Welding spot detection equipment

Abstract

A detection machine head is installed on a machine base, the detection machine head is at least provided with an image capturing device and a force control toggle device, the image capturing device is used for obtaining a detection image and cooperating with a computer to conduct visual detection, and the force control toggle device detects whether false welding and insufficient welding exist or not by toggling a welding spot; the feeding runner on the machine base is matched with and conveys a jig with a product and positions the jig so as to be matched with the detection machine head for detection; the sorting and moving-out mechanism is arranged on the machine base and located on the downstream portion of the detection machine head. The sorting and moving-out mechanism is used for moving out the jig containing the unqualified products from the feeding runner. According to the invention, on-line integrated visual detection and toggle detection of the welding spots of the integrated board can be automatically realized, the technical problem that false soldering and insufficient soldering cannot be judged by pure visual detection is solved, and the device is suitable for welding spot detection of high-end precision connector chips and wire harness integrated boards; and intelligent and digital detection management and control are carried out on bad processes such as false soldering, pad falling and partial soldering of fine welding spots on the integrated board.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial vision detection, in particular to a vision detection device for welding point detection. BACKGROUND

[0002] In the 3C electronic industry, there are often cases where components and circuit boards need to be welded together. After welding, the welding points need to be detected. Traditionally, workers use their naked eyes to detect welding points or solder balls. The manual detection method has the disadvantages of low detection accuracy, low detection efficiency, and poor detection effect, and it also leads to high labor intensity of workers and high labor costs of enterprises. Later, in order to solve the problem of automatic detection, some CCD vision detection devices were developed on the market. The CCD vision detection device is to install a CCD vision detection camera directly above the detection station. When the IC electronic component is placed in the detection station, the camera or camera captures the welding point for comparison or detection. However, in actual detection, if it is a false or virtual welding, pure vision cannot determine it sometimes, and manual detection is required by poking, which cannot meet the requirements of automatic detection and affects the production process. SUMMARY

[0003] The purpose of the present application is to provide a welding point detection device, which can replace manual detection and sorting, has high speed and efficiency, and can capture welding points by camera or camera for comparison or detection, and also detects false or virtual welding online by poking, meeting the requirements of automatic detection and control.

[0004] To achieve the above purpose, the present application adopts the following technical scheme: The welding point detection device has: a machine base, a detection head installed on the machine base, the detection head being provided with at least an image grabber and a force control poking device, the image grabber being used to acquire detection images and cooperate with a computer for vision detection, and the force control poking device being used to check whether the welding point is false or virtual by poking the welding point; a feeding flow channel arranged on the machine base and passing through the detection area of the detection head, the feeding flow channel being adapted to convey a jig loaded with a product and position the jig to cooperate with the detection head for detection; a sorting removal mechanism arranged on the machine base and located downstream of the detection head, the sorting removal mechanism being used to remove the jig loaded with unqualified products from the feeding flow channel.

[0005] The scheme further comprises that the detection head is provided with an XYZ three-degree-of-freedom motion mechanism, the end of the XYZ three-degree-of-freedom motion mechanism is provided with a lifting seat moving along the Z-axis direction, and the image grabber and the force control dialer are both mounted on the lifting seat, so that the lifting seat drives the image grabber and the force control dialer to synchronously lift; the force control dialer comprises a first cylinder, a second cylinder and a dialing needle connected in series, the first cylinder is positioned on the lifting seat and extends and retracts towards the Z-axis direction, the second cylinder is connected to the extension end of the first cylinder and extends and retracts towards the X-axis direction, and the dialing needle is arranged on the extension end of the second cylinder.

[0006] The scheme further comprises that the image grabber has three, which are a first image grabber for taking a picture of the whole product, a second image grabber for taking a picture of the welding spot in a static state, and a third image grabber for force control dialing dynamic imaging in cooperation with the force control dialer, the dialing needle dials the welding spot along the X-axis direction below the second image grabber, and the third image grabber is arranged obliquely relative to the dialing needle and grabs the image from the side of the dialing needle, so that the third image grabber can obtain the dynamic image of the dialing needle movement and the dialing welding spot condition, and the dialing process of the welding spot is monitored.

[0007] The scheme further comprises that the detection head is further provided with a laser displacement sensor, the laser displacement sensor is mounted on the lifting seat, and the laser displacement sensor assists the force control dialer to dial the welding spot by laser recognition of height difference.

