CN115846224A

CN115846224A - Full-automatic veneer test production line and test method of integrated manipulator

Info

Publication number: CN115846224A
Application number: CN202111136547.0A
Authority: CN
Inventors: 高峰; ***; 屈宏涛; 谢明明; 袁江煜; 李崇民; 周洪亮; 罗翠婷; 石舟; 陶宣彤
Original assignee: Zhuzhou CRRC Times Electric Co Ltd
Current assignee: Zhuzhou CRRC Times Electric Co Ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2023-03-28

Abstract

The invention discloses a full-automatic veneer test production line and a test method of an integrated manipulator, wherein the production line comprises the following steps: the plate loading machine is used for conveying the product to be tested to a preset position from the material rack; the insulation and voltage resistance test bench is used for carrying out insulation and voltage resistance test on the circuit board; the ICT test board is used for carrying out ICT test on the circuit board; the function test board is used for carrying out function test on the circuit board; the board discharging machine is used for transferring the circuit board to the AGV; the manipulator is used for realizing the circulation of the circuit board; the upper and lower plate machines and the test tables are arranged around the manipulator, and the safety fence forms an operation area; and the central control cabinet is used for supervising the operation of the whole system, product and program switching and data acquisition and monitoring the safety fence to be in a closed state. The invention can realize full-automatic and unmanned test of products, improve the production efficiency, reduce the test period, realize automatic data acquisition and tracing and improve the production competitiveness of products in the rail transit industry.

Description

Full-automatic veneer test production line and test method of integrated manipulator

Technical Field

The invention mainly relates to the technical field of circuit board testing, in particular to a full-automatic single board testing production line and a testing method of an integrated manipulator.

Background

The test of the circuit board in the industries of automobile electronics and the like basically realizes automatic test or unmanned test, and the application of an automatic line body is wider. Unmanned factories are a future trend, so that the problems of material loading before product testing, wire connection in the testing process and wire unloading after testing of a testing machine are all in urgent need of solution. Therefore, full automation of insulation voltage resistance, ICT and function test of the veneer is realized at the stage of the circuit board, the veneer is circulated among different test procedures through the manipulator, automatic feeding is realized by butting the AGV trolley and an automatic plate loading and unloading machine, and intelligent diagnosis and analysis of veneer defects are realized by a central control cabinet integrated artificial intelligence auxiliary technician.

At present, the traditional circuit board test needs manual intervention, such as wire connection and wire disconnection, manual confirmation of test process information and the like, only one product can be tested at a time, the efficiency is low, an automatic test means is adopted as a main method for improving the efficiency, meanwhile, the test and a production line are butted, automatic feeding is carried out by a manipulator, and the manipulator is butted with an AGB through an automatic clamp and an automatic board feeding machine, so that unmanned automatic test is really realized.

In addition, the traditional test of the circuit board needs to perform insulation and voltage resistance test, on-line test and functional test, and the function of the circuit board is ensured to meet the requirements of technical specifications. Aiming at the prior art, the technical problems to be solved are as follows:

1) And (4) carrying out unmanned full-automatic testing. The insulation and voltage resistance test, the on-line test and the function test of the circuit board are distributed in different areas, 1 operator is needed to put the board in each station, manually measure partial signals and take the board, and the labor cost is very high.

2) The production period is shortened. Insulation and voltage resistance tests, on-line tests and functional tests of the circuit board are distributed in different areas, and each station needs half-day buffering time to ensure the continuity of test production, so that the production cycle of the test procedure of the circuit board is 2 days, and the delivery of products is seriously influenced.

3) Automatic feeding and discharging. The insulation withstand voltage test, on-line test and function test equipment of the circuit board respectively need 1 operator to put the board and get the board, occasionally the board is put unusually to lead to crushing the circuit board or the operator is unskilled to lead to hitting the circuit board when putting the board.

4) The problem of low testing efficiency is solved. The insulation and voltage resistance test and the function test of the circuit board need manual operation, and the problems of long wiring time, poor manual test consistency and low test efficiency exist.

5) And automatically collecting test data. The insulation withstand voltage test and the function test data of the circuit board are not fully automatically acquired, data tracing cannot be achieved, and problems are brought to subsequent data analysis.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: aiming at the problems in the prior art, the invention provides a single-board full-automatic test production line and a test method of an integrated manipulator, which can realize full-automatic and unmanned test of products, improve the production efficiency, reduce operators, reduce the test period, realize automatic data acquisition and tracing and improve the production competitiveness of products in the rail transit industry.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

a full-automatic test production line of veneer of integrated manipulator includes:

the plate loading machine is used for conveying the product to be tested to a preset position from the material rack;

the insulation and voltage resistance test bench is used for carrying out insulation and voltage resistance test on the circuit board;

the ICT test board is used for carrying out ICT test on the circuit board;

the function test board is used for carrying out function test on the circuit board;

the board discharging machine is used for transferring the circuit board to the AGV;

the manipulator is used for realizing the circulation of the circuit board among the board loading machine, the insulation and voltage-withstand test platform, the ICT test platform, the function test platform and the board loading machine;

a safety fence for forming a working area to accommodate components;

the upper board machine, the insulation and voltage-resistant test bench, the ICT test bench, the function test bench and the lower board machine are arranged around the manipulator;

and the central control cabinet is used for monitoring the operation, product and program switching and data acquisition of the whole system and monitoring the safety fence to be in a closed state.

The invention also discloses a testing method of the full-automatic single plate testing production line based on the integrated manipulator, which comprises the following steps:

self-checking is carried out on a board loading machine, an insulation and voltage resistance test bench, an ICT test bench, a function test bench, a board unloading machine, a manipulator and a central control cabinet in a full-automatic single board test production line;

the central control cabinet downloads the test program from the file server according to the figure number, verifies the file to ensure that the downloaded file is complete, and then distributes the program to the board loading machine, the voltage-withstand insulation test board, the ICT test board, the function test board, the mechanical arm and the board loading machine respectively; each test board executes the automatic loading of the program and verifies the test program number, the test program version, the test equipment ID and the test fixture ID with the MES system; after loading is finished, clamp upper covers of the insulation and voltage withstand test board, the ICT test board and the function test board are opened, a manipulator carries out coordinate calibration, a circuit board on the manipulator is determined by shooting the characteristics on the manipulator through a fixed camera, then characteristic points on the insulation and voltage withstand test clamp, the ICT test clamp and the function test clamp are shot respectively through a movable camera, the coordinates of the three clamps in a manipulator coordinate system are calibrated and updated, and the installation error of the clamps is eliminated;

the circuit board in the material rack is sent to the self-adaptive board receiving device by the board discharging of the board loading machine, and the mechanical arm is informed of the completion of the board discharging of the board loading machine after the circuit board is detected; after receiving the signal, the mechanical arm moves to the position above the self-adaptive plate receiving device to shoot characteristic points of the circuit board to calibrate circuit board coordinates, and circuit board positioning is completed; after the circuit board is positioned, the manipulator moves a camera to scan the two-dimensional code of the circuit board and analyzes the serial number and the picture number, and the current serial number of the circuit board is confirmed to finish scanning the serial number; the manipulator grabs the circuit board to a fixed camera position for secondary positioning of the circuit board, so that coordinate deviation caused by grabbing of the board by the grabber at the moment is avoided, and secondary positioning of the grabbing board is completed;

the circuit board in the voltage-resistant clamp is taken out by the manipulator at the position No. 1 of the gripper, then the circuit board at the position No. 2 of the gripper is placed on the voltage-resistant clamp, the voltage-resistant clamp is taken out and placed, and signals are sent to the insulation voltage-resistant test bench; after receiving the signal that the plate taking and placing of the voltage-resistant clamp are completed, the insulation voltage-resistant test bench closes the upper cover of the voltage-resistant clamp and executes a voltage-resistant test, judges the voltage-resistant test result after the test is completed, fails the test result, and executes NG tray placing; the voltage-resistant clamp taking and placing plate is completed and a signal is sent to the insulating voltage-resistant test bench when the test result is passed;

