CN211826137U - Automatic optical equipment motion control system for flexible circuit board - Google Patents
Automatic optical equipment motion control system for flexible circuit board Download PDFInfo
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Abstract
The utility model relates to an automatic optical equipment motion control system for flexible circuit board, it includes image acquisition module, image processing module, motion control module, software operation module. The motion control module adopts a multi-axis motion controller as a core, an I/O connection module and an industrial control server, wherein the multi-axis motion controller is a four-axis independent motion controller manufactured by GALIL company with the model of DMC-B140-M; the controller is internally provided with an Ethernet interface and two communication interfaces of RS-232 to output pulses and directions or a controllable servo motor of 1-4 shaft stepping electrodes. During movement, linear interpolation movement control, S-curve acceleration and deceleration smoothing processing and a clearance compensation mode are adopted, so that in the detection process of the flexible circuit board, the image capture of the side plate to be detected can be completed at higher speed and higher positioning precision, the detection precision of the detected flexible circuit board is improved, and the positioning precision of the control system is improved.
Description
Technical Field
The utility model relates to an automatic optical equipment motion control system for flexible circuit board of PCB technical field.
Background
At present, most of domestic small and medium-sized enterprises generally rely on manual FPC defect detection, and the detection method is low in speed and efficiency and causes resource waste. The reliability and accuracy of detection are greatly influenced by subjective factors, and the existing circuit board has more and more dense lines and gradually reduced various apertures, so that the ground step which is difficult to distinguish by naked eyes is achieved, and the detection task cannot be finished by looking at the circuit board. Conventional in-line testing and functional testing programming also becomes time consuming and laborious, it is difficult to obtain a space for placing the test probes using the test fixture, and the manufacture of the test fixture is expensive and time consuming. Since the price of foreign imported detection equipment is high, the technical support and after-sales service capability are limited, the production cost is high, and the aspects of the product technology and performance are limited. An automatic detection optical device is provided later, and although the motion control function of the optical device is relatively simple, the flexible circuit board with light weight is easy to shake or even misplace in the continuous moving process due to the fact that the workbench moves in the X-Y plane and the camera is static to acquire images, and great difficulty is caused in image processing. The detection precision of the detected flexible circuit board is low, and the positioning precision of the control system is low.
Disclosure of Invention
In view of this, the technical problem to be solved of the present invention is to provide an automatic optical device motion control system for flexible circuit board, which can improve the detection precision of the detected flexible circuit board and improve the positioning precision of the control system.
Therefore, the technical solution of the present invention is to provide an automatic optical device motion control system for flexible circuit board, which comprises an image acquisition module, an image processing module, a motion control module, and a software operation module; the image acquisition module comprises a camera, an image acquisition card, a lens and a light source; the motion control module comprises a motion execution unit and a motion control unit for controlling the motion execution unit; the motion execution unit comprises a servo motor and a motion execution mechanism which is mutually connected with and controlled by the servo motor; the motion control unit comprises a motion control module, the motion control module comprises a multi-axis motion controller, an I/O (input/output) connection module, an industrial control server, an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver, a W-axis servo driver, an X-axis motor and an X-axis module, the I/O connection module is connected with the multi-axis motion controller, the industrial control server is connected to the multi-axis motion controller, the X-axis servo driver, the Y-axis servo driver, the Z-axis servo driver and the W-axis servo driver are; the Y-axis servo driver is connected with the Y-axis motor; the Z-axis motor is connected to the Z-axis servo driver, and the left belt pulley is connected with the Z-axis motor; the W-axis servo driver is connected with the W-axis motor; the Z-axis lock pin electromagnetic valve, the Z-axis plate taking electromagnetic valve and the power supply are respectively connected to the I/O connection module; an X/Y axis origin input contact, an X/Y axis positive limit input contact, an X/Y axis negative limit input contact and a jig placing or detecting or taking-out position which are respectively connected to the I/O connection module; the multi-axis motion controller is a four-axis independent motion controller manufactured by GALIL corporation with model number DMC-B140-M; the controller is internally provided with an Ethernet interface and two communication interfaces of RS-232 in order to output pulses and directions, or a controllable servo motor of 1-4 shaft stepping electrodes, and the movement mode of the controllable servo motor comprises a multi-shaft linear or circular interpolation mode, a contour movement mode, an electronic gear mode or a single-shaft or multi-shaft point-to-point positioning movement mode; and can also be used with a human-computer interface or other controllers through the communication interface.