[0008] The scheme further comprises that the sorting and removing mechanism comprises a removing manipulator and a removing conveying belt, the removing conveying belt and the feeding flow channel form an upper and lower relationship, and the removing manipulator removes the jig containing the unqualified product from the feeding flow channel and places the jig on the removing conveying belt.

[0009] The scheme further comprises that the feeding flow channel comprises a feeding flow channel, a detection flow channel and a discharging flow channel which are linearly connected together, the first end and the last end of the detection flow channel are connected to the feeding flow channel and the discharging flow channel respectively, the detection flow channel is constructed by two L-shaped guide rails which are arranged at intervals and symmetrically, the L-shaped guide rail has a flat supporting part and a limiting part which stands outside the supporting part, the supporting part is used for supporting the jig entering the detection flow channel, and the limiting part abuts against the corresponding side edge of the jig, the distance between the limiting parts of the two L-shaped guide rails is consistent with the distance between the two side edges of the jig in the corresponding direction, and a positioning conveying module is arranged below the detection flow channel, the positioning conveying module has a feeding sliding seat and a discharging sliding seat which are mounted on the machine base and can synchronously move along the straight line direction of the detection flow channel, the feeding sliding seat is provided with a feeding dialing claw which can extend and retract up and down, and the discharging sliding seat is provided with a discharging dialing claw which can extend and retract up and down; the feeding dialing claw and the discharging dialing claw drive the jig to move by extending to the jig and abutting against the jig, so that the jig can move in a fixed point mode according to the set step in the detection flow channel.

[0010] The scheme further comprises that the feeding flow channel further comprises an auxiliary conveying belt arranged at the same side of the feeding flow channel, the detection flow channel and the discharging flow channel, and the auxiliary conveying belt is used for carrying the wire harness extended from the jig.

[0011] The scheme further comprises that the jig is a square box, and the feeding flow channel further comprises two positioning blocks arranged in front and back, and the two positioning blocks are extended into the detection flow channel in an extension mode and abut against front and back sides of the jig respectively, so that the jig is positioned directly below the detection head in the detection flow channel.

[0012] The scheme further comprises that the welding point detection device further comprises a calibration module arranged at one side of the feeding flow channel and below the moving area of the detection head; and the calibration module is used for assisting the detection head in online calibration.

[0013] The scheme further comprises that the calibration module has a vision unit for relative position difference of X / Y direction coordinates of each detection component of the detection head, a measurement unit for relative position difference of Z direction coordinates of a needle tip of a needle and a laser height of a laser displacement sensor, and a calibration unit for force control repeat accuracy and true value correction of the needle.

[0014] The welding point online integrated visual detection and the detection of the integrated board are automatically realized through the integrated design, the technical problem that false welding and virtual welding cannot be determined through pure visual detection is solved, the structure is compact, and the degree of automation is high. The welding point detection device is suitable for high-end precise connector chips and wire harness integrated boards, and is suitable for intelligent and digital detection and control of false welding, missing pads and offset welding of small welding points on the integrated board. BRIEF DESCRIPTION OF DRAWINGS

[0015] FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 1 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 2 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 1 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 3 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 1 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 4 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 1 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 5 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 4 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 6 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 5 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 7 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; Figure 1 FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application; FIG. 1 is a structure schematic diagram of a preferred embodiment of the present application;Figure 8 For Figure 7 Partial structure perspective schematic diagram of the embodiment; Attached Figure 9 For Figure 7 Partial structure enlarged schematic diagram of the embodiment; Attached Figure 10 For Figure 1 Calibration module structure schematic diagram of the embodiment; Attached Figure 11 For Figure 10 Calibration module structure distribution schematic diagram of the embodiment. DETAILED DESCRIPTION

[0016] The concept, specific structure and generated technical effects of the application will be further described below in combination with the drawings, so as to fully understand the purpose, features and effects of the application.

[0017] It should be noted that in the description of the application, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and other terms indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings, which is only for the convenience of description, and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0018] Referring to Figure 1 , 2 , 3, 4, 5, 6, 7, 8, 9, 10, 11, which are schematic diagrams of the preferred embodiment of the application, the application relates to a welding point detection device, which has a base 1, a detection head 2, a feeding flow channel 3 and a sorting and moving-out mechanism 4.