the circuit board in the ICT clamp is taken out by the manipulator at the position 1# of the gripper, and then the circuit board on the position 2# of the gripper is placed on the ICT clamp, so that the taking and placing of the ICT clamp are completed, and signals are sent to the ICT test board; after receiving a signal that the ICT clamp finishes taking and placing the plate, the ICT test board closes an upper cover of the ICT clamp and executes ICT test, judges an ICT test result after the test is finished, fails the test result and executes NG tray placing; the ICT clamp taking and placing plate is completed and a signal is sent to the ICT test board when the test result passes;

the manipulator takes out the circuit board in the functional clamp by using the No. 1 position of the gripper, then places the circuit board on the No. 2 position of the gripper on the functional clamp, finishes taking and placing the board by using the functional clamp and sends a signal to the functional test board; after receiving the signal of finishing the plate taking and placing of the functional fixture, the functional test bench closes the upper cover of the functional fixture and executes the functional test, judges the functional test result after the test is finished, fails the test result and executes the NG tray plate placing; the test result is passed, the functional clamp is taken and placed the board and send the signal to the functional test desk; the manipulator grabs the circuit board to a fixed camera position for secondary positioning of the circuit board, so that coordinate deviation caused by grabbing of the board by the gripper at the moment is avoided, and secondary positioning of the board placing is completed;

and the manipulator moves the circuit board to the self-adaptive board receiving device of the board receiving machine, the board receiving machine receives the circuit board, and the test is finished.

As a further improvement of the above technical solution:

the method further comprises a test program automatic calling process, which specifically comprises the following steps: after the software starts, the picture number of the tested product needs to be selected, and the picture number and the production program database are checked to obtain the path of the program and the program package checking information; after acquiring a program path, the software automatically accesses a program report under the specified path and executes the action of downloading a program package; after the program package is downloaded to the local, executing the program package checking action; if the program verification result does not pass, directly ending and reporting an error; if the program verification result passes, the central control software decompresses the program package and distributes the test program to the board loading machine, the voltage-withstand insulation test board, the ICT test board, the function test board, the manipulator and the board loading machine; the board loading machine, the insulation and voltage withstand test board, the ICT test board, the function test board, the manipulator and the board unloading machine can automatically load test programs and execute equipment ID verification; if the equipment verification result does not pass, directly ending and reporting an error; if the equipment verification result passes, connecting the MES system to execute the MES verification; if the MES check result is not passed, the program is directly ended; if the MES verification result passes, reading the fixture ID used by the test program from the MES; after the test program obtains the clamp ID, performing clamp ID verification; if the clamp verification result does not pass, the program is directly ended; if the clamp verification result passes, the program is free of problems, sensor verification is executed according to the preset logic in the program, and whether the states of each air cylinder, the moving device and the detection device meet the test requirements is checked; if the sensor verification result does not pass, directly ending the program; and if the sensor verification result passes, starting a product testing program, and automatically calling the software by the testing program to finish the execution.

The method also comprises an expert diagnostic program execution process, which specifically comprises the following steps: after starting the expert diagnostic software, scanning the serial number on a software interface, and then finding a test report of the current serial number in a test database by the expert diagnostic program and acquiring the test report; finding out the names of the items which do not pass the test in the latest test report according to time sequencing, searching the same test name in a fault tree in an expert diagnostic program, and comparing with an expert experience library; if the comparison results are different, generating a newly added expert experience task; if the comparison results are the same, all the expert experiences under the fault tree are directly called and displayed in an expert diagnosis program interface, troubleshooting faults are solved in an interactive mode, comparison and verification are carried out on the expert experiences and the actual product faults, expert experience evaluation is carried out after the faults are cleared, modification or optimization suggestions aiming at the current expert experiences are provided, and the expert library content is continuously updated.

The central control cabinet comprises a master control PLC, an HMI, a server, a UPS, an industrial personal computer and a switch, and the central control cabinet works according to the following steps after being normally started:

1.1, inputting a job number, logging in an automatic acquisition program, logging in an industrial personal computer, a server and an HMI (human machine interface);

1.2, opening central control monitoring software, and automatically establishing connection with a production line server, a company MES server, a company program server and a company DDCS server;

1.3, establishing connection with a board loading machine, an insulating and voltage-withstanding test board cabinet and clamp, an ICT cabinet and clamp, a functional test board cabinet and clamp, a manipulator, a board unloading machine and a safety interlocking device by a master control PLC;

1.4, selecting an operation mode through a manual/automatic switch before the test is started, enabling each device to self-check normal without alarm information, enabling a safety interlocking device sensor to have no alarm, and entering a full-automatic mode after a product test program passes verification, or entering a manual mode;

1.5, selecting a picture number of a product to be tested, automatically calling a product test program from a company program server and sending the program to a board loading machine, an insulating and voltage-resistant test board cabinet and clamp, an ICT cabinet and clamp, a functional test board cabinet and clamp, a manipulator and a board loading machine; each device analyzes the parameters after acquiring the program and automatically checks the parameters with the MES server;

1.6, error proofing of the product, wherein the product is allowed to be on-line and starts to be tested if the product passes the check, and the product cannot be on-line if the product does not pass the check;

1.7, automatically acquiring and uploading test data to a DDCS server of a company in the test process;

1.8, automatically detecting the positions of the circuit boards with the serial numbers in the test process and controlling the circuit boards to finish corresponding tests according to program requirements;

1.9, re-online NG products and tracking test results, and automatically searching, analyzing and positioning faults through a fault expert database;

1.10, recording log information;

1.11, repeatedly executing the step 1.4-the step 1.10 in the test process.

Go up the trigger and include PLC, advance/discharge mechanism, self-adaptation push pedal device, self-adaptation fishplate bar device, AGV interfacing apparatus and mistake proofing device, go up trigger and work according to following step after normal start:

2.1, powering on the equipment for self-checking, entering the next step after the self-checking is normal, and outputting alarm information if the self-checking is abnormal;

2.2, the state of the manual/automatic switch of the equipment is in an automatic state, and if the state is in the automatic state, the running mode of the central control monitoring software is obtained;

2.3, the PLC controls and initializes each device and sensor information of the equipment;

2.4, acquiring the picture number information and product program parameters sent by central control monitoring software on the central control cabinet, and adjusting the SMT rack feeding/discharging mechanism, the self-adaptive push plate device and the self-adaptive plate receiving device to specified positions according to the program parameters, such as the stroke of the push plate device, the position of a support block of the plate receiving device and the lifting height parameters;

2.5, the AGV transports the product from the front end, is butted with an AGV butt joint device of a board loading machine and sends an SMT material rack on the AGV to an interface of a feeding/discharging mechanism;

2.6, scanning the product two-dimensional code and transmitting the product two-dimensional code to a central control to confirm whether the product two-dimensional code is allowed to enter the board loading machine, allowing the error-proofing device of the board loading machine to retract and allowing the SMT material rack to enter, and keeping the error-proofing device of the board loading machine at an error-proofing position if the product two-dimensional code is not allowed;

2.7, after the SMT material rack is conveyed to a designated position by the feeding and discharging mechanism, the PLC controls the sensor to detect the position of the circuit board and drives the self-adaptive push plate device to push the circuit board out of the SMT material rack;

2.8, after the circuit board is pushed out by the self-adaptive push plate device, the self-adaptive plate receiving device receives the circuit board and informs the central controller that the circuit board is ready to be grabbed by the manipulator;

and 2.9, repeating the step 2.7 to the step 2.8 to finish the plate loading.

