A device for PCB substrate flatness detection

Abstract

The utility model discloses a device for PCB substrate flatness detection, including substrate carrier disc, substrate measurement module, substrate measurement module includes at least one 3D detection camera and substrate detection conveying line, scanning code picking material module, scanning code picking material module includes substrate scanning code conveying line, at least one scanning code camera and picking material subassembly, is provided with picking material suction nozzle on picking material subassembly, jacking mechanism, jacking mechanism includes jacking drive assembly and balance subassembly, and balance subassembly includes balance mounting panel and is located above and with detachable connection's jacking carrier plate, is provided with a plurality of sucking disc on balance mounting panel, is set up a plurality of with the sucking disc position corresponding's give way slot on jacking carrier plate, when jacking drive assembly drives balance subassembly and moves upward, a plurality of sucking disc can fix with corresponding substrate carrier disc adsorption on jacking carrier plate to promote its and separate substrate detection conveying line or substrate scanning code conveying line.

Description

Technical Field

[0001] This utility model relates to the field of substrate inspection technology, and in particular to a device for inspecting the flatness of PCB substrates. Background Technology

[0002] With the continuous advancement of chip technology, chip mounting methods that use ball-shaped solder points instead of the traditional pin-type contacts are becoming increasingly widely used, such as ball grid array (BGA) packaging combined with surface mount technology (SMT). This allows high-power chips, such as central processing units (CPUs) and graphics processing units (GPUs), to be mounted simultaneously on the same printed circuit board. This not only significantly improves the electrical performance of electronic devices but also greatly reduces production costs.

[0003] However, a new drawback has emerged in the use of electronic devices employing BGA chips: due to substrate warping, BGA chip solder joints may detach during operation, leading to device failure. This increasingly prominent problem has been repeatedly observed in a large number of electronic devices that utilize BGA packaging technology, becoming a technological bottleneck for further adoption of larger-scale chips. Utility Model Content

[0004] To overcome the above-mentioned shortcomings, the purpose of this utility model is to provide a device for detecting the flatness of PCB substrates, which can quickly detect the flatness of the substrate before solder paste printing, thus ensuring the smooth operation of subsequent processes. During the detection process, the conveying mechanism does not need to be stopped and started repeatedly, ensuring the efficiency of substrate detection.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a device for detecting the flatness of PCB substrates, including an equipment frame and a substrate carrier.

[0006] A substrate measurement module, comprising at least one 3D inspection camera and a substrate inspection conveyor line;

[0007] The barcode picking module includes a substrate barcode conveying line arranged adjacent to the substrate detection conveying line, at least one barcode camera, and a picking component. The picking component is equipped with a picking nozzle for picking up unqualified substrates after being scanned and positioned by the barcode camera.

[0008] The lifting mechanism includes a lifting drive assembly and a balancing assembly. The balancing assembly includes a balancing mounting plate and a lifting carrier plate located above and detachably connected to it. The balancing mounting plate is provided with multiple suction cups, and the lifting carrier plate is provided with multiple clearance grooves corresponding to the positions of the suction cups. When the lifting drive assembly drives the balancing assembly to move upward, the multiple suction cups can adsorb and fix the corresponding substrate carrier plate on the lifting carrier plate and push it away from the substrate detection conveyor line or substrate scanning conveyor line.

[0009] Furthermore, the lifting drive assembly includes a fixed mounting plate and a lifting shaft module vertically fixed to the fixed mounting plate. The drive end of the lifting shaft module is connected to a horizontally arranged lifting plate. The balancing assembly is connected to the lifting plate via several fixed columns. A movable slide plate is vertically arranged on the lower surface of the lifting plate. One end of the movable slide plate passes through the fixed mounting plate and is slidably connected to a lifting slide rail vertically arranged on the fixed mounting plate. The lifting slide rail and the movable slide plate cooperate to provide guidance for the lifting and lowering of the balancing assembly under the drive of the lifting shaft module, preventing the balancing assembly from tilting during lifting and lowering, which would affect the detection result of the flatness of its upper substrate.

[0010] Furthermore, the balance mounting plate is symmetrically provided with adjustable limiting members along its center line along its length direction. The limiting members are L-shaped, and a waist-shaped groove is formed through the long side of the L-shape from top to bottom. The balance mounting plate is provided with a plurality of limiting holes corresponding to the positions of the waist-shaped grooves along its length direction. One end of the locking screw is inserted into the waist-shaped groove and the limiting holes to lock the limiting members onto the balance mounting plate.

[0011] The L-shaped limiting component can guide and limit the substrate carrier during the lifting process of the balance mounting plate, restricting the displacement of the substrate carrier in the left and right directions, and ensuring that the center line of the lifting plate and the substrate carrier coincides after the lifting is completed.