Further inject, the controller includes microprocessor MCU, connects the watch-dog on microprocessor MCU, connects the high-speed motor encoder interface on microprocessor MCU, connects the main FIFO memory on microprocessor MCU, connects the second FIFO memory on microprocessor MCU, connects the I/O interface on microprocessor MCU.
Further limiting, the I/O interface is formed by a female connector with the model number of 37Pin D, the female connector comprises a chip U1, and a locking electromagnetic valve, a plate taking electromagnetic valve, an X-axis positive limiting interface, an X-axis negative limiting interface, an X-axis in-situ interface, a Y-axis positive limiting interface, a Y-axis negative limiting interface, a Y-axis in-situ interface, a jig placing position interface, a jig detecting position interface, a jig taking position interface and an emergency stop and normally open interface which are respectively connected to pins on the chip U1.
Further defined, the controller further comprises an input signal electrical circuit, an output signal circuit; the input signal electric circuit comprises a triode Q1, a diode D1 connected to the base end of the triode Q1, a diode D2, a resistor R1 connected to two ends of the diode D1 or the diode D2 in parallel, a resistor R2 connected to one end of the diode D1 or the diode D2, a GND grounding end connected to two ends of the triode Q1, a signal input end and an INCOM end; the output signal circuit comprises a triode Q2, a diode D3 connected to the base terminal of the triode Q2, a relay coil connected to the collector terminal of the triode Q2, an OUTPOWER SUPP terminal arranged on the relay coil, and a resistor R3 connected to one end of the diode D3.
Further limiting, the motion executing mechanism comprises a servo motor bracket, a motor encoder arranged on the servo motor bracket, a servo motor arranged at the upper end of the servo motor bracket, a precision module arranged at the lower end of the servo motor bracket, a camera moving back and forth along the precision module, a positive and negative limiting device arranged at one end of the servo motor bracket, a grating ruler arranged below the precision module, a transversely arranged moving module arranged at one end of the precision module, an origin switch arranged on the moving module, a module encoder arranged at the other end of the moving module, a servo motor arranged on the moving module on the module encoder, photoelectric positioning rods arranged below the moving module and the precision module, photoelectric positioners respectively arranged on the photoelectric positioning rods, a jig plate arranged between the two photoelectric positioning rods, and positioning rod stepping motors respectively arranged at one ends of the photoelectric positioning rods, the positioning pin is arranged on one side of the photoelectric positioning rod; the positioning pin is connected with the electromagnetic valve, the electromagnetic valve is respectively connected with the stepping motor driver and the I/O connector, the stepping motor driver and the I/O connector are respectively connected with the four-axis independent motion controller, the four-axis independent motion controller is connected with the servo driver, and the servo driver is connected with the module encoder; and an upper computer UI (user interface) is also arranged on the four-axis independent motion controller.