The cabinet of the voltage-withstanding test platform comprises an insulating voltage-withstanding tester, an industrial personal computer, a PLC (programmable logic controller) and a test fixture, and after the cabinet of the voltage-withstanding test platform is normally started, the working flow is as follows:

3.1, powering on the equipment for self-checking, entering the next step after the self-checking is normal, and outputting alarm information if the self-checking is abnormal;

3.2, the state of the manual/automatic switch of the equipment is in an automatic state, and if the state is in the automatic state, the running mode of the central control monitoring software is obtained;

3.3, the PLC controls and initializes each device and sensor information of the equipment;

3.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet and downloads the program from the central control cabinet to the local;

3.5, automatically starting a test program of the industrial personal computer and verifying the name and the version number of the test program through an MES (manufacturing execution system);

3.6, testing programs of an industrial personal computer, and self-checking IDs of the insulation withstand voltage tester, the sensors controlled by the PLC and the clamp;

3.7, after the self-checking is finished, the PLC automatically opens the upper cover of the clamp, sends a normal self-checking signal to the central control cabinet through the industrial personal computer, and waits for the manipulator to put in the circuit board;

3.8, sending out a clamp no-board signal by an industrial personal computer test program, and placing a manipulator into the circuit board;

3.9, sending out a board placing completion signal of the insulation and voltage-resistant test bench after the manipulator leaves the range of the clamp to a specified position;

3.10, the PLC controls the in-place sensor to detect that the circuit board is at the designated position, the leveling sensor detects that the circuit board is leveled, and a waiting test signal is sent to the industrial personal computer;

3.11, starting a test by using a test program of the industrial personal computer, informing a test result to the manipulator through the industrial personal computer after the test is finished, and taking out the circuit board and putting the circuit board into another circuit board to be tested by the manipulator;

and 3.12, repeating the step 3.8 to the step 3.11 to finish the test.

The ICT test bench comprises an industrial personal computer, a channel card, a measurement card, a module power supply and a test fixture, and after the ICT test bench is normally started, the working process is as follows:

4.1, powering on the equipment for self-checking, entering the next step after the self-checking is normal, and outputting alarm information if the self-checking is abnormal;

4.2, acquiring the running mode of the central control monitoring software under the automatic state of the equipment;

4.3, controlling and initializing each device and sensor information of the equipment by the industrial personal computer;

4.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet and downloads the program from the central control cabinet to the local;

4.5, automatically starting a test program of the industrial personal computer and verifying the name and the version number of the test program through an MES (manufacturing execution system);

4.6, testing programs of the industrial personal computer self-check the insulated channel card, the measuring board card, the module power supply, the sensor of the testing clamp and the ID of the clamp;

4.7, after the self-checking is finished, the industrial personal computer automatically opens the upper cover of the clamp, sends a normal self-checking signal to the central control cabinet and waits for the manipulator to put in the circuit board;

4.8, sending out a clamp no-board signal by an industrial personal computer test program, and putting a manipulator into the circuit board;

4.9, sending out an ICT placing plate completion signal after the manipulator leaves the range of the clamp to a specified position;

4.10, the industrial personal computer controls the in-place sensor to detect that the circuit board is at the designated position, the leveling sensor detects that the circuit board is leveled, and a waiting test signal is sent to the industrial personal computer;

4.11, starting a test by a test program of the industrial personal computer, informing a test result to the manipulator through the industrial personal computer after the test is finished, and taking out the circuit board and putting the circuit board into another circuit board to be tested by the manipulator;

and 4.12, repeating the step 4.8 to the step 4.11 to finish the test.

The function test board comprises an oscilloscope, a universal meter, a signal generator, a power supply, a matrix, an industrial personal computer, a PLC and a test fixture, and after the function test board is normally started, the work flow is as follows:

5.1, powering on the equipment for self-checking, entering the next step after the self-checking is normal, and outputting alarm information if the self-checking is abnormal;

5.2, the state of the manual/automatic switch of the equipment is in an automatic state, and if the state is in the automatic state, the running mode of the central control monitoring software is obtained;

5.3, the PLC controls and initializes each device and sensor information of the equipment;

5.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet and downloads the program from the central control cabinet to the local;

5.5, automatically starting a test program of the industrial personal computer and verifying the name and the version number of the test program through an MES (manufacturing execution system);

5.6, testing programs of the industrial personal computer, namely self-checking oscilloscopes, multimeters, signal generators, power supplies, matrixes, sensors controlled by the PLC and IDs of clamps;

5.7, after the self-checking is finished, the PLC automatically opens the upper cover of the clamp, sends a normal self-checking signal to the central control cabinet through the industrial personal computer, and waits for the manipulator to put in a circuit board;

5.8, sending out a clamp no-board signal by an industrial personal computer test program, and placing a manipulator into the circuit board;

5.9, sending out a board placing completion signal of the functional test bench after the manipulator leaves the range of the clamp to a specified position;

5.10, the PLC controls the in-place sensor to detect that the circuit board is at the designated position, the leveling sensor detects that the circuit board is leveled, and a waiting test signal is sent to the industrial personal computer;

5.11, starting a test by a test program of the industrial personal computer, informing a test result to the manipulator through the industrial personal computer after the test is finished, and taking out the circuit board and putting the circuit board into another circuit board to be tested by the manipulator;

and 5.12, repeating the step 5.8 to the step 5.11 to finish the test.

Hypoplastron includes PLC, advances discharge mechanism, self-adaptation push pedal device, self-adaptation fishplate bar device, AGV interfacing apparatus and mistake proofing device, and hypoplastron works according to following step after normal start:

6.1, powering on the equipment for self-checking, entering the next step after the self-checking is normal, and outputting alarm information if the self-checking is abnormal;

6.2, the state of the manual/automatic switch of the equipment is in an automatic state, and if the state is in the automatic state, the running mode of the central control monitoring software is obtained;

6.3, the PLC controls and initializes each device and sensor information of the equipment;

6.4, acquiring the picture number information and product program parameters sent by central control monitoring software on the central control cabinet, and adjusting the SMT rack feeding/discharging mechanism, the self-adaptive push plate device and the self-adaptive plate receiving device to the specified positions according to the program parameters, such as the stroke of the push plate device, the position of a support block of the plate receiving device and the lifting height parameters;

6.5, placing the circuit board on the self-adaptive plate connecting device by the manipulator;

6.6, sending a plate placing completion signal of the plate placing machine after the manipulator leaves the range of the clamp to a designated position;

6.7, the circuit board is pushed out by the self-adaptive push plate device and then is sent into an SMT material rack;

6.8, repeating the step 6.5 to the step 6.7 to complete the lower plate;

6.9, the AGV is butted with an AGV butt joint device of the plate loading machine, the SMT material frame is taken out from an interface of the material inlet/outlet mechanism, and the AGV is sent to the next procedure.

Compared with the prior art, the invention has the advantages that:

the full-automatic single-plate test production line and the test method of the integrated manipulator can realize full-automatic and unmanned test of products, improve the production efficiency, reduce operators, reduce the test period, realize automatic data acquisition and tracing and improve the production competitiveness of products in the rail transit industry.

The invention realizes the acquisition of the program package, the distribution of each equipment program by the central control cabinet, the program state of each equipment and the ID verification of the clamp, and realizes the program calling automation of the test production line. The invention greatly improves the testing efficiency, reduces the average testing time of the circuit board to 105s by automatic feeding and discharging and full-automatic testing, reduces the testing period by 2 days and meets the requirement of the beat time of an automatic production line. The invention integrates and interacts with the program server, the MES server and the test data server, automatically collects, checks and uploads data to realize automatic information operation. The test process of the invention does not need manual intervention, and adopts a test mode of AGV feeding, feeding and discharging of an upper plate machine and a lower plate machine, mechanical arm carrying and full automation, thereby realizing unmanned operation and saving 3 persons for operators. According to the full-automatic butt joint platform for the test fixture, the fixture platform is designed to realize fine positioning and automatic locking and realize automatic butt joint of the test fixture through fixture coarse positioning, limited free floating link, connector guiding and fixture pushing by the air cylinder, so that the mounting efficiency of the fixture is improved, and the line changing time is reduced by over 50%. The device has strong testing flexibility and can be compatible with various tested products of different models.

