensor. The robot can automatically place magnetic sheets on corresponding solder joints on a PCB board and use the magnetostrictive sensor to detect internal defects in the solder joints, thereby achieving non-destructive testing with high detection efficiency and accurate results. This solves the problem mentioned in the above background technology that most existing inspections rely on visual inspection to observe the solder joint condition, but cannot determine whether there are defects inside the solder joints.

[0005] To achieve the above objectives, the present disclosure provides a PCB solder joint inspection robot based on a magnetostrictive sensor, comprising an inspection slide and a magnetostrictive sensor. The inspection slide is movably provided with a manipulator, a placement plate for placing a PCB board is mounted on the inspection slide, a cover plate is detachably mounted on the manipulator, a card plate is provided on the cover plate, and a magnetic sheet is engaged with the card plate. A machine transfer stage is movably provided on the other side of the inspection slide, the magnetostrictive sensor is mounted on the machine transfer stage, and a transmission mechanism for linking the manipulator and the machine transfer stage is provided on the side of the inspection slide. When the cover plate is placed and engaged with the placement plate, the machine transfer stage moves above the cover plate, and the magnetostrictive sensor cooperates with the magnetic sheet to achieve non-destructive inspection 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 platform 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 on the support platform, 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 platform, 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 platform and the inclined block, and the sliding rack moves synchronously with the inclined block.

[0007] Optionally, two travel gears are rotatably mounted on the side of the inclined plane block, a fixed rack is mounted on the bottom side of the support platform, and the two travel gears are 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, and the manipulator is connected to the Y-axis slider of the three-axis electric slide. The transmission mechanism includes a supporting slide installed on the bottom side of the X-axis slider of the three-axis electric slide, and a vertical piston cylinder is installed on the supporting slide. A vertical piston rod is installed on the bottom side of the Y-axis slider of the three-axis electric slide, and a vertical piston disk is installed on the end of the vertical piston rod. The vertical piston disk slides in contact with the inner wall of the vertical piston cylinder. The supporting slide extends to one side of the machine moving platform, and a transverse piston cylinder is installed on the supporting slide. A transverse piston rod is connected to the back side of the machine moving platform, and a transverse piston rod is connected to the end of the transverse piston rod. The transverse piston disk slides in contact with the inner wall of the transverse piston cylinder, and an air pipe is connected between the transverse piston cylinder and the vertical piston cylinder.

[0009] Optionally, the interior of the vertical piston cylinder is filled with an inert gas, and the supporting slide is configured as a movable platform with pulleys at the bottom.

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

[0011] Optionally, a movable groove is provided on the side of the cover plate, and the card plate is slidably engaged in the movable groove. The magnetic sheet on the card plate maintains a distance from the PCB board on the placement plate. An elastic part is installed on the card plate, and the elastic part is set to be a non-metallic part. The other side of the elastic part is installed in the movable groove.

[0012] Optionally, two slots are provided on one side of the cover plate adjacent to the machine moving platform, and driving gears are rotatably installed in the two slot notches, and a worm is coaxially installed on the driving gear. Two rotating shafts are rotatably installed inside the cover plate, and a cam is fixedly installed on the rotating shaft, and the cam contacts the bottom surface of the clamping plate. A worm gear is fixedly installed on the end of the rotating shaft, and the worm is engaged with the worm gear. A traveling rack is provided on the side of the machine moving platform, and the traveling rack is movably engaged with the driving gear.

[0013] Optionally, sleeves are installed on both sides of the machine moving platform, the walking rack is slidably inserted in the sleeves, and a walking rod is installed on the bottom side of the walking rack, and a fixed plate is fixedly installed on the side of the detection slide, and a walking slide is provided on the fixed plate to guide the movement of the walking rod, and the walking slide includes an in-and-out straight groove, a parallel straight groove and an oblique groove, the in-and-out straight groove, the parallel straight groove and the oblique groove are connected in sequence, and the walking rod is slidably inserted into the walking slide.

[0014] Optionally, the placement plate is provided with a limit bar for limiting the PCB board, the limit bar is integrally connected to an insert block, a positioning groove is provided on the cover plate, the positioning groove is movably engaged with the insert block, a positioning plate is connected to the side of the cover plate, and the positioning plate is configured as an L-shaped plate for positioning with the placement plate.