[0019] The machine base 1 is a horizontal multi-layer structure, the steel frame is thick and stable, and the lifting stability is improved. The detection machine head 2 is installed on the machine base 1 to realize detection operation in the set area; the detection machine head 2 is provided with at least an image grabber 21 and a force control actuator 22, the image grabber 21 is used to obtain a detection image and cooperate with a computer to perform visual detection, the force control actuator 22 checks whether the welding point is false welding by actuating the welding point, realizes online integrated visual detection and actuation detection of the welding point, reduces the manual actuation detection process, improves the detection speed and efficiency, and can achieve intelligent detection and control. The feeding flow channel 3 is arranged on the machine base 1 and passes through the detection area of the detection machine head 2, the feeding flow channel 3 is matched with the jig 5 loaded with products and gives the jig positioning to cooperate with the detection machine head 2 to perform detection, realizes automatic feeding and discharging and accurate positioning detection. The sorting and removing mechanism 4 is arranged on the machine base 1 and located downstream of the detection machine head 2, the sorting and removing mechanism 4 is used to remove the jig 5 loaded with unqualified products from the feeding flow channel 3, realizes mechanical sorting instead of manual sorting, improves the efficiency, and reduces the labor cost.

[0020] Figure 4 、 5, 6, the detection head 2 is provided with an XYZ three-degree-of-freedom motion mechanism 23, which comprises a fixed seat 232, a Y-axis motion seat 233, an X-axis motion seat 234 and a lifting seat 231 assembled together in series, the fixed seat 232 is fixedly connected with the machine base 1 together and in a high form, two parallel Y-axis guide rails 2321 are arranged on the lower side of the fixed seat 232, and a Y-direction telescopic shaft 2322 is located between the two Y-axis guide rails 2321; the Y-axis motion seat 233 is assembled and connected to the fixed seat 232 corresponding to the two Y-axis guide rails 2321 and connected together with the telescopic end of the Y-direction telescopic shaft 2322, so that the telescopic end of the Y-direction telescopic shaft 2322 drives the Y-axis motion seat 233 to slide along the two Y-axis guide rails 2321, the cooperation of the two Y-axis guide rails 2321 and the Y-direction telescopic shaft 2322 can ensure the movement stability of the Y-axis motion seat 233 and reduce the shaking. The Y-direction telescopic shaft 2322 is preferably an electric screw, which improves the movement stability and accuracy and can accurately drive the Y-axis motion seat 233 to move in the Y-axis direction. The front end of the Y-axis motion seat 233 is provided with a cross beam 2331 extending in the X-axis direction, the length direction of the cross beam 2331 is the same as the conveying direction of the feeding flow channel 3, and the width of the detection area of the detection head 2 is determined by the length of the cross beam 2331. The X-axis motion seat 234 is installed on the cross beam 2331 through a guide rail structure and can move back and forth in the X-axis direction through a power mechanism, which can be a motor screw or a cylinder; the X-axis motion seat 234 is provided with a support plate 2341 which is located outside the cross beam 2331 and in a vertical posture. The lifting seat 231 is installed on the support plate 2341 through a guide rail structure and connected with the telescopic end of the Z-axis cylinder 235, the Z-axis cylinder 235 drives the lifting seat 231 to move in the Z-axis direction; the Z-axis cylinder 235 is installed on the support plate 2341 and in a vertical posture, which ensures the vertical gravity center of the support plate 2341 and improves the movement stability and accuracy. The XYZ three-degree-of-freedom motion mechanism 23 realizes XYZ three-degree-of-freedom series motion, has high automation degree and stable mechanical structure, which helps to improve the detection precision. The image grabber 21 and the force control dial 22 are both installed on the lifting seat 231, realizing synchronous lifting of the image grabber 21 and the force control dial 22 driven by the lifting seat 231. The force control dial 22 comprises a first cylinder 221, a second cylinder 222 and a dial needle 223 connected in series, the first cylinder 221 is positioned on the lifting seat 231 and telescopes towards the Z-axis direction, the second cylinder 222 is connected with the telescopic end of the first cylinder 221 and telescopes towards the X-axis direction, and the dial needle 223 is arranged on the telescopic end of the second cylinder 222, the needle tip of the dial needle 223 faces downward for dialing the welding point, realizing the movement of the dial needle 223 pushed and pulled by the second cylinder 222, similar to the work of a finger, and achieving the actual situation of detecting the welding point.The extension and retraction of the first cylinder increases the position adjustment of the needle in the Z-axis direction, and the extension and retraction of the second cylinder provides the needle driving force, so that the structure is simple and easy to control.