Drawings

Fig. 1 is a schematic structural diagram of a production line according to an embodiment of the present invention.

Fig. 2 is a block configuration diagram of the production line of the present invention in an embodiment.

Fig. 3 is a flow chart of a method embodiment of the present invention.

FIG. 4 is a flow chart of the test program automatic call execution of the present invention.

Fig. 5 is a flowchart of the expert diagnostic program execution of the present invention.

Illustration of the drawings: 1. loading a plate machine; 2. an insulation and voltage-resistance test bench; 3. an ICT test bench; 4. a function test bench; 5. a manipulator; 6. discharging the plate machine; 7. a central control cabinet; 8. a safety fence.

Detailed Description

The invention is further described below with reference to the figures and the specific embodiments of the description.

As shown in fig. 1, the full-automatic single board testing production line of the integrated manipulator of this embodiment includes:

the plate loading machine 1 is used for conveying a product to be tested to a preset position from a material rack;

the insulation and voltage resistance test bench 2 is used for carrying out insulation and voltage resistance test on the circuit board;

the ICT test board 3 is used for carrying out ICT test on the circuit board;

the function test bench 4 is used for performing function test on the circuit board;

the board discharging machine 6 is used for transferring the circuit board to the AGV;

the manipulator 5 is used for realizing the circulation of the circuit boards among the board loading machine 1, the insulation and voltage-withstand test bench 2, the ICT test bench 3, the function test bench 4 and the board loading machine 6;

a safety fence 8 for forming a working area to accommodate the components;

the upper board machine 1, the insulation and voltage-withstanding test bench 2, the ICT test bench 3, the function test bench 4 and the lower board machine 6 are arranged around the manipulator 5;

and the central control cabinet 7 is used for supervising the operation of the whole system, product and program switching and data acquisition and monitoring the safety fence 8 in a closed state.

Specifically, the AGV is responsible for conveying the circuit board to the board loading machine 1, then the rack is transferred to the feeding/discharging device of the board loading machine 1 from the AGV, and the tested product is sent to the self-adaptive board receiving device from the rack; the manipulator 5 takes out the circuit board from the board loading machine 1 and then sends the circuit board to a test fixture of the insulation and voltage resistance test bench 2 for testing, and waits for the insulation and voltage resistance test to be completed; the manipulator 5 takes out the circuit board from the insulation and voltage-withstand test bench 2 and then sends the circuit board to a test fixture of the ICT test bench 3 for testing, and the ICT test is waited to be completed; the manipulator 5 takes out the circuit board from the ICT test board 3 and then sends the circuit board to a test fixture of the function test board 4 for testing, and waits for the ICT test to be completed; the manipulator 5 takes out the circuit board from the functional test board 4 and then sends the circuit board to the lower trigger 6, then the lower trigger 6 feeding/discharging device is transferred to the AGV, and the product enters the next station process.

The full-automatic single-plate test production line of the integrated manipulator 5 can realize full-automatic and unmanned test of products, improve the production efficiency, reduce operators, reduce the test period, realize automatic data acquisition and tracing and improve the production competitiveness of products in the rail transit industry.

The invention also discloses a testing method of the full-automatic single plate testing production line based on the integrated manipulator, which comprises the following steps: after the power-on and the start of the test, the click is started, the central control cabinet 7 carries out self-checking on the communication states of the industrial personal computer, the server, the PLC, the sensors, the switch and the safety fence 8 controlled by the PLC, and confirms that all parts are started normally and data are transmitted normally. After the self-inspection of the central control cabinet 7 is finished, the self-inspection of the safety fence 8 is carried out on the emergency stop state, the safety switch state of the door, the emergency stop of the manipulator 5 and the like to confirm that each safety loop is normal. Each equipment self-checking plate loading machine 1 confirms that the feeding/discharging device has no material rack, the lifting device has no material rack, and the self-adaptive plate receiving device has no circuit board; the insulation and voltage-resistance test bench 2 confirms normal starting, and each instrument is initialized normally; the ICT test board 3 confirms normal starting, and each board card is initialized normally; the function test bench 4 confirms normal starting and initializes each instrument normally; the lower trigger confirms that the feeding/discharging device has no material rack, the lifting device has no material rack, and the self-adaptive plate receiving device has no circuit board; the robot 5 is initialized normally and each robot arm is in a safe position. And after the self-checking judges that the product is normal, selecting a product figure number to be tested, stopping running if the self-checking judges that the product figure number is abnormal, waiting for troubleshooting, and restarting the system. The central control cabinet 7 downloads the test program from the file server according to the figure number, verifies the file to ensure that the downloaded file is complete, and then distributes the program to the board loading machine 1, the insulation and voltage withstand test platform 2, the ICT test platform 3, the function test platform 4, the manipulator 5 and the board loading machine 6 respectively; each test board executes the automatic loading of the program and verifies the test program number, the test program version, the test equipment ID and the test fixture ID with the MES system. After loading is completed, the upper clamp covers of the voltage-withstand test platform 2, the ICT test platform 3 and the function test platform 4 are opened, the manipulator 5 performs coordinate calibration, firstly, a fixed camera is used for shooting the characteristics of the gripper to determine that no circuit board exists on the gripper, then, a mobile camera is used for shooting the characteristic points of the voltage-withstand test fixture, the ICT test fixture and the function test fixture respectively, the coordinates of the three fixtures in the coordinate system of the manipulator 5 are calibrated and updated, and the installation errors of the fixtures are eliminated. And the plate discharging of the plate feeding machine 1 is to convey the circuit boards in the material racks on the feeding/discharging device to the self-adaptive plate receiving device, and the sensors inform the manipulator 5 of completing the plate discharging of the plate feeding machine 1 after detecting the circuit boards. And after receiving the signal, the manipulator 5 moves to the position above the self-adaptive plate receiving device to shoot the characteristic points of the circuit board to calibrate the coordinates of the circuit board, so that the circuit board is positioned. After the circuit board is positioned, the manipulator 5 moves the camera to scan the two-dimensional code of the circuit board, analyzes the serial number and the figure number, confirms the current serial number of the circuit board and finishes scanning the serial number. The manipulator 5 grabs the circuit board to the fixed camera position and carries out circuit board secondary positioning, so that coordinate deviation caused by grabbing the board by the grabber in the moment is avoided, and secondary positioning of the grabbing board is completed. The manipulator 5 firstly takes out the circuit board in the voltage-resistant clamp by using the No. 1 position of the gripper, then puts the circuit board on the No. 2 position of the gripper to the voltage-resistant clamp, finishes taking out and putting the circuit board of the voltage-resistant clamp and sends signals to the insulating voltage-resistant test bench 2. After receiving the signal that the voltage-resistant clamp plate taking and placing is completed, the insulating voltage-resistant test bench 2 closes the upper cover of the voltage-resistant clamp and executes voltage-resistant test, judges the voltage-resistant test result after the test is completed, fails the test result, and executes NG tray plate placing; and (5) the test result is passed, the voltage-resistant clamp is taken and placed, and a signal is sent to the voltage-resistant insulating test bench 2. The manipulator 5 firstly takes out the circuit board in the ICT clamp by using the position 1# of the gripper, then puts the circuit board on the position 2# of the gripper on the ICT clamp, finishes taking and putting the circuit board on the ICT clamp and sends signals to the ICT test board 3. After receiving the signal that the ICT clamp finishes taking and placing the plate, the ICT test board 3 closes the upper cover of the ICT clamp and executes ICT test, judges the ICT test result after the test is finished, fails the test result and executes NG tray placing; and the test result is passed, the ICT clamp taking and placing plate is completed, and the signal is sent to the ICT test board 3. The manipulator 5 firstly takes out the circuit board in the functional clamp by using the No. 1 position of the gripper, then puts the circuit board on the No. 2 position of the gripper to the functional clamp, finishes taking and putting the circuit board by using the functional clamp and sends a signal to the functional test bench 4. After receiving the signal that the functional clamp plate taking and placing is completed, the functional test bench 4 closes the upper cover of the functional clamp and executes the functional test, judges the functional test result after the test is completed, fails the test result and executes NG tray plate placing; and the test result is passed, the functional clamp is taken and placed, and a signal is sent to the functional test bench 4. The manipulator 5 grabs the circuit board to the fixed camera position and carries out circuit board secondary positioning, so that coordinate deviation caused by grabbing the board by the grabber in the moment is avoided, and board placing secondary positioning is completed. And the manipulator 5 moves the circuit board to the self-adaptive board receiving device of the board placing machine, the board placing is completed by the board placing machine 6, and the test is finished.