[0015] Through the above technical solution, the PCB solder joint inspection robot based on a magnetostrictive sensor provided by the present disclosure can directly detect defects such as cracks and cold solder joints in PCB board solder joints through the dynamic feedback mechanism of pulse signals between the magnetic disk and the magnetostrictive sensor. Compared with traditional visual inspection, the inspection is more in-depth and does not require destroying the solder joint structure, thus avoiding secondary damage to precision electronic components and ensuring product integrity and reliability. Moreover, through the configuration of the transmission mechanism, when the robot arm clamps the cover plate on the placement plate, the machine platform moves to the top of the cover plate, realizing automated inspection, which not only simplifies the operation steps, but also reduces human intervention and improves the accuracy and consistency of inspection. Moreover, when moving along the inspection slide, the travel rod and travel slide groove can be used to realize the rotation of the cam, thereby changing the distance between the magnetic disk and the magnetostrictive sensor, allowing multiple inspections at different positions to be performed during the same inspection process. This multiple inspection method further improves the accuracy of non-contact inspection.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following detailed description, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the exploded three-dimensional structure of the parts of the present invention.

[0020] Figure 3 It is a schematic diagram of the overall cross-sectional three-dimensional structure of the present invention.

[0021] Figure 4 The figure is a schematic diagram of the structure of a transmission assembly of the present invention.

[0022] Figure 5 This is a schematic diagram of another transmission assembly structure of the present invention.

[0023] Figure 6 It is a schematic diagram of the placement plate and cover plate structure of the present invention.

[0024] Figure 7 For the present invention Figure 1 A schematic diagram of the enlarged structure.

[0025] Figure 8 It is a structural schematic diagram of the traveling rack and cam of the present invention in the first state.

[0026] Figure 9 It is a structural schematic diagram of the traveling rack and cam in the second state of the present invention.

[0027] Figure 10 This is a structural diagram of the present invention when the distance between the magnetic sheet and the magnetostrictive sensor is J.

[0028] Figure 11 This is a structural diagram of the present invention when the distance between the magnetic sheet and the magnetostrictive sensor is K.

[0029] Explanation of reference numerals: 10, placement plate; 11, limit strip; 12, insert 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, slot; 150, card plate; 210, machine moving stage; 220, supporting cross arm; 310, lifting column; 320, inclined plane block; 330, sliding rod; 340, compression spring; 350, travel gear; 360, fixed rack; 370, slide Travel rack; 380, support platform; 3101, vertical piston rod; 3201, vertical piston disc; 3301, vertical piston cylinder; 3401, air pipe; 3501, transverse piston cylinder; 3601, transverse piston disc; 3701, transverse piston rod; 3801, support slide; 410, drive gear; 420, worm; 430, worm wheel; 440, rotating shaft; 450, cam; 510, sleeve; 520, travel rack; 530, travel rod; 540, fixed plate; 550, travel slide; 551, inlet and outlet straight groove; 552, parallel straight groove; 553, oblique groove. DETAILED DESCRIPTION

[0030] To make the above-mentioned objects, features, and advantages of the present disclosure more clearly understood, specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present disclosure. However, the present disclosure can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without violating the scope of the present disclosure. Therefore, the present disclosure is not limited to the specific embodiments disclosed below.

[0031] In the description of the present disclosure, it is necessary to understand that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. The terms "first" and "second" are used to distinguish one element from another and do not have sequentiality or importance. In addition, when the following description refers to the drawings, the same figure marks in different drawings represent the same or similar elements, which are not repeated in this disclosure.

[0032] In this disclosure, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0033] According to some embodiments of the present disclosure, a PCB solder joint detection robot based on a magnetostrictive sensor is provided, referring to Figure 1-Figure 2 As shown in the figure, the PCB solder joint inspection robot based on the magnetostrictive sensor includes a detection slide 110 and a magnetostrictive sensor 20. The detection slide 110 is movably provided with a manipulator 130. A placement plate 10 for placing a PCB board is installed on the detection slide 110. The manipulator 130 is detachably provided with a cover plate 140. A card plate 150 is provided on the cover plate 140. A magnetic sheet 30 is engaged with the card plate 150. A machine moving stage 210 is movably provided on the other side of the detection slide 110. The magnetostrictive sensor 20 is installed on the machine moving stage 210. A transmission mechanism for linking the manipulator 130 and the machine moving stage 210 is provided on the side of the detection slide 110. When the cover plate 140 is placed and engaged on the placement plate 10, the machine moving stage 210 moves to above the cover plate 140, and the magnetostrictive sensor 20 cooperates with the magnetic sheet 30 to realize non-destructive inspection of the PCB board.

