CN115078961A - Desktop-level circuit board detection device and method based on visual feedback mechanical arm - Google Patents

Abstract

The invention belongs to the technical field of circuit board detection, and discloses a desktop-level circuit board detection device and method based on a visual feedback mechanical arm, wherein the desktop-level circuit board detection device comprises a PC (personal computer), a mechanical arm, a detector, a camera and a circuit board, the detector comprises a detection probe, and the detection probe is fixed at the tail end of the mechanical arm; the camera is arranged at the tail end of the mechanical arm and above the detection probe; the detector, the camera and the mechanical arm are connected with the PC; the mechanical arm is used for carrying the test probe to move to a detection point of the circuit board; the camera is used for shooting the circuit board and transmitting the image information of the circuit board to the PC for analysis; the detector detects whether the relevant parameters of the circuit board meet the design requirements or not; and the PC is used for processing image information returned by the camera and controlling the mechanical arm and the detector. The invention realizes automatic circuit board detection, replaces workers to carry out repeated work, reduces the participation of the workers and improves the detection efficiency.

Description

Desktop-level circuit board inspection device and method based on visual feedback robotic arm

technical field

The invention belongs to the technical field of circuit board detection, and in particular relates to a desktop-level circuit board detection device and method based on a visual feedback mechanical arm.

Background technique

In the prior art, many small and medium-sized factories lack a complete assembly line, and the production of circuit boards often needs to be manually tested, and the detection efficiency is low; and the detection work can only be completed by using the detection instrument on the desktop, but the workers need to hold the detector by hand. Needle and manually align the detection point, working for a long time, hand and eye fatigue, and even lower efficiency.

With the rapid development of automation control, desktop-level robotic arms are more and more widely used in industrial production. Compared with large-scale assembly lines, desktop-level detection systems are more cost-effective and more applicable, and are more popular in small and medium-sized factories. The invention is based on a desktop-level mechanical arm and supplemented by visual feedback, and designs and develops an automatic detection device for circuit boards based on vision.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a desktop-level circuit board detection device and method based on a visual feedback mechanical arm, so as to solve the above-mentioned technical problems.

In order to solve the above-mentioned technical problems, the specific technical solutions of the desktop-level circuit board detection device and method based on the visual feedback mechanical arm of the present invention are as follows:

A desktop circuit board detection device based on a visual feedback robotic arm, comprising a PC, a robotic arm, a detector, a camera and a circuit board, the detector includes a detection probe, and the detection probe is fixed at the end of the robotic arm; The camera is installed at the end of the robotic arm, above the detection probe; the detector, the camera, and the robotic arm are connected to the PC; the robotic arm is used to carry the test probe to the detection point of the circuit board; the camera is used to shoot circuit board, and transmit the circuit board image information to the PC for analysis; the detector detects whether the relevant parameters of the circuit board meet the design requirements; the PC processes the image information returned by the camera and controls the robotic arm and the detector.

Further, the detector includes a detector main body and an interface module, the detector main body is connected to the PC 1 through a USB interface, and the interface module is connected to the detection probe and the detector main body.

Further, the camera is connected to the PC through a serial port; the robotic arm is connected to the PC through a USB interface.

Further, the maximum load of the robotic arm is 500g; the maximum extension distance is 320mm; the range of motion: base: -90°~﹢90°, big arm: 0°~﹢85°, forearm: ﹣10°~﹢90°, End rotation: -90°~﹢90°; Maximum movement speed (250g load): The rotation speed of the upper and lower arms and the base is 320°/s, and the end rotation speed is 480°/s.

Further, the camera sensor type is Coms 1/2.3 inchse, resolution is 3840*2880-20 frames, nine MJPG formats, supports YUY2 physical pixels 12 million physical pixels, viewing angle 3.24mm no distortion wide angle 130°, distortion distortion 3.24mm focal length <-0.35%.

Further, the joint coordinate system of the robotic arm is: a coordinate system determined with reference to each moving joint: when the detection probe is installed at the end of the robotic arm, it includes four joints: J1, J2, J3 and J4, J1, J2, J3 and J4 are all rotary joints, and the counterclockwise is positive. J1 controls the positive and negative rotation of the base motor; J2 controls the positive and negative rotation of the big arm motor; J3 controls the forearm motor to move in the positive and negative directions; J4 controls the positive and negative direction of the end servo Rotate in the negative direction.