[0021] Further, in the embodiment, the image grabber 21 has three, which are the first image grabber 21A for taking a global image of the product, the second image grabber 21B for taking a static image of the welding spot, and the third image grabber 21C for dynamic imaging of force control and needle driving. The needle 223 drives the welding spot in the X-axis direction below the second image grabber 21B, and the third image grabber 21C is inclined relative to the needle 223 and grabs the image from the side of the needle 223, so that the third image grabber 21C can obtain the dynamic image of the needle 223 movement and the driving of the welding spot, and achieve monitoring of the welding spot driving process, and intelligent detection and control of the poor process such as false welding, missing pad, and offset welding of the small welding spot on the integrated board. The image grabber 21 is an industrial camera, which realizes image grabbing and transmission to the computer for analysis and processing, and achieves visual detection. In the embodiment, the first adjustment sliding seat 2311 is arranged on the front surface of the lifting seat 231, and the first support column 2312 and the second support column 2313 are arranged on the same side surface of the lifting seat 231 and extend in the same direction, the first support column 2312 and the second support column 2313 are arranged in a staggered manner and extend in the same direction, the second adjustment sliding seat 2314 is arranged on the first support column 2312, and the third adjustment sliding seat 2315 is arranged on the second support column 2313; the first image grabber 21A is vertically downwardly arranged on the first adjustment sliding seat 2311, the second image grabber 21B is vertically downwardly arranged on the second adjustment sliding seat 2314, and the third image grabber 21C is arranged on the third adjustment sliding seat 2315 and is in a rotating relationship with the second support column 2313 to obtain the inclined arrangement relative to the needle 223. The first cylinder 221 is arranged on one side surface of the lifting seat 231 and faces away from the first support column 2312 and the second support column 2313, and the second cylinder 222 is arranged at the lower end of the lifting seat 231. Such design can effectively ensure that the counterweights on the opposite sides of the lifting seat 231 are close to each other, prevent the center of gravity of the lifting seat 231 from being inclined, facilitate the movement of the lifting seat 231 and maintain a stable posture, and facilitate the detection work.

[0022] The three image grabbers 21 work alternately, completely replace the manual detection of the quality inspection personnel, obtain the working efficiency of the electronic visual magnifying glass, and identify the welding point defects through various functional visual detection methods: the first image grabber 21A takes a picture of the whole product in combination with the AI visual algorithm to predict the welding point quality defects, specifically, the state of all welding points of the product is shot, and the obvious defective welding points are marked and saved and uploaded to the database, can be bound with the PCB identification code and uploaded to the database, and the welding point quality is predicted; the second image grabber 21B takes a picture of the single welding point of the product in a static magnification mode and combines the AI visual algorithm to conduct secondary detection of the quality defects, specifically, the process state of the single welding point is shot and saved and uploaded to the database, and the AI visual algorithm and the static picture and dynamic image of the welding point are compared to identify the defective welding points; when the second image grabber 21B takes a picture, the probe 223 moves away under the driving of the second cylinder 222, so that the second image grabber 21B can take a picture of the single welding point of the product in a static magnification mode. The force control probe 22 is used to check the suspicious welding point, and the third image grabber 21C is used to obtain the process dynamic image, and the computer recognition method is used to detect the welding point, specifically, the whole welding point probing process can be monitored in real time, the feedback curve of the force control data can be observed in real time, and the related parameters are saved and uploaded to the database; so as to achieve intelligent and digital detection and control of the false welding, missing pad and offset welding and other defective processes of the small welding points on the integrated board. In practical application, the present application also supports MES / ERP system integration customization service, supports MES system, and reflects the production process progress in real time; and through the Webapi data interface, the system integration or customized service can be realized according to the customer demand and customer MES / ERP.