[0034] Thus, through the configuration of the transmission mechanism, when the robot arm 130 clamps the cover plate 140 on the placement plate 10, the robot platform 210 moves to the top of the cover plate 140, achieving automated testing. Through the pulse signal feedback from the magnetic sheet 30 and the magnetostrictive sensor 20, a normal solder joint has a uniform magnetic field distribution and a smooth stress wave signal. However, cracks or pores in problematic solder joints cause magnetic field distortion, triggering abnormal stress wave reflection signals (waveform glitches or sudden changes in amplitude), thereby detecting defects such as solder cracks and cold solder joints on the PCB board, achieving non-destructive testing.

[0035] In addition, a support cross arm 220 is fixedly installed on the side of the machine moving platform 210, and the support cross arm 220 is slidably connected to the bottom side of the detection slide 110. A slot is opened on the side of the cover 140, and the robot 130 is plugged into the slot to fork the cover 140.

[0036] Furthermore, the placement plate 10 is provided with a limit bar 11 for limiting the position of the PCB board. The limit bar 11 is integrally connected to the limit bar 11. The cover plate 140 is provided with a positioning slot 144, which movably engages with the insert block 12. A positioning plate 143 is connected to the side of the cover plate 140. The positioning plate 143 is configured as an L-shaped plate for positioning with the placement plate 10. A three-axis electric slide 120 is mounted on the same side as the robot 130. The robot 130 is connected to the Y-axis slider of the three-axis electric slide 120.

[0037] Specifically, the layout of the card plate 150 corresponds to the PCB being inspected, and the magnetic sheet 30 and the card plate 150 are removably engageable, supporting a modular setup to easily accommodate PCBs of varying specifications. The three-axis electric slide 120 drives the manipulator 130 to fork the cover plate 140 and bring it close to the inspection slide 110. Using the positioning plate 143, the cover plate 140 can be quickly aligned with the edge of the placement plate 10. Finally, the cover plate 140 is lowered, allowing the insert 12 to engage with the positioning slot 144, completing the docking of the cover plate 140 with the placement plate 10. This ensures that the card plate 150 and its attached magnetic sheet 30 can smoothly approach the PCB and solder joints below.

[0038] Through the above technical solution, the PCB solder joint inspection robot based on the magnetostrictive sensor provided by the present disclosure can directly capture defects such as cracks and cold solder joints in the solder joints of the PCB board through the dynamic feedback mechanism of the pulse signal of the magnetic piece 30 and the magnetostrictive sensor 20 when in use. Compared with traditional visual inspection, the inspection is more in-depth and there is no need to destroy the solder joint structure, thus avoiding secondary damage to the precision electronic components and ensuring the integrity and reliability of the product. Moreover, through the setting of the transmission mechanism, when the robot 130 clamps the cover plate 140 on the placement plate 10, the machine transfer platform 210 moves to the top of the cover plate 140 to realize automated inspection, which not only simplifies the operation steps, but also reduces human intervention and improves the accuracy and consistency of inspection.

[0039] It should be noted that the detection slide 110 can be either an electric or pneumatic slide. The three-axis electric slide 120 uses three independent electric axes (typically the X, Y, and Z axes) to achieve precise movement and positioning of objects in three-dimensional space. 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 existing technologies, and this embodiment also uses appropriate existing technologies. Therefore, the relevant models and principles are not detailed here.

[0040] In some embodiments, a transmission mechanism for linking the manipulator 130 and the machine platform 210 is provided on the side of the detection slide 110. Figure 2 、 Figure 3 and Figure 5As shown in the figure, the transmission mechanism includes a support platform 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 platform 380. An inclined 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 block 320 and the support platform 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 platform 210 and the inclined block 320. The sliding rack 370 moves synchronously with the inclined block 320.

[0041] Two travel gears 350 are rotatably mounted on the side of the inclined plane block 320 , and a fixed rack 360 is mounted on the bottom side of the support platform 380 . The two travel gears 350 are meshed with the fixed rack 360 and the sliding rack 370 .