In a specific embodiment, as shown in fig. 4, the method further includes a software execution flow automatically called by the test program, specifically: after the software starts, the drawing number of the tested product needs to be selected to check with the production program database to acquire the path of the program and the program package checking information. And after acquiring the program path, the software automatically accesses the program report under the specified path and executes the action of downloading the program package. And after the program package is downloaded to the local, executing the program package checking action. If the program verification result does not pass, directly ending and reporting an error; if the program verification result passes, the central control software decompresses the program package and distributes the test program to the board loading machine 1, the insulation and voltage resistance test bench 2, the ICT test bench 3, the function test bench 4, the manipulator 5 and the board loading machine 6. The board loading machine 1, the insulation and voltage withstand test platform 2, the ICT test platform 3, the function test platform 4, the manipulator 5 and the board loading machine 6 can automatically load test programs and perform equipment ID verification. If the equipment verification result does not pass, directly ending and reporting an error; if the equipment verification result passes, the MES system is connected to execute the MES verification. If the MES check result is not passed, the procedure is directly ended; if the MES verification passes, the fixture ID used by the test program is read from the MES. And after the test program obtains the clamp ID, performing clamp ID verification. If the clamp verification result does not pass, the program is directly ended; if the clamp verification result passes, the program is free of problems, sensor verification is executed according to preset logic in the program, and whether the states of each air cylinder, the moving device and the detection device meet the test requirements is checked. If the sensor verification result does not pass, directly ending the program; and if the sensor verification result passes, starting a product testing program, and automatically calling software to execute by the testing program to finish. The MES system and the production program database are public systems and are not in the invention.

In an embodiment, as shown in fig. 5, the method further includes an expert diagnostic program execution process, specifically: after the expert diagnostic software is started, after the serial number is scanned on a software interface, the expert diagnostic program finds a test report of the current serial number in a test database and obtains the test report. And finding out the names of the items which do not pass the test in the latest test report according to time sequencing, searching the same test name in a fault tree in an expert diagnostic program, and comparing with an expert experience library. If the comparison results are different, generating a newly added expert experience task; if the comparison results are the same, all the expert experiences under the fault tree are directly called and displayed in an expert diagnosis program interface, troubleshooting faults are solved in an interactive mode, comparison and verification are carried out on the expert experiences and the actual product faults, expert experience evaluation is carried out after the faults are cleared, modification/optimization opinions aiming at the current expert experiences are provided, and the expert library content is continuously updated.

In a specific embodiment, as shown in fig. 2, the central control cabinet 7 mainly includes a main control PLC, an HMI, a server, a UPS, an industrial personal computer, and a switch, and the cabinet operates according to the following steps after being normally started:

1.3, the master control PLC establishes connection with a board loading machine 1, an insulation and voltage-withstand test bench 2 cabinet and clamp, an ICT cabinet and clamp, a function test bench 4 cabinet and clamp, a manipulator 5, a board loading machine 6 and a safety interlocking device;

1.4, selecting a running mode (a manual mode or a full-automatic mode) through a manual/automatic switch before the test is started, enabling each device to automatically check whether the device has normal alarm information or not, and the safety interlocking device sensor has no alarm, and entering the full-automatic mode after the product test program passes verification, or entering the manual mode;

1.5, selecting a picture number of a product to be tested, automatically calling a product test program from a company program server, and sending the program to a board loading machine 1, an insulation and voltage-resistant test bench 2 cabinet and clamp, an ICT cabinet and clamp, a function test bench 4 cabinet and clamp, a manipulator 5 and a board loading machine 6; each device analyzes the parameters after acquiring the program and automatically checks the parameters with a company MES server;

1.6, error proofing verification of the product, wherein the product is allowed to be on-line and starts to be tested if the product passes the verification, and the product cannot be on-line if the product does not pass the verification;

1.9, re-online of NG products and tracking test results, and automatically searching, analyzing and positioning faults through a fault expert library;

and 1.10, recording log information. And (5) repeatedly executing the step 1.4-the step 1.10 in the test process.

In a specific embodiment, as shown in fig. 2, the board loading machine 1 mainly includes a PLC, a material feeding/discharging mechanism, a self-adaptive pushing board device, a self-adaptive board receiving device, an AGV docking device, and an error-proofing device, and the board loading machine 1 operates according to the following steps after being normally started:

2.4, acquiring the picture number information and product program parameters sent by central control monitoring software on the central control cabinet 7, and adjusting the SMT rack feeding/discharging mechanism, the self-adaptive push plate device and the self-adaptive plate receiving device to specified positions according to the program parameters, such as the stroke of the push plate device, the position of a support block of the plate receiving device, the lifting height and other parameters;

2.5, the AGV transports the product from the front end, abuts against an AGV abutting device of the plate loading machine 1 and sends an SMT material rack on the AGV to an interface of a feeding/discharging mechanism;

2.6, scanning the product two-dimensional code and transmitting the product two-dimensional code to a central control to confirm whether the product two-dimensional code is allowed to enter the board loading machine 1, allowing the error-proofing device of the board loading machine 1 to retract and allowing the SMT material rack to enter, and keeping the error-proofing device of the board loading machine 1 at an error-proofing position if the product two-dimensional code is not allowed;

and 2.8, after the circuit board is pushed out by the self-adaptive push plate device, the self-adaptive plate receiving device receives the circuit board and informs the central controller of the readiness of the circuit board, and the circuit board can be grabbed by the mechanical arm 5.

And 2.9, repeating the step 2.7 to the step 2.8 to finish the plate loading.

In a specific embodiment, as shown in fig. 2, the cabinet of the withstand voltage testing platform 2 mainly comprises an withstand voltage tester, an industrial personal computer, a PLC and a testing clamp, and after the cabinet of the withstand voltage testing platform 2 is normally started, the working process is as follows:

3.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet 7 and downloads the program from the central control cabinet 7 to the local;

3.5, automatically starting a test program of the industrial personal computer and checking the name and the version number of the test program through an MES (manufacturing execution system);

3.6, testing programs of an industrial personal computer, and self-checking IDs of the insulation withstand voltage tester, the PLC-controlled sensor and the clamp;

3.7, after the self-checking is finished, the PLC automatically opens the upper cover of the clamp, and sends a normal self-checking signal to the central control cabinet 7 through the industrial personal computer to wait for the manipulator 5 to put in the circuit board;

3.8, sending out a clamp no-board signal by an industrial personal computer test program, and putting the manipulator 5 into the circuit board;

3.9, sending a board placing completion signal of the insulation and voltage resistance test bench 2 after the manipulator 5 leaves the range of the clamp to a specified position;

3.11, starting a test by using a test program of the industrial personal computer, informing the manipulator 5 of a test result to the central control cabinet 7 through the industrial personal computer after the test is finished, and taking out the circuit board by the manipulator 5 and putting the circuit board into another circuit board to be tested;

and 3.12, repeating the step 3.8 to the step 3.11 to finish the test.