The utility model has the advantages of: the technical scheme adopts an image acquisition module, an image processing module, a motion control module and a software operation module; the motion control module comprises a motion execution unit and a motion control unit for controlling the motion execution unit; the motion control unit comprises a motion control module, an I/O (input/output) connection module and an industrial control server, wherein the motion control module adopts a multi-axis motion controller as a core, is connected with the multi-axis motion controller, and is connected with the industrial control server on the multi-axis motion controller, and the multi-axis motion controller is a controller of four-axis independent motion manufactured by GALIL company with model number DMC-B140-M; the controller is internally provided with an Ethernet interface and two communication interfaces of RS-232 to output pulses and directions or a controllable servo motor of 1-4 shaft stepping electrodes, and the movement mode of the controllable servo motor comprises a multi-shaft linear or circular interpolation mode or a contour movement mode or an electronic gear mode or a single-shaft or multi-shaft point-to-point positioning movement mode. During movement, linear interpolation movement control, S-curve acceleration and deceleration smoothing processing and a clearance compensation mode are adopted, so that in the detection process of the flexible circuit board, the image capture of the side plate to be detected can be completed at higher speed and higher positioning precision, the detection precision of the detected flexible circuit board is improved, and the positioning precision of the control system is improved.
The technical solution of the present invention will be described in further detail with reference to the accompanying drawings and embodiments.
[ description of the drawings ]
FIG. 1 is a schematic diagram of a motion control module according to the present invention;
FIG. 2 is a schematic diagram of a multi-axis motion controller according to the present invention;
FIG. 3 is a schematic diagram of the structure of the I/O interface of the present invention;
FIG. 4 is a schematic diagram of a structure of a motion execution unit according to the present invention;
fig. 5 is a circuit diagram of an input signal electrical circuit according to the present invention;
fig. 6 is a circuit diagram of the output signal circuit of the present invention;
[ detailed description ] embodiments
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention clearer and more obvious, the following description of the present invention with reference to the accompanying drawings and embodiments is provided for further details. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.
Referring to fig. 1 to 6, an automatic optical device motion control system for a flexible circuit board is described below with reference to an embodiment, which includes an image acquisition module, an image processing module, a motion control module, and a software operation module.
The image acquisition module comprises a camera, an image acquisition card, a lens and a light source. When the device is used, a camera is used for acquiring an image of a board to be detected, technical defects such as soldering paste, a surface mount state, welding spot shapes and defects generated in the process of component and welding spot or wiring on the board to be detected are captured and imaged, the image processing algorithm is used for comprehensively comparing the technical defects with templates in a database to judge whether the detected component has the defects, then a detection result is obtained, and quality problems such as component loss and dropping, polarity inversion, bridging insufficient solder and the like are judged.
The motion control module comprises a motion execution unit and a motion control unit used for controlling the motion execution unit. The motion execution unit comprises a servo motor and a motion execution mechanism which is mutually connected with and controlled by the servo motor. The motion executing mechanism comprises a servo motor bracket 1, a motor encoder 2 arranged on the servo motor bracket 1, a servo motor 3 arranged at the upper end of the servo motor bracket 1, a precision module 4 arranged at the lower end of the servo motor bracket 1, a camera 5 moving back and forth along the precision module 4, a positive and negative limiting device 6 arranged at one end of the servo motor bracket 1, a grating ruler 7 arranged below the precision module 4, a transversely arranged moving module 8 arranged at one end of the precision module 4, an origin switch 9 arranged on the moving module 8, a module encoder 10 arranged at the other end of the moving module 8, the servo motor 3 of the moving module 8 arranged on the module encoder 10, photoelectric positioning rods 12 arranged below the moving module 8 and the precision module 4, photoelectric positioners 13 respectively arranged on the photoelectric positioning rods 12, and a jig plate 14 arranged between the two photoelectric positioning rods 12, a positioning rod stepping motor 15 respectively arranged at one end of the photoelectric positioning rod 12, and a positioning pin 16 arranged at one side of the photoelectric positioning rod 12; the positioning pin 16 is connected with an electromagnetic valve, the electromagnetic valve is respectively connected with a stepping motor driver and an I/O connector, the stepping motor driver and the I/O connector are respectively connected with a four-axis independent motion controller, the four-axis independent motion controller is connected with the servo driver, and the servo driver is connected with a module encoder; and an upper computer UI (user interface) is also arranged on the four-axis independent motion controller.