[0042] Specifically, when the robot 130 moves downward, the lifting column 310 squeezes the ramp block 320, compressing the compression spring 340 and causing the ramp block 320 to retreat. As the ramp block 320 retreats, it drives the travel gear 350 to mesh and roll on the fixed rack 360. Due to the rolling travel of the two travel gears 350, the actual travel distance of the two travel gears 350 is greater than the travel distance of the ramp block 320. This amplified travel distance is transmitted to the sliding rack 370, thereby increasing the travel distance of the sliding rack 370, allowing the robot platform 210 to quickly move closer to the cover plate 140, achieving automated movement and inspection.

[0043] In other embodiments, a transmission mechanism for linking the manipulator 130 and the machine platform 210 is provided on the side of the detection slide 110, Figure 4 As shown in the figure, the transmission mechanism includes a support slide 3801 installed on the bottom side of the slider of the three-axis electric slide 120X axis, 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 slider of the three-axis electric slide 120Y axis, a vertical piston disk 3201 is installed on the end of the vertical piston rod 3101, the vertical piston disk 3201 slides and fits with the inner wall of the vertical piston cylinder 3301, the support slide 3801 extends to one side of the machine moving platform 210, and a transverse piston cylinder 3501 is installed on the support slide 3801, the back side of the machine moving platform 210 is connected to the transverse piston rod 3701, the end of the transverse piston rod 3701 is connected to the transverse piston disk 3601, the transverse piston disk 3601 slides and fits with the inner wall of the transverse piston cylinder 3501, and an air pipe 3401 is connected between the transverse piston cylinder 3501 and the vertical piston cylinder 3301.

[0044] The interior of the vertical piston cylinder 3301 is filled with inert gas, and the supporting slide 3801 is configured as a moving platform with pulleys at the bottom.

[0045] Specifically, the vertical piston rod 3101 moves downward to squeeze the gas in the vertical piston cylinder 3301, so that the gas enters the horizontal piston cylinder 3501 through the air pipe 3401, thereby pushing the horizontal piston rod 3701 outward, thereby realizing the movement of the machine moving platform 210.

[0046] In some embodiments of the present disclosure, reference Figures 6-11 As shown in FIG, a movable groove 141 is defined on the side of the cover plate 140, into which the card plate 150 slides and engages, maintaining a distance between the magnetic sheet 30 on the card plate 150 and the PCB on the placement plate 10. An elastic member 142 is mounted on the card plate 150. The elastic member 142 is a non-metallic member for preventing magnetic interference, and the other side of the elastic member 142 is mounted in the movable groove 141. In this embodiment, the elastic member 142 can be configured as a rubber column or a sponge column.

[0047] Specifically, two slots 145 are provided on one side of the cover 140 adjacent to the machine platform 210, and the driving gears 410 are rotatably installed in the two slots 145, and the driving gear 410 is coaxially installed with a worm 420. Two rotating shafts 440 are rotatably installed inside the cover 140, and a cam 450 is fixedly installed on the rotating shaft 440. The slots 145 are connected to the movable groove 141, and 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, and the worm gear 420 is engaged with the worm gear 430. A traveling rack 520 is provided on the side of the machine platform 210, and the traveling rack 520 is movably engaged with the driving gear 410.

[0048] Sleeves 510 are installed on both sides of the machine moving platform 210. The running rack 520 is slidably inserted into the sleeves 510. A running rod 530 is installed on the bottom side of the running rack 520. A fixed plate 540 is fixedly installed on the side of the detection slide 110. The fixed plate 540 is provided with a running chute 550 to guide the movement of the running rod 530. The running chute 550 includes an inlet and outlet straight groove 551, a parallel straight groove 552, and an oblique groove 553. The inlet and outlet straight groove 551, the parallel straight groove 552, and the oblique groove 553 are connected in sequence. The running rod 530 is slidably inserted into the running chute 550. Specifically, a transition radius is set at the connection between the oblique groove 553 and the parallel straight groove 552 to prevent the running rod 530 from getting stuck.

[0049] When the machine moving platform 210 approaches the cover plate 140 , the travel rack 520 is plugged into the slot 145 , and the travel rod 530 enters the in-and-out straight slot 551 , causing the cam 450 to rotate.

[0050] For example, in some embodiments, reference 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.

[0051] 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.

[0052] Specifically, J<K.

[0053] The manipulator 130 drives the machine platform 210 to move along the detection slide 110. 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. Multiple detections at different positions can be performed during the same detection process. This multiple detection method further improves the accuracy of non-contact detection.

[0054] 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 of the above embodiments. Within the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the scope of protection of the present disclosure.