[0023] In the embodiment, the detection head 2 is also provided with a laser displacement sensor 24, which is installed on the lifting seat 231, and the laser displacement sensor 24 is used to assist the force control probe 22 to probe the welding point by recognizing the height difference through laser. Specifically, the laser displacement sensor 24 measures the accurate height value from the reference value (such as the height position of the probe) to the PCB and feeds back to the control system, automatically adjusts the height of the probe downward, realizes accurate probing of the welding point, prevents the height difference caused by the difference of the product itself or the fixture, and thus causes the probe to descend improperly and damages the PCB; the laser displacement sensor can accurately control and align, which is beneficial to intelligent detection and control. The structure design meets the height difference of the welding points of different PCBs and clamping, automatically controls the height of the probe downward, and specifically controls the extension of the first cylinder.

[0024] Figure 1 、 2As shown in FIGS. 1, 2 and 3, in the present embodiment, the sorting removal mechanism 4 comprises a removal manipulator 41 and a removal conveyor 42, the removal conveyor 42 is in upper and lower layer relationship with the feeding flow channel 3, the removal manipulator 41 is a Cartesian coordinate type manipulator, the movement end of the removal manipulator 41 is provided with a claw, the claw is used to grab the jig 5 containing the unqualified product, and the jig 5 is removed from the feeding flow channel 3 and placed on the removal conveyor 42, and then the corresponding jig 5 is removed by the removal conveyor 42, so as to facilitate the disassembly and recycling of the unqualified product in the next process. In the present embodiment, by using the multi-layer characteristics of the machine base 1, a jig backflow belt 8 is further arranged on the lower side of the feeding flow channel 3, so that the empty jig can be conveyed on the jig backflow belt 8, so as to perform the next cycle work.

[0025] Figure 1 、 2, 7, 8, 9, in the embodiment, the feeding flow channel 3 includes the feeding flow channel 31, the detection flow channel 32 and the discharging flow channel 33 connected linearly, the feeding flow channel 31 and the discharging flow channel 33 are preferably belt conveying, which is beneficial to feeding and discharging; the detection flow channel 32 is connected with the feeding flow channel 31 and the discharging flow channel 33 at the head and tail respectively, and the inductive sensor 322 is arranged on the head and tail of the detection flow channel 32, which is used for identifying the in-out position of the jig 5, so as to control the positioning movement subsequently. The detection flow channel 32 is constructed by two L-shaped guide rails 321 arranged symmetrically and spaced apart, forming a groove-shaped feeding structure, which is beneficial to subsequent conveying and detection. Each L-shaped guide rail 321 can be constructed by multiple segments and is subjected to fine grinding treatment, so as to obtain better flatness. The L-shaped guide rail 321 has a flat supporting part 3211 and a limiting part 3212 standing outside the supporting part, the supporting part 3211 is used for supporting the jig 5 entering the detection flow channel 32, and the limiting part 3212 abuts against the corresponding side edge of the jig 5, and the distance between the limiting parts 3212 of the two L-shaped guide rails 321 is consistent with the distance between the two side edges of the jig 5 in the corresponding direction, so that the two L-shaped guide rails 321 have the functions of limiting and guiding the jig 5, so as to cooperate with the detection head 2 to detect. In the embodiment, the two L-shaped guide rails 321 are supported by corresponding support columns to be high, the support columns are installed on the machine base and can adjust the distance between the two L-shaped guide rails 321 according to the size of the jig 5; further, the jig 5 is a square frame, and the feeding flow channel 3 is further provided with two positioning blocks 36 arranged in front and back, the two positioning blocks 36 are inserted into the detection flow channel 32 in an extension form and abut against the front and back side edges or abutment parts of the jig 5 respectively, forming clamping, so that the jig 5 cannot move forward and backward, playing a stabilizing role, so that the jig 5 can be stably positioned in the detection flow channel 32 directly below the detection head 2. In the embodiment, the two positioning blocks 36 are driven by the cylinder to be inserted horizontally from the outside of the detection flow channel 32, at this time, the corresponding L-shaped guide rail 321 of the detection flow channel 32 is reserved with a avoiding gap, so that the positioning block 36 is inserted into the detection flow channel 32, after detection is completed, the positioning block 36 is retracted to exit the detection flow channel 32, so that the next feeding action is carried out in the detection flow channel 32. The positioning conveying module 34 is arranged below the detection flow channel 32, so as to achieve accurate positioning conveying of feeding and discharging. The positioning conveying module 34 has a feeding sliding seat 341 and a discharging sliding seat 342 installed on the machine base 1 and capable of moving along the straight line direction of the detection flow channel 32 synchronously, the feeding sliding seat 341 and the discharging sliding seat 342 are arranged in the X-axis direction and are driven to move reciprocatingly by the linear motor synchronously, and the distance between the feeding sliding seat 341 and the discharging sliding seat 342 in the X-axis direction is just the distance between the two jigs in the detection flow channel 32.The feeding sliding seat 341 is provided with a feeding pawl 3411 capable of extending up and down, and the discharging sliding seat 342 is provided with a discharging pawl 3421 capable of extending up and down; the feeding pawl 3411 and the discharging pawl 3421 are extended to the jig 5 and abut against the jig to drive the jig 5 to move, so that the jig 5 can be moved to a fixed point in the detection flow channel 32 according to the set step.