The motion control unit comprises a motion control module, the motion control module comprises a multi-axis motion controller, an I/O (input/output) connection module, an industrial control server, an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver, a W-axis servo driver, an X-axis motor and an X-axis module, the I/O connection module is connected with the multi-axis motion controller, the industrial control server is connected to the multi-axis motion controller, the X-axis servo driver, the Y-axis servo driver, the Z-axis servo driver and the W-axis servo driver are; the Y-axis servo driver is connected with the Y-axis motor; the Z-axis motor is connected to the Z-axis servo driver, and the left belt pulley is connected with the Z-axis motor; the W-axis servo driver is connected with the W-axis motor; the Z-axis lock pin electromagnetic valve, the Z-axis plate taking electromagnetic valve and the power supply are respectively connected to the I/O connection module; an X/Y axis origin input contact, an X/Y axis positive limit input contact, an X/Y axis negative limit input contact and a jig placing or detecting or taking-out position which are respectively connected to the I/O connection module; the multi-axis motion controller is a four-axis independent motion controller manufactured by GALIL corporation with model number DMC-B140-M; the controller is internally provided with an Ethernet interface and two communication interfaces of RS-232 in order to output pulses and directions, or a controllable servo motor of 1-4 shaft stepping electrodes, and the movement mode of the controllable servo motor comprises a multi-shaft linear or circular interpolation mode, a contour movement mode, an electronic gear mode or a single-shaft or multi-shaft point-to-point positioning movement mode; the controller provides FLASH EEPROM, which is convenient for users to store data of parameters, programs and the like, can realize independent work of the controller, and can also be used in cooperation with a human-computer interface or other controllers through a communication interface so as to meet the requirements of users on different occasions and application modes.
The multi-axis motion controller is a four-axis independent motion controller made by GALIL corporation, model DMC-B140-M. Wherein, X, Y axle is respectively through servo driver control precision module, and the Z axle passes through step motor driver and connects the conveyer belt step motor. The feeding track is provided with a photoelectric positioning device for controlling the start-stop position of the tool for holding the work material to be tested. The photoelectric positioning rod is provided with a positive limit switch, a negative limit switch, an original point switch and a grating ruler and is used for controlling the stroke of the camera and measuring the actual running position of the camera in real time. The controller is connected with the upper computer through the Ethernet, and is also provided with a serial port for auxiliary communication. The working process is as follows: the flexible circuit board to be tested is placed in a specific jig and conveyed to a designated position through a conveying belt, and after the position of the jig is detected by a photoelectric switch and is determined to be correct, the positioning lock pin is locked. The camera begins to be positioned at the designated default zero point, and after the board to be measured is in place, the controller drives X, Y the axis module to move in the horizontal plane according to the designated path to take a picture. After each image capture is completed, the camera returns to the origin to wait for the next command.
The controller comprises a microprocessor MCU, a monitor connected to the microprocessor MCU, a high-speed motor encoder interface connected to the microprocessor MCU, a main first-in first-out storage connected to the microprocessor MCU, a second first-in first-out storage connected to the microprocessor MCU, and an I/O interface connected to the microprocessor MCU. The controller adopts a 32-bit microprocessor, and a FLASH EEPROM and a RAM on the microprocessor provide 126 variable storage areas, an array definition space of 800 6 arrays and 800 elements and a user program storage space of 450 lines of 40 characters for a user. The controller of DMC-B140-M provides incremental encoder signal input, driver enable signal output, and pulse or direction signal output, origin switch signal input, front and back position limit signals for each shaft motor, the pulse or direction signals output by which can be used to control servo motors and stepper motors. The frequency of the pulse signal is 3MHZ at most, and the application requirements of high resolution and high speed can be mostly met. And outputting a driver enable signal, wherein the driver enable signal can be used for a servo driver to realize the opening and closing of a motor, and can also be used for half-flow or offline control of a stepping driver.