Further, the Cartesian coordinate system of the robotic arm is: a coordinate system determined with reference to the base of the robotic arm: the origin of the coordinate system is the intersection of the three motor axes of the big arm, the forearm and the base, and the X-axis direction is perpendicular to the fixed axis. The base is forward; the Y-axis direction is perpendicular to the fixed base to the left; the Z-axis conforms to the right-hand rule, and the vertical upward is the positive direction; the R-axis is the attitude of the center of the end servo relative to the origin, and counterclockwise is positive. The R-axis exists only when the needle is moved, and the R-axis coordinate is the sum of the J1-axis and J4-axis coordinates.

Further, the detection probe is vertically fixed on the detection probe plate, the detection probe plate is fixed on the end of the robot arm, 4 detection probes are in a group, the detection probe tip is on a spatial horizontal line, and the distance is corresponding to the The detection circuit monitors the distance between the points, and the upper part of each detection probe is connected with a wire for transmitting detection current; the camera is fixed on the upper part of the end of the robot arm.

Further, the detection probe board is fixed on the end of the mechanical arm by means of glue adhesion, and the camera is fixed on the upper part of the end of the mechanical arm by screws.

The invention also discloses a desktop-level circuit board detection method based on a visual feedback mechanical arm, comprising the following steps:

Step 1: When the device is started, the robotic arm receives the PC command to reset to zero, reaches the initial position, and the camera shoots the circuit board on the desktop; obtains the image information and sends it to the PC through the USB serial port;

Step 2: The PC processes the image information. The PC identifies the detection points of the circuit board through the detection point detection algorithm, obtains the pixel coordinates of the detection points, and then obtains the spatial coordinates of the detection points through the transformation relationship between the pixel coordinates and the actual spatial coordinates. The spatial coordinates of the detection point calculate the angle of the circuit board;

Step 3: Under the control of the PC, the robotic arm carries the detection probe and moves to the detection point;

Step 4: After receiving the motion signal of the robotic arm, the PC turns on the detector for detection;

Step 5: The detector detects whether the corresponding indicators of the circuit board meet the requirements;

Step 6: The PC receives the tester and returns the test result, prompting the worker whether the circuit board is qualified.

The desktop-level circuit board detection device and method based on the visual feedback robotic arm of the present invention has the following advantages: the desktop-level circuit board detection device and method based on the visual feedback robotic arm of the present invention realizes automatic circuit board detection, replacing workers to perform the above repetitions work, reducing worker participation and improving detection efficiency.

Description of drawings

1 is a schematic diagram of the overall structure of a desktop-level circuit board detection device of the present invention;

2 is a schematic structural diagram of a Cartesian coordinate system of a robotic arm of the present invention;

3 is a schematic diagram of the structure of the end of the robot arm of the present invention;

FIG. 4 is a flowchart of a method for detecting a desktop circuit board based on a visual feedback robotic arm according to the present invention.

Description of the marks in the figure: 1. PC; 2. Robotic arm; 3. Detector; 4. Camera; 5. Detection probe; 6. Circuit board.

Detailed ways

In order to better understand the purpose, structure and function of the present invention, a desktop circuit board detection device and method based on a visual feedback robot arm of the present invention will be described in further detail below with reference to the accompanying drawings.

As shown in FIG. 1 , the desktop circuit board detection device based on a visual feedback robot arm of the present invention includes a PC 1 , a robot arm 2 , a detector 3 , a camera 4 and a circuit board 6 .

The detector 3 includes a detector main body, a detection probe 5 and an interface module, the detector main body is connected to the PC 1 through a USB interface, and the interface module is connected to the detection probe 5 and the detector main body;

The detection probe 5 is fixed at the end of the robotic arm 2;

The camera 4 is installed at the end of the robotic arm 2, above the detection probe 5, and connected to the PC 1 through the serial port;

The robotic arm 2 is connected to the PC 1 through the USB interface;

The robotic arm 2 is used to carry the test probe 5 to the detection point of the circuit board 6; the camera 4 is used to photograph the circuit board 6 and transmit the circuit board image information to the PC 1 for analysis; the detector 3 detects the related circuit board 6 Whether the parameters meet the design requirements; the PC 1 processes the image information returned by the camera 4 and controls the robotic arm 2 and the detector 3.

The maximum load of the robot arm 2 is 500g; the maximum extension distance is 320mm; the range of motion: base: -90°~﹢90°, big arm: 0°~﹢85°, forearm: ﹣10°~﹢90°, end rotation: - 90°~﹢90°; Maximum movement speed (250g load): The rotation speed of the upper and lower arms and the base is 320°/s, and the rotation speed of the end is 480°/s.