[0012] Furthermore, the top of the short side of the limiting member is higher than the upper surface of the lifting plate, and the balancing mounting plate is provided with a positioning groove for the limiting member to be accommodated. One end of the positioning groove extends out of the side of the balancing mounting plate, and the bottom of the long side of the limiting member is provided with a strip groove that matches the positioning groove from the side closer to the positioning groove to the side farther away from it.

[0013] Furthermore, it also includes two horizontally moving modules mounted side by side on the equipment frame. The 3D inspection camera and the barcode scanning camera are connected to the corresponding horizontal moving modules through the inspection connector, the barcode scanning connector, and the corresponding horizontal moving modules, respectively. The substrate measurement module and the barcode picking module are arranged sequentially along the feeding direction of the substrate tray. The bottom of the substrate inspection conveyor line and the substrate barcode scanning conveyor line are slidably connected to the equipment frame through a reciprocating displacement drive, so that the substrate tray containing the substrate moves with the substrate inspection conveyor line and the substrate barcode scanning conveyor line to the area below the 3D inspection camera or the barcode scanning camera for inspection.

[0014] Two horizontal movement modules can drive the corresponding 3D inspection camera or barcode scanner to move horizontally, adjusting their position relative to the substrate carrier in the X-axis direction, ensuring that the 3D inspection camera and barcode scanner can complete the inspection and barcode scanning of the substrate on the substrate carrier; the reciprocating displacement drive can enable the substrate inspection conveyor line and the substrate barcode conveyor line to automatically move closer to or away from the 3D inspection camera or barcode scanner.

[0015] Furthermore, the material picking assembly also includes a stepper motor, which is connected to the barcode scanner connector via a material picking mounting plate. The drive end of the stepper motor is connected to the material picking nozzle via a connecting key. The drive end of the stepper motor can rotate the connecting key by a corresponding angle, and the material picking nozzle connected to the drive end via the connecting key will also rotate by the same angle, so that the defective substrate picked up by the material picking nozzle can be smoothly placed into the collection slot of the waste collection carrier.

[0016] Furthermore, the system also includes a loading hopper module and a unloading hopper module with identical structures. The loading hopper module includes a loading conveyor line that transfers substrate trays to the substrate inspection conveyor line, and a tray layering assembly mounted on the loading conveyor line that can support multiple stacked substrate trays. The unloading hopper module can unload substrate trays from the substrate scanning conveyor line. The loading and unloading hopper modules enable automated loading and unloading of substrate trays, reducing the labor intensity of workers and improving the overall automation level of the flatness inspection device.

[0017] Furthermore, the tray layering assembly includes two telescopic drive members arranged opposite each other along the conveying direction of the feeding conveyor line. Each telescopic drive member has a layering pusher plate horizontally connected to its drive end, and the two layering pushers are at the same horizontal height. When the two layering pushers extend synchronously, their top surfaces jointly support multiple stacked substrate trays. When the two layering pushers retract synchronously, the substrate tray at the bottom layer can fall onto the feeding conveyor line.

[0018] The substrate trays that fall onto the feeding conveyor line are transported forward to the inspection station by the feeding conveyor line, while the remaining substrate trays are supported above the layering pusher plate when the layering pusher plate extends again, so as to achieve the layer-by-layer separation of the substrate trays.

[0019] Furthermore, the tray layering assembly also includes layering supports symmetrically arranged on the feeding conveyor line, telescopic drive members located on the layering supports, and two tray guide members vertically arranged on the side of each layering support facing the substrate tray. The layering push plate is fixedly connected to the drive end of the telescopic drive member through a layering connecting plate, and the lower surface of the layering connecting plate is slidably connected to the layering guide rail horizontally arranged on the layering support.

[0020] Furthermore, the substrate inspection conveyor line includes two conveyor supports arranged opposite each other along its conveying direction. A detachable, hollow pre-pressing plate is mounted on the top of each conveyor support. Multiple pre-pressing crossbars are spaced apart in the hollow interior of the pre-pressing plate along a direction perpendicular to the substrate tray loading direction. The pre-pressing plate is located above the lifting mechanism. The lifting mechanism drives the lifting plate upwards, causing the substrate tray to finally fall onto the lifting plate and disengage from the conveyor line. Subsequently, the lifting shaft module continues to drive the lifting plate upwards until the substrate tray is pressed firmly onto the pre-pressing plate from bottom to top. At this point, the pre-pressing crossbars on the pre-pressing plate precisely press against the spacer ribs of the substrate tray, further preventing the substrate tray from tilting before inspection and avoiding interference with the flatness inspection of the internal substrate.

[0021] The beneficial effects of this utility model are:

[0022] 1. In this utility model, the flatness of the substrate is quickly detected by the loading hopper module, the substrate measurement module, the barcode scanning module and the unloading hopper module arranged sequentially on the equipment frame. The loading hopper module allows the substrate tray filled with substrates to be loaded sequentially from top to bottom, realizing automated loading and reducing the labor intensity of the workers.