The controller may receive a set of incremental encoder signals per axis, which may be pulse or direction signals, or may be quadrature square wave incremental encoder signals. For a single pulse signal, the highest receivable frequency is 3 MHZ; for quadrature square wave signals, a maximum frequency of 12 MHZ may be received. The controller may receive a zero signal that the width of the encoder must not be less than 80 ns. Each axis provides independent front and rear limit signal inputs to achieve travel protection and a home switch input to determine the mechanical home position. The controller provides 8-path photoelectric isolation type general input for users, and the users can define the functions of the controller by self programming according to the application requirements. These input points may also be defined as high speed position capture and independent scram signal input for each axis. In addition, 4-path photoelectric isolation type general output allows a user to program the general output to realize the functions required by the user.
The I/O interface is composed of a female connector with the model number of 37Pin D, the female connector comprises a chip U1, and a locking electromagnetic valve, a plate taking electromagnetic valve, an X-axis positive limiting interface, an X-axis negative limiting interface, an X-axis in-situ interface, a Y-axis positive limiting interface, a Y-axis negative limiting interface, a Y-axis in-situ interface, a jig placing position interface, a jig detecting position interface, a jig taking position interface and an emergency stop and normal open interface which are respectively connected to pins on the chip U1. The I/O interface is connected with the shaft zero returning, limiting and I/O signals through the interconnection module.
The limiting and origin point interface adopts a microswitch which has a micro contact interval and a quick-acting mechanism, can perform switching action by using specified rated stroke and force, and is externally provided with a driver and smaller in appearance. The controller interface in the normally open state inputs a high level and jumps to a low level once closed. The position detection of the jig adopts a correlation type photoelectric switch which consists of a transmitter and a receiver, wherein the transmitter and the receiver are structurally separated from each other, and the jump from a high level to a low level is generated under the condition that a light beam is interrupted. The I/O interface has the advantages of small volume, high repeated positioning precision, good anti-interference performance and reliable performance.
The controller also comprises an input signal electric circuit and an output signal circuit. The input signal electric circuit comprises a triode Q1, a diode D1 connected to the base end of the triode Q1, a diode D2, a resistor R1 connected to two ends of the diode D1 or the diode D2 in parallel, a resistor R2 connected to one end of the diode D1 or the diode D2, a GND grounding end connected to two ends of the triode Q1, a signal input end and an INCOM end. The output signal circuit comprises a triode Q2, a diode D3 connected to the base terminal of the triode Q2, a relay coil connected to the collector terminal of the triode Q2, an OUT POWER SUPP terminal arranged on the relay coil, and a resistor R3 connected to one end of the diode D3. The input signal electric circuit provides standard forward limit, reverse limit and return-to-zero signals for each shaft, and also provides 8 paths of common digital input signals and emergency stop input signals. All input signals are isolated by a bidirectional optical coupler, and a signal common end is an INCOM end. The INCOM terminal and the digital input signal have a maximum voltage of 28VDC and a minimum voltage of 0 VDC. The user can choose to connect the INCOM terminal directly to the + 24V or 24V GND ground terminal of the controller input power supply, or choose a switch power supply alone, the voltage input range of the switch power supply is 5 VDC-28 VDC. All output signals of the controller are isolated by Darlington optical couplers, and the driving capacity of the controller is 200 mA. The user needs to connect the OUT COMMON signal on the 37PIN connector to the COMMON of the OUTPUT signal loop. One end of the OUTPUT signal circuit is connected with a relay of DC24V, an OUTPUT signal is connected to one end of a relay coil, and the other section of the relay coil is connected with + 24V, so that an OUT COMMON signal is required to be connected to the COMMON end of a 24VDC power supply.