[0026] In the embodiment, the third cylinder 3412 is vertically arranged on the feeding sliding seat 341, and the first mounting seat 3413 is arranged on the extension end of the third cylinder 3412; the feeding pawl 3411 is L-shaped and connected to the first mounting seat 3413 by screws, and the position of the feeding pawl 3411 can be adjusted to match different jig operations; the feeding pawl 3411 has a vertically protruding pawl end for abutting against the jig to drive the jig 5 to move. The fourth cylinder 3422 is vertically arranged on the discharging sliding seat 342, and the second mounting seat 3423 is arranged on the extension end of the fourth cylinder 3422; the discharging pawl 3421 is L-shaped and connected to the second mounting seat 3423 by screws, and the position of the discharging pawl 3421 can be adjusted to match different jig operations; the discharging pawl 3421 has a vertically protruding pawl end for abutting against the jig to drive the jig 5 to move. The structure is simple, and the manufacturing and maintenance are convenient.

[0027] In the embodiment, the feeding flow channel 3 further comprises an auxiliary conveying belt 35 arranged on the same side of the feeding flow channel 31, the detection flow channel 32 and the discharging flow channel 33, the auxiliary conveying belt 35 is used for carrying the wire harness extending from the jig, assisting feeding and having a protection function to ensure stable and reliable feeding. The auxiliary conveying belt 35 is designed in sections and connected in structure, and the parts of the auxiliary conveying belt 35 close to the feeding flow channel 31 and the discharging flow channel 33 are integrated with the feeding flow channel 31 and the discharging flow channel 33 respectively, that is, the conveying belts of the feeding flow channel 31 and the discharging flow channel 33 extend on the same side to build corresponding auxiliary conveying belts 35, so that the auxiliary conveying belts 35 corresponding to the feeding flow channel 31 and the discharging flow channel 33 respectively move with the feeding flow channel 31 and the discharging flow channel 33, the structure is simple, the integrity is good, and the intelligent control is convenient.

[0028] In the embodiment, the feeding sliding seat 341 is further provided with a two-dimensional code scanning gun 343, the two-dimensional code scanning gun 343 moves synchronously with the feeding sliding seat 341 to realize one-by-one scanning and conveying actions, the two-dimensional code scanning gun 343 is used for identifying the two-dimensional code on the jig and uploading the database, and is matched with detection records to facilitate subsequent follow-up work, so that the intelligent digital detection control is achieved.

[0029] The feeding work is that the feeding flow channel 31 conveys the jig 5 loaded with the product to be detected to the initial end of the detection flow channel 32, the corresponding inductive sensor 322 senses and outputs a signal to the positioning conveying module 34, the feeding sliding seat 341 of the positioning conveying module 34 drags the jig 5 loaded with the product to be detected into the detection flow channel 32, and the discharging sliding seat 342 of the positioning conveying module 34 moves the corresponding jig 5 to the terminal end of the detection flow channel 32 after detection, at which time the corresponding inductive sensor 322 senses and outputs a signal to the discharging flow channel 33, and the discharging flow channel 33 works to move the corresponding jig 5 out, so as to circulate; and the unqualified product is moved out of the detection flow channel 32 by the sorting and moving mechanism 4.