[0055] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present disclosure will not further describe various possible combinations.

[0056] In addition, the 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. A PCB solder joint detection robot based on a magnetostrictive sensor, comprising a detection slide (110), a magnetostrictive sensor (20), wherein the detection slide (110) is movably provided with a manipulator (130), and characterized in that: A placement plate (10) for placing a PCB board is installed on the detection slide (110), a cover plate (140) is detachably installed on the manipulator (130), a card plate (150) is provided on the cover plate (140), a magnetic sheet (30) is engaged with the card plate (150), a machine moving platform (210) is movably provided on the other side of the detection slide (110), a magnetostrictive sensor (20) is installed on the machine moving platform (210), a transmission mechanism for linking the manipulator (130) and the machine moving platform (210) is provided on the side of the detection slide (110), when the cover plate (140) is placed and engaged on the placement plate (10), the machine moving platform (210) moves above the cover plate (140), and the magnetostrictive sensor (20) cooperates with the magnetic sheet (30) to achieve non-destructive testing of the PCB board; The cover plate (140) is provided with a movable groove (141) on the side, the card plate (150) is slidably engaged in the movable groove (141), and an elastic member (142) is installed on the card plate (150). Two slots (145) are provided on one side of the cover plate (140) adjacent to the machine moving platform (210). The two slots (145) are rotatably installed with a driving gear (410), and the driving gear (410) is coaxially installed with a worm (420). Two rotating shafts (440) are rotatably installed inside the cover plate (140), and a cam (450) is fixedly installed on the rotating shaft (440). The cam (450) contacts the bottom surface of the card plate (150), and a worm is fixedly installed at the end of the rotating shaft (440). The worm gear (420) is meshed with the worm gear (430), a walking rack (520) is provided on the side of the machine moving platform (210), and the walking rack (520) is movably meshed with the driving gear (410); sleeves (510) are installed on both sides of the machine moving platform (210), the walking rack (520) is slidably inserted in the sleeves (510), and a walking rod (530) is installed on the bottom side of the walking rack (520); a fixed plate (540) is fixedly installed on the side of the detection slide (110), and a walking slide groove (550) for guiding the movement of the walking rod (530) is opened on the fixed plate (540), and the walking rod (530) is slidably inserted into the walking slide groove (550).

2. The PCB solder joint detection robot based on magnetostrictive sensor according to claim 1, characterized in that: 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). The transmission mechanism includes a support platform (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 platform (380), and 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 platform (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 platform (210) and the inclined plane block (320), and the sliding rack (370) and the inclined plane block (320) move synchronously.

3. The PCB solder joint detection robot based on magnetostrictive sensor according to claim 2, characterized in that: Two travel gears (350) are rotatably mounted on the side of the inclined plane block (320), a fixed rack (360) is mounted on the bottom side of the support platform (380), and 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 magnetostrictive sensor according to claim 1, characterized in that: 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). 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), and a vertical piston disc (3201) is installed at the end of the vertical piston rod (3101). The vertical piston disc (3201) is connected to the vertical The support slide (3801) is extended to one side of the machine platform (210), and a transverse piston cylinder (3501) is installed on the support slide (3801). The back side of the machine platform (210) is connected to a transverse piston rod (3701), and the end of the transverse piston rod (3701) is connected to a transverse piston disc (3601). The transverse piston disc (3601) is slidably fitted with the inner wall of the transverse piston cylinder (3501), and an air pipe (3401) is connected between the transverse piston cylinder (3501) and the vertical piston cylinder (3301).

5. The PCB solder joint detection robot based on magnetostrictive sensor according to claim 4, characterized in that: The interior of the vertical piston cylinder (3301) is filled with an inert gas, and the supporting slide (3801) is configured as a moving platform with a pulley at the bottom.

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

7. The PCB solder joint detection robot based on magnetostrictive sensor according to claim 1, characterized in that: The magnetic sheet (30) on the card plate (150) maintains a distance from the PCB board on the placement plate (10); the elastic member (142) is configured as a non-metallic member; and the other side of the elastic member (142) is installed in the movable groove (141).

8. The PCB solder joint detection robot based on magnetostrictive sensor according to claim 1, characterized in that: The walking chute (550) comprises an inlet and outlet straight groove (551), a parallel straight groove (552) and an oblique groove (553), and the inlet and outlet straight groove (551), the parallel straight groove (552) and the oblique groove (553) are connected in sequence.

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

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