In this embodiment, the automatic optical inspection motion control system uses a four-axis independent motion controller of GALI as a core, and the four-axis independent motion controller is respectively connected with an X-axis precision module and a Y-axis precision module; a stepping motor of the photoelectric positioning rod and a positioning lock pin. After the photoelectric positioning rod drives the jig to stop at the designated position, the module can be started, stopped and photographed in any path in the horizontal plane. The actual position of the module is detected and fed back by the grating ruler, so that the positioning precision of the system is improved. By adopting theories of linear interpolation motion control, S-curve acceleration and deceleration smoothing processing, clearance compensation and the like, the system can finish image capture of the board to be detected at higher speed and positioning precision in the process of detecting the circuit board. The system image capturing path is as follows. Firstly, the image-taking problem of the board to be detected is divided into two parts of welding spot clustering and shortest path access sequence solving, and a path planning algorithm is obtained by importing iterative self-organizing clustering algorithm and genetic algorithm through CAD welding spot data and programming by using MATLAB, so that the system finishes image-taking of the board to be detected with the minimum shooting times and the shortest path, and the detection time is greatly shortened.
In summary, the technical scheme adopts an image acquisition module, an image processing module, a motion control module and a software operation module; the motion control module comprises a motion execution unit and a motion control unit for controlling the motion execution unit; the motion control unit comprises a motion control module, an I/O (input/output) connection module and an industrial control server, wherein the motion control module adopts a multi-axis motion controller as a core, is connected with the multi-axis motion controller, and is connected with the industrial control server on the multi-axis motion controller, and the multi-axis motion controller is a controller of four-axis independent motion manufactured by GALIL company with model number DMC-B140-M; the controller is internally provided with an Ethernet interface and two communication interfaces of RS-232 to output pulses and directions or a controllable servo motor of 1-4 shaft stepping electrodes, and the movement mode of the controllable servo motor comprises a multi-shaft linear or circular interpolation mode or a contour movement mode or an electronic gear mode or a single-shaft or multi-shaft point-to-point positioning movement mode. During movement, linear interpolation movement control, S-curve acceleration and deceleration smoothing processing and a clearance compensation mode are adopted, so that in the detection process of the flexible circuit board, the image capture of the side plate to be detected can be completed at higher speed and higher positioning precision, the detection precision of the detected flexible circuit board is improved, and the positioning precision of the control system is improved.
The preferred embodiments of the present invention have been described above with reference to the accompanying drawings, without thereby limiting the scope of the invention. Any modification, equivalent replacement and improvement made by those skilled in the art without departing from the scope and spirit of the present invention should be within the scope of the claims of the present invention.
Claims (5)
1. An automatic optical equipment motion control system for a flexible circuit board comprises an image acquisition module, an image processing module, a motion control module and a software operation module; the image acquisition module comprises a camera, an image acquisition card, a lens and a light source; the method is characterized in that: the motion control module comprises a motion execution unit and a motion control unit for controlling the motion execution unit; the motion execution unit comprises a servo motor and a motion execution mechanism which is mutually connected with and controlled by the servo motor; the motion control unit comprises a motion control module, the motion control module comprises a multi-axis motion controller, an I/O (input/output) connection module, an industrial control server, an X-axis servo driver, a Y-axis servo driver, a Z-axis servo driver, a W-axis servo driver, an X-axis motor and an X-axis module, the I/O connection module is connected with the multi-axis motion controller, the industrial control server is connected to the multi-axis motion controller, the X-axis servo driver, the Y-axis servo driver, the Z-axis servo driver and the W-axis servo driver are; the Y-axis servo driver is connected with the Y-axis motor; the Z-axis motor is connected to the Z-axis servo driver, and the left belt pulley is connected with the Z-axis motor; the W-axis servo driver is connected with the W-axis motor; the Z-axis lock pin electromagnetic valve, the Z-axis plate taking electromagnetic valve and the power supply are respectively connected to the I/O connection module; an X/Y axis origin input contact, an X/Y axis positive limit input contact, an X/Y axis negative limit input contact and a jig placing or detecting or taking-out position which are respectively connected to the I/O connection module; the multi-axis motion controller is a four-axis independent motion controller manufactured by GALIL corporation with model number DMC-B140-M; the controller is internally provided with an Ethernet interface and two communication interfaces of RS-232 in order to output pulses and directions, or a controllable servo motor of 1-4 shaft stepping electrodes, and the movement mode of the controllable servo motor comprises a multi-shaft linear or circular interpolation mode, a contour movement mode, an electronic gear mode or a single-shaft or multi-shaft point-to-point positioning movement mode; and can also be used in cooperation with a human-computer interface or a controller through a communication interface.