[0023] 2. In this utility model, the substrate inspection conveyor line and the substrate scanning conveyor line work together to form a complete automatic conveying process for the substrate carrier tray from loading to inspection, picking and unloading.

[0024] 3. The lifting mechanism in this utility model can ensure that the equipment can operate without stopping, improve the efficiency of substrate flatness detection, provide a guarantee for subsequent processes, and the conveyor line does not need to be repeatedly shut down and restarted, thus ensuring the service life of the conveyor line. At the same time, the substrate carrier can always maintain balance as it moves toward the 3D inspection camera or barcode camera, avoiding deviations in the substrate flatness detection results due to carrier tilt, and ensuring detection accuracy. Attached Figure Description

[0025] Figure 1This is an axonometric view of the overall structure of an embodiment of the present invention;

[0026] Figure 2 This is an isometric view of the overall structure of the feeding hopper module according to an embodiment of the present invention;

[0027] Figure 3 This is an axonometric view of the overall structure of the material hopper module from another perspective of an embodiment of the present invention;

[0028] Figure 4 This is an isometric view of the overall structure of a feeding conveyor line according to an embodiment of the present invention;

[0029] Figure 5 This is an isometric view of the overall structure of the lifting mechanism according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the lifting mechanism in one embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of another lifting mechanism component according to an embodiment of the present invention;

[0032] Figure 8 This is a partial structural isometric view of an embodiment of the present invention;

[0033] Figure 9 for Figure 8 A magnified structural diagram of A in the middle;

[0034] Figure 10 This is an isometric view of the overall structure of a barcode scanning and material picking component according to an embodiment of the present invention;

[0035] In the diagram: 1. Equipment frame; 2. Feeding hopper module; 21. Fixed bracket; 22. Feeding conveyor line; 23. Carrier tray layering assembly; 231. Layering support; 232. Telescopic cylinder; 233. Layering connecting plate; 234. Layering guide rail; 235. Layering push plate; 24. Carrier tray guide; 3. Substrate carrier tray; 4. Substrate measurement module; 42. Lifting module one; 43. Substrate detection conveyor line; 5. Barcode scanning and picking module; 51. Barcode connecting seat; 52. Barcode camera; 53. Lifting module two; 54. Camera connecting plate; 55. Picking assembly; 551. Picking mounting plate; 5 52. Stepper motor; 553. Connecting key; 554. Material picking nozzle; 56. Substrate scanning conveyor line; 57. Waste collection carrier plate; 6. Material unloading bin module; 7. Lifting mechanism; 71. Fixed mounting plate; 72. Lifting shaft module; 73. Lifting slide rail; 74. Moving slide plate; 75. Lifting plate; 76. Balancing component; 761. Balancing mounting plate; 762. Suction cup; 763. Locking component; 764. Limiting component; 765. Waist-shaped groove; 77. Lifting carrier plate; 78. Clearance groove; 8. Horizontal movement module; 9. Reciprocating displacement drive component; 10. Pre-pressure plate; 11. Pre-pressure crossbar. Detailed Implementation

[0036] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0037] See appendix Figures 1 to 10 As shown, an apparatus for PCB substrate flatness detection in this embodiment includes an equipment frame 1 and a substrate carrier 3.

[0038] The substrate measurement module 4 includes at least one 3D inspection camera and a substrate inspection conveyor line 43; wherein, the 3D inspection camera can directly acquire the height (Z-axis) information of the substrate surface, thereby quickly detecting the flatness of the substrate surface.

[0039] The barcode picking module 5 includes a substrate barcode conveying line 56 arranged adjacent to the substrate detection conveying line 43, at least one barcode camera 52, and a picking component 55. The picking component 55 is provided with a picking nozzle 554, which is used to pick up unqualified substrates after being scanned and positioned by the barcode camera 52, thereby realizing automatic picking of unqualified products.

[0040] The lifting mechanism 7 includes a lifting drive assembly and a balancing assembly 76. The balancing assembly 76 includes a balancing mounting plate 761 and a lifting carrier plate 77 located above and detachably connected to it. The balancing mounting plate 761 is provided with a plurality of suction cups 762. The lifting carrier plate 77 is provided with a plurality of clearance grooves 78 corresponding to the positions of the suction cups 762. When the lifting drive assembly drives the balancing assembly 76 to move upward, the plurality of suction cups 762 can adsorb and fix the corresponding substrate carrier plate 3 on the lifting carrier plate 77 and push it away from the substrate detection conveyor line 43 or the substrate scanning conveyor line 56.