[0030] Figure 2 、 3 The welding spot detection device further includes a calibration module 6, which is used for automatically calibrating the center of the three image grabbers 21, the light point end of the laser displacement sensor 24 and the end position coordinates of the needle, so as to achieve online calibration. The calibration module 6 is arranged on one side of the feeding flow channel 3 and below the moving area of the detection head 2; the calibration module 6 is used for assisting the online calibration of the detection head 2, specifically, the detection head 2 advances in the Y-axis direction to perform detection work on the corresponding jig, and the detection head 2 retreats in the Y-axis direction to perform calibration on the corresponding calibration module 6. Specifically, the calibration module 6 has a vision unit 61 for the relative position difference of the X / Y direction coordinates of each detection component of the detection head 2, a measurement unit 62 for the relative position difference of the Z direction coordinates of the needle tip of the needle 223 and the laser height measurement of the laser displacement sensor 24, and a calibration unit 63 for the force control repetition accuracy and true value correction of the needle 223. The vision unit 61 is an industrial camera, which is implemented in cooperation with a computer, borrows from the principle of visual detection, takes a picture for analysis and processing, obtains the relative position difference of the X / Y direction coordinates of each detection component, and adjusts and corrects in this way. The measurement unit 62 is a block-shaped standard part, which has a corresponding height difference structure, meets the requirements of the needle tip of the needle 223 touching the correction and the light point measurement of the laser displacement sensor 24, and the calibration unit 63 includes a force sensor 631 and an elastic marker 632 connected with the force sensor 631. The needle 223 moves the elastic marker 632, the elastic marker 632 outputs a force signal to the force sensor 631, and then transmits to the computer, so as to control the force control of the needle 223. In this embodiment, the calibration module 6 has a square frame bracket for fixing to the machine base, and the vision unit 61, the measurement unit 62 and the calibration unit 63 are respectively installed on the square frame bracket through adjustable dovetail sliding seat structures, which have adjustability and are beneficial to implementation in different occasions.

[0031] In the embodiment, the dial needle cleaning box 7 is further arranged on the base 1, and is distributed on the same side of the feeding flow channel 3 and arranged in parallel with the calibration module 6, and is located in the active area of the detection machine head 2; different dry and wet sponges are arranged in the dial needle cleaning box 7, and are used for wiping the dirt adhered to the dial needle, specifically, wiping composite actions are obtained through movement of the detection machine head 2 and movement of the dial needle 223 driven by the second air cylinder, on-line mechanical cleaning is realized, manual cleaning process is reduced, work efficiency is improved, and automatic production is achieved.

[0032] The integrated design can automatically realize online integrated visual detection and dial detection of the welding points of the integrated board, solves the technical problem that false welding and virtual welding cannot be judged through pure visual detection, has compact structure and high automation degree, and is suitable for application in welding point detection of high-end precise connector chips and harness integrated boards, and can intelligently and digitally detect and control false welding, pad falling and offset welding of small welding points on the integrated board.

[0033] Although the preferred embodiments of the present application are described above with reference to the drawings, the present application should not be limited to the structure and operation exactly the same as the above description and drawings, and many equivalent improvements and changes can be made to the above embodiments by logical analysis, reasoning or limited experiments without exceeding the concept and scope of the present application, which should all belong to the scope of protection required by the present application.

Claims

1. A solder joint inspection apparatus characterized by comprising: Have: Base (1), Detection machine head (2) is installed on the base (1), the detection machine head (2) is provided with at least image grabber (21) and force control dialer (22), image grabber (21) is used for acquiring detection image and cooperating computer to carry out visual inspection, force control dialer (22) checks whether false welding is checked by dialing welding point. Feeding flow channel (3) is arranged on the base (1) and passes through the detection area of the detection machine head (2), the feeding flow channel (3) is adapted to convey the jig (5) loaded with the product and gives the jig positioning to cooperate with the detection machine head (2) to carry out detection. Sorting removal mechanism (4) is arranged on the base (1) and is located downstream of the detection machine head (2), the sorting removal mechanism (4) is used for removing the jig (5) loaded with unqualified product from the feeding flow channel (3).

2. The inspection apparatus according to claim 1, characterized by The detection machine head (2) is provided with XYZ three-degree-of-freedom motion mechanism (23), the end of the XYZ three-degree-of-freedom motion mechanism (23) is provided with lifting seat (231) moving along Z axis direction, the image grabber (21) and the force control dialer (22) are installed on the lifting seat (231), the lifting seat (231) drives the image grabber (21) and the force control dialer (22) to realize synchronous lifting; The force control dialer (22) includes a series of first air cylinder (221), second air cylinder (222) and dial needle (223), the first air cylinder (221) is positioned on the lifting seat (231) and stretches out and shrinks towards Z axis direction, the second air cylinder (222) is connected with the stretching and shrinking end of the first air cylinder (221) and stretches out and shrinks towards X axis direction, the dial needle (223) is arranged on the stretching and shrinking end of the second air cylinder (222).

