CN106671613A - Full-automatic online PCB jet printing system and method - Google Patents
Full-automatic online PCB jet printing system and method Download PDFInfo
- Publication number
- CN106671613A CN106671613A CN201710096025.XA CN201710096025A CN106671613A CN 106671613 A CN106671613 A CN 106671613A CN 201710096025 A CN201710096025 A CN 201710096025A CN 106671613 A CN106671613 A CN 106671613A
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- spray printing
- full
- sensor
- task
- jet printing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/44—Typewriters or selective printing mechanisms having dual functions or combined with, or coupled to, apparatus performing other functions
- B41J3/445—Printers integrated in other types of apparatus, e.g. printers integrated in cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
- B41J29/393—Devices for controlling or analysing the entire machine ; Controlling or analysing mechanical parameters involving printing of test patterns
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J3/00—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed
- B41J3/407—Typewriters or selective printing or marking mechanisms characterised by the purpose for which they are constructed for marking on special material
- B41J3/4073—Printing on three-dimensional objects not being in sheet or web form, e.g. spherical or cubic objects
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Ink Jet (AREA)
Abstract
The invention discloses a full-automatic online PCB jet printing system and method. The full-automatic online PCB jet printing system comprises a base board conveying device, a controller and a PCB jet printing device, wherein the base board conveying device comprises a bracket, a conveying motor, a board incoming sensor, a board outgoing sensor, a moving rail, a fixed rail, a rail width adjusting motor and a positioning mechanism; the conveying motor and the rail width adjusting motor are arranged on the bracket; the rail width adjusting motor is connected with the moving rail; the board incoming sensor is arranged at one end of the bracket, and the board outgoing sensor is arranged at the other end of the bracket; the positioning mechanism is arranged on the bracket; the PCB jet printing device comprises a supporting mechanism, a CCD and a jet printing mechanism; the CCD and the jet printing mechanism are arranged on the supporting mechanism; the conveying motor, the board incoming sensor, the board outgoing sensor, the rail width adjusting motor, the CCD and the jet printing mechanism are electrically connected with the controller. The full-automatic online PCB jet printing mechanism can solve the problems of prone falling off, high cost and poor compatibility with a new system.
Description
Technical field
The present invention relates to printed substrate field, more particularly to a kind of full-automatic online PCB sprayed printed systems and method.
Background technology
As Quick Response Code application and electronic product manufacture the rise of process tracking, electronic product manufactures industry pair
Become increasingly conspicuous in the demand of PCB production processes tracking.According to the individual demand for manufacturing process tracking, tracking mark is usual
Including text, bar code and Quick Response Code, and due to technological requirement, a large amount of PCB production tracings marks are more suitable for using spray printing mode.
In present production technology, mostly using artificial labelled paster or by automation equipment labeling.Now such technique is being given birth to
Produce to exist in system and easily come off, high-temperature process was needed in technique, using high temperature paster cost intensive, adopt for industry development
New system (such as MES), the defect of function of the existing labeling mode substantially without docking new management system.
The content of the invention
In order to overcome the shortcomings of above-mentioned technology, it is an object of the invention to provide a kind of full-automatic online PCB spray printings system
System and method, it can solve the problems, such as easily to come off, cost intensive and compatible with new system poor.
The purpose of the present invention employs the following technical solutions realization：
A kind of full-automatic online PCB sprayed printed systems, including base board delivery device, controller and pcb board jet printing appts, institute
State base board delivery device, including support, convey motor, enter plate sensor, ejecting plate sensor, moving track, trapped orbit, track
Wide motor and detent mechanism, the trapped orbit is adjusted to be arranged on the side of support, the moving track is arranged on support, and is moved
Dynamic rail road be arranged in parallel with trapped orbit, and the conveying motor is arranged on support, and the track adjusts wide motor to be arranged on support
On, and the track adjusts wide motor to be connected with moving track, it is described enter plate sensor be arranged on one end of support, the ejecting plate is sensed
Device is arranged on the other end of support, and the detent mechanism is arranged on support, the pcb board jet printing appts, including supporting mechanism,
CCD and spray printing mechanism, the CCD and spray printing mechanism are arranged on supporting mechanism, described to convey motor, enter plate sensor, go out
Plate sensor, track adjust wide motor, CCD and spray printing mechanism to be electrically connected with the controller.