Camera 4 sensor type is Coms 1/2.3 inchse, resolution is 3840*2880-20 frames and other nine MJPG formats, supports YUY2 physical pixel 12 million physical pixel viewing angle 3.24mm no distortion wide angle 130°, distortion 3.24mm focal length <-0.35 %.

As shown in Figure 2, the joint coordinate system of the robotic arm 2: the coordinate system determined with each moving joint as a reference:

When the detection probe 5 is installed at the end of the robotic arm 2, it includes four joints: J1, J2, J3, and J4. J1, J2, J3, and J4 are all rotary joints, and counterclockwise is positive. J1 controls the base motor to rotate in the positive and negative directions; J2 controls the boom motor to rotate in the positive and negative directions; J3 controls the forearm motor to move in the positive and negative directions; J4 controls the end servo to rotate in the positive and negative directions.

Cartesian coordinate system of robot arm 2: the coordinate system determined with reference to the base of the robot arm:

The origin of the coordinate system is the intersection of the three motor axes of the big arm, the forearm and the base. The X-axis is perpendicular to the fixed base and forward; the Y-axis is perpendicular to the fixed base to the left; the Z-axis conforms to the right-hand rule, and the vertical upward is the positive direction; the R-axis is the attitude of the center of the end servo relative to the origin, and counterclockwise is positive . The R-axis exists only when the detection probe 5 is installed. The R-axis coordinate is the sum of the J1-axis and J4-axis coordinates.

Figure 3 is a diagram of the end of the robot arm 2. The detection probe 5 is vertically fixed on the detection probe plate, and the detection probe plate is fixed on the end of the robot arm 2 by means of glue adhesion. Four detection probes 5 are grouped together. The tip of the needle 5 is on a spatial horizontal line, and the distance is corresponding to the distance between the monitoring points of the circuit board to be detected. The upper part of each detection probe 5 is connected to a wire for transmitting the detection current. The camera 4 is fixed on the upper part of the end of the robotic arm 2 by screws.

As shown in Figure 4, the desktop-level circuit board detection method based on the visual feedback robotic arm includes:

Step 1: When the device is started, the robotic arm 2 receives the instruction from the PC 1 to reset to zero, and reaches the initial position, and the camera 4 shoots the circuit board 6 on the desktop; obtains image information and sends it to the PC 1 through the USB serial port;

Step 2: The PC 1 processes the image information, the PC 1 identifies the detection points of the circuit board 6 through the detection point detection algorithm, obtains the pixel coordinates of the detection points, and then obtains the spatial coordinates of the detection points through the transformation relationship between the pixel coordinates and the actual spatial coordinates, Calculate the board angle using the spatial coordinates of a series of detection points;

Step 3: Under the control of the PC 1, the robotic arm 2 carries the detection probe 5 and moves to the detection point;

Step 4: After receiving the motion signal of the robotic arm 2, the PC 1 turns on the detector 3 for detection;

Step 5: The detector 3 detects whether the corresponding indicators of the circuit board 6 meet the requirements;

Step 6: The PC 1 receives the detection result returned by the detector 3, and prompts the worker whether the circuit board 6 is qualified.

It can be understood that the present invention is described by some embodiments, and those skilled in the art know that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, in the teachings of this invention, these features and embodiments may be modified to adapt a particular situation and material without departing from the spirit and scope of the invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application fall within the protection scope of the present invention.

Claims (10)