3. The inspection apparatus according to claim 2, wherein The image grabber (21) has three, which are first image grabber (21A) for product global image acquisition, second image grabber (21B) for welding point static image acquisition and third image grabber (21C) for cooperating with force control dialer (22) to carry out force control dialing dynamic imaging, the dial needle (223) dials welding point below the second image grabber (21B) along X axis direction, the third image grabber (21C) is arranged obliquely relative to the dial needle (223) and grabs image from the side of the dial needle (223), so that the third image grabber (21C) can acquire dynamic image of dial needle (223) movement and dialing welding point condition, to achieve monitoring welding point dialing process.

4. The inspection apparatus according to claim 2, wherein The detection machine head (2) is also provided with laser displacement sensor (24), the laser displacement sensor (24) is installed on the lifting seat (231), the laser displacement sensor (24) identifies height difference through laser to assist the force control dialer (22) to dial welding point.

5. The inspection apparatus according to claim 1, wherein The sorting removal mechanism (4) includes removal manipulator (41) and removal conveying belt (42), the removal conveying belt (42) forms upper and lower layer relationship with the feeding flow channel (3), the removal manipulator (41) removes the jig (5) loaded with unqualified product from the feeding flow channel (3) and places it on the removal conveying belt (42).

6. The inspection apparatus according to claim 1, wherein The feeding flow channel (3) comprises a feeding flow channel (31), a detection flow channel (32) and a discharging flow channel (33) linearly connected together, the detection flow channel (32) is connected with the feeding flow channel (31) and the discharging flow channel (33) at the front end and the tail end respectively, and the detection flow channel (32) is constructed by two L-shaped guide rails (321) arranged symmetrically and spaced apart, the L-shaped guide rail (321) has a straight supporting part (3211) and a limiting part (3212) standing outside the supporting part, the supporting part (3211) is used for supporting the jig (5) entering the detection flow channel (32), and the limiting part (3212) abuts against the corresponding side edge of the jig (5), and the distance between the limiting parts (3212) of the two L-shaped guide rails (321) is consistent with the distance between the two side edges of the jig (5) in the corresponding direction, and a positioning conveying module (34) is arranged below the detection flow channel (32), the positioning conveying module (34) has a feeding sliding seat (341) and a discharging sliding seat (342) mounted on the machine base (1) and capable of moving synchronously along the straight line direction of the detection flow channel (32), the feeding sliding seat (341) is provided with a feeding pawl (3411) capable of stretching up and down, and the discharging sliding seat (342) is provided with a discharging pawl (3421) capable of stretching up and down, the feeding pawl (3411) and the discharging pawl (3421) drive the jig (5) to move by stretching to the jig (5) and abutting against the jig, so that the jig (5) can be moved to the set position in the detection flow channel (32).

7. The inspection apparatus according to claim 6, wherein The feeding flow channel (3) further comprises an auxiliary conveying belt (35) arranged on the same side of the feeding flow channel (31), the detection flow channel (32) and the discharging flow channel (33), and the auxiliary conveying belt (35) is used for carrying the wire harness extending from the jig.

8. The inspection apparatus according to claim 6, wherein The jig (5) is a square frame, and the feeding flow channel (3) further comprises two positioning blocks (36) arranged in front and back, the two positioning blocks (36) are arranged in the detection flow channel (32) in a telescopic form and abut against the front and back side edges of the jig (5) respectively, so that the jig (5) is positioned directly below the detection head (2) in the detection flow channel (32).

9. The inspection apparatus according to claim 1, wherein The welding spot detection device further comprises a calibration module (6) arranged on one side of the feeding flow channel (3) and below the moving area of the detection head (2), and the calibration module (6) is used for assisting the online calibration of the detection head (2).

10. The inspection apparatus according to claim 9, wherein The calibration module (6) has a vision unit (61) for the relative position difference of the X / Y direction coordinates of each detection component of the detection head (2), a measurement unit (62) for the relative position difference of the Z direction coordinates of the needle tip of the needle (223) and the laser height measured by the laser displacement sensor (24), and a calibration unit (63) for the force control repeat accuracy and true value correction of the needle (223).

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