Preferably, the detent mechanism, including positioning photoelectric sensor and positioning cylinder.
Preferably, it is described enter plate sensor be that into plate photoelectric sensor, the ejecting plate sensor is ejecting plate photoelectric sensor.
Preferably, the positioning photoelectric sensor includes the first positioning photoelectric sensor and the second positioning photoelectric sensor,
The positioning cylinder, including the first positioning cylinder and the second positioning cylinder.
Preferably, the supporting mechanism, including X-axis, Y-axis, Z axis and R axles, the X-axis is two, and two X-axis are parallel to be set
Put, the two ends of the Y-axis are separately positioned in two parallel X-axis, and the Z axis are arranged in Y-axis, and the R axles are arranged on Z axis
On, the shower nozzle of the CCD and spray printing mechanism is arranged on R axles.
Preferably, also including MES system, host computer, slave computer or reader for two-dimension code, the MES system, host computer,
Slave computer or reader for two-dimension code are communicated to connect with controller.
Simultaneously technical solution of the present invention is also disclosed a kind of full-automatic online PCB jet printing methods, comprises the following steps：
The work order for needing to perform is selected in operation interface, to transfer spray printing relevant parameter from data base；
By controller according to the spray printing rule generation production task for pre-setting；
After obtaining production task, controller collection feed zone respective sensor signals, and plate is entered by control conveying motor,
After substrate reaches working area, stopped into plate by control conveying motor, and adjust wide motor to adjust moving track by track, from
And substrate is completed to clamp, into production status；
Start CCD and imaged and analyzed Mark point side-play amounts, to be accurately positioned substrate plate error is entered, generate position compensation
Parameter；
According to the spray printing rule and position compensation parameter that pre-set, reading code inspection is carried out one by one to the coding position of substrate
Look into, reading code out-of-the way position is marked, distinguishing needs spray printing in jet printing process and need to skip the position of spray printing, and
To needing spray printing and needing the position for skipping spray printing to carry out automatic labelling respectively, so as to complete coding before check；
Automatic labelling according to checking before the regular and above-mentioned coding of spray printing for pre-setting carries out normal spray printing；
According to the spray printing rule for pre-setting, reading code inspection is carried out one by one to coding position, if it find that checking abnormal existing
As then arranging task end mark effective；
Control track adjusts wide motor adjustment moving track, so as to unclamp substrate, and starts conveying motor, and substrate is exported；
Such as task end mark effectively, then stop current task, exit production process, wait production ordering；Such as task knot
Bundle flag is invalid, then complete production task, and continues cycling through execution spray printing production task.
Preferably, also included according in the spray printing rule generation task step for pre-setting by controller, judgement is
No to need line MES system, if desired for MES system is connected, then controller is set up data sharing and is led to by Ethernet and MES system
Road, from MES system production task is read.
Preferably, also include, task completion status are reported into MES system after production task is completed.
Preferably, obtain after production task, in controller collection feed zone respective sensor signals, the respective sensor
Signal includes the signal into plate sensor, ejecting plate sensor and/or positioning photoelectric sensor.
Compared to existing technology, the beneficial effects of the present invention is：
Technical solution of the present invention is solved in prior art and is existed and easily come off in production system using the technology of spraying,
High-temperature process was needed in technique, using the problem of high temperature paster cost intensive, and controller can be carried out with the new system of industry
Communication connection, it is compatible poor to solve the problems, such as.
And the technical program can be adopted and SMT producing line online modes, and realize and the MES system for manufacturing enterprise
And spray printing part, the on-line real-time of outside reading code part, effectively increase the production efficiency of mark spray printing；Using CCD, carry out
Location position and compensation, improve the convenience and spray printing quality for using；By the application of many spray printings rule, support that same substrate is more
The spray printing mode in individual direction；By online with outside barcode reader, realize knowing plate spray printing automatically；Bar code is recognized by CCD
And Quick Response Code, realize mark blowing from the production and the one-stop solution of quality inspection read.
Description of the drawings
Fig. 1 is the theory diagram of the full-automatic online PCB sprayed printed systems described in the specific embodiment of the invention；
Fig. 2 is the structural representation of the base board delivery device described in the specific embodiment of the invention；
Fig. 3 is the axonometric chart of the pcb board jet printing appts described in the specific embodiment of the invention；
Fig. 4 is the front view of the pcb board jet printing appts described in the specific embodiment of the invention；
Fig. 5 is the top view of the pcb board jet printing appts described in the specific embodiment of the invention；
Fig. 6 is the right view of the pcb board jet printing appts described in the specific embodiment of the invention；
Fig. 7 is the flow chart of the full-automatic online PCB jet printing methods described in the specific embodiment of the invention.
In figure：1- enters plate photoelectric sensor；2- ejecting plate photoelectric sensors；3- conveys motor；4- tracks adjust wide motor；5- consolidates
Orbit determination road；6- moving tracks；The positioning cylinders of 7- first；8- first positions photoelectric sensor；The positioning cylinders of 9- second；10- second
Positioning photoelectric sensor；11- supports；12- shower nozzles；13-CCD；14-X axles；15-Y axles；16-Z axles；17-R axles.
Specific embodiment
Below, with reference to accompanying drawing and specific embodiment, the present invention is described further：
As shown in figure 1, a kind of full-automatic online PCB sprayed printed systems, including base board delivery device, controller and pcb board
Jet printing appts, base board delivery device is as shown in Fig. 2 including support 11, conveying motor 3, entering plate sensor, ejecting plate sensor, moving
Dynamic rail road 6, trapped orbit 5, track adjust wide motor 4 and detent mechanism, trapped orbit 5 to be arranged on the side of support 11, moving rail
Road 6 is arranged on support 11, and moving track 6 be arranged in parallel with trapped orbit 5, and conveying motor 3 is arranged on support 11, track
Wide motor 4 is adjusted to be arranged on support 11, and the track adjusts wide motor 4 to be connected with moving track 6, enters plate sensor and is arranged on support
11 one end, ejecting plate sensor is arranged on the other end of support 11, and detent mechanism is arranged on support 11, pcb board jet printing appts
As described in Fig. 3 to Fig. 6, including supporting mechanism, CCD13 and spray printing mechanism, CCD13 and spray printing mechanism are arranged at supporting mechanism
On, conveying motor 3, enter plate sensor, ejecting plate sensor, track adjust wide motor 4, CCD13 and spray printing mechanism with controller electricity
Connection.
Track adjusts wide motor 4 to be used for driving moving track 6 to move, relative with trapped orbit 5 so as to adjust moving track 6
Position.
Wherein, detent mechanism, including positioning photoelectric sensor and positioning cylinder.
It is that, into plate photoelectric sensor 1, ejecting plate sensor is ejecting plate photoelectric sensor 2 to enter plate sensor.
Positioning photoelectric sensor include first positioning photoelectric sensor 8 and second positioning photoelectric sensor 10, positioning cylinder,
Including the first positioning cylinder 7 and the second positioning cylinder 9.First and second are used only to differentiation, and both are not same parts, not
Limiting the position of its layout, the first positioning cylinder 7 and the second positioning cylinder 9 can exchange, the first positioning photoelectric sensor 8 and the
The position of two positioning photoelectric sensors 10 can also exchange.
Preferably, supporting mechanism, including X-axis 14, Y-axis 15, Z axis 16 and R axles 17, X-axis 14 is two, and two X-axis 14 are flat
Row is arranged, and the two ends of Y-axis 15 are separately positioned in two parallel X-axis 14, and Z axis 16 are arranged in Y-axis 15, and R axles 17 are arranged on Z
On axle 16, the shower nozzle 12 of CCD13 and spray printing mechanism is arranged on R axles 17.
When actually used, can be moved in X-axis 14 by the actuating units such as motor, adjustment Y-axis 15, Z axis 16 are in Y-axis 15
Upper movement, and R axles 17 are gone to according to the fixing point on Z axis 16, so as to adjust the angle of CCD and shower nozzle.
Also include MES system, host computer, slave computer or reader for two-dimension code, MES system, host computer, slave computer or two dimension
Code reader is communicated to connect with controller.
Simultaneously technical solution of the present invention is also disclosed a kind of full-automatic online PCB jet printing methods, comprises the following steps：
The work order for needing to perform is selected in operation interface, to transfer spray printing relevant parameter from data base；
By controller according to the spray printing rule generation production task for pre-setting；
After obtaining production task, controller collection feed zone respective sensor signals, and plate is entered by control conveying motor,
After substrate reaches working area, stopped into plate by control conveying motor, and adjust wide motor to adjust moving track by track, from
And substrate is completed to clamp, into production status；
Start CCD and imaged and analyzed Mark point side-play amounts, to be accurately positioned substrate plate error is entered, generate position compensation
Parameter；
According to the spray printing rule and position compensation parameter that pre-set, reading code inspection is carried out one by one to the coding position of substrate
Look into, reading code out-of-the way position is marked, distinguishing needs spray printing in jet printing process and need to skip the position of spray printing, and
To needing spray printing and needing the position for skipping spray printing to carry out automatic labelling respectively, so as to complete coding before check；
Automatic labelling according to checking before the regular and above-mentioned coding of spray printing for pre-setting carries out normal spray printing；
According to the spray printing rule for pre-setting, reading code inspection is carried out one by one to coding position, if it find that checking abnormal existing
As then arranging task end mark effective；
Control track adjusts wide motor adjustment moving track, so as to unclamp substrate, and starts conveying motor, and substrate is exported；
Such as task end mark effectively, then stop current task, exit production process, wait production ordering；Such as task knot
Bundle flag is invalid, then complete production task, and continues cycling through execution spray printing production task.
Preferably, also included according in the spray printing rule generation task step for pre-setting by controller, judgement is
No to need line MES system, if desired for MES system is connected, then controller is set up data sharing and is led to by Ethernet and MES system
Road, from MES system production task is read.
Preferably, also include, task completion status are reported into MES system after production task is completed.
Preferably, obtain after production task, in controller collection feed zone respective sensor signals, respective sensor signals
Including the signal for entering plate sensor, ejecting plate sensor and/or positioning photoelectric sensor.
As shown in fig. 7, based on full-automatic online PCB jet printing methods to be embodied as middle operating procedure as follows：
1st, start after the system, into operation interface；
2nd, operator select the work order for being currently needed for performing by operation interface in work order carries into execution a plan, with from data
Spray printing relevant parameter is transferred in storehouse；
If the 3, specify needed using MES connection modes, the system is built by Ethernet according to work order number with MES system
Vertical data sharing channel, from MES system production task is read, and in completing that task completion status are reported into MES after production task
System；If non-MES connection modes are selected, by the system according to rule generation production task；
4th, obtain after production task, the system collection feed zone relevant sensor signals, and control into plate or notify upper
Machine feed；After substrate reaches working area, stop charging, and substrate is completed to clamp, into production status；
5th, start CCD and imaged and analyzed Mark point side-play amounts, to be accurately positioned substrate plate error is entered, generate position and mend
Repay parameter；
6th, if necessary to spray front inspection, according to spray printing rule, reading code inspection is carried out to coding position one by one, to reading code exception
Position is marked, and distinguishing needs spray printing in jet printing process or skip the position of spray printing and carry out automatic labelling respectively；
7th, normal spray printing is carried out according to the labelling of inspection result before spray printing rule and spray；
8th, if necessary to check after spray, according to spray printing rule, reading code inspection is carried out one by one to coding position, if it find that inspection
Abnormal phenomena is looked into, task end mark is put effective；
9th, control device pine folder, starts substrate conveying, and substrate is exported to feeding port；
If the 10, task end mark is effectively, stop current task, exit production process, the production for waiting operator refers to
Order；Otherwise continue cycling through execution spray printing production task.
It will be apparent to those skilled in the art that technical scheme that can be as described above and design, make other various
It is corresponding to change and deformation, and all these change and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (10)
1. a kind of full-automatic online PCB sprayed printed systems, it is characterised in that including the spray of base board delivery device, controller and pcb board
Printing equipment is put, the base board delivery device, including support, is conveyed motor, entered plate sensor, ejecting plate sensor, moving track, fixation
Track, track adjust wide motor and detent mechanism, the trapped orbit to be arranged on the side of support, and the moving track is arranged on and props up
On frame, and moving track be arranged in parallel with trapped orbit, and the conveying motor is arranged on support, and the track adjusts wide motor to set
Put on support, and the track adjusts wide motor to be connected with moving track, it is described enter plate sensor be arranged on one end of support, it is described
Ejecting plate sensor is arranged on the other end of support, and the detent mechanism is arranged on support, the pcb board jet printing appts, including
Supporting mechanism, CCD and spray printing mechanism, the CCD and spray printing mechanism are arranged on supporting mechanism, described to convey motor, enter plate
Sensor, ejecting plate sensor, track adjust wide motor, CCD and spray printing mechanism to be electrically connected with the controller.
2. full-automatic online PCB sprayed printed systems according to claim 1, it is characterised in that the detent mechanism, including
Positioning photoelectric sensor and positioning cylinder.
3. full-automatic online PCB sprayed printed systems according to claim 1, it is characterised in that it is described enter plate sensor be
Enter plate photoelectric sensor, the ejecting plate sensor is ejecting plate photoelectric sensor.
4. full-automatic online PCB sprayed printed systems according to claim 2, it is characterised in that the positioning photoelectric sensing
Device include first positioning photoelectric sensor and second positioning photoelectric sensor, the positioning cylinder, including the first positioning cylinder and
Second positioning cylinder.
5. full-automatic online PCB sprayed printed systems according to claim 1, it is characterised in that the supporting mechanism, including
X-axis, Y-axis, Z axis and R axles, the X-axis is two, and two X-axis be arranged in parallel, and the two ends of the Y-axis are separately positioned on two and put down
In capable X-axis, the Z axis are arranged in Y-axis, and the R axles are arranged on Z axis, and the shower nozzle of the CCD and spray printing mechanism is respectively provided with
On R axles.
6. full-automatic online PCB sprayed printed systems according to claim 1, it is characterised in that also including MES system, on
Position machine, slave computer or reader for two-dimension code, the MES system, host computer, slave computer or reader for two-dimension code communicate with controller
Connection.
7. a kind of full-automatic online PCB jet printing methods, it is characterised in that comprise the following steps：
The work order for needing to perform is selected in operation interface, to transfer spray printing relevant parameter from data base；
By controller according to the spray printing rule generation production task for pre-setting；
After obtaining production task, controller collection feed zone respective sensor signals, and plate is entered by control conveying motor, work as base
Plate is reached behind working area, is stopped into plate by control conveying motor, and adjusts wide motor to adjust moving track by track, so as to right
Substrate completes to clamp, into production status；
Start CCD and imaged and analyzed Mark point side-play amounts, to be accurately positioned substrate plate error is entered, generate position compensation ginseng
Number；
According to the spray printing rule and position compensation parameter that pre-set, reading code inspection is carried out one by one to the coding position of substrate,
Reading code out-of-the way position is marked, distinguishing needs spray printing in jet printing process and need to skip the position of spray printing, and right
Need spray printing and need the position for skipping spray printing to carry out automatic labelling respectively, so as to complete coding before check；
Automatic labelling according to checking before the regular and above-mentioned coding of spray printing for pre-setting carries out normal spray printing；
According to the spray printing rule for pre-setting, reading code inspection is carried out one by one to coding position, if it find that check abnormal phenomena, then
Setting task end mark is effective；
Control track adjusts wide motor adjustment moving track, so as to unclamp substrate, and starts conveying motor, and substrate is exported；
Such as task end mark effectively, then stop current task, exit production process, wait production ordering；As task terminates mark
Will is invalid, then complete production task, and continues cycling through execution spray printing production task.
8. full-automatic online PCB jet printing methods according to claim 7, it is characterised in that by controller according to advance
In the spray printing rule generation task step of setting, also include, judge whether to need line MES system, if desired for connection MES
System, then controller data sharing channel is set up by Ethernet and MES system, read production task from MES system.
9. full-automatic online PCB jet printing methods according to claim 8, it is characterised in that also include, when completing production
Task completion status are reported into MES system after task.
10. full-automatic online PCB jet printing methods according to claim 7, it is characterised in that after obtaining production task,
In controller collection feed zone respective sensor signals, the respective sensor signals are included into plate sensor, ejecting plate sensor
And/or the signal of positioning photoelectric sensor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710096025.XA CN106671613B (en) | 2017-02-22 | 2017-02-22 | Full-automatic online PCB sprayed printed systems and method |
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| CN201710096025.XA CN106671613B (en) | 2017-02-22 | 2017-02-22 | Full-automatic online PCB sprayed printed systems and method |
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| CN106671613A true CN106671613A (en) | 2017-05-17 |
| CN106671613B CN106671613B (en) | 2018-08-24 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107175938A (en) * | 2017-05-25 | 2017-09-19 | 深圳市光彩凯宜电子开发有限公司 | A kind of method and system of use robot coding |
| CN107344452A (en) * | 2017-07-04 | 2017-11-14 | 苏州展双电子技术有限公司 | The full-automatic inkers of SMT |
| CN109016871A (en) * | 2018-08-09 | 2018-12-18 | 深圳弘锐精密数码喷印设备有限公司 | A kind of method, system and the equipment of pcb board automatic printing |
| CN109109471A (en) * | 2018-09-21 | 2019-01-01 | 深圳市微印科技有限公司 | A kind of double-station spray printing device |
| CN109263301A (en) * | 2018-08-09 | 2019-01-25 | 深圳弘锐精密数码喷印设备有限公司 | Method, apparatus, computer installation and the readable storage medium storing program for executing of the calibration of pcb board |
| CN109515008A (en) * | 2018-12-31 | 2019-03-26 | 江阴新基电子设备有限公司 | Semiconductor package, which is surveyed, uses full-automatic laser marking system delivery track mechanism |
| CN110736975A (en) * | 2019-11-07 | 2020-01-31 | 上海禾赛光电科技有限公司 | Receiving module and laser radar comprising same |
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| CN109263301A (en) * | 2018-08-09 | 2019-01-25 | 深圳弘锐精密数码喷印设备有限公司 | Method, apparatus, computer installation and the readable storage medium storing program for executing of the calibration of pcb board |
| CN109016871B (en) * | 2018-08-09 | 2020-12-22 | 深圳弘锐精密数码喷印设备有限公司 | Method, system and equipment for automatically printing PCB (printed Circuit Board) |
| CN109109471A (en) * | 2018-09-21 | 2019-01-01 | 深圳市微印科技有限公司 | A kind of double-station spray printing device |
| CN109515008A (en) * | 2018-12-31 | 2019-03-26 | 江阴新基电子设备有限公司 | Semiconductor package, which is surveyed, uses full-automatic laser marking system delivery track mechanism |
| CN109515008B (en) * | 2018-12-31 | 2023-10-20 | 江阴新基电子设备有限公司 | Conveying track mechanism of full-automatic laser marking system for semiconductor sealing and testing |
| CN110736975A (en) * | 2019-11-07 | 2020-01-31 | 上海禾赛光电科技有限公司 | Receiving module and laser radar comprising same |
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