In a specific embodiment, as shown in fig. 2, the ICT testing table 3 mainly includes an industrial personal computer, a channel card, a measurement card, a module power supply, and a testing fixture, and after the ICT testing table 3 is normally started, the working flow is as follows:

4.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet 7 and downloads the program from the central control cabinet 7 to the local;

4.6, testing programs of the industrial personal computer self-check an insulating channel card, a measuring board card, a module power supply, a sensor of a test fixture and the ID of the fixture;

4.7, after the self-checking is finished, the industrial personal computer automatically opens the upper cover of the clamp, sends a normal self-checking signal to the central control cabinet 7 and waits for the manipulator 5 to put in a circuit board;

4.8, sending out a clamp no-board signal by an industrial personal computer test program, and putting the manipulator 5 into the circuit board;

4.9, sending out an ICT placing plate completion signal after the manipulator 5 leaves the range of the clamp to a specified position;

4.11, starting a test by a test program of the industrial personal computer, informing the manipulator 5 of a test result to the central control cabinet 7 through the industrial personal computer after the test is finished, and taking out the circuit board by the manipulator 5 and putting the circuit board into another circuit board to be tested;

and 4.12, repeating the step 4.8 to the step 4.11 to finish the test.

In a specific embodiment, as shown in fig. 2, the function test platform 4 mainly comprises an oscilloscope, a multimeter, a signal generator, a power supply, a matrix, an industrial personal computer, a PLC, and a test fixture, and after the function test platform 4 is normally started, the working process is as follows:

5.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet 7 and downloads the program from the central control cabinet 7 to the local;

5.7, after the self-checking is finished, the PLC automatically opens the upper cover of the clamp, and sends a normal self-checking signal to the central control cabinet 7 through the industrial personal computer to wait for the manipulator 5 to put in a circuit board;

5.8, sending out a clamp no-board signal by an industrial personal computer test program, and putting the manipulator 5 into the circuit board;

5.9, sending a board placing completion signal of the functional test bench 4 after the manipulator 5 leaves the range of the clamp to a specified position;

5.11, starting a test by a test program of the industrial personal computer, informing the manipulator 5 of a test result to the central control cabinet 7 through the industrial personal computer after the test is finished, and taking out the circuit board by the manipulator 5 and putting the circuit board into another circuit board to be tested;

and 5.12, repeating the step 5.8 to the step 5.11 to finish the test.

In a specific embodiment, as shown in fig. 2, the sheet unloading machine 6 mainly includes a PLC, a material feeding/discharging mechanism, a self-adaptive pushing plate device, a self-adaptive sheet receiving device, an AGV docking device, and a mistake proofing device, and the sheet unloading machine 6 operates according to the following steps after being normally started:

6.2, the manual/automatic switching state of the equipment is set, and if the equipment is in the automatic state, the running mode of the central control monitoring software is obtained;

6.4, acquiring the picture number information and product program parameters sent by central control monitoring software on the central control cabinet 7, and adjusting the SMT rack feeding/discharging mechanism, the self-adaptive push plate device and the self-adaptive plate receiving device to the specified positions according to the program parameters, such as the stroke of the push plate device, the position of a support block of the plate receiving device, the lifting height and other parameters;

6.5, placing the circuit board on the self-adaptive plate connecting device by the manipulator 5;

6.6, sending a plate placing completion signal of the plate placing machine 6 out after the manipulator 5 leaves the range of the clamp to a designated position;

6.8, repeating the step 6.5 to the step 6.7 to complete the lower plate;

6.9, butting the AGV with an AGV butting device of the plate loading machine 1, taking out the SMT material frame from an interface of the material inlet/outlet mechanism, and sending the SMT material frame to the next procedure.

In one embodiment, as shown in fig. 2, the manipulator 5 mainly comprises a manipulator 5 and a gripper, and the manipulator 5 can automatically change the gripper and the gripper has a suitable width to meet different products; when the product model is changed, the manipulator 5 can automatically adjust the width of the gripper or change the gripper according to the product model; the functions of ID verification, grip state detection, visual inspection and error prevention are added in the grip replacing process. After the mechanical arm 5 is normally started, the operation is carried out according to the following steps:

7.1, powering on the equipment for self-checking, entering the next step after the self-checking is normal, and outputting alarm information if the self-checking is abnormal;

7.2, the state of the manual/automatic switch of the equipment is in an automatic state, and if the state is in the automatic state, the running mode of the central control monitoring software is obtained;

7.3, acquiring the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet 7, acquiring the ID of the gripper, and automatically replacing the corresponding gripper with the ID;

7.4, shooting the specific coordinates of the vision calibration point correction clamp of each clamp by the manipulator 5;

7.5, when each device enters a self-checking normal state and enters a waiting test state, moving the manipulator 5 to the adaptive board receiving device of the board loading machine 1, and taking a picture to correct the position of the circuit board;

7.6, shooting by the manipulator 5 to obtain a serial number of the circuit board, sending the serial number to the central control cabinet 7, and starting to grab the board by using the 1# gripper after obtaining a signal allowing to grab the board;

7.7, taking a picture at the position of the fixed camera to correct the position of the circuit board after the circuit board is grabbed at the position of No. 1 of a gripper of the manipulator 5;

7.8, taking out the circuit board by the manipulator 5 at the position No. 2 of the gripper, putting the circuit board at the position No. 1 into a clamp of the insulation and voltage-resistant test bench 2, and repeatedly executing the step 5 to the step 7 if no circuit board exists in the ICT clamp;

7.9, the circuit board is arranged in a test fixture of the insulation and voltage-resistant test bench 2, after the detection of each sensor is normal, the test is started until the test is completed, and after an upper cover of the test fixture is opened, an industrial personal computer of a cabinet of the insulation and voltage-resistant test bench 2 sends an opening-in-place signal of the upper cover of the test fixture to the central control cabinet 7;

7.10, taking out the circuit board by the manipulator 5 at the position 2# of the gripper, and putting the circuit board at the position 1# into an ICT fixture for starting testing; if no circuit board exists in the clamp of the functional test bench 4, repeatedly executing the step 5 to the step 9;

7.11, the circuit board is arranged in an ICT test fixture, after each sensor detects normally, the test is started until the test is finished, and after the upper cover of the test fixture is opened, the ICT cabinet industrial personal computer sends an opening-in-place signal of the upper cover of the test fixture to the central control cabinet 7;

7.12 the manipulator 5 takes out the circuit board at the position 1# of the gripper and puts the circuit board at the position 2# into the test fixture of the functional test bench 4 to start testing;

7.13, the circuit board is in the test fixture of the function test bench 4, and after the detection of each sensor is normal, the test is started until the test is completed, and the test fixture 4 cabinet industrial personal computer sends a signal that the upper cover of the test fixture is opened in place to the central control cabinet 7;

7.14, the manipulator 5 takes a picture of the circuit board at the 1# position of the gripper at the fixed camera to correct the position, and then the circuit board is placed on the lower trigger self-adaptive plate connecting device.