2. An automated optical device motion control system for flexible circuit boards according to claim 1 wherein: the controller comprises a microprocessor MCU, a monitor connected to the microprocessor MCU, a high-speed motor encoder interface connected to the microprocessor MCU, a main first-in first-out storage connected to the microprocessor MCU, a second first-in first-out storage connected to the microprocessor MCU, and an I/O interface connected to the microprocessor MCU.
3. An automated optical device motion control system for flexible circuit boards according to claim 2 wherein: the I/O interface is composed of a female connector with the model number of 37Pin D, the female connector comprises a chip U1, and a locking electromagnetic valve, a plate taking electromagnetic valve, an X-axis positive limiting interface, an X-axis negative limiting interface, an X-axis in-situ interface, a Y-axis positive limiting interface, a Y-axis negative limiting interface, a Y-axis in-situ interface, a jig placing position interface, a jig detecting position interface, a jig taking position interface and an emergency stop and normal open interface which are respectively connected to pins on the chip U1.
4. An automated optical device motion control system for flexible circuit boards according to claim 2 wherein: the controller also comprises an input signal electric circuit and an output signal circuit; the input signal electric circuit comprises a triode Q1, a diode D1 connected to the base end of the triode Q1, a diode D2, a resistor R1 connected to two ends of the diode D1 or the diode D2 in parallel, a resistor R2 connected to one end of the diode D1 or the diode D2, a GND grounding end connected to two ends of the triode Q1, a signal input end and an INCOM end; the output signal circuit comprises a triode Q2, a diode D3 connected to the base terminal of the triode Q2, a relay coil connected to the collector terminal of the triode Q2, an OUT POWER SUPP terminal arranged on the relay coil, and a resistor R3 connected to one end of the diode D3.
5. An automated optical device motion control system for flexible circuit boards according to claim 1 wherein: the motion executing mechanism comprises a servo motor bracket, a motor encoder arranged on the servo motor bracket, a servo motor arranged at the upper end of the servo motor bracket, a precise module arranged at the lower end of the servo motor bracket, a camera moving back and forth along the precise module, a positive and negative limiting device arranged at one end of the servo motor bracket, a grating ruler arranged below the precise module, a transversely arranged moving module arranged at one end of the precise module, an origin switch arranged on the moving module, a module encoder arranged at the other end of the moving module, a servo motor arranged on the moving module on the module encoder, photoelectric positioning rods arranged below the moving module and the precise module, photoelectric positioners respectively arranged on the photoelectric positioning rods, a jig plate arranged between the two photoelectric positioning rods, and positioning rod stepping motors respectively arranged at one ends of the photoelectric positioning rods, the positioning pin is arranged on one side of the photoelectric positioning rod; the positioning pin is connected with the electromagnetic valve, the electromagnetic valve is respectively connected with the stepping motor driver and the I/O connector, the stepping motor driver and the I/O connector are respectively connected with the four-axis independent motion controller, the four-axis independent motion controller is connected with the servo driver, and the servo driver is connected with the module encoder; and an upper computer UI (user interface) is also arranged on the four-axis independent motion controller.
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| CN113567455A (en) * | 2021-08-27 | 2021-10-29 | 惠州市特创电子科技股份有限公司 | Printed circuit board front end golden finger detection device and detection method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113567455A (en) * | 2021-08-27 | 2021-10-29 | 惠州市特创电子科技股份有限公司 | Printed circuit board front end golden finger detection device and detection method |
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