1. A desktop-level circuit board detection device based on a visual feedback robotic arm, comprising a PC (1), a robotic arm (2), a detector (3), a camera (4) and a circuit board (6), characterized in that , the detector (3) includes a detection probe (5), the detection probe (5) is fixed on the end of the mechanical arm (2); the camera (4) is installed on the end of the mechanical arm (2), and the detection probe ( 5) Above; the detector (3), the camera (4), and the robotic arm (2) are connected to the PC (1); the robotic arm (2) is used to carry the test probe (5) to the circuit board (6) at the detection point; the camera (4) is used for photographing the circuit board (6), and the circuit board image information is transmitted to the PC (1) for analysis; the detector (3) detects the circuit board (6) ) whether the relevant parameters meet the design requirements; the PC (1) processes the image information returned by the camera (4) and controls the robotic arm (2) and the detector (3). 2. The desktop-level circuit board detection device based on a visual feedback robotic arm according to claim 1, wherein the detector (3) comprises a detector main body and an interface module, and the detector main body is connected to a PC ( 1) Connected through a USB interface, the interface module is connected to the detection probe (5) and the main body of the detector. 3. The desktop-level circuit board detection device based on a visual feedback robotic arm according to claim 1, wherein the camera (4) is connected to the PC (1) through a serial port; the robotic arm (2) is connected through a serial port; The USB interface is connected to the PC (1). 4. The desktop-level circuit board detection device based on a visual feedback robotic arm according to claim 1, wherein the robotic arm (2) has a maximum load of 500g; a maximum extension distance of 320mm; and a range of motion: base: -90° ~﹢90°, Big Arm: 0°~﹢85°, Small Arm: ﹣10°~﹢90°, End Rotation: -90°~﹢90°; Maximum Movement Speed (250g Load): Big and Small Arm, Base Rotation The speed is 320°/s and the end rotation speed is 480°/s. 5. The desktop-level circuit board detection device based on a visual feedback robotic arm according to claim 1, wherein the camera (4) sensor type is Coms 1/2.3 inchse, and the resolution is 3840*2880-20 frames nine MJPG format, support YUY2 physical pixel 12 million physical pixel viewing angle 3.24mm no distortion wide angle 130°, distortion 3.24mm focal length <-0.35%. 6 . The desktop-level circuit board detection device based on a visual feedback robotic arm according to claim 1 , wherein the joint coordinate system of the robotic arm (2) is: a coordinate system determined with reference to each moving joint: 7 . When the detection probe (5) is installed at the end of the robotic arm (2), it includes four joints: J1, J2, J3, and J4. J1, J2, J3, and J4 are all rotary joints, and counterclockwise is positive, and J1 controls the base The motor rotates in the positive and negative directions; J2 controls the boom motor to rotate in the positive and negative directions; J3 controls the forearm motor to move in the positive and negative directions; J4 controls the end servo to rotate in the positive and negative directions. 7 . The desktop-level circuit board detection device based on a visual feedback manipulator according to claim 6 , wherein the Cartesian coordinate system of the manipulator ( 2 ) is a coordinate system determined with reference to the base of the manipulator. 8 . : The origin of the coordinate system is the intersection of the three motor axes of the big arm, the forearm and the base. The X-axis is perpendicular to the fixed base and forward; the Y-axis is perpendicular to the fixed base to the left; the Z-axis conforms to the right-hand rule, and the vertical upward is Positive direction; R-axis is the attitude of the center of the end servo relative to the origin, and counterclockwise is positive. When the detection probe (5) is installed, the R-axis only exists, and the R-axis coordinate is the sum of the J1-axis and J4-axis coordinates. 8 . The desktop-level circuit board detection device based on a visual feedback mechanical arm according to claim 1 , wherein the detection probe ( 5 ) is vertically fixed on the detection probe board, and the detection probe board is fixed on the mechanical At the end of the arm (2), 4 detection probes (5) are a group, the tip of the detection probe (5) is on a spatial horizontal line, and the distance is the distance between the monitoring points corresponding to the circuit board to be detected. Each detection probe (5) The upper part is connected with a wire for transmitting detection current; the camera (4) is fixed on the upper part of the end of the mechanical arm (2). 9 . The desktop-level circuit board detection device based on a visual feedback robotic arm according to claim 8 , wherein the detection probe board is fixed on the end of the robotic arm ( 2 ) by means of glue adhesion, and the camera ( 9 . 4) Fix it on the upper part of the end of the robotic arm (2) with screws. 10. A method for circuit board detection using the desktop-level circuit board detection device based on a visual feedback robotic arm according to any one of claims 1-9, wherein the method comprises the steps of: Step 1: When the device is started, the robotic arm (2) receives the instruction from the PC (1) to reset to zero, and reaches the initial position. The camera (4) shoots the circuit board (6) on the desktop; obtains image information and sends it to the computer via the USB serial port. PC(1); Step 2: The PC (1) processes the image information, the PC (1) identifies the circuit board through the detection point detection algorithm (6) detects the detection points, obtains the pixel coordinates of the detection points, and then obtains the conversion relationship between the pixel coordinates and the actual space coordinates. The spatial coordinates of the detection points are used to calculate the angle of the circuit board by using the spatial coordinates of a series of detection points; Step 3: Under the control of the PC (1), the robotic arm (2) carries the detection probe (5) and moves to the detection point; Step 4: Receive the robotic arm (2) to complete the motion signal, and the PC (1) turns on the detector (3) for detection; Step 5: The detector (3) detects whether the corresponding indicators of the circuit board (6) meet the requirements; Step 6: The PC (1) receives the tester (3) and returns the test result, prompting the worker whether the circuit board (6) is qualified.

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