The invention realizes the acquisition of the program package, the distribution of each equipment program by the central control cabinet 7, the verification of each equipment program state and the clamp ID, and realizes the automation of the program calling of the test production line. The invention greatly improves the testing efficiency, reduces the average testing time of the circuit board to 105s by automatic feeding and discharging and full-automatic testing, reduces the testing period by 2 days and meets the requirement of the beat time of an automatic production line. The invention integrates and interacts with the program server, the MES server and the test data server, automatically collects, checks and uploads data to realize automatic information operation. The testing process of the invention does not need manual intervention, and adopts a testing mode of AGV feeding, feeding and discharging of the upper and lower plate machines 6, conveying of the mechanical arm 5 and full automation, thereby realizing unmanned operation and saving 3 operators. According to the full-automatic butt joint platform for the test fixture, the fixture platform is designed to realize fine positioning and automatic locking and realize automatic butt joint of the test fixture through fixture coarse positioning, limited free floating link, connector guiding and fixture pushing by the air cylinder, so that the mounting efficiency of the fixture is improved, and the line changing time is reduced by over 50%. The device has strong testing flexibility and can be compatible with various tested products of different models.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims

1. The utility model provides a full-automatic test of veneer of integrated manipulator produces line which characterized in that includes:

the plate loading machine (1) is used for conveying a product to be tested to a preset position from the material rack;

the insulation and voltage resistance test bench (2) is used for carrying out insulation and voltage resistance test on the circuit board;

the ICT test bench (3) is used for carrying out ICT test on the circuit board;

the function test bench (4) is used for performing function test on the circuit board;

the board discharging machine (6) is used for transferring the circuit board to the AGV;

the manipulator (5) is used for realizing the circulation of the circuit board among the board loading machine (1), the insulation and voltage resistance test bench (2), the ICT test bench (3), the function test bench (4) and the board loading machine (6);

a safety fence (8) for forming a working area to accommodate components;

the upper board machine (1), the insulation and voltage-withstand test bench (2), the ICT test bench (3), the function test bench (4) and the lower board machine (6) are arranged around the manipulator (5);

and the central control cabinet (7) is used for supervising the operation of the whole system, product and program switching and data acquisition and monitoring the safety fence (8) in a closed state.

2. A test method of a full-automatic test production line for single plates based on the integrated manipulator of claim 1 is characterized by comprising the following steps:

the automatic testing method comprises the following steps that self-checking is carried out on a board loading machine (1), an insulation and voltage-withstand test bench (2), an ICT test bench (3), a function test bench (4), a board loading machine (6), a manipulator (5) and a central control cabinet (7) in a full-automatic single board testing production line;

the central control cabinet (7) downloads the test program from the file server according to the figure number, verifies the file to ensure that the downloaded file is complete, and then distributes the program to the board loading machine (1), the insulation and voltage withstand test platform (2), the ICT test platform (3), the function test platform (4), the manipulator (5) and the board loading machine (6) respectively; each test board executes the automatic loading of the program and verifies the test program number, the test program version, the test equipment ID and the test fixture ID with the MES system; after loading is finished, clamp upper covers of an insulation and voltage resistance test bench (2), an ICT test bench (3) and a function test bench (4) are opened, a mechanical arm (5) executes coordinate calibration, firstly, a camera is fixed to shoot characteristics on a grab to determine that no circuit board exists on the grab, then, a camera is moved to shoot characteristic points on the insulation and voltage resistance test clamp, the ICT test clamp and the function test clamp respectively, coordinates of the three clamps on a mechanical arm (5) coordinate system are calibrated and updated, and installation errors of the clamps are eliminated;

the circuit board in the material rack is sent to the self-adaptive plate connecting device by the plate discharging of the plate loading machine (1), and the manipulator (5) is informed of the completion of the plate discharging of the plate loading machine (1) after the circuit board is detected; after receiving the signal, the manipulator (5) moves to the position above the self-adaptive board receiving device to shoot characteristic points of the circuit board to calibrate the circuit board coordinate, and the circuit board positioning is completed; after the circuit board is positioned, the manipulator (5) moves the camera to scan the two-dimensional code of the circuit board and analyzes the serial number and the picture number, the current serial number of the circuit board is confirmed, and the serial number is scanned; the manipulator (5) grabs the circuit board to a fixed camera position for secondary positioning of the circuit board, so that coordinate deviation caused by grabbing of the board by the gripper instantly is avoided, and secondary positioning of the grabbing board is completed;

the manipulator (5) takes out the circuit board in the voltage-resistant clamp by using the No. 1 position of the gripper, then puts the circuit board on the No. 2 position of the gripper on the voltage-resistant clamp, finishes taking out and putting the board of the voltage-resistant clamp and sends a signal to the insulation voltage-resistant test bench (2); after receiving a signal that the voltage-resistant clamp plate taking and placing is completed, the insulation voltage-resistant test bench (2) closes an upper cover of the voltage-resistant clamp and executes a voltage-resistant test, judges a voltage-resistant test result after the test is completed, fails the test result, and executes NG tray plate placing; the voltage-resistant clamp taking and placing plate is completed and a signal is sent to the insulation voltage-resistant test bench (2) when the test result passes;

the manipulator (5) takes out the circuit board in the ICT clamp by using the position # 1 of the gripper, then puts the circuit board on the position # 2 of the gripper on the ICT clamp, finishes taking and putting the circuit board of the ICT clamp and sends a signal to the ICT test board (3); after receiving a signal that the ICT clamp finishes taking and placing the plate, the ICT test board (3) closes an upper cover of the ICT clamp and executes ICT test, judges an ICT test result after the test is finished, fails the test result and executes NG tray placing; the ICT fixture pick-and-place plate is completed and signals are sent to the ICT test board (3) when the test result passes;

the manipulator (5) takes out the circuit board in the functional clamp by using the No. 1 position of the gripper, then puts the circuit board on the No. 2 position of the gripper to the functional clamp, finishes taking out and putting the circuit board of the functional clamp and sends a signal to the functional test bench (4); after receiving the signal of finishing the plate taking and placing of the functional fixture, the functional test bench (4) closes the upper cover of the functional fixture and executes the functional test, judges the functional test result after the test is finished, fails the test result and executes the NG tray plate placing; the test result is passed, the functional clamp is taken and placed on the board, and a signal is sent to the functional test bench (4); the manipulator (5) grabs the circuit board to a fixed camera position for secondary positioning of the circuit board, so that coordinate deviation caused by grabbing and grabbing the board instantly is avoided, and secondary positioning of the board placing is completed;

and the manipulator (5) moves the circuit board to the self-adaptive board receiving device of the board receiving machine, the board receiving machine (6) is used for receiving the board, and the test is finished.

3. The testing method according to claim 2, further comprising a testing program automatic call flow, specifically: after the software starts, the picture number of the tested product needs to be selected, and the picture number and the production program database are checked to obtain the path of the program and the program package checking information; after acquiring a program path, the software automatically accesses a program report under the specified path and executes the action of downloading a program package; after the program package is downloaded to the local, executing the program package checking action; if the program verification result does not pass, directly ending and reporting an error; if the program verification result passes, the central control software decompresses the program package and distributes the test program to the board loading machine (1), the insulation and voltage resistance test bench (2), the ICT test bench (3), the function test bench (4), the manipulator (5) and the board loading machine (6); the plate loading machine (1), the insulation and voltage withstand test bench (2), the ICT test bench (3), the function test bench (4), the manipulator (5) and the plate loading machine (6) can automatically load a test program and execute equipment ID verification; if the equipment verification result does not pass, directly ending and reporting an error; if the equipment verification result passes, connecting the MES system to execute the MES verification; if the MES check result is not passed, the program is directly ended; if the MES verification result passes, reading the fixture ID used by the test program from the MES; after the test program obtains the clamp ID, performing clamp ID verification; if the clamp verification result does not pass, the program is directly ended; if the clamp verification result passes, the program is free of problems, sensor verification is executed according to the preset logic in the program, and whether the states of each air cylinder, the moving device and the detection device meet the test requirements is checked; if the sensor verification result does not pass, directly ending the program; and if the sensor verification result passes, starting a product testing program, and automatically calling software to execute by the testing program to finish.