[0041] The lifting carrier plate 77 and the suction cup 762 ensure that the substrate carrier plate 3 remains balanced as it moves toward the 3D inspection camera or barcode scanner 52, avoiding deviations in the substrate flatness detection results due to carrier plate tilt, thus improving the substrate flatness detection efficiency and ensuring detection accuracy.

[0042] The lifting mechanism 7 allows the substrate inspection conveyor line 43 and the substrate scanning conveyor line 56 to operate without stopping, thus improving the overall inspection efficiency.

[0043] It should be noted that the 3D inspection camera, barcode scanner 52, and material picking nozzle 554 are all electrically connected to an external controller. The principle of the 3D inspection camera taking pictures to inspect the flatness of the substrate and the barcode scanner 52 scanning the QR code on each substrate to determine the position of the corresponding substrate on the substrate carrier 3 are existing technologies and will not be elaborated here.

[0044] See appendix Figures 5 to 7 The lifting drive assembly includes a fixed mounting plate 71 and a lifting shaft module 72 vertically fixed on the fixed mounting plate 71. The driving end of the lifting shaft module 72 is connected to a horizontally arranged lifting plate 75. The balancing assembly 76 is connected to the lifting plate 75 via several fixed columns. A movable slide plate 74 is vertically arranged on the lower surface of the lifting plate 75. One end of the movable slide plate 74 passes through the fixed mounting plate 71 and is slidably connected to a lifting slide rail 73 vertically arranged on the fixed mounting plate 71. The lifting slide rail 73 and the movable slide plate 74 cooperate to provide guidance for the lifting and lowering of the balancing assembly 76 under the drive of the lifting shaft module 72, preventing the balancing assembly 76 from tilting during lifting and lowering, thus affecting the detection results of the flatness of its upper substrate.

[0045] In some embodiments, see Appendix Figures 5 to 7The lifting plate 75 is fixedly connected to the bottom of the balance mounting plate 761 via a fixed column, and the balance mounting plate 761 can completely cover the lifting plate 75. Two movable sliding plates 74 are provided and symmetrically arranged along the lifting shaft module 72. Two through slots are correspondingly provided on the fixed mounting plate 71 for the movable sliding plates 74 to pass through and move. The lifting slide rail 73 is vertically arranged on the lower surface of the fixed mounting plate 71 and close to the through slots to facilitate sliding cooperation with the movable sliding plates 74. The two sets of symmetrically arranged movable sliding plates 74 make the lifting movement of the lifting plate 75 driven by the lifting shaft module 72 more stable.

[0046] A gap is reserved between the lifting plate 75 and the balance mounting plate 761 of the balance assembly 76 to accommodate the connecting air pipe connected to the end of the suction cup 762 away from the lifting plate 77, so as to avoid interference between the connecting air pipe and the moving slide plate 74 when the driving end of the lifting shaft module 72 is directly connected to the lifting plate 75.

[0047] The balance mounting plate 761 is symmetrically provided with adjustable limiting members 764 along its center line. The limiting members 764 are L-shaped, and a waist-shaped groove 765 is formed through the long side of the L-shape from top to bottom. The balance mounting plate 761 is provided with a plurality of limiting holes along its length that correspond to the positions of the waist-shaped groove 765. One end of the locking screw is inserted into the waist-shaped groove 765 and the limiting holes to lock the limiting members 764 onto the balance mounting plate 761.

[0048] The L-shaped limiting member 764 can guide and limit the substrate carrier 3 during the lifting process of the balance mounting plate 761, restricting the displacement of the substrate carrier 3 in the left and right directions, and ensuring that the center line of the lifting plate 77 and the substrate carrier 3 coincides after the lifting is completed.

[0049] Combined with appendix Figure 5 To be continued Figure 7 The balance mounting plate 761 is rectangular in shape, and five suction cups 762 are provided, which are respectively arranged at the center of the balance mounting plate 761 and at the four corners of the rectangle. This distribution method allows the substrate carrier plate 3 to be more stably adsorbed and fixed on the lifting carrier plate 77 by the suction cups 762.

[0050] The limiting socket is provided with an internal thread so that the locking screw can be quickly locked after being inserted into the waist-shaped groove and the limiting socket. The balance mounting plate 761 and the limiting member 764 are locked.

[0051] The top of the short side of the limiting member 764 is higher than the upper surface of the lifting plate 77. The balancing mounting plate 761 is provided with a positioning groove for the limiting member 764 to be accommodated. One end of the positioning groove extends out of the side of the balancing mounting plate 761. The bottom of the long side of the limiting member 764 is provided with a strip groove that matches the positioning groove from the side close to the positioning groove to the side away from it.

[0052] The height setting of the short side of the L-shaped limiting member 764 ensures that during the lifting process, the limiting member 764 first contacts the corresponding side of the substrate carrier, thereby limiting the displacement of the substrate carrier in the left and right directions and ensuring that the substrate carrier is placed stably on the lifting plate 77; the upper surface of the strip groove of the limiting member 764 abuts against the bottom of the positioning groove, and the positioning groove can limit the installation position of the limiting member 764 on the balance mounting plate 761.

[0053] In some embodiments, a plurality of locking members 763 are vertically arranged on the upper surface of the balance mounting plate 761 around its perimeter. Each locking member 763 has a threaded hole at its top. The lifting plate 77 has a plurality of locking grooves corresponding to the positions of the threaded holes, so that the lifting plate 77 can be locked and fixed to the threaded holes by locking screws, which facilitates the overall installation and maintenance of the balance assembly 76.

[0054] The top of the short side of the L-shaped structure of the limiting member 764 is machined into a slope. This slope is inclined from the side near the center of the lifting carrier plate 77 to the side away from the center, which allows the substrate carrier plate 3 to enter the space enclosed by the opposing limiting member 764 more smoothly.

[0055] It also includes two horizontally moving modules 8 mounted side by side on the equipment frame 1. The 3D inspection camera and the barcode scanning camera 52 are connected to the corresponding horizontal moving modules 8 through the inspection connector, the barcode scanning connector 51 and the corresponding horizontal moving modules 8, respectively. The substrate measurement module 4 and the barcode picking module 5 are arranged sequentially along the feeding direction of the substrate tray 3. The bottom of the substrate inspection conveyor line 43 and the substrate barcode scanning conveyor line 56 are slidably connected to the equipment frame 1 through a reciprocating displacement drive 9, so that the substrate tray 3 containing the substrate moves with the substrate inspection conveyor line 43 and the substrate barcode scanning conveyor line 56 to the area below the 3D inspection camera or the barcode scanning camera 52 for inspection.

[0056] Two horizontal moving modules 8 can drive the corresponding 3D inspection camera or barcode scanner 52 to move horizontally, adjusting their positions relative to the substrate carrier in the X-axis direction, ensuring that the 3D inspection camera and barcode scanner 52 can complete the inspection and barcode scanning of the substrate on the substrate carrier; the reciprocating displacement drive 9 can enable the substrate inspection conveyor line 43 and the substrate barcode scanning conveyor line 56 to automatically move closer to or further away from the 3D inspection camera or barcode scanner 52.

[0057] When the two reciprocating displacement drive units 9 drive the substrate detection conveyor line 43 to align with the substrate scanning conveyor line 56 respectively, the substrate carrier 3 located on the substrate detection conveyor line 43 can be transferred to the adjacent substrate scanning conveyor line 56, realizing automatic transfer of the substrate carrier 3.

[0058] In some embodiments, the substrate measurement module 4 further includes a lifting module 42, which can drive the 3D inspection camera to move up and down. The barcode scanning and picking module 5 further includes a lifting module 53. The barcode scanning camera 52 is connected to the lifting module 53 through a camera connecting plate 54. The distance between the 3D inspection camera and the barcode scanning camera 52 and the substrate carrier 3 in the height direction can be adjusted by the lifting module 42 and the lifting module 53 to adapt to the inspection or scanning of substrates of different sizes or heights.

[0059] It should be noted that the reciprocating displacement drive 9 includes, but is not limited to, a displacement module or a telescopic cylinder 232. The horizontal moving module 8, the displacement module, and the lifting module are all existing known mechanical structures, and their working principles will not be elaborated here.

[0060] The material picking assembly 55 also includes a stepper motor 552, which is connected to the barcode scanner connector 51 via a material picking mounting plate 551. The drive end of the stepper motor 552 is connected to the material picking nozzle 554 via a connecting key 553. The drive end of the stepper motor 552 can drive the connecting key 553 to rotate by a corresponding angle, and the material picking nozzle 554, which is connected to the drive end via the connecting key 553, will also rotate by the same angle, so that the defective substrate picked up by the material picking nozzle 554 can be smoothly placed into the storage slot of the waste collection carrier plate 57.

[0061] The system also includes a loading hopper module 2 and a unloading hopper module 6 with identical structures. The loading hopper module 2 includes a loading conveyor line 22 that transfers the substrate trays 3 to the substrate inspection conveyor line 43, and a tray layering assembly 23 mounted on the loading conveyor line 22 that can support multiple stacked substrate trays 3. The unloading hopper module 6 can unload the substrate trays 3 from the substrate scanning conveyor line 56. The loading hopper module 2 and the unloading hopper module 6 enable automatic loading and unloading of the substrate trays 3, reducing the labor intensity of workers and improving the overall automation level of the flatness inspection device.

[0062] The tray layering assembly 23 includes two telescopic drive members arranged opposite each other along the conveying direction of the feeding conveyor line 22. Each telescopic drive member has a layering pusher plate 235 horizontally connected to its drive end. The two layering pushers 235 are at the same horizontal height. When the two layering pushers 235 extend synchronously, their top surfaces jointly support multiple stacked substrate trays 3. When the two layering pushers 235 retract synchronously, the substrate tray 3 at the bottom layer can fall onto the feeding conveyor line 22.

[0063] In this process, the substrate carrier falls to the loading conveyor line 22, which then transports it forward to the inspection station. The remaining substrate carrier 3 is supported above the layering pusher plate 235 when the layering pusher plate 235 extends again, thus achieving the layer-by-layer separation of the substrate carrier 3.

[0064] In some embodiments, a lifting mechanism 7 is also provided below the feeding conveyor line 22.

[0065] It should be noted that the telescopic drive includes, but is not limited to, a drive cylinder or other known mechanical structure capable of driving the extension and retraction of the layered push plate 235, and its working principle will not be elaborated here.

[0066] The tray layering assembly 23 also includes layering supports 231 symmetrically arranged on the feeding conveyor line 22. The telescopic drive is located on the layering support 231. Two tray guides 24 are vertically arranged on the side of each layering support 231 facing the substrate tray 3. The layering push plate 235 is fixedly connected to the drive end of the telescopic drive through the layering connecting plate 233. The lower surface of the layering connecting plate 233 is slidably connected to the layering guide rail 234 horizontally arranged on the layering support 231. It also includes two horizontally moving modules 8 mounted side by side on the equipment frame 1. The 3D inspection camera and the barcode scanning camera 52 are connected to the corresponding horizontally moving modules 8 through the inspection connector, the barcode scanning connector 51 and the corresponding horizontally moving module 8, respectively. The substrate measurement module 4 and the barcode picking module 5 are arranged sequentially along the feeding direction of the substrate tray 3. The bottom of the substrate inspection conveyor line 43 and the substrate barcode scanning conveyor line 56 are slidably connected to the equipment frame 1 through a reciprocating displacement drive 9, so that the substrate tray 3 containing the substrate moves with the substrate inspection conveyor line 43 and the substrate barcode scanning conveyor line 56 to the area below the 3D inspection camera or the barcode scanning camera 52 for inspection.

[0067] Two horizontal moving modules 8 can drive the corresponding 3D inspection camera or barcode scanner 52 to move horizontally, adjusting their positions relative to the substrate carrier in the X-axis direction, ensuring that the 3D inspection camera and barcode scanner 52 can complete the inspection and barcode scanning of the substrate on the substrate carrier; the reciprocating displacement drive 9 can enable the substrate inspection conveyor line 43 and the substrate barcode scanning conveyor line 56 to automatically move closer to or further away from the 3D inspection camera or barcode scanner 52.

[0068] When the two reciprocating displacement drive units 9 drive the substrate detection conveyor line 43 to align with the substrate scanning conveyor line 56 respectively, the substrate carrier 3 located on the substrate detection conveyor line 43 can be transferred to the adjacent substrate scanning conveyor line 56, realizing automatic transfer of the substrate carrier 3.

[0069] In some embodiments, the substrate measurement module 4 further includes a lifting module 42, which can drive the 3D inspection camera to move up and down. The barcode scanning and picking module 5 further includes a lifting module 53. The barcode scanning camera 52 is connected to the lifting module 53 through a camera connecting plate 54. The distance between the 3D inspection camera and the barcode scanning camera 52 and the substrate carrier 3 in the height direction can be adjusted by the lifting module 42 and the lifting module 53 to adapt to the inspection or scanning of substrates of different sizes or heights.

[0070] It should be noted that the reciprocating displacement drive 9 includes, but is not limited to, a displacement module or a telescopic cylinder 232. The horizontal moving module 8, the displacement module, and the lifting module are all existing known mechanical structures, and their working principles will not be elaborated here.

[0071] The material picking assembly 55 also includes a stepper motor 552, which is connected to the barcode scanner connector 51 via a material picking mounting plate 551. The drive end of the stepper motor 552 is connected to the material picking nozzle 554 via a connecting key 553. The drive end of the stepper motor 552 can drive the connecting key 553 to rotate by a corresponding angle, and the material picking nozzle 554, which is connected to the drive end via the connecting key 553, will also rotate by the same angle, so that the defective substrate picked up by the material picking nozzle 554 can be smoothly placed into the storage slot of the waste collection carrier plate 57.

[0072] The system also includes a loading hopper module 2 and a unloading hopper module 6 with identical structures. The loading hopper module 2 includes a loading conveyor line 22 that transfers the substrate trays 3 to the substrate inspection conveyor line 43, and a tray layering assembly 23 mounted on the loading conveyor line 22 that can support multiple stacked substrate trays 3. The unloading hopper module 6 can unload the substrate trays 3 from the substrate scanning conveyor line 56. The loading hopper module 2 and the unloading hopper module 6 enable automatic loading and unloading of the substrate trays 3, reducing the labor intensity of workers and improving the overall automation level of the flatness inspection device.

[0073] The tray layering assembly 23 includes two telescopic drive members arranged opposite each other along the conveying direction of the feeding conveyor line 22. Each telescopic drive member has a layering pusher plate 235 horizontally connected to its drive end. The two layering pushers 235 are at the same horizontal height. When the two layering pushers 235 extend synchronously, their top surfaces jointly support multiple stacked substrate trays 3. When the two layering pushers 235 retract synchronously, the substrate tray 3 at the bottom layer can fall onto the feeding conveyor line 22.

[0074] In this process, the substrate carrier 3 falls to the feeding conveyor line 22, which then transports it forward to the inspection station. The remaining substrate carrier 3 is supported above the layering pusher plate 235 when the layering pusher plate 235 extends again, thus achieving the layer-by-layer separation of the substrate carrier 3.

[0075] In some embodiments, a lifting mechanism 7 is also provided below the feeding conveyor line 22.

[0076] It should be noted that the telescopic drive includes, but is not limited to, a drive cylinder or other known mechanical structure capable of driving the extension and retraction of the layered push plate 235, and its working principle will not be elaborated here.

[0077] The tray layering assembly 23 also includes layering supports 231 symmetrically arranged on the feeding conveyor line 22. The telescopic drive is located on the layering support 231. Two tray guides 24 are vertically arranged on the side of each layering support 231 facing the substrate tray 3. The layering push plate 235 is fixedly connected to the drive end of the telescopic drive through the layering connecting plate 233. The lower surface of the layering connecting plate 233 is slidably connected to the layering guide rail 234 horizontally arranged on the layering support 231.

[0078] In some embodiments, the tray guides 24 are located at both ends of the layer support 231 along its length and are arranged in an L-shape. The four tray guides 24 together form a defined space to prevent the stacked substrate trays 3 from tipping over. The layer support 231 supports the layer pusher 235 and the telescopic drive. The layer guide rail 234 ensures that the layer pusher 235 is always pushed out or retracted horizontally, which facilitates the layering of two adjacent substrate trays 3.

[0079] The substrate inspection conveyor line 43 includes two conveyor supports arranged opposite each other along its conveying direction. A detachable hollow pre-pressing plate 10 is mounted on the top of each of the two conveyor supports. Multiple pre-pressing crossbars 11 are spaced apart in the hollow interior of the pre-pressing plate 10 along a direction perpendicular to the substrate tray 3 loading direction. The pre-pressing plate 10 is located above the lifting mechanism 7. The lifting mechanism 7 drives the lifting plate 77 upward, causing the substrate tray 3 to finally fall onto the lifting plate 77 and disengage from the conveyor line. Subsequently, the lifting shaft module 72 continues to drive the lifting plate 77 upward until the substrate tray 3 is pressed firmly onto the pre-pressing plate 10 from bottom to top. At this point, the pre-pressing crossbars 11 on the pre-pressing plate 10 precisely press against the spacer ribs of the substrate tray 3, further preventing the substrate tray 3 from tilting before inspection and avoiding interference with the flatness inspection of the substrate inside.

[0080] In some embodiments, each conveying bracket is provided with a main drive wheel, multiple driven wheels and a drive motor. The drive motor is horizontally mounted on the conveying bracket and its drive end is connected to the main drive wheel. The main drive wheel and the multiple driven wheels are connected by a drive belt. There is a space between the two oppositely arranged conveying brackets for the lifting mechanism 7 to be installed. The substrate detection conveying line 43 is connected to the equipment frame 1 through a fixed bracket 21. The top of the fixed bracket 21 is provided with a through groove for the lifting mechanism 7 to be accommodated. The fixed mounting plate 71 on the lifting mechanism 7 is mounted on the upper surface of the fixed bracket 21.

[0081] The feeding conveyor line 22 has the same structure as the substrate inspection conveyor line 43 and the substrate scanning conveyor line 56.

[0082] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A device for detecting the flatness of a PCB substrate, characterized in that: This includes the equipment rack and the substrate carrier. A substrate measurement module, comprising at least one 3D inspection camera and a substrate inspection conveyor line; The barcode picking module includes a substrate barcode conveying line arranged adjacent to the substrate detection conveying line, at least one barcode camera, and a picking component. The picking component is equipped with a picking nozzle for picking up unqualified substrates after being scanned and positioned by the barcode camera. The lifting mechanism includes a lifting drive assembly and a balancing assembly. The balancing assembly includes a balancing mounting plate and a lifting carrier plate located above and detachably connected to it. The balancing mounting plate is provided with multiple suction cups, and the lifting carrier plate is provided with multiple clearance grooves corresponding to the positions of the suction cups. When the lifting drive assembly drives the balancing assembly to move upward, the multiple suction cups can adsorb and fix the corresponding substrate carrier plate on the lifting carrier plate and push it away from the substrate detection conveyor line or substrate scanning conveyor line.

2. The device for detecting the flatness of a PCB substrate according to claim 1, characterized in that: The lifting drive assembly includes a fixed mounting plate and a lifting shaft module vertically fixed on the fixed mounting plate. The driving end of the lifting shaft module is connected to a horizontally arranged lifting plate. The balancing assembly is connected to the lifting plate through several fixed columns. A movable slide plate is vertically arranged on the lower surface of the lifting plate. One end of the movable slide plate passes through the fixed mounting plate and is slidably connected to the lifting slide rail vertically arranged on the fixed mounting plate.

3. The device for detecting the flatness of a PCB substrate according to claim 1, characterized in that: The balance mounting plate is symmetrically provided with adjustable limiting members along its center line along its length direction. The limiting members are L-shaped, and a waist-shaped groove is formed through the long side of the L-shape from top to bottom. The balance mounting plate is provided with several limiting holes along its length direction that correspond to the positions of the waist-shaped grooves. One end of the locking screw is inserted into the waist-shaped groove and the limiting holes to lock the limiting members onto the balance mounting plate.

4. The device for detecting the flatness of a PCB substrate according to claim 3, characterized in that: The top of the short side of the limiting member is higher than the upper surface of the lifting plate. The balancing mounting plate has a positioning groove for the limiting member to be accommodated. One end of the positioning groove extends out of the side of the balancing mounting plate. The bottom of the long side of the limiting member has a strip groove that matches the positioning groove from the side closer to the positioning groove to the side farther away from it.

5. The device for detecting the flatness of a PCB substrate according to claim 1, characterized in that: It also includes two horizontally moving modules mounted side by side on the equipment frame. The 3D inspection camera and the barcode scanning camera are connected to the corresponding horizontal moving modules through the inspection connector, the barcode scanning connector and the corresponding horizontal moving modules, respectively. The substrate measurement module and the barcode picking module are arranged sequentially along the feeding direction of the substrate tray. The bottom of the substrate inspection conveyor line and the substrate barcode scanning conveyor line are slidably connected to the equipment frame through a reciprocating displacement drive, so that the substrate tray containing the substrate moves with the substrate inspection conveyor line and the substrate barcode scanning conveyor line to the area below the 3D inspection camera or the barcode scanning camera for inspection.

6. The apparatus for detecting the flatness of a PCB substrate according to claim 5, characterized in that: The material picking assembly also includes a stepper motor, which is connected to the barcode scanner connector via a material picking mounting plate. The drive end of the stepper motor is connected to the material picking nozzle via a key.

7. The device for detecting the flatness of a PCB substrate according to claim 1, characterized in that: It also includes a feeding hopper module and a discharging hopper module with the same structure. The feeding hopper module includes a feeding conveyor line that transfers substrate trays to the substrate detection conveyor line and a tray layering assembly that is mounted on the feeding conveyor line and can support multiple stacked substrate trays. The discharging hopper module can transport and unload substrate trays from the substrate scanning conveyor line.

8. The apparatus for detecting the flatness of a PCB substrate according to claim 7, characterized in that: The tray layering assembly includes two telescopic drive members arranged opposite each other along the conveying direction of the feeding conveyor line. Each telescopic drive member has a layering pusher plate horizontally connected to its drive end. The two layering pushers are at the same horizontal height. When the two layering pushers extend synchronously, their top surfaces jointly support multiple stacked substrate trays. When the two layering pushers retract synchronously, the substrate tray at the bottom layer can fall onto the feeding conveyor line.

9. The apparatus for detecting the flatness of a PCB substrate according to claim 8, characterized in that: The tray layering assembly also includes layering supports symmetrically arranged on the feeding conveyor line. The telescopic drive is located on the layering support. Each layering support has two tray guides vertically arranged on the side facing the substrate tray. The layering push plate is fixedly connected to the drive end of the telescopic drive through the layering connecting plate. The lower surface of the layering connecting plate is slidably connected to the layering guide rail horizontally arranged on the layering support.

10. The apparatus for detecting the flatness of a PCB substrate according to claim 3, characterized in that: The substrate inspection conveyor line includes two conveyor supports arranged opposite each other along its conveying direction. A detachable hollow pre-pressing plate is provided on the top of the two conveyor supports. Multiple pre-pressing crossbars are arranged at intervals in the hollow part of the pre-pressing plate along the direction perpendicular to the substrate tray feeding direction. The pre-pressing plate is located above the lifting mechanism.

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