4. The testing method according to claim 3, further comprising an expert diagnostic program execution process, specifically: after starting the expert diagnostic software, scanning the serial number on a software interface, and then finding a test report of the current serial number in a test database by the expert diagnostic program and acquiring the test report; finding out the names of the items which do not pass the test in the latest test report according to time sequencing, searching the same test name in a fault tree in an expert diagnostic program, and comparing the test names with an expert experience library; if the comparison results are different, generating a newly added expert experience task; if the comparison results are the same, all the expert experiences under the fault tree are directly called and displayed in an expert diagnosis program interface, troubleshooting faults are solved in an interactive mode, comparison and verification are carried out on the expert experiences and the actual product faults, expert experience evaluation is carried out after the faults are cleared, modification or optimization suggestions aiming at the current expert experiences are provided, and the expert library content is continuously updated.

5. The test method according to claim 2, 3 or 4, wherein the central control cabinet (7) comprises a master control PLC, an HMI, a server, a UPS, an industrial personal computer and a switch, and the cabinet works according to the following steps after being normally started:

1.3, the master control PLC establishes connection with a board loading machine (1), an insulating and voltage-resisting test bench (2) cabinet and clamp, an ICT cabinet and clamp, a function test bench (4) cabinet and clamp, a mechanical arm (5), a board loading machine (6) and a safety interlocking device;

1.5, selecting a picture number of a product to be tested, automatically calling a product test program from a company program server and sending the program to a board loading machine (1), an insulation and voltage-resistant test bench (2) cabinet and clamp, an ICT cabinet and clamp, a function test bench (4) cabinet and clamp, a manipulator (5) and a board loading machine (6); after acquiring the program, each device analyzes the parameters and automatically checks the parameters with the MES server;

1.10, recording log information;

1.11, repeatedly executing the step 1.4-the step 1.10 in the testing process.

6. The testing method according to claim 2, 3 or 4, characterized in that the board loader (1) comprises a PLC, an in/out feeding mechanism, an adaptive pushing board device, an adaptive board receiving device, an AGV docking device and an error-proofing device, and the board loader (1) operates according to the following steps after being normally started:

2.4, acquiring the picture number information and product program parameters sent by central control monitoring software on a central control cabinet (7), and adjusting the SMT rack feeding/discharging mechanism, the self-adaptive push plate device and the self-adaptive plate receiving device to specified positions according to the program parameters, such as the stroke of the push plate device, the position of a support block of the plate receiving device and lifting height parameters;

2.5, the AGV transports the product from the front end, is butted with an AGV butt joint device of the plate loading machine (1) and sends an SMT material rack on the AGV to an interface of a feeding/discharging mechanism;

2.6, scanning the product two-dimensional code and transmitting the product two-dimensional code to a central control to confirm whether the product two-dimensional code is allowed to enter the board loading machine (1), allowing the error-proofing device of the board loading machine (1) to retract and allowing the SMT material rack to enter, and keeping the error-proofing device of the board loading machine (1) at an error-proofing position if the product two-dimensional code is not allowed;

2.8, after the circuit board is pushed out by the self-adaptive push plate device, the self-adaptive plate receiving device receives the circuit board and informs the central controller of the readiness of the circuit board, and the circuit board can be grabbed by the mechanical arm (5);

and 2.9, repeating the step 2.7 to the step 2.8 to finish the plate loading.

7. The test method according to claim 2, 3 or 4, wherein the cabinet of the voltage and insulation test platform (2) comprises a voltage and insulation tester, an industrial personal computer, a PLC and a test fixture, and after the cabinet of the voltage and insulation test platform (2) is normally started, the working procedures are as follows:

3.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet (7) and downloads the program from the central control cabinet (7) to the local;

3.7, after the self-checking is finished, the PLC automatically opens the upper cover of the clamp, sends a normal self-checking signal to the central control cabinet (7) through the industrial personal computer, and waits for the manipulator (5) to put in a circuit board;

3.8, sending out a clamp no-board signal by an industrial personal computer test program, and putting the manipulator (5) into the circuit board;

3.9, sending out a board placing completion signal of the insulation and voltage resistance test platform (2) after the manipulator (5) leaves the range of the clamp to a designated position;

3.11, starting a test by using a test program of the industrial personal computer, informing the manipulator (5) of a test result to the central control cabinet (7) through the industrial personal computer after the test is finished, and taking out the circuit board by the manipulator (5) and putting the circuit board into another circuit board to be tested;

and 3.12, repeating the step 3.8 to the step 3.11 to finish the test.

8. The test method according to claim 2, 3 or 4, wherein the ICT test bench (3) comprises an industrial personal computer, a channel card, a measurement card, a module power supply and a test fixture, and after the ICT test bench (3) is normally started, the working procedures are as follows:

4.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet (7) and downloads the program from the central control cabinet (7) to the local;

4.7, after the self-checking is finished, the industrial personal computer automatically opens the upper cover of the clamp, sends a normal self-checking signal to the central control cabinet (7) and waits for the manipulator (5) to put in a circuit board;

4.8, sending out a clamp no-board signal by an industrial personal computer test program, and putting the manipulator (5) into the circuit board;

4.9, sending out an ICT placing plate completion signal after the manipulator (5) leaves the range of the clamp to a specified position;

4.11, starting a test by a test program of the industrial personal computer, informing the manipulator (5) of a test result to the central control cabinet (7) through the industrial personal computer after the test is finished, and taking out the circuit board by the manipulator (5) and putting the circuit board into another circuit board to be tested;

and 4.12, repeating the step 4.8 to the step 4.11 to finish the test.

9. The testing method according to claim 2, 3 or 4, wherein the function testing platform (4) comprises an oscilloscope, a universal meter, a signal generator, a power supply, a matrix, an industrial personal computer, a PLC and a testing fixture, and after the function testing platform (4) is normally started, the working process is as follows:

5.2, the manual/automatic switching state of the equipment is set, and if the equipment is in the automatic state, the running mode of the central control monitoring software is obtained;

5.4, the industrial personal computer obtains the picture number information and the product program parameters sent by the central control monitoring software on the central control cabinet (7) and downloads the program from the central control cabinet (7) to the local;

5.7, after the self-checking is finished, the PLC automatically opens the upper cover of the clamp, sends a normal self-checking signal to the central control cabinet (7) through the industrial personal computer, and waits for the manipulator (5) to be placed in a circuit board;

5.8, sending out a clamp no-board signal by an industrial personal computer test program, and putting the manipulator (5) into the circuit board;

5.9, sending out a board placing completion signal of the function test bench (4) after the manipulator (5) leaves the range of the clamp to a specified position;

5.11, starting a test by a test program of the industrial personal computer, informing the manipulator (5) of a test result to the central control cabinet (7) through the industrial personal computer after the test is finished, and taking out the circuit board by the manipulator (5) and putting the circuit board into another circuit board to be tested;

and 5.12, repeating the step 5.8 to the step 5.11 to finish the test.

10. The test method according to claim 2, 3 or 4, characterized in that the plate unloader (6) comprises a PLC, an in/out feed mechanism, an adaptive push plate device, an adaptive plate receiving device, an AGV docking device and an error proofing device, and the plate unloader (6) operates according to the following steps after being normally started:

6.4, acquiring the picture number information and product program parameters sent by central control monitoring software on a central control cabinet (7), and adjusting the SMT rack feeding/discharging mechanism, the self-adaptive push plate device and the self-adaptive plate receiving device to specified positions according to the program parameters, such as the stroke of the push plate device, the position of a support block of the plate receiving device and the lifting height parameters;

6.5, placing the circuit board on the self-adaptive plate connecting device by a manipulator (5);

6.6, sending a plate placing completion signal of the plate discharging machine (6) after the manipulator (5) leaves the range of the clamp to a designated position;

6.8, repeating the step 6.5 to the step 6.7 to complete the lower plate;

6.9, butting the AGV with an AGV butting device of the plate loading machine (1), taking out the SMT material frame from an interface of the material inlet/outlet mechanism, and sending the SMT material frame to